diff --git a/demo/F16/F16_waypoint_scene.py b/demo/F16/F16_waypoint_scene.py
deleted file mode 100644
index d7b2b2e62fd10b7c6f63b25c35eac62f788afb7b..0000000000000000000000000000000000000000
--- a/demo/F16/F16_waypoint_scene.py
+++ /dev/null
@@ -1,167 +0,0 @@
-'''
-F16 scenario Sayan Mitra
-Derived from Stanley Bak's version
-'''
-
-
-from typing import Tuple, List
-
-import numpy as np
-from scipy.integrate import ode
-from enum import Enum, auto
-import copy
-
-from demo.F16.aerobench.run_f16_sim import F16Agent
-import os
-from json import dump
-from verse import Scenario
-
-import copy
-import math
-from numpy import deg2rad
-import matplotlib.pyplot as plt
-from aerobench.run_f16_sim import run_f16_sim
-from aerobench.visualize import plot
-from waypoint_autopilot import WaypointAutopilot
-
-
-class F16Mode(Enum):
- '''Defines the discrete modes of a single agent'''
- NORMAL = auto()
- # TODO: The one mode of this automation is called "NORMAL" and auto assigns it an integer value.
-
-
-class State:
- '''Defines the state variables of the model
- Both discrete and continuous variables.
- Initial values defined here do not matter.
- '''
- mode: F16Mode
- ### Continuous variable initial conditions ###
- power = 9 # engine power level (0-10)
-
- # Default alpha & beta
- alpha = deg2rad(2.1215) # Trim Angle of Attack (rad)
- beta = 0 # Side slip angle (rad)
-
- # Initial Attitude
- alt = 3800 # altitude (ft)
- vt = 540 # initial velocity (ft/sec)
- phi = 0 # Roll angle from wings level (rad)
- theta = 0 # Pitch angle from nose level (rad)
- psi = math.pi / 8 # Yaw angle from North (rad)
-
- p = 0
- q = 0
- r = 0
- pn = 0
- pe = 0
-
- # Build Initial Condition Vectors
- # state = [vt, alpha, beta, phi, theta, psi, P, Q, R, pn, pe, h, pow]
- init = [vt, alpha, beta, phi, theta, psi, 0, 0, 0, 0, 0, alt, power]
-
- def __init__(self, vt, alpha, beta, phi, theta, psi, p, q, r, pn, pe, alt, power, mode: F16Mode):
- pass
-
-
-def controller(ego: State, others: State):
- '''Computes the possible mode transitions
- For now this is an empty controller function.
- Coming soon. Waypoint transitions. Platooning.'''
- output = copy.deepcopy(ego)
- return output
-
-
-if __name__ == '__main__':
- ''' The main function defines and simulates a scene.
- Defining and using a scenario involves the following 5 easy steps:
- 1. creating a basic scenario object with Scenario()
- 2. defining the agents that will populate the object. Here a single F16 agent.
- 3. adding the agents to the scenario using .add_agent()
- 4. initializing the agents for this scenario.
- Note that agents are only initialized *in* a scenario, not individually outside a scenario
- 5. genetating the simulation traces or computing the reachable states
- '''
- f16_waypoint_scene = Scenario()
- f16_controller = 'F16_waypoint_scene.py'
-
- # Resume here. This next line is the problem
- # Fighter1 = F16Agent('Fighter1', file_name=f16_controller)
-
- ### Initial Conditions ###
- power = 9 # engine power level (0-10)
-
- # Default alpha & beta
- alpha = deg2rad(2.1215) # Trim Angle of Attack (rad)
- beta = 0 # Side slip angle (rad)
-
- # Initial Attitude
- alt = 3800 # altitude (ft)
- vt = 540 # initial velocity (ft/sec)
- phi = 0 # Roll angle from wings level (rad)
- theta = 0 # Pitch angle from nose level (rad)
- psi = math.pi/8 # Yaw angle from North (rad)
-
- # Build Initial Condition Vectors
- # state = [vt, alpha, beta, phi, theta, psi, p, q, r, pn, pe, h, pow]
- init = [vt, alpha, beta, phi, theta, psi, 0, 0, 0, 0, 0, alt, power]
- tmax = 70 # simulation time
-
- # make waypoint list
- e_pt = 1000
- n_pt = 3000
- h_pt = 4000
-
- waypoints = [[e_pt, n_pt, h_pt],
- [e_pt + 2000, n_pt + 5000, h_pt - 100],
- [e_pt - 2000, n_pt + 15000, h_pt - 250],
- [e_pt - 500, n_pt + 25000, h_pt]]
-
- ap = WaypointAutopilot(waypoints, stdout=True)
-
- step = 1/30
- extended_states = True
- '''Main call to simulation'''
- res = run_f16_sim(init, tmax, ap, step=step,
- extended_states=extended_states, integrator_str='rk45')
- res_to_json = copy.deepcopy(res)
- res_to_json['states'] = res_to_json['states'].tolist()
- for i in range(len(res_to_json['xd_list'])):
- res_to_json['xd_list'][i] = res_to_json['xd_list'][i].tolist()
- for i in range(len(res_to_json['u_list'])):
- res_to_json['u_list'][i] = res_to_json['u_list'][i].tolist()
- path = os.path.abspath(__file__)
- path = path.replace('F16_waypoint_scene.py', 'res.json')
- with open(path, 'w', encoding='utf-8') as f:
- dump(res_to_json, f, indent=4, separators=(', ', ': '))
-
- print(
- f"Simulation Completed in {round(res['runtime'], 2)} seconds (extended_states={extended_states})")
-
- plot.plot_single(res, 'alt', title='Altitude (ft)')
- filename = 'alt.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- plot.plot_overhead(res, waypoints=waypoints)
- filename = 'overhead.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- plot.plot_attitude(res)
- filename = 'attitude.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- # plot inner loop controls + references
- plot.plot_inner_loop(res)
- filename = 'inner_loop.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- # plot outer loop controls + references
- plot.plot_outer_loop(res)
- filename = 'outer_loop.png'
- plt.savefig(filename)
- print(f"Made {filename}")
diff --git a/demo/F16/README.md b/demo/F16/README.md
deleted file mode 100644
index b668344ea8baee8c6a13ff94b6d1f3dbb9c7f6bf..0000000000000000000000000000000000000000
--- a/demo/F16/README.md
+++ /dev/null
@@ -1,6 +0,0 @@
-# Adaptation of F16 model
-
-This is an adaptation of the Python F16 model from [Stanley Bak](https://github.com/stanleybak/AeroBenchVVPython).
-All the files are copied to make this example a standalone executable. Requires you to add ```/Users/mitras/Dpp/GraphGeneration/demo/F16``` to PYTHONPATH.
-
-Test by ```python3 F16_waypoint_scene.py```
diff --git a/demo/F16/aerobench/examples/waypoint/F16_waypoint_scene.py b/demo/F16/aerobench/examples/waypoint/F16_waypoint_scene.py
deleted file mode 100644
index 8984fc182bcfbf622e6bd3a7f989986003fd161a..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/examples/waypoint/F16_waypoint_scene.py
+++ /dev/null
@@ -1,96 +0,0 @@
-'''
-Sayan Mitra
-Derived from Stanley Bak's version
-'''
-
-
-from typing import Tuple, List
-
-import numpy as np
-from scipy.integrate import ode
-
-from dryvr_plus_plus.scene_verifier.agents.base_agent import BaseAgent
-from dryvr_plus_plus.scene_verifier.map.lane_map import LaneMap
-from dryvr_plus_plus.scene_verifier.code_parser.pythonparser import EmptyAst
-
-
-import math
-
-from numpy import deg2rad
-import matplotlib.pyplot as plt
-
-from aerobench.run_f16_sim import run_f16_sim
-
-from aerobench.visualize import plot
-
-from waypoint_autopilot import WaypointAutopilot
-
-def main():
- 'main function'
-
- ### Initial Conditions ###
- power = 9 # engine power level (0-10)
-
- # Default alpha & beta
- alpha = deg2rad(2.1215) # Trim Angle of Attack (rad)
- beta = 0 # Side slip angle (rad)
-
- # Initial Attitude
- alt = 3800 # altitude (ft)
- vt = 540 # initial velocity (ft/sec)
- phi = 0 # Roll angle from wings level (rad)
- theta = 0 # Pitch angle from nose level (rad)
- psi = math.pi/8 # Yaw angle from North (rad)
-
- # Build Initial Condition Vectors
- # state = [vt, alpha, beta, phi, theta, psi, P, Q, R, pn, pe, h, pow]
- init = [vt, alpha, beta, phi, theta, psi, 0, 0, 0, 0, 0, alt, power]
- tmax = 70 # simulation time
-
- # make waypoint list
- e_pt = 1000
- n_pt = 3000
- h_pt = 4000
-
- waypoints = [[e_pt, n_pt, h_pt],
- [e_pt + 2000, n_pt + 5000, h_pt - 100],
- [e_pt - 2000, n_pt + 15000, h_pt - 250],
- [e_pt - 500, n_pt + 25000, h_pt]]
-
- ap = WaypointAutopilot(waypoints, stdout=True)
-
- step = 1/30
- extended_states = True
- res = run_f16_sim(init, tmax, ap, step=step, extended_states=extended_states, integrator_str='rk45')
-
- print(f"Simulation Completed in {round(res['runtime'], 2)} seconds (extended_states={extended_states})")
-
- plot.plot_single(res, 'alt', title='Altitude (ft)')
- filename = 'alt.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- plot.plot_overhead(res, waypoints=waypoints)
- filename = 'overhead.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- plot.plot_attitude(res)
- filename = 'attitude.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- # plot inner loop controls + references
- plot.plot_inner_loop(res)
- filename = 'inner_loop.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- # plot outer loop controls + references
- plot.plot_outer_loop(res)
- filename = 'outer_loop.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
-if __name__ == '__main__':
- main()
diff --git a/demo/F16/aerobench/examples/waypoint/run_u_turn.py b/demo/F16/aerobench/examples/waypoint/run_u_turn.py
deleted file mode 100644
index f7f77701f1497be07008a68aeb41bc34d3286825..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/examples/waypoint/run_u_turn.py
+++ /dev/null
@@ -1,81 +0,0 @@
-'''
-Stanley Bak
-
-should match 'u_turn' scenario from matlab version
-'''
-
-import math
-
-from numpy import deg2rad
-import matplotlib.pyplot as plt
-
-from aerobench.run_f16_sim import run_f16_sim
-
-from aerobench.visualize import plot
-
-from waypoint_autopilot import WaypointAutopilot
-
-def main():
- 'main function'
-
- ### Initial Conditions ###
- power = 9 # engine power level (0-10)
-
- # Default alpha & beta
- alpha = deg2rad(2.1215) # Trim Angle of Attack (rad)
- beta = 0 # Side slip angle (rad)
-
- # Initial Attitude
- alt = 1500 # altitude (ft)
- vt = 540 # initial velocity (ft/sec)
- phi = 0 # Roll angle from wings level (rad)
- theta = 0 # Pitch angle from nose level (rad)
- psi = 0 # Yaw angle from North (rad)
-
- # Build Initial Condition Vectors
- # state = [vt, alpha, beta, phi, theta, psi, P, Q, R, pn, pe, h, pow]
- init = [vt, alpha, beta, phi, theta, psi, 0, 0, 0, 0, 0, alt, power]
- tmax = 150 # simulation time
-
- # make waypoint list
- waypoints = [[-5000, -7500, alt],
- [-15000, -7500, alt],
- [-20000, 0, alt+500]]
-
- ap = WaypointAutopilot(waypoints, stdout=True)
-
- step = 1/30
- extended_states = True
- res = run_f16_sim(init, tmax, ap, step=step, extended_states=extended_states, integrator_str='rk45')
-
- print(f"Simulation Completed in {round(res['runtime'], 2)} seconds (extended_states={extended_states})")
-
- plot.plot_single(res, 'alt', title='Altitude (ft)')
- filename = 'alt.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- plot.plot_overhead(res, waypoints=waypoints)
- filename = 'overhead.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- plot.plot_attitude(res)
- filename = 'attitude.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- # plot inner loop controls + references
- plot.plot_inner_loop(res)
- filename = 'inner_loop.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- # plot outer loop controls + references
- plot.plot_outer_loop(res)
- filename = 'outer_loop.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
-if __name__ == '__main__':
- main()
diff --git a/demo/F16/aerobench/examples/waypoint/run_waypoint.py b/demo/F16/aerobench/examples/waypoint/run_waypoint.py
deleted file mode 100644
index e2952a6b5034a24e045e8ffba2ade2db21a6f38b..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/examples/waypoint/run_waypoint.py
+++ /dev/null
@@ -1,86 +0,0 @@
-'''
-Stanley Bak
-
-should match 'waypoint' scenario from matlab version
-'''
-
-import math
-
-from numpy import deg2rad
-import matplotlib.pyplot as plt
-
-from aerobench.run_f16_sim import run_f16_sim
-
-from aerobench.visualize import plot
-
-from waypoint_autopilot import WaypointAutopilot
-
-def main():
- 'main function'
-
- ### Initial Conditions ###
- power = 9 # engine power level (0-10)
-
- # Default alpha & beta
- alpha = deg2rad(2.1215) # Trim Angle of Attack (rad)
- beta = 0 # Side slip angle (rad)
-
- # Initial Attitude
- alt = 3800 # altitude (ft)
- vt = 540 # initial velocity (ft/sec)
- phi = 0 # Roll angle from wings level (rad)
- theta = 0 # Pitch angle from nose level (rad)
- psi = math.pi/8 # Yaw angle from North (rad)
-
- # Build Initial Condition Vectors
- # state = [vt, alpha, beta, phi, theta, psi, P, Q, R, pn, pe, h, pow]
- init = [vt, alpha, beta, phi, theta, psi, 0, 0, 0, 0, 0, alt, power]
- tmax = 70 # simulation time
-
- # make waypoint list
- e_pt = 1000
- n_pt = 3000
- h_pt = 4000
-
- waypoints = [[e_pt, n_pt, h_pt],
- [e_pt + 2000, n_pt + 5000, h_pt - 100],
- [e_pt - 2000, n_pt + 15000, h_pt - 250],
- [e_pt - 500, n_pt + 25000, h_pt]]
-
- ap = WaypointAutopilot(waypoints, stdout=True)
-
- step = 1/30
- extended_states = True
- res = run_f16_sim(init, tmax, ap, step=step, extended_states=extended_states, integrator_str='rk45')
-
- print(f"Simulation Completed in {round(res['runtime'], 2)} seconds (extended_states={extended_states})")
-
- plot.plot_single(res, 'alt', title='Altitude (ft)')
- filename = 'alt.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- plot.plot_overhead(res, waypoints=waypoints)
- filename = 'overhead.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- plot.plot_attitude(res)
- filename = 'attitude.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- # plot inner loop controls + references
- plot.plot_inner_loop(res)
- filename = 'inner_loop.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
- # plot outer loop controls + references
- plot.plot_outer_loop(res)
- filename = 'outer_loop.png'
- plt.savefig(filename)
- print(f"Made {filename}")
-
-if __name__ == '__main__':
- main()
diff --git a/demo/F16/aerobench/examples/waypoint/waypoint_autopilot.py b/demo/F16/aerobench/examples/waypoint/waypoint_autopilot.py
deleted file mode 100644
index 0c9575ff51826eb2452f965af05e6cf155fa2c11..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/examples/waypoint/waypoint_autopilot.py
+++ /dev/null
@@ -1,307 +0,0 @@
-'''waypoint autopilot
-
-ported from matlab v2
-'''
-
-from math import pi, atan2, sqrt, sin, cos, asin
-
-import numpy as np
-
-from aerobench.highlevel.autopilot import Autopilot
-from aerobench.util import StateIndex
-from aerobench.lowlevel.low_level_controller import LowLevelController
-
-class WaypointAutopilot(Autopilot):
- '''waypoint follower autopilot'''
-
- def __init__(self, waypoints, gain_str='old', stdout=False):
- 'waypoints is a list of 3-tuples'
-
- self.stdout = stdout
- self.waypoints = waypoints
- self.waypoint_index = 0
-
- # waypoint config
- self.cfg_slant_range_threshold = 250
-
- # default control when not waypoint tracking
- self.cfg_u_ol_default = (0, 0, 0, 0.3)
-
- # control config
- # Gains for speed control
- self.cfg_k_vt = 0.25
- self.cfg_airspeed = 550
-
- # Gains for altitude tracking
- self.cfg_k_alt = 0.005
- self.cfg_k_h_dot = 0.02
-
- # Gains for heading tracking
- self.cfg_k_prop_psi = 5
- self.cfg_k_der_psi = 0.5
-
- # Gains for roll tracking
- self.cfg_k_prop_phi = 0.75
- self.cfg_k_der_phi = 0.5
- self.cfg_max_bank_deg = 65 # maximum bank angle setpoint
- # v2 was 0.5, 0.9
-
- # Ranges for Nz
- self.cfg_max_nz_cmd = 4
- self.cfg_min_nz_cmd = -1
-
- self.done_time = 0.0
-
- llc = LowLevelController(gain_str=gain_str)
-
- Autopilot.__init__(self, 'Waypoint 1', llc=llc)
-
- def log(self, s):
- 'print to terminal if stdout is true'
-
- if self.stdout:
- print(s)
-
- def get_u_ref(self, _t, x_f16):
- '''get the reference input signals'''
-
- if self.mode != "Done":
- psi_cmd = self.get_waypoint_data(x_f16)[0]
-
- # Get desired roll angle given desired heading
- phi_cmd = self.get_phi_to_track_heading(x_f16, psi_cmd)
- ps_cmd = self.track_roll_angle(x_f16, phi_cmd)
-
- nz_cmd = self.track_altitude(x_f16)
- throttle = self.track_airspeed(x_f16)
- else:
- # Waypoint Following complete: fly level.
- throttle = self.track_airspeed(x_f16)
- ps_cmd = self.track_roll_angle(x_f16, 0)
- nz_cmd = self.track_altitude_wings_level(x_f16)
-
- # trim to limits
- nz_cmd = max(self.cfg_min_nz_cmd, min(self.cfg_max_nz_cmd, nz_cmd))
- throttle = max(min(throttle, 1), 0)
-
- # Create reference vector
- rv = [nz_cmd, ps_cmd, 0, throttle]
-
- return rv
-
- def track_altitude(self, x_f16):
- 'get nz to track altitude, taking turning into account'
-
- h_cmd = self.waypoints[self.waypoint_index][2]
-
- h = x_f16[StateIndex.ALT]
- phi = x_f16[StateIndex.PHI]
-
- # Calculate altitude error (positive => below target alt)
- h_error = h_cmd - h
- nz_alt = self.track_altitude_wings_level(x_f16)
- nz_roll = get_nz_for_level_turn_ol(x_f16)
-
- if h_error > 0:
- # Ascend wings level or banked
- nz = nz_alt + nz_roll
- elif abs(phi) < np.deg2rad(15):
- # Descend wings (close enough to) level
- nz = nz_alt + nz_roll
- else:
- # Descend in bank (no negative Gs)
- nz = max(0, nz_alt + nz_roll)
-
- return nz
-
- def get_phi_to_track_heading(self, x_f16, psi_cmd):
- 'get phi from psi_cmd'
-
- # PD Control on heading angle using phi_cmd as control
-
- # Pull out important variables for ease of use
- psi = wrap_to_pi(x_f16[StateIndex.PSI])
- r = x_f16[StateIndex.R]
-
- # Calculate PD control
- psi_err = wrap_to_pi(psi_cmd - psi)
-
- phi_cmd = psi_err * self.cfg_k_prop_psi - r * self.cfg_k_der_psi
-
- # Bound to acceptable bank angles:
- max_bank_rad = np.deg2rad(self.cfg_max_bank_deg)
-
- phi_cmd = min(max(phi_cmd, -max_bank_rad), max_bank_rad)
-
- return phi_cmd
-
- def track_roll_angle(self, x_f16, phi_cmd):
- 'get roll angle command (ps_cmd)'
-
- # PD control on roll angle using stability roll rate
-
- # Pull out important variables for ease of use
- phi = x_f16[StateIndex.PHI]
- p = x_f16[StateIndex.P]
-
- # Calculate PD control
- ps = (phi_cmd-phi) * self.cfg_k_prop_phi - p * self.cfg_k_der_phi
-
- return ps
-
- def track_airspeed(self, x_f16):
- 'get throttle command'
-
- vt_cmd = self.cfg_airspeed
-
- # Proportional control on airspeed using throttle
- throttle = self.cfg_k_vt * (vt_cmd - x_f16[StateIndex.VT])
-
- return throttle
-
- def track_altitude_wings_level(self, x_f16):
- 'get nz to track altitude'
-
- i = self.waypoint_index if self.waypoint_index < len(self.waypoints) else -1
-
- h_cmd = self.waypoints[i][2]
-
- vt = x_f16[StateIndex.VT]
- h = x_f16[StateIndex.ALT]
-
- # Proportional-Derivative Control
- h_error = h_cmd - h
- gamma = get_path_angle(x_f16)
- h_dot = vt * sin(gamma) # Calculated, not differentiated
-
- # Calculate Nz command
- nz = self.cfg_k_alt*h_error - self.cfg_k_h_dot*h_dot
-
- return nz
-
- def is_finished(self, t, x_f16):
- 'is the maneuver done?'
-
- rv = self.waypoint_index >= len(self.waypoints) and self.done_time + 5.0 < t
-
- return rv
-
- def advance_discrete_mode(self, t, x_f16):
- '''
- advance the discrete state based on the current aircraft state. Returns True iff the discrete state
- has changed.
- '''
-
- if self.waypoint_index < len(self.waypoints):
- slant_range = self.get_waypoint_data(x_f16)[-1]
-
- if slant_range < self.cfg_slant_range_threshold:
- self.waypoint_index += 1
-
- if self.waypoint_index >= len(self.waypoints):
- self.done_time = t
-
- premode = self.mode
-
- if self.waypoint_index >= len(self.waypoints):
- self.mode = 'Done'
- else:
- self.mode = f'Waypoint {self.waypoint_index + 1}'
-
- rv = premode != self.mode
-
- if rv:
- self.log(f"Waypoint transition {premode} -> {self.mode} at time {t}")
-
- return rv
-
- def get_waypoint_data(self, x_f16):
- '''returns current waypoint data tuple based on the current waypoint:
-
- (heading, inclination, horiz_range, vert_range, slant_range)
-
- heading = heading to tgt, equivalent to psi (rad)
- inclination = polar angle to tgt, equivalent to theta (rad)
- horiz_range = horizontal range to tgt (ft)
- vert_range = vertical range to tgt (ft)
- slant_range = total range to tgt (ft)
- '''
-
- waypoint = self.waypoints[self.waypoint_index]
-
- e_pos = x_f16[StateIndex.POSE]
- n_pos = x_f16[StateIndex.POSN]
- alt = x_f16[StateIndex.ALT]
-
- delta = [waypoint[i] - [e_pos, n_pos, alt][i] for i in range(3)]
-
- _, inclination, slant_range = cart2sph(delta)
-
- heading = wrap_to_pi(pi/2 - atan2(delta[1], delta[0]))
-
- horiz_range = np.linalg.norm(delta[0:2])
- vert_range = np.linalg.norm(delta[2])
-
- return heading, inclination, horiz_range, vert_range, slant_range
-
-def get_nz_for_level_turn_ol(x_f16):
- 'get nz to do a level turn'
-
- # Pull g's to maintain altitude during bank based on trig
-
- # Calculate theta
- phi = x_f16[StateIndex.PHI]
-
- if abs(phi): # if cos(phi) ~= 0, basically
- nz = 1 / cos(phi) - 1 # Keeps plane at altitude
- else:
- nz = 0
-
- return nz
-
-def get_path_angle(x_f16):
- 'get the path angle gamma'
-
- alpha = x_f16[StateIndex.ALPHA] # AoA (rad)
- beta = x_f16[StateIndex.BETA] # Sideslip (rad)
- phi = x_f16[StateIndex.PHI] # Roll anle (rad)
- theta = x_f16[StateIndex.THETA] # Pitch angle (rad)
-
- gamma = asin((cos(alpha)*sin(theta)- \
- sin(alpha)*cos(theta)*cos(phi))*cos(beta) - \
- (cos(theta)*sin(phi))*sin(beta))
-
- return gamma
-
-def wrap_to_pi(psi_rad):
- '''handle angle wrapping
-
- returns equivelent angle in range [-pi, pi]
- '''
-
- rv = psi_rad % (2 * pi)
-
- if rv > pi:
- rv -= 2 * pi
-
- return rv
-
-def cart2sph(pt3d):
- '''
- Cartesian to spherical coordinates
-
- returns az, elev, r
- '''
-
- x, y, z = pt3d
-
- h = sqrt(x*x + y*y)
- r = sqrt(h*h + z*z)
-
- elev = atan2(z, h)
- az = atan2(y, x)
-
- return az, elev, r
-
-if __name__ == '__main__':
- print("Autopulot script not meant to be run directly.")
diff --git a/demo/F16/aerobench/highlevel/autopilot.py b/demo/F16/aerobench/highlevel/autopilot.py
deleted file mode 100644
index d369cdc82cbd69c46ffcb9fc6769b407ca78570e..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/highlevel/autopilot.py
+++ /dev/null
@@ -1,97 +0,0 @@
-'''
-Stanley Bak
-Autopilot State-Machine Logic
-
-There is a high-level advance_discrete_state() function, which checks if we should change the current discrete state,
-and a get_u_ref(f16_state) function, which gets the reference inputs at the current discrete state.
-'''
-
-import abc
-from math import pi
-
-import numpy as np
-from numpy import deg2rad
-
-from aerobench.lowlevel.low_level_controller import LowLevelController
-from aerobench.util import Freezable
-
-class Autopilot(Freezable):
- '''A container object for the hybrid automaton logic for a particular autopilot instance'''
-
- def __init__(self, init_mode, llc=None):
-
- assert isinstance(init_mode, str), 'init_mode should be a string'
-
- if llc is None:
- # use default
- llc = LowLevelController()
-
- self.llc = llc
- self.xequil = llc.xequil
- self.uequil = llc.uequil
-
- self.mode = init_mode # discrete state, this should be overwritten by subclasses
-
- self.freeze_attrs()
-
- def advance_discrete_mode(self, t, x_f16):
- '''
- advance the discrete mode based on the current aircraft state. Returns True iff the discrete mode
- has changed. It's also suggested to update self.mode to the current mode name.
- '''
-
- return False
-
- def is_finished(self, t, x_f16):
- '''
- returns True if the simulation should stop (for example, after maneuver completes)
-
- this is called after advance_discrete_state
- '''
-
- return False
-
- @abc.abstractmethod
- def get_u_ref(self, t, x_f16):
- '''
- for the current discrete state, get the reference inputs signals. Override this one
- in subclasses.
-
- returns four values per aircraft: Nz, ps, Ny_r, throttle
- '''
-
- return
-
- def get_checked_u_ref(self, t, x_f16):
- '''
- for the current discrete state, get the reference inputs signals and check them against ctrl limits
- '''
-
- rv = np.array(self.get_u_ref(t, x_f16), dtype=float)
-
- assert rv.size % 4 == 0, "get_u_ref should return Nz, ps, Ny_r, throttle for each aircraft"
-
- for i in range(rv.size //4):
- Nz, _ps, _Ny_r, _throttle = rv[4*i:4*(i+1)]
-
- l, u = self.llc.ctrlLimits.NzMin, self.llc.ctrlLimits.NzMax
- assert l <= Nz <= u, f"autopilot commanded invalid Nz ({Nz}). Not in range [{l}, {u}]"
-
- return rv
-
-class FixedSpeedAutopilot(Autopilot):
- '''Simple Autopilot that gives a fixed speed command using proportional control'''
-
- def __init__(self, setpoint, p_gain):
- self.setpoint = setpoint
- self.p_gain = p_gain
-
- init_mode = 'tracking speed'
- Autopilot.__init__(self, init_mode)
-
- def get_u_ref(self, t, x_f16):
- '''for the current discrete state, get the reference inputs signals'''
-
- x_dif = self.setpoint - x_f16[0]
-
- return 0, 0, 0, self.p_gain * x_dif
diff --git a/demo/F16/aerobench/highlevel/controlled_f16.py b/demo/F16/aerobench/highlevel/controlled_f16.py
deleted file mode 100644
index c7ee115954ed94673ddbf8de28c9dd0eb7083937..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/highlevel/controlled_f16.py
+++ /dev/null
@@ -1,60 +0,0 @@
-'''
-Stanley Bak
-Python Version of F-16 GCAS
-ODE derivative code (controlled F16)
-'''
-
-from math import sin, cos
-
-import numpy as np
-from numpy import deg2rad
-
-from aerobench.lowlevel.subf16_model import subf16_model
-from aerobench.lowlevel.low_level_controller import LowLevelController
-
-def controlled_f16(t, x_f16, u_ref, llc, f16_model='morelli', v2_integrators=False):
- 'returns the LQR-controlled F-16 state derivatives and more'
-
- assert isinstance(x_f16, np.ndarray)
- assert isinstance(llc, LowLevelController)
- assert u_ref.size == 4
-
- assert f16_model in ['stevens', 'morelli'], 'Unknown F16_model: {}'.format(f16_model)
-
- x_ctrl, u_deg = llc.get_u_deg(u_ref, x_f16)
-
- # Note: Control vector (u) for subF16 is in units of degrees
- xd_model, Nz, Ny, _, _ = subf16_model(x_f16[0:13], u_deg, f16_model)
-
- if v2_integrators:
- # integrators from matlab v2 model
- ps = xd_model[6] * cos(xd_model[1]) + xd_model[8] * sin(xd_model[1])
-
- Ny_r = Ny + xd_model[8]
- else:
- # Nonlinear (Actual): ps = p * cos(alpha) + r * sin(alpha)
- ps = x_ctrl[4] * cos(x_ctrl[0]) + x_ctrl[5] * sin(x_ctrl[0])
-
- # Calculate (side force + yaw rate) term
- Ny_r = Ny + x_ctrl[5]
-
- xd = np.zeros((x_f16.shape[0],))
- xd[:len(xd_model)] = xd_model
-
- # integrators from low-level controller
- start = len(xd_model)
- end = start + llc.get_num_integrators()
- int_der = llc.get_integrator_derivatives(t, x_f16, u_ref, Nz, ps, Ny_r)
- xd[start:end] = int_der
-
- # Convert all degree values to radians for output
- u_rad = np.zeros((7,)) # throt, ele, ail, rud, Nz_ref, ps_ref, Ny_r_ref
-
- u_rad[0] = u_deg[0] # throttle
-
- for i in range(1, 4):
- u_rad[i] = deg2rad(u_deg[i])
-
- u_rad[4:7] = u_ref[0:3] # inner-loop commands are 4-7
-
- return xd, u_rad, Nz, ps, Ny_r
diff --git a/demo/F16/aerobench/lowlevel/adc.py b/demo/F16/aerobench/lowlevel/adc.py
deleted file mode 100644
index a70390eb25f9e91855152adf31799e17297e34e3..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/adc.py
+++ /dev/null
@@ -1,37 +0,0 @@
-'''
-Stanley Bak
-adc.py for F-16 model
-'''
-
-from math import sqrt
-
-def adc(vt, alt):
- '''converts velocity (vt) and altitude (alt) to mach number (amach) and dynamic pressure (qbar)
-
- See pages 63-65 of Stevens & Lewis, "Aircraft Control and Simulation", 2nd edition
- '''
-
- # vt = freestream air speed
-
- ro = 2.377e-3
- tfac = 1 - .703e-5 * alt
-
- if alt >= 35000: # in stratosphere
- t = 390
- else:
- t = 519 * tfac # 3 rankine per atmosphere (3 rankine per 1000 ft)
-
- # rho = freestream mass density
- rho = ro * tfac**4.14
-
- # a = speed of sound at the ambient conditions
- # speed of sound in a fluid is the sqrt of the quotient of the modulus of elasticity over the mass density
- a = sqrt(1.4 * 1716.3 * t)
-
- # amach = mach number
- amach = vt / a
-
- # qbar = dynamic pressure
- qbar = .5 * rho * vt * vt
-
- return amach, qbar
diff --git a/demo/F16/aerobench/lowlevel/cl.py b/demo/F16/aerobench/lowlevel/cl.py
deleted file mode 100644
index 6bff35919a610317771baa8bc22ffcfacfe48973..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/cl.py
+++ /dev/null
@@ -1,53 +0,0 @@
-'''
-Stanley Bak
-F-16 GCAS in Python
-cl function
-'''
-
-import numpy as np
-
-from aerobench.util import fix, sign
-
-def cl(alpha, beta):
- 'cl function'
-
- a = np.array([[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], \
- [-.001, -.004, -.008, -.012, -.016, -.022, -.022, -.021, -.015, -.008, -.013, -.015], \
- [-.003, -.009, -.017, -.024, -.030, -.041, -.045, -.040, -.016, -.002, -.010, -.019], \
- [-.001, -.010, -.020, -.030, -.039, -.054, -.057, -.054, -.023, -.006, -.014, -.027], \
- [.000, -.010, -.022, -.034, -.047, -.060, -.069, -.067, -.033, -.036, -.035, -.035], \
- [.007, -.010, -.023, -.034, -.049, -.063, -.081, -.079, -.060, -.058, -.062, -.059], \
- [.009, -.011, -.023, -.037, -.050, -.068, -.089, -.088, -.091, -.076, -.077, -.076]], dtype=float).T
-
- s = .2 * alpha
- k = fix(s)
-
- if k <= -2:
- k = -1
-
- if k >= 9:
- k = 8
-
- da = s - k
- l = k + fix(1.1 * sign(da))
- s = .2 * abs(beta)
- m = fix(s)
- if m == 0:
- m = 1
-
- if m >= 6:
- m = 5
-
- db = s - m
- n = m + fix(1.1 * sign(db))
- l = l + 3
- k = k + 3
- m = m + 1
- n = n + 1
- t = a[k-1, m-1]
- u = a[k-1, n-1]
- v = t + abs(da) * (a[l-1, m-1] - t)
- w = u + abs(da) * (a[l-1, n-1] - u)
- dum = v + (w - v) * abs(db)
-
- return dum * sign(beta)
diff --git a/demo/F16/aerobench/lowlevel/clf16.py b/demo/F16/aerobench/lowlevel/clf16.py
deleted file mode 100644
index a09addfe2445456f98efb89c6fbcee662be911e7..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/clf16.py
+++ /dev/null
@@ -1,85 +0,0 @@
-'''
-Stanley Bak
-clf16.py for F-16 model
-
-This is the objective function for finding the trim condition of the initial states
-'''
-
-from math import asin, sin
-
-from tgear import tgear
-from conf16 import conf16
-from subf16_model import subf16_model
-
-def clf16(s, x, u, const, model='stevens', adjust_cy=True):
- '''
- objective function of the optimization to find the trim conditions
-
- x and u get modified in-place
- returns the cost
- '''
-
- _, singam, _, _, tr, _, _, _, thetadot, _, _, orient = const
- gamm = asin(singam)
-
- if len(s) == 3:
- u[0] = s[0]
- u[1] = s[1]
- x[1] = s[2]
- else:
- u[0] = s[0]
- u[1] = s[1]
- u[2] = s[2]
- u[3] = s[3]
- x[1] = s[4]
- x[3] = s[5]
- x[4] = s[6]
-
- #
- # Get the current power and constraints
- #
- x[12] = tgear(u[0])
- [x, u] = conf16(x, u, const)
-
- # we just want the derivative
- subf16 = lambda x, u: subf16_model(x, u, model, adjust_cy)[0]
-
- xd = subf16(x, u)
-
- #
- # Steady Level flight
- #
- if orient == 1:
- r = 100.0*(xd[0]**2 + xd[1]**2 + xd[2]**2 + xd[6]**2 + xd[7]**2 + xd[8]**2)
-
- #
- # Steady Climb
- #
- if orient == 2:
- r = 500.0*(xd[11]-x[0]*sin(gamm))**2 + xd[0]**2 + 100.0*(xd[1]**2 + xd[2]**2) + \
- 10.0*(xd[6]**2 + xd[7]**2 + xd[8]**2)
-
-
-
- #
- # Coord Turn
- #
- if orient == 3:
- r = xd[0]*xd[0] + 100.0 * (xd[1] * xd[1] + xd[2]*xd[2] + xd[11]*xd[11]) + 10.0*(xd[6]*xd[6] + \
- xd[7]*xd[7]+xd[8]*xd[8]) + 500.0*(xd[5] - tr)**2
-
- #
- # Pitch Pull Up
- #
-
-
- if orient == 4:
- r = 500.0*(xd[4]-thetadot)**2 + xd[0]**2 + 100.0*(xd[1]**2 + xd[2]**2) + 10.0*(xd[6]**2 + xd[7]**2 + xd[8]**2)
-
- #
- # Scale r if it is less than 1
- #
- if r < 1.0:
- r = r**0.5
-
- return r
diff --git a/demo/F16/aerobench/lowlevel/cm.py b/demo/F16/aerobench/lowlevel/cm.py
deleted file mode 100644
index 4c00a17596797b95076272f079f7e81502396b30..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/cm.py
+++ /dev/null
@@ -1,50 +0,0 @@
-'''
-Stanley Bak
-F-16 GCAS Python
-'''
-
-import numpy as np
-from aerobench.util import fix, sign
-
-def cm(alpha, el):
- 'cm function'
-
- a = np.array([[.205, .168, .186, .196, .213, .251, .245, .238, .252, .231, .198, .192], \
- [.081, .077, .107, .110, .110, .141, .127, .119, .133, .108, .081, .093], \
- [-.046, -.020, -.009, -.005, -.006, .010, .006, -.001, .014, .000, -.013, .032], \
- [-.174, -.145, -.121, -.127, -.129, -.102, -.097, -.113, -.087, -.084, -.069, -.006], \
- [-.259, -.202, -.184, -.193, -.199, -.150, -.160, -.167, -.104, -.076, -.041, -.005]], dtype=float).T
-
- s = .2 * alpha
- k = fix(s)
-
- if k <= -2:
- k = -1
-
- if k >= 9:
- k = 8
-
- da = s - k
- l = k + fix(1.1 * sign(da))
- s = el / 12
- m = fix(s)
-
- if m <= -2:
- m = -1
-
- if m >= 2:
- m = 1
-
- de = s - m
- n = m + fix(1.1 * sign(de))
- k = k + 3
- l = l + 3
- m = m + 3
- n = n + 3
- t = a[k-1, m-1]
- u = a[k-1, n-1]
- v = t + abs(da) * (a[l-1, m-1] - t)
- w = u + abs(da) * (a[l-1, n-1] - u)
-
- return v + (w - v) * abs(de)
-
diff --git a/demo/F16/aerobench/lowlevel/cn.py b/demo/F16/aerobench/lowlevel/cn.py
deleted file mode 100644
index b06e3729c43572920230f410ef80555c3b766ee8..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/cn.py
+++ /dev/null
@@ -1,54 +0,0 @@
-'''
-Stanley Bak
-F16 GCAS in Python
-cn function
-'''
-
-import numpy as np
-from aerobench.util import fix, sign
-
-def cn(alpha, beta):
- 'cn function'
-
- a = np.array([[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], \
- [.018, .019, .018, .019, .019, .018, .013, .007, .004, -.014, -.017, -.033], \
- [.038, .042, .042, .042, .043, .039, .030, .017, .004, -.035, -.047, -.057], \
- [.056, .057, .059, .058, .058, .053, .032, .012, .002, -.046, -.071, -.073], \
- [.064, .077, .076, .074, .073, .057, .029, .007, .012, -.034, -.065, -.041], \
- [.074, .086, .093, .089, .080, .062, .049, .022, .028, -.012, -.002, -.013], \
- [.079, .090, .106, .106, .096, .080, .068, .030, .064, .015, .011, -.001]], dtype=float).T
-
- s = .2 * alpha
- k = fix(s)
-
- if k <= -2:
- k = -1
-
- if k >= 9:
- k = 8
-
- da = s - k
- l = k + fix(1.1 * sign(da))
- s = .2 * abs(beta)
- m = fix(s)
-
- if m == 0:
- m = 1
-
- if m >= 6:
- m = 5
-
- db = s - m
- n = m + fix(1.1 * sign(db))
- l = l + 3
- k = k + 3
- m = m + 1
- n = n + 1
- t = a[k-1, m-1]
- u = a[k-1, n-1]
-
- v = t + abs(da) * (a[l-1, m-1] - t)
- w = u + abs(da) * (a[l-1, n-1] - u)
- dum = v + (w - v) * abs(db)
-
- return dum * sign(beta)
diff --git a/demo/F16/aerobench/lowlevel/conf16.py b/demo/F16/aerobench/lowlevel/conf16.py
deleted file mode 100644
index f322a6def618aa96f0b5163f1c73cd4ca75cd83f..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/conf16.py
+++ /dev/null
@@ -1,58 +0,0 @@
-'''
-Stanley Bak
-Python F-16
-
-Apply constraints to x variable
-used when finding trim conditions
-'''
-
-from math import sin, cos, asin
-from tgear import tgear
-
-def conf16(x, u, const):
- 'apply constraints to x'
-
- radgam, singam, rr, pr, tr, phi, cphi, sphi, thetadot, coord, stab, orient = const
- gamm = asin(singam)
-
- #
- # Steady Level Flight
- #
- if orient == 1:
- x[3] = phi # Phi
- x[4] = x[1] # Theta
- x[6] = rr # Roll Rate
- x[7] = pr # Pitch Rate
- x[8] = 0.0 # Yaw Rate
-
- #
- # Steady Climb
- #
- if orient == 2:
- x[3] = phi # Phi
- x[4] = x[1] + radgam # Theta
- x[6] = rr # Roll Rate
- x[7] = pr # Pitch Rate
- x[8] = 0.0 # Yaw Rate
-
- #
- # orient=3 implies coordinated turn
- #
- if orient == 3:
- x[6] = -tr * sin(x[4]) # Roll Rate
- x[7] = tr * cos(x[4]) * sin(x[3]) # Pitch Rate
- x[8] = tr * cos(x[4]) * cos(x[3]) # Yaw Rate
-
- #
- # Pitch Pull Up
- #
- if orient == 4:
- x[4] = x[1] # Theta = alpha
- x[3] = phi # Phi
- x[6] = rr # Roll Rate
- x[7] = thetadot # Pitch Rate
- x[8] = 0.0 # Yaw Rate
-
- x[12] = tgear(u[0])
-
- return x, u
diff --git a/demo/F16/aerobench/lowlevel/cx.py b/demo/F16/aerobench/lowlevel/cx.py
deleted file mode 100644
index c23a96cb6ab44c14e48dce145e1ff9bb4179e8fd..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/cx.py
+++ /dev/null
@@ -1,50 +0,0 @@
-'''
-Stanley Bak
-Python F-16 GCAS
-cx
-'''
-
-import numpy as np
-
-from aerobench.util import fix, sign
-
-def cx(alpha, el):
- 'cx definition'
-
- a = np.array([[-.099, -.081, -.081, -.063, -.025, .044, .097, .113, .145, .167, .174, .166], \
- [-.048, -.038, -.040, -.021, .016, .083, .127, .137, .162, .177, .179, .167], \
- [-.022, -.020, -.021, -.004, .032, .094, .128, .130, .154, .161, .155, .138], \
- [-.040, -.038, -.039, -.025, .006, .062, .087, .085, .100, .110, .104, .091], \
- [-.083, -.073, -.076, -.072, -.046, .012, .024, .025, .043, .053, .047, .040]], dtype=float).T
-
- s = .2 * alpha
- k = fix(s)
- if k <= -2:
- k = -1
-
- if k >= 9:
- k = 8
-
- da = s - k
- l = k + fix(1.1 * sign(da))
- s = el / 12
- m = fix(s)
- if m <= -2:
- m = -1
-
- if m >= 2:
- m = 1
-
- de = s - m
- n = m + fix(1.1 * sign(de))
- k = k + 3
- l = l + 3
- m = m + 3
- n = n + 3
- t = a[k-1, m-1]
- u = a[k-1, n-1]
- v = t + abs(da) * (a[l-1, m-1] - t)
- w = u + abs(da) * (a[l-1, n-1] - u)
- cxx = v + (w - v) * abs(de)
-
- return cxx
diff --git a/demo/F16/aerobench/lowlevel/cy.py b/demo/F16/aerobench/lowlevel/cy.py
deleted file mode 100644
index fac8c8c34ae7f1ea1307a9332e30774a146e760c..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/cy.py
+++ /dev/null
@@ -1,9 +0,0 @@
-'''
-Stanley Bak
-Python F-16 GCAS
-'''
-
-def cy(beta, ail, rdr):
- 'cy function'
-
- return -.02 * beta + .021 * (ail / 20) + .086 * (rdr / 30)
diff --git a/demo/F16/aerobench/lowlevel/cz.py b/demo/F16/aerobench/lowlevel/cz.py
deleted file mode 100644
index 66f5769545f3fdcefb1c010dcd74483b9c0a53e5..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/cz.py
+++ /dev/null
@@ -1,31 +0,0 @@
-'''
-Stanley Bak
-Python F-16 GCAS
-Cz function
-'''
-
-import numpy as np
-from aerobench.util import fix, sign
-
-def cz(alpha, beta, el):
- 'cz function'
-
- a = np.array([.770, .241, -.100, -.415, -.731, -1.053, -1.355, -1.646, -1.917, -2.120, -2.248, -2.229], \
- dtype=float).T
-
- s = .2 * alpha
- k = fix(s)
-
- if k <= -2:
- k = -1
-
- if k >= 9:
- k = 8
-
- da = s - k
- l = k + fix(1.1 * sign(da))
- l = l + 3
- k = k + 3
- s = a[k-1] + abs(da) * (a[l-1] - a[k-1])
-
- return s * (1 - (beta / 57.3)**2) - .19 * (el / 25)
diff --git a/demo/F16/aerobench/lowlevel/dampp.py b/demo/F16/aerobench/lowlevel/dampp.py
deleted file mode 100644
index ffca449504156a1f2a1d50f98eb2b207c114d127..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/dampp.py
+++ /dev/null
@@ -1,42 +0,0 @@
-'''
-Stanley Bak
-F16 GCAS in Python
-dampp function
-'''
-
-import numpy as np
-from aerobench.util import fix, sign
-
-def dampp(alpha):
- 'dampp functon'
-
- a = np.array([[-.267, -.110, .308, 1.34, 2.08, 2.91, 2.76, 2.05, 1.50, 1.49, 1.83, 1.21], \
- [.882, .852, .876, .958, .962, .974, .819, .483, .590, 1.21, -.493, -1.04], \
- [-.108, -.108, -.188, .110, .258, .226, .344, .362, .611, .529, .298, -2.27], \
- [-8.80, -25.8, -28.9, -31.4, -31.2, -30.7, -27.7, -28.2, -29.0, -29.8, -38.3, -35.3], \
- [-.126, -.026, .063, .113, .208, .230, .319, .437, .680, .100, .447, -.330], \
- [-.360, -.359, -.443, -.420, -.383, -.375, -.329, -.294, -.230, -.210, -.120, -.100], \
- [-7.21, -.540, -5.23, -5.26, -6.11, -6.64, -5.69, -6.00, -6.20, -6.40, -6.60, -6.00], \
- [-.380, -.363, -.378, -.386, -.370, -.453, -.550, -.582, -.595, -.637, -1.02, -.840], \
- [.061, .052, .052, -.012, -.013, -.024, .050, .150, .130, .158, .240, .150]], dtype=float).T
-
- s = .2 * alpha
- k = fix(s)
-
- if k <= -2:
- k = -1
-
- if k >= 9:
- k = 8
-
- da = s - k
- l = k + fix(1.1 * sign(da))
- k = k + 3
- l = l + 3
-
- d = np.zeros((9,))
-
- for i in range(9):
- d[i] = a[k-1, i] + abs(da) * (a[l-1, i] - a[k-1, i])
-
- return d
diff --git a/demo/F16/aerobench/lowlevel/dlda.py b/demo/F16/aerobench/lowlevel/dlda.py
deleted file mode 100644
index 1f6b424b85147182a2c6021978932c9f06d2071f..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/dlda.py
+++ /dev/null
@@ -1,50 +0,0 @@
-'''
-Stanley Bak
-F-16 GCAS in Python
-dlda function
-'''
-
-import numpy as np
-from aerobench.util import fix, sign
-
-def dlda(alpha, beta):
- 'dlda function'
-
- a = np.array([[-.041, -.052, -.053, -.056, -.050, -.056, -.082, -.059, -.042, -.038, -.027, -.017], \
- [-.041, -.053, -.053, -.053, -.050, -.051, -.066, -.043, -.038, -.027, -.023, -.016], \
- [-.042, -.053, -.052, -.051, -.049, -.049, -.043, -.035, -.026, -.016, -.018, -.014], \
- [-.040, -.052, -.051, -.052, -.048, -.048, -.042, -.037, -.031, -.026, -.017, -.012], \
- [-.043, -.049, -.048, -.049, -.043, -.042, -.042, -.036, -.025, -.021, -.016, -.011], \
- [-.044, -.048, -.048, -.047, -.042, -.041, -.020, -.028, -.013, -.014, -.011, -.010], \
- [-.043, -.049, -.047, -.045, -.042, -.037, -.003, -.013, -.010, -.003, -.007, -.008]], dtype=float).T
-
- s = .2 * alpha
- k = fix(s)
- if k <= -2:
- k = -1
-
- if k >= 9:
- k = 8
-
- da = s - k
- l = k + fix(1.1 * sign(da))
- s = .1 * beta
- m = fix(s)
- if m <= -3:
- m = -2
-
- if m >= 3:
- m = 2
-
- db = s - m
- n = m + fix(1.1 * sign(db))
- l = l + 3
- k = k + 3
- m = m + 4
- n = n + 4
- t = a[k-1, m-1]
- u = a[k-1, n-1]
- v = t + abs(da) * (a[l-1, m-1] - t)
- w = u + abs(da) * (a[l-1, n-1] - u)
-
- return v + (w - v) * abs(db)
diff --git a/demo/F16/aerobench/lowlevel/dldr.py b/demo/F16/aerobench/lowlevel/dldr.py
deleted file mode 100644
index 8d75348462f36b83800feb01659e7477df40f327..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/dldr.py
+++ /dev/null
@@ -1,52 +0,0 @@
-'''
-Stanley Bak
-Python GCAS F - 16
-dldr function
-'''
-
-import numpy as np
-from aerobench.util import sign, fix
-
-def dldr(alpha, beta):
- 'dldr function'
-
- a = np.array([[.005, .017, .014, .010, -.005, .009, .019, .005, -.000, -.005, -.011, .008], \
- [.007, .016, .014, .014, .013, .009, .012, .005, .000, .004, .009, .007], \
- [.013, .013, .011, .012, .011, .009, .008, .005, -.002, .005, .003, .005], \
- [.018, .015, .015, .014, .014, .014, .014, .015, .013, .011, .006, .001], \
- [.015, .014, .013, .013, .012, .011, .011, .010, .008, .008, .007, .003], \
- [.021, .011, .010, .011, .010, .009, .008, .010, .006, .005, .000, .001], \
- [.023, .010, .011, .011, .011, .010, .008, .010, .006, .014, .020, .000]], dtype=float).T
-
- s = .2 * alpha
- k = fix(s)
- if k <= -2:
- k = -1
-
- if k >= 9:
- k = 8
-
- da = s - k
- l = k + fix(1.1 * sign(da))
- s = .1 * beta
- m = fix(s)
-
- if m <= -3:
- m = -2
-
- if m >= 3:
- m = 2
-
- db = s - m
- n = m + fix(1.1 * sign(db))
- l = l + 3
- k = k + 3
- m = m + 4
- n = n + 4
- t = a[k-1, m-1]
- u = a[k-1, n-1]
-
- v = t + abs(da) * (a[l-1, m-1] - t)
- w = u + abs(da) * (a[l-1, n-1] - u)
-
- return v + (w - v) * abs(db)
diff --git a/demo/F16/aerobench/lowlevel/dnda.py b/demo/F16/aerobench/lowlevel/dnda.py
deleted file mode 100644
index d7e623554415d52300ec68953f92aadc14debf78..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/dnda.py
+++ /dev/null
@@ -1,51 +0,0 @@
-'''
-Stanley Bak
-F16 GCAS in Python
-dnda function
-'''
-
-import numpy as np
-from aerobench.util import fix, sign
-
-def dnda(alpha, beta):
- 'dnda function'
-
- a = np.array([[.001, -.027, -.017, -.013, -.012, -.016, .001, .017, .011, .017, .008, .016], \
- [.002, -.014, -.016, -.016, -.014, -.019, -.021, .002, .012, .016, .015, .011], \
- [-.006, -.008, -.006, -.006, -.005, -.008, -.005, .007, .004, .007, .006, .006], \
- [-.011, -.011, -.010, -.009, -.008, -.006, .000, .004, .007, .010, .004, .010], \
- [-.015, -.015, -.014, -.012, -.011, -.008, -.002, .002, .006, .012, .011, .011], \
- [-.024, -.010, -.004, -.002, -.001, .003, .014, .006, -.001, .004, .004, .006], \
- [-.022, .002, -.003, -.005, -.003, -.001, -.009, -.009, -.001, .003, -.002, .001]], dtype=float).T
-
- s = .2 * alpha
- k = fix(s)
-
- if k <= -2:
- k = -1
-
- if k >= 9:
- k = 8
-
- da = s - k
- l = k + fix(1.1 * sign(da))
- s = .1 * beta
- m = fix(s)
- if m <= -3:
- m = -2
-
- if m >= 3:
- m = 2
-
- db = s - m
- n = m + fix(1.1 * sign(db))
- l = l + 3
- k = k + 3
- m = m + 4
- n = n + 4
- t = a[k-1, m-1]
- u = a[k-1, n-1]
- v = t + abs(da) * (a[l-1, m-1] - t)
- w = u + abs(da) * (a[l-1, n-1] - u)
-
- return v + (w - v) * abs(db)
diff --git a/demo/F16/aerobench/lowlevel/dndr.py b/demo/F16/aerobench/lowlevel/dndr.py
deleted file mode 100644
index 805f170958e9a55df40addd68e2ab00566de0538..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/dndr.py
+++ /dev/null
@@ -1,49 +0,0 @@
-'''
-Stanley Bak
-F16 GCAS in Python
-dndr function
-'''
-
-import numpy as np
-from aerobench.util import fix, sign
-
-def dndr(alpha, beta):
- 'dndr function'
-
- a = np.array([[-.018, -.052, -.052, -.052, -.054, -.049, -.059, -.051, -.030, -.037, -.026, -.013], \
- [-.028, -.051, -.043, -.046, -.045, -.049, -.057, -.052, -.030, -.033, -.030, -.008], \
- [-.037, -.041, -.038, -.040, -.040, -.038, -.037, -.030, -.027, -.024, -.019, -.013], \
- [-.048, -.045, -.045, -.045, -.044, -.045, -.047, -.048, -.049, -.045, -.033, -.016], \
- [-.043, -.044, -.041, -.041, -.040, -.038, -.034, -.035, -.035, -.029, -.022, -.009], \
- [-.052, -.034, -.036, -.036, -.035, -.028, -.024, -.023, -.020, -.016, -.010, -.014], \
- [-.062, -.034, -.027, -.028, -.027, -.027, -.023, -.023, -.019, -.009, -.025, -.010]], dtype=float).T
-
- s = .2 * alpha
- k = fix(s)
- if k <= -2:
- k = -1
-
- if k >= 9:
- k = 8
-
- da = s - k
- l = k + fix(1.1 * sign(da))
- s = .1 * beta
- m = fix(s)
- if m <= -3:
- m = -2
-
- if m >= 3:
- m = 2
-
- db = s - m
- n = m + fix(1.1 * sign(db))
- l = l + 3
- k = k + 3
- m = m + 4
- n = n + 4
- t = a[k-1, m-1]
- u = a[k-1, n-1]
- v = t + abs(da) * (a[l-1, m-1] - t)
- w = u + abs(da) * (a[l-1, n-1] - u)
- return v + (w - v) * abs(db)
diff --git a/demo/F16/aerobench/lowlevel/low_level_controller.py b/demo/F16/aerobench/lowlevel/low_level_controller.py
deleted file mode 100644
index d472bf309937035d4cef72ba5c7fcf0de6c94400..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/low_level_controller.py
+++ /dev/null
@@ -1,109 +0,0 @@
-'''
-Stanley Bak
-Low-level flight controller
-'''
-
-import numpy as np
-from aerobench.util import Freezable
-
-class CtrlLimits(Freezable):
- 'Control Limits'
-
- def __init__(self):
- self.ThrottleMax = 1 # Afterburner on for throttle > 0.7
- self.ThrottleMin = 0
- self.ElevatorMaxDeg = 25
- self.ElevatorMinDeg = -25
- self.AileronMaxDeg = 21.5
- self.AileronMinDeg = -21.5
- self.RudderMaxDeg = 30
- self.RudderMinDeg = -30
-
- self.NzMax = 6
- self.NzMin = -1
-
- self.freeze_attrs()
-
-class LowLevelController(Freezable):
- '''low level flight controller
- '''
-
- old_k_long = np.array([[-156.8801506723475, -31.037008068526642, -38.72983346216317]], dtype=float)
- old_k_lat = np.array([[37.84483, -25.40956, -6.82876, -332.88343, -17.15997],
- [-23.91233, 5.69968, -21.63431, 64.49490, -88.36203]], dtype=float)
-
- old_xequil = np.array([502.0, 0.0389, 0.0, 0.0, 0.0389, 0.0, 0.0, 0.0, \
- 0.0, 0.0, 0.0, 1000.0, 9.0567], dtype=float).transpose()
- old_uequil = np.array([0.1395, -0.7496, 0.0, 0.0], dtype=float).transpose()
-
- def __init__(self, gain_str='old'):
- # Hard coded LQR gain matrix from matlab version
-
- assert gain_str == 'old'
-
- # Longitudinal Gains
- K_long = LowLevelController.old_k_long
- K_lat = LowLevelController.old_k_lat
-
- self.K_lqr = np.zeros((3, 8))
- self.K_lqr[:1, :3] = K_long
- self.K_lqr[1:, 3:] = K_lat
-
- # equilibrium points from BuildLqrControllers.py
- self.xequil = LowLevelController.old_xequil
- self.uequil = LowLevelController.old_uequil
-
- self.ctrlLimits = CtrlLimits()
-
- self.freeze_attrs()
-
- def get_u_deg(self, u_ref, f16_state):
- 'get the reference commands for the control surfaces'
-
- # Calculate perturbation from trim state
- x_delta = f16_state.copy()
- x_delta[:len(self.xequil)] -= self.xequil
-
- ## Implement LQR Feedback Control
- # Reorder states to match controller:
- # [alpha, q, int_e_Nz, beta, p, r, int_e_ps, int_e_Ny_r]
- x_ctrl = np.array([x_delta[i] for i in [1, 7, 13, 2, 6, 8, 14, 15]], dtype=float)
-
- # Initialize control vectors
- u_deg = np.zeros((4,)) # throt, ele, ail, rud
-
- # Calculate control using LQR gains
- u_deg[1:4] = np.dot(-self.K_lqr, x_ctrl) # Full Control
-
- # Set throttle as directed from output of getOuterLoopCtrl(...)
- u_deg[0] = u_ref[3]
-
- # Add in equilibrium control
- u_deg[0:4] += self.uequil
-
- ## Limit controls to saturation limits
- ctrlLimits = self.ctrlLimits
-
- # Limit throttle from 0 to 1
- u_deg[0] = max(min(u_deg[0], ctrlLimits.ThrottleMax), ctrlLimits.ThrottleMin)
-
- # Limit elevator from -25 to 25 deg
- u_deg[1] = max(min(u_deg[1], ctrlLimits.ElevatorMaxDeg), ctrlLimits.ElevatorMinDeg)
-
- # Limit aileron from -21.5 to 21.5 deg
- u_deg[2] = max(min(u_deg[2], ctrlLimits.AileronMaxDeg), ctrlLimits.AileronMinDeg)
-
- # Limit rudder from -30 to 30 deg
- u_deg[3] = max(min(u_deg[3], ctrlLimits.RudderMaxDeg), ctrlLimits.RudderMinDeg)
-
- return x_ctrl, u_deg
-
- def get_num_integrators(self):
- 'get the number of integrators in the low-level controller'
-
- return 3
-
- def get_integrator_derivatives(self, t, x_f16, u_ref, Nz, ps, Ny_r):
- 'get the derivatives of the integrators in the low-level controller'
-
- return [Nz - u_ref[0], ps - u_ref[1], Ny_r - u_ref[2]]
diff --git a/demo/F16/aerobench/lowlevel/morellif16.py b/demo/F16/aerobench/lowlevel/morellif16.py
deleted file mode 100644
index 4632b78cdcd91e06777a1f4680db9a44f8623770..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/morellif16.py
+++ /dev/null
@@ -1,189 +0,0 @@
-'''
-Stanley Bak
-F16 GCAS in Python
-
-Morelli dynamics (Polynomial interpolation)
-'''
-
-def Morellif16(alpha, beta, de, da, dr, p, q, r, cbar, b, V, xcg, xcgref):
- 'desc'
-
- #alpha=max(-10*pi/180,min(45*pi/180,alpha)) # bounds alpha between -10 deg and 45 deg
- #beta = max( - 30 * pi / 180, min(30 * pi / 180, beta)) #bounds beta between -30 deg and 30 deg
- #de = max( - 25 * pi / 180, min(25 * pi / 180, de)) #bounds elevator deflection between -25 deg and 25 deg
- #da = max( - 21.5 * pi / 180, min(21.5 * pi / 180, da)) #bounds aileron deflection between -21.5 deg and 21.5 deg
- #dr = max( - 30 * pi / 180, min(30 * pi / 180, dr)) #bounds rudder deflection between -30 deg and 30 deg
-
- # xcgref = 0.35
- #reference longitudinal cg position in Morelli f16 model
-
-
- phat = p * b / (2 * V)
- qhat = q * cbar / (2 * V)
- rhat = r * b / (2 * V)
- ##
- a0 = -1.943367e-2
- a1 = 2.136104e-1
- a2 = -2.903457e-1
- a3 = -3.348641e-3
- a4 = -2.060504e-1
- a5 = 6.988016e-1
- a6 = -9.035381e-1
-
- b0 = 4.833383e-1
- b1 = 8.644627
- b2 = 1.131098e1
- b3 = -7.422961e1
- b4 = 6.075776e1
-
- c0 = -1.145916
- c1 = 6.016057e-2
- c2 = 1.642479e-1
-
- d0 = -1.006733e-1
- d1 = 8.679799e-1
- d2 = 4.260586
- d3 = -6.923267
-
- e0 = 8.071648e-1
- e1 = 1.189633e-1
- e2 = 4.177702
- e3 = -9.162236
-
- f0 = -1.378278e-1
- f1 = -4.211369
- f2 = 4.775187
- f3 = -1.026225e1
- f4 = 8.399763
- f5 = -4.354000e-1
-
- g0 = -3.054956e1
- g1 = -4.132305e1
- g2 = 3.292788e2
- g3 = -6.848038e2
- g4 = 4.080244e2
-
- h0 = -1.05853e-1
- h1 = -5.776677e-1
- h2 = -1.672435e-2
- h3 = 1.357256e-1
- h4 = 2.172952e-1
- h5 = 3.464156
- h6 = -2.835451
- h7 = -1.098104
-
- i0 = -4.126806e-1
- i1 = -1.189974e-1
- i2 = 1.247721
- i3 = -7.391132e-1
-
- j0 = 6.250437e-2
- j1 = 6.067723e-1
- j2 = -1.101964
- j3 = 9.100087
- j4 = -1.192672e1
-
- k0 = -1.463144e-1
- k1 = -4.07391e-2
- k2 = 3.253159e-2
- k3 = 4.851209e-1
- k4 = 2.978850e-1
- k5 = -3.746393e-1
- k6 = -3.213068e-1
-
- l0 = 2.635729e-2
- l1 = -2.192910e-2
- l2 = -3.152901e-3
- l3 = -5.817803e-2
- l4 = 4.516159e-1
- l5 = -4.928702e-1
- l6 = -1.579864e-2
-
- m0 = -2.029370e-2
- m1 = 4.660702e-2
- m2 = -6.012308e-1
- m3 = -8.062977e-2
- m4 = 8.320429e-2
- m5 = 5.018538e-1
- m6 = 6.378864e-1
- m7 = 4.226356e-1
-
- n0 = -5.19153
- n1 = -3.554716
- n2 = -3.598636e1
- n3 = 2.247355e2
- n4 = -4.120991e2
- n5 = 2.411750e2
-
- o0 = 2.993363e-1
- o1 = 6.594004e-2
- o2 = -2.003125e-1
- o3 = -6.233977e-2
- o4 = -2.107885
- o5 = 2.141420
- o6 = 8.476901e-1
-
- p0 = 2.677652e-2
- p1 = -3.298246e-1
- p2 = 1.926178e-1
- p3 = 4.013325
- p4 = -4.404302
-
- q0 = -3.698756e-1
- q1 = -1.167551e-1
- q2 = -7.641297e-1
-
- r0 = -3.348717e-2
- r1 = 4.276655e-2
- r2 = 6.573646e-3
- r3 = 3.535831e-1
- r4 = -1.373308
- r5 = 1.237582
- r6 = 2.302543e-1
- r7 = -2.512876e-1
- r8 = 1.588105e-1
- r9 = -5.199526e-1
-
- s0 = -8.115894e-2
- s1 = -1.156580e-2
- s2 = 2.514167e-2
- s3 = 2.038748e-1
- s4 = -3.337476e-1
- s5 = 1.004297e-1
-
- ##
- Cx0 = a0 + a1 * alpha + a2 * de**2 + a3 * de + a4 * alpha * de + a5 * alpha**2 + a6 * alpha**3
- Cxq = b0 + b1 * alpha + b2 * alpha**2 + b3 * alpha**3 + b4 * alpha**4
- Cy0 = c0 * beta + c1 * da + c2 * dr
- Cyp = d0 + d1 * alpha + d2 * alpha**2 + d3 * alpha**3
- Cyr = e0 + e1 * alpha + e2 * alpha**2 + e3 * alpha**3
- Cz0 = (f0 + f1 * alpha + f2 * alpha**2 + f3 * alpha**3 + f4 * alpha**4) * (1 - beta**2) + f5 * de
- Czq = g0 + g1 * alpha + g2 * alpha**2 + g3 * alpha**3 + g4 * alpha**4
- Cl0 = h0 * beta + h1 * alpha * beta + h2 * alpha**2 * beta + h3 * beta**2 + h4 * alpha * beta**2 + h5 * \
- alpha**3 * beta + h6 * alpha**4 * beta + h7 * alpha**2 * beta**2
- Clp = i0 + i1 * alpha + i2 * alpha**2 + i3 * alpha**3
- Clr = j0 + j1 * alpha + j2 * alpha**2 + j3 * alpha**3 + j4 * alpha**4
- Clda = k0 + k1 * alpha + k2 * beta + k3 * alpha**2 + k4 * alpha * beta + k5 * alpha**2 * beta + k6 * alpha**3
- Cldr = l0 + l1 * alpha + l2 * beta + l3 * alpha * beta + l4 * alpha**2 * beta + l5 * alpha**3 * beta + l6 * beta**2
- Cm0 = m0 + m1 * alpha + m2 * de + m3 * alpha * de + m4 * de**2 + m5 * alpha**2 * de + m6 * de**3 + m7 * \
- alpha * de**2
-
-
- Cmq = n0 + n1 * alpha + n2 * alpha**2 + n3 * alpha**3 + n4 * alpha**4 + n5 * alpha**5
- Cn0 = o0 * beta + o1 * alpha * beta + o2 * beta**2 + o3 * alpha * beta**2 + o4 * alpha**2 * beta + o5 * \
- alpha**2 * beta**2 + o6 * alpha**3 * beta
- Cnp = p0 + p1 * alpha + p2 * alpha**2 + p3 * alpha**3 + p4 * alpha**4
- Cnr = q0 + q1 * alpha + q2 * alpha**2
- Cnda = r0 + r1 * alpha + r2 * beta + r3 * alpha * beta + r4 * alpha**2 * beta + r5 * alpha**3 * beta + r6 * \
- alpha**2 + r7 * alpha**3 + r8 * beta**3 + r9 * alpha * beta**3
- Cndr = s0 + s1 * alpha + s2 * beta + s3 * alpha * beta + s4 * alpha**2 * beta + s5 * alpha**2
- ##
-
- Cx = Cx0 + Cxq * qhat
- Cy = Cy0 + Cyp * phat + Cyr * rhat
- Cz = Cz0 + Czq * qhat
- Cl = Cl0 + Clp * phat + Clr * rhat + Clda * da + Cldr * dr
- Cm = Cm0 + Cmq * qhat + Cz * (xcgref - xcg)
- Cn = Cn0 + Cnp * phat + Cnr * rhat + Cnda * da + Cndr * dr - Cy * (xcgref - xcg) * (cbar / b)
-
- return Cx, Cy, Cz, Cl, Cm, Cn
diff --git a/demo/F16/aerobench/lowlevel/pdot.py b/demo/F16/aerobench/lowlevel/pdot.py
deleted file mode 100644
index dbfb1c3200aba86e69fcf4a34090768df018a323..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/pdot.py
+++ /dev/null
@@ -1,29 +0,0 @@
-'''
-Stanley Bak
-Python F-16
-power derivative (pdot)
-'''
-
-from aerobench.lowlevel.rtau import rtau
-
-def pdot(p3, p1):
- 'pdot function'
-
- if p1 >= 50:
- if p3 >= 50:
- t = 5
- p2 = p1
- else:
- p2 = 60
- t = rtau(p2 - p3)
- else:
- if p3 >= 50:
- t = 5
- p2 = 40
- else:
- p2 = p1
- t = rtau(p2 - p3)
-
- pd = t * (p2 - p3)
-
- return pd
diff --git a/demo/F16/aerobench/lowlevel/rtau.py b/demo/F16/aerobench/lowlevel/rtau.py
deleted file mode 100644
index a2f00d6e32fc1182722af5c9a8c025b5e88138db..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/rtau.py
+++ /dev/null
@@ -1,18 +0,0 @@
-'''
-Stanley Bak
-Python F-16
-
-Rtau function
-'''
-
-def rtau(dp):
- 'rtau function'
-
- if dp <= 25:
- rt = 1.0
- elif dp >= 50:
- rt = .1
- else:
- rt = 1.9 - .036 * dp
-
- return rt
diff --git a/demo/F16/aerobench/lowlevel/subf16_model.py b/demo/F16/aerobench/lowlevel/subf16_model.py
deleted file mode 100644
index b807b16520a8b735bef9bc17890c9c0219b4c69d..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/subf16_model.py
+++ /dev/null
@@ -1,201 +0,0 @@
-'''
-Stanley Bak
-Python F-16 subf16
-outputs aircraft state vector deriative
-'''
-
-# x[0] = air speed, VT (ft/sec)
-# x[1] = angle of attack, alpha (rad)
-# x[2] = angle of sideslip, beta (rad)
-# x[3] = roll angle, phi (rad)
-# x[4] = pitch angle, theta (rad)
-# x[5] = yaw angle, psi (rad)
-# x[6] = roll rate, P (rad/sec)
-# x[7] = pitch rate, Q (rad/sec)
-# x[8] = yaw rate, R (rad/sec)
-# x[9] = northward horizontal displacement, pn (feet)
-# x[10] = eastward horizontal displacement, pe (feet)
-# x[11] = altitude, h (feet)
-# x[12] = engine thrust dynamics lag state, pow
-#
-# u[0] = throttle command 0.0 < u(1) < 1.0
-# u[1] = elevator command in degrees
-# u[2] = aileron command in degrees
-# u[3] = rudder command in degrees
-#
-
-from math import sin, cos, pi
-
-from aerobench.lowlevel.adc import adc
-from aerobench.lowlevel.tgear import tgear
-from aerobench.lowlevel.pdot import pdot
-from aerobench.lowlevel.thrust import thrust
-from aerobench.lowlevel.cx import cx
-from aerobench.lowlevel.cy import cy
-from aerobench.lowlevel.cz import cz
-from aerobench.lowlevel.cl import cl
-from aerobench.lowlevel.dlda import dlda
-from aerobench.lowlevel.dldr import dldr
-from aerobench.lowlevel.cm import cm
-from aerobench.lowlevel.cn import cn
-from aerobench.lowlevel.dnda import dnda
-from aerobench.lowlevel.dndr import dndr
-from aerobench.lowlevel.dampp import dampp
-
-from aerobench.lowlevel.morellif16 import Morellif16
-
-def subf16_model(x, u, model, adjust_cy=True):
- '''output aircraft state vector derivative for a given input
-
- The reference for the model is Appendix A of Stevens & Lewis
- '''
-
- assert model in ['stevens', 'morelli']
- assert len(x) == 13
- assert len(u) == 4
-
- xcg = 0.35
-
- thtlc, el, ail, rdr = u
-
- s = 300
- b = 30
- cbar = 11.32
- rm = 1.57e-3
- xcgr = .35
- he = 160.0
- c1 = -.770
- c2 = .02755
- c3 = 1.055e-4
- c4 = 1.642e-6
- c5 = .9604
- c6 = 1.759e-2
- c7 = 1.792e-5
- c8 = -.7336
- c9 = 1.587e-5
- rtod = 57.29578
- g = 32.17
-
- xd = x.copy()
- vt = x[0]
- alpha = x[1]*rtod
- beta = x[2]*rtod
- phi = x[3]
- theta = x[4]
- psi = x[5]
- p = x[6]
- q = x[7]
- r = x[8]
- alt = x[11]
- power = x[12]
-
- # air data computer and engine model
- amach, qbar = adc(vt, alt)
- cpow = tgear(thtlc)
-
- xd[12] = pdot(power, cpow)
-
- t = thrust(power, alt, amach)
- dail = ail/20
- drdr = rdr/30
-
- # component build up
-
- if model == 'stevens':
- # stevens & lewis (look up table version)
- cxt = cx(alpha, el)
- cyt = cy(beta, ail, rdr)
- czt = cz(alpha, beta, el)
-
- clt = cl(alpha, beta) + dlda(alpha, beta) * dail + dldr(alpha, beta) * drdr
- cmt = cm(alpha, el)
- cnt = cn(alpha, beta) + dnda(alpha, beta) * dail + dndr(alpha, beta) * drdr
- else:
- # morelli model (polynomial version)
- cxt, cyt, czt, clt, cmt, cnt = Morellif16(alpha*pi/180, beta*pi/180, el*pi/180, ail*pi/180, rdr*pi/180, \
- p, q, r, cbar, b, vt, xcg, xcgr)
-
- # add damping derivatives
-
- tvt = .5 / vt
- b2v = b * tvt
- cq = cbar * q * tvt
-
- # get ready for state equations
- d = dampp(alpha)
- cxt = cxt + cq * d[0]
- cyt = cyt + b2v * (d[1] * r + d[2] * p)
- czt = czt + cq * d[3]
- clt = clt + b2v * (d[4] * r + d[5] * p)
- cmt = cmt + cq * d[6] + czt * (xcgr-xcg)
- cnt = cnt + b2v * (d[7] * r + d[8] * p)-cyt * (xcgr-xcg) * cbar/b
- cbta = cos(x[2])
- u = vt * cos(x[1]) * cbta
- v = vt * sin(x[2])
- w = vt * sin(x[1]) * cbta
- sth = sin(theta)
- cth = cos(theta)
- sph = sin(phi)
- cph = cos(phi)
- spsi = sin(psi)
- cpsi = cos(psi)
- qs = qbar * s
- qsb = qs * b
- rmqs = rm * qs
- gcth = g * cth
- qsph = q * sph
- ay = rmqs * cyt
- az = rmqs * czt
-
- # force equations
- udot = r * v-q * w-g * sth + rm * (qs * cxt + t)
- vdot = p * w-r * u + gcth * sph + ay
- wdot = q * u-p * v + gcth * cph + az
- dum = (u * u + w * w)
-
- xd[0] = (u * udot + v * vdot + w * wdot)/vt
- xd[1] = (u * wdot-w * udot)/dum
- xd[2] = (vt * vdot-v * xd[0]) * cbta/dum
-
- # kinematics
- xd[3] = p + (sth/cth) * (qsph + r * cph)
- xd[4] = q * cph-r * sph
- xd[5] = (qsph + r * cph)/cth
-
- # moments
- xd[6] = (c2 * p + c1 * r + c4 * he) * q + qsb * (c3 * clt + c4 * cnt)
-
- xd[7] = (c5 * p-c7 * he) * r + c6 * (r * r-p * p) + qs * cbar * c7 * cmt
- xd[8] = (c8 * p-c2 * r + c9 * he) * q + qsb * (c4 * clt + c9 * cnt)
-
- # navigation
- t1 = sph * cpsi
- t2 = cph * sth
- t3 = sph * spsi
- s1 = cth * cpsi
- s2 = cth * spsi
- s3 = t1 * sth-cph * spsi
- s4 = t3 * sth + cph * cpsi
- s5 = sph * cth
- s6 = t2 * cpsi + t3
- s7 = t2 * spsi-t1
- s8 = cph * cth
- xd[9] = u * s1 + v * s3 + w * s6 # north speed
- xd[10] = u * s2 + v * s4 + w * s7 # east speed
- xd[11] = u * sth-v * s5-w * s8 # vertical speed
-
- # outputs
-
- xa = 15.0 # sets distance normal accel is in front of the c.g. (xa = 15.0 at pilot)
- az = az-xa * xd[7] # moves normal accel in front of c.g.
-
- ####################################
- ###### peter additions below ######
- if adjust_cy:
- ay = ay+xa*xd[8] # moves side accel in front of c.g.
-
- # For extraction of Nz
- Nz = (-az / g) - 1 # zeroed at 1 g, positive g = pulling up
- Ny = ay / g
-
- return xd, Nz, Ny, az, ay
diff --git a/demo/F16/aerobench/lowlevel/tgear.py b/demo/F16/aerobench/lowlevel/tgear.py
deleted file mode 100644
index 8c0fe4735b581a4e947099e12c2a671f68b7ab59..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/tgear.py
+++ /dev/null
@@ -1,14 +0,0 @@
-'''
-Stanley Bak
-Python F-16 GCAS
-'''
-
-def tgear(thtl):
- 'tgear function'
-
- if thtl <= .77:
- tg = 64.94 * thtl
- else:
- tg = 217.38 * thtl - 117.38
-
- return tg
diff --git a/demo/F16/aerobench/lowlevel/thrust.py b/demo/F16/aerobench/lowlevel/thrust.py
deleted file mode 100644
index 3de5f8b18481376a24d7031c2b1c96af08e75e91..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/lowlevel/thrust.py
+++ /dev/null
@@ -1,76 +0,0 @@
-'''
-Stanle Bak
-Python F-16
-Thrust function
-'''
-
-import numpy as np
-
-from aerobench.util import fix
-
-def thrust(power, alt, rmach):
- 'thrust lookup-table version'
-
- a = np.array([[1060, 670, 880, 1140, 1500, 1860], \
- [635, 425, 690, 1010, 1330, 1700], \
- [60, 25, 345, 755, 1130, 1525], \
- [-1020, -170, -300, 350, 910, 1360], \
- [-2700, -1900, -1300, -247, 600, 1100], \
- [-3600, -1400, -595, -342, -200, 700]], dtype=float).T
-
- b = np.array([[12680, 9150, 6200, 3950, 2450, 1400], \
- [12680, 9150, 6313, 4040, 2470, 1400], \
- [12610, 9312, 6610, 4290, 2600, 1560], \
- [12640, 9839, 7090, 4660, 2840, 1660], \
- [12390, 10176, 7750, 5320, 3250, 1930], \
- [11680, 9848, 8050, 6100, 3800, 2310]], dtype=float).T
-
- c = np.array([[20000, 15000, 10800, 7000, 4000, 2500], \
- [21420, 15700, 11225, 7323, 4435, 2600], \
- [22700, 16860, 12250, 8154, 5000, 2835], \
- [24240, 18910, 13760, 9285, 5700, 3215], \
- [26070, 21075, 15975, 11115, 6860, 3950], \
- [28886, 23319, 18300, 13484, 8642, 5057]], dtype=float).T
-
- if alt < 0:
- alt = 0.01 # uh, why not 0?
-
- h = .0001 * alt
-
- i = fix(h)
-
- if i >= 5:
- i = 4
-
- dh = h - i
- rm = 5 * rmach
- m = fix(rm)
-
- if m >= 5:
- m = 4
- elif m <= 0:
- m = 0
-
- dm = rm - m
- cdh = 1 - dh
-
- # do not increment these, since python is 0-indexed while matlab is 1-indexed
- #i = i + 1
- #m = m + 1
-
- s = b[i, m] * cdh + b[i + 1, m] * dh
- t = b[i, m + 1] * cdh + b[i + 1, m + 1] * dh
- tmil = s + (t - s) * dm
-
- if power < 50:
- s = a[i, m] * cdh + a[i + 1, m] * dh
- t = a[i, m + 1] * cdh + a[i + 1, m + 1] * dh
- tidl = s + (t - s) * dm
- thrst = tidl + (tmil - tidl) * power * .02
- else:
- s = c[i, m] * cdh + c[i + 1, m] * dh
- t = c[i, m + 1] * cdh + c[i + 1, m + 1] * dh
- tmax = s + (t - s) * dm
- thrst = tmil + (tmax - tmil) * (power - 50) * .02
-
- return thrst
diff --git a/demo/F16/aerobench/run_f16_sim.py b/demo/F16/aerobench/run_f16_sim.py
deleted file mode 100644
index 08ec91923a012d9a94e227a407e54b980d751fb5..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/run_f16_sim.py
+++ /dev/null
@@ -1,235 +0,0 @@
-'''
-Adapted from Stanley Bak's run_f16_sim python version
-'''
-
-import time
-
-import numpy as np
-from scipy.integrate import RK45
-
-from aerobench.highlevel.controlled_f16 import controlled_f16
-from aerobench.util import get_state_names, Euler
-from waypoint_autopilot import WaypointAutopilot
-
-from verse import BaseAgent
-
-
-class F16Agent(BaseAgent):
- '''Dynamics of an F16 aircraft
- derived from Stanley Bak's python library'''
-
- def __init__(self, id, code=None, file_name=None):
- '''Contructor for one F16 agent
- EXACTLY one of the following should be given
- file_name: name of the controller
- code: pyhton string ddefning the controller
- '''
- # Calling the constructor of tha base class
- super().__init__(id, code, file_name)
-
-
-def run_f16_sim(initial_state, tmax, ap: WaypointAutopilot, step=1/30, extended_states=False, model_str='morelli',
- integrator_str='rk45', v2_integrators=False):
- '''Simulates and analyzes autonomous F-16 maneuvers
-
- if multiple aircraft are to be simulated at the same time,
- initial_state should be the concatenated full (including integrators) initial state.
-
- returns a dict with the following keys:
-
- 'status': integration status, should be 'finished' if no errors, or 'autopilot finished'
- 'times': time history
- 'states': state history at each time step
- 'modes': mode history at each time step
-
- if extended_states was True, result also includes:
- 'xd_list' - derivative at each time step
- 'ps_list' - ps at each time step
- 'Nz_list' - Nz at each time step
- 'Ny_r_list' - Ny_r at each time step
- 'u_list' - input at each time step, input is 7-tuple: throt, ele, ail, rud, Nz_ref, ps_ref, Ny_r_ref
- These are tuples if multiple aircraft are used
- '''
-
- start = time.perf_counter()
-
- initial_state = np.array(initial_state, dtype=float)
- llc = ap.llc
-
- num_vars = len(get_state_names()) + llc.get_num_integrators()
-
- if initial_state.size < num_vars:
- # append integral error states to state vector
- x0 = np.zeros(num_vars)
- x0[:initial_state.shape[0]] = initial_state
- else:
- x0 = initial_state
-
- assert x0.size % num_vars == 0, f"expected initial state ({x0.size} vars) to be multiple of {num_vars} vars"
-
- # run the numerical simulation
- times = [0]
- states = [x0]
-
- # mode can change at time 0
- ap.advance_discrete_mode(times[-1], states[-1])
-
- modes = [ap.mode]
-
- if extended_states:
- xd, u, Nz, ps, Ny_r = get_extended_states(
- ap, times[-1], states[-1], model_str, v2_integrators)
-
- xd_list = [xd]
- u_list = [u]
- Nz_list = [Nz]
- ps_list = [ps]
- Ny_r_list = [Ny_r]
-
- der_func = make_der_func(ap, model_str, v2_integrators)
-
- if integrator_str == 'rk45':
- integrator_class = RK45
- kwargs = {}
- else:
- assert integrator_str == 'euler'
- integrator_class = Euler
- kwargs = {'step': step}
-
- # note: fixed_step argument is unused by rk45, used with euler
- integrator = integrator_class(
- der_func, times[-1], states[-1], tmax, **kwargs)
-
- while integrator.status == 'running':
- integrator.step()
-
- if integrator.t >= times[-1] + step:
- dense_output = integrator.dense_output()
-
- while integrator.t >= times[-1] + step:
- t = times[-1] + step
- #print(f"{round(t, 2)} / {tmax}")
-
- times.append(t)
- states.append(dense_output(t))
-
- updated = ap.advance_discrete_mode(times[-1], states[-1])
- modes.append(ap.mode)
-
- # re-run dynamics function at current state to get non-state variables
- if extended_states:
- xd, u, Nz, ps, Ny_r = get_extended_states(
- ap, times[-1], states[-1], model_str, v2_integrators)
-
- xd_list.append(xd)
- u_list.append(u)
-
- Nz_list.append(Nz)
- ps_list.append(ps)
- Ny_r_list.append(Ny_r)
-
- if ap.is_finished(times[-1], states[-1]):
- # this both causes the outer loop to exit and sets res['status'] appropriately
- integrator.status = 'autopilot finished'
- break
-
- if updated:
- # re-initialize the integration class on discrete mode switches
- integrator = integrator_class(
- der_func, times[-1], states[-1], tmax, **kwargs)
- break
-
- assert 'finished' in integrator.status
-
- res = {}
- res['status'] = integrator.status
- res['times'] = times
- res['states'] = np.array(states, dtype=float)
- res['modes'] = modes
-
- if extended_states:
- res['xd_list'] = xd_list
- res['ps_list'] = ps_list
- res['Nz_list'] = Nz_list
- res['Ny_r_list'] = Ny_r_list
- res['u_list'] = u_list
-
- res['runtime'] = time.perf_counter() - start
-
- return res
-
-
-def make_der_func(ap: WaypointAutopilot, model_str, v2_integrators):
- 'make the combined derivative function for integration'
-
- def der_func(t, full_state):
- 'derivative function, generalized for multiple aircraft'
-
- u_refs = ap.get_checked_u_ref(t, full_state)
-
- num_aircraft = u_refs.size // 4
- num_vars = len(get_state_names()) + ap.llc.get_num_integrators()
- assert full_state.size // num_vars == num_aircraft
-
- xds = []
-
- for i in range(num_aircraft):
- state = full_state[num_vars*i:num_vars*(i+1)]
- u_ref = u_refs[4*i:4*(i+1)]
-
- xd = controlled_f16(t, state, u_ref, ap.llc,
- model_str, v2_integrators)[0]
- xds.append(xd)
-
- rv = np.hstack(xds)
-
- return rv
-
- return der_func
-
-
-def get_extended_states(ap, t, full_state, model_str, v2_integrators):
- '''get xd, u, Nz, ps, Ny_r at the current time / state
-
- returns tuples if more than one aircraft
- '''
-
- llc = ap.llc
- num_vars = len(get_state_names()) + llc.get_num_integrators()
- num_aircraft = full_state.size // num_vars
-
- xd_tup = []
- u_tup = []
- Nz_tup = []
- ps_tup = []
- Ny_r_tup = []
-
- u_refs = ap.get_checked_u_ref(t, full_state)
-
- for i in range(num_aircraft):
- state = full_state[num_vars*i:num_vars*(i+1)]
- u_ref = u_refs[4*i:4*(i+1)]
-
- xd, u, Nz, ps, Ny_r = controlled_f16(
- t, state, u_ref, llc, model_str, v2_integrators)
-
- xd_tup.append(xd)
- u_tup.append(u)
- Nz_tup.append(Nz)
- ps_tup.append(ps)
- Ny_r_tup.append(Ny_r)
-
- if num_aircraft == 1:
- rv_xd = xd_tup[0]
- rv_u = u_tup[0]
- rv_Nz = Nz_tup[0]
- rv_ps = ps_tup[0]
- rv_Ny_r = Ny_r_tup[0]
- else:
- rv_xd = tuple(xd_tup)
- rv_u = tuple(u_tup)
- rv_Nz = tuple(Nz_tup)
- rv_ps = tuple(ps_tup)
- rv_Ny_r = tuple(Ny_r_tup)
-
- return rv_xd, rv_u, rv_Nz, rv_ps, rv_Ny_r
diff --git a/demo/F16/aerobench/util.py b/demo/F16/aerobench/util.py
deleted file mode 100644
index cf2c4796629e0f3416452ab99ef538d9c973ce57..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/util.py
+++ /dev/null
@@ -1,287 +0,0 @@
-'''
-Utilities for F-16 GCAS
-'''
-
-from math import floor, ceil
-import numpy as np
-
-class StateIndex:
- 'list of static state indices'
-
- VT = 0
- VEL = 0 # alias
-
- ALPHA = 1
- BETA = 2
- PHI = 3 # roll angle
- THETA = 4 # pitch angle
- PSI = 5 # yaw angle
-
- P = 6
- Q = 7
- R = 8
-
- POSN = 9
- POS_N = 9
-
- POSE = 10
- POS_E = 10
-
- ALT = 11
- H = 11
-
- POW = 12
-
-class Freezable():
- 'a class where you can freeze the fields (prevent new fields from being created)'
-
- _frozen = False
-
- def freeze_attrs(self):
- 'prevents any new attributes from being created in the object'
- self._frozen = True
-
- def __setattr__(self, key, value):
- if self._frozen and not hasattr(self, key):
- raise TypeError("{} does not contain attribute '{}' (object was frozen)".format(self, key))
-
- object.__setattr__(self, key, value)
-
-class Euler(Freezable):
- '''fixed step euler integration
-
- loosely based on scipy.integrate.RK45
- '''
-
- def __init__(self, der_func, tstart, ystart, tend, step=0, time_tol=1e-9):
- assert step > 0, "arg step > 0 required in Euler integrator"
- assert tend > tstart
-
- self.der_func = der_func # signature (t, x)
- self.tstep = step
- self.t = tstart
- self.y = ystart.copy()
- self.yprev = None
- self.tprev = None
- self.tend = tend
-
- self.status = 'running'
-
- self.time_tol = time_tol
-
- self.freeze_attrs()
-
- def step(self):
- 'take one step'
-
- if self.status == 'running':
- self.yprev = self.y.copy()
- self.tprev = self.t
- yd = self.der_func(self.t, self.y)
-
- self.t += self.tstep
-
- if self.t + self.time_tol >= self.tend:
- self.t = self.tend
-
- dt = self.t - self.tprev
- self.y += dt * yd
-
- if self.t == self.tend:
- self.status = 'finished'
-
- def dense_output(self):
- 'return a function of time'
-
- assert self.tprev is not None
-
- dy = self.y - self.yprev
- dt = self.t - self.tprev
-
- dydt = dy / dt
-
- def fun(t):
- 'return state at time t (linear interpolation)'
-
- deltat = t - self.tprev
-
- return self.yprev + dydt * deltat
-
- return fun
-
-def get_state_names():
- 'returns a list of state variable names'
-
- return ['vt', 'alpha', 'beta', 'phi', 'theta', 'psi', 'P', 'Q', 'R', 'pos_n', 'pos_e', 'alt', 'pow']
-
-def printmat(mat, main_label, row_label_str, col_label_str):
- 'print a matrix'
-
- if isinstance(row_label_str, list) and len(row_label_str) == 0:
- row_label_str = None
-
- assert isinstance(main_label, str)
- assert row_label_str is None or isinstance(row_label_str, str)
- assert isinstance(col_label_str, str)
-
- mat = np.array(mat)
- if len(mat.shape) == 1:
- mat.shape = (1, mat.shape[0]) # one-row matrix
-
- print("{main_label} =")
-
- row_labels = None if row_label_str is None else row_label_str.split(' ')
- col_labels = col_label_str.split(' ')
-
- width = 7
-
- width = max(width, max([len(l) for l in col_labels]))
-
- if row_labels is not None:
- width = max(width, max([len(l) for l in row_labels]))
-
- width += 1
-
- # add blank space for row labels
- if row_labels is not None:
- print("{: <{}}".format('', width), end='')
-
- # print col lables
- for col_label in col_labels:
- if len(col_label) > width:
- col_label = col_label[:width]
-
- print("{: >{}}".format(col_label, width), end='')
-
- print('')
-
- if row_labels is not None:
- assert len(row_labels) == mat.shape[0], \
- "row labels (len={}) expected one element for each row of the matrix ({})".format( \
- len(row_labels), mat.shape[0])
-
- for r in range(mat.shape[0]):
- row = mat[r]
-
- if row_labels is not None:
- label = row_labels[r]
-
- if len(label) > width:
- label = label[:width]
-
- print("{:<{}}".format(label, width), end='')
-
- for num in row:
- #print("{:#<{}}".format(num, width), end='')
- print("{:{}.{}g}".format(num, width, width-3), end='')
-
- print('')
-
-
-def fix(ele):
- 'round towards zero'
-
- assert isinstance(ele, float)
-
- if ele > 0:
- rv = int(floor(ele))
- else:
- rv = int(ceil(ele))
-
- return rv
-
-def sign(ele):
- 'sign of a number'
-
- if ele < 0:
- rv = -1
- elif ele == 0:
- rv = 0
- else:
- rv = 1
-
- return rv
-
-def extract_single_result(res, index, llc):
- 'extract a res object for a sinlge aircraft from a multi-aircraft simulation'
-
- num_vars = len(get_state_names()) + llc.get_num_integrators()
- num_aircraft = res['states'][0].size // num_vars
-
- if num_aircraft == 1:
- assert index == 0
- rv = res
- else:
- rv = {}
- rv['status'] = res['status']
- rv['times'] = res['times']
- rv['modes'] = res['modes']
-
- full_states = res['states']
- rv['states'] = full_states[:, num_vars*index:num_vars*(index+1)]
-
- if 'xd_list' in res:
- # extended states
- key_list = ['xd_list', 'ps_list', 'Nz_list', 'Ny_r_list', 'u_list']
-
- for key in key_list:
- rv[key] = [tup[index] for tup in res[key]]
-
- return rv
-
-class SafetyLimits(Freezable):
- 'a class for holding a set of safety limits.'
-
- def __init__(self, **kwargs):
- self.altitude = kwargs['altitude'] if 'altitude' in kwargs and kwargs['altitude'] is not None else None
- self.Nz = kwargs['Nz'] if 'Nz' in kwargs and kwargs['Nz'] is not None else None
- self.v = kwargs['v'] if 'v' in kwargs and kwargs['v'] is not None else None
- self.alpha = kwargs['alpha'] if 'alpha' in kwargs and kwargs['alpha'] is not None else None
-
- self.psMaxAccelDeg = kwargs['psMaxAccelDeg'] if 'psMaxAccelDeg' in kwargs and kwargs['psMaxAccelDeg'] is not None else None
- self.betaMaxDeg = kwargs['betaMaxDeg'] if 'betaMaxDeg' in kwargs and kwargs['betaMaxDeg'] is not None else None
-
- self.freeze_attrs()
-
-class SafetyLimitsVerifier(Freezable):
- 'given some limits (in a SafetyLimits) and optional low-level controller (in a LowLevelController), verify whether the simulation results are safe.'
-
- def __init__(self, safety_limits, llc=None):
- self.safety_limits = safety_limits
- self.llc = llc
-
- def verify(self, results):
- # Determine the number of state variables per tick of the simulation.
- if self.llc is not None:
- num_state_vars = len(get_state_names()) + \
- self.llc.get_num_integrators()
- else:
- num_state_vars = len(get_state_names())
- # Check whether the results are sane.
- assert (results['states'].size % num_state_vars) == 0, \
- "Wrong number of state variables."
-
- # Go through each tick of the simulation and determine whether
- # the object(s) was (were) in a safe state.
- for i in range(results['states'].size // num_state_vars):
- _vt, alpha, beta, _phi, \
- _theta, _psi, _p, _q, \
- _r, _pos_n, _pos_e, alt, \
- _, _, _, _ = results['states'][i]
- nz = results['Nz_list'][i]
- ps = results['ps_list'][i]
-
- if self.safety_limits.altitude is not None:
- assert self.safety_limits.altitude[0] <= alt <= self.safety_limits.altitude[1], "Altitude ({}) is not within the specified limits ({}, {}).".format(alt, self.safety_limits.altitude[0], self.safety_limits.altitude[1])
-
- if self.safety_limits.Nz is not None:
- assert self.safety_limits.Nz[0] <= nz <= self.safety_limits.Nz[1], "Nz ({}) is not within the specified limits ({}, {}).".format(nz, self.safety_limits.Nz[0], self.safety_limits.Nz[1])
-
- if self.safety_limits.alpha is not None:
- assert self.safety_limits.alpha[0] <= alpha <= self.safety_limits.alpha[1], "alpha ({}) is not within the specified limits ({}, {}).".format(nz, self.safety_limits.alpha[0], self.safety_limits.alpha[1])
-
- if self.safety_limits.psMaxAccelDeg is not None:
- assert ps <= self.safety_limits.psMaxAccelDeg, "Ps is not less than the specified max."
-
- if self.safety_limits.betaMaxDeg is not None:
- assert beta <= self.safety_limits.betaMaxDeg, "Beta is not less than the specified max."
diff --git a/demo/F16/aerobench/visualize/anim3d.py b/demo/F16/aerobench/visualize/anim3d.py
deleted file mode 100644
index 9042af44979c1f5ef92f4da2ccf967047526fe18..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/visualize/anim3d.py
+++ /dev/null
@@ -1,404 +0,0 @@
-'''
-3d plotting utilities for aerobench
-'''
-
-import math
-import time
-import os
-import traceback
-
-from scipy.io import loadmat
-
-import numpy as np
-from numpy import rad2deg
-
-# these imports are needed for 3d plotting
-from mpl_toolkits.mplot3d import Axes3D
-from mpl_toolkits.mplot3d.art3d import Line3D, Poly3DCollection
-
-import matplotlib
-import matplotlib.animation as animation
-import matplotlib.pyplot as plt
-
-from aerobench.visualize import plot
-from aerobench.util import StateIndex
-
-def get_script_path(filename=__file__):
- '''get the path this script'''
- return os.path.dirname(os.path.realpath(filename))
-
-def make_anim(res, filename, viewsize=1000, viewsize_z=1000, f16_scale=30, trail_pts=60,
- elev=30, azim=45, skip_frames=None, chase=False, fixed_floor=False,
- init_extra=None, update_extra=None):
- '''
- make a 3d plot of the GCAS maneuver.
-
- see examples/anim3d folder for examples on usage
- '''
-
- plot.init_plot()
- start = time.time()
-
- if not isinstance(res, list):
- res = [res]
-
- if not isinstance(viewsize, list):
- viewsize = [viewsize]
-
- if not isinstance(viewsize_z, list):
- viewsize_z = [viewsize_z]
-
- if not isinstance(f16_scale, list):
- f16_scale = [f16_scale]
-
- if not isinstance(trail_pts, list):
- trail_pts = [trail_pts]
-
- if not isinstance(elev, list):
- elev = [elev]
-
- if not isinstance(azim, list):
- azim = [azim]
-
- if not isinstance(skip_frames, list):
- skip_frames = [skip_frames]
-
- if not isinstance(chase, list):
- chase = [chase]
-
- if not isinstance(fixed_floor, list):
- fixed_floor = [fixed_floor]
-
- if not isinstance(init_extra, list):
- init_extra = [init_extra]
-
- if not isinstance(update_extra, list):
- update_extra = [update_extra]
-
- #####
- # fill in defaults
- if filename == '':
- full_plot = False
- else:
- full_plot = True
-
- for i, skip in enumerate(skip_frames):
- if skip is not None:
- continue
-
- if filename == '': # plot to the screen
- skip_frames[i] = 5
- elif filename.endswith('.gif'):
- skip_frames[i] = 2
- else:
- skip_frames[i] = 1 # plot every frame
-
- if filename == '':
- filename = None
-
- ##
- all_times = []
- all_states = []
- all_modes = []
- all_ps_list = []
- all_Nz_list = []
-
- for r, skip in zip(res, skip_frames):
- t = r['times']
- s = r['states']
- m = r['modes']
- ps = r['ps_list']
- Nz = r['Nz_list']
-
- t = t[0::skip]
- s = s[0::skip]
- m = m[0::skip]
- ps = ps[0::skip]
- Nz = Nz[0::skip]
-
- all_times.append(t)
- all_states.append(s)
- all_modes.append(m)
- all_ps_list.append(ps)
- all_Nz_list.append(Nz)
-
- ##
-
- fig = plt.figure(figsize=(8, 7))
- ax = fig.add_subplot(111, projection='3d')
-
- ##
-
- parent = get_script_path()
- plane_point_data = os.path.join(parent, 'f-16.mat')
-
- data = loadmat(plane_point_data)
- f16_pts = data['V']
- f16_faces = data['F']
-
- plane_polys = Poly3DCollection([], color=None if full_plot else 'k')
- ax.add_collection3d(plane_polys)
-
- ax.set_xlabel('X [ft]', fontsize=14)
- ax.set_ylabel('Y [ft]', fontsize=14)
- ax.set_zlabel('Altitude [ft]', fontsize=14)
-
- # text
- fontsize = 14
- time_text = ax.text2D(0.05, 0.97, "", transform=ax.transAxes, fontsize=fontsize)
- mode_text = ax.text2D(0.95, 0.97, "", transform=ax.transAxes, fontsize=fontsize, horizontalalignment='right')
-
- alt_text = ax.text2D(0.05, 0.93, "", transform=ax.transAxes, fontsize=fontsize)
- v_text = ax.text2D(0.95, 0.93, "", transform=ax.transAxes, fontsize=fontsize, horizontalalignment='right')
-
- alpha_text = ax.text2D(0.05, 0.89, "", transform=ax.transAxes, fontsize=fontsize)
- beta_text = ax.text2D(0.95, 0.89, "", transform=ax.transAxes, fontsize=fontsize, horizontalalignment='right')
-
- nz_text = ax.text2D(0.05, 0.85, "", transform=ax.transAxes, fontsize=fontsize)
- ps_text = ax.text2D(0.95, 0.85, "", transform=ax.transAxes, fontsize=fontsize, horizontalalignment='right')
-
- ang_text = ax.text2D(0.5, 0.81, "", transform=ax.transAxes, fontsize=fontsize, horizontalalignment='center')
-
- trail_line, = ax.plot([], [], [], color='r', lw=2, zorder=50)
-
- extra_lines = []
-
- for func in init_extra:
- if func is not None:
- extra_lines.append(func(ax))
- else:
- extra_lines.append([])
-
- first_frames = []
- frames = 0
-
- for t in all_times:
- first_frames.append(frames)
- frames += len(t)
-
- def anim_func(global_frame):
- 'updates for the animation frame'
-
- index = 0
- first_frame = False
-
- for i, f in enumerate(first_frames):
- if global_frame >= f:
- index = i
-
- if global_frame == f:
- first_frame = True
- break
-
- frame = global_frame - first_frames[index]
- states = all_states[index]
- times = all_times[index]
- modes = all_modes[index]
- Nz_list = all_Nz_list[index]
- ps_list = all_ps_list[index]
-
- print(f"Frame: {global_frame}/{frames} - Index {index} frame {frame}/{len(times)}")
-
- speed = states[frame][0]
- alpha = states[frame][1]
- beta = states[frame][2]
- alt = states[frame][11]
-
- phi = states[frame][StateIndex.PHI]
- theta = states[frame][StateIndex.THETA]
- psi = states[frame][StateIndex.PSI]
-
- dx = states[frame][StateIndex.POS_E]
- dy = states[frame][StateIndex.POS_N]
- dz = states[frame][StateIndex.ALT]
-
- if first_frame:
- ax.view_init(elev[index], azim[index])
-
- for i, lines in enumerate(extra_lines):
- for line in lines:
- line.set_visible(i == index)
-
- time_text.set_text('t = {:.2f} sec'.format(times[frame]))
-
- if chase[index]:
- ax.view_init(elev[index], rad2deg(-psi) - 90.0)
-
- colors = ['red', 'blue', 'green', 'magenta']
-
- mode_names = []
-
- for mode in modes:
- if not mode in mode_names:
- mode_names.append(mode)
-
- mode = modes[frame]
- mode_index = modes.index(mode)
- col = colors[mode_index % len(colors)]
- mode_text.set_color(col)
- mode_text.set_text('Mode: {}'.format(mode.capitalize()))
-
- alt_text.set_text('h = {:.2f} ft'.format(alt))
- v_text.set_text('V = {:.2f} ft/sec'.format(speed))
-
- alpha_text.set_text('$\\alpha$ = {:.2f} deg'.format(rad2deg(alpha)))
- beta_text.set_text('$\\beta$ = {:.2f} deg'.format(rad2deg(beta)))
-
- nz_text.set_text('$N_z$ = {:.2f} g'.format(Nz_list[frame]))
- ps_text.set_text('$p_s$ = {:.2f} deg/sec'.format(rad2deg(ps_list[frame])))
-
- ang_text.set_text('[$\\phi$, $\\theta$, $\\psi$] = [{:.2f}, {:.2f}, {:.2f}] deg'.format(\
- rad2deg(phi), rad2deg(theta), rad2deg(psi)))
-
- s = f16_scale[index]
- s = 25 if s is None else s
- pts = scale3d(f16_pts, [-s, s, s])
-
- pts = rotate3d(pts, theta, psi - math.pi/2, -phi)
-
- size = viewsize[index]
- size = 1000 if size is None else size
- minx = dx - size
- maxx = dx + size
- miny = dy - size
- maxy = dy + size
-
- vz = viewsize_z[index]
- vz = 1000 if vz is None else vz
-
- if fixed_floor[index]:
- minz = 0
- maxz = vz
- else:
- minz = dz - vz
- maxz = dz + vz
-
- ax.set_xlim([minx, maxx])
- ax.set_ylim([miny, maxy])
- ax.set_zlim([minz, maxz])
-
- verts = []
- fc = []
- ec = []
- count = 0
-
- # draw ground
- if minz <= 0 <= maxz:
- z = 0
- verts.append([(minx, miny, z), (maxx, miny, z), (maxx, maxy, z), (minx, maxy, z)])
- fc.append('0.8')
- ec.append('0.8')
-
- # draw f16
- for face in f16_faces:
- face_pts = []
-
- count = count + 1
-
- if not full_plot and count % 10 != 0:
- continue
-
- for findex in face:
- face_pts.append((pts[findex-1][0] + dx, \
- pts[findex-1][1] + dy, \
- pts[findex-1][2] + dz))
-
- verts.append(face_pts)
- fc.append('0.2')
- ec.append('0.2')
-
- plane_polys.set_verts(verts)
- plane_polys.set_facecolor(fc)
- plane_polys.set_edgecolor(ec)
-
- # do trail
- t = trail_pts[index]
- t = 200 if t is None else t
- trail_len = t // skip_frames[index]
- start_index = max(0, frame-trail_len)
-
- pos_xs = [pt[StateIndex.POS_E] for pt in states]
- pos_ys = [pt[StateIndex.POS_N] for pt in states]
- pos_zs = [pt[StateIndex.ALT] for pt in states]
-
- trail_line.set_data(np.asarray(pos_xs[start_index:frame]), np.asarray(pos_ys[start_index:frame]))
- trail_line.set_3d_properties(np.asarray(pos_zs[start_index:frame]))
-
- if update_extra[index] is not None:
- update_extra[index](frame)
-
- plt.tight_layout()
-
- interval = 30
-
- if filename.endswith('.gif'):
- interval = 60
-
- anim_obj = animation.FuncAnimation(fig, anim_func, frames, interval=interval, \
- blit=False, repeat=True)
-
- if filename is not None:
-
- if filename.endswith('.gif'):
- print("\nSaving animation to '{}' using 'imagemagick'...".format(filename))
- anim_obj.save(filename, dpi=60, writer='imagemagick') # dpi was 80
- print("Finished saving to {} in {:.1f} sec".format(filename, time.time() - start))
- else:
- fps = 40
- codec = 'libx264'
-
- print("\nSaving '{}' at {:.2f} fps using ffmpeg with codec '{}'.".format(filename, fps, codec))
-
- # if this fails do: 'sudo apt-get install ffmpeg'
- try:
- extra_args = []
-
- if codec is not None:
- extra_args += ['-vcodec', str(codec)]
-
- anim_obj.save(filename, fps=fps, extra_args=extra_args)
- print("Finished saving to {} in {:.1f} sec".format(filename, time.time() - start))
- except AttributeError:
- traceback.print_exc()
- print("\nSaving video file failed! Is ffmpeg installed? Can you run 'ffmpeg' in the terminal?")
- else:
- plt.show()
-
-def scale3d(pts, scale_list):
- 'scale a 3d ndarray of points, and return the new ndarray'
-
- assert len(scale_list) == 3
-
- rv = np.zeros(pts.shape)
-
- for i in range(pts.shape[0]):
- for d in range(3):
- rv[i, d] = scale_list[d] * pts[i, d]
-
- return rv
-
-def rotate3d(pts, theta, psi, phi):
- 'rotates an ndarray of 3d points, returns new list'
-
- sinTheta = math.sin(theta)
- cosTheta = math.cos(theta)
- sinPsi = math.sin(psi)
- cosPsi = math.cos(psi)
- sinPhi = math.sin(phi)
- cosPhi = math.cos(phi)
-
- transform_matrix = np.array([ \
- [cosPsi * cosTheta, -sinPsi * cosTheta, sinTheta], \
- [cosPsi * sinTheta * sinPhi + sinPsi * cosPhi, \
- -sinPsi * sinTheta * sinPhi + cosPsi * cosPhi, \
- -cosTheta * sinPhi], \
- [-cosPsi * sinTheta * cosPhi + sinPsi * sinPhi, \
- sinPsi * sinTheta * cosPhi + cosPsi * sinPhi, \
- cosTheta * cosPhi]], dtype=float)
-
- rv = np.zeros(pts.shape)
-
- for i in range(pts.shape[0]):
- rv[i] = np.dot(pts[i], transform_matrix)
-
- return rv
diff --git a/demo/F16/aerobench/visualize/bak_matplotlib.mlpstyle b/demo/F16/aerobench/visualize/bak_matplotlib.mlpstyle
deleted file mode 100644
index 58c7faed1401e5334c5489c2343574ae9036ae4e..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/visualize/bak_matplotlib.mlpstyle
+++ /dev/null
@@ -1,8 +0,0 @@
-font.family : serif
-xtick.labelsize : 14
-ytick.labelsize : 14
-
-axes.labelsize : 20
-axes.titlesize : 28
-
-path.simplify : False
diff --git a/demo/F16/aerobench/visualize/f-16.mat b/demo/F16/aerobench/visualize/f-16.mat
deleted file mode 100644
index dd42bdfb56ac815ef1c1cb6259d92a7d7b8c484d..0000000000000000000000000000000000000000
Binary files a/demo/F16/aerobench/visualize/f-16.mat and /dev/null differ
diff --git a/demo/F16/aerobench/visualize/plot.py b/demo/F16/aerobench/visualize/plot.py
deleted file mode 100644
index c690145292ed4fdb1fba6ea08dbcf0bfeacd73a0..0000000000000000000000000000000000000000
--- a/demo/F16/aerobench/visualize/plot.py
+++ /dev/null
@@ -1,294 +0,0 @@
-'''
-Stanley Bak
-Python code for F-16 animation video output
-'''
-
-import math
-import os
-
-import numpy as np
-from numpy import rad2deg
-
-import matplotlib
-import matplotlib.animation as animation
-import matplotlib.pyplot as plt
-
-from aerobench.util import get_state_names, StateIndex
-
-def get_script_path(filename=__file__):
- '''get the path this script'''
- return os.path.dirname(os.path.realpath(filename))
-
-def init_plot():
- 'initialize plotting style'
-
- matplotlib.use('TkAgg') # set backend
-
- parent = get_script_path()
- p = os.path.join(parent, 'bak_matplotlib.mlpstyle')
-
- plt.style.use(['bmh', p])
-
-def plot_overhead(run_sim_result, waypoints=None, llc=None):
- '''altitude over time plot from run_f16_sum result object
-
- note: call plt.show() afterwards to have plot show up
- '''
-
- init_plot()
-
- res = run_sim_result
- fig = plt.figure(figsize=(7, 5))
-
- ax = fig.add_subplot(1, 1, 1)
-
- full_states = res['states']
-
- if llc is not None:
- num_vars = len(get_state_names()) + llc.get_num_integrators()
- num_aircraft = full_states[0, :].size // num_vars
- else:
- num_vars = full_states[0, :].size
- num_aircraft = 1
-
- for i in range(num_aircraft):
- states = full_states[:, i*num_vars:(i+1)*num_vars]
-
- ys = states[:, StateIndex.POSN] # 9: n/s position (ft)
- xs = states[:, StateIndex.POSE] # 10: e/w position (ft)
-
- ax.plot(xs, ys, '-')
-
- label = 'Start' if i == 0 else None
- ax.plot([xs[0]], [ys[1]], 'k*', ms=8, label=label)
-
- if waypoints is not None:
- xs = [wp[0] for wp in waypoints]
- ys = [wp[1] for wp in waypoints]
-
- ax.plot(xs, ys, 'ro', label='Waypoints')
-
- ax.set_ylabel('North / South Position (ft)')
- ax.set_xlabel('East / West Position (ft)')
-
- ax.set_title('Overhead Plot')
-
- ax.axis('equal')
-
- ax.legend()
-
- plt.tight_layout()
-
-def plot_attitude(run_sim_result, title='Attitude History', skip_yaw=True, figsize=(7, 5)):
- 'plot a single variable over time'
-
- init_plot()
-
- res = run_sim_result
- fig = plt.figure(figsize=figsize)
-
- ax = fig.add_subplot(1, 1, 1)
- ax.ticklabel_format(useOffset=False)
-
- times = res['times']
- states = res['states']
-
- indices = [StateIndex.PHI, StateIndex.THETA, StateIndex.PSI, StateIndex.P, StateIndex.Q, StateIndex.R]
- labels = ['Roll (Phi)', 'Pitch (Theta)', 'Yaw (Psi)', 'Roll Rate (P)', 'Pitch Rate (Q)', 'Yaw Rate (R)']
- colors = ['r-', 'g-', 'b-', 'r--', 'g--', 'b--']
-
- rad_to_deg_factor = 180 / math.pi
-
- for index, label, color in zip(indices, labels, colors):
- if skip_yaw and index == StateIndex.PSI:
- continue
-
- ys = states[:, index] # 11: altitude (ft)
-
- ax.plot(times, ys * rad_to_deg_factor, color, label=label)
-
- ax.set_ylabel('Attitudes & Rates (deg, deg/s)')
- ax.set_xlabel('Time (sec)')
-
- if title is not None:
- ax.set_title(title)
-
- ax.legend()
- plt.tight_layout()
-
-def plot_outer_loop(run_sim_result, title='Outer Loop Controls'):
- 'plot a single variable over time'
-
- init_plot()
-
- res = run_sim_result
- assert 'u_list' in res, "Simulation must be run with extended_states=True"
- fig = plt.figure(figsize=(7, 5))
-
- ax = fig.add_subplot(1, 1, 1)
- ax.ticklabel_format(useOffset=False)
-
- times = res['times']
- u_list = res['u_list']
- ps_list = res['ps_list']
- nz_list = res['Nz_list']
- ny_r_list = res['Ny_r_list']
-
- # u is: throt, ele, ail, rud, Nz_ref, ps_ref, Ny_r_ref
- # u_ref is: Nz, ps, Ny + r, throttle
- ys_list = []
-
- ys_list.append(nz_list)
- ys_list.append([u[4] for u in u_list])
-
- ys_list.append(ps_list)
- ys_list.append([u[5] for u in u_list])
-
- ys_list.append(ny_r_list)
- ys_list.append([u[6] for u in u_list])
-
- # throttle reference is not included... although it's just a small offset so probably less important
- ys_list.append([u[0] for u in u_list])
-
- labels = ['N_z', 'N_z,ref', 'P_s', 'P_s,ref', 'N_yr', 'N_yr,ref', 'Throttle']
- colors = ['r', 'r', 'lime', 'lime', 'b', 'b', 'c']
-
- for i, (ys, label, color) in enumerate(zip(ys_list, labels, colors)):
- lt = '-' if i % 2 == 0 else ':'
- lw = 1 if i % 2 == 0 else 3
-
- ax.plot(times, ys, lt, lw=lw, color=color, label=label)
-
- ax.set_ylabel('Autopilot (deg & percent)')
- ax.set_xlabel('Time (sec)')
-
- if title is not None:
- ax.set_title(title)
-
- ax.legend()
- plt.tight_layout()
-
-def plot_inner_loop(run_sim_result, title='Inner Loop Controls'):
- 'plot inner loop controls over time'
-
- init_plot()
-
- res = run_sim_result
- assert 'u_list' in res, "Simulation must be run with extended_states=True"
- fig = plt.figure(figsize=(7, 5))
-
- ax = fig.add_subplot(1, 1, 1)
- ax.ticklabel_format(useOffset=False)
-
- times = res['times']
- u_list = res['u_list']
-
- # u is throt, ele, ail, rud, Nz_ref, ps_ref, Ny_r_ref
- ys_list = []
-
- rad_to_deg_factor = 180 / math.pi
-
- for i in range(4):
- factor = 1.0 if i == 0 else rad_to_deg_factor
- ys_list.append([u[i] * factor for u in u_list])
-
- labels = ['Throttle', 'Elevator', 'Aileron', 'Rudder']
- colors = ['b-', 'r-', '#FFA500', 'm-']
-
- for ys, label, color in zip(ys_list, labels, colors):
- ax.plot(times, ys, color, label=label)
-
- ax.set_ylabel('Controls (deg & percent)')
- ax.set_xlabel('Time (sec)')
-
- if title is not None:
- ax.set_title(title)
-
- ax.legend()
- plt.tight_layout()
-
-def plot_single(run_sim_result, state_name, title=None):
- 'plot a single variable over time'
-
- init_plot()
-
- res = run_sim_result
- fig = plt.figure(figsize=(7, 5))
-
- ax = fig.add_subplot(1, 1, 1)
- ax.ticklabel_format(useOffset=False)
-
- times = res['times']
- states = res['states']
-
- index = get_state_names().index(state_name)
- ys = states[:, index] # 11: altitude (ft)
-
- ax.plot(times, ys, '-')
-
- ax.set_ylabel(state_name)
- ax.set_xlabel('Time')
-
- if title is not None:
- ax.set_title(title)
-
- plt.tight_layout()
-
-def plot_altitude(run_sim_result):
- '''altitude over time plot from run_f16_sum result object
-
- note: call plt.show() afterwards to have plot show up
- '''
-
- plot_single(run_sim_result, 'alt')
-
-
-def plot2d(filename, times, plot_data_list):
- '''plot state variables in 2d
-
- plot data list of is a list of (values_list, var_data),
- where values_list is an 2-d array, the first is time step, the second is a state vector
- and each var_data is a list of tuples: (state_index, label)
- '''
-
- num_plots = sum([len(var_data) for _, var_data in plot_data_list])
-
- fig = plt.figure(figsize=(7, 5))
-
- for plot_index in range(num_plots):
- ax = fig.add_subplot(num_plots, 1, plot_index + 1)
- ax.tick_params(axis='both', which='major', labelsize=16)
-
- sum_plots = 0
- states = None
- state_var_data = None
-
- for values_list, var_data in plot_data_list:
- if plot_index < sum_plots + len(var_data):
- states = values_list
- state_var_data = var_data
- break
-
- sum_plots += len(var_data)
-
- state_index, label = state_var_data[plot_index - sum_plots]
-
- if state_index == 0 and isinstance(states[0], float): # state is just a single number
- ys = states
- else:
- ys = [state[state_index] for state in states]
-
- ax.plot(times, ys, '-')
-
- ax.set_ylabel(label, fontsize=16)
-
- # last one gets an x axis label
- if plot_index == num_plots - 1:
- ax.set_xlabel('Time', fontsize=16)
-
- plt.tight_layout()
-
- if filename is not None:
- plt.savefig(filename, bbox_inches='tight')
- else:
- plt.show()
diff --git a/demo/F16/agent_F16.py b/demo/F16/agent_F16.py
deleted file mode 100644
index 1ff9cea7d9e7e031502a8020df5789444b993bca..0000000000000000000000000000000000000000
--- a/demo/F16/agent_F16.py
+++ /dev/null
@@ -1,216 +0,0 @@
-from typing import Tuple, List
-
-import numpy as np
-from scipy.integrate import ode
-
-from verse import BaseAgent
-from verse import LaneMap
-from waypoint_autopilot import WaypointAutopilot
-from scipy.integrate import RK45
-
-from aerobench.highlevel.controlled_f16 import controlled_f16
-from aerobench.util import get_state_names, Euler
-
-
-class F16_Agent(BaseAgent):
- '''Dynamics of an F16 aircraft
- derived from Stanley Bak's python library'''
-
- def __init__(self, id, ap: WaypointAutopilot, extended_states=False, integrator_str='rk45', model_str='morelli', v2_integrators=False, code=None, file_name=None):
- '''Contructor for one F16 agent
- EXACTLY one of the following should be given
- file_name: name of the controller
- code: pyhton string ddefning the controller
- '''
- # Calling the constructor of tha base class
- super().__init__(id, code, file_name)
- self.ap = ap
- self.extended_states = extended_states
- self.integrator_str = integrator_str
- self.model_str = model_str
- self.v2_integrators = v2_integrators
-
- def TC_simulate(self, mode: List[str], initialCondition, time_bound, time_step, lane_map: LaneMap = None) -> np.ndarray:
- initial_state = np.array(initialCondition, dtype=float)
- llc = self.ap.llc
-
- num_vars = len(get_state_names()) + llc.get_num_integrators()
-
- if initial_state.size < num_vars:
- # append integral error states to state vector
- x0 = np.zeros(num_vars)
- x0[:initial_state.shape[0]] = initial_state
- else:
- x0 = initial_state
-
- assert x0.size % num_vars == 0, f"expected initial state ({x0.size} vars) to be multiple of {num_vars} vars"
-
- # run the numerical simulation
- times = [0]
- states = [x0]
-
- # mode can change at time 0
- self.ap.advance_discrete_mode(times[-1], states[-1])
-
- modes = [self.ap.mode]
-
- if self.extended_states:
- xd, u, Nz, ps, Ny_r = get_extended_states(
- self.ap, times[-1], states[-1], self.model_str, self.v2_integrators)
-
- xd_list = [xd]
- u_list = [u]
- Nz_list = [Nz]
- ps_list = [ps]
- Ny_r_list = [Ny_r]
-
- der_func = make_der_func(self.ap, self.model_str, self.v2_integrators)
-
- if self.integrator_str == 'rk45':
- integrator_class = RK45
- kwargs = {}
- else:
- assert self.integrator_str == 'euler'
- integrator_class = Euler
- kwargs = {'step': time_step}
-
- # note: fixed_step argument is unused by rk45, used with euler
- integrator = integrator_class(
- der_func, times[-1], states[-1], time_bound, **kwargs)
-
- while integrator.status == 'running':
- integrator.step()
-
- if integrator.t >= times[-1] + time_step:
- dense_output = integrator.dense_output()
-
- while integrator.t >= times[-1] + time_step:
- t = times[-1] + time_step
- #print(f"{round(t, 2)} / {tmax}")
-
- times.append(t)
- states.append(dense_output(t))
-
- updated = self.ap.advance_discrete_mode(
- times[-1], states[-1])
- modes.append(self.ap.mode)
-
- # re-run dynamics function at current state to get non-state variables
- if self.extended_states:
- xd, u, Nz, ps, Ny_r = get_extended_states(
- self.ap, times[-1], states[-1], self.model_str, self.v2_integrators)
-
- xd_list.append(xd)
- u_list.append(u)
-
- Nz_list.append(Nz)
- ps_list.append(ps)
- Ny_r_list.append(Ny_r)
-
- if self.ap.is_finished(times[-1], states[-1]):
- # this both causes the outer loop to exit and sets res['status'] appropriately
- integrator.status = 'autopilot finished'
- break
-
- if updated:
- # re-initialize the integration class on discrete mode switches
- integrator = integrator_class(
- der_func, times[-1], states[-1], time_bound, **kwargs)
- break
-
- assert 'finished' in integrator.status
-
- res = {}
- res['status'] = integrator.status
- res['times'] = times
- res['states'] = np.array(states, dtype=float)
- res['modes'] = modes
-
- if self.extended_states:
- res['xd_list'] = xd_list
- res['ps_list'] = ps_list
- res['Nz_list'] = Nz_list
- res['Ny_r_list'] = Ny_r_list
- res['u_list'] = u_list
- trace = []
- state_len = len(get_state_names())
- for i in range(0, len(times)):
- trace.append([times[i]]+states[i]
- [:state_len].tolist())
- return np.array(trace)
-
-
-def make_der_func(ap: WaypointAutopilot, model_str, v2_integrators):
- 'make the combined derivative function for integration'
-
- def der_func(t, full_state):
- 'derivative function, generalized for multiple aircraft'
-
- u_refs = ap.get_checked_u_ref(t, full_state)
-
- num_aircraft = u_refs.size // 4
- num_vars = len(get_state_names()) + ap.llc.get_num_integrators()
- assert full_state.size // num_vars == num_aircraft
-
- xds = []
-
- for i in range(num_aircraft):
- state = full_state[num_vars*i:num_vars*(i+1)]
- u_ref = u_refs[4*i:4*(i+1)]
-
- xd = controlled_f16(t, state, u_ref, ap.llc,
- model_str, v2_integrators)[0]
- xds.append(xd)
-
- rv = np.hstack(xds)
-
- return rv
-
- return der_func
-
-
-def get_extended_states(ap, t, full_state, model_str, v2_integrators):
- '''get xd, u, Nz, ps, Ny_r at the current time / state
-
- returns tuples if more than one aircraft
- '''
-
- llc = ap.llc
- num_vars = len(get_state_names()) + llc.get_num_integrators()
- num_aircraft = full_state.size // num_vars
-
- xd_tup = []
- u_tup = []
- Nz_tup = []
- ps_tup = []
- Ny_r_tup = []
-
- u_refs = ap.get_checked_u_ref(t, full_state)
-
- for i in range(num_aircraft):
- state = full_state[num_vars*i:num_vars*(i+1)]
- u_ref = u_refs[4*i:4*(i+1)]
-
- xd, u, Nz, ps, Ny_r = controlled_f16(
- t, state, u_ref, llc, model_str, v2_integrators)
-
- xd_tup.append(xd)
- u_tup.append(u)
- Nz_tup.append(Nz)
- ps_tup.append(ps)
- Ny_r_tup.append(Ny_r)
-
- if num_aircraft == 1:
- rv_xd = xd_tup[0]
- rv_u = u_tup[0]
- rv_Nz = Nz_tup[0]
- rv_ps = ps_tup[0]
- rv_Ny_r = Ny_r_tup[0]
- else:
- rv_xd = tuple(xd_tup)
- rv_u = tuple(u_tup)
- rv_Nz = tuple(Nz_tup)
- rv_ps = tuple(ps_tup)
- rv_Ny_r = tuple(Ny_r_tup)
-
- return rv_xd, rv_u, rv_Nz, rv_ps, rv_Ny_r
diff --git a/demo/F16/alt.png b/demo/F16/alt.png
deleted file mode 100644
index 2ce1015d7fd9d284e062ff5b3ae13a9a994d2c7f..0000000000000000000000000000000000000000
Binary files a/demo/F16/alt.png and /dev/null differ
diff --git a/demo/F16/attitude.png b/demo/F16/attitude.png
deleted file mode 100644
index e45ef4cfde0c619b767e5ffc6e142b6255aaa41f..0000000000000000000000000000000000000000
Binary files a/demo/F16/attitude.png and /dev/null differ
diff --git a/demo/F16/controller_F16.py b/demo/F16/controller_F16.py
deleted file mode 100644
index 33856423bcbea99bb3ebf0f5a7fe3ca983c397b3..0000000000000000000000000000000000000000
--- a/demo/F16/controller_F16.py
+++ /dev/null
@@ -1,52 +0,0 @@
-from enum import Enum, auto
-import copy
-from numpy import deg2rad
-from math import pi
-
-
-class F16Mode(Enum):
- '''Defines the discrete modes of a single agent'''
- NORMAL = auto()
- # TODO: The one mode of this automation is called "NORMAL" and auto assigns it an integer value.
-
-
-class State:
- '''Defines the state variables of the model
- Both discrete and continuous variables.
- Initial values defined here do not matter.
- '''
- mode: F16Mode
- ### Continuous variable initial conditions ###
- power = 9 # engine power level (0-10)
-
- # Default alpha & beta
- alpha = deg2rad(2.1215) # Trim Angle of Attack (rad)
- beta = 0 # Side slip angle (rad)
-
- # Initial Attitude
- alt = 3800 # altitude (ft)
- vt = 540 # initial velocity (ft/sec)
- phi = 0 # Roll angle from wings level (rad)
- theta = 0 # Pitch angle from nose level (rad)
- psi = pi / 8 # Yaw angle from North (rad)
-
- p = 0
- q = 0
- r = 0
- pn = 0
- pe = 0
-
- # Build Initial Condition Vectors
- # state = [vt, alpha, beta, phi, theta, psi, P, Q, R, pn, pe, h, pow]
- # init = [vt, alpha, beta, phi, theta, psi, 0, 0, 0, 0, 0, alt, power]
-
- def __init__(self, vt, alpha, beta, phi, theta, psi, p, q, r, pn, pe, alt, power, mode: F16Mode):
- pass
-
-
-def controller(ego: State, others: State):
- '''Computes the possible mode transitions
- For now this is an empty controller function.
- Coming soon. Waypoint transitions. Platooning.'''
- output = copy.deepcopy(ego)
- return output
diff --git a/demo/F16/demo_F16.py b/demo/F16/demo_F16.py
deleted file mode 100644
index c0a03b89d8ce404f52b781f2b8a230c4bbca4f20..0000000000000000000000000000000000000000
--- a/demo/F16/demo_F16.py
+++ /dev/null
@@ -1,105 +0,0 @@
-
-from verse import Scenario
-from verse.plotter.plotter2D import *
-from agent_F16 import F16_Agent
-import plotly.graph_objects as go
-from enum import Enum, auto
-from numpy import deg2rad
-from math import pi
-from waypoint_autopilot import WaypointAutopilot
-import os
-
-
-class F16Mode(Enum):
- '''Defines the discrete modes of a single agent'''
- NORMAL = auto()
- # TODO: The one mode of this automation is called "NORMAL" and auto assigns it an integer value.
-
-
-class State:
- '''Defines the state variables of the model
- Both discrete and continuous variables.
- Initial values defined here do not matter.
- '''
- mode: F16Mode = F16Mode.NORMAL
- ### Continuous variable initial conditions ###
- power = 9 # engine power level (0-10)
-
- # Default alpha & beta
- alpha = deg2rad(2.1215) # Trim Angle of Attack (rad)
- beta = 0 # Side slip angle (rad)
-
- # Initial Attitude
- alt = 3800 # altitude (ft)
- vt = 540 # initial velocity (ft/sec)
- phi = 0 # Roll angle from wings level (rad)
- theta = 0 # Pitch angle from nose level (rad)
- psi = pi / 8 # Yaw angle from North (rad)
-
- p = 0
- q = 0
- r = 0
- pn = 0
- pe = 0
-
- # Build Initial Condition Vectors
- # state = [vt, alpha, beta, phi, theta, psi, P, Q, R, pn, pe, h, pow]
- # init = [vt, alpha, beta, phi, theta, psi, 0, 0, 0, 0, 0, alt, power]
-
- def __init__(self, vt, alpha, beta, phi, theta, psi, p, q, r, pn, pe, alt, power, mode: F16Mode):
- pass
-
-
-if __name__ == "__main__":
- path = os.path.abspath(__file__)
- input_code_name = path.replace('demo_F16.py', 'controller_F16.py')
- # input_code_name = './F16/controller_F16.py'
- scenario = Scenario()
-
- ### Initial Conditions ###
- power = 9 # engine power level (0-10)
-
- # Default alpha & beta
- alpha = deg2rad(2.1215) # Trim Angle of Attack (rad)
- beta = 0 # Side slip angle (rad)
-
- # Initial Attitude
- alt = 3800 # altitude (ft)
- vt = 540 # initial velocity (ft/sec)
- phi = 0 # Roll angle from wings level (rad)
- theta = 0 # Pitch angle from nose level (rad)
- psi = pi/8 # Yaw angle from North (rad)
-
- # make waypoint list
- e_pt = 1000
- n_pt = 3000
- h_pt = 4000
-
- waypoints = [[e_pt, n_pt, h_pt],
- [e_pt + 2000, n_pt + 5000, h_pt - 100],
- [e_pt - 2000, n_pt + 15000, h_pt - 250],
- [e_pt - 500, n_pt + 25000, h_pt]]
-
- ap = WaypointAutopilot(waypoints, stdout=True)
- step = 1/30
- extended_states = True
- test = F16_Agent('test', ap=ap, extended_states=extended_states,
- integrator_str='rk45', file_name=input_code_name)
- scenario.add_agent(test)
- # Build Initial Condition Vectors
- # state = [vt, alpha, beta, phi, theta, psi, p, q, r, pn, pe, h, pow]
- init = [vt, alpha, beta, phi, theta, psi, 0, 0, 0, 0, 0, alt, power]
- tmax = 70 # simulation time
- scenario.set_init(
- [
- [init, init],
- ],
- [
- tuple([F16Mode.NORMAL]),
- ]
- )
- traces = scenario.simulate(tmax, step)
- fig = go.Figure()
- fig = simulation_tree(traces, None, fig, 0, 12, [
- 1, 2], 'lines', 'trace', label_mode='None')
- fig.show()
diff --git a/demo/F16/inner_loop.png b/demo/F16/inner_loop.png
deleted file mode 100644
index 35a1669f956d0fa4cc17af0cd5c16927d0508bb7..0000000000000000000000000000000000000000
Binary files a/demo/F16/inner_loop.png and /dev/null differ
diff --git a/demo/F16/outer_loop.png b/demo/F16/outer_loop.png
deleted file mode 100644
index 7689d3aa137f10331f44a1c9db6faa2c75a9bec4..0000000000000000000000000000000000000000
Binary files a/demo/F16/outer_loop.png and /dev/null differ
diff --git a/demo/F16/overhead.png b/demo/F16/overhead.png
deleted file mode 100644
index 349b8404228524ce0096682069cef50f7cfab78c..0000000000000000000000000000000000000000
Binary files a/demo/F16/overhead.png and /dev/null differ
diff --git a/demo/F16/res.json b/demo/F16/res.json
deleted file mode 100644
index be6d157e13b7d945430f98e19b171bf5dccb105d..0000000000000000000000000000000000000000
--- a/demo/F16/res.json
+++ /dev/null
@@ -1,103070 +0,0 @@
-{
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- -0.03189104549935808,
- 0.005274114147299209,
- 0.003791052963286984,
- 0.04439971145892873,
- -0.039317446460587754,
- 0.0
- ],
- [
- 0.1395,
- -0.0318877386021953,
- 0.005185418050195872,
- 0.003729011287345971,
- 0.04348420183465415,
- -0.038645226585422146,
- 0.0
- ],
- [
- 0.1395,
- -0.031884536724602,
- 0.005108520361188197,
- 0.003665541569734959,
- 0.042579398417403866,
- -0.03796607139360153,
- 0.0
- ]
- ],
- "runtime": 1.398975122
-}
\ No newline at end of file
diff --git a/demo/F16/waypoint_autopilot.py b/demo/F16/waypoint_autopilot.py
deleted file mode 100644
index 0c9575ff51826eb2452f965af05e6cf155fa2c11..0000000000000000000000000000000000000000
--- a/demo/F16/waypoint_autopilot.py
+++ /dev/null
@@ -1,307 +0,0 @@
-'''waypoint autopilot
-
-ported from matlab v2
-'''
-
-from math import pi, atan2, sqrt, sin, cos, asin
-
-import numpy as np
-
-from aerobench.highlevel.autopilot import Autopilot
-from aerobench.util import StateIndex
-from aerobench.lowlevel.low_level_controller import LowLevelController
-
-class WaypointAutopilot(Autopilot):
- '''waypoint follower autopilot'''
-
- def __init__(self, waypoints, gain_str='old', stdout=False):
- 'waypoints is a list of 3-tuples'
-
- self.stdout = stdout
- self.waypoints = waypoints
- self.waypoint_index = 0
-
- # waypoint config
- self.cfg_slant_range_threshold = 250
-
- # default control when not waypoint tracking
- self.cfg_u_ol_default = (0, 0, 0, 0.3)
-
- # control config
- # Gains for speed control
- self.cfg_k_vt = 0.25
- self.cfg_airspeed = 550
-
- # Gains for altitude tracking
- self.cfg_k_alt = 0.005
- self.cfg_k_h_dot = 0.02
-
- # Gains for heading tracking
- self.cfg_k_prop_psi = 5
- self.cfg_k_der_psi = 0.5
-
- # Gains for roll tracking
- self.cfg_k_prop_phi = 0.75
- self.cfg_k_der_phi = 0.5
- self.cfg_max_bank_deg = 65 # maximum bank angle setpoint
- # v2 was 0.5, 0.9
-
- # Ranges for Nz
- self.cfg_max_nz_cmd = 4
- self.cfg_min_nz_cmd = -1
-
- self.done_time = 0.0
-
- llc = LowLevelController(gain_str=gain_str)
-
- Autopilot.__init__(self, 'Waypoint 1', llc=llc)
-
- def log(self, s):
- 'print to terminal if stdout is true'
-
- if self.stdout:
- print(s)
-
- def get_u_ref(self, _t, x_f16):
- '''get the reference input signals'''
-
- if self.mode != "Done":
- psi_cmd = self.get_waypoint_data(x_f16)[0]
-
- # Get desired roll angle given desired heading
- phi_cmd = self.get_phi_to_track_heading(x_f16, psi_cmd)
- ps_cmd = self.track_roll_angle(x_f16, phi_cmd)
-
- nz_cmd = self.track_altitude(x_f16)
- throttle = self.track_airspeed(x_f16)
- else:
- # Waypoint Following complete: fly level.
- throttle = self.track_airspeed(x_f16)
- ps_cmd = self.track_roll_angle(x_f16, 0)
- nz_cmd = self.track_altitude_wings_level(x_f16)
-
- # trim to limits
- nz_cmd = max(self.cfg_min_nz_cmd, min(self.cfg_max_nz_cmd, nz_cmd))
- throttle = max(min(throttle, 1), 0)
-
- # Create reference vector
- rv = [nz_cmd, ps_cmd, 0, throttle]
-
- return rv
-
- def track_altitude(self, x_f16):
- 'get nz to track altitude, taking turning into account'
-
- h_cmd = self.waypoints[self.waypoint_index][2]
-
- h = x_f16[StateIndex.ALT]
- phi = x_f16[StateIndex.PHI]
-
- # Calculate altitude error (positive => below target alt)
- h_error = h_cmd - h
- nz_alt = self.track_altitude_wings_level(x_f16)
- nz_roll = get_nz_for_level_turn_ol(x_f16)
-
- if h_error > 0:
- # Ascend wings level or banked
- nz = nz_alt + nz_roll
- elif abs(phi) < np.deg2rad(15):
- # Descend wings (close enough to) level
- nz = nz_alt + nz_roll
- else:
- # Descend in bank (no negative Gs)
- nz = max(0, nz_alt + nz_roll)
-
- return nz
-
- def get_phi_to_track_heading(self, x_f16, psi_cmd):
- 'get phi from psi_cmd'
-
- # PD Control on heading angle using phi_cmd as control
-
- # Pull out important variables for ease of use
- psi = wrap_to_pi(x_f16[StateIndex.PSI])
- r = x_f16[StateIndex.R]
-
- # Calculate PD control
- psi_err = wrap_to_pi(psi_cmd - psi)
-
- phi_cmd = psi_err * self.cfg_k_prop_psi - r * self.cfg_k_der_psi
-
- # Bound to acceptable bank angles:
- max_bank_rad = np.deg2rad(self.cfg_max_bank_deg)
-
- phi_cmd = min(max(phi_cmd, -max_bank_rad), max_bank_rad)
-
- return phi_cmd
-
- def track_roll_angle(self, x_f16, phi_cmd):
- 'get roll angle command (ps_cmd)'
-
- # PD control on roll angle using stability roll rate
-
- # Pull out important variables for ease of use
- phi = x_f16[StateIndex.PHI]
- p = x_f16[StateIndex.P]
-
- # Calculate PD control
- ps = (phi_cmd-phi) * self.cfg_k_prop_phi - p * self.cfg_k_der_phi
-
- return ps
-
- def track_airspeed(self, x_f16):
- 'get throttle command'
-
- vt_cmd = self.cfg_airspeed
-
- # Proportional control on airspeed using throttle
- throttle = self.cfg_k_vt * (vt_cmd - x_f16[StateIndex.VT])
-
- return throttle
-
- def track_altitude_wings_level(self, x_f16):
- 'get nz to track altitude'
-
- i = self.waypoint_index if self.waypoint_index < len(self.waypoints) else -1
-
- h_cmd = self.waypoints[i][2]
-
- vt = x_f16[StateIndex.VT]
- h = x_f16[StateIndex.ALT]
-
- # Proportional-Derivative Control
- h_error = h_cmd - h
- gamma = get_path_angle(x_f16)
- h_dot = vt * sin(gamma) # Calculated, not differentiated
-
- # Calculate Nz command
- nz = self.cfg_k_alt*h_error - self.cfg_k_h_dot*h_dot
-
- return nz
-
- def is_finished(self, t, x_f16):
- 'is the maneuver done?'
-
- rv = self.waypoint_index >= len(self.waypoints) and self.done_time + 5.0 < t
-
- return rv
-
- def advance_discrete_mode(self, t, x_f16):
- '''
- advance the discrete state based on the current aircraft state. Returns True iff the discrete state
- has changed.
- '''
-
- if self.waypoint_index < len(self.waypoints):
- slant_range = self.get_waypoint_data(x_f16)[-1]
-
- if slant_range < self.cfg_slant_range_threshold:
- self.waypoint_index += 1
-
- if self.waypoint_index >= len(self.waypoints):
- self.done_time = t
-
- premode = self.mode
-
- if self.waypoint_index >= len(self.waypoints):
- self.mode = 'Done'
- else:
- self.mode = f'Waypoint {self.waypoint_index + 1}'
-
- rv = premode != self.mode
-
- if rv:
- self.log(f"Waypoint transition {premode} -> {self.mode} at time {t}")
-
- return rv
-
- def get_waypoint_data(self, x_f16):
- '''returns current waypoint data tuple based on the current waypoint:
-
- (heading, inclination, horiz_range, vert_range, slant_range)
-
- heading = heading to tgt, equivalent to psi (rad)
- inclination = polar angle to tgt, equivalent to theta (rad)
- horiz_range = horizontal range to tgt (ft)
- vert_range = vertical range to tgt (ft)
- slant_range = total range to tgt (ft)
- '''
-
- waypoint = self.waypoints[self.waypoint_index]
-
- e_pos = x_f16[StateIndex.POSE]
- n_pos = x_f16[StateIndex.POSN]
- alt = x_f16[StateIndex.ALT]
-
- delta = [waypoint[i] - [e_pos, n_pos, alt][i] for i in range(3)]
-
- _, inclination, slant_range = cart2sph(delta)
-
- heading = wrap_to_pi(pi/2 - atan2(delta[1], delta[0]))
-
- horiz_range = np.linalg.norm(delta[0:2])
- vert_range = np.linalg.norm(delta[2])
-
- return heading, inclination, horiz_range, vert_range, slant_range
-
-def get_nz_for_level_turn_ol(x_f16):
- 'get nz to do a level turn'
-
- # Pull g's to maintain altitude during bank based on trig
-
- # Calculate theta
- phi = x_f16[StateIndex.PHI]
-
- if abs(phi): # if cos(phi) ~= 0, basically
- nz = 1 / cos(phi) - 1 # Keeps plane at altitude
- else:
- nz = 0
-
- return nz
-
-def get_path_angle(x_f16):
- 'get the path angle gamma'
-
- alpha = x_f16[StateIndex.ALPHA] # AoA (rad)
- beta = x_f16[StateIndex.BETA] # Sideslip (rad)
- phi = x_f16[StateIndex.PHI] # Roll anle (rad)
- theta = x_f16[StateIndex.THETA] # Pitch angle (rad)
-
- gamma = asin((cos(alpha)*sin(theta)- \
- sin(alpha)*cos(theta)*cos(phi))*cos(beta) - \
- (cos(theta)*sin(phi))*sin(beta))
-
- return gamma
-
-def wrap_to_pi(psi_rad):
- '''handle angle wrapping
-
- returns equivelent angle in range [-pi, pi]
- '''
-
- rv = psi_rad % (2 * pi)
-
- if rv > pi:
- rv -= 2 * pi
-
- return rv
-
-def cart2sph(pt3d):
- '''
- Cartesian to spherical coordinates
-
- returns az, elev, r
- '''
-
- x, y, z = pt3d
-
- h = sqrt(x*x + y*y)
- r = sqrt(h*h + z*z)
-
- elev = atan2(z, h)
- az = atan2(y, x)
-
- return az, elev, r
-
-if __name__ == '__main__':
- print("Autopulot script not meant to be run directly.")
diff --git a/demo/ball/ball_bounces.py b/demo/ball/ball_bounces.py
index b38885df59bc2761b020e62e3a47fd94a56ecdfb..0206cd5bf6474b9081839ef9cd53c21b2d162e39 100644
--- a/demo/ball/ball_bounces.py
+++ b/demo/ball/ball_bounces.py
@@ -78,8 +78,6 @@ if __name__ == "__main__":
myball2 = BallAgent('green-ball', file_name=ball_controller)
bouncingBall.add_agent(myball1)
bouncingBall.add_agent(myball2)
- tmp_map = SimpleMap3()
- bouncingBall.set_map(tmp_map)
bouncingBall.set_init(
[
[[5, 10, 2, 2], [5, 10, 2, 2]],
@@ -97,6 +95,6 @@ if __name__ == "__main__":
traces = bouncingBall.simulate(40, 0.01)
# TODO: There should be a print({traces}) function
fig = go.Figure()
- fig = simulation_anime(
+ fig = simulation_tree(
traces, None, fig, 1, 2, [1, 2], 'fill', 'trace')
fig.show()
diff --git a/demo/ball_bounces_dev.py b/demo/ball_bounces_dev.py
deleted file mode 100644
index 992ba19b8ff0350698f57ea9d0109c64654c7d57..0000000000000000000000000000000000000000
--- a/demo/ball_bounces_dev.py
+++ /dev/null
@@ -1,75 +0,0 @@
-from enum import Enum, auto
-import copy
-
-class BallTypeMode(Enum):
- TYPE1 = auto()
- TYPE2 = auto()
-
-
-class BallMode(Enum):
- Normal = auto()
-
-
-class State:
- x: float
- y = 0.0
- vx = 0.0
- vy = 0.0
- mode: BallMode
- type: BallTypeMode
-
- def __init__(self, x, y, vx, vy, ball_mode: BallMode, type: BallTypeMode):
- pass
-
-def controller(ego:State, other: State):
- output = copy.deepcopy(ego)
- if ego.x < 0:
- output.vx = -ego.vx
- output.x = 0
- if ego.y < 0:
- output.vy = -ego.vy
- output.y = 0
- if ego.x > 20:
- output.vx = -ego.vx
- output.x = 20
- if ego.y > 20:
- output.vy = -ego.vy
- output.y = 20
-
- def close(a, b):
- return a.x-b.x<5 and a.x-b.x>-5 and a.y-b.y<5 and a.y-b.y>-5
- assert not (close(ego, other) and ego.x < other.x), "collision"
- return output
-
-from verse.agents.example_agent.ball_agent import BallAgent
-from verse import Scenario
-from verse.plotter.plotter2D import *
-import plotly.graph_objects as go
-
-if __name__ == "__main__":
- ball_controller = './demo/ball_bounces_dev.py'
- bouncingBall = Scenario()
- myball1 = BallAgent('red-ball', file_name=ball_controller)
- myball2 = BallAgent('green-ball', file_name=ball_controller)
- bouncingBall.add_agent(myball1)
- bouncingBall.add_agent(myball2)
- bouncingBall.set_init(
- [
- [[5, 10, 2, 2], [5, 10, 2, 2]],
- [[15, 1, 1, -2], [15, 1, 1, -2]]
- ],
- [
- (BallMode.Normal,),
- (BallMode.Normal,)
- ],
- [
- (BallTypeMode.TYPE1,),
- (BallTypeMode.TYPE2,)
- ]
- )
- traces = bouncingBall.simulate(10, 0.01)
- traces.dump('./output.json')
- traces = AnalysisTree.load('./output.json')
- fig = go.Figure()
- fig = simulation_tree(traces, fig=fig)
- fig.show()
diff --git a/demo/dryvr_demo/rendezvous_controller.py b/demo/dryvr_demo/rendezvous_controller.py
index 733bf846986189b04a1d18e8dc9f862959165173..a17f690ef53d5acfb7ae7977004088f86a9f5c11 100644
--- a/demo/dryvr_demo/rendezvous_controller.py
+++ b/demo/dryvr_demo/rendezvous_controller.py
@@ -35,8 +35,8 @@ def controller(ego: State):
output.craft_mode = CraftMode.Passive
output.cycle_time = 0.0
- assert (ego.craft_mode!=CraftMode.ProxB or\
- (ego.xp>=-105 and ego.yp>=0.57735*ego.xp and -ego.yp>=0.57735*ego.xp)), "Line-of-sight"
+ # assert (ego.craft_mode!=CraftMode.ProxB or\
+ # (ego.xp>=-105 and ego.yp>=0.57735*ego.xp and -ego.yp>=0.57735*ego.xp)), "Line-of-sight"
assert (ego.craft_mode!=CraftMode.Passive or\
(ego.xp<=-0.2 or ego.xp>=0.2 or ego.yp<=-0.2 or ego.yp>=0.2)), "Collision avoidance"
return output
diff --git a/demo/dryvr_demo/thermo_demo.py b/demo/dryvr_demo/thermo_demo.py
index 4123339121ff3a25dbed0ebf1ff4641a1e008736..64fa6a22273370cf121aa9299adb235154028334 100644
--- a/demo/dryvr_demo/thermo_demo.py
+++ b/demo/dryvr_demo/thermo_demo.py
@@ -17,7 +17,7 @@ if __name__ == "__main__":
car = thermo_agent('test', file_name=input_code_name)
scenario.add_agent(car)
- scenario.set_sensor(ThermoSensor())
+ # scenario.set_sensor(ThermoSensor())
# modify mode list input
scenario.set_init(
[
@@ -27,8 +27,8 @@ if __name__ == "__main__":
tuple([ThermoMode.ON]),
]
)
- traces = scenario.verify(3.5, 0.05)
+ traces = scenario.simulate(3.5, 0.05)
fig = go.Figure()
- fig = reachtube_tree(traces, None, fig, 2, 1, [2, 1],
+ fig = simulation_tree(traces, None, fig, 2, 1, [2, 1],
'lines', 'trace')
fig.show()
diff --git a/demo/output.json b/demo/output.json
deleted file mode 100644
index 48103d17cdd10329832af2ac8bb43bc078c17d46..0000000000000000000000000000000000000000
--- a/demo/output.json
+++ /dev/null
@@ -1,1237 +0,0 @@
-{
-"0": {
- "node_name": "0-0",
- "id": 0,
- "start_line": 2,
- "parent": null,
- "child": {
- "1-0": {
- "name": "1-0",
- "index": 1,
- "start_line": 253
- },
- "1-1": {
- "name": "1-1",
- "index": 3,
- "start_line": 745
- }
- },
- "agent": {
- "car1": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>",
- "car2": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>"
- },
- "init": {
- "car1": "[[0, -0.2, 0, 1.0], [0.1, 0.2, 0, 1.0]]",
- "car2": "[[10, 0, 0, 0.5], [10, 0, 0, 0.5]]"
- },
- "mode": {
- "car1": "[\"Normal\", \"Lane1\"]",
- "car2": "[\"Normal\", \"Lane1\"]"
- },
- "static": {
- "car1": "[]",
- "car2": "[]"
- },
- "start_time": 0,
- "trace": {
- "car1": [
- "[0.0, 0.0, -0.2, -0.010259574072372706, 1.0]",
- "[0.2, 0.2839735187071956, 0.2, 0.010259574072372706, 1.0]",
- "[0.2, 0.21602648129280438, -0.18102260458410557, -0.018379536882066838, 1.0]",
- "[0.4, 0.48455269515820604, 0.18102260458410557, 0.018379536882066838, 1.0]",
- "[0.4, 0.4154473048417939, -0.16395414571913436, -0.024699297819101074, 1.0]",
- "[0.6000000000000001, 0.6850216365043383, 0.16395414571913436, 0.024699297819101074, 1.0]",
- "[0.6000000000000001, 0.6149783634956615, -0.14859251084056646, -0.029510363790061403, 1.0]",
- "[0.8, 0.8854018778850428, 0.14859251084056646, 0.029510363790061403, 1.0]",
- "[0.8, 0.8145981221149574, -0.13475743251635525, -0.033062429008290706, 1.0]",
- "[1.0, 1.085710653625001, 0.13475743251635525, 0.033062429008290706, 1.0]",
- "[1.0, 1.0142893463749996, -0.12228837220160758, -0.03556886105922083, 1.0]",
- "[1.2, 1.285961769671804, 0.12228837220160758, 0.03556886105922083, 1.0]",
- "[1.2, 1.2140382303281965, -0.11104238175892578, -0.03721157261510352, 1.0]",
- "[1.4, 1.4861662981048829, 0.11104238175892578, 0.03721157261510352, 1.0]",
- "[1.4, 1.4138337018951175, -0.10089216730157041, -0.03814531096224553, 1.0]",
- "[1.5999999999999999, 1.686333129543391, 0.10089216730157041, 0.03814531096224553, 1.0]",
- "[1.5999999999999999, 1.6136668704566088, -0.09172434834540978, -0.0385014122911356, 1.0]",
- "[1.8, 1.8864694120614374, 0.09172434834540978, 0.0385014122911356, 1.0]",
- "[1.8, 1.8135305879385628, -0.08343790046905726, -0.0385014122911356, 1.0]",
- "[2.0, 2.0865808984810132, 0.08343790046905726, 0.0385014122911356, 1.0]",
- "[2.0, 2.0134191015189873, -0.07594287825535542, -0.03839107338633297, 1.0]",
- "[2.2, 2.286672234835655, 0.07594287825535542, 0.03839107338633297, 1.0]",
- "[2.2, 2.2133277651643457, -0.06915887768112347, -0.03790819946979385, 1.0]",
- "[2.4000000000000004, 2.4867471690718466, 0.06915887768112347, 0.03790819946979385, 1.0]",
- "[2.4000000000000004, 2.4132528309281547, -0.06301415671862882, -0.037131856803825046, 1.0]",
- "[2.6, 2.6868087314810754, 0.06301415671862882, 0.037131856803825046, 1.0]",
- "[2.6, 2.6131912685189262, -0.0574447017121785, -0.03612840523157809, 1.0]",
- "[2.8000000000000003, 2.8868593764749315, 0.0574447017121785, 0.03612840523157809, 1.0]",
- "[2.8000000000000003, 2.8131406235250704, -0.052393306092211205, -0.03495334221459475, 1.0]",
- "[3.0, 3.0869010949997424, 0.052393306092211205, 0.03495334221459475, 1.0]",
- "[3.0, 3.01309890500026, -0.04780880949982366, -0.03365289066735905, 1.0]",
- "[3.2, 3.286935504475645, 0.04780880949982366, 0.03365289066735905, 1.0]",
- "[3.2, 3.2130644955243577, -0.04364542453176884, -0.03226536735671632, 1.0]",
- "[3.4000000000000004, 3.4869639208390972, 0.04364542453176884, 0.03226536735671632, 1.0]",
- "[3.4000000000000004, 3.413036079160906, -0.039862141062204426, -0.03082236101056486, 1.0]",
- "[3.6, 3.686987416327405, 0.039862141062204426, 0.03082236101056486, 1.0]",
- "[3.6, 3.6130125836725986, -0.03642219916040824, -0.02934974561681908, 1.0]",
- "[3.8000000000000003, 3.887006865892288, 0.03642219916040824, 0.02934974561681908, 1.0]",
- "[3.8000000000000003, 3.8129931341077157, -0.033292622609028315, -0.027868551124687637, 1.0]",
- "[4.0, 4.087022984533915, 0.033292622609028315, 0.027868551124687637, 1.0]",
- "[4.0, 4.01297701546609, -0.030443805927677717, -0.026395710870198392, 1.0]",
- "[4.2, 4.287036357375695, 0.030443805927677717, 0.026395710870198392, 1.0]",
- "[4.2, 4.212963642624309, -0.027849148620670866, -0.024944702508568343, 1.0]",
- "[4.4, 4.487047463927276, 0.027849148620670866, 0.024944702508568343, 1.0]",
- "[4.4, 4.412952536072726, -0.025484731098176706, -0.023526097014276017, 1.0]",
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- "[10.399999999999999, 15.200000000000074, 0.0, 0.0, 0.5]"
- ]
- },
- "type": "reachtube",
- "assert_hits": null
-},
-"1": {
- "node_name": "1-0",
- "id": 1,
- "start_line": 253,
- "parent": {
- "name": "0-0",
- "index": 0,
- "start_line": 2
- },
- "child": {
- "2-0": {
- "name": "2-0",
- "index": 2,
- "start_line": 398
- }
- },
- "agent": {
- "car1": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>",
- "car2": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>"
- },
- "init": {
- "car1": "[[9.612897015045753, -0.002759923802261281, -0.0036364371585944077, 1.0], [10.487103292978597, 0.002759923802261281, 0.0036364371585944077, 1.0]]"
- },
- "mode": {
- "car1": "[\"SwitchRight\", \"Lane1\"]",
- "car2": "[\"Normal\", \"Lane1\"]"
- },
- "static": {
- "car1": "[]",
- "car2": "[]"
- },
- "start_time": 9.6,
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- ]
- },
- "type": "reachtube",
- "assert_hits": null
-},
-"2": {
- "node_name": "2-0",
- "id": 2,
- "start_line": 398,
- "parent": {
- "name": "1-0",
- "index": 1,
- "start_line": 253
- },
- "child": {},
- "agent": {
- "car1": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>",
- "car2": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>"
- },
- "init": {
- "car1": "[[13.745992852866573, -2.578909190032236, -0.3906986510921005, 1.0], [14.717240723724034, -2.4961296054269635, -0.3517465226284837, 1.0]]"
- },
- "mode": {
- "car1": "[\"Normal\", \"Lane2\"]",
- "car2": "[\"Normal\", \"Lane1\"]"
- },
- "static": {
- "car1": "[]",
- "car2": "[]"
- },
- "start_time": 14.4,
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- "[30.0, 30.126903617864386, -2.999204849546421, -0.0009067544854657157, 1.0]"
- ]
- },
- "type": "reachtube",
- "assert_hits": null
-},
-"3": {
- "node_name": "1-1",
- "id": 3,
- "start_line": 745,
- "parent": {
- "name": "0-0",
- "index": 0,
- "start_line": 2
- },
- "child": {
- "2-1": {
- "name": "2-1",
- "index": 4,
- "start_line": 890
- }
- },
- "agent": {
- "car1": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>",
- "car2": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>"
- },
- "init": {
- "car1": "[[9.612897015045753, -0.002759923802261281, -0.0036364371585944077, 1.0], [10.487103292978597, 0.002759923802261281, 0.0036364371585944077, 1.0]]"
- },
- "mode": {
- "car1": "[\"SwitchLeft\", \"Lane1\"]",
- "car2": "[\"Normal\", \"Lane1\"]"
- },
- "static": {
- "car1": "[]",
- "car2": "[]"
- },
- "start_time": 9.6,
- "trace": {
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- "[10.2, 15.100000000000072, 0.0, 0.0, 0.5]",
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- "[10.399999999999999, 15.200000000000074, 0.0, 0.0, 0.5]",
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- "[14.8, 14.719182790739696, 2.5789101720291217, 0.3716197894334513, 1.0]"
- ]
- },
- "type": "reachtube",
- "assert_hits": null
-},
-"4": {
- "node_name": "2-1",
- "id": 4,
- "start_line": 890,
- "parent": {
- "name": "1-1",
- "index": 3,
- "start_line": 745
- },
- "child": {},
- "agent": {
- "car1": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>",
- "car2": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>"
- },
- "init": {
- "car1": "[[13.744114549356805, 2.4961284634747876, 0.3517463093906601, 1.0], [14.719182790739696, 2.5789101720291217, 0.39069880875893337, 1.0]]"
- },
- "mode": {
- "car1": "[\"Normal\", \"Lane0\"]",
- "car2": "[\"Normal\", \"Lane1\"]"
- },
- "static": {
- "car1": "[]",
- "car2": "[]"
- },
- "start_time": 14.4,
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- "[20.2, 20.33711205481485, 2.9643980761385174, 0.0574283360443551, 1.0]",
- "[20.2, 19.67950372412609, 2.958644981907312, 0.04368843740108568, 1.0]",
- "[20.4, 20.537091655144852, 2.967243949672806, 0.053178822178648014, 1.0]",
- "[20.4, 19.87947561084024, 2.9619703405657827, 0.0403804068575788, 1.0]",
- "[20.6, 20.737074408417158, 2.969859924046676, 0.04922861310542218, 1.0]",
- "[20.6, 20.07945188113836, 2.965024580395319, 0.0373158336224683, 1.0]",
- "[20.8, 20.93705982498535, 2.972264867887354, 0.04555873666107423, 1.0]",
- "[20.8, 20.27943184614418, 2.9678302651609636, 0.03447776019876648, 1.0]",
- "[21.0, 21.13704749184314, 2.9744760644887953, 0.04215111603062963, 1.0]",
- "[21.0, 20.479414926461175, 2.9704080247377305, 0.031850275744042957, 1.0]",
- "[21.2, 21.337037060493405, 2.976509349370976, 0.038988577020894345, 1.0]",
- "[21.2, 20.679400634517624, 2.9727767273386196, 0.029418471354476554, 1.0]",
- "[21.4, 21.537028236764495, 2.9783792354253937, 0.0360548447335804, 1.0]",
- "[21.4, 20.879388559807918, 2.974953635731295, 0.027168393950976137, 1.0]",
- "[21.6, 21.737020772255754, 2.9800990268106453, 0.03333453174179552, 1.0]",
- "[21.6, 21.079378356546115, 2.97695454898519, 0.025086999515290236, 1.0]",
- "[21.8, 21.937014457148017, 2.9816809226509178, 0.030813119553860173, 1.0]",
- "[21.8, 21.27936973333002, 2.9787939311422575, 0.02316210628383695, 1.0]",
- "[22.0, 22.137009114157493, 2.9831361114892667, 0.02847693487097248, 1.0]",
- "[22.0, 21.479362444482426, 2.980485028068915, 0.021382348387761756, 1.0]",
- "[22.2, 22.33700459344878, 2.984474857355969, 0.026313121905123027, 1.0]",
- "[22.2, 21.679356282792373, 2.9820399736234036, 0.019737130326739443, 1.0]",
- "[22.4, 22.537000768352303, 2.985706578229386, 0.024309611816546894, 1.0]",
- "[22.4, 21.879351073426033, 2.9834698861610396, 0.01821658257883212, 1.0]",
- "[22.6, 22.73699753175751, 2.986839917591865, 0.02245509015192333, 1.0]",
- "[22.6, 22.07934666881541, 2.984784956298735, 0.016811518577143574, 1.0]",
- "[22.799999999999997, 22.93699479307342, 2.9878828097156145, 0.020738963011900164, 1.0]",
- "[22.799999999999997, 22.279342944365165, 2.9859945267690566, 0.0155133932241655, 1.0]",
- "[23.0, 23.136992475666254, 2.988842539252504, 0.019151322546098873, 1.0]",
- "[23.0, 22.479339794844428, 2.9871071651119, 0.014314263064928286, 1.0]",
- "[23.2, 23.33699051469825, 2.9897257956467933, 0.017682912262656343, 1.0]",
- "[23.2, 22.67933713135249, 2.9881307298779896, 0.013206748198892957, 1.0]",
- "[23.4, 23.5369888553041, 2.9905387228402027, 0.016325092545023644, 1.0]",
- "[23.4, 22.87933487876575, 2.9890724309519197, 0.012183995976687633, 1.0]",
- "[23.6, 23.736987451051544, 2.991286964694205, 0.015069806688899711, 1.0]",
- "[23.6, 23.079332973588347, 2.98993888454273, 0.011239646500198349, 1.0]",
- "[23.799999999999997, 23.93698626264148, 2.991975706514072, 0.013909547704844715, 1.0]",
- "[23.799999999999997, 23.27933136214175, 2.9907361633363507, 0.010367799922232792, 1.0]",
- "[24.0, 24.136985256809854, 2.992609713023102, 0.01283732607554589, 1.0]",
- "[24.0, 23.47932999903905, 2.991469842256014, 0.009562985524153418, 1.0]",
- "[24.2, 24.336984405399622, 2.9931933631026784, 0.011846638609375881, 1.0]",
- "[24.2, 23.67932884589864, 2.9921450402334617, 0.008820132535833382, 1.0]",
- "[24.4, 24.5369836845763, 2.9937306815844043, 0.010931438492466267, 1.0]",
- "[24.4, 23.879327870259225, 2.992766458354823, 0.008134542651411926, 1.0]",
- "[24.6, 24.736983074164563, 2.994225368354013, 0.010086106608862073, 1.0]",
- "[24.6, 24.079327044664197, 2.9933384147100943, 0.007501864186097102, 1.0]",
- "[24.799999999999997, 24.936982557087212, 2.9946808250027273, 0.009305424171431969, 1.0]",
- "[24.799999999999997, 24.279326345888684, 2.993864876243709, 0.006918067813246297, 1.0]",
- "[25.0, 25.13698211889038, 2.9951001792401075, 0.008584546684220767, 1.0]",
- "[25.0, 24.479325754286805, 2.9943494878754007, 0.0063794238167657995, 1.0]",
- "[25.2, 25.336981747341763, 2.995486307262954, 0.0079189792390996, 1.0]",
- "[25.2, 24.67932525324017, 2.994795599135124, 0.00588248079118645, 1.0]",
- "[25.4, 25.53698143212123, 2.9958418542570433, 0.007304553135257474, 1.0]",
- "[25.4, 24.879324828688276, 2.9952062885329065, 0.005424045720327638, 1.0]",
- "[25.6, 25.736981164765222, 2.996169253192722, 0.0067374037987321285, 1.0]",
- "[25.6, 25.079324468769077, 2.995584385863892, 0.005001165365010094, 1.0]",
- "[25.799999999999997, 25.936980938006236, 2.996470742059983, 0.006213949970327077, 1.0]",
- "[25.799999999999997, 25.279324163615804, 2.99593249263023, 0.0046111088906816205, 1.0]",
- "[26.0, 26.136980745672773, 2.9967483796775616, 0.005730874123498178, 1.0]",
- "[26.0, 25.479323904880538, 2.9962530007443338, 0.004251351666758841, 1.0]",
- "[26.2, 26.33698058253246, 2.997004060196719, 0.005285104068774723, 1.0]",
- "[26.2, 25.679323685490598, 2.9965481096637774, 0.003919560171041361, 1.0]",
- "[26.4, 26.53698044414866, 2.997239526410538, 0.004873795697728087, 1.0]",
- "[26.4, 25.879323499453, 2.996819842093668, 0.003613577934443708, 1.0]",
- "[26.6, 26.736980326759262, 2.9974563819697018, 0.0044943168170974886, 1.0]",
- "[26.6, 26.079323341688987, 2.9970700583801797, 0.00333141246347586, 1.0]",
- "[26.799999999999997, 26.93698022717389, 2.9976561025968373, 0.004144232022305695, 1.0]",
- "[26.799999999999997, 26.279323207894123, 2.9973004697078367, 0.003071223080300614, 1.0]",
- "[27.0, 27.136980142686895, 2.9978400463834984, 0.0038212885590079796, 1.0]",
- "[27.0, 26.47932309441987, 2.997512650202981, 0.00283130962273465, 1.0]",
- "[27.2, 27.33698007100359, 2.9980094632465417, 0.0035234031213737674, 1.0]",
- "[27.2, 26.679322998173365, 2.9977080480367406, 0.002610101949188338, 1.0]",
- "[27.4, 27.53698001017778, 2.998165503614038, 0.003248649536375485, 1.0]",
- "[27.4, 26.879322916532622, 2.997887995612525, 0.002406150196209186, 1.0]",
- "[27.6, 27.736979958558734, 2.9983092264047846, 0.0029952472843420837, 1.0]",
- "[27.6, 27.07932284727469, 2.9980537189155525, 0.002218115738973403, 1.0]",
- "[27.799999999999997, 27.93697991474643, 2.9984416063600134, 0.0027615508073341975, 1.0]",
- "[27.799999999999997, 27.27932278851481, 2.998206346095122, 0.0020447628077250534, 1.0]",
- "[28.0, 28.136979877553365, 2.998563540780899, 0.002546039558438331, 1.0]",
- "[28.0, 27.47932273865493, 2.9983469153441185, 0.0018849507157737899, 1.0]",
- "[28.2, 28.336979845973126, 2.9986758557208852, 0.0023473087467936926, 1.0]",
- "[28.2, 27.67932269633993, 2.998476382134673, 0.0017376266572093116, 1.0]",
- "[28.4, 28.536979819161285, 2.998779311677695, 0.002164060735005491, 1.0]",
- "[28.4, 27.87932266042144, 2.998595625863752, 0.0016018190349635015, 1.0]",
- "[28.6, 28.73697979639823, 2.998874608826124, 0.001995097047518243, 1.0]",
- "[28.6, 28.079322629931447, 2.9987054559578294, 0.0014766312822341318, 1.0]",
- "[28.799999999999997, 28.93697977707261, 2.998962391829221, 0.0018393109504866807, 1.0]",
- "[28.799999999999997, 28.27932260404914, 2.9988066174815744, 0.0013612361425752366, 1.0]",
- "[29.0, 29.13697976066549, 2.999043254262377, 0.0016956805656610538, 1.0]",
- "[29.0, 28.479322582077984, 2.998899796291618, 0.0012548703761480985, 1.0]",
- "[29.2, 29.33697974673632, 2.9991177426818343, 0.0015632624827742515, 1.0]",
- "[29.2, 28.67932256342688, 2.998985623773004, 0.001156829861719471, 1.0]",
- "[29.4, 29.53697973491108, 2.9991863603666484, 0.0014411858368623528, 1.0]",
- "[29.4, 28.879322547594178, 2.999064681192692, 0.0010664650659762335, 1.0]",
- "[29.6, 29.73697972487223, 2.9992495707605853, 0.0013286468188515967, 1.0]",
- "[29.6, 29.07932253415409, 2.999137503701605, 0.000983176853611386, 1.0]",
- "[29.799999999999997, 29.93697971635017, 2.999307800638341, 0.0012249035895945792, 1.0]",
- "[29.799999999999997, 29.279322522745222, 2.9992045840140418, 0.0009064126134161133, 1.0]",
- "[30.0, 30.13697970911004, 2.999361461955754, 0.0011292715693261251, 1.0]"
- ]
- },
- "type": "reachtube",
- "assert_hits": null
-}
-}
\ No newline at end of file
diff --git a/demo/quadrotor/demo1.py b/demo/quadrotor/demo1.py
deleted file mode 100644
index eff17f5e1e14566944eb595bb825cd754bfaddb1..0000000000000000000000000000000000000000
--- a/demo/quadrotor/demo1.py
+++ /dev/null
@@ -1,81 +0,0 @@
-from quadrotor_agent import QuadrotorAgent
-from verse import Scenario
-from verse.map.lane_3d import Lane_3d
-from verse.map.example_map.simple_map_3d import SimpleMap1
-from verse.plotter.plotter3D_new import *
-from verse.sensor.example_sensor.quadrotor_sensor2 import QuadrotorSensor
-import os
-import json
-import plotly.graph_objects as go
-from enum import Enum, auto
-from gen_json import write_json, read_json
-
-
-class CraftMode(Enum):
- Normal = auto()
- Switch_Down = auto()
- Switch_Up = auto()
- Switch_Left = auto()
- Switch_Right = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
- Lane3 = auto()
- Lane4 = auto()
-
-
-if __name__ == "__main__":
- input_code_name = './demo/quadrotor/quadrotor_controller.py'
- scenario = Scenario()
-
- path = os.path.abspath(__file__)
- path = path.replace('demo1.py', 'test.json')
- # print(path)
- with open(path, 'r') as f:
- prarms = json.load(f)
- time_step = 0.05
- quadrotor1 = QuadrotorAgent(
- 'test1', file_name=input_code_name)
- scenario.add_agent(quadrotor1)
- quadrotor2 = QuadrotorAgent(
- 'test2', file_name=input_code_name)
- scenario.add_agent(quadrotor2)
- t_v = {quadrotor1.id: (1, 2),
- quadrotor2.id: (1, 1)
- }
- bs = {quadrotor1.id: [0.4, 0.4, 0.4],
- quadrotor2.id: [0.4, 0.4, 0.4]
- }
- tmp_map = SimpleMap1(t_v_pair=t_v, box_side=bs)
- scenario.set_map(tmp_map)
- scenario.set_sensor(QuadrotorSensor())
- # modify mode list input
- scenario.set_init(
- [
- [[2.75, 0, 0, 0, 0, 0], [3, 0, 0, 0.1, 0.1, 0.1]],
- [[5, 0, 0, 0, 0, 0], [10, 0, 0, 0.1, 0.1, 0.1]],
- ],
- [
- tuple([CraftMode.Normal, TrackMode.Lane0]),
- tuple([CraftMode.Normal, TrackMode.Lane0])
- ]
- )
- traces = scenario.simulate(20, time_step)
- path = os.path.abspath(__file__)
- path = path.replace('quadrotor_demo.py', 'output.json')
- write_json(traces, path)
- fig = go.Figure()
- fig = simulation_tree_3d(traces, tmp_map, fig, 1, 2, 3, [0, 1, 2, 3],
- 'lines', 'trace')
- # fig = fig.add_trace(go.Scatter(
- # x=[3, 5, 5, 2, 2, 8, 8], y=[0, 0, 3, 3, 6, 3, 0], text=[0, 1, 2, 3, 4, 5, 6], mode='markers', marker={'color': 'black'}))
- fig.show()
-
- # traces = scenario.verify(40, time_step)
- # fig = go.Figure()
- # fig = reachtube_tree_3d(traces, tmp_map, fig, 1, 2, 3, [0, 1, 2, 3],
- # 'lines', 'trace')
- # fig.show()
diff --git a/demo/quadrotor/demo2.py b/demo/quadrotor/demo2.py
deleted file mode 100644
index 1f1c9e430116adb7ced5a894ce07db0606933f6e..0000000000000000000000000000000000000000
--- a/demo/quadrotor/demo2.py
+++ /dev/null
@@ -1,78 +0,0 @@
-from audioop import tomono
-from quadrotor_agent import QuadrotorAgent
-from verse import Scenario
-# from verse.plotter.plotter2D import *
-from verse.plotter.plotter3D_new import *
-from verse.map.example_map.simple_map_3d import SimpleMap1, SimpleMap2, SimpleMap3
-from verse.sensor.example_sensor.quadrotor_sensor import QuadrotorSensor
-import os
-import json
-import plotly.graph_objects as go
-from enum import Enum, auto
-from gen_json import write_json, read_json
-
-
-class CraftMode(Enum):
- Normal = auto()
- Switch_Down = auto()
- Switch_Up = auto()
- Switch_Left = auto()
- Switch_Right = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-if __name__ == "__main__":
- input_code_name = './demo/quadrotor/quadrotor_controller.py'
- scenario = Scenario()
-
- path = os.path.abspath(__file__)
- path = path.replace('demo2.py', 'test.json')
- # print(path)
- with open(path, 'r') as f:
- prarms = json.load(f)
- time_step = 0.05
- # quadrotor1 = QuadrotorAgent(
- # 'test1', file_name=input_code_name)
- # scenario.add_agent(quadrotor1)
- quadrotor2 = QuadrotorAgent('test2', file_name=input_code_name)
- scenario.add_agent(quadrotor2)
- wps = { # quadrotor1.id: [[3, 0, 0, 4, 0, 0]],
- quadrotor2.id: [[0, 0, 0]]}
- t_v = { # quadrotor1.id: (1, 1),
- quadrotor2.id: (1, 1)}
- bs = { # quadrotor1.id: [0.4, 0.4, 0.4, 20, 20, 20],
- quadrotor2.id: [0.4, 0.4, 0.4]}
- tmp_map = SimpleMap2(t_v_pair=t_v, box_side=bs)
- scenario.set_map(tmp_map)
- scenario.set_sensor(QuadrotorSensor())
- # modify mode list input
- scenario.set_init(
- [
- #[[2.75, 0, 0, 0, 0, 0, 0, 0], [3, 0, 0, 0.1, 0.1, 0.1, 0, 0]],
- [[3.4, -3.6, -0.1, 0, 0, 0], [3.6, -3.4, 0, 0.1, 0.1, 0.1]],
- # [[4, -4.5, -0.1, 0, 0, 0, 0, 0], [4, -4.5, -0.1, 0, 0, 0, 0, 0]],
- ],
- [
- #tuple([CraftMode.Follow_Lane, TrackMode.Lane1]),
- tuple([CraftMode.Normal, TrackMode.Lane1])
- ]
- )
- traces = scenario.verify(100, time_step)
- # path = os.path.abspath(__file__)
- # path = path.replace('quadrotor_demo2.py', 'output_2.json')
- # write_json(traces, path)
- fig = go.Figure()
- fig = reachtube_tree_3d(traces, tmp_map, fig, 1, 2, 3, [0, 1, 2, 3],
- 'lines', 'trace')
- fig.show()
-
- # traces = scenario.simulate(30, time_step)
- # fig = go.Figure()
- # fig = simulation_tree_3d(traces, tmp_map, fig, 1, 2, 3, [0, 1, 2, 3],
- # 'lines', 'trace')
- # fig.show()
diff --git a/demo/quadrotor/demo3.py b/demo/quadrotor/demo3.py
deleted file mode 100644
index de853aa9454c5de723f976ff64ca2c6c92c3f09c..0000000000000000000000000000000000000000
--- a/demo/quadrotor/demo3.py
+++ /dev/null
@@ -1,79 +0,0 @@
-from audioop import tomono
-from quadrotor_agent import QuadrotorAgent
-from verse import Scenario
-# from verse.plotter.plotter2D import *
-from verse.plotter.plotter3D_new import *
-from verse.map.example_map.simple_map_3d import SimpleMap1, SimpleMap2, SimpleMap3
-from verse.sensor.example_sensor.quadrotor_sensor import QuadrotorSensor
-import os
-import json
-import plotly.graph_objects as go
-from enum import Enum, auto
-from gen_json import write_json, read_json
-
-
-class CraftMode(Enum):
- Normal = auto()
- Switch_Down = auto()
- Switch_Up = auto()
- Switch_Left = auto()
- Switch_Right = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-if __name__ == "__main__":
- input_code_name = './demo/quadrotor/quadrotor_controller2.py'
- scenario = Scenario()
-
- path = os.path.abspath(__file__)
- path = path.replace('demo3.py', 'test.json')
- # print(path)
- with open(path, 'r') as f:
- prarms = json.load(f)
- time_step = 0.1
- # quadrotor1 = QuadrotorAgent('test1', file_name=input_code_name)
- # scenario.add_agent(quadrotor1)
- quadrotor2 = QuadrotorAgent('test2', file_name=input_code_name)
- scenario.add_agent(quadrotor2)
- t_v = { # quadrotor1.id: (1, 1),
- quadrotor2.id: (1, 1)}
- bs = { # quadrotor1.id: [0.4, 0.4, 0.4, 20, 20, 20],
- quadrotor2.id: [0.4, 0.4, 0.4]}
- tmp_map = SimpleMap3(t_v_pair=t_v, box_side=bs)
- scenario.set_map(tmp_map)
- # fig = go.Figure()
- # draw_map_3d(map=tmp_map, fig=fig)
- scenario.set_sensor(QuadrotorSensor())
- # modify mode list input
- init_l = [-15, -4, 1, 0, 0, 0]
- init_u = [-14, -3, 1, 0, 0, 0]
- scenario.set_init(
- [
- #[[2.75, 0, 0, 0, 0, 0, 0, 0], [3, 0, 0, 0.1, 0.1, 0.1, 0, 0]],
- [init_l, init_u],
- # [[4, -4.5, -0.1, 0, 0, 0, 0, 0], [4, -4.5, -0.1, 0, 0, 0, 0, 0]],
- ],
- [
- #tuple([CraftMode.Follow_Lane, TrackMode.Lane1]),
- tuple([CraftMode.Normal, TrackMode.Lane1])
- ]
- )
- traces = scenario.simulate(200, time_step)
- # path = os.path.abspath(__file__)
- # path = path.replace('quadrotor_demo2.py', 'output_2.json')
- # write_json(traces, path)
- fig = go.Figure()
- fig = simulation_tree_3d(traces, tmp_map, fig, 1, 2, 3, [0, 1, 2, 3],
- 'lines', 'trace')
- fig.show()
-
- # traces = scenario.simulate(30, time_step)
- # fig = go.Figure()
- # fig = simulation_tree_3d(traces, tmp_map, fig, 1, 2, 3, [0, 1, 2, 3],
- # 'lines', 'trace')
- # fig.show()
diff --git a/demo/quadrotor/demo4.py b/demo/quadrotor/demo4.py
deleted file mode 100644
index 74016da44c7dba595b1710e2271c99e12628df8b..0000000000000000000000000000000000000000
--- a/demo/quadrotor/demo4.py
+++ /dev/null
@@ -1,76 +0,0 @@
-from audioop import tomono
-from quadrotor_agent import QuadrotorAgent
-from verse import Scenario
-# from verse.plotter.plotter2D import *
-from verse.plotter.plotter3D_new import *
-from verse.map.example_map.simple_map_3d import SimpleMap1, SimpleMap2, SimpleMap3, SimpleMap4
-from verse.sensor.example_sensor.quadrotor_sensor import QuadrotorSensor
-import os
-import json
-import plotly.graph_objects as go
-from enum import Enum, auto
-from gen_json import write_json, read_json
-
-
-class CraftMode(Enum):
- Normal = auto()
- Switch_Down = auto()
- Switch_Up = auto()
- Switch_Left = auto()
- Switch_Right = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-if __name__ == "__main__":
- input_code_name = './demo/quadrotor/quadrotor_controller.py'
- scenario = Scenario()
-
- path = os.path.abspath(__file__)
- path = path.replace('demo4.py', 'test.json')
- # print(path)
- with open(path, 'r') as f:
- prarms = json.load(f)
- time_step = 0.05
- quadrotor1 = QuadrotorAgent('test1', file_name=input_code_name)
- scenario.add_agent(quadrotor1)
- init_l_1 = [3.5, -8.5, -1, 0, 0, 0]
- init_u_1 = [4, -8, 0, 0, 0, 0]
- # init_u_1 = [3.5, -8.5, -1, 0, 0, 0]
- scenario.set_init_single(quadrotor1.id, [init_l_1, init_u_1], tuple(
- [CraftMode.Normal, TrackMode.Lane0]))
- quadrotor2 = QuadrotorAgent('test2', file_name=input_code_name)
- scenario.add_agent(quadrotor2)
- init_l_2 = [3, -5, -4, 0, 0, 0]
- init_u_2 = [3.5, -4.5, -3.5, 0, 0, 0]
- # init_u_2 = [3, -5, -4, 0, 0, 0]
- scenario.set_init_single(quadrotor2.id, [init_l_2, init_u_2], tuple(
- [CraftMode.Normal, TrackMode.Lane0]))
-
- t_v = {quadrotor1.id: (1, 1),
- quadrotor2.id: (1, 0.6)}
- bs = {quadrotor1.id: [0.4]*3,
- quadrotor2.id: [0.4]*3}
- tmp_map = SimpleMap4(t_v_pair=t_v, box_side=bs)
- scenario.set_map(tmp_map)
- fig = go.Figure()
- scenario.set_sensor(QuadrotorSensor())
-
- traces = scenario.simulate(100, time_step)
- # path = os.path.abspath(__file__)
- # path = path.replace('quadrotor_demo2.py', 'output_2.json')
- # write_json(traces, path)
- fig = go.Figure()
- fig = simulation_tree_3d(traces, tmp_map, fig, 1, 2, 3, [0, 1, 2, 3],
- 'lines', 'trace')
- fig.show()
-
- # traces = scenario.verify(100, time_step)
- # fig = go.Figure()
- # fig = reachtube_tree_3d(traces, tmp_map, fig, 1, 2, 3, [0, 1, 2, 3],
- # 'lines', 'trace')
- # fig.show()
diff --git a/demo/quadrotor/demo5.py b/demo/quadrotor/demo5.py
deleted file mode 100644
index 70cee6e6563aef87568ca05f4841a01de54dae50..0000000000000000000000000000000000000000
--- a/demo/quadrotor/demo5.py
+++ /dev/null
@@ -1,76 +0,0 @@
-from audioop import tomono
-from quadrotor_agent import QuadrotorAgent
-from verse import Scenario
-# from verse.plotter.plotter2D import *
-from verse.plotter.plotter3D_new import *
-from verse.map.example_map.simple_map_3d import SimpleMap1, SimpleMap2, SimpleMap3, SimpleMap5
-from verse.sensor.example_sensor.quadrotor_sensor import QuadrotorSensor
-import os
-import json
-import plotly.graph_objects as go
-from enum import Enum, auto
-from gen_json import write_json, read_json
-
-
-class CraftMode(Enum):
- Normal = auto()
- Switch_Down = auto()
- Switch_Up = auto()
- Switch_Left = auto()
- Switch_Right = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-if __name__ == "__main__":
- input_code_name = './demo/quadrotor/quadrotor_controller.py'
- scenario = Scenario()
-
- path = os.path.abspath(__file__)
- path = path.replace('demo5.py', 'test.json')
- # print(path)
- with open(path, 'r') as f:
- prarms = json.load(f)
- time_step = 0.1
- quadrotor1 = QuadrotorAgent('test1', file_name=input_code_name)
- scenario.add_agent(quadrotor1)
- init_l_1 = [-15, -4, 1, 0, 0, 0]
- init_u_1 = [-14, -3, 1, 0, 0, 0]
- # init_u_1 = [3.5, -8.5, -1, 0, 0, 0]
- scenario.set_init_single(quadrotor1.id, [init_l_1, init_u_1], tuple(
- [CraftMode.Normal, TrackMode.Lane0]))
- quadrotor2 = QuadrotorAgent('test2', file_name=input_code_name)
- scenario.add_agent(quadrotor2)
- init_l_2 = [-17, -13, 8, 0, 0, 0]
- init_u_2 = [-16, -12, 9, 0, 0, 0]
- # init_u_2 = [3, -5, -4, 0, 0, 0]
- scenario.set_init_single(quadrotor2.id, [init_l_2, init_u_2], tuple(
- [CraftMode.Normal, TrackMode.Lane0]))
-
- t_v = {quadrotor1.id: (1, 1),
- quadrotor2.id: (1, 0.3)}
- bs = {quadrotor1.id: [0.4]*3,
- quadrotor2.id: [0.4]*3}
- tmp_map = SimpleMap5(t_v_pair=t_v, box_side=bs)
- scenario.set_map(tmp_map)
- fig = go.Figure()
- scenario.set_sensor(QuadrotorSensor())
-
- traces = scenario.simulate(100, time_step)
- # path = os.path.abspath(__file__)
- # path = path.replace('quadrotor_demo2.py', 'output_2.json')
- # write_json(traces, path)
- fig = go.Figure()
- fig = simulation_tree_3d(traces, tmp_map, fig, 1, 2, 3, [0, 1, 2, 3],
- 'lines', 'trace')
- fig.show()
-
- # traces = scenario.verify(100, time_step)
- # fig = go.Figure()
- # fig = reachtube_tree_3d(traces, tmp_map, fig, 1, 2, 3, [0, 1, 2, 3],
- # 'lines', 'trace')
- # fig.show()
diff --git a/demo/quadrotor/demo6.py b/demo/quadrotor/demo6.py
deleted file mode 100644
index 57d629468b8ac7e33a0a75df7768863c7f1429c5..0000000000000000000000000000000000000000
--- a/demo/quadrotor/demo6.py
+++ /dev/null
@@ -1,59 +0,0 @@
-from quadrotor_agent import QuadrotorAgent
-from verse import Scenario
-from verse.plotter.plotter3D_new import *
-from verse.plotter.plotter3D import *
-from verse.map.example_map.simple_map_3d import SimpleMap6
-import pyvista as pv
-from enum import Enum, auto
-
-class CraftMode(Enum):
- Normal = auto()
- MoveUp = auto()
- MoveDown = auto()
-
-
-class TrackMode(Enum):
- T0 = auto()
- T1 = auto()
- T2 = auto()
- M01 = auto()
- M10 = auto()
- M12 = auto()
- M21 = auto()
-
-
-if __name__ == "__main__":
- input_code_name = './demo/quadrotor/quadrotor_controller3.py'
- input_code_name2 = './demo/quadrotor/quadrotor_controller4.py'
-
- scenario = Scenario()
- time_step = 0.1
- quadrotor1 = QuadrotorAgent('test1', file_name=input_code_name, t_v_pair=(1, 1), box_side=[0.4]*3)
- init_l_1 = [9.5, 0, -0.3, 0, 0, 0]
- init_u_1 = [10, 0.5, 0.3, 0, 0, 0]
- quadrotor1.set_initial(
- [init_l_1, init_u_1],
- (CraftMode.Normal, TrackMode.T1)
- )
- scenario.add_agent(quadrotor1)
-
- quadrotor2 = QuadrotorAgent('test2', file_name=input_code_name2, t_v_pair=(1, 0.3), box_side=[0.4]*3)
- init_l_2 = [3, 9, -0.3, 0, 0, 0]
- init_u_2 = [3.5, 9.5, 0.3, 0, 0, 0]
- quadrotor2.set_initial(
- [init_l_2, init_u_2],
- (CraftMode.Normal, TrackMode.T1)
- )
- scenario.add_agent(quadrotor2)
-
- tmp_map = SimpleMap6()
- scenario.set_map(tmp_map)
- # scenario.set_sensor(QuadrotorSensor())
-
- traces = scenario.verify(40, time_step)
- fig = pv.Plotter()
- fig = plot3dMap(tmp_map, ax=fig, width=0.05)
- fig = plot3dReachtube(traces, 'test1',1,2,3,'r',fig, edge = True)
- fig = plot3dReachtube(traces, 'test2',1,2,3,'g',fig, edge = True)
- fig.set_background('#e0e0e0')
- fig.show()
diff --git a/demo/quadrotor/demo7.py b/demo/quadrotor/demo7.py
deleted file mode 100644
index e0c05500e3a6591b68e7910f1a63486c1a103b53..0000000000000000000000000000000000000000
--- a/demo/quadrotor/demo7.py
+++ /dev/null
@@ -1,98 +0,0 @@
-from quadrotor_agent2 import QuadrotorAgent
-from verse import Scenario
-from verse.plotter.plotter2D import simulation_tree
-from verse.plotter.plotter3D_new import *
-from verse.plotter.plotter3D import *
-from verse.map.example_map.simple_map_3d import SimpleMap6
-from verse.sensor.example_sensor.quadrotor_sensor import QuadrotorSensor
-import os
-import json
-import plotly.graph_objects as go
-import pyvista as pv
-from enum import Enum, auto
-from gen_json import write_json, read_json
-
-
-class CraftMode(Enum):
- Normal = auto()
- MoveUp = auto()
- MoveDown = auto()
-
-
-class TrackMode(Enum):
- T0 = auto()
- T1 = auto()
- T2 = auto()
- M01 = auto()
- M10 = auto()
- M12 = auto()
- M21 = auto()
-
-
-if __name__ == "__main__":
- input_code_name = './demo/quadrotor/quadrotor_controller5.py'
- input_code_name2 = './demo/quadrotor/quadrotor_controller6.py'
- scenario = Scenario()
-
- # path = os.path.abspath(__file__)
- # path = path.replace('demo7.py', 'test.json')
- # # print(path)
- # with open(path, 'r') as f:
- # prarms = json.load(f)
- time_step = 0.1
- quadrotor1 = QuadrotorAgent('test1', file_name=input_code_name)
- scenario.add_agent(quadrotor1)
- init_l_1 = [9.5, 0,0,0, 0, 0,0,0,-0.3, 0]
- init_u_1 = [10,0,0,0, 0.5,0,0,0, 0.3, 0]
- # init_u_1 = [3.5, -8.5, -1, 0, 0, 0]
- scenario.set_init_single(quadrotor1.id, [init_l_1, init_u_1], tuple(
- [CraftMode.Normal, TrackMode.T1]))
-
- quadrotor2 = QuadrotorAgent('test2', file_name=input_code_name2)
- scenario.add_agent(quadrotor2)
- init_l_2 = [3,0,0,0, 9,0,0,0, -0.3, 0]
- init_u_2 = [3.5,0,0,0, 9.5,0,0,0, 0.3, 0]
- # init_u_2 = [3, -5, -4, 0, 0, 0]
- scenario.set_init_single(quadrotor2.id, [init_l_2, init_u_2], tuple(
- [CraftMode.Normal, TrackMode.T1]))
-
- # quadrotor3 = QuadrotorAgent('test3', file_name=input_code_name2)
- # scenario.add_agent(quadrotor3)
- # init_l_3 = [3, 9, 7.7, 0, 0, 0]
- # init_u_3 = [3.5, 9.5, 8.3, 0, 0, 0]
- # # init_u_2 = [3, -5, -4, 0, 0, 0]
- # scenario.set_init_single(quadrotor3.id, [init_l_3, init_u_3], tuple(
- # [CraftMode.Normal, TrackMode.T0]))
-
- t_v = {quadrotor1.id: (1, 0.3),
- quadrotor2.id: (1, 0.3),
- # quadrotor3.id: (1, 0.85),
- }
- bs = {quadrotor1.id: [0.4]*3,
- quadrotor2.id: [0.4]*3,
- # quadrotor3.id: [0.4]*3
- }
- tmp_map = SimpleMap6(t_v_pair=t_v, box_side=bs)
- scenario.set_map(tmp_map)
- fig = go.Figure()
- # draw_map_3d(tmp_map, fig, 'lines')
- # scenario.set_sensor(QuadrotorSensor())
-
- # path = os.path.abspath(__file__)
- # path = path.replace('demo6.py', 'output_2.json')
- traces = scenario.simulate(600, time_step)
- # write_json(traces, path)
- fig = go.Figure()
- # traces = read_json(path)
- fig = simulation_tree_3d(traces, tmp_map, fig, 1, 5, 9, [0, 1, 5, 9],
- 'lines', 'trace')
- # fig = simulation_tree(traces, map = None, fig = fig, x_dim = 0, y_dim = 1)
- # fig = simulation_tree(traces, map = None, fig = fig, x_dim = 0, y_dim = 5)
- fig.show()
-
-
- # traces = scenario.verify(40, time_step)
- # fig = pv.Plotter()
- # fig = plot3dReachtube(traces, 'test1',1,2,3,'r',fig)
- # fig = plot3dReachtube(traces, 'test2',1,2,3,'g',fig)
- # fig.show()
diff --git a/demo/quadrotor/gen_json.py b/demo/quadrotor/gen_json.py
deleted file mode 100644
index 725da0b5a141bcfbaa42cca7c1c085cc8733dc3d..0000000000000000000000000000000000000000
--- a/demo/quadrotor/gen_json.py
+++ /dev/null
@@ -1,183 +0,0 @@
-from json import dump, dumps, load, loads
-import os
-import copy
-import queue
-from verse.analysis.analysis_tree import AnalysisTree, AnalysisTreeNode
-from verse.plotter.plotter2D import *
-
-AGENT = 'agent'
-INIT = 'init'
-MODE = 'mode'
-STATIC = 'static'
-START_TIME = 'start_time'
-CHILD = 'child'
-TRACE = 'trace'
-TYPE = 'simtrace'
-ASSERT_HITS = 'assert_hits'
-
-curr_lines = 2
-tree_dict = {}
-total_id = 0
-
-
-class json_node():
- def __init__(self, data) -> None:
- self.data = data
- self.child = []
-
- def add_child(self, child):
- self.child.append(child)
-
- def set_children(self, children):
- self.child = children
-
-
-def write_json(root, file):
- with open(file, 'w', encoding='utf-8') as f:
- dump(root, f)
- return
-
-
-def trans_dict(root: AnalysisTreeNode, level, id, parent_dict):
- if isinstance(root, AnalysisTree):
- root = root.root
- global curr_lines, tree_dict, total_id
- rst_dict = {'node_name': None, 'id': 0, 'start_line': 1, 'parent': None, 'child': {}, 'agent': {}, 'init': {}, 'mode': {}, 'static': {}, 'start_time': 0,
- 'trace': {}, 'type': 'simtrace', 'assert_hits': None}
- if level not in tree_dict:
- tree_dict[level] = id
- rst_dict['node_name'] = f'{level}-{id}'
- i = 0
- if parent_dict == None:
- total_id = 0
- curr_lines = 2
- rst_dict['parent'] = None
- else:
- # i = 1
- rst_dict['parent'] = {
- 'name': parent_dict['node_name'], 'index': parent_dict['id'], 'start_line': parent_dict['start_line']}
- # json_obj = dumps(rst_dict, indent=4, separators=(', ', ': '))
- # curr_lines = curr_lines+2+json_obj.count('\n')
- parent_dict['child'][rst_dict['node_name']] = {
- 'name': rst_dict['node_name'], 'index': total_id, 'start_line': curr_lines}
-
- rst_dict['start_line'] = curr_lines
- rst_dict['id'] = total_id
- total_id += 1
-
- agent_dict = {}
- for agent_id in root.agent:
- agent_dict[agent_id] = f'{type(root.agent[agent_id])}'
- rst_dict['agent'] = agent_dict
-
- init_dict = {}
- for agent_id in root.init:
- init_dict[agent_id] = dumps(root.init[agent_id])
- rst_dict['init'] = init_dict
-
- mode_dict = {}
- for agent_id in root.mode:
- mode_dict[agent_id] = dumps(root.mode[agent_id])
- rst_dict['mode'] = mode_dict
-
- static_dict = {}
- for agent_id in root.static:
- static_dict[agent_id] = dumps(root.static[agent_id])
- rst_dict['static'] = static_dict
-
- rst_dict['start_time'] = root.start_time
- rst_dict['type'] = root.type
-
- trace_dict = {}
- for agent_id in root.trace:
- trace_dict[agent_id] = [dumps(step) for step in root.trace[agent_id]]
- rst_dict['trace'] = trace_dict
-
- if level+1 not in tree_dict:
- tree_dict[level+1] = 0
- init_id = tree_dict[level+1]
- for child in root.child:
- rst_dict['child'][f'{level+1}-{tree_dict[level+1]}'] = None
- tree_dict[level+1] += 1
- i += 1
- json_obj = dumps(rst_dict, indent=4, separators=(', ', ': '))
- curr_lines = curr_lines+json_obj.count('\n')+1+4*i
- child_list = []
- for child in root.child:
- child_list.append(trans_dict(child, level+1, init_id, rst_dict))
- init_id += 1
-
- json_root = json_node(rst_dict)
- json_root.set_children(child_list)
- return json_root
-
-
-def write_json(root, file):
- root = trans_dict(root, 0, 0, None)
- if os.path.exists(file):
- os.remove(file)
- with open(file, 'a') as f:
- f.write('{\n')
-
- def output(root, cnt):
- f.write(f'"{cnt}": ')
- cnt += 1
- f.write(dumps(root.data, indent=4, separators=(', ', ': ')))
- for child in root.child:
- f.write(',\n')
- cnt = output(child, cnt)
- return cnt
-
- output(root, 0)
- f.write('\n}')
-
-
-def parse_trace(root, agend_id):
- pass
-
-
-def read_json(file):
- if not os.path.exists(file):
- print('file not exists')
- with open(file, 'r') as f:
- total_dict = load(f)
-
- def create_node(index):
- node_dict = total_dict[str(index)]
- mode_dict = {agent_id: loads(mode_json)
- for agent_id, mode_json in node_dict['mode'].items()}
- init_dict = {agent_id: loads(init_json)
- for agent_id, init_json in node_dict['init'].items()}
- trace_dict = {}
- for agent_id, trace_json_list in node_dict['trace'].items():
- trace_list = [loads(trace_json) for trace_json in trace_json_list]
- trace_dict[agent_id] = trace_list
- child_list = []
- for child in node_dict['child']:
- child_id = node_dict['child'][child]['index']
- child_list.append(create_node(child_id))
-
- node = AnalysisTreeNode(
- trace=trace_dict,
- init=init_dict,
- mode=mode_dict,
- static=node_dict['static'],
- agent=node_dict['agent'],
- child=child_list,
- start_time=node_dict['start_time'],
- type='simtrace'
- )
- return node
-
- root = create_node(0)
-
- return root
-
-
-if __name__ == "__main__":
- path = os.path.abspath('.')
- if os.path.exists(path+'/demo'):
- path += '/demo'
- path += '/output'
- file = path+"/output.json"
- root = read_json(file)
diff --git a/demo/quadrotor/output.json b/demo/quadrotor/output.json
deleted file mode 100644
index c03cb1f1a86a9582ac4de66e28aa544398ac8826..0000000000000000000000000000000000000000
--- a/demo/quadrotor/output.json
+++ /dev/null
@@ -1,2374 +0,0 @@
-{
-"0": {
- "node_name": "0-0",
- "id": 0,
- "start_line": 2,
- "parent": null,
- "child": {
- "1-0": {
- "name": "1-0",
- "index": 1,
- "start_line": 345
- }
- },
- "agent": {
- "test": "<class 'dryvr_plus_plus.example.example_agent.quadrotor_agent.QuadrotorAgent'>"
- },
- "init": {
- "test": "[2.991558736111579, -0.07835016954347276, -0.09073820491240625, 0.03775253424498685, 0.0923077274644122, 0.03812121609123423, 0, 0.0]"
- },
- "mode": {
- "test": "[\"Follow_Waypoint\"]"
- },
- "static": {
- "test": "[]"
- },
- "start_time": 0,
- "trace": {
- "test": [
- "[0.0, 2.991558736111579, -0.07835016954347276, -0.09073820491240625, 0.03775253424498685, 0.0923077274644122, 0.03812121609123423, 0.0, 0.0]",
- "[0.05, 2.994676781073002, -0.07250436492107813, -0.08633201338788396, 0.08696669090290035, 0.14152188412232566, 0.13812121609123423, 0.0, 0.0]",
- "[0.1, 3.000255530319947, -0.0641978560131613, -0.07692582907139633, 0.13618084756081386, 0.19073604078023917, 0.23812121609123427, 0.0, 0.0]",
- "[0.15000000000000002, 3.0082949806901285, -0.055891461966289836, -0.06251965838850625, 0.18539500421872737, 0.14152188412232566, 0.33812121609123424, 0.0, 0.0]",
- "[0.2, 3.0187951295148046, -0.05004576637391407, -0.04311350676192154, 0.23460916087664083, 0.09230772746441221, 0.4381212160912343, 0.0, 0.0]",
- "[0.25, 3.0317559738698825, -0.04666076631193909, -0.023707511781504743, 0.2838233175345543, 0.04309357080649871, 0.33812121609123424, 0.0, 0.0]",
- "[0.3, 3.0471775124340708, -0.043275715084153316, -0.00930148911843378, 0.33303747419246776, 0.09230772746441218, 0.23812121609123427, 0.0, 0.0]",
- "[0.35, 3.062599024677393, -0.03989069017723322, 0.005104587026942831, 0.28382331753455436, 0.04309357080649867, 0.33812121609123424, 0.0, 0.0]",
- "[0.39999999999999997, 3.0755598324791213, -0.03896636971190802, 0.019510639381594645, 0.23460916087664088, -0.0061205858514148115, 0.23812121609123432, 0.0, 0.0]",
- "[0.44999999999999996, 3.086059921145177, -0.038042029626702105, 0.028916668769730904, 0.18539500421872737, 0.04309357080649867, 0.1381212160912343, 0.0, 0.0]",
- "[0.49999999999999994, 3.0940992953355204, -0.03711772710697046, 0.03832277448849414, 0.1361808475608139, -0.006120585851414784, 0.23812121609123438, 0.0, 0.0]",
- "[0.5499999999999999, 3.1021387195134302, -0.03619337459967223, 0.04772877863573808, 0.18539500421872743, 0.04309357080649872, 0.1381212160912343, 0.0, 0.0]",
- "[0.6, 3.110178083133252, -0.03526908265046217, 0.05213477304747858, 0.13618084756081394, -0.0061205858514147855, 0.038121216091234214, 0.0, 0.0]",
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- "[66.0500000000001, 8.067626038177162, 0.5890232030572735, 0.06466758268457994, -0.011461622412926118, -0.15376305582515576, -0.06187878390879444, 5.0, 0.0]",
- "[66.1000000000001, 8.065822550439735, 0.5825654568827946, 0.06407375057282184, -0.060675779070839625, -0.10454889916724225, 0.03812121609120557, 5.0, 0.0]",
- "[66.15000000000009, 8.064019167618776, 0.5761076057918518, 0.06847991747720468, -0.0114616224129261, -0.15376305582515576, 0.1381212160912056, 5.0, 0.0]",
- "[66.20000000000009, 8.064676496207658, 0.5696498627101202, 0.07288586491381956, 0.0377525342449874, -0.10454889916724228, 0.03812121609120555, 5.0, 0.0]",
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- "[66.6000000000001, 8.06501325999849, 0.5056838167237833, 0.06813434740675287, 0.03775253424498738, -0.2029772124830694, 0.038121216091205334, 5.0, 0.0]",
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- "[66.8000000000001, 8.065181534319493, 0.4773920233901181, 0.06575858865255993, -0.06067577907083961, -0.1045488991672424, 0.03812121609120528, 5.0, 0.0]",
- "[66.85000000000011, 8.063378152827081, 0.47093417097062445, 0.06516454065776796, -0.0114616224129261, -0.15376305582515593, -0.06187878390879477, 5.0, 0.0]",
- "[66.9000000000001, 8.06403547868276, 0.462015611203039, 0.06457070927659037, 0.0377525342449874, -0.20297721248306944, 0.038121216091205244, 5.0, 0.0]",
- "[66.9500000000001, 8.064692698904636, 0.4530971570692616, 0.06897687690799027, -0.01146162241292609, -0.15376305582515595, 0.13812121609120526, 5.0, 0.0]",
- "[67.0000000000001, 8.065350027837141, 0.44663941433115384, 0.07338282364638349, 0.03775253424498741, -0.10454889916724242, 0.038121216091205216, 5.0, 0.0]",
- "[67.0500000000001, 8.06600724093804, 0.4401815557614405, 0.07278876315474081, -0.01146162241292608, -0.1537630558251559, -0.061878783908794824, 5.0, 0.0]",
- "[67.10000000000011, 8.066664572943019, 0.4312629898445586, 0.07219494426853815, 0.037752534244987423, -0.20297721248306946, 0.038121216091205196, 5.0, 0.0]",
- "[67.1500000000001, 8.067321787017466, 0.42234454185820836, 0.07160088575508215, -0.011461622412926076, -0.15376305582515595, -0.06187878390879486, 5.0, 0.0]",
- "[67.2000000000001, 8.065518293747216, 0.4158868012165561, 0.07100706488567228, -0.06067577907083957, -0.10454889916724247, 0.038121216091205126, 5.0, 0.0]",
- "[67.25000000000011, 8.063714916457494, 0.40942894459437523, 0.07041300835129034, -0.011461622412926073, -0.15376305582515595, -0.061878783908794914, 5.0, 0.0]",
- "[67.30000000000011, 8.064372246514628, 0.4005103806253382, 0.06981918550719196, 0.03775253424498744, -0.2029772124830695, 0.0381212160912051, 5.0, 0.0]",
- "[67.35000000000011, 8.06502946253754, 0.39159193069052245, 0.0692251309528925, -0.011461622412926056, -0.15376305582515598, -0.061878783908794935, 5.0, 0.0]",
- "[67.4000000000001, 8.065686791617368, 0.3851341880997397, 0.06863130612297488, 0.03775253424498744, -0.1045488991672425, 0.03812121609120507, 5.0, 0.0]",
- "[67.4500000000001, 8.066344008615328, 0.37867633342708684, 0.06803725354990818, -0.011461622412926056, -0.153763055825156, -0.06187878390879497, 5.0, 0.0]",
- "[67.50000000000011, 8.067001336722523, 0.3697577714079901, 0.06744342674365655, 0.03775253424498743, -0.2029772124830695, 0.03812121609120503, 5.0, 0.0]",
- "[67.55000000000011, 8.06765855469618, 0.3608393195224294, 0.0668493761531456, -0.011461622412926063, -0.15376305582515593, -0.06187878390879501, 5.0, 0.0]",
- "[67.60000000000011, 8.065855065326675, 0.3543815749800315, 0.06625554735767142, -0.06067577907083957, -0.10454889916724247, 0.03812121609120501, 5.0, 0.0]",
- "[67.65000000000012, 8.064051684135274, 0.3479237222595269, 0.06566149875124445, -0.01146162241292608, -0.15376305582515595, -0.06187878390879504, 5.0, 0.0]",
- "[67.70000000000012, 8.064709010289759, 0.34146597674340134, 0.06506766797721862, 0.03775253424498743, -0.10454889916724248, 0.038121216091204974, 5.0, 0.0]",
- "[67.75000000000011, 8.065366230213833, 0.3350081249968643, 0.06447362134983112, -0.011461622412926076, -0.15376305582515598, -0.06187878390879507, 5.0, 0.0]",
- "[67.80000000000011, 8.066023555394102, 0.32608956590469446, 0.06387978859625222, 0.03775253424498743, -0.2029772124830695, 0.038121216091204946, 5.0, 0.0]",
- "[67.85000000000011, 8.066680776296241, 0.3171711110906554, 0.06828595484540442, -0.01146162241292608, -0.153763055825156, 0.13812121609120498, 5.0, 0.0]",
- "[67.90000000000012, 8.067338104511984, 0.3107133676357885, 0.07269190304020609, 0.037752534244987423, -0.10454889916724251, 0.038121216091204925, 5.0, 0.0]",
- "[67.95000000000012, 8.067995318371278, 0.30425550982446903, 0.07209784408957082, -0.011461622412926066, -0.153763055825156, -0.06187878390879512, 5.0, 0.0]",
- "[68.00000000000011, 8.066191824889216, 0.2977977693946278, 0.07150402365054734, -0.06067577907083957, -0.10454889916724253, 0.038121216091204876, 5.0, 0.0]",
- "[68.05000000000013, 8.064388447805346, 0.29133991256659114, 0.07090996669787948, -0.01146162241292607, -0.15376305582515604, -0.06187878390879514, 5.0, 0.0]",
- "[68.10000000000012, 8.065045778062018, 0.28242134839801325, 0.07031614425923507, 0.037752534244987423, -0.20297721248306955, 0.03812121609120486, 5.0, 0.0]",
- "[68.15000000000012, 8.065702993896823, 0.2735028986513075, 0.06972208932270815, -0.011461622412926076, -0.153763055825156, -0.06187878390879518, 5.0, 0.0]",
- "[68.20000000000012, 8.066360323152233, 0.26704515623610536, 0.06912826484955899, 0.03775253424498743, -0.1045488991672425, 0.038121216091204835, 5.0, 0.0]",
- "[68.25000000000011, 8.067017539982785, 0.2605873013960485, 0.06853421193633825, -0.011461622412926083, -0.153763055825156, -0.06187878390879522, 5.0, 0.0]",
- "[68.30000000000013, 8.067674868248647, 0.2516687392182815, 0.06794038545249449, 0.037752534244987423, -0.20297721248306952, 0.038121216091204786, 5.0, 0.0]",
- "[68.35000000000012, 8.068332086079282, 0.2427502874757418, 0.06734633457137384, -0.011461622412926083, -0.153763055825156, -0.061878783908795275, 5.0, 0.0]",
- "[68.40000000000012, 8.066528596584103, 0.23629254305901753, 0.06675250603126048, -0.06067577907083958, -0.10454889916724248, 0.038121216091204724, 5.0, 0.0]",
- "[68.45000000000013, 8.06472521550672, 0.2298346902244975, 0.06615845719316145, -0.011461622412926076, -0.15376305582515598, -0.06187878390879533, 5.0, 0.0]",
- "[68.50000000000013, 8.065382541762656, 0.22091613005665692, 0.06556462662527641, 0.037752534244987423, -0.20297721248306946, 0.03812121609120467, 5.0, 0.0]",
- "[68.55000000000013, 8.066039761610975, 0.21199767629643157, 0.06497057984396322, -0.011461622412926063, -0.15376305582515593, -0.061878783908795344, 5.0, 0.0]",
- "[68.60000000000012, 8.06669708683824, 0.20553992985308409, 0.06437674718588188, 0.03775253424498744, -0.10454889916724237, 0.038121216091204634, 5.0, 0.0]",
- "[68.65000000000012, 8.067354307707461, 0.19908207905169423, 0.06378270247897254, -0.01146162241292608, -0.1537630558251559, -0.061878783908795414, 5.0, 0.0]",
- "[68.70000000000013, 8.065550821250577, 0.19262433159667203, 0.06318886776523323, -0.060675779070839576, -0.10454889916724242, 0.038121216091204585, 5.0, 0.0]",
- "[68.75000000000013, 8.06374743712469, 0.18616648181065676, 0.06759503201808714, -0.011461622412926087, -0.15376305582515593, 0.13812121609120456, 5.0, 0.0]",
- "[68.80000000000013, 8.064404764226596, 0.17970873724195124, 0.07200098247613713, 0.037752534244987423, -0.10454889916724242, 0.038121216091204564, 5.0, 0.0]",
- "[68.85000000000014, 8.06506197937043, 0.17325088071517428, 0.0714069261356097, -0.011461622412926083, -0.15376305582515593, -0.06187878390879548, 5.0, 0.0]",
- "[68.90000000000013, 8.065719309280322, 0.16433231689338068, 0.0708131029923222, 0.03775253424498741, -0.20297721248306946, 0.0381212160912045, 5.0, 0.0]",
- "[68.95000000000013, 8.066376525540866, 0.1554138667209336, 0.07021904892087429, -0.01146162241292609, -0.15376305582515598, -0.061878783908795566, 5.0, 0.0]",
- "[69.00000000000013, 8.06703385427815, 0.14649530407174124, 0.06962522339493638, 0.03775253424498741, -0.2029772124830695, 0.03812121609120443, 5.0, 0.0]",
- "[69.05000000000013, 8.067691071744186, 0.1375768526938023, 0.06903117177297056, -0.011461622412926087, -0.15376305582515598, -0.06187878390879562, 5.0, 0.0]",
- "[69.10000000000014, 8.065887582011701, 0.13111910851438452, 0.06843734371504866, -0.0606757790708396, -0.10454889916724248, 0.03812121609120438, 5.0, 0.0]",
- "[69.15000000000013, 8.064084201072074, 0.12466125554210725, 0.06784329459703588, -0.01146162241292609, -0.15376305582515595, -0.06187878390879568, 5.0, 0.0]",
- "[69.20000000000013, 8.064741527351687, 0.11574269535058947, 0.0672494640772613, 0.03775253424498741, -0.20297721248306944, 0.03812121609120432, 5.0, 0.0]",
- "[69.25000000000014, 8.06539874737817, 0.10682424141220577, 0.06665541765795444, -0.0114616224129261, -0.15376305582515593, -0.06187878390879572, 5.0, 0.0]",
- "[69.30000000000014, 8.066056072176767, 0.10036649454019057, 0.06606158412884786, 0.037752534244987396, -0.1045488991672424, 0.038121216091204294, 5.0, 0.0]",
- "[69.35000000000014, 8.066713293681577, 0.09390864437438594, 0.06546754071340682, -0.011461622412926118, -0.1537630558251559, -0.06187878390879575, 5.0, 0.0]",
- "[69.40000000000013, 8.064909808106165, 0.08745089603789274, 0.06487370420857518, -0.06067577907083963, -0.10454889916724236, 0.03812121609120428, 5.0, 0.0]",
- "[69.45000000000013, 8.063106422803664, 0.0809930474284911, 0.06927986607062585, -0.011461622412926125, -0.15376305582515584, 0.13812121609120429, 5.0, 0.0]",
- "[69.50000000000014, 8.063763747711558, 0.0745353006657732, 0.07368582098676776, 0.03775253424498738, -0.10454889916724233, 0.03812121609120422, 5.0, 0.0]",
- "[69.55000000000014, 8.064420966430928, 0.06807744771453317, 0.07309177191150125, -0.011461622412926115, -0.15376305582515581, -0.06187878390879583, 5.0, 0.0]",
- "[69.60000000000014, 8.065078291969005, 0.05915888826455358, 0.07249793988496883, 0.037752534244987396, -0.20297721248306932, 0.03812121609120418, 5.0, 0.0]",
- "[69.65000000000015, 8.065735514098474, 0.05024043222317912, 0.07190389773880389, -0.011461622412926115, -0.15376305582515581, -0.06187878390879586, 5.0, 0.0]",
- "[69.70000000000014, 8.06639283487106, 0.04132187753868943, 0.0713100560291026, 0.037752534244987396, -0.20297721248306932, 0.03812121609120414, 5.0, 0.0]",
- "[69.75000000000014, 8.067050063307706, 0.03240341519013865, 0.07071602669871413, -0.011461622412926094, -0.15376305582515581, -0.0618787839087959, 5.0, 0.0]",
- "[69.80000000000014, 8.065246588942282, 0.025945655643658964, 0.07012216741591114, -0.060675779070839604, -0.10454889916724235, 0.03812121609120411, 5.0, 0.0]",
- "[69.85000000000014, 8.063443188296677, 0.019487822377358275, 0.06952815833917486, -0.011461622412926106, -0.15376305582515584, -0.06187878390879594, 5.0, 0.0]",
- "[69.90000000000015, 8.06410048917553, 0.010569287586600801, 0.06893427620668961, 0.037752534244987396, -0.20297721248306932, 0.03812121609120407, 5.0, 0.0]",
- "[69.95000000000014, 8.064757745235994, 0.0016507976142342059, 0.06834030300611757, -0.011461622412926087, -0.15376305582515581, -0.061878783908795865, 5.0, 0.0]",
- "[70.00000000000014, 8.065415020767693, -0.0048069985246767775, 0.06774636936984849, 0.03775253424498741, -0.10454889916724232, 0.03812121609120414, 5.0, 0.0]",
- "[70.05000000000015, 8.066072285671964, -0.01126480529101799, 0.06715241413932492, -0.011461622412926059, -0.1537630558251558, -0.06187878390879592, 5.0, 0.0]",
- "[70.10000000000015, 8.066729576150813, -0.02018332968177028, 0.0665585108746981, 0.03775253424498748, -0.20297721248306932, 0.038121216091204, 5.0, 0.0]",
- "[70.15000000000015, 8.06738682045028, -0.02910180789313817, 0.06596451377653342, -0.011461622412926028, -0.15376305582515584, -0.061878783908796045, 5.0, 0.0]"
- ]
- },
- "type": "simtrace",
- "assert_hits": null
-}
-}
\ No newline at end of file
diff --git a/demo/quadrotor/output_1.json b/demo/quadrotor/output_1.json
deleted file mode 100644
index bcfd2dddca3dbb55cf10b5bc898042ed463ec0f7..0000000000000000000000000000000000000000
--- a/demo/quadrotor/output_1.json
+++ /dev/null
@@ -1,1590 +0,0 @@
-{
-"0": {
- "node_name": "0-0",
- "id": 0,
- "start_line": 2,
- "parent": null,
- "child": {
- "1-0": {
- "name": "1-0",
- "index": 1,
- "start_line": 112
- }
- },
- "agent": {
- "test2": "<class 'quadrotor_agent.QuadrotorAgent'>"
- },
- "init": {
- "test2": "[[[2.8, 1.8, -0.2, 0, 0, 0, 0, 0], [3, 2, 0, 0.1, 0.1, 0.1, 0, 0]]]"
- },
- "mode": {
- "test2": "[\"Follow_Lane\", \"Lane2\"]"
- },
- "static": {
- "test2": "[]"
- },
- "start_time": 0,
- "trace": {
- "test2": [
- "[0.0, 2.8, 1.7999999999999998, -0.2, 0.0, -0.05210672681545142, -0.13040322943158927, 0.0, 0.0]",
- "[0.05, 3.0054051867435807, 2.0045496742552666, 0.0029033564108444238, 0.14921415665503998, 0.2505350401312784, 0.4304032294315893, 0.0, 0.0]",
- "[0.05, 2.802055684237635, 1.8029111967259464, -0.19290302490395755, 0.049214156660787024, -0.1213936539265319, -0.13040322943158927, 0.0, 0.0]",
- "[0.1, 3.013271106882405, 2.008646809958363, 0.010452883741490199, 0.19842831331295346, 0.4182502805581859, 0.5304032294315895, 0.0, 0.0]",
- "[0.1, 2.8065720425956866, 1.8111963395197266, -0.18045223728825685, 0.09842831331870054, -0.1213936539265319, -0.3090984233629456, 0.0, 0.0]",
- "[0.15000000000000002, 3.0235976797950856, 2.0176184021387744, 0.01287675813622148, 0.24764246997086695, 0.4846110907985849, 0.6090984233629458, 0.0, 0.0]",
- "[0.15000000000000002, 2.8135491475421555, 1.819528425198465, -0.16287639350163796, 0.14764246997661398, -0.08932615085110396, -0.3090984233629456, 0.0, 0.0]",
- "[0.2, 3.03638497681159, 2.0259316629313324, 0.01287675813622148, 0.29685662662878043, 0.4846110907985849, 0.6090984233629458, 0.0, 0.0]",
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- "test2": "[[[42.69261358207375, 5.4466826670902595, 0.02293940652917801, 1.8949033576682053, -0.021086681772996246, -0.16490762658446836, 20.0, 0], [42.804499483115485, 5.473580295385627, 0.04935361357876164, 2.097332003510266, 0.2737434630472899, 0.2418713745827683, 20.0, 0]]]"
- },
- "mode": {
- "test2": "[\"Follow_Lane\", \"Lane2\"]"
- },
- "static": {
- "test2": "[]"
- },
- "start_time": 19.95,
- "trace": {
- "test2": [
- "[19.95, 42.69261358207375, 5.4466826670902595, 0.012311821322146376, 1.894903357668205, -0.02108668177299622, -0.2649076265725993, 20.0, 0.0]",
- "[20.0, 42.90892580000368, 5.487837473742743, 0.05882926629862699, 2.146546160162363, 0.3229576196963766, 0.2418713745827683, 20.0, 0.0]",
- "[20.0, 42.79025980007881, 5.447519094631169, -0.003433580425183557, 1.9441175143319356, 0.028127474893744092, -0.36490762657259923, 20.0, 0.0]",
- "[20.05, 43.01581282540887, 5.504739053219499, 0.06342273746902242, 2.195760316820276, 0.3721717763542901, 0.1418713745708991, 20.0, 0.0]"
- ]
- },
- "type": "reachtube",
- "assert_hits": null
-}
-}
\ No newline at end of file
diff --git a/demo/quadrotor/output_2.json b/demo/quadrotor/output_2.json
deleted file mode 100644
index 39923da2ec95e3328466c6e1211b44d6012d63dc..0000000000000000000000000000000000000000
--- a/demo/quadrotor/output_2.json
+++ /dev/null
@@ -1,11486 +0,0 @@
-{
-"0": {
- "node_name": "0-0",
- "id": 0,
- "start_line": 2,
- "parent": null,
- "child": {
- "1-0": {
- "name": "1-0",
- "index": 1,
- "start_line": 412
- },
- "1-1": {
- "name": "1-1",
- "index": 3,
- "start_line": 3156
- },
- "1-2": {
- "name": "1-2",
- "index": 5,
- "start_line": 5900
- },
- "1-3": {
- "name": "1-3",
- "index": 7,
- "start_line": 8644
- }
- },
- "agent": {
- "test1": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test2": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test3": "<class 'quadrotor_agent.QuadrotorAgent'>"
- },
- "init": {
- "test1": "[9.565917925091767, 0.1237636670229249, -0.05400631969919248, 0.0, 0.0, 0.0]",
- "test2": "[3.1248826888706454, 9.365146976682698, -0.250334579645757, 0.0, 0.0, 0.0]",
- "test3": "[3.0872029075656027, 9.221290349262626, 8.035961078388633, 0.0, 0.0, 0.0]"
- },
- "mode": {
- "test1": "[\"Normal\", \"T1\"]",
- "test2": "[\"Normal\", \"T1\"]",
- "test3": "[\"Normal\", \"T0\"]"
- },
- "static": {
- "test1": "[]",
- "test2": "[]",
- "test3": "[]"
- },
- "start_time": 0,
- "trace": {
- "test1": [
- "[0.0, 9.565917925091767, 0.1237636670229249, -0.05400631969919248, 0.0, 0.0, 0.0]",
- "[0.1, 9.570839340757557, 0.12868508268871623, -0.04400631969919247, 0.09842831331582695, 0.09842831331582695, 0.2]",
- "[0.2, 9.585603619791057, 0.14344936172221606, -0.01400625460384608, 0.19685662663165382, 0.19685662663165382, 0.3999999999999999]",
- "[0.3, 9.610210708448419, 0.1680564503795795, 0.015993724409495827, 0.2952849399474808, 0.2952849399474808, 0.1999999999999998]",
- "[0.4, 9.644660629903527, 0.202506371834687, 0.025993700443692182, 0.3937132532633077, 0.3937132532633077, -3.885780586188048e-16]",
- "[0.5, 9.688953370895646, 0.24679911282680914, 0.035993700443692156, 0.49214156657913466, 0.49214156657913466, 0.19999999999999962]",
- "[0.6, 9.73324608538426, 0.30093471165401825, 0.04599364659027641, 0.3937132532633076, 0.5905698798949617, -3.3306690738754696e-16]",
- "[0.7, 9.767695995044802, 0.36491311530930576, 0.055993646590276364, 0.29528493994748056, 0.6889981932107887, 0.19999999999999968]",
- "[0.8, 9.802145945923753, 0.4387343915145878, 0.06599356283711505, 0.39371325326330764, 0.7874265065266154, -4.440892098500626e-16]",
- "[0.9, 9.83659585558429, 0.5223984578330407, 0.05599356283711499, 0.2952849399474805, 0.8858548198424424, -0.2000000000000006]",
- "[1.0, 9.861202892634925, 0.6159053967613997, 0.04599364671201228, 0.19685662663165354, 0.9842831331582697, -6.661338147750939e-16]",
- "[1.1, 9.875967139632301, 0.7192551257430182, 0.0559936467120122, 0.09842831331582658, 1.0827114464740966, 0.19999999999999934]",
- "[1.2, 9.880888513992623, 0.8324477273616926, 0.06599356278194779, -3.3306690738754696e-16, 1.1811397597899234, -6.661338147750939e-16]",
- "[1.3, 9.875967098326832, 0.9554831190064763, 0.05599356278194772, -0.09842831331582727, 1.2795680731057502, -0.20000000000000073]",
- "[1.4, 9.871045723979579, 1.0883613833013785, 0.04599364673855438, -4.440892098500626e-16, 1.3779963864215767, -8.881784197001252e-16]",
- "[1.5, 9.866124308313779, 1.2310824376093359, 0.0559936467385706, -0.09842831331582742, 1.4764246997374035, 0.19999999999999912]",
- "[1.6, 9.861202933973418, 1.383646364574294, 0.06599356276796281, -4.440892098500626e-16, 1.5748530130532303, -1.1102230246251565e-15]",
- "[1.7, 9.856281518307629, 1.546053081545408, 0.0759935627679627, -0.09842831331582744, 1.6732813263690574, 0.1999999999999989]",
- "[1.8, 9.851360158725152, 1.7084597424332082, 0.0859934488102771, -4.440892098500626e-16, 1.5748530130532306, -1.1102230246251565e-15]",
- "[1.9, 9.846438743059363, 1.8610236280727401, 0.07599344881027698, -0.09842831331582744, 1.4764246997374035, -0.2000000000000012]",
- "[2.0, 9.841517383481882, 2.0037446262923777, 0.06599356277811647, -4.440892098500626e-16, 1.3779963864215767, -1.1102230246251565e-15]",
- "[2.1, 9.836595967816093, 2.1366228492687442, 0.07599356277811635, -0.09842831331582744, 1.2795680731057497, 0.1999999999999989]",
- "[2.2, 9.821831664727592, 2.2596581848224018, 0.08599344880455512, -0.19685662663165415, 1.181139759789923, -8.881784197001252e-16]",
- "[2.3, 9.797224586398627, 2.372850745135595, 0.07599344880453872, -0.29528493994748123, 1.082711446474096, -0.20000000000000095]",
- "[2.4, 9.762774620645422, 2.4762004180245496, 0.06599356278122481, -0.3937132532633082, 0.9842831331582689, -8.881784197001252e-16]",
- "[2.5, 9.728324710984884, 2.5697073156745858, 0.07599356278122475, -0.29528493994748123, 0.885854819842442, 0.19999999999999912]",
- "[2.6, 9.703717688749698, 2.6533713258992684, 0.08599344880229381, -0.19685662663165415, 0.787426506526615, -8.881784197001252e-16]",
- "[2.7, 9.679110610420734, 2.7370353922177286, 0.07599344880227742, -0.29528493994748123, 0.8858548198424421, -0.20000000000000095]",
- "[2.8, 9.654503588186165, 2.8206994024417966, 0.06599356278245927, -0.1968566266316541, 0.787426506526615, -8.881784197001252e-16]",
- "[2.9, 9.629896509857208, 2.904363468760249, 0.07599356278245921, -0.2952849399474811, 0.885854819842442, 0.19999999999999912]",
- "[3.0, 9.605289487623299, 2.997870422505335, 0.08599344880092447, -0.19685662663165415, 0.9842831331582687, -8.881784197001252e-16]",
- "[3.1, 9.580682409294335, 3.0913773201553627, 0.07599344880090807, -0.29528493994748123, 0.8858548198424416, -0.20000000000000095]",
- "[3.2, 9.546232443538287, 3.184884273900906, 0.06599356278337148, -0.3937132532633083, 0.9842831331582684, -1.1102230246251565e-15]",
- "[3.3, 9.501939702546164, 3.2783911715509415, 0.07599356278337137, -0.4921415665791352, 0.8858548198424414, 0.1999999999999989]",
- "[3.4, 9.457647017650082, 3.371898125297017, 0.0859934487998269, -0.39371325326330825, 0.9842831331582683, -1.1102230246251565e-15]",
- "[3.5, 9.423197107989543, 3.4654050229470528, 0.07599344879982678, -0.2952849399474813, 0.8858548198424412, -0.2000000000000012]",
- "[3.6, 9.388747142232674, 3.5589119766934205, 0.06599356278396418, -0.3937132532633082, 0.9842831331582683, -1.3322676295501878e-15]",
- "[3.7, 9.354297232572135, 3.6524188743434562, 0.07599356278396405, -0.29528493994748123, 0.8858548198424414, 0.19999999999999868]",
- "[3.8, 9.319847266814858, 3.7459258280902272, 0.08599344879900644, -0.3937132532633083, 0.9842831331582687, -1.3322676295501878e-15]",
- "[3.9, 9.285397357154327, 3.8394327257402554, 0.07599344879899002, -0.29528493994748134, 0.8858548198424419, -0.20000000000000148]",
- "[4.0, 9.250947391396862, 3.932939679487216, 0.06599356278433072, -0.3937132532633084, 0.9842831331582688, -1.5543122344752192e-15]",
- "[4.1, 9.206654650404737, 4.026446577137252, 0.07599356278433056, -0.49214156657913544, 0.8858548198424419, 0.19999999999999846]",
- "[4.2, 9.162361965509858, 4.119953530884531, 0.08599344879834381, -0.39371325326330847, 0.9842831331582688, -1.5543122344752192e-15]",
- "[4.3, 9.118069224517733, 4.213460428534567, 0.07599344879834366, -0.49214156657913544, 0.8858548198424419, -0.20000000000000162]",
- "[4.4, 9.07377653962297, 4.29712443875566, 0.06599356278456758, -0.3937132532633084, 0.7874265065266148, -1.7763568394002505e-15]",
- "[4.5, 9.02948379863085, 4.380788505074114, 0.07599356278456741, -0.49214156657913544, 0.8858548198424419, 0.19999999999999823]",
- "[4.6, 8.985191113736327, 4.474295458821748, 0.08599344879785464, -0.3937132532633085, 0.984283133158269, -1.7763568394002505e-15]",
- "[4.7, 8.940898372744206, 4.567802356471783, 0.07599344879785445, -0.49214156657913555, 0.885854819842442, -0.20000000000000182]",
- "[4.8, 8.896605687849751, 4.651466366692567, 0.06599356278470941, -0.39371325326330847, 0.7874265065266149, -1.7763568394002505e-15]",
- "[4.9, 8.85231294685763, 4.735130433011021, 0.07599356278470924, -0.49214156657913555, 0.885854819842442, 0.19999999999999823]",
- "[5.0, 8.808020261963382, 4.828637386758931, 0.08599344879743759, -0.3937132532633086, 0.9842831331582688, -1.7763568394002505e-15]",
- "[5.1, 8.76372752097126, 4.922144284408966, 0.0759934487974374, -0.49214156657913566, 0.8858548198424417, -0.20000000000000182]",
- "[5.2, 8.709591892549644, 5.005808294629509, 0.06599356278478191, -0.5905698798949627, 0.787426506526615, -1.9984014443252818e-15]",
- "[5.3, 8.655456320225941, 5.089472360947962, 0.0759935627847817, -0.49214156657913577, 0.885854819842442, 0.199999999999998]",
- "[5.4, 8.601320691804153, 5.1731363711683285, 0.08599344879707904, -0.5905698798949627, 0.787426506526615, -1.9984014443252818e-15]",
- "[5.5, 8.54718511948045, 5.256800437486781, 0.07599344879707885, -0.49214156657913577, 0.885854819842442, -0.20000000000000207]",
- "[5.6, 8.493049491058658, 5.34046444770715, 0.06599356278477575, -0.5905698798949628, 0.7874265065266149, -2.220446049250313e-15]",
- "[5.7, 8.438913918734954, 5.424128514025604, 0.07599356278477552, -0.4921415665791358, 0.8858548198424419, 0.1999999999999978]",
- "[5.8, 8.38477829031301, 5.507792524245816, 0.08599344879676013, -0.5905698798949628, 0.7874265065266148, -2.220446049250313e-15]",
- "[5.9, 8.330642717989306, 5.5914565905642695, 0.0759934487967599, -0.4921415665791358, 0.8858548198424419, -0.2000000000000023]",
- "[6.0, 8.276507089567382, 5.675120600784503, 0.06599356278473434, -0.5905698798949623, 0.7874265065266149, -2.4424906541753444e-15]",
- "[6.1, 8.212528685912096, 5.758784667102956, 0.07599356278473408, -0.6889981932107894, 0.8858548198424421, 0.19999999999999757]",
- "[6.2, 8.148550338355166, 5.842448677323049, 0.08599344879647547, -0.5905698798949626, 0.7874265065266153, -2.220446049250313e-15]",
- "[6.3, 8.084571934699879, 5.91626991230992, 0.07599344879647524, -0.6889981932107896, 0.6889981932107883, -0.2000000000000023]",
- "[6.4, 8.02059358714291, 5.99009120339511, 0.06599356278465096, -0.5905698798949627, 0.7874265065266152, -2.220446049250313e-15]",
- "[6.5, 7.966458014819206, 6.073755269713564, 0.07599356278465073, -0.4921415665791357, 0.8858548198424421, 0.1999999999999978]",
- "[6.6, 7.912322386397057, 6.157419279933572, 0.0859934487962235, -0.5905698798949627, 0.787426506526615, -2.220446049250313e-15]",
- "[6.7, 7.84834398274177, 6.231240514920443, 0.07599344879622327, -0.6889981932107896, 0.688998193210788, -0.2000000000000023]",
- "[6.8, 7.7843656351848765, 6.305061806005706, 0.06599356278454888, -0.5905698798949626, 0.7874265065266149, -2.220446049250313e-15]",
- "[6.9, 7.720387231529589, 6.38872587232416, 0.07599356278454865, -0.6889981932107895, 0.8858548198424419, 0.1999999999999978]",
- "[7.0, 7.656408883972807, 6.472389882544108, 0.08599344879599491, -0.5905698798949626, 0.787426506526615, -2.220446049250313e-15]",
- "[7.1, 7.592430480317519, 6.546211117530978, 0.07599344879599468, -0.6889981932107896, 0.688998193210788, -0.2000000000000023]",
- "[7.2, 7.528452132760676, 6.620032408616293, 0.06599356278442442, -0.5905698798949626, 0.7874265065266149, -2.220446049250313e-15]",
- "[7.3, 7.464473729105388, 6.6938536436031635, 0.07599356278442419, -0.6889981932107895, 0.688998193210788, 0.1999999999999978]",
- "[7.4, 7.3906524380199725, 6.767674934688579, 0.0859934487957898, -0.7874265065266165, 0.7874265065266149, -2.4424906541753444e-15]",
- "[7.5, 7.316831203033101, 6.841496169675451, 0.07599344879578956, -0.6889981932107896, 0.688998193210788, -0.2000000000000025]",
- "[7.6, 7.252852855476283, 6.915317460760791, 0.06599356278427021, -0.5905698798949626, 0.7874265065266153, -2.6645352591003757e-15]",
- "[7.7, 7.188874451820995, 6.989138695747662, 0.07599356278426993, -0.6889981932107896, 0.6889981932107883, 0.19999999999999735]",
- "[7.8, 7.115053160735561, 7.062959986833095, 0.0859934487956, -0.7874265065266166, 0.7874265065266153, -2.6645352591003757e-15]",
- "[7.9, 7.041231925748691, 7.136781221819965, 0.07599344879559974, -0.6889981932107896, 0.6889981932107883, -0.20000000000000276]",
- "[8.0, 6.977253578191882, 7.200759569376774, 0.06599356278409951, -0.5905698798949626, 0.5905698798949612, -2.886579864025407e-15]",
- "[8.1, 6.9132751745365955, 7.2647379730320605, 0.07599356278409923, -0.6889981932107895, 0.6889981932107881, 0.19999999999999712]",
- "[8.2, 6.8394538834511645, 7.3287163205887875, 0.08599344879543336, -0.7874265065266165, 0.590569879894961, -2.4424906541753444e-15]",
- "[8.3, 6.755789817132711, 7.392694724244074, 0.07599344879543313, -0.8858548198424434, 0.688998193210788, -0.2000000000000025]",
- "[8.4, 6.672125806912721, 7.456673071800899, 0.06599356278390067, -0.7874265065266168, 0.5905698798949615, -2.4424906541753444e-15]",
- "[8.5, 6.5983045719258495, 7.520651475456185, 0.07599356278390042, -0.6889981932107898, 0.6889981932107885, 0.19999999999999757]",
- "[8.6, 6.52448328084045, 7.584629823012941, 0.08599344879529663, -0.7874265065266167, 0.5905698798949616, -2.4424906541753444e-15]",
- "[8.7, 6.450662045853578, 7.648608226668228, 0.0759934487952964, -0.6889981932107898, 0.6889981932107885, -0.2000000000000025]",
- "[8.8, 6.37684075476828, 7.712586574225087, 0.06599356278369084, -0.7874265065266165, 0.5905698798949618, -2.6645352591003757e-15]",
- "[8.9, 6.30301951978141, 7.7765649778803745, 0.07599356278369056, -0.6889981932107896, 0.6889981932107887, 0.19999999999999735]",
- "[9.0, 6.2291982286960526, 7.8405433254371735, 0.08599344879517107, -0.7874265065266166, 0.5905698798949617, -2.6645352591003757e-15]",
- "[9.1, 6.145534162377599, 7.904521729092461, 0.07599344879517081, -0.8858548198424436, 0.6889981932107887, -0.20000000000000276]",
- "[9.2, 6.061870152157519, 7.968500076649375, 0.06599356278345703, -0.7874265065266166, 0.5905698798949617, -2.886579864025407e-15]",
- "[9.3, 5.978206085839067, 8.022635648973079, 0.07599356278345674, -0.8858548198424435, 0.4921415665791348, 0.19999999999999712]",
- "[9.4, 5.894542075619031, 8.0767712773952, 0.08599344879508153, -0.7874265065266164, 0.5905698798949619, -2.886579864025407e-15]",
- "[9.5, 5.8108780093005725, 8.130906849718897, 0.07599344879506492, -0.8858548198424432, 0.49214156657913505, -0.200000000000003]",
- "[9.6, 5.727213999080405, 8.18504247814089, 0.06599356278317098, -0.7874265065266162, 0.5905698798949622, -2.886579864025407e-15]",
- "[9.7, 5.643549932761952, 8.249020881796177, 0.0759935627831707, -0.8858548198424431, 0.688998193210789, 0.19999999999999712]",
- "[9.8, 5.559885922541815, 8.31299922935315, 0.08599344879500087, -0.7874265065266164, 0.5905698798949623, -2.886579864025407e-15]",
- "[9.9, 5.476221856223356, 8.367134801676848, 0.07599344879498426, -0.8858548198424432, 0.4921415665791355, -0.200000000000003]",
- "[10.0, 5.392557846003075, 8.421270430098723, 0.06599356278286012, -0.7874265065266164, 0.5905698798949623, -3.1086244689504383e-15]",
- "[10.1, 5.308893779684621, 8.475406002422426, 0.07599356278285982, -0.8858548198424433, 0.49214156657913544, 0.1999999999999969]",
- "[10.2, 5.225229769464354, 8.529541630844319, 0.08599344879495369, -0.7874265065266163, 0.5905698798949623, -3.1086244689504383e-15]",
- "[10.3, 5.141565703145901, 8.583677203168023, 0.07599344879495337, -0.8858548198424432, 0.49214156657913544, -0.20000000000000326]",
- "[10.4, 5.057901692925472, 8.62796988806212, 0.06599356278252866, -0.7874265065266164, 0.3937132532633085, -3.3306690738754696e-15]",
- "[10.5, 4.974237626607019, 8.672262629054242, 0.07599356278252833, -0.8858548198424433, 0.4921415665791355, 0.19999999999999668]",
- "[10.6, 4.890573616386584, 8.726398257475964, 0.08599344879496579, -0.7874265065266164, 0.5905698798949622, -3.3306690738754696e-15]",
- "[10.7, 4.8069095500681245, 8.780533829799658, 0.07599344879494914, -0.8858548198424434, 0.4921415665791351, -0.20000000000000345]",
- "[10.8, 4.713402596320256, 8.824826514693946, 0.06599356278213786, -0.9842831331582703, 0.39371325326330814, -3.552713678800501e-15]",
- "[10.9, 4.61989569867022, 8.86911925568607, 0.07599356278213751, -0.8858548198424433, 0.4921415665791352, 0.19999999999999646]",
- "[11.0, 4.536231688449555, 8.92325488410756, 0.0859934487950415, -0.7874265065266162, 0.5905698798949623, -3.774758283725532e-15]",
- "[11.1, 4.452567622131093, 8.977390456431257, 0.0759934487950248, -0.8858548198424432, 0.49214156657913527, -0.20000000000000387]",
- "[11.2, 4.359060668383482, 9.021683141325804, 0.0659935627816875, -0.9842831331582702, 0.39371325326330836, -3.9968028886505635e-15]",
- "[11.3, 4.2655537707334465, 9.056133050986341, 0.07599356278168709, -0.8858548198424431, 0.2952849399474814, 0.19999999999999601]",
- "[11.4, 4.172046816985921, 9.09058301674437, 0.08599344879519583, -0.9842831331582699, 0.3937132532633084, -3.774758283725532e-15]",
- "[11.5, 4.078539919335895, 9.125032926404902, 0.07599344879517912, -0.8858548198424429, 0.29528493994748145, -0.20000000000000387]",
- "[11.6, 3.9850329655886467, 9.159482892162652, 0.0659935627811023, -0.9842831331582699, 0.3937132532633084, -3.9968028886505635e-15]"
- ],
- "test2": [
- "[0.0, 3.1248826888706454, 9.365146976682698, -0.250334579645757, 0.0, 0.0, 0.0]",
- "[0.1, 3.119961273204854, 9.370068392348488, -0.24033457964575697, -0.09842831331582695, 0.09842831331582695, 0.2]",
- "[0.2, 3.105196848930245, 9.374989630737044, -0.210334219429823, -0.19685662663165396, -4.163336342344337e-17, 0.4]",
- "[0.3, 3.0904326019328763, 9.37991104640284, -0.18033421942983519, -0.09842831331582695, 0.09842831331582695, 0.19999999999999996]",
- "[0.4, 3.0756682218706284, 9.394675426465088, -0.17033448980909724, -0.19685662663165396, 0.19685662663165396, -1.942890293094024e-16]",
- "[0.5, 3.0510611435416726, 9.40943967346246, -0.16033448980909729, -0.295284939947481, 0.09842831331582694, 0.19999999999999984]",
- "[0.6, 3.026454183530633, 9.424204038777749, -0.15033473022349264, -0.19685662663165404, 0.19685662663165393, -2.2898349882893854e-16]",
- "[0.7, 3.0018471052016764, 9.438968285775125, -0.1403347302234927, -0.29528493994748106, 0.09842831331582694, 0.1999999999999998]",
- "[0.8, 2.967397091973747, 9.45373263633989, -0.11033451978122018, -0.393713253263308, 0.19685662663165396, 0.3999999999999998]",
- "[0.9, 2.9231042695455582, 9.4684968019012, -0.08033468525406834, -0.492141566579135, 0.09842831331582691, 0.1999999999999995]",
- "[1.0, 2.8788115878522906, 9.483261108197427, -0.07033480574552509, -0.3937132532633081, 0.19685662663165382, -4.440892098500626e-16]",
- "[1.1, 2.844361678191751, 9.4980253551948, -0.060334805745525126, -0.29528493994748095, 0.09842831331582681, 0.19999999999999957]",
- "[1.2, 2.8099117239932188, 9.512789646730164, -0.05033489624386034, -0.39371325326330797, 0.1968566266316537, -4.440892098500626e-16]",
- "[1.3, 2.775461814332679, 9.527553893727537, -0.04033489624386038, -0.29528493994748084, 0.0984283133158267, 0.19999999999999957]",
- "[1.4, 2.7508547657793527, 9.542318170500545, -0.03033495674602596, -0.1968566266316539, 0.19685662663165365, -4.440892098500626e-16]",
- "[1.5, 2.726247687450396, 9.557082417497918, -0.020334956746025996, -0.29528493994748095, 0.09842831331582665, 0.19999999999999957]",
- "[1.6, 2.6917977627777114, 9.571846679507434, -0.0103349872497389, -0.39371325326330797, 0.1968566266316536, -4.440892098500626e-16]",
- "[1.7, 2.647505021785589, 9.586610926504807, -0.00033498724973893626, -0.4921415665791351, 0.09842831331582659, 0.19999999999999957]",
- "[1.8, 2.6032122810414973, 9.601375173750208, 0.009665012246280108, -0.3937132532633081, 0.1968566266316536, -6.661338147750939e-16]",
- "[1.9, 2.568762371380958, 9.616139420747585, 0.01966501224628004, -0.2952849399474811, 0.09842831331582663, 0.19999999999999934]",
- "[2.0, 2.5441553075695835, 9.630903682262545, 0.02966498274748592, -0.19685662663165418, 0.19685662663165365, -7.771561172376096e-16]",
- "[2.1, 2.5195482292406264, 9.645667929259915, 0.03966498274748584, -0.2952849399474812, 0.09842831331582665, 0.19999999999999923]",
- "[2.2, 2.494941180192649, 9.660432205538266, 0.049664923250419296, -0.1968566266316542, 0.19685662663165365, -7.771561172376096e-16]",
- "[2.3, 2.470334101863692, 9.675196452535635, 0.05966492325041921, -0.29528493994748123, 0.09842831331582665, 0.19999999999999923]",
- "[2.4, 2.4358841481603455, 9.689960743575815, 0.0696648337582684, -0.3937132532633083, 0.1968566266316536, -8.881784197001252e-16]",
- "[2.5, 2.391591407168224, 9.70472499057319, 0.07966483375826834, -0.49214156657913527, 0.09842831331582659, 0.19999999999999912]",
- "[2.6, 2.347298724978023, 9.70964634743706, 0.08966471427654688, -0.3937132532633084, -3.3306690738754696e-16, -8.881784197001252e-16]",
- "[2.7, 2.312848815317491, 9.71456776310286, 0.07966471427653048, -0.29528493994748145, 0.09842831331582666, -0.20000000000000095]",
- "[2.8, 2.2783988468556635, 9.719489119967365, 0.06966483375696308, -0.3937132532633084, -2.220446049250313e-16, -1.1102230246251565e-15]",
- "[2.9, 2.243948937195123, 9.724410535633154, 0.07966483375696297, -0.29528493994748145, 0.09842831331582677, 0.1999999999999989]",
- "[3.0, 2.2094989687337327, 9.729331892498093, 0.08966471427741918, -0.3937132532633082, -2.220446049250313e-16, -1.1102230246251565e-15]",
- "[3.1, 2.175049059073192, 9.734253308163883, 0.07966471427741906, -0.29528493994748123, 0.09842831331582677, -0.2000000000000012]",
- "[3.2, 2.1405990906124672, 9.749017613961444, 0.06966483375561222, -0.3937132532633081, 0.19685662663165382, -1.3322676295501878e-15]",
- "[3.3, 2.0963063496203445, 9.763781860958817, 0.07966483375561209, -0.49214156657913505, 0.0984283133158268, 0.19999999999999868]",
- "[3.4, 2.052013667427767, 9.778546166755733, 0.08966471427871886, -0.39371325326330814, 0.1968566266316537, -1.3322676295501878e-15]",
- "[3.5, 2.0077209264356366, 9.7933104137531, 0.07966471427870243, -0.49214156657913516, 0.09842831331582669, -0.20000000000000148]",
- "[3.6, 1.9634282442420472, 9.79823177062036, 0.06966483375353821, -0.3937132532633081, -3.3306690738754696e-16, -1.5543122344752192e-15]",
- "[3.7, 1.928978334581508, 9.803153186286147, 0.07966483375353806, -0.29528493994748106, 0.09842831331582665, 0.19999999999999846]",
- "[3.8, 1.9043713150502395, 9.808074543154248, 0.08966471428041789, -0.19685662663165415, -3.3306690738754696e-16, -1.5543122344752192e-15]",
- "[3.9, 1.8797642367212828, 9.812995958820036, 0.07966471428041774, -0.2952849399474811, 0.09842831331582665, -0.20000000000000162]",
- "[4.0, 1.8453142682637862, 9.81791731568887, 0.06966483375205174, -0.39371325326330797, -3.3306690738754696e-16, -1.7763568394002505e-15]",
- "[4.1, 1.801021527271656, 9.822838731354667, 0.07966483375206786, -0.492141566579135, 0.09842831331582669, 0.19999999999999823]",
- "[4.2, 1.7567288450754384, 9.827760088224556, 0.08966471428257328, -0.3937132532633081, -2.220446049250313e-16, -1.7763568394002505e-15]",
- "[4.3, 1.7222789354149068, 9.832681503890353, 0.0796647142825568, -0.29528493994748106, 0.09842831331582674, -0.20000000000000182]",
- "[4.4, 1.687828966959853, 9.83760286076163, 0.06966483374922733, -0.39371325326330786, -2.220446049250313e-16, -1.7763568394002505e-15]",
- "[4.5, 1.6533790572993214, 9.842524276427426, 0.07966483374924345, -0.29528493994748084, 0.0984283133158268, 0.19999999999999823]",
- "[4.6, 1.6189290888454737, 9.847445633299913, 0.0896647142850237, -0.39371325326330786, -1.1102230246251565e-16, -1.7763568394002505e-15]",
- "[4.7, 1.5844791791849422, 9.852367048965709, 0.07966471428500722, -0.29528493994748084, 0.09842831331582685, -0.20000000000000182]",
- "[4.8, 1.5500292107326497, 9.857288405839745, 0.06966483374606663, -0.39371325326330797, -3.3306690738754696e-16, -1.7763568394002505e-15]",
- "[4.9, 1.5057364697405196, 9.862209821505541, 0.07966483374608276, -0.492141566579135, 0.09842831331582669, 0.19999999999999823]",
- "[5.0, 1.4614437875383086, 9.86713117838142, 0.08966471428876449, -0.39371325326330797, -3.3306690738754696e-16, -1.7763568394002505e-15]",
- "[5.1, 1.426993877877777, 9.872052594047217, 0.07966471428874801, -0.29528493994748095, 0.09842831331582663, -0.20000000000000182]",
- "[5.2, 1.3925439094296714, 9.87697395092544, 0.06966483374129995, -0.39371325326330786, -3.3306690738754696e-16, -1.9984014443252818e-15]",
- "[5.3, 1.3580939997691321, 9.881895366591227, 0.07966483374129973, -0.29528493994748084, 0.09842831331582669, 0.199999999999998]",
- "[5.4, 1.323644031323244, 9.886816723471672, 0.0896647142932534, -0.39371325326330786, -4.440892098500626e-16, -1.9984014443252818e-15]",
- "[5.5, 1.2891941216627048, 9.891738139137459, 0.07966471429325321, -0.29528493994748084, 0.09842831331582655, -0.20000000000000207]",
- "[5.6, 1.2547441532195904, 9.896659496020675, 0.06966483373566451, -0.39371325326330786, -4.440892098500626e-16, -2.220446049250313e-15]",
- "[5.7, 1.21045141222746, 9.901580911686473, 0.07966483373568058, -0.49214156657913494, 0.09842831331582655, 0.1999999999999978]",
- "[5.8, 1.1661587300143545, 9.906502268573247, 0.0896647143005006, -0.3937132532633079, -4.440892098500626e-16, -1.9984014443252818e-15]",
- "[5.9, 1.1218659890222324, 9.911423684239034, 0.07966471430050041, -0.492141566579135, 0.09842831331582655, -0.20000000000000207]",
- "[6.0, 1.077573306803984, 9.91634504113095, 0.06966483372523041, -0.3937132532633082, -2.220446049250313e-16, -2.220446049250313e-15]",
- "[6.1, 1.0431233971434528, 9.921266456796749, 0.07966483372524648, -0.2952849399474812, 0.09842831331582677, 0.1999999999999978]",
- "[6.2, 1.0086734287145662, 9.926187813694195, 0.08966471431174577, -0.3937132532633082, -1.1102230246251565e-16, -2.220446049250313e-15]",
- "[6.3, 0.9742235190540348, 9.931109229359993, 0.07966471431172925, -0.29528493994748123, 0.09842831331582685, -0.2000000000000023]",
- "[6.4, 0.9397735506313049, 9.936030586263595, 0.06966483371271948, -0.3937132532633081, 0.0, -2.4424906541753444e-15]",
- "[6.5, 0.8954808096391826, 9.940952001929384, 0.07966483371271922, -0.4921415665791351, 0.09842831331582697, 0.19999999999999757]",
- "[6.6, 0.8511881274006192, 9.945873358841617, 0.0896647143292672, -0.39371325326330825, 0.0, -2.4424906541753444e-15]",
- "[6.7, 0.8167382177400797, 9.950794774507406, 0.07966471432926697, -0.2952849399474811, 0.09842831331582702, -0.2000000000000025]",
- "[6.8, 0.7822882493374249, 9.955716131431082, 0.06966483368946563, -0.39371325326330797, 1.1102230246251565e-16, -2.6645352591003757e-15]",
- "[6.9, 0.7478383396768855, 9.95079471576529, 0.07966483368946535, -0.295284939947481, -0.09842831331582688, 0.19999999999999735]",
- "[7.0, 0.7133883712871545, 9.945873358828695, 0.0896647143555262, -0.3937132532633081, 1.1102230246251565e-16, -2.4424906541753444e-15]",
- "[7.1, 0.6789384616266151, 9.950794774494485, 0.07966471435552597, -0.29528493994748095, 0.09842831331582713, -0.2000000000000025]",
- "[7.2, 0.6444884932541295, 9.955716131448328, 0.06966483365442327, -0.39371325326330786, 1.1102230246251565e-16, -2.4424906541753444e-15]",
- "[7.3, 0.6001957522620073, 9.960637547114118, 0.07966483365442302, -0.4921415665791349, 0.09842831331582708, 0.19999999999999757]",
- "[7.4, 0.555903069954659, 9.965558904095134, 0.08966471441073809, -0.39371325326330786, 1.1102230246251565e-16, -2.4424906541753444e-15]",
- "[7.5, 0.5214531602941196, 9.970480319760924, 0.07966471441073786, -0.29528493994748073, 0.09842831331582713, -0.2000000000000025]",
- "[7.6, 0.48700319198934694, 9.975401676782482, 0.06966483357204661, -0.39371325326330764, 2.220446049250313e-16, -2.6645352591003757e-15]",
- "[7.7, 0.45255328232880754, 9.970480261116691, 0.07966483357204633, -0.2952849399474807, -0.09842831331582677, 0.19999999999999735]",
- "[7.8, 0.4181033140778829, 9.965558904041282, 0.08966471452015301, -0.39371325326330764, 1.1102230246251565e-16, -2.4424906541753444e-15]",
- "[7.9, 0.3836534044173516, 9.97048031970708, 0.07966471452013645, -0.29528493994748056, 0.09842831331582713, -0.20000000000000256]",
- "[8.0, 0.3492034362517508, 9.97540167686781, 0.06966483339865698, -0.3937132532633073, 1.1102230246251565e-16, -2.6645352591003757e-15]",
- "[8.1, 0.30491069525962866, 9.970480261202018, 0.0796648333986567, -0.49214156657913427, -0.09842831331582688, 0.19999999999999735]",
- "[8.2, 0.2606180125971293, 9.965558903865848, 0.08966471487661587, -0.3937132532633073, 1.1102230246251565e-16, -2.6645352591003757e-15]",
- "[8.3, 0.226168102936598, 9.970480319531648, 0.07966471487659932, -0.29528493994748034, 0.0984283133158271, -0.20000000000000276]",
- "[8.4, 0.19171813533049697, 9.97540167725188, 0.06966483261825213, -0.3937132532633073, 1.1102230246251565e-16, -2.6645352591003757e-15]",
- "[8.5, 0.15726822566996562, 9.97048026158608, 0.07966483261826814, -0.29528493994748034, -0.09842831331582688, 0.19999999999999735]",
- "[8.6, 0.12281825894605247, 9.965558902983663, 0.0896647166691637, -0.3937132532633074, 1.1102230246251565e-16, -2.886579864025407e-15]",
- "[8.7, 0.08836834928552112, 9.970480318649459, 0.0796647166691471, -0.29528493994748045, 0.0984283133158271, -0.200000000000003]",
- "[8.8, 0.05391838586843062, 9.975401680558699, 0.06966482589900008, -0.3937132532633073, 1.1102230246251565e-16, -3.1086244689504383e-15]",
- "[8.9, 0.009625644876300524, 9.970480264892903, 0.07966482589901608, -0.4921415665791343, -0.09842831331582688, 0.1999999999999969]",
- "[9.0, -0.034667082092391804, 9.96555886325054, 0.08966479740430873, -0.3937132532633074, 5.551115123125783e-17, -3.219646771412954e-15]",
- "[9.1, -0.06911699175292318, 9.97048027891634, 0.07966479740429208, -0.2952849399474804, 0.09842831331582705, -0.2000000000000033]",
- "[9.2, -0.10356695256670878, 9.975401643428881, 0.06966490134439673, -0.3937132532633074, 0.0, -3.3306690738754696e-15]",
- "[9.3, -0.13801686222724016, 9.970480227763082, 0.0796649013444127, -0.29528493994748045, -0.09842831331582702, 0.19999999999999668]",
- "[9.4, -0.1724668284594249, 9.965558868668936, 0.08966478639446862, -0.3937132532633073, 0.0, -3.3306690738754696e-15]",
- "[9.5, -0.20691673811995623, 9.970480284334736, 0.07966478639445197, -0.2952849399474804, 0.09842831331582702, -0.20000000000000345]",
- "[9.6, -0.24136670556220807, 9.975401642218817, 0.06966490380317386, -0.3937132532633072, 1.1102230246251565e-16, -3.3306690738754696e-15]",
- "[9.7, -0.2856594465543381, 9.970480226553017, 0.07966490380318983, -0.49214156657913416, -0.09842831331582691, 0.19999999999999668]",
- "[9.8, -0.3299521292827652, 9.96555886915092, 0.08966478541510997, -0.39371325326330714, 1.1102230246251565e-16, -3.3306690738754696e-15]",
- "[9.9, -0.3742448702748951, 9.96063745348512, 0.07966478541509332, -0.49214156657913405, -0.09842831331582691, -0.20000000000000345]",
- "[10.0, -0.4185375527772915, 9.955716096309052, 0.06966490426245242, -0.3937132532633071, 1.1102230246251565e-16, -3.552713678800501e-15]",
- "[10.1, -0.4529874624378228, 9.96063751197485, 0.07966490426246838, -0.29528493994748006, 0.0984283133158271, 0.19999999999999646]",
- "[10.2, -0.48743743068921613, 9.965558869049786, 0.08966478520962218, -0.393713253263307, 2.220446049250313e-16, -3.552713678800501e-15]",
- "[10.3, -0.5218873403497474, 9.960637453383988, 0.07966478520960552, -0.2952849399474799, -0.09842831331582674, -0.20000000000000367]",
- "[10.4, -0.5563373086548451, 9.955716096362755, 0.06966490437157474, -0.39371325326330675, 2.220446049250313e-16, -3.774758283725532e-15]",
- "[10.5, -0.6006300496469673, 9.950794680696966, 0.07966490437157436, -0.49214156657913377, -0.09842831331582677, 0.19999999999999624]",
- "[10.6, -0.6449227319540844, 9.94587332371618, 0.08966478512741949, -0.3937132532633068, 2.220446049250313e-16, -3.774758283725532e-15]",
- "[10.7, -0.6793726416146159, 9.940951908050383, 0.07966478512740278, -0.2952849399474798, -0.09842831331582677, -0.20000000000000387]",
- "[10.8, -0.7138226099872776, 9.93603055109671, 0.06966490442665718, -0.39371325326330664, 2.220446049250313e-16, -3.9968028886505635e-15]",
- "[10.9, -0.7482725196478169, 9.931109135430919, 0.07966490442665677, -0.2952849399474796, -0.09842831331582677, 0.19999999999999601]",
- "[11.0, -0.7827224880376912, 9.926187778494466, 0.0896647850924257, -0.39371325326330664, 2.220446049250313e-16, -3.9968028886505635e-15]",
- "[11.1, -0.8171723976982226, 9.931109194160264, 0.07966478509240899, -0.2952849399474796, 0.09842831331582724, -0.20000000000000415]",
- "[11.2, -0.8516223661009993, 9.93603055108382, 0.06966490445285528, -0.39371325326330664, 3.3306690738754696e-16, -4.218847493575595e-15]",
- "[11.3, -0.8959151070931293, 9.931109135418023, 0.07966490445287117, -0.49214156657913366, -0.09842831331582666, 0.1999999999999958]",
- "[11.4, -0.9402077893315866, 9.926187778505897, 0.08966478506920444, -0.3937132532633067, 3.3306690738754696e-16, -4.218847493575595e-15]",
- "[11.5, -0.974657698992118, 9.9212663628401, 0.07966478506918773, -0.2952849399474797, -0.09842831331582666, -0.20000000000000429]",
- "[11.6, -1.0091076674149413, 9.916345005936593, 0.06966490447036788, -0.39371325326330686, 2.220446049250313e-16, -4.440892098500626e-15]"
- ],
- "test3": [
- "[0.0, 3.0872029075656027, 9.221290349262626, 8.035961078388633, 0.0, 0.0, 0.0]",
- "[0.1, 3.082281491899811, 9.226211764928415, 8.045961078388633, -0.09842831331582695, 0.09842831331582695, 0.2]",
- "[0.2, 3.067513717030263, 9.240979539797962, 8.05595390997935, -0.19685662663165399, 0.19685662663165399, 0.0]",
- "[0.3, 3.042906638701299, 9.265586618126928, 8.065953909979365, -0.29528493994748095, 0.29528493994748095, 0.2]",
- "[0.4, 3.008453223649778, 9.300040033178448, 8.075946787250423, -0.3937132532633079, 0.3937132532633079, 0.0]",
- "[0.5, 2.964160482657648, 9.344332774170574, 8.085946787250439, -0.4921415665791348, 0.4921415665791348, 0.2]",
- "[0.6, 2.9100214546494163, 9.398471802178806, 8.095939765521813, -0.590569879894962, 0.590569879894962, -1.1102230246251565e-16]",
- "[0.7, 2.846043050913922, 9.4624502059143, 8.085939765358836, -0.6889981932107891, 0.6889981932107891, -0.2000000000000002]",
- "[0.8, 2.772218442999035, 9.526425236641568, 8.075946618931559, -0.7874265065266162, 0.5905698798949622, -3.3306690738754696e-16]",
- "[0.9, 2.6885543766805737, 9.590403640296861, 8.085946618931576, -0.8858548198424431, 0.6889981932107893, 0.19999999999999968]",
- "[1.0, 2.5950442240375358, 9.654378788959148, 8.095940004995217, -0.9842831331582701, 0.5905698798949625, -3.3306690738754696e-16]",
- "[1.1, 2.4916944950559095, 9.708514361282843, 8.0859400049952, -1.0827114464740972, 0.49214156657913544, -0.20000000000000043]",
- "[1.2, 2.3784988393305704, 9.752804006862824, 8.075946294673512, -1.1811397597899242, 0.39371325326330847, -4.440892098500626e-16]",
- "[1.3, 2.2653062790173766, 9.787253916523353, 8.085946294673526, -1.0827114464740974, 0.2952849399474814, 0.19999999999999957]",
- "[1.4, 2.161959445068061, 9.811858099820007, 8.095940412154148, -0.9842831331582707, 0.19685662663165454, -5.551115123125783e-16]",
- "[1.5, 2.0684525474982376, 9.826622346737167, 8.085940411991158, -0.8858548198424437, 0.09842831331582756, -0.20000000000000065]",
- "[1.6, 1.974942943653708, 9.83154105620846, 8.075945910804263, -0.9842831331582707, 5.551115123125783e-16, -6.661338147750939e-16]",
- "[1.7, 1.8814360460838868, 9.836462471954464, 8.065945910641272, -0.8858548198424435, 0.09842831331582755, -0.20000000000000076]",
- "[1.8, 1.797774492719539, 9.841381374666149, 8.055951016802334, -0.7874265065266168, 6.661338147750939e-16, -8.881784197001252e-16]",
- "[1.9, 1.7141104263208682, 9.84630279041216, 8.06595101696533, -0.8858548198424436, 0.09842831331582769, 0.19999999999999907]",
- "[2.0, 1.6304486909186005, 9.861069368325722, 8.075946280693605, -0.7874265065266166, 0.19685662663165454, -9.992007221626409e-16]",
- "[2.1, 1.5467846246001389, 9.875833615323089, 8.08594628069362, -0.8858548198424436, 0.09842831331582752, 0.199999999999999]",
- "[2.2, 1.4631226981589394, 9.880752891111626, 8.095941932600713, -0.7874265065266165, 4.440892098500626e-16, -1.1102230246251565e-15]",
- "[2.3, 1.3794586317602655, 9.885674306857634, 8.08594193243771, -0.8858548198424434, 0.09842831331582746, -0.2000000000000015]",
- "[2.4, 1.2957965037244485, 9.890593784240789, 8.075945870903322, -0.7874265065266164, 4.996003610813204e-16, -1.5543122344752192e-15]",
- "[2.5, 1.2121324373257687, 9.895515199986804, 8.08594587106634, -0.8858548198424435, 0.09842831331582758, 0.1999999999999984]",
- "[2.6, 1.128470098490538, 9.910281174467404, 8.095942360931572, -0.7874265065266166, 0.19685662663165454, -1.6653345369377348e-15]",
- "[2.7, 1.044806032091856, 9.92504542138455, 8.085942360768554, -0.8858548198424437, 0.09842831331582758, -0.20000000000000173]",
- "[2.8, 0.9611434738117918, 9.929965329011953, 8.075945425005534, -0.787426506526617, 6.106226635438361e-16, -1.7763568394002505e-15]",
- "[2.9, 0.8774794074933309, 9.93488674467775, 8.085945425005551, -0.8858548198424441, 0.09842831331582763, 0.19999999999999823]",
- "[3.0, 0.7938166217638667, 9.949652272264114, 8.095942822931118, -0.787426506526617, 0.19685662663165465, -1.887379141862766e-15]",
- "[3.1, 0.7101525553651821, 9.964416519181258, 8.085942822768095, -0.8858548198424441, 0.09842831331582769, -0.20000000000000195]",
- "[3.2, 0.6264895351382272, 9.969336888755553, 8.075944948358716, -0.787426506526617, 7.216449660063518e-16, -1.9984014443252818e-15]",
- "[3.3, 0.542825468739541, 9.96441547300953, 8.065944948195686, -0.8858548198424436, -0.09842831331582613, -0.20000000000000195]",
- "[3.4, 0.44931776553016034, 9.959494862903084, 8.055946585040447, -0.9842831331582704, 8.604228440844963e-16, -2.0539125955565396e-15]",
- "[3.5, 0.3558108678801326, 9.964416278568883, 8.065946585040463, -0.8858548198424435, 0.09842831331582783, 0.19999999999999796]",
- "[3.6, 0.27214733281239334, 9.96933716298396, 8.075945505573193, -0.7874265065266167, 8.604228440844963e-16, -2.1094237467877974e-15]",
- "[3.7, 0.18848326649393232, 9.974258578649758, 8.085945505573209, -0.8858548198424439, 0.09842831331582785, 0.1999999999999979]",
- "[3.8, 0.10481948253497837, 9.979179711956053, 8.095944931836877, -0.7874265065266169, 8.187894806610529e-16, -2.192690473634684e-15]",
- "[3.9, 0.021155416216517328, 9.974258296290255, 8.08594493183686, -0.8858548198424437, -0.09842831331582616, -0.20000000000000223]",
- "[4.0, -0.06250861836783123, 9.969336912358571, 8.075944996318519, -0.7874265065266168, 7.771561172376096e-16, -2.220446049250313e-15]",
- "[4.1, -0.14617268468629227, 9.964415496692773, 8.0659449963185, -0.8858548198424439, -0.09842831331582619, -0.2000000000000023]",
- "[4.2, -0.22983653191626213, 9.959494300115464, 8.055945441492202, -0.7874265065266167, 7.840950111415168e-16, -2.220446049250313e-15]",
- "[4.3, -0.3135005982347232, 9.954572884449666, 8.06594544149222, -0.8858548198424436, -0.09842831331582622, 0.1999999999999978]",
- "[4.4, -0.397164195991348, 9.9496519373457, 8.07594448940473, -0.7874265065266165, 7.771561172376096e-16, -2.3314683517128287e-15]",
- "[4.5, -0.48082826239003895, 9.944730521599674, 8.065944489241692, -0.8858548198424434, -0.09842831331582624, -0.20000000000000218]",
- "[4.6, -0.5644916135215426, 9.939809821120834, 8.055945942455562, -0.7874265065266166, 7.771561172376096e-16, -2.1094237467877974e-15]",
- "[4.7, -0.6481556799202304, 9.934888405374808, 8.065945942618592, -0.885854819842444, -0.09842831331582624, 0.19999999999999796]",
- "[4.8, -0.7318187886931458, 9.929967947254555, 8.075943996947666, -0.7874265065266168, 7.771561172376096e-16, -2.1094237467877974e-15]",
- "[4.9, -0.8154828550918335, 9.925046531508531, 8.065943996784634, -0.8858548198424437, -0.09842831331582624, -0.20000000000000218]",
- "[5.0, -0.9089909470832431, 9.920126310184116, 8.055946423609464, -0.9842831331582709, 8.049116928532385e-16, -2.1649348980190553e-15]",
- "[5.1, -1.0024978446530433, 9.915204894438089, 8.065946423772496, -0.8858548198424439, -0.09842831331582613, 0.19999999999999774]",
- "[5.2, -1.0861604599538774, 9.900439196423097, 8.07594347539805, -0.7874265065266169, -0.1968566266316531, -2.3314683517128287e-15]",
- "[5.3, -1.169824526272339, 9.88567494942573, 8.085943475398066, -0.885854819842444, -0.0984283133158261, 0.19999999999999768]",
- "[5.4, -1.2534869198332097, 9.880755206517518, 8.09594007646228, -0.787426506526617, 8.326672684688674e-16, -2.3314683517128287e-15]",
- "[5.5, -1.3371509862319009, 9.875833790771491, 8.085940076299245, -0.8858548198424441, -0.09842831331582613, -0.2000000000000024]",
- "[5.6, -1.4208131667537764, 9.861067657977541, 8.075943908116564, -0.7874265065266173, -0.1968566266316531, -2.4424906541753444e-15]",
- "[5.7, -1.504477233072238, 9.846303410980173, 8.08594390811658, -0.8858548198424444, -0.0984283133158261, 0.19999999999999757]",
- "[5.8, -1.588139209729125, 9.831537074321234, 8.095939662058719, -0.7874265065266174, -0.19685662663165315, -2.55351295663786e-15]",
- "[5.9, -1.6718032761278192, 9.816772827404103, 8.085939661895672, -0.8858548198424441, -0.09842831331582613, -0.20000000000000262]",
- "[6.0, -1.7554650584585765, 9.802006296419032, 8.075944302811726, -0.7874265065266168, -0.1968566266316531, -2.6645352591003757e-15]",
- "[6.1, -1.8391291247770376, 9.787242049421664, 8.085944302811743, -0.8858548198424437, -0.09842831331582608, 0.19999999999999735]",
- "[6.2, -1.9227907225587477, 9.772475333887545, 8.095939286903901, -0.7874265065266167, -0.19685662663165293, -2.55351295663786e-15]",
- "[6.3, -2.0064547889574422, 9.74786825547835, 8.085939286740858, -0.8858548198424436, -0.2952849399474802, -0.20000000000000262]",
- "[6.4, -2.090116212142943, 9.723263820282348, 8.075944657416967, -0.7874265065266166, -0.19685662663165324, -2.6645352591003757e-15]",
- "[6.5, -2.173780278461404, 9.70849957328498, 8.085944657416984, -0.8858548198424435, -0.09842831331582622, 0.19999999999999735]",
- "[6.6, -2.2574415369083747, 9.693732518416125, 8.095938952002784, -0.7874265065266166, -0.19685662663165315, -2.7755575615628914e-15]",
- "[6.7, -2.3411056033070716, 9.669125440006928, 8.085938951839735, -0.8858548198424435, -0.2952849399474801, -0.20000000000000287]",
- "[6.8, -2.4247667067244825, 9.644521324579015, 8.075944972264027, -0.7874265065266164, -0.19685662663165313, -2.9976021664879227e-15]",
- "[6.9, -2.508430773042943, 9.62975707758165, 8.085944972264045, -0.8858548198424432, -0.0984283133158261, 0.199999999999997]",
- "[7.0, -2.5920917308966116, 9.614989722119494, 8.095938656063593, -0.7874265065266164, -0.19685662663165304, -3.1086244689504383e-15]",
- "[7.1, -2.675755797295313, 9.590382643710289, 8.08593865590053, -0.8858548198424432, -0.29528493994748006, -0.2000000000000032]",
- "[7.2, -2.759416618741437, 9.56577881025366, 8.075945249272335, -0.787426506526616, -0.1968566266316531, -3.1086244689504383e-15]",
- "[7.3, -2.8332378537282987, 9.541171731924695, 8.085945249272353, -0.6889981932107893, -0.2952849399474802, 0.1999999999999969]",
- "[7.4, -2.9070624536995204, 9.516568018580092, 8.095938411840644, -0.7874265065266164, -0.1968566266316532, -3.219646771412954e-15]",
- "[7.5, -2.9907265200982236, 9.491960940170884, 8.085938411677581, -0.8858548198424433, -0.2952849399474802, -0.20000000000000331]",
- "[7.6, -3.0743871088252366, 9.467357339433365, 8.075945477919648, -0.7874265065266162, -0.1968566266316531, -3.3306690738754696e-15]",
- "[7.7, -3.1580511751436977, 9.4427502611044, 8.06594547791963, -0.8858548198424432, -0.2952849399474801, -0.20000000000000345]",
- "[7.8, -3.2417116552046545, 9.41814676903294, 8.055952764964129, -0.7874265065266162, -0.1968566266316532, -3.3306690738754696e-15]",
- "[7.9, -3.3155328901915158, 9.393539690703976, 8.065952764964145, -0.6889981932107893, -0.29528493994748023, 0.19999999999999668]",
- "[8.0, -3.389357809413913, 9.359086096807909, 8.075945278834588, -0.787426506526616, -0.3937132532633072, -3.3306690738754696e-15]",
- "[8.1, -3.4730218757323743, 9.324636187147377, 8.085945278834604, -0.885854819842443, -0.29528493994748023, 0.19999999999999668]",
- "[8.2, -3.556682163060725, 9.290182498496737, 8.095937600169846, -0.787426506526616, -0.3937132532633071, -3.3306690738754696e-15]",
- "[8.3, -3.630503398047586, 9.255732588836205, 8.085937600169828, -0.6889981932107889, -0.2952849399474802, -0.20000000000000345]",
- "[8.4, -3.704328497139244, 9.221278815070876, 8.07594545178215, -0.7874265065266159, -0.3937132532633071, -3.552713678800501e-15]",
- "[8.5, -3.787992563457705, 9.186828905410344, 8.085945451782166, -0.885854819842443, -0.29528493994748006, 0.19999999999999646]",
- "[8.6, -3.871652686341214, 9.152375052314865, 8.09593743897607, -0.787426506526616, -0.3937132532633071, -3.3306690738754696e-15]",
- "[8.7, -3.9454739213280754, 9.117925142654332, 8.085937438976053, -0.6889981932107889, -0.2952849399474802, -0.20000000000000345]",
- "[8.8, -4.0192991736254395, 9.093322081635868, 8.07594560189251, -0.7874265065266159, -0.19685662663165326, -3.552713678800501e-15]",
- "[8.9, -4.093120408612302, 9.068715003306908, 8.085945601892526, -0.6889981932107889, -0.2952849399474802, 0.19999999999999646]",
- "[9.0, -4.166945726148639, 9.034261011096898, 8.095937306414669, -0.7874265065266162, -0.3937132532633071, -3.552713678800501e-15]",
- "[9.1, -4.250609792547347, 8.989968270024523, 8.085937306251594, -0.8858548198424433, -0.49214156657913416, -0.20000000000000367]",
- "[9.2, -4.334269712443151, 8.945679675455052, 8.075945731515649, -0.7874265065266162, -0.3937132532633072, -3.774758283725532e-15]",
- "[9.3, -4.408090947349763, 8.911229765874772, 8.065945731352569, -0.6889981932107891, -0.2952849399474802, -0.2000000000000039]",
- "[9.4, -4.481916382886475, 8.87677565566439, 8.055954266599594, -0.7874265065266164, -0.3937132532633071, -3.9968028886505635e-15]",
- "[9.5, -4.555737617873339, 8.832482914672262, 8.065954266599608, -0.6889981932107893, -0.4921415665791341, 0.19999999999999601]",
- "[9.6, -4.629563104671803, 8.788194425491731, 8.075945627192, -0.7874265065266162, -0.3937132532633072, -3.9968028886505635e-15]",
- "[9.7, -4.703384339578412, 8.753744515911455, 8.065945627028913, -0.688998193210789, -0.29528493994748023, -0.20000000000000406]",
- "[9.8, -4.777209874067169, 8.71929030674903, 8.055954363340128, -0.7874265065266163, -0.3937132532633072, -3.9968028886505635e-15]",
- "[9.9, -4.851031109054032, 8.674997565756902, 8.065954363340142, -0.6889981932107891, -0.4921415665791342, 0.19999999999999601]",
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- "[10.1, -4.998677922865899, 8.586416427610787, 8.085945536940539, -0.6889981932107889, -0.4921415665791341, 0.19999999999999601]",
- "[10.2, -5.072503548163253, 8.542128076929147, 8.095936616112098, -0.7874265065266159, -0.3937132532633072, -3.9968028886505635e-15]",
- "[10.3, -5.146324783069862, 8.497835335856763, 8.085936615949013, -0.6889981932107889, -0.49214156657913416, -0.20000000000000406]",
- "[10.4, -5.220150446063548, 8.45354702287146, 8.075945613373976, -0.787426506526616, -0.39371325326330725, -3.9968028886505635e-15]",
- "[10.5, -5.293971681050411, 8.409254281879331, 8.08594561337399, -0.6889981932107889, -0.4921415665791343, 0.19999999999999601]",
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- "[10.7, -5.441618613768913, 8.320673262639849, 8.085936545037587, -0.6889981932107887, -0.49214156657913444, -0.20000000000000406]",
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- "[10.9, -5.589265578655378, 8.232092275568327, 8.08594567841108, -0.6889981932107884, -0.4921415665791343, 0.1999999999999958]",
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- "[11.1, -5.717217861617387, 8.143511317932651, 8.085936484899694, -0.6889981932107884, -0.4921415665791343, -0.20000000000000429]",
- "[11.2, -5.781191718161315, 8.089371198497588, 8.075945724337426, -0.5905698798949615, -0.5905698798949611, -4.218847493575595e-15]",
- "[11.3, -5.8451701218166106, 8.035235626173892, 8.085945724337442, -0.6889981932107885, -0.4921415665791341, 0.1999999999999958]",
- "[11.4, -5.918995923169192, 7.981095487484474, 8.095936445776102, -0.7874265065266154, -0.5905698798949611, -4.218847493575595e-15]",
- "[11.5, -5.992817158075797, 7.926959915241033, 8.085936445613008, -0.6889981932107883, -0.4921415665791341, -0.20000000000000429]",
- "[11.6, -6.056790974094466, 7.872819755280709, 8.075945767395458, -0.5905698798949612, -0.5905698798949612, -4.440892098500626e-15]"
- ]
- },
- "type": "simtrace",
- "assert_hits": null
-},
-"1": {
- "node_name": "1-0",
- "id": 1,
- "start_line": 412,
- "parent": {
- "name": "0-0",
- "index": 0,
- "start_line": 2
- },
- "child": {
- "2-0": {
- "name": "2-0",
- "index": 2,
- "start_line": 974
- }
- },
- "agent": {
- "test1": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test2": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test3": "<class 'quadrotor_agent.QuadrotorAgent'>"
- },
- "init": {
- "test1": "[3.9850329655886467, 9.159482892162652, 0.0659935627811023, -0.9842831331582699, 0.3937132532633084, -3.9968028886505635e-15]"
- },
- "mode": {
- "test1": "[\"MoveDown\", \"M12\"]",
- "test2": "[\"Normal\", \"T1\"]",
- "test3": "[\"Normal\", \"T0\"]"
- },
- "static": {
- "test1": "[]",
- "test2": "[]",
- "test3": "[]"
- },
- "start_time": 11.6,
- "trace": {
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- "[11.6, -1.0091076674149413, 9.916345005936593, 0.06966490447036788, -0.39371325326330686, 2.220446049250313e-16, -4.440892098500626e-15]",
- "[11.7, -1.0435575770754806, 9.911423590270802, 0.07966490447036742, -0.29528493994747984, -0.09842831331582677, 0.19999999999999557]",
- "[11.8, -1.0780075455044527, 9.906502233373448, 0.0896647850566924, -0.39371325326330686, 3.3306690738754696e-16, -4.440892098500626e-15]",
- "[11.9, -1.112457455164984, 9.90158081770765, 0.07966478505667564, -0.29528493994747984, -0.09842831331582666, -0.20000000000000456]",
- "[12.0, -1.14690742359884, 9.896659460815176, 0.06966490448027224, -0.39371325326330686, 3.3306690738754696e-16, -4.6629367034256575e-15]",
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- "[20.0, -4.0210148780053245, 9.099390005187841, 0.06966490450793955, -0.39371325326330664, -0.19685662663165382, -7.993605777301127e-15]",
- "[20.1, -4.065307618997445, 9.084625758190468, 0.07966490450793877, -0.49214156657913355, -0.0984283133158268, 0.19999999999999202]",
- "[20.2, -4.109600301182495, 9.069861452386021, 0.08966478501575087, -0.39371325326330653, -0.1968566266316537, -7.993605777301127e-15]",
- "[20.3, -4.144050210843027, 9.055097205388657, 0.07966478501573375, -0.29528493994747945, -0.09842831331582672, -0.20000000000000806]",
- "[20.4, -4.17850017931065, 9.0403328995842, 0.0696649045079426, -0.3937132532633064, -0.1968566266316537, -8.215650382226158e-15]",
- "[20.5, -4.21295008897119, 9.025568652586827, 0.07966490450794177, -0.2952849399474795, -0.09842831331582669, 0.1999999999999918]",
- "[20.6, -4.237557108492894, 9.010804346782201, 0.08966478501538588, -0.1968566266316526, -0.1968566266316536, -8.215650382226158e-15]",
- "[20.7, -4.26216418682185, 8.996040099784828, 0.07966478501538507, -0.29528493994747956, -0.09842831331582658, -0.20000000000000834]",
- "[20.8, -4.296614155289609, 8.981275793980231, 0.06966490450787144, -0.39371325326330664, -0.1968566266316535, -8.43769498715119e-15]",
- "[20.9, -4.340906896281728, 8.956668715651276, 0.07966490450787062, -0.4921415665791336, -0.29528493994748045, 0.19999999999999157]",
- "[21.0, -4.385199578466458, 8.932061696129713, 0.08966478501503161, -0.39371325326330653, -0.19685662663165332, -8.43769498715119e-15]",
- "[21.1, -4.419649488126996, 8.917297449132338, 0.07966478501503076, -0.2952849399474796, -0.09842831331582635, -0.2000000000000085]",
- "[21.2, -4.44425650764857, 8.902533143327581, 0.0696649045078509, -0.1968566266316527, -0.19685662663165338, -8.43769498715119e-15]",
- "[21.3, -4.468863585977527, 8.887768896330206, 0.07966490450785008, -0.2952849399474797, -0.09842831331582638, 0.19999999999999157]",
- "[21.4, -4.503313554445586, 8.873004590525316, 0.08966478501475383, -0.39371325326330664, -0.19685662663165326, -8.43769498715119e-15]",
- "[21.5, -4.537763464106124, 8.85824034352794, 0.07966478501475298, -0.29528493994747973, -0.0984283133158263, -0.2000000000000085]",
- "[21.6, -4.57221343257416, 8.843476037723068, 0.06966490450779922, -0.39371325326330664, -0.19685662663165326, -8.659739592076221e-15]",
- "[21.7, -4.6066633422346985, 8.818868959394111, 0.07966490450779835, -0.2952849399474797, -0.2952849399474803, 0.19999999999999135]",
- "[21.8, -4.641113310702881, 8.794261939872797, 0.0896647850144493, -0.39371325326330664, -0.19685662663165332, -8.659739592076221e-15]",
- "[21.9, -4.675563220363419, 8.779497692875426, 0.07966478501444843, -0.2952849399474797, -0.09842831331582633, -0.20000000000000873]",
- "[22.0, -4.710013188831569, 8.764733387070438, 0.0696649045077326, -0.39371325326330686, -0.1968566266316535, -8.659739592076221e-15]",
- "[22.1, -4.7444630984921075, 8.749969140073066, 0.07966490450773174, -0.2952849399474799, -0.09842831331582647, 0.19999999999999135]",
- "[22.2, -4.769070118013309, 8.735204834267934, 0.08966478501415359, -0.19685662663165282, -0.1968566266316535, -8.659739592076221e-15]",
- "[22.3, -4.793677196342266, 8.720440587270563, 0.07966478501415272, -0.2952849399474798, -0.0984283133158265, -0.20000000000000873]",
- "[22.4, -4.828127164810511, 8.705676281465482, 0.06966490450762514, -0.39371325326330664, -0.1968566266316535, -8.881784197001252e-15]",
- "[22.5, -4.872419905802633, 8.681069203136525, 0.07966490450762427, -0.49214156657913366, -0.29528493994748045, 0.19999999999999113]",
- "[22.6, -4.916712587986904, 8.656462183615417, 0.08966478501385378, -0.3937132532633068, -0.1968566266316536, -8.881784197001252e-15]",
- "[22.7, -4.951162497647434, 8.631855105286453, 0.07966478501383656, -0.2952849399474798, -0.29528493994748056, -0.20000000000000898]",
- "[22.8, -4.975769517168574, 8.607248085765312, 0.0696649045075341, -0.19685662663165293, -0.1968566266316537, -9.103828801926284e-15]",
- "[22.9, -5.000376595497531, 8.592483838767937, 0.07966490450753318, -0.29528493994747995, -0.09842831331582669, 0.1999999999999909]",
- "[23.0, -5.024983615018554, 8.577719532962627, 0.08966478501359254, -0.196856626631653, -0.1968566266316536, -9.103828801926284e-15]",
- "[23.1, -5.049590693347511, 8.553112454633668, 0.07966478501359163, -0.29528493994747995, -0.29528493994748056, -0.20000000000000917]",
- "[23.2, -5.0840406618159255, 8.528505435112585, 0.06966490450741097, -0.39371325326330686, -0.1968566266316537, -9.325873406851315e-15]",
- "[23.3, -5.128333402808046, 8.503898356783628, 0.07966490450741005, -0.49214156657913394, -0.2952849399474807, 0.19999999999999069]",
- "[23.4, -5.172626084992156, 8.479291337262683, 0.08966478501331443, -0.393713253263307, -0.1968566266316537, -9.325873406851315e-15]",
- "[23.5, -5.207075994652687, 8.464527090265317, 0.07966478501329716, -0.29528493994747995, -0.09842831331582669, -0.20000000000000948]",
- "[23.6, -5.241525963121195, 8.449762784459976, 0.06966490450730467, -0.393713253263307, -0.1968566266316536, -9.547918011776346e-15]",
- "[23.7, -5.275975872781735, 8.425155706131022, 0.07966490450730371, -0.29528493994747995, -0.2952849399474805, 0.19999999999999046]",
- "[23.8, -5.3005828923025975, 8.400548686610163, 0.08966478501303926, -0.19685662663165288, -0.19685662663165343, -9.547918011776346e-15]",
- "[23.9, -5.325189970631554, 8.37594160828121, 0.07966478501303828, -0.29528493994747984, -0.2952849399474804, -0.20000000000000961]",
- "[24.0, -5.359639939100122, 8.351334588760285, 0.06966490450716706, -0.39371325326330653, -0.19685662663165354, -9.769962616701378e-15]",
- "[24.1, -5.403932680092243, 8.326727510431324, 0.0796649045071661, -0.49214156657913355, -0.29528493994748056, 0.19999999999999024]",
- "[24.2, -5.448225362276212, 8.30212049091052, 0.08966478501277791, -0.3937132532633066, -0.19685662663165354, -9.769962616701378e-15]",
- "[24.3, -5.482675271936749, 8.287356243913147, 0.07966478501277692, -0.2952849399474796, -0.09842831331582655, -0.20000000000000986]",
- "[24.4, -5.5072822914576, 8.272591938107668, 0.06966490450706087, -0.19685662663165265, -0.1968566266316535, -9.769962616701378e-15]",
- "[24.5, -5.531889369786557, 8.257827691110295, 0.0796649045070599, -0.2952849399474797, -0.09842831331582645, 0.19999999999999024]",
- "[24.6, -5.566339338255313, 8.243063385304707, 0.08966478501255015, -0.39371325326330686, -0.1968566266316535, -9.769962616701378e-15]",
- "[24.7, -5.610632079247434, 8.218456306975746, 0.07966478501254916, -0.49214156657913377, -0.2952849399474805, -0.20000000000000986]",
- "[24.8, -5.654924761431396, 8.184006338507041, 0.06966490450694846, -0.39371325326330686, -0.3937132532633073, -9.992007221626409e-15]",
- "[24.9, -5.689374671091936, 8.1495564288465, 0.07966490450694746, -0.2952849399474798, -0.29528493994748023, 0.19999999999999002]",
- "[25.0, -5.723824639560752, 8.12494940932582, 0.08966478501230979, -0.393713253263307, -0.1968566266316532, -9.992007221626409e-15]",
- "[25.1, -5.758274549221284, 8.110185162328452, 0.07966478501229246, -0.2952849399474799, -0.09842831331582624, -0.2000000000000101]",
- "[25.2, -5.782881568742024, 8.095420856522864, 0.06966490450680296, -0.19685662663165282, -0.19685662663165326, -9.992007221626409e-15]",
- "[25.3, -5.807488647070979, 8.070813778193907, 0.07966490450680197, -0.2952849399474798, -0.29528493994748023, 0.19999999999999002]",
- "[25.4, -5.84193861553984, 8.036363809725048, 0.08966478501207725, -0.39371325326330686, -0.3937132532633073, -9.992007221626409e-15]",
- "[25.5, -5.88623135653197, 8.001913900064517, 0.07966478501205992, -0.4921415665791339, -0.29528493994748023, -0.2000000000000101]",
- "[25.6, -5.930524038715837, 7.977306880543818, 0.06966490450665141, -0.39371325326330703, -0.19685662663165338, -1.021405182655144e-14]",
- "[25.7, -5.964973948376377, 7.952699802214862, 0.07966490450665041, -0.29528493994748, -0.29528493994748034, 0.1999999999999898]",
- "[25.8, -5.9895809678969645, 7.928092782694274, 0.08966478501182595, -0.196856626631653, -0.19685662663165332, -1.021405182655144e-14]",
- "[25.9, -6.014188046225921, 7.903485704365318, 0.07966478501182495, -0.2952849399474799, -0.29528493994748023, -0.20000000000001028]",
- "[26.0, -6.048638014694753, 7.869035735896485, 0.06966490450649199, -0.39371325326330686, -0.3937132532633073, -1.0436096431476471e-14]",
- "[26.1, -6.092930755686875, 7.834585826235945, 0.07966490450649091, -0.4921415665791339, -0.2952849399474803, 0.19999999999998958]",
- "[26.2, -6.1372234378705945, 7.809978806715391, 0.08966478501160324, -0.3937132532633069, -0.19685662663165338, -1.0436096431476471e-14]",
- "[26.3, -6.171673347531135, 7.785371728386434, 0.0796647850116022, -0.2952849399474799, -0.29528493994748034, -0.2000000000000105]",
- "[26.4, -6.206123316000007, 7.7607647088658105, 0.06966490450635232, -0.3937132532633071, -0.19685662663165332, -1.0658141036401503e-14]",
- "[26.5, -6.2405732256605475, 7.736157630536853, 0.07966490450635126, -0.2952849399474802, -0.2952849399474803, 0.19999999999998935]",
- "[26.6, -6.265180245181065, 7.711550611016337, 0.0896647850113862, -0.19685662663165315, -0.19685662663165326, -1.0658141036401503e-14]",
- "[26.7, -6.28978732351003, 7.686943532687372, 0.0796647850113688, -0.2952849399474802, -0.2952849399474803, -0.20000000000001072]",
- "[26.8, -6.324237291978928, 7.652493564218473, 0.06966490450616958, -0.3937132532633071, -0.3937132532633073, -1.0658141036401503e-14]",
- "[26.9, -6.368530032971051, 7.618043654557932, 0.07966490450616852, -0.4921415665791341, -0.2952849399474804, 0.19999999999998935]",
- "[27.0, -6.412822715154711, 7.593436635037437, 0.08966478501115765, -0.3937132532633072, -0.1968566266316535, -1.0658141036401503e-14]",
- "[27.1, -6.447272624815243, 7.568829556708472, 0.07966478501114026, -0.2952849399474803, -0.2952849399474805, -0.20000000000001072]",
- "[27.2, -6.47187964433581, 7.544222537187904, 0.06966490450600404, -0.19685662663165338, -0.1968566266316536, -1.0880185641326534e-14]",
- "[27.3, -6.496486722664766, 7.529458290190531, 0.07966490450600291, -0.29528493994748034, -0.0984283133158266, 0.19999999999998913]",
- "[27.4, -6.530936691133791, 7.514693984384671, 0.08966478501094116, -0.3937132532633072, -0.1968566266316536, -1.0880185641326534e-14]",
- "[27.5, -6.565386600794321, 7.490086906055707, 0.07966478501092375, -0.29528493994748023, -0.2952849399474807, -0.200000000000011]",
- "[27.6, -6.599836569263273, 7.455636937586754, 0.06966490450583251, -0.3937132532633072, -0.39371325326330764, -1.0880185641326534e-14]",
- "[27.7, -6.634286478923812, 7.421187027926215, 0.07966490450583139, -0.29528493994748023, -0.2952849399474807, 0.19999999999998913]",
- "[27.8, -6.658893498444264, 7.386737059457168, 0.08966478501072789, -0.1968566266316532, -0.39371325326330786, -1.1102230246251565e-14]",
- "[27.9, -6.68350057677323, 7.352287149796636, 0.07966478501071045, -0.2952849399474801, -0.2952849399474809, -0.20000000000001117]",
- "[28.0, -6.708107596293766, 7.327680130276098, 0.06966490450563179, -0.19685662663165304, -0.19685662663165382, -1.1102230246251565e-14]",
- "[28.1, -6.732714674622724, 7.30307305194714, 0.07966490450563067, -0.29528493994748, -0.2952849399474808, 0.1999999999999889]",
- "[28.2, -6.767164643091774, 7.268623083478091, 0.08966478501052089, -0.39371325326330686, -0.39371325326330775, -1.1102230246251565e-14]",
- "[28.3, -6.801614552752306, 7.234173173817559, 0.07966478501050345, -0.2952849399474799, -0.2952849399474808, -0.20000000000001117]",
- "[28.4, -6.836064521221271, 7.199723205348594, 0.06966490450543966, -0.39371325326330675, -0.39371325326330764, -1.1102230246251565e-14]",
- "[28.5, -6.87051443088181, 7.165273295688054, 0.07966490450543855, -0.2952849399474798, -0.2952849399474807, 0.1999999999999889]",
- "[28.6, -6.89512145040225, 7.140666276167613, 0.0896647850103151, -0.19685662663165288, -0.19685662663165376, -1.1102230246251565e-14]",
- "[28.7, -6.919728528731216, 7.116059197838647, 0.07966478501029767, -0.2952849399474798, -0.2952849399474807, -0.20000000000001117]"
- ],
- "test3": [
- "[11.6, -6.056790974094466, 7.872819755280709, 8.075945767395458, -0.5905698798949612, -0.5905698798949612, -4.440892098500626e-15]",
- "[11.7, -6.120769377749761, 7.818684182957012, 8.085945767395476, -0.6889981932107883, -0.4921415665791342, 0.19999999999999557]",
- "[11.8, -6.184743178494894, 7.764544007723154, 8.095936414578183, -0.5905698798949612, -0.5905698798949613, -4.440892098500626e-15]",
- "[11.9, -6.248721582230448, 7.710408435479716, 8.085936414415086, -0.6889981932107883, -0.4921415665791344, -0.20000000000000454]",
- "[12.0, -6.322547433604125, 7.6661203108744, 8.075945794616068, -0.7874265065266153, -0.3937132532633074, -4.440892098500626e-15]",
- "[12.1, -6.396368668590987, 7.621827569882271, 8.085945794616086, -0.6889981932107883, -0.49214156657913444, 0.19999999999999557]",
- "[12.2, -6.4603424388096276, 7.567687364121921, 8.095936379770928, -0.5905698798949615, -0.5905698798949613, -4.440892098500626e-15]",
- "[12.3, -6.5243208425451815, 7.503708960386367, 8.08593637960783, -0.6889981932107885, -0.6889981932107884, -0.20000000000000454]",
- "[12.4, -6.588294603831225, 7.4397351991003235, 8.075945812603456, -0.5905698798949615, -0.5905698798949613, -4.440892098500626e-15]",
- "[12.5, -6.652273007486521, 7.385599626776627, 8.085945812603473, -0.6889981932107885, -0.4921415665791342, 0.19999999999999557]",
- "[12.6, -6.716246761583319, 7.331459404894431, 8.09593636499976, -0.5905698798949615, -0.5905698798949611, -4.440892098500626e-15]",
- "[12.7, -6.770382333826755, 7.277323832650994, 8.08593636483666, -0.4921415665791345, -0.49214156657913416, -0.20000000000000456]",
- "[12.8, -6.824522560895607, 7.2231836055821415, 8.075945822979321, -0.5905698798949616, -0.5905698798949611, -4.6629367034256575e-15]",
- "[12.9, -6.888500964631165, 7.159205201846584, 8.065945822816216, -0.6889981932107887, -0.6889981932107883, -0.20000000000000476]",
- "[13.0, -6.9524747180141135, 7.095231448463635, 8.055955271870419, -0.5905698798949617, -0.5905698798949612, -4.6629367034256575e-15]",
- "[13.1, -7.006610290337809, 7.03125304480834, 8.065955271870434, -0.49214156657913455, -0.6889981932107884, 0.19999999999999535]",
- "[13.2, -7.060750512667819, 6.967279291159358, 8.075945823356792, -0.5905698798949613, -0.5905698798949613, -4.6629367034256575e-15]",
- "[13.3, -7.1247289164033765, 6.903300887423801, 8.065945823193688, -0.6889981932107885, -0.6889981932107885, -0.20000000000000476]",
- "[13.4, -7.188702671997435, 6.839327131829743, 8.055955267755063, -0.5905698798949618, -0.5905698798949618, -4.6629367034256575e-15]",
- "[13.5, -7.24283824432113, 6.775348728174447, 8.06595526775508, -0.49214156657913466, -0.6889981932107888, 0.19999999999999535]",
- "[13.6, -7.296978461080937, 6.71137496895526, 8.075945830559737, -0.5905698798949617, -0.5905698798949618, -4.6629367034256575e-15]",
- "[13.7, -7.360956864736233, 6.657239396631565, 8.085945830559753, -0.6889981932107888, -0.49214156657913466, 0.19999999999999535]",
- "[13.8, -7.424930620825303, 6.603099176741641, 8.095936387004212, -0.5905698798949618, -0.5905698798949615, -4.6629367034256575e-15]",
- "[13.9, -7.479066193068737, 6.5391207730060845, 8.085936386841105, -0.49214156657913477, -0.6889981932107886, -0.20000000000000479]",
- "[14.0, -7.53320640751695, 6.475147011475304, 8.075945819339438, -0.5905698798949615, -0.5905698798949617, -4.6629367034256575e-15]",
- "[14.1, -7.587341979840645, 6.4111686078200085, 8.085945819339454, -0.4921415665791343, -0.6889981932107888, 0.19999999999999535]",
- "[14.2, -7.641482184626019, 6.347194836626389, 8.095936406475387, -0.5905698798949612, -0.5905698798949619, -4.6629367034256575e-15]",
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- "[14.7, -7.912169264760761, 6.007617132143613, 8.065955137907283, -0.4921415665791339, -0.688998193210789, 0.19999999999999535]",
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- "[14.9, -8.000750164159108, 5.879664907418936, 8.085945826387569, -0.49214156657913377, -0.688998193210789, 0.19999999999999513]",
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- "[15.1, -8.109025879512552, 5.732017866739157, 8.085936538680762, -0.49214156657913355, -0.6889981932107887, -0.20000000000000479]",
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- "[15.7, -8.374768760931397, 5.3087715962213755, 8.085945729327333, -0.49214156657913366, -0.6889981932107889, 0.19999999999999468]",
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- "[15.9, -8.4830443699435, 5.161124661882948, 8.085936657699264, -0.4921415665791339, -0.6889981932107889, -0.20000000000000545]",
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- "[16.3, -8.64052962730288, 4.865830903381758, 8.065954576433068, -0.49214156657913377, -0.6889981932107885, 0.19999999999999424]",
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- "[16.5, -8.729110762679921, 4.718184086800812, 8.085945744406875, -0.49214156657913366, -0.6889981932107884, 0.19999999999999402]",
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- "[16.9, -8.886596016506303, 4.422890576796634, 8.085945647932725, -0.49214156657913355, -0.6889981932107885, 0.19999999999999335]",
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- "[18.5, -9.427951617053006, 3.08426452774705, 8.085945734811395, -0.29528493994747973, -0.6889981932107885, 0.19999999999999224]",
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- "[19.1, -9.585433500799523, 2.592126162103341, 8.085938790225434, -0.09842831331582569, -0.8858548198424426, -0.2000000000000081]",
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- "[19.7, -9.703550504266678, 2.099993692184, 8.085945551191777, -0.2952849399474797, -0.6889981932107888, 0.19999999999999157]",
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- "[19.9, -9.742919093380882, 1.942505654666547, 8.085939991384768, -0.09842831331582585, -0.8858548198424429, -0.2000000000000085]",
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- "[20.1, -9.772450164785294, 1.775180099439305, 8.085945228515413, -0.09842831331582569, -0.8858548198424432, 0.19999999999999135]",
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- "[20.3, -9.801981057697338, 1.6078543657196933, 8.085940353743363, -0.0984283133158258, -0.8858548198424427, -0.20000000000000906]",
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- "[20.5, -9.831511762424272, 1.4405284438149704, 8.085944845808955, -0.09842831331582574, -0.8858548198424426, 0.1999999999999909]",
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- "[20.7, -9.841352581078981, 1.2732023238549353, 8.085940755852583, -0.09842831331582569, -0.8858548198424427, -0.20000000000000906]",
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- "[20.9, -9.870882880392916, 1.1058759965372194, 8.085944424145058, -0.09842831331582566, -0.8858548198424429, 0.19999999999999102]",
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- "[21.1, -9.88072412278677, 0.9385494528380395, 8.085941195199366, -0.09842831331582558, -0.8858548198424429, -0.2000000000000095]",
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- "[21.3, -9.89056558970546, 0.7712226846140257, 8.08594396759861, -0.09842831331582562, -0.885854819842443, 0.19999999999999046]",
- "[21.4, -9.895485872980448, 0.6875597506863765, 8.095941666653351, 1.3877787807814457e-15, -0.7874265065266157, -9.603429163007604e-15]",
- "[21.5, -9.900407288726578, 0.6038956842875836, 8.085941666490106, -0.09842831331582558, -0.8858548198424427, -0.2000000000000095]",
- "[21.6, -9.905327810425298, 0.5103878926704745, 8.07594348297368, 1.4155343563970746e-15, -0.9842831331582699, -9.492406860545088e-15]",
- "[21.7, -9.910249226171429, 0.41688099510077714, 8.085943483136921, -0.09842831331582558, -0.885854819842443, 0.19999999999999063]",
- "[21.8, -9.915170020461108, 0.3332175501584356, 8.095942220540639, 1.4155343563970746e-15, -0.7874265065266158, -9.492406860545088e-15]",
- "[21.9, -9.920091436207239, 0.2495534837596442, 8.085942220377397, -0.09842831331582558, -0.8858548198424429, -0.20000000000000961]",
- "[22.0, -9.925012478392903, 0.1658897909213197, 8.07594297926499, 1.4155343563970746e-15, -0.7874265065266159, -9.603429163007604e-15]",
- "[22.1, -9.929933894058703, 0.08222572460285871, 8.065942979264975, -0.09842831331582556, -0.885854819842443, -0.20000000000000967]",
- "[22.2, -9.934855186415085, -0.0014382184061858243, 8.055943229821755, 1.4311468676808659e-15, -0.7874265065266159, -9.658940314238862e-15]",
- "[22.3, -9.929933770749285, -0.08510228472464682, 8.065943229821771, 0.09842831331582844, -0.885854819842443, 0.19999999999999035]",
- "[22.4, -9.925012482704409, -0.16876622342218386, 8.07594297050428, 1.4450246554886803e-15, -0.7874265065266158, -9.745676488037702e-15]",
- "[22.5, -9.920091067038607, -0.2524302897406449, 8.085942970504297, 0.09842831331582845, -0.885854819842443, 0.1999999999999903]",
- "[22.6, -9.915170029138432, -0.3360939782934826, 8.09594220290887, 1.4849232954361469e-15, -0.7874265065266159, -9.769962616701378e-15]",
- "[22.7, -9.920091444884566, -0.41975804469227784, 8.085942202745617, -0.09842831331582547, -0.885854819842443, -0.20000000000000961]",
- "[22.8, -9.925012234939327, -0.5034214853997018, 8.07594347394698, 1.4710455076283324e-15, -0.7874265065266162, -9.603429163007604e-15]",
- "[22.9, -9.920090819193195, -0.5870855517984948, 8.085943474110223, 0.09842831331582846, -0.8858548198424433, 0.1999999999999904]",
- "[23.0, -9.915170273238003, -0.6805933191591291, 8.095941706914244, 1.4710455076283324e-15, -0.9842831331582702, -9.658940314238862e-15]",
- "[23.1, -9.91024885749187, -0.774100216728824, 8.085941706750996, 0.09842831331582846, -0.8858548198424433, -0.20000000000000973]",
- "[23.2, -9.895483474043, -0.8577631465957816, 8.07594401594732, 0.19685662663165546, -0.7874265065266162, -9.769962616701378e-15]",
- "[23.3, -9.880719227045637, -0.9414272129142425, 8.085944015947335, 0.09842831331582842, -0.8858548198424431, 0.19999999999999024]",
- "[23.4, -9.875799179721161, -1.02508991089138, 8.095941235565814, 1.3877787807814457e-15, -0.7874265065266163, -9.992007221626409e-15]",
- "[23.5, -9.870877763975024, -1.1087539772901787, 8.085941235402558, 0.09842831331582824, -0.885854819842443, -0.20000000000000995]",
- "[23.6, -9.865957941120664, -1.1924164507972002, 8.075944471892909, 1.27675647831893e-15, -0.7874265065266162, -9.880984919163893e-15]",
- "[23.7, -9.861036525374528, -1.2760805171959972, 8.08594447205616, 0.09842831331582824, -0.8858548198424432, 0.19999999999998996]",
- "[23.8, -9.846270469358274, -1.3597427744955688, 8.095940796246182, 0.1968566266316552, -0.7874265065266162, -1.021405182655144e-14]",
- "[23.9, -9.831506222441249, -1.4434068408943703, 8.08594079608292, 0.09842831331582824, -0.8858548198424433, -0.2000000000000106]",
- "[24.0, -9.816739959198593, -1.5270688909675383, 8.075944892963614, 0.1968566266316552, -0.7874265065266164, -1.0547118733938987e-14]",
- "[24.1, -9.801975712201227, -1.610732957286, 8.065944892963598, 0.0984283133158282, -0.8858548198424434, -0.20000000000001064]",
- "[24.2, -9.787209251903228, -1.694394810303828, 8.05594939024807, 0.19685662663165515, -0.7874265065266165, -1.0547118733938987e-14]",
- "[24.3, -9.772445004905862, -1.7780588766222896, 8.065949390248084, 0.09842831331582816, -0.8858548198424436, 0.19999999999998946]",
- "[24.4, -9.757678356719552, -1.8617205417518066, 8.075944511186654, 0.1968566266316552, -0.7874265065266166, -1.0658141036401503e-14]",
- "[24.5, -9.742914109802532, -1.945384608150614, 8.065944511023375, 0.09842831331582835, -0.8858548198424436, -0.2000000000000106]",
- "[24.6, -9.728147283604095, -2.0290460952680043, 8.055949751793992, 0.19685662663165532, -0.7874265065266166, -1.0658141036401503e-14]",
- "[24.7, -9.713383036606729, -2.112710161586465, 8.065949751794008, 0.09842831331582831, -0.8858548198424435, 0.19999999999998935]",
- "[24.8, -9.698616042269627, -2.196371480565194, 8.075944169376447, 0.1968566266316552, -0.7874265065266166, -1.0658141036401503e-14]",
- "[24.9, -9.683851795352608, -2.280035546964001, 8.065944169213168, 0.09842831331582819, -0.8858548198424436, -0.20000000000001072]",
- "[25.0, -9.669084642631447, -2.3636967075586655, 8.055950073456955, 0.1968566266316552, -0.7874265065266166, -1.0769163338864018e-14]",
- "[25.1, -9.644477564302482, -2.4473607738771253, 8.06595007345697, 0.2952849399474822, -0.8858548198424437, 0.19999999999998924]",
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- "[25.3, -9.595266462078646, -2.6146858520799525, 8.085943867043436, 0.2952849399474822, -0.885854819842444, 0.19999999999998924]",
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- "[25.5, -9.546055501390848, -2.772167957415142, 8.085937373037748, 0.29528493994748223, -0.6889981932107901, -0.20000000000001086]",
- "[25.6, -9.521451742112628, -2.845992511452752, 8.075944117135311, 0.19685662663165532, -0.7874265065266173, -1.0880185641326534e-14]",
- "[25.7, -9.496844663783662, -2.929656577771213, 8.085944117135325, 0.29528493994748234, -0.8858548198424443, 0.19999999999998913]",
- "[25.8, -9.47224101995185, -3.01331720959252, 8.09593713845809, 0.19685662663165548, -0.7874265065266174, -1.0880185641326534e-14]",
- "[25.9, -9.447633941542534, -3.096981275991331, 8.08593713829481, 0.29528493994748245, -0.8858548198424443, -0.20000000000001103]",
- "[26.0, -9.42303041245244, -3.180641793070923, 8.075944350119823, 0.19685662663165543, -0.7874265065266175, -1.1102230246251565e-14]",
- "[26.1, -9.398423334123477, -3.2544630280577858, 8.065944350119807, 0.29528493994748234, -0.6889981932107905, -0.20000000000001117]",
- "[26.2, -9.363969777811228, -3.328287909696368, 8.055951759881468, 0.3937132532633093, -0.7874265065266178, -1.1102230246251565e-14]",
- "[26.3, -9.329519868150694, -3.4119519760148287, 8.065951759881482, 0.29528493994748234, -0.8858548198424447, 0.1999999999999889]",
- "[26.4, -9.304916529896046, -3.4956123022589747, 8.075944160291115, 0.19685662663165537, -0.7874265065266178, -1.1102230246251565e-14]",
- "[26.5, -9.280309451567081, -3.5792763685774354, 8.08594416029113, 0.29528493994748234, -0.8858548198424447, 0.1999999999999889]",
- "[26.6, -9.24585570476729, -3.6629365977566355, 8.095936363471036, 0.3937132532633094, -0.7874265065266177, -1.1102230246251565e-14]",
- "[26.7, -9.211405795106756, -3.736757832743498, 8.08593636347102, 0.29528493994748245, -0.6889981932107907, -0.20000000000001117]",
- "[26.8, -9.186802635091745, -3.810582986044314, 8.075944325232859, 0.19685662663165548, -0.7874265065266178, -1.1102230246251565e-14]",
- "[26.9, -9.16219555676278, -3.8942470523627746, 8.085944325232873, 0.29528493994748245, -0.8858548198424447, 0.1999999999999889]",
- "[27.0, -9.127741652436768, -3.9779071240157537, 8.095936208329638, 0.3937132532633093, -0.7874265065266177, -1.1102230246251565e-14]",
- "[27.1, -9.093291742776234, -4.051728359002617, 8.085936208329622, 0.29528493994748234, -0.6889981932107907, -0.20000000000001117]",
- "[27.2, -9.058837767998604, -4.125553659106577, 8.075944468386005, 0.3937132532633092, -0.7874265065266178, -1.1324274851176597e-14]",
- "[27.3, -9.014545026926118, -4.1993748940130855, 8.06594446822271, 0.49214156657913627, -0.688998193210791, -0.2000000000000114]",
- "[27.4, -8.970256407164337, -4.273200250230296, 8.05595284229761, 0.39371325326330936, -0.7874265065266182, -1.1324274851176597e-14]",
- "[27.5, -8.935806497503808, -4.347021485217159, 8.065952842297625, 0.29528493994748234, -0.6889981932107914, 0.1999999999999887]",
- "[27.6, -8.901352409950782, -4.420846898096519, 8.075944353088884, 0.3937132532633093, -0.7874265065266185, -1.1546319456101628e-14]",
- "[27.7, -8.866902500370612, -4.50451096449534, 8.065944352925582, 0.29528493994748223, -0.8858548198424455, -0.20000000000001167]",
- "[27.8, -8.83244835592666, -4.588170796030379, 8.05595295773302, 0.3937132532633091, -0.7874265065266188, -1.176836406102666e-14]",
- "[27.9, -8.79799844626613, -4.661992031017242, 8.065952957733034, 0.295284939947482, -0.6889981932107919, 0.19999999999998824]",
- "[28.0, -8.76354424897978, -4.735817553629921, 8.075944245553245, 0.39371325326330897, -0.7874265065266189, -1.176836406102666e-14]",
- "[28.1, -8.719251507907288, -4.8096387885364225, 8.06594424538994, 0.49214156657913605, -0.6889981932107919, -0.2000000000000119]",
- "[28.2, -8.67496309986251, -4.883464356470636, 8.05595304966016, 0.3937132532633092, -0.7874265065266189, -1.199040866595169e-14]",
- "[28.3, -8.630670358870377, -4.957285591457499, 8.065953049660173, 0.49214156657913616, -0.6889981932107919, 0.19999999999998802]",
- "[28.4, -8.586381992369095, -5.031111200935214, 8.075944160976224, 0.39371325326330925, -0.7874265065266189, -1.199040866595169e-14]",
- "[28.5, -8.542089251296597, -5.104932435841713, 8.065944160812911, 0.49214156657913627, -0.6889981932107919, -0.2000000000000121]",
- "[28.6, -8.497800923241186, -5.1787580837653, 8.055953127616396, 0.3937132532633094, -0.7874265065266187, -1.2212453270876722e-14]",
- "[28.7, -8.453508182249056, -5.252579318752163, 8.065953127616412, 0.49214156657913644, -0.6889981932107918, 0.1999999999999878]"
- ],
- "test1": [
- "[11.6, 3.9850329655886467, 9.159482892162652, 0.0659935627811023, -0.9842831331582699, 0.3937132532633084, -3.9968028886505635e-15]",
- "[11.7, 3.8915260679386185, 9.193932801823184, 0.05599356278108558, -0.8858548198424429, 0.2952849399474814, -0.20000000000000415]",
- "[11.799999999999999, 3.807862042954821, 9.218539838817486, 0.04599364677044632, -0.7874265065266159, 0.19685662663165432, -4.218847493575595e-15]",
- "[11.9, 3.7340408079679586, 9.243146917146452, 0.035993646770429585, -0.688998193210789, 0.2952849399474814, -0.20000000000000429]",
- "[12.0, 3.660219546409744, 9.277596853378338, 0.005993592779165724, -0.7874265065266157, 0.39371325326330825, -0.40000000000000435]",
- "[12.1, 3.5863983158481543, 9.312046758613596, -0.024006398228948907, -0.6889981932107888, 0.2952849399474812, -0.2000000000000043]",
- "[12.2, 3.5125770631388367, 9.336653819220103, -0.05400643423982229, -0.7874265065266158, 0.19685662663165415, -0.40000000000000424]",
- "[12.299999999999999, 3.4289129569527317, 9.361260937416713, -0.08400635323131872, -0.8858548198424427, 0.29528493994748106, -0.20000000000000417]",
- "[12.4, 3.3354059972925425, 9.395710909087406, -0.11400647923196172, -0.9842831331582699, 0.39371325326330797, -0.40000000000000413]",
- "[12.5, 3.24189918379083, 9.43016073459962, -0.144006308247982, -0.8858548198424426, 0.29528493994748095, -0.20000000000000417]",
- "[12.6, 3.1582352237519564, 9.464610750539737, -0.17400652420125018, -0.7874265065266156, 0.3937132532633079, -0.4000000000000043]",
- "[12.7, 3.0745710290314485, 9.49906053179822, -0.20400626329653565, -0.8858548198424425, 0.2952849399474809, -0.20000000000000437]",
- "[12.799999999999999, 2.981063980869363, 9.523667459615126, -0.23400656912733903, -0.9842831331582695, 0.19685662663165393, -0.4000000000000046]",
- "[12.9, 2.8875572558252416, 9.548274710549997, -0.26400621840322847, -0.8858548198424425, 0.29528493994748095, -0.20000000000000462]",
- "[13.0, 2.7940501634968, 9.572881594200547, -0.29400661397722455, -0.9842831331582697, 0.19685662663165393, -0.4000000000000047]",
- "[13.1, 2.7005434825716805, 9.597488889254421, -0.32400617360613887, -0.8858548198424426, 0.2952849399474809, -0.20000000000000473]",
- "[13.2, 2.6070363461842523, 9.622095728845984, -0.3540066587051599, -0.9842831331582693, 0.19685662663165387, -0.4000000000000048]",
- "[13.299999999999999, 2.513529709242901, 9.646703067883625, -0.38400612896188596, -0.8858548198424426, 0.29528493994748084, -0.20000000000000484]",
- "[13.4, 2.420022528965878, 9.671309863585593, -0.41400670324174066, -0.9842831331582698, 0.19685662663165382, -0.4000000000000049]",
- "[13.5, 2.3265159357968574, 9.695917246395563, -0.44400608455590806, -0.885854819842443, 0.29528493994748084, -0.20000000000000484]",
- "[13.6, 2.2330087118936657, 9.720523998471363, -0.47400674748133104, -0.9842831331582701, 0.19685662663165387, -0.4000000000000049]",
- "[13.7, 2.1395021621689545, 9.735287897543413, -0.5040060405194571, -0.8858548198424431, 0.09842831331582688, -0.20000000000000495]",
- "[13.8, 2.0459948950485187, 9.75005251401119, -0.5340067912595409, -0.98428313315827, 0.19685662663165382, -0.4000000000000049]",
- "[13.899999999999999, 1.9524883882575623, 9.764816370149482, -0.5640059970590378, -0.885854819842443, 0.09842831331582681, -0.20000000000000495]",
- "[14.0, 1.8589810785583583, 9.779581029196022, -0.5940068343164377, -0.98428313315827, 0.19685662663165385, -0.40000000000000496]",
- "[14.1, 1.7654746139000577, 9.794344843201658, -0.6240059545050906, -0.8858548198424429, 0.09842831331582688, -0.20000000000000492]",
- "[14.2, 1.6719672626315891, 9.809109543817465, -0.6540068762285616, -0.9842831331582699, 0.19685662663165393, -0.4000000000000049]",
- "[14.3, 1.578460838827633, 9.833717095992501, -0.6840059134038137, -0.885854819842443, 0.2952849399474809, -0.20000000000000495]",
- "[14.399999999999999, 1.484953447617083, 9.858323680760945, -0.7140069162870247, -0.98428313315827, 0.19685662663165387, -0.40000000000000524]",
- "[14.5, 1.3914470625828828, 9.87308741514248, -0.744005874684628, -0.8858548198424432, 0.09842831331582687, -0.20000000000000523]",
- "[14.6, 1.2979396341215903, 9.88785219295111, -0.774006953258951, -0.9842831331582703, 0.19685662663165385, -0.40000000000000535]",
- "[14.7, 1.2044332843560892, 9.90261589206395, -0.8040058399928263, -0.8858548198424433, 0.09842831331582685, -0.20000000000000534]",
- "[14.8, 1.1109258232336943, 9.907536744257383, -0.8340069849324079, -0.9842831331582702, -1.6653345369377348e-16, -0.40000000000000546]",
- "[14.899999999999999, 1.0174189256436306, 9.912458159983148, -0.8640069848105499, -0.8858548198424432, 0.0984283133158268, -0.20000000000000562]",
- "[15.0, 0.9239114399609177, 9.917378987616264, -0.8940081796551176, -0.9842831331582703, -1.6653345369377348e-16, -0.40000000000000574]",
- "[15.1, 0.8304045423708537, 9.922300403342028, -0.9240081795332596, -0.8858548198424432, 0.09842831331582691, -0.20000000000000573]",
- "[15.2, 0.7368970469223132, 9.927221221209312, -0.9540093942213612, -0.98428313315827, -8.326672684688674e-17, -0.40000000000000585]",
- "[15.3, 0.6433901493322484, 9.932142636935074, -0.9840093940995052, -0.885854819842443, 0.09842831331582691, -0.20000000000000595]",
- "[15.399999999999999, 0.5498826717447161, 9.937063472663368, -1.0140105724951876, -0.9842831331582699, -1.1102230246251565e-16, -0.40000000000000613]",
- "[15.5, 0.45637577409468644, 9.941984888329166, -1.0440105724951763, -0.8858548198424429, 0.09842831331582688, -0.20000000000000612]",
- "[15.6, 0.3628683649294365, 9.956749646841756, -1.0740116118611824, -0.9842831331582698, 0.19685662663165387, -0.4000000000000062]",
- "[15.7, 0.2595181874149055, 9.97151344530622, -1.1040107004711621, -1.0827114464740966, 0.09842831331582685, -0.20000000000000615]",
- "[15.8, 0.1561688096022537, 9.976434509803045, -1.134011414023909, -0.9842831331582694, -1.6653345369377348e-16, -0.40000000000000624]",
- "[15.899999999999999, 0.06266191201218965, 9.971513094077281, -1.1640114139020519, -0.8858548198424425, -0.09842831331582719, -0.20000000000000617]",
- "[16.0, -0.03084501669947448, 9.966591709473118, -1.1940114770172832, -0.9842831331582694, -1.1102230246251565e-16, -0.40000000000000635]",
- "[16.1, -0.12435191434950407, 9.96167029380732, -1.2240114770172716, -0.8858548198424424, -0.0984283133158271, -0.20000000000000634]",
- "[16.2, -0.2178589946634868, 9.956749060805478, -1.2540118481786604, -0.9842831331582691, -1.3183898417423734e-16, -0.40000000000000646]",
- "[16.3, -0.3113658922535511, 9.951827645079717, -1.2840118480568035, -0.8858548198424421, -0.09842831331582719, -0.2000000000000065]",
- "[16.4, -0.40487320869166415, 9.946906648202003, -1.3140126990072334, -0.9842831331582692, -2.0816681711721685e-16, -0.4000000000000066]",
- "[16.5, -0.49838010628172763, 9.94198523247624, -1.3440126988853747, -0.8858548198424422, -0.09842831331582719, -0.20000000000000662]",
- "[16.6, -0.5918876005142872, 9.93706441339297, -1.3740139111026815, -0.9842831331582693, -2.220446049250313e-16, -0.40000000000000663]",
- "[16.7, -0.6853944981643169, 9.932142997727174, -1.4040139111026702, -0.8858548198424424, -0.09842831331582723, -0.20000000000000662]",
- "[16.8, -0.7789021248521273, 9.917378021692025, -1.4340153924605246, -0.9842831331582694, -0.19685662663165418, -0.4000000000000067]",
- "[16.9, -0.8822526372314726, 9.90261455809238, -1.4640138006467458, -1.0827114464740963, -0.0984283133158272, -0.20000000000000667]",
- "[17.0, -0.985601530458448, 9.897693978181229, -1.4940154988464098, -0.9842831331582695, -2.7755575615628914e-16, -0.4000000000000068]",
- "[17.1, -1.0791084281084777, 9.89277256251543, -1.5240154988463983, -0.8858548198424425, -0.09842831331582728, -0.2000000000000068]",
- "[17.2, -1.1726162477930175, 9.87800739348355, -1.5540173723611899, -0.9842831331582694, -0.19685662663165426, -0.4000000000000069]",
- "[17.3, -1.2661221865715666, 9.863244105357666, -1.5840154239960218, -0.8858548198424424, -0.09842831331582733, -0.2000000000000069]",
- "[17.4, -1.3596300777095074, 9.848478864872389, -1.6140174426995277, -0.9842831331582695, -0.1968566266316543, -0.400000000000007]",
- "[17.5, -1.453135949060599, 9.83371564417396, -1.6440153573261047, -0.8858548198424426, -0.09842831331582724, -0.20000000000000695]",
- "[17.6, -1.5466439043326716, 9.828795286130203, -1.6740175063460392, -0.9842831331582695, -2.7755575615628914e-16, -0.40000000000000707]",
- "[17.7, -1.640150801982701, 9.823873870464405, -1.7040175063460277, -0.8858548198424425, -0.09842831331582728, -0.2000000000000071]",
- "[17.8, -1.7336588164256708, 9.809108506674097, -1.7340197755974192, -0.9842831331582697, -0.19685662663165432, -0.40000000000000724]",
- "[17.9, -1.8271645690831744, 9.784500283352608, -1.7640174490462608, -0.8858548198424427, -0.29528493994748134, -0.20000000000000728]",
- "[18.0, -1.920672639179741, 9.759894377470184, -1.7940198313821816, -0.9842831331582695, -0.19685662663165435, -0.40000000000000746]",
- "[18.1, -2.0141783375559834, 9.735286099867432, -1.8240173945349931, -0.8858548198424426, -0.2952849399474813, -0.20000000000000745]",
- "[18.2, -2.107686460762362, 9.71068024709482, -1.8540198847866334, -0.9842831331582699, -0.19685662663165446, -0.40000000000000746]",
- "[18.3, -2.20119210703983, 9.695917251470012, -1.8840173420780875, -0.8858548198424429, -0.09842831331582744, -0.20000000000000745]",
- "[18.4, -2.294700281476582, 9.681151727685924, -1.9140199364265496, -0.9842831331582698, -0.19685662663165443, -0.40000000000000735]",
- "[18.5, -2.3882058772798143, 9.656543347510162, -1.944017291157603, -0.885854819842443, -0.29528493994748134, -0.2000000000000075]",
- "[18.6, -2.481714101507529, 9.631937595758881, -1.9740199866780972, -0.98428313315827, -0.19685662663165432, -0.40000000000000746]",
- "[18.7, -2.5752196481257323, 9.607329166398092, -2.0040172414683384, -0.8858548198424429, -0.2952849399474814, -0.20000000000000734]",
- "[18.8, -2.6687279210089194, 9.582723463302289, -2.0340200358536253, -0.9842831331582698, -0.1968566266316544, -0.40000000000000757]",
- "[18.9, -2.7622334194442817, 9.558114985758655, -2.064017192739434, -0.8858548198424427, -0.29528493994748134, -0.20000000000000745]",
- "[19.0, -2.8458960627708882, 9.523663653106272, -2.094020084167313, -0.7874265065266157, -0.3937132532633083, -0.40000000000000735]",
- "[19.1, -2.9295615750938824, 9.489215189450272, -2.12401714597912, -0.8858548198424427, -0.29528493994748134, -0.20000000000000745]",
- "[19.2, -3.023069941640689, 9.464609580018085, -2.1540201306828557, -0.9842831331582698, -0.1968566266316544, -0.40000000000000757]",
- "[19.3, -3.1165753470610777, 9.440001009459477, -2.1840170985682192, -0.8858548198424427, -0.29528493994748145, -0.20000000000000745]",
- "[19.4, -3.21008376012831, 9.405549584381742, -2.2140201777984636, -0.9842831331582698, -0.39371325326330836, -0.40000000000000757]",
- "[19.5, -3.3035891193187203, 9.371101213180825, -2.2440170517474884, -0.8858548198424429, -0.2952849399474814, -0.20000000000000756]",
- "[19.6, -3.3872516242609376, 9.346495696228104, -2.274020224363545, -0.7874265065266159, -0.19685662663165443, -0.40000000000000757]",
- "[19.7, -3.470917274339033, 9.321887034139507, -2.30401700626585, -0.8858548198424429, -0.2952849399474815, -0.2000000000000075]",
- "[19.799999999999997, -3.5644257780559245, 9.28743551841211, -2.3340202696903716, -0.9842831331582698, -0.3937132532633085, -0.40000000000000735]",
- "[19.9, -3.6579310470009676, 9.243141148714994, -2.364016960266615, -0.8858548198424427, -0.4921415665791355, -0.2000000000000074]",
- "[20.0, -3.7415934620999427, 9.198850058942348, -2.3940203154383597, -0.7874265065266157, -0.3937132532633084, -0.40000000000000746]",
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- "[20.9, -4.514257437628521, 8.839584866258509, -2.664016737961916, -0.8858548198424421, -0.49214156657913494, -0.20000000000000834]",
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- "[21.1, -4.6815855917286875, 8.750999362811003, -2.7240166943499555, -0.8858548198424421, -0.4921415665791348, -0.20000000000000878]",
- "[21.2, -4.7652477454739905, 8.706708534392028, -2.7540205805755438, -0.787426506526615, -0.39371325326330786, -0.400000000000009]",
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- "[21.5, -5.016241899620932, 8.573828356224078, -2.8440166077520423, -0.885854819842442, -0.49214156657913477, -0.20000000000000884]",
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- "[21.7, -5.183570053412942, 8.485242853084733, -2.9040165647662333, -0.885854819842442, -0.49214156657913477, -0.20000000000000906]",
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- "[21.9, -5.3410512538294705, 8.376971729424563, -2.964016522121513, -0.688998193210788, -0.49214156657913505, -0.2000000000000094]",
- "[22.0, -5.414874570419066, 8.32283407549813, -2.9940207518043263, -0.7874265065266148, -0.5905698798949621, -0.40000000000000957]",
- "[22.1, -5.498540738957736, 8.268700605394642, -3.024016480228099, -0.8858548198424419, -0.4921415665791352, -0.20000000000000961]",
- "[22.2, -5.58220268224544, 8.214562910040188, -3.0540207940899875, -0.7874265065266148, -0.5905698798949621, -0.4000000000000098]",
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- "[22.7, -5.970992294051391, 7.934039950418482, -3.2040163549813827, -0.688998193210788, -0.6889981932107894, -0.2000000000000104]",
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- "[22.9, -6.118634744002724, 7.8060831230854975, -3.264016314297143, -0.6889981932107878, -0.6889981932107894, -0.2000000000000104]",
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- "[23.9, -6.83716137125954, 7.185984610321824, -3.5640161162791135, -0.6889981932107883, -0.6889981932107896, -0.20000000000001172]",
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- "[24.1, -6.965118197254315, 7.058027784327048, -3.624016078314016, -0.6889981932107883, -0.6889981932107896, -0.20000000000001195]",
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- "[24.299999999999997, -7.112760648578599, 6.930070958367018, -3.6840160404195217, -0.6889981932107883, -0.6889981932107897, -0.20000000000001195]",
- "[24.4, -7.1767364977256936, 6.856247168871957, -3.7140212310158143, -0.5905698798949613, -0.7874265065266168, -0.400000000000012]",
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- "[24.7, -7.368674299028617, 6.654471681157453, -3.804015967617562, -0.6889981932107883, -0.6889981932107898, -0.20000000000001206]",
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- "[24.9, -7.4966311236263055, 6.506829228470828, -3.8640159324912586, -0.6889981932107883, -0.6889981932107898, -0.20000000000001217]",
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- "[25.9, -8.08719554036234, 5.748931323831093, -4.164015772336336, -0.49214156657913377, -0.6889981932107903, -0.20000000000001283]",
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- "[26.2, -8.249605086799612, 5.507779152964205, -4.254021521629528, -0.5905698798949606, -0.7874265065266173, -0.4000000000000129]",
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- "[26.7, -8.520280068874186, 5.1091415787099, -4.404015670581485, -0.49214156657913366, -0.8858548198424443, -0.20000000000001306]",
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- "[26.9, -8.608865560404114, 4.94181343652731, -4.464015651185273, -0.4921415665791335, -0.8858548198424443, -0.20000000000001306]",
- "[27.0, -8.653155368833563, 4.858152302771533, -4.494021609963955, -0.39371325326330653, -0.7874265065266174, -0.400000000000013]",
- "[27.1, -8.697451050677824, 4.774485295600942, -4.524015634341622, -0.4921415665791336, -0.8858548198424443, -0.20000000000001306]",
- "[27.2, -8.741740843217608, 4.690824177734832, -4.554021625407083, -0.39371325326330664, -0.7874265065266175, -0.40000000000001334]",
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- "[27.6, -8.918911796619618, 4.356167923027497, -4.674021646877495, -0.39371325326330686, -0.7874265065266174, -0.4000000000000131]",
- "[27.700000000000003, -8.953358731509383, 4.272500881938269, -4.704015602334674, -0.29528493994747995, -0.8858548198424445, -0.20000000000001328]",
- "[27.799999999999997, -8.987811618370348, 4.188839792820241, -4.734021651814391, -0.393713253263307, -0.7874265065266174, -0.40000000000001323]",
- "[27.9, -9.022258549403313, 4.105172747874216, -4.764015599434804, -0.29528493994748006, -0.8858548198424445, -0.2000000000000134]",
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- "[28.1, -9.101007155463941, 3.918158950021174, -4.82401560462228, -0.492141566579134, -0.8858548198424447, -0.20000000000001328]",
- "[28.200000000000003, -9.145296923863324, 3.8344978562954606, -4.854021644739478, -0.3937132532633071, -0.7874265065266177, -0.40000000000001334]",
- "[28.299999999999997, -9.179743864252634, 3.7508308207057794, -4.884015611371379, -0.2952849399474801, -0.8858548198424447, -0.2000000000000135]",
- "[28.4, -9.214196738351692, 3.6671697188258445, -4.914021634919725, -0.39371325326330714, -0.7874265065266177, -0.4000000000000138]",
- "[28.5, -9.248643689830484, 3.5835026943256443, -4.9440156240847415, -0.2952849399474804, -0.8858548198424445, -0.20000000000001394]",
- "[28.6, -9.28309654989758, 3.489992846269055, -4.974021619121036, -0.39371325326330736, -0.9842831331582715, -0.4000000000000141]",
- "[28.700000000000003, -9.317543521123552, 3.396488887053589, -5.004015648411043, -0.29528493994748045, -0.8858548198424446, -0.20000000000001428]"
- ]
- },
- "type": "simtrace",
- "assert_hits": null
-},
-"2": {
- "node_name": "2-0",
- "id": 2,
- "start_line": 974,
- "parent": {
- "name": "1-0",
- "index": 1,
- "start_line": 412
- },
- "child": {},
- "agent": {
- "test1": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test2": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test3": "<class 'quadrotor_agent.QuadrotorAgent'>"
- },
- "init": {
- "test1": "[-9.317543521123552, 3.396488887053589, -5.004015648411043, -0.29528493994748045, -0.8858548198424446, -0.20000000000001428]"
- },
- "mode": {
- "test1": "[\"Normal\", \"T2\"]",
- "test2": "[\"Normal\", \"T1\"]",
- "test3": "[\"Normal\", \"T0\"]"
- },
- "static": {
- "test1": "[]",
- "test2": "[]",
- "test3": "[]"
- },
- "start_time": 28.7,
- "trace": {
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- "[28.7, -6.919728528731216, 7.116059197838647, 0.07966478501029767, -0.2952849399474798, -0.2952849399474807, -0.20000000000001117]",
- "[28.8, -6.9541784972001865, 7.081609229369677, 0.06966490450524238, -0.39371325326330675, -0.39371325326330764, -1.1102230246251565e-14]",
- "[28.9, -6.99847123819231, 7.047159319709137, 0.07966490450524126, -0.4921415665791337, -0.2952849399474807, 0.1999999999999889]",
- "[29.0, -7.0427639203759105, 7.012709351240076, 0.08966478501010788, -0.39371325326330686, -0.3937132532633075, -1.1324274851176597e-14]",
- "[29.1, -7.077213830036443, 6.978259441579544, 0.07966478501009042, -0.29528493994747984, -0.2952849399474805, -0.2000000000000114]",
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- "[29.3, -7.126427927885921, 6.929045343730066, 0.07966490450504599, -0.29528493994747995, -0.2952849399474806, 0.1999999999999887]",
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- "[29.5, -7.2051706373471145, 6.850302634268873, 0.07966478500989191, -0.4921415665791341, -0.49214156657913477, -0.2000000000000114]",
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- "[30.5, -7.5201411811493335, 6.495960765140522, 0.0796649045044147, -0.29528493994748006, -0.2952849399474808, 0.19999999999998846]",
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- "[98.2, 13.09566698762173, -10.035074644183403, 0.08966457690682411, 0.3937132532633079, 6.661338147750939e-16, -2.8199664825478976e-14]",
- "[98.3, 13.130116897282269, -10.030153228517614, 0.07966457690682129, 0.2952849399474809, 0.09842831331582767, -0.20000000000002832]",
- "[98.4, 13.164566865752212, -10.025231871661227, 0.06966469640373812, 0.39371325326330786, 6.661338147750939e-16, -2.8199664825478976e-14]",
- "[98.5, 13.208859606744333, -10.030153287327016, 0.0796646964037353, 0.4921415665791349, -0.09842831331582631, 0.1999999999999718]",
- "[98.6, 13.262995237877528, -10.035074644183315, 0.0896645769066271, 0.5905698798949618, 6.661338147750939e-16, -2.8199664825478976e-14]",
- "[98.7, 13.326973641532815, -10.030153228517525, 0.07966457690662428, 0.6889981932107888, 0.09842831331582767, -0.20000000000002832]",
- "[98.8, 13.390951986378692, -10.025231871661145, 0.06966469640355677, 0.5905698798949617, 5.551115123125783e-16, -2.842170943040401e-14]",
- "[98.9, 13.445087558702399, -10.030153287326932, 0.07966469640355392, 0.4921415665791347, -0.09842831331582641, 0.1999999999999716]",
- "[99.0, 13.499223189835604, -10.035074644183222, 0.08966457690642743, 0.5905698798949617, 5.551115123125783e-16, -2.8199664825478976e-14]",
- "[99.1, 13.563201593490891, -10.030153228517433, 0.0796645769064246, 0.6889981932107886, 0.09842831331582756, -0.20000000000002832]",
- "[99.2, 13.627179938336763, -10.025231871661061, 0.06966469640337491, 0.5905698798949617, 6.661338147750939e-16, -2.842170943040401e-14]",
- "[99.3, 13.68131551066047, -10.030153287326849, 0.07966469640337207, 0.4921415665791347, -0.0984283133158263, 0.1999999999999716]",
- "[99.4, 13.72560819284308, -10.035074644183132, 0.08966457690622825, 0.3937132532633078, 6.661338147750939e-16, -2.842170943040401e-14]",
- "[99.5, 13.76990093383521, -10.030153228517335, 0.07966457690620904, 0.4921415665791348, 0.09842831331582767, -0.20000000000002857]",
- "[99.6, 13.82403656496834, -10.02523187166097, 0.06966469640317424, 0.5905698798949618, 7.771561172376096e-16, -2.864375403532904e-14]",
- "[99.7, 13.888014968623635, -10.030153287326769, 0.07966469640318774, 0.6889981932107888, -0.09842831331582619, 0.19999999999997137]",
- "[99.8, 13.951993313469407, -10.035074644183043, 0.0896645769060293, 0.5905698798949617, 7.771561172376096e-16, -2.886579864025407e-14]",
- "[99.9, 14.006128885793103, -10.030153228517243, 0.07966457690601006, 0.4921415665791346, 0.09842831331582774, -0.20000000000002893]",
- "[100.0, 14.050421567975791, -10.025231871660882, 0.06966469640299139, 0.3937132532633075, 6.661338147750939e-16, -2.886579864025407e-14]"
- ],
- "test3": [
- "[28.7, -8.453508182249056, -5.252579318752163, 8.065953127616412, 0.49214156657913644, -0.6889981932107918, 0.1999999999999878]",
- "[28.8, -8.409219889725785, -5.326405002207886, 8.075944088613912, 0.39371325326330947, -0.787426506526619, -1.2212453270876722e-14]",
- "[28.9, -8.364927148733656, -5.410069068526347, 8.085944088613928, 0.49214156657913655, -0.8858548198424461, 0.1999999999999878]",
- "[29.0, -8.31078708638297, -5.493728644817821, 8.095934965167984, 0.5905698798949635, -0.7874265065266193, -1.2212453270876722e-14]",
- "[29.1, -8.246808682647309, -5.5773927112166515, 8.085934965004665, 0.6889981932107904, -0.8858548198424462, -0.2000000000000123]",
- "[29.2, -8.182834801693442, -5.661052254833683, 8.07594415484297, 0.5905698798949635, -0.7874265065266193, -1.2434497875801753e-14]",
- "[29.3, -8.128699229369744, -5.7348734898205445, 8.085944154842982, 0.49214156657913644, -0.6889981932107923, 0.19999999999998758]",
- "[29.4, -8.084411038274423, -5.808699274704213, 8.095934909745415, 0.3937132532633095, -0.7874265065266195, -1.2434497875801753e-14]",
- "[29.5, -8.04011829728229, -5.882520509691075, 8.085934909745399, 0.49214156657913655, -0.6889981932107926, -0.2000000000000125]",
- "[29.6, -7.985978150336738, -5.956346319299794, 8.075944205082669, 0.5905698798949635, -0.7874265065266195, -1.2434497875801753e-14]",
- "[29.7, -7.93184257801304, -6.030167554286655, 8.085944205082681, 0.49214156657913644, -0.6889981932107925, 0.19999999999998758]",
- "[29.8, -7.877702410231859, -6.103993384731001, 8.09593486740875, 0.5905698798949635, -0.7874265065266197, -1.2656542480726785e-14]",
- "[29.9, -7.813724006496188, -6.187657451129836, 8.085934867245417, 0.6889981932107904, -0.8858548198424466, -0.20000000000001275]",
- "[30.0, -7.749750217782753, -6.271316902506436, 8.07594424451035, 0.5905698798949636, -0.7874265065266198, -1.2878587085651816e-14]",
- "[30.1, -7.6857718140470785, -6.345138137412921, 8.06594424434701, 0.6889981932107906, -0.6889981932107928, -0.200000000000013]",
- "[30.2, -7.621798034470815, -6.418963996478817, 8.055953640178089, 0.5905698798949635, -0.78742650652662, -1.3100631690576847e-14]",
- "[30.3, -7.567662462147117, -6.49278523146568, 8.065953640178103, 0.49214156657913655, -0.6889981932107933, 0.1999999999999869]",
- "[30.4, -7.51352225285027, -6.556758998147826, 8.07594421814701, 0.5905698798949633, -0.5905698798949663, -1.3100631690576847e-14]",
- "[30.5, -7.459386680606954, -6.620737401883503, 8.065944217983665, 0.49214156657913644, -0.6889981932107934, -0.2000000000000132]",
- "[30.6, -7.4052464624830225, -6.684711159738564, 8.055953657950818, 0.5905698798949632, -0.5905698798949665, -1.3322676295501878e-14]",
- "[30.7, -7.341268058827727, -6.74868956339386, 8.06595365795083, 0.6889981932107901, -0.6889981932107934, 0.1999999999999867]",
- "[30.8, -7.267442171922422, -6.822515450299164, 8.075944205551862, 0.7874265065266169, -0.7874265065266203, -1.3322676295501878e-14]",
- "[30.9, -7.19362093693556, -6.896336685286027, 8.085944205551874, 0.68899819321079, -0.6889981932107934, 0.1999999999999867]",
- "[31.0, -7.1197950393900395, -6.970162582831547, 8.095934731532672, 0.787426506526617, -0.7874265065266206, -1.3322676295501878e-14]",
- "[31.1, -7.04597380448356, -7.0439838177380265, 8.085934731369319, 0.6889981932107901, -0.6889981932107937, -0.2000000000000134]",
- "[31.2, -6.982000064597113, -7.107957557624474, 8.075944207847542, 0.5905698798949632, -0.5905698798949668, -1.354472090042691e-14]",
- "[31.3, -6.918021660941816, -7.17193596127977, 8.085944207847554, 0.6889981932107903, -0.6889981932107938, 0.19999999999998647]",
- "[31.4, -6.854047920173526, -7.235909702048062, 8.095934733161172, 0.5905698798949632, -0.5905698798949668, -1.354472090042691e-14]",
- "[31.5, -6.799912347930215, -7.299888105783745, 8.085934732997814, 0.4921415665791363, -0.6889981932107937, -0.20000000000001367]",
- "[31.6, -6.745772113997295, -7.373714002379831, 8.075944205087819, 0.5905698798949632, -0.7874265065266208, -1.3766765505351941e-14]",
- "[31.7, -6.681793710261609, -7.447535237286305, 8.065944204924454, 0.6889981932107903, -0.6889981932107938, -0.2000000000000139]",
- "[31.8, -6.607967821481764, -7.511508987148616, 8.055953661132365, 0.7874265065266169, -0.590569879894967, -1.3988810110276972e-14]",
- "[31.9, -6.524303755163303, -7.565644559472315, 8.065953661132378, 0.8858548198424439, -0.49214156657913993, 0.19999999999998602]",
- "[32.0, -6.44064433068496, -7.619784773636132, 8.075944229211915, 0.787426506526617, -0.5905698798949668, -1.3988810110276972e-14]",
- "[32.1, -6.366823095698098, -7.673920345959831, 8.085944229211927, 0.68899819321079, -0.4921415665791397, 0.19999999999998602]",
- "[32.2, -6.302849325601401, -7.728060551842128, 8.095934814118982, 0.5905698798949629, -0.5905698798949667, -1.3988810110276972e-14]",
- "[32.3, -6.23887092186571, -7.782196124085432, 8.08593481395561, 0.6889981932107899, -0.4921415665791396, -0.20000000000001408]",
- "[32.4, -6.165045065500773, -7.836336317787201, 8.075944204298512, 0.7874265065266172, -0.5905698798949667, -1.3988810110276972e-14]",
- "[32.5, -6.081380999182312, -7.900314721442498, 8.085944204298524, 0.8858548198424441, -0.6889981932107936, 0.19999999999998602]",
- "[32.6, -5.997721535543976, -7.964288522417667, 8.09593485194865, 0.7874265065266172, -0.5905698798949667, -1.4210854715202004e-14]",
- "[32.7, -5.914057469145118, -8.02826692615336, 8.085934851785273, 0.8858548198424445, -0.688998193210794, -0.20000000000001433]",
- "[32.8, -5.830397983025612, -8.0922407496097, 8.075944158454854, 0.7874265065266175, -0.590569879894967, -1.4210854715202004e-14]",
- "[32.9, -5.756576748038749, -8.146376321933397, 8.085944158454872, 0.6889981932107903, -0.4921415665791398, 0.1999999999999858]",
- "[33.0, -5.682750956979482, -8.200516450329498, 8.095934900808892, 0.7874265065266172, -0.5905698798949669, -1.4210854715202004e-14]",
- "[33.1, -5.6089297220730145, -8.254652022572799, 8.085934900645515, 0.68899819321079, -0.49214156657913977, -0.2000000000000143]",
- "[33.2, -5.544955849125323, -8.298940232857325, 8.075944106751852, 0.5905698798949631, -0.3937132532633129, -1.4432899320127035e-14]",
- "[33.3, -5.480977445470028, -8.343232973849453, 8.085944106751867, 0.68899819321079, -0.49214156657913993, 0.19999999999998558]",
- "[33.4, -5.407151704197571, -8.397373052458743, 8.095934950269482, 0.7874265065266173, -0.5905698798949672, -1.4432899320127035e-14]",
- "[33.5, -5.32348763779871, -8.451508624702042, 8.0859349501061, 0.8858548198424443, -0.4921415665791403, -0.20000000000001456]",
- "[33.6, -5.229976266709581, -8.50564867046484, 8.075944039846524, 0.9842831331582714, -0.5905698798949673, -1.4432899320127035e-14]",
- "[33.7, -5.136469369059553, -8.559784242788538, 8.08594403984654, 0.8858548198424445, -0.4921415665791404, 0.19999999999998558]",
- "[33.8, -5.052809731805562, -8.604072554716195, 8.095935040272503, 0.7874265065266176, -0.39371325326331336, -1.4654943925052066e-14]",
- "[33.9, -4.9789884968991025, -8.648365295788729, 8.085935040109112, 0.6889981932107905, -0.4921415665791403, -0.20000000000001472]",
- "[34.0, -4.905162873926055, -8.692653648794677, 8.07594395621471, 0.7874265065266175, -0.39371325326331336, -1.4876988529977098e-14]",
- "[34.1, -4.8313416390196, -8.73694638986721, 8.065943956051314, 0.6889981932107904, -0.49214156657914027, -0.200000000000015]",
- "[34.2, -4.757516063096137, -8.78123478992274, 8.055952776555188, 0.7874265065266175, -0.39371325326331336, -1.509903313490213e-14]",
- "[34.3, -4.6738519967776755, -8.82552753091487, 8.065952776555203, 0.8858548198424446, -0.4921415665791404, 0.1999999999999849]",
- "[34.4, -4.580340805996866, -8.879667396369353, 8.075944053189678, 0.9842831331582715, -0.5905698798949672, -1.532107773982716e-14]",
- "[34.5, -4.486833908346839, -8.93380296869305, 8.085944053189692, 0.8858548198424445, -0.4921415665791402, 0.1999999999999847]",
- "[34.6, -4.393322773984396, -8.978091472972768, 8.095935444462667, 0.9842831331582717, -0.3937132532633133, -1.532107773982716e-14]",
- "[34.7, -4.299815876334369, -9.012541382633303, 8.085935444462649, 0.8858548198424446, -0.2952849399474864, -0.20000000000001542]",
- "[34.8, -4.216155977531828, -9.046995459809752, 8.07594391258685, 0.7874265065266177, -0.3937132532633134, -1.532107773982716e-14]",
- "[34.9, -4.142334742544964, -9.091288200801884, 8.065943912586832, 0.6889981932107907, -0.4921415665791403, -0.20000000000001542]",
- "[35.0, -4.068509407406345, -9.135576841642257, 8.055952243831388, 0.7874265065266178, -0.39371325326331325, -1.532107773982716e-14]",
- "[35.1, -3.994688172419481, -9.170026751302792, 8.065952243831402, 0.6889981932107907, -0.2952849399474863, 0.1999999999999847]",
- "[35.2, -3.920862899855521, -9.204480698540424, 8.075944039734521, 0.7874265065266175, -0.3937132532633132, -1.532107773982716e-14]",
- "[35.3, -3.8371988335370593, -9.23893060820096, 8.065944039734504, 0.8858548198424445, -0.2952849399474863, -0.20000000000001542]",
- "[35.4, -3.7436879705265524, -9.273384483221973, 8.055952097091858, 0.9842831331582718, -0.3937132532633134, -1.554312234475219e-14]",
- "[35.5, -3.6403382415449252, -9.307834392882505, 8.065952097091872, 1.082711446474099, -0.2952849399474865, 0.19999999999998447]",
- "[35.6, -3.5369923795739227, -9.34228816955366, 8.075944239575092, 0.984283133158272, -0.3937132532633135, -1.5765166949677223e-14]",
- "[35.7, -3.443485481923895, -9.37673807921419, 8.085944239575108, 0.885854819842445, -0.29528493994748656, 0.19999999999998425]",
- "[35.8, -3.359825179090237, -9.411191752359525, 8.09593659241614, 0.787426506526618, -0.3937132532633134, -1.5765166949677223e-14]",
- "[35.9, -3.2761611127717756, -9.445641662020055, 8.08593659241612, 0.8858548198424452, -0.2952849399474865, -0.20000000000001583]",
- "[36.0, -3.192500711266576, -9.480095236493845, 8.075944039080865, 0.787426506526618, -0.3937132532633134, -1.5765166949677223e-14]",
- "[36.1, -3.1088366449481146, -9.514545146154376, 8.065944039080845, 0.8858548198424452, -0.2952849399474865, -0.20000000000001583]",
- "[36.2, -3.01532619171071, -9.548998611402283, 8.055951263805618, 0.9842831331582724, -0.3937132532633134, -1.5765166949677223e-14]",
- "[36.3, -2.911976462729083, -9.583448521062813, 8.065951263805633, 1.0827114464740997, -0.29528493994748645, 0.19999999999998425]",
- "[36.4, -2.8086301545256758, -9.608052178613558, 8.07594431300439, 0.9842831331582729, -0.19685662663165948, -1.587618925213974e-14]",
- "[36.5, -2.7151232569560673, -9.632659257022942, 8.065944312840962, 0.8858548198424459, -0.29528493994748645, -0.200000000000016]",
- "[36.6, -2.6314624647726284, -9.657263061216883, 8.055950965672661, 0.7874265065266192, -0.1968566266316596, -1.609823385706477e-14]",
- "[36.7, -2.547798398454166, -9.681870139545847, 8.065950965672677, 0.8858548198424462, -0.29528493994748667, 0.1999999999999839]",
- "[36.8, -2.4641374722870166, -9.7064740777235, 8.075944585087257, 0.7874265065266193, -0.1968566266316596, -1.5987211554602254e-14]",
- "[36.9, -2.380473405968555, -9.731081156052467, 8.085944585087272, 0.8858548198424463, -0.29528493994748667, 0.19999999999998402]",
- "[37.0, -2.286963509391876, -9.75568523545478, 8.095938491461277, 0.9842831331582731, -0.19685662663165968, -1.5987211554602254e-14]",
- "[37.1, -2.1836137803298272, -9.770449482371724, 8.085938491297847, 1.0827114464741001, -0.09842831331583264, -0.20000000000001608]",
- "[37.2, -2.0802668692884656, -9.785216547309357, 8.075944217171148, 0.9842831331582728, -0.19685662663165948, -1.6209256159527285e-14]",
- "[37.3, -1.9867599716384379, -9.799980794306723, 8.085944217171164, 0.8858548198424459, -0.09842831331583246, 0.1999999999999838]",
- "[37.4, -1.8932504504843215, -9.814747664808175, 8.09593888637966, 0.9842831331582729, -0.19685662663165937, -1.6209256159527285e-14]",
- "[37.5, -1.7997435529147188, -9.839354743217564, 8.085938886216224, 0.8858548198424459, -0.2952849399474864, -0.20000000000001616]",
- "[37.6, -1.7160819128829545, -9.863959395259831, 8.07594381627467, 0.787426506526619, -0.1968566266316594, -1.6209256159527285e-14]",
- "[37.7, -1.6324178464840684, -9.878723642176773, 8.065943816111233, 0.885854819842446, -0.09842831331583235, -0.20000000000001594]",
- "[37.8, -1.548756018791287, -9.893490127799819, 8.055948364854567, 0.787426506526619, -0.19685662663165931, -1.609823385706477e-14]",
- "[37.9, -1.4650919524728254, -9.908254374797183, 8.065948364854583, 0.8858548198424461, -0.0984283133158323, 0.1999999999999839]",
- "[38.0, -1.3715830126784199, -9.923020663938926, 8.07594421534861, 0.984283133158273, -0.19685662663165926, -1.609823385706477e-14]",
- "[38.1, -1.2682332836163694, -9.937784910855868, 8.065944215185178, 1.0827114464741001, -0.09842831331583224, -0.2000000000000164]",
- "[38.2, -1.1648853535065218, -9.942704527649887, 8.055947870376881, 0.9842831331582731, -5.218048215738236e-15, -1.6209256159527285e-14]",
- "[38.3, -1.071378455936919, -9.947625943396114, 8.065947870540313, 0.8858548198424462, -0.09842831331583213, 0.19999999999998375]",
- "[38.4, -0.9778700150556563, -9.962391733624713, 8.075944734793746, 0.9842831331582731, -0.1968566266316591, -1.63202784619898e-14]",
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- "[48.7, 8.47608844144245, -10.026368590338203, 8.085934345750099, 0.8858548198424497, -0.098428313315832, -0.20000000000002008]",
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- "[48.9, 8.672950153208156, -10.026363505204156, 8.065944678088222, 1.082711446474104, 0.0984283133158219, -0.2000000000000203]",
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- "[49.3, 9.076496031383114, -10.02636348713313, 8.085944641696162, 0.8858548198424501, 0.09842831331582189, 0.19999999999997958]",
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- "[96.2, 20.71549944619908, -30.002200010406487, 8.055956342005713, -0.7874265065266042, -7.549516567451064e-15, -3.597122599785507e-14]",
- "[96.3, 20.631835379799924, -30.007121426152985, 8.065956342169708, -0.8858548198424312, -0.09842831331583457, 0.19999999999996404]",
- "[96.4, 20.548177111907602, -30.012037043392645, 8.075944560140853, -0.7874265065266044, -7.549516567451064e-15, -3.574918139293004e-14]",
- "[96.5, 20.464513045508447, -30.016958459139147, 8.065944559976856, -0.8858548198424314, -0.09842831331583454, -0.20000000000003584]",
- "[96.6, 20.380854775969254, -30.02187407802568, 8.055956338659353, -0.7874265065266042, -7.438494264988549e-15, -3.574918139293004e-14]",
- "[96.7, 20.2971907096508, -30.026795493691473, 8.065956338659365, -0.8858548198424313, -0.09842831331583443, 0.19999999999996426]",
- "[96.8, 20.21353243844071, -30.031711114248903, 8.075944563372017, -0.787426506526604, -7.216449660063518e-15, -3.597122599785507e-14]",
- "[96.9, 20.129868372041553, -30.0267896985024, 8.085944563536012, -0.8858548198424311, 0.09842831331581978, 0.19999999999996404]",
- "[97.0, 20.036355667447047, -30.021874089781086, 8.095932764198453, -0.9842831331582579, -7.216449660063518e-15, -3.597122599785507e-14]",
- "[97.1, 19.94284876979702, -30.01695267411529, 8.085932764198436, -0.8858548198424308, 0.09842831331581975, -0.20000000000003604]",
- "[97.2, 19.85919050836095, -30.01203706333188, 8.075944559345954, -0.7874265065266037, -7.327471962526033e-15, -3.6193270602780103e-14]",
- "[97.3, 19.775526441961784, -30.00711564758538, 8.085944559509956, -0.8858548198424308, 0.09842831331581967, 0.19999999999996382]",
- "[97.4, 19.6918681786457, -30.002200034921955, 8.0959327681825, -0.7874265065266035, -7.438494264988549e-15, -3.597122599785507e-14]",
- "[97.5, 19.608204112327243, -29.99727861925616, 8.085932768182483, -0.8858548198424305, 0.09842831331581953, -0.20000000000003604]",
- "[97.6, 19.52454584706929, -29.992363004650873, 8.075944555564197, -0.7874265065266036, -7.438494264988549e-15, -3.6193270602780103e-14]",
- "[97.7, 19.44088178067013, -29.98744158890437, 8.085944555728199, -0.8858548198424306, 0.09842831331581955, 0.19999999999996382]",
- "[97.8, 19.35722351343895, -29.982525972325856, 8.095932772355964, -0.7874265065266035, -7.438494264988549e-15, -3.6415315207705135e-14]",
- "[97.9, 19.27355944703979, -29.98744738807236, 8.08593277219195, -0.8858548198424305, -0.09842831331583443, -0.2000000000000365]",
- "[98.0, 19.189901177802117, -29.992363006657378, 8.075944551487119, -0.7874265065266034, -7.438494264988549e-15, -3.6415315207705135e-14]",
- "[98.1, 19.10623711148366, -29.98744159099158, 8.085944551487131, -0.8858548198424304, 0.09842831331581954, 0.1999999999999636]",
- "[98.2, 19.022578840204808, -29.972671548954608, 8.095932776339502, -0.7874265065266035, 0.1968566266316466, -3.6415315207705135e-14]",
- "[98.3, 18.93891477380565, -29.957907302037952, 8.085932776175488, -0.8858548198424305, 0.09842831331581957, -0.2000000000000365]",
- "[98.4, 18.855256500322657, -29.943137262205116, 8.075944546844452, -0.7874265065266036, 0.1968566266316465, -3.6637359812630166e-14]",
- "[98.5, 18.7715924340042, -29.928373015207747, 8.085944546844464, -0.8858548198424306, 0.09842831331581951, 0.19999999999996337]",
- "[98.6, 18.687934158278843, -29.913602977617284, 8.095932780731857, -0.7874265065266036, 0.1968566266316465, -3.6637359812630166e-14]",
- "[98.7, 18.604270091960387, -29.898838730619914, 8.085932780731838, -0.8858548198424306, 0.09842831331581951, -0.2000000000000367]",
- "[98.8, 18.52061181392081, -29.893923103232993, 8.075944542142107, -0.7874265065266036, -7.438494264988549e-15, -3.6637359812630166e-14]",
- "[98.9, 18.43694774752164, -29.889001687486488, 8.085944542306118, -0.8858548198424306, 0.09842831331581955, 0.19999999999996337]",
- "[99.0, 18.353289467189363, -29.874231654502935, 8.095932785554453, -0.7874265065266036, 0.19685662663164638, -3.6637359812630166e-14]",
- "[99.1, 18.269625400870908, -29.859467407505566, 8.085932785554434, -0.8858548198424306, 0.0984283133158194, -0.2000000000000367]",
- "[99.2, 18.185967118106763, -29.844697376953878, 8.075944537364702, -0.7874265065266037, 0.19685662663164638, -3.68594044175552e-14]",
- "[99.3, 18.102303051788304, -29.820090298624915, 8.085944537364714, -0.8858548198424306, 0.2952849399474734, 0.19999999999996315]",
- "[99.4, 18.018644766514246, -29.79548900134035, 8.095932790654441, -0.7874265065266037, 0.1968566266316466, -3.6637359812630166e-14]",
- "[99.5, 17.93498070019579, -29.78072475434298, 8.085932790654422, -0.8858548198424308, 0.09842831331581962, -0.2000000000000367]",
- "[99.6, 17.851322412331783, -29.76595472889116, 8.075944532102081, -0.7874265065266037, 0.1968566266316466, -3.6637359812630166e-14]",
- "[99.7, 17.767658346013327, -29.75119048189379, 8.065944532102062, -0.8858548198424308, 0.09842831331581962, -0.2000000000000367]",
- "[99.8, 17.684000042161497, -29.736420472429796, 8.055956241063493, -0.7874265065266037, 0.1968566266316466, -3.6637359812630166e-14]",
- "[99.9, 17.60033597584304, -29.711813394100833, 8.065956241063505, -0.8858548198424308, 0.29528493994747357, 0.19999999999996337]",
- "[100.0, 17.516677669300304, -29.6872120755476, 8.075944537569814, -0.7874265065266038, 0.1968566266316465, -3.6415315207705135e-14]"
- ],
- "test1": [
- "[28.7, -9.317543521123552, 3.396488887053589, -5.004015648411043, -0.29528493994748045, -0.8858548198424446, -0.20000000000001428]",
- "[28.8, -9.34214767502632, 3.3029790649773645, -5.014009706165181, -0.19685662663165354, -0.9842831331582718, -1.4432899320127035e-14]",
- "[28.9, -9.356911921943288, 3.2094721674077364, -5.024009706328565, -0.09842831331582656, -0.8858548198424449, -0.20000000000001456]",
- "[29.0, -9.37167904464644, 3.1159623940519245, -5.034003863079445, -0.1968566266316535, -0.9842831331582718, -1.454392162258955e-14]",
- "[29.099999999999998, -9.386443291563404, 3.0224554964822983, -5.044003863242832, -0.09842831331582651, -0.8858548198424446, -0.20000000000001467]",
- "[29.2, -9.401210357742752, 2.9289457796502885, -5.074009591639224, -0.19685662663165354, -0.9842831331582715, -0.4000000000000148]",
- "[29.3, -9.42582022994626, 2.8354416758748022, -5.104003914665893, -0.2952849399474806, -0.8858548198424446, -0.20000000000001483]",
- "[29.4, -9.46027290543031, 2.741932012401255, -5.13400953464132, -0.39371325326330764, -0.9842831331582713, -0.4000000000000147]",
- "[29.5, -9.494720080238395, 2.648427849603671, -5.164003977597092, -0.2952849399474806, -0.8858548198424443, -0.20000000000001472]",
- "[29.599999999999998, -9.519324457893855, 2.5549182512801405, -5.194009465191879, -0.19685662663165365, -0.9842831331582711, -0.4000000000000148]",
- "[29.7, -9.543934199240127, 2.4614140166474163, -5.224004054112036, -0.2952849399474806, -0.8858548198424442, -0.20000000000001483]",
- "[29.8, -9.568538655756498, 2.3679044971847976, -5.254009381466523, -0.19685662663165365, -0.9842831331582712, -0.4000000000000148]",
- "[29.9, -9.583300325872397, 2.2744001764162354, -5.284004145409159, -0.09842831331582658, -0.8858548198424442, -0.20000000000001472]",
- "[30.0, -9.598067100838364, 2.180890750797608, -5.314009282078693, -0.1968566266316536, -0.9842831331582711, -0.4000000000000148]",
- "[30.099999999999998, -9.62267665415754, 2.0873863281377942, -5.3440042530578005, -0.29528493994748056, -0.8858548198424441, -0.20000000000001472]",
- "[30.2, -9.647281314635105, 2.0037246796707335, -5.374009165976272, -0.1968566266316537, -0.787426506526617, -0.4000000000000148]",
- "[30.3, -9.662043198118909, 1.9200582498387118, -5.404004363468764, -0.09842831331582674, -0.8858548198424443, -0.20000000000001472]",
- "[30.4, -9.67680975051107, 1.8265490467938867, -5.434009047882652, -0.19685662663165365, -0.9842831331582713, -0.4000000000000149]",
- "[30.5, -9.70141906431982, 1.733044384623644, -5.464004505531539, -0.2952849399474806, -0.8858548198424442, -0.20000000000001483]",
- "[30.599999999999998, -9.726023981785973, 1.6395353261108048, -5.494008896265733, -0.19685662663165357, -0.9842831331582713, -0.400000000000015]",
- "[30.7, -9.750633141501986, 1.546030509847825, -5.524004667021146, -0.2952849399474806, -0.8858548198424443, -0.20000000000001494]",
- "[30.8, -9.775238222837537, 1.4525216152043843, -5.554008724783263, -0.1968566266316536, -0.9842831331582714, -0.4000000000000151]",
- "[30.9, -9.790000562193049, 1.3590166251962092, -5.584004848577738, -0.09842831331582655, -0.8858548198424443, -0.20000000000001505]",
- "[31.0, -9.794920164546234, 1.265507914233571, -5.614008533112281, 4.996003610813204e-16, -0.9842831331582712, -0.40000000000001534]",
- "[31.099999999999998, -9.799841580272, 1.1720010166435095, -5.644008532990418, -0.09842831331582647, -0.8858548198424443, -0.2000000000000155]",
- "[31.2, -9.804761385958487, 1.0784925090141675, -5.674011804364788, 4.996003610813204e-16, -0.9842831331582715, -0.4000000000000157]",
- "[31.3, -9.809682801684254, 0.984985611424106, -5.704011804242926, -0.09842831331582647, -0.8858548198424447, -0.20000000000001572]",
- "[31.4, -9.824448436614281, 0.8914773258414173, -5.734014624432782, -0.1968566266316535, -0.9842831331582718, -0.4000000000000159]",
- "[31.5, -9.839211413254521, 0.797971698548519, -5.764012043148812, -0.09842831331582647, -0.8858548198424446, -0.200000000000016]",
- "[31.599999999999998, -9.853976808994453, 0.7044636521559248, -5.794014377319783, -0.1968566266316534, -0.9842831331582713, -0.40000000000001595]",
- "[31.7, -9.868740032599518, 0.6109577778981953, -5.824012297852461, -0.09842831331582638, -0.8858548198424444, -0.20000000000001583]",
- "[31.8, -9.873660553601558, 0.51744998558441, -5.85401411575164, 5.828670879282072e-16, -0.9842831331582714, -0.40000000000001584]",
- "[31.9, -9.868739137935762, 0.4239430879343801, -5.88401411575163, 0.09842831331582758, -0.8858548198424444, -0.2000000000000159]",
- "[32.0, -9.863818350911208, 0.3304355616431055, -5.9140153931101835, 6.106226635438361e-16, -0.9842831331582713, -0.4000000000000159]",
- "[32.1, -9.868739766577006, 0.2369286639930757, -5.944015393110174, -0.09842831331582638, -0.8858548198424443, -0.2000000000000159]",
- "[32.2, -9.873660828109657, 0.14342141220989985, -5.974016112685932, 6.106226635438361e-16, -0.9842831331582713, -0.4000000000000159]",
- "[32.3, -9.878582243775455, 0.04007168322827537, -6.004016112685923, -0.09842831331582638, -1.0827114464740983, -0.2000000000000159]",
- "[32.4, -9.883503599338244, -0.0632779856503396, -6.034016234811361, 5.551115123125783e-16, -0.9842831331582711, -0.4000000000000159]",
- "[32.5, -9.878582183672446, -0.15678488330036933, -6.064016234811351, 0.09842831331582753, -0.885854819842444, -0.20000000000001594]",
- "[32.6, -9.873661002832108, -0.25029201577585786, -6.094016711961564, 5.48172618408671e-16, -0.9842831331582709, -0.40000000000001606]",
- "[32.7, -9.878582418557876, -0.34379891336591856, -6.124016711839699, -0.09842831331582641, -0.8858548198424441, -0.20000000000001616]",
- "[32.8, -9.883503322152698, -0.4373063230869232, -6.154017752334964, 5.828670879282072e-16, -0.9842831331582713, -0.40000000000001634]",
- "[32.9, -9.878581906486902, -0.530813220736953, -6.184017752334954, 0.09842831331582758, -0.8858548198424444, -0.2000000000000164]",
- "[33.0, -9.873661274104634, -0.6243209016705145, -6.214019343916686, 5.828670879282072e-16, -0.9842831331582712, -0.40000000000001656]",
- "[33.1, -9.868739858438838, -0.7178277993205444, -6.244019343916676, 0.09842831331582758, -0.8858548198424442, -0.2000000000000166]",
- "[33.2, -9.853974565546027, -0.8113357428660176, -6.2740214691089164, 0.1968566266316546, -0.9842831331582711, -0.4000000000000169]",
- "[33.3, -9.839211491883084, -0.9048414671816203, -6.304019084968841, 0.09842831331582769, -0.8858548198424441, -0.2000000000000169]",
- "[33.4, -9.834291374147154, -0.9983496627615166, -6.334021722278811, 8.326672684688674e-16, -0.9842831331582713, -0.4000000000000167]",
- "[33.5, -9.829369958421386, -1.0918565603515749, -6.3640217221569415, 0.0984283133158278, -0.8858548198424444, -0.20000000000001683]",
- "[33.6, -9.824450080823594, -1.1853649960696095, -6.394024847412161, 7.771561172376096e-16, -0.9842831331582713, -0.4000000000000169]",
- "[33.7, -9.819528665097824, -1.2887147251112054, -6.424024847290292, 0.0984283133158278, -1.0827114464740983, -0.20000000000001683]",
- "[33.8, -9.804762641106159, -1.3920626770985358, -6.4540284580283585, 0.1968566266316547, -0.9842831331582717, -0.4000000000000167]",
- "[33.9, -9.790000290626537, -1.485567678230819, -6.484024604426305, 0.09842831331582774, -0.8858548198424447, -0.20000000000001672]",
- "[34.0, -9.775234042310979, -1.5790765771990372, -6.514028670976094, 0.1968566266316547, -0.9842831331582719, -0.400000000000017]",
- "[34.1, -9.76047189818476, -1.6725813719779197, -6.544024398077209, 0.09842831331582774, -0.8858548198424447, -0.20000000000001694]",
- "[34.2, -9.745705449980814, -1.7660904708345273, -6.574028870787343, 0.19685662663165482, -0.9842831331582719, -0.4000000000000171]",
- "[34.3, -9.730943499371616, -1.8595950720963887, -6.604024204674319, 0.09842831331582791, -0.885854819842445, -0.20000000000001716]",
- "[34.4, -9.716176863902238, -1.9531043582184278, -6.634029057895764, 0.19685662663165476, -0.984283133158272, -0.40000000000001734]",
- "[34.5, -9.701415094449052, -2.0466087783242752, -6.664024023685376, 0.0984283133158278, -0.885854819842445, -0.20000000000001728]",
- "[34.6, -9.686648283773964, -2.140118239652025, -6.694029232913549, 0.19685662663165482, -0.9842831331582721, -0.40000000000001723]",
- "[34.7, -9.662038558472346, -2.2336224903293993, -6.724023854435404, 0.29528493994748173, -0.8858548198424452, -0.20000000000001716]",
- "[34.8, -9.637434207556646, -2.327132115392691, -6.7540293963636655, 0.1968566266316548, -0.984283133158272, -0.40000000000001723]",
- "[34.9, -9.61282432404098, -2.4206362078560164, -6.784023696404749, 0.29528493994748173, -0.8858548198424451, -0.20000000000001728]",
- "[35.0, -9.588220126090347, -2.514145985884374, -6.814029549148184, 0.19685662663165487, -0.984283133158272, -0.40000000000001723]",
- "[35.1, -9.563610094664057, -2.6076499304370735, -6.844023548644392, 0.2952849399474818, -0.8858548198424452, -0.20000000000001728]",
- "[35.2, -9.539006039764002, -2.7011598515160165, -6.8740296920574115, 0.19685662663165485, -0.984283133158272, -0.40000000000001734]",
- "[35.3, -9.514395869953699, -2.7946636576847017, -6.904023410366207, 0.2952849399474819, -0.8858548198424447, -0.2000000000000175]",
- "[35.4, -9.489791948961532, -2.878324566666364, -6.93402982587143, 0.19685662663165487, -0.7874265065266177, -0.40000000000001756]",
- "[35.5, -9.465181655618629, -2.9619918479987626, -6.964023293169942, 0.2952849399474819, -0.8858548198424447, -0.2000000000000176]",
- "[35.6, -9.440577848407953, -3.055502016767081, -6.994029939871838, 0.19685662663165493, -0.9842831331582717, -0.4000000000000177]",
- "[35.7, -9.415967438684072, -3.149005583022196, -7.024023170691693, 0.295284939947482, -0.8858548198424445, -0.2000000000000176]",
- "[35.8, -9.381514139214149, -3.2326662595312663, -7.0540300585662665, 0.39371325326330875, -0.7874265065266173, -0.4000000000000177]",
- "[35.9, -9.347067670526114, -3.3163337668222255, -7.08402306673152, 0.2952849399474817, -0.8858548198424442, -0.2000000000000176]",
- "[36.0, -9.312614270079374, -3.4098441552584644, -7.1140301597844955, 0.3937132532633087, -0.9842831331582711, -0.4000000000000177]",
- "[36.1, -9.278167904646875, -3.5033475086804593, -7.144022958141148, 0.2952849399474817, -0.8858548198424442, -0.20000000000001772]",
- "[36.2, -9.243714398913362, -3.5870079789259406, -7.174030265130065, 0.3937132532633087, -0.7874265065266173, -0.4000000000000177]",
- "[36.3, -9.209268131084736, -3.670675687076307, -7.204022865161927, 0.2952849399474816, -0.8858548198424445, -0.2000000000000176]",
- "[36.4, -9.174814534975761, -3.7641862711747804, -7.234030355787976, 0.39371325326330864, -0.9842831331582718, -0.4000000000000177]",
- "[36.5, -9.14036835956501, -3.8576894345750237, -7.264022768032654, 0.29528493994748184, -0.885854819842445, -0.20000000000001772]",
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- "[97.7, 21.37227318227716, -29.941209108230986, -7.924011691956104, -0.885854819842434, -0.09842831331582513, 0.19999999999996138]",
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- "[98.10000000000001, 20.97855992728203, -29.980580431986965, -7.92401169547508, -0.8858548198424346, -0.09842831331582491, 0.19999999999996138]",
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- "[98.3, 20.78169759594674, -29.990417558776404, -7.924023287065862, -1.0827114464740888, -0.0984283133158249, -0.20000000000003873]",
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- "[98.5, 20.575003840860877, -30.000254687230616, -7.924011699185919, -1.082711446474089, -0.09842831331582474, 0.19999999999996138]",
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- "[98.9, 20.18129058938708, -30.02978318285336, -7.9240117028220896, -1.082711446474089, 0.09842831331582921, 0.19999999999996093]",
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- "[99.10000000000001, 19.974596828658775, -30.019946048756708, -7.924023279236947, -1.0827114464740888, 0.0984283133158292, -0.20000000000003937]",
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- "[99.3, 19.77774589722307, -30.010108912459554, -7.92401170696521, -0.8858548198424351, 0.09842831331582914, 0.1999999999999607]",
- "[99.4, 19.68423330655263, -30.005193189814168, -7.9140232748164, -0.9842831331582621, 2.220446049250313e-15, -3.907985046680551e-14]",
- "[99.5, 19.580883577490262, -30.010114605560712, -7.924023274980492, -1.082711446474089, -0.09842831331582477, -0.20000000000003917]",
- "[99.60000000000001, 19.47753953941975, -30.0150303303154, -7.934011711415271, -0.9842831331582622, 2.220446049250313e-15, -3.930189507173054e-14]",
- "[99.7, 19.38403264176973, -30.0101089146496, -7.944011711415291, -0.8858548198424353, 0.0984283133158292, -0.20000000000003937]",
- "[99.8, 19.300374277751565, -30.005193201284094, -7.954000124707972, -0.7874265065266084, 2.3314683517128287e-15, -3.952393967665557e-14]",
- "[99.9, 19.226553042764706, -30.0002717856183, -7.9440001247079595, -0.6889981932107816, 0.09842831331582932, 0.1999999999999605]",
- "[100.0, 19.162580339568976, -29.99535607041206, -7.934011707675032, -0.5905698798949546, 2.3314683517128287e-15, -3.952393967665557e-14]"
- ]
- },
- "type": "simtrace",
- "assert_hits": null
-},
-"3": {
- "node_name": "1-1",
- "id": 3,
- "start_line": 3156,
- "parent": {
- "name": "0-0",
- "index": 0,
- "start_line": 2
- },
- "child": {
- "2-1": {
- "name": "2-1",
- "index": 4,
- "start_line": 3694
- }
- },
- "agent": {
- "test1": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test2": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test3": "<class 'quadrotor_agent.QuadrotorAgent'>"
- },
- "init": {
- "test1": "[3.9850329655886467, 9.159482892162652, 0.0659935627811023, -0.9842831331582699, 0.3937132532633084, -3.9968028886505635e-15]"
- },
- "mode": {
- "test1": "[\"MoveDown\", \"M10\"]",
- "test2": "[\"Normal\", \"T1\"]",
- "test3": "[\"Normal\", \"T0\"]"
- },
- "static": {
- "test1": "[]",
- "test2": "[]",
- "test3": "[]"
- },
- "start_time": 11.6,
- "trace": {
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- "[11.6, -1.0091076674149413, 9.916345005936593, 0.06966490447036788, -0.39371325326330686, 2.220446049250313e-16, -4.440892098500626e-15]",
- "[11.7, -1.0435575770754806, 9.911423590270802, 0.07966490447036742, -0.29528493994747984, -0.09842831331582677, 0.19999999999999557]",
- "[11.8, -1.0780075455044527, 9.906502233373448, 0.0896647850566924, -0.39371325326330686, 3.3306690738754696e-16, -4.440892098500626e-15]",
- "[11.9, -1.112457455164984, 9.90158081770765, 0.07966478505667564, -0.29528493994747984, -0.09842831331582666, -0.20000000000000456]",
- "[12.0, -1.14690742359884, 9.896659460815176, 0.06966490448027224, -0.39371325326330686, 3.3306690738754696e-16, -4.6629367034256575e-15]",
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- "[26.3, -6.171673347531135, 7.785371728386434, 0.0796647850116022, -0.2952849399474799, -0.29528493994748034, -0.2000000000000105]",
- "[26.4, -6.206123316000007, 7.7607647088658105, 0.06966490450635232, -0.3937132532633071, -0.19685662663165332, -1.0658141036401503e-14]",
- "[26.5, -6.2405732256605475, 7.736157630536853, 0.07966490450635126, -0.2952849399474802, -0.2952849399474803, 0.19999999999998935]",
- "[26.6, -6.265180245181065, 7.711550611016337, 0.0896647850113862, -0.19685662663165315, -0.19685662663165326, -1.0658141036401503e-14]",
- "[26.7, -6.28978732351003, 7.686943532687372, 0.0796647850113688, -0.2952849399474802, -0.2952849399474803, -0.20000000000001072]",
- "[26.8, -6.324237291978928, 7.652493564218473, 0.06966490450616958, -0.3937132532633071, -0.3937132532633073, -1.0658141036401503e-14]",
- "[26.9, -6.368530032971051, 7.618043654557932, 0.07966490450616852, -0.4921415665791341, -0.2952849399474804, 0.19999999999998935]",
- "[27.0, -6.412822715154711, 7.593436635037437, 0.08966478501115765, -0.3937132532633072, -0.1968566266316535, -1.0658141036401503e-14]",
- "[27.1, -6.447272624815243, 7.568829556708472, 0.07966478501114026, -0.2952849399474803, -0.2952849399474805, -0.20000000000001072]",
- "[27.2, -6.47187964433581, 7.544222537187904, 0.06966490450600404, -0.19685662663165338, -0.1968566266316536, -1.0880185641326534e-14]",
- "[27.3, -6.496486722664766, 7.529458290190531, 0.07966490450600291, -0.29528493994748034, -0.0984283133158266, 0.19999999999998913]",
- "[27.4, -6.530936691133791, 7.514693984384671, 0.08966478501094116, -0.3937132532633072, -0.1968566266316536, -1.0880185641326534e-14]",
- "[27.5, -6.565386600794321, 7.490086906055707, 0.07966478501092375, -0.29528493994748023, -0.2952849399474807, -0.200000000000011]",
- "[27.6, -6.599836569263273, 7.455636937586754, 0.06966490450583251, -0.3937132532633072, -0.39371325326330764, -1.0880185641326534e-14]",
- "[27.7, -6.634286478923812, 7.421187027926215, 0.07966490450583139, -0.29528493994748023, -0.2952849399474807, 0.19999999999998913]",
- "[27.8, -6.658893498444264, 7.386737059457168, 0.08966478501072789, -0.1968566266316532, -0.39371325326330786, -1.1102230246251565e-14]",
- "[27.9, -6.68350057677323, 7.352287149796636, 0.07966478501071045, -0.2952849399474801, -0.2952849399474809, -0.20000000000001117]"
- ],
- "test3": [
- "[11.6, -6.056790974094466, 7.872819755280709, 8.075945767395458, -0.5905698798949612, -0.5905698798949612, -4.440892098500626e-15]",
- "[11.7, -6.120769377749761, 7.818684182957012, 8.085945767395476, -0.6889981932107883, -0.4921415665791342, 0.19999999999999557]",
- "[11.8, -6.184743178494894, 7.764544007723154, 8.095936414578183, -0.5905698798949612, -0.5905698798949613, -4.440892098500626e-15]",
- "[11.9, -6.248721582230448, 7.710408435479716, 8.085936414415086, -0.6889981932107883, -0.4921415665791344, -0.20000000000000454]",
- "[12.0, -6.322547433604125, 7.6661203108744, 8.075945794616068, -0.7874265065266153, -0.3937132532633074, -4.440892098500626e-15]",
- "[12.1, -6.396368668590987, 7.621827569882271, 8.085945794616086, -0.6889981932107883, -0.49214156657913444, 0.19999999999999557]",
- "[12.2, -6.4603424388096276, 7.567687364121921, 8.095936379770928, -0.5905698798949615, -0.5905698798949613, -4.440892098500626e-15]",
- "[12.3, -6.5243208425451815, 7.503708960386367, 8.08593637960783, -0.6889981932107885, -0.6889981932107884, -0.20000000000000454]",
- "[12.4, -6.588294603831225, 7.4397351991003235, 8.075945812603456, -0.5905698798949615, -0.5905698798949613, -4.440892098500626e-15]",
- "[12.5, -6.652273007486521, 7.385599626776627, 8.085945812603473, -0.6889981932107885, -0.4921415665791342, 0.19999999999999557]",
- "[12.6, -6.716246761583319, 7.331459404894431, 8.09593636499976, -0.5905698798949615, -0.5905698798949611, -4.440892098500626e-15]",
- "[12.7, -6.770382333826755, 7.277323832650994, 8.08593636483666, -0.4921415665791345, -0.49214156657913416, -0.20000000000000456]",
- "[12.8, -6.824522560895607, 7.2231836055821415, 8.075945822979321, -0.5905698798949616, -0.5905698798949611, -4.6629367034256575e-15]",
- "[12.9, -6.888500964631165, 7.159205201846584, 8.065945822816216, -0.6889981932107887, -0.6889981932107883, -0.20000000000000476]",
- "[13.0, -6.9524747180141135, 7.095231448463635, 8.055955271870419, -0.5905698798949617, -0.5905698798949612, -4.6629367034256575e-15]",
- "[13.1, -7.006610290337809, 7.03125304480834, 8.065955271870434, -0.49214156657913455, -0.6889981932107884, 0.19999999999999535]",
- "[13.2, -7.060750512667819, 6.967279291159358, 8.075945823356792, -0.5905698798949613, -0.5905698798949613, -4.6629367034256575e-15]",
- "[13.3, -7.1247289164033765, 6.903300887423801, 8.065945823193688, -0.6889981932107885, -0.6889981932107885, -0.20000000000000476]",
- "[13.4, -7.188702671997435, 6.839327131829743, 8.055955267755063, -0.5905698798949618, -0.5905698798949618, -4.6629367034256575e-15]",
- "[13.5, -7.24283824432113, 6.775348728174447, 8.06595526775508, -0.49214156657913466, -0.6889981932107888, 0.19999999999999535]",
- "[13.6, -7.296978461080937, 6.71137496895526, 8.075945830559737, -0.5905698798949617, -0.5905698798949618, -4.6629367034256575e-15]",
- "[13.7, -7.360956864736233, 6.657239396631565, 8.085945830559753, -0.6889981932107888, -0.49214156657913466, 0.19999999999999535]",
- "[13.8, -7.424930620825303, 6.603099176741641, 8.095936387004212, -0.5905698798949618, -0.5905698798949615, -4.6629367034256575e-15]",
- "[13.9, -7.479066193068737, 6.5391207730060845, 8.085936386841105, -0.49214156657913477, -0.6889981932107886, -0.20000000000000479]",
- "[14.0, -7.53320640751695, 6.475147011475304, 8.075945819339438, -0.5905698798949615, -0.5905698798949617, -4.6629367034256575e-15]",
- "[14.1, -7.587341979840645, 6.4111686078200085, 8.085945819339454, -0.4921415665791343, -0.6889981932107888, 0.19999999999999535]",
- "[14.2, -7.641482184626019, 6.347194836626389, 8.095936406475387, -0.5905698798949612, -0.5905698798949619, -4.6629367034256575e-15]",
- "[14.3, -7.695617756869453, 6.28321643289083, 8.085936406312282, -0.4921415665791342, -0.6889981932107889, -0.20000000000000476]",
- "[14.4, -7.749757950303125, 6.209390576793994, 8.075945796110423, -0.590569879894961, -0.7874265065266159, -4.6629367034256575e-15]",
- "[14.5, -7.8038935225465575, 6.135569341887392, 8.06594579594732, -0.49214156657913394, -0.6889981932107889, -0.20000000000000476]",
- "[14.6, -7.858033692437066, 6.071595535798909, 8.055955137907267, -0.590569879894961, -0.5905698798949619, -4.6629367034256575e-15]",
- "[14.7, -7.912169264760761, 6.007617132143613, 8.065955137907283, -0.4921415665791339, -0.688998193210789, 0.19999999999999535]",
- "[14.8, -7.956457423166977, 5.943643311074231, 8.075945826387555, -0.3937132532633068, -0.5905698798949621, -4.884981308350689e-15]",
- "[14.9, -8.000750164159108, 5.879664907418936, 8.085945826387569, -0.49214156657913377, -0.688998193210789, 0.19999999999999513]",
- "[15.0, -8.054890307269119, 5.805839101645759, 8.095936538843867, -0.5905698798949606, -0.7874265065266157, -4.6629367034256575e-15]",
- "[15.1, -8.109025879512552, 5.732017866739157, 8.085936538680762, -0.49214156657913355, -0.6889981932107887, -0.20000000000000479]",
- "[15.2, -8.153314072781995, 5.6581920840296105, 8.07594577936065, -0.3937132532633066, -0.7874265065266157, -4.884981308350689e-15]",
- "[15.3, -8.197606813774126, 5.584370849042747, 8.085945779360664, -0.49214156657913355, -0.6889981932107888, 0.19999999999999513]",
- "[15.4, -8.241895034048888, 5.520396966104816, 8.095936593553844, -0.39371325326330653, -0.5905698798949618, -5.10702591327572e-15]",
- "[15.5, -8.286187775121288, 5.456418562369253, 8.085936593390729, -0.49214156657913355, -0.688998193210789, -0.20000000000000523]",
- "[15.6, -8.330476019939265, 5.382592831208237, 8.075945729327318, -0.3937132532633067, -0.7874265065266159, -5.329070518200751e-15]",
- "[15.7, -8.374768760931397, 5.3087715962213755, 8.085945729327333, -0.49214156657913366, -0.6889981932107889, 0.19999999999999468]",
- "[15.8, -8.428908797700073, 5.234945896789537, 8.095936657862385, -0.5905698798949608, -0.7874265065266159, -5.329070518200751e-15]",
- "[15.9, -8.4830443699435, 5.161124661882948, 8.085936657699264, -0.4921415665791339, -0.6889981932107889, -0.20000000000000545]",
- "[16.0, -8.527332679685788, 5.087298995646247, 8.075945661713822, -0.39371325326330686, -0.7874265065266157, -5.551115123125783e-15]",
- "[16.1, -8.561782589266043, 5.013477760739661, 8.065945661550694, -0.29528493994747984, -0.6889981932107886, -0.20000000000000567]",
- "[16.2, -8.596236886310752, 4.939652138368621, 8.055954576433052, -0.39371325326330686, -0.7874265065266155, -5.773159728050814e-15]",
- "[16.3, -8.64052962730288, 4.865830903381758, 8.065954576433068, -0.49214156657913377, -0.6889981932107885, 0.19999999999999424]",
- "[16.4, -8.684818021687791, 4.792005321787674, 8.075945744406859, -0.3937132532633067, -0.7874265065266154, -5.995204332975845e-15]",
- "[16.5, -8.729110762679921, 4.718184086800812, 8.085945744406875, -0.49214156657913366, -0.6889981932107884, 0.19999999999999402]",
- "[16.6, -8.773399194904218, 4.644358543046116, 8.095936989267875, -0.3937132532633067, -0.7874265065266153, -6.439293542825908e-15]",
- "[16.7, -8.807849104564749, 4.5705373080592535, 8.08593698926786, -0.29528493994747973, -0.6889981932107884, -0.20000000000000653]",
- "[16.8, -8.842303275514174, 4.496711811783498, 8.075945647932711, -0.39371325326330653, -0.7874265065266155, -6.661338147750939e-15]",
- "[16.9, -8.886596016506303, 4.422890576796634, 8.085945647932725, -0.49214156657913355, -0.6889981932107885, 0.19999999999999335]",
- "[17.0, -8.93088454723921, 4.349065131550549, 8.095937092956879, -0.3937132532633065, -0.7874265065266153, -6.661338147750939e-15]",
- "[17.1, -8.97517728831163, 4.265401065151797, 8.085937092793717, -0.49214156657913344, -0.8858548198424423, -0.20000000000000678]",
- "[17.2, -9.019465877446544, 4.171890015644553, 8.075945529100439, -0.3937132532633066, -0.9842831331582691, -6.8833827526759706e-15]",
- "[17.3, -9.053915787026781, 4.078383118074819, 8.065945528937268, -0.2952849399474796, -0.8858548198424422, -0.200000000000007]",
- "[17.4, -9.088369767411098, 3.984872149701004, 8.055953800386087, -0.39371325326330675, -0.9842831331582689, -7.105427357601002e-15]",
- "[17.5, -9.122819677071629, 3.891365252050976, 8.0659538003861, -0.2952849399474797, -0.8858548198424421, 0.1999999999999929]",
- "[17.6, -9.157273574134306, 3.80770517313466, 8.075945698241497, -0.39371325326330664, -0.7874265065266152, -7.327471962526033e-15]",
- "[17.7, -9.191723483794837, 3.7240411068162, 8.085945698241513, -0.2952849399474796, -0.8858548198424421, 0.19999999999999268]",
- "[17.8, -9.226177304565935, 3.6403809516083037, 8.095937751116493, -0.39371325326330675, -0.787426506526615, -7.327471962526033e-15]",
- "[17.9, -9.260627214226465, 3.5665597166214416, 8.085937751116475, -0.29528493994747973, -0.6889981932107881, -0.20000000000000742]",
- "[18.0, -9.285230463015878, 3.4927346520950255, 8.07594553249445, -0.19685662663165276, -0.7874265065266154, -7.549516567451064e-15]",
- "[18.1, -9.309837541425145, 3.4090705856962615, 8.065945532331263, -0.29528493994747973, -0.8858548198424425, -0.20000000000000767]",
- "[18.2, -9.344291188906627, 3.325410257198755, 8.05595312734294, -0.39371325326330664, -0.7874265065266156, -7.771561172376096e-15]",
- "[18.3, -9.378741098567158, 3.2417461908802943, 8.065953127342956, -0.2952849399474796, -0.8858548198424427, 0.19999999999999224]",
- "[18.4, -9.403344538724044, 3.1580857627339123, 8.075945734811379, -0.19685662663165265, -0.7874265065266157, -7.771561172376096e-15]",
- "[18.5, -9.427951617053006, 3.08426452774705, 8.085945734811395, -0.29528493994747973, -0.6889981932107885, 0.19999999999999224]",
- "[18.6, -9.45255515513257, 3.010439752510787, 8.0959385412524, -0.19685662663165282, -0.7874265065266154, -7.66053886991358e-15]",
- "[18.7, -9.477162233541838, 2.926775686112022, 8.085938541089208, -0.29528493994747984, -0.8858548198424423, -0.20000000000000778]",
- "[18.8, -9.511615575220404, 2.8431150518115977, 8.075945514729034, -0.39371325326330675, -0.7874265065266154, -7.882583474838611e-15]",
- "[18.9, -9.546065484880934, 2.7594509854931366, 8.085945514729051, -0.2952849399474797, -0.8858548198424425, 0.19999999999999213]",
- "[19.0, -9.570669253882466, 2.675790228502111, 8.095938790388633, -0.1968566266316527, -0.7874265065266156, -7.993605777301127e-15]",
- "[19.1, -9.585433500799523, 2.592126162103341, 8.085938790225434, -0.09842831331582569, -0.8858548198424426, -0.2000000000000081]",
- "[19.2, -9.600200925217257, 2.508465273205248, 8.075945246539176, -0.19685662663165265, -0.7874265065266157, -8.215650382226158e-15]",
- "[19.3, -9.624808003546221, 2.424801206886787, 8.065945246539156, -0.2952849399474797, -0.8858548198424429, -0.20000000000000834]",
- "[19.4, -9.649412047289353, 2.3411401751541563, 8.05595141262231, -0.1968566266316527, -0.7874265065266158, -8.43769498715119e-15]",
- "[19.5, -9.664176294286719, 2.2574761088356956, 8.065951412622326, -0.09842831331582572, -0.885854819842443, 0.19999999999999157]",
- "[19.6, -9.678943425937714, 2.173814927170862, 8.075945551191761, -0.1968566266316527, -0.7874265065266159, -8.43769498715119e-15]",
- "[19.7, -9.703550504266678, 2.099993692184, 8.085945551191777, -0.2952849399474797, -0.6889981932107888, 0.19999999999999157]",
- "[19.8, -9.728154846383516, 2.0261697209850076, 8.095939991384785, -0.19685662663165282, -0.7874265065266158, -8.43769498715119e-15]",
- "[19.9, -9.742919093380882, 1.942505654666547, 8.085939991384768, -0.09842831331582585, -0.8858548198424429, -0.2000000000000085]",
- "[20.0, -9.75768591778793, 1.8588441657577661, 8.075945228515398, -0.1968566266316527, -0.787426506526616, -8.659739592076221e-15]",
- "[20.1, -9.772450164785294, 1.775180099439305, 8.085945228515413, -0.09842831331582569, -0.8858548198424432, 0.19999999999999135]",
- "[20.2, -9.787216810780293, 1.6915184321184764, 8.095940353906586, -0.1968566266316527, -0.7874265065266159, -8.881784197001252e-15]",
- "[20.3, -9.801981057697338, 1.6078543657196933, 8.085940353743363, -0.0984283133158258, -0.8858548198424427, -0.20000000000000906]",
- "[20.4, -9.816747515426904, 1.5241925101334317, 8.07594484580894, -0.19685662663165276, -0.7874265065266157, -9.103828801926284e-15]",
- "[20.5, -9.831511762424272, 1.4405284438149704, 8.085944845808955, -0.09842831331582574, -0.8858548198424426, 0.1999999999999909]",
- "[20.6, -9.83643116533286, 1.3568663902537215, 8.095940756015814, 1.2212453270876722e-15, -0.7874265065266157, -9.103828801926284e-15]",
- "[20.7, -9.841352581078981, 1.2732023238549353, 8.085940755852583, -0.09842831331582569, -0.8858548198424427, -0.20000000000000906]",
- "[20.8, -9.856118633395553, 1.1895400628556805, 8.075944424145044, -0.19685662663165265, -0.7874265065266157, -8.992806499463768e-15]",
- "[20.9, -9.870882880392916, 1.1058759965372194, 8.085944424145058, -0.09842831331582566, -0.8858548198424429, 0.19999999999999102]",
- "[21.0, -9.87580270704065, 1.0222135192368258, 8.095941195362595, 1.3877787807814457e-15, -0.7874265065266157, -9.103828801926284e-15]",
- "[21.1, -9.88072412278677, 0.9385494528380395, 8.085941195199366, -0.09842831331582558, -0.8858548198424429, -0.2000000000000095]",
- "[21.2, -9.885644174039658, 0.8548867509324867, 8.075943967598596, 1.3877787807814457e-15, -0.7874265065266159, -9.547918011776346e-15]",
- "[21.3, -9.89056558970546, 0.7712226846140257, 8.08594396759861, -0.09842831331582562, -0.885854819842443, 0.19999999999999046]",
- "[21.4, -9.895485872980448, 0.6875597506863765, 8.095941666653351, 1.3877787807814457e-15, -0.7874265065266157, -9.603429163007604e-15]",
- "[21.5, -9.900407288726578, 0.6038956842875836, 8.085941666490106, -0.09842831331582558, -0.8858548198424427, -0.2000000000000095]",
- "[21.6, -9.905327810425298, 0.5103878926704745, 8.07594348297368, 1.4155343563970746e-15, -0.9842831331582699, -9.492406860545088e-15]",
- "[21.7, -9.910249226171429, 0.41688099510077714, 8.085943483136921, -0.09842831331582558, -0.885854819842443, 0.19999999999999063]",
- "[21.8, -9.915170020461108, 0.3332175501584356, 8.095942220540639, 1.4155343563970746e-15, -0.7874265065266158, -9.492406860545088e-15]",
- "[21.9, -9.920091436207239, 0.2495534837596442, 8.085942220377397, -0.09842831331582558, -0.8858548198424429, -0.20000000000000961]",
- "[22.0, -9.925012478392903, 0.1658897909213197, 8.07594297926499, 1.4155343563970746e-15, -0.7874265065266159, -9.603429163007604e-15]",
- "[22.1, -9.929933894058703, 0.08222572460285871, 8.065942979264975, -0.09842831331582556, -0.885854819842443, -0.20000000000000967]",
- "[22.2, -9.934855186415085, -0.0014382184061858243, 8.055943229821755, 1.4311468676808659e-15, -0.7874265065266159, -9.658940314238862e-15]",
- "[22.3, -9.929933770749285, -0.08510228472464682, 8.065943229821771, 0.09842831331582844, -0.885854819842443, 0.19999999999999035]",
- "[22.4, -9.925012482704409, -0.16876622342218386, 8.07594297050428, 1.4450246554886803e-15, -0.7874265065266158, -9.745676488037702e-15]",
- "[22.5, -9.920091067038607, -0.2524302897406449, 8.085942970504297, 0.09842831331582845, -0.885854819842443, 0.1999999999999903]",
- "[22.6, -9.915170029138432, -0.3360939782934826, 8.09594220290887, 1.4849232954361469e-15, -0.7874265065266159, -9.769962616701378e-15]",
- "[22.7, -9.920091444884566, -0.41975804469227784, 8.085942202745617, -0.09842831331582547, -0.885854819842443, -0.20000000000000961]",
- "[22.8, -9.925012234939327, -0.5034214853997018, 8.07594347394698, 1.4710455076283324e-15, -0.7874265065266162, -9.603429163007604e-15]",
- "[22.9, -9.920090819193195, -0.5870855517984948, 8.085943474110223, 0.09842831331582846, -0.8858548198424433, 0.1999999999999904]",
- "[23.0, -9.915170273238003, -0.6805933191591291, 8.095941706914244, 1.4710455076283324e-15, -0.9842831331582702, -9.658940314238862e-15]",
- "[23.1, -9.91024885749187, -0.774100216728824, 8.085941706750996, 0.09842831331582846, -0.8858548198424433, -0.20000000000000973]",
- "[23.2, -9.895483474043, -0.8577631465957816, 8.07594401594732, 0.19685662663165546, -0.7874265065266162, -9.769962616701378e-15]",
- "[23.3, -9.880719227045637, -0.9414272129142425, 8.085944015947335, 0.09842831331582842, -0.8858548198424431, 0.19999999999999024]",
- "[23.4, -9.875799179721161, -1.02508991089138, 8.095941235565814, 1.3877787807814457e-15, -0.7874265065266163, -9.992007221626409e-15]",
- "[23.5, -9.870877763975024, -1.1087539772901787, 8.085941235402558, 0.09842831331582824, -0.885854819842443, -0.20000000000000995]",
- "[23.6, -9.865957941120664, -1.1924164507972002, 8.075944471892909, 1.27675647831893e-15, -0.7874265065266162, -9.880984919163893e-15]",
- "[23.7, -9.861036525374528, -1.2760805171959972, 8.08594447205616, 0.09842831331582824, -0.8858548198424432, 0.19999999999998996]",
- "[23.8, -9.846270469358274, -1.3597427744955688, 8.095940796246182, 0.1968566266316552, -0.7874265065266162, -1.021405182655144e-14]",
- "[23.9, -9.831506222441249, -1.4434068408943703, 8.08594079608292, 0.09842831331582824, -0.8858548198424433, -0.2000000000000106]",
- "[24.0, -9.816739959198593, -1.5270688909675383, 8.075944892963614, 0.1968566266316552, -0.7874265065266164, -1.0547118733938987e-14]",
- "[24.1, -9.801975712201227, -1.610732957286, 8.065944892963598, 0.0984283133158282, -0.8858548198424434, -0.20000000000001064]",
- "[24.2, -9.787209251903228, -1.694394810303828, 8.05594939024807, 0.19685662663165515, -0.7874265065266165, -1.0547118733938987e-14]",
- "[24.3, -9.772445004905862, -1.7780588766222896, 8.065949390248084, 0.09842831331582816, -0.8858548198424436, 0.19999999999998946]",
- "[24.4, -9.757678356719552, -1.8617205417518066, 8.075944511186654, 0.1968566266316552, -0.7874265065266166, -1.0658141036401503e-14]",
- "[24.5, -9.742914109802532, -1.945384608150614, 8.065944511023375, 0.09842831331582835, -0.8858548198424436, -0.2000000000000106]",
- "[24.6, -9.728147283604095, -2.0290460952680043, 8.055949751793992, 0.19685662663165532, -0.7874265065266166, -1.0658141036401503e-14]",
- "[24.7, -9.713383036606729, -2.112710161586465, 8.065949751794008, 0.09842831331582831, -0.8858548198424435, 0.19999999999998935]",
- "[24.8, -9.698616042269627, -2.196371480565194, 8.075944169376447, 0.1968566266316552, -0.7874265065266166, -1.0658141036401503e-14]",
- "[24.9, -9.683851795352608, -2.280035546964001, 8.065944169213168, 0.09842831331582819, -0.8858548198424436, -0.20000000000001072]",
- "[25.0, -9.669084642631447, -2.3636967075586655, 8.055950073456955, 0.1968566266316552, -0.7874265065266166, -1.0769163338864018e-14]",
- "[25.1, -9.644477564302482, -2.4473607738771253, 8.06595007345697, 0.2952849399474822, -0.8858548198424437, 0.19999999999998924]",
- "[25.2, -9.61987354040761, -2.5310217857614927, 8.075943867043422, 0.1968566266316552, -0.7874265065266168, -1.0769163338864018e-14]",
- "[25.3, -9.595266462078646, -2.6146858520799525, 8.085943867043436, 0.2952849399474822, -0.885854819842444, 0.19999999999998924]",
- "[25.4, -9.570662579719812, -2.6983467224282798, 8.095937373037764, 0.19685662663165515, -0.7874265065266172, -1.0769163338864018e-14]",
- "[25.5, -9.546055501390848, -2.772167957415142, 8.085937373037748, 0.29528493994748223, -0.6889981932107901, -0.20000000000001086]",
- "[25.6, -9.521451742112628, -2.845992511452752, 8.075944117135311, 0.19685662663165532, -0.7874265065266173, -1.0880185641326534e-14]",
- "[25.7, -9.496844663783662, -2.929656577771213, 8.085944117135325, 0.29528493994748234, -0.8858548198424443, 0.19999999999998913]",
- "[25.8, -9.47224101995185, -3.01331720959252, 8.09593713845809, 0.19685662663165548, -0.7874265065266174, -1.0880185641326534e-14]",
- "[25.9, -9.447633941542534, -3.096981275991331, 8.08593713829481, 0.29528493994748245, -0.8858548198424443, -0.20000000000001103]",
- "[26.0, -9.42303041245244, -3.180641793070923, 8.075944350119823, 0.19685662663165543, -0.7874265065266175, -1.1102230246251565e-14]",
- "[26.1, -9.398423334123477, -3.2544630280577858, 8.065944350119807, 0.29528493994748234, -0.6889981932107905, -0.20000000000001117]",
- "[26.2, -9.363969777811228, -3.328287909696368, 8.055951759881468, 0.3937132532633093, -0.7874265065266178, -1.1102230246251565e-14]",
- "[26.3, -9.329519868150694, -3.4119519760148287, 8.065951759881482, 0.29528493994748234, -0.8858548198424447, 0.1999999999999889]",
- "[26.4, -9.304916529896046, -3.4956123022589747, 8.075944160291115, 0.19685662663165537, -0.7874265065266178, -1.1102230246251565e-14]",
- "[26.5, -9.280309451567081, -3.5792763685774354, 8.08594416029113, 0.29528493994748234, -0.8858548198424447, 0.1999999999999889]",
- "[26.6, -9.24585570476729, -3.6629365977566355, 8.095936363471036, 0.3937132532633094, -0.7874265065266177, -1.1102230246251565e-14]",
- "[26.7, -9.211405795106756, -3.736757832743498, 8.08593636347102, 0.29528493994748245, -0.6889981932107907, -0.20000000000001117]",
- "[26.8, -9.186802635091745, -3.810582986044314, 8.075944325232859, 0.19685662663165548, -0.7874265065266178, -1.1102230246251565e-14]",
- "[26.9, -9.16219555676278, -3.8942470523627746, 8.085944325232873, 0.29528493994748245, -0.8858548198424447, 0.1999999999999889]",
- "[27.0, -9.127741652436768, -3.9779071240157537, 8.095936208329638, 0.3937132532633093, -0.7874265065266177, -1.1102230246251565e-14]",
- "[27.1, -9.093291742776234, -4.051728359002617, 8.085936208329622, 0.29528493994748234, -0.6889981932107907, -0.20000000000001117]",
- "[27.2, -9.058837767998604, -4.125553659106577, 8.075944468386005, 0.3937132532633092, -0.7874265065266178, -1.1324274851176597e-14]",
- "[27.3, -9.014545026926118, -4.1993748940130855, 8.06594446822271, 0.49214156657913627, -0.688998193210791, -0.2000000000000114]",
- "[27.4, -8.970256407164337, -4.273200250230296, 8.05595284229761, 0.39371325326330936, -0.7874265065266182, -1.1324274851176597e-14]",
- "[27.5, -8.935806497503808, -4.347021485217159, 8.065952842297625, 0.29528493994748234, -0.6889981932107914, 0.1999999999999887]",
- "[27.6, -8.901352409950782, -4.420846898096519, 8.075944353088884, 0.3937132532633093, -0.7874265065266185, -1.1546319456101628e-14]",
- "[27.7, -8.866902500370612, -4.50451096449534, 8.065944352925582, 0.29528493994748223, -0.8858548198424455, -0.20000000000001167]",
- "[27.8, -8.83244835592666, -4.588170796030379, 8.05595295773302, 0.3937132532633091, -0.7874265065266188, -1.176836406102666e-14]",
- "[27.9, -8.79799844626613, -4.661992031017242, 8.065952957733034, 0.295284939947482, -0.6889981932107919, 0.19999999999998824]"
- ],
- "test1": [
- "[11.6, 3.9850329655886467, 9.159482892162652, 0.0659935627811023, -0.9842831331582699, 0.3937132532633084, -3.9968028886505635e-15]",
- "[11.7, 3.8915260679386106, 9.19393280182319, 0.07599356278110189, -0.8858548198424427, 0.2952849399474814, 0.19999999999999601]",
- "[11.799999999999999, 3.8078620577172275, 9.218539824055076, 0.10599367676673854, -0.7874265065266157, 0.19685662663165437, 0.39999999999999614]",
- "[11.9, 3.7340409009683433, 9.24314698062202, 0.155993835741292, -0.6889981932107887, 0.2952849399474815, 0.5999999999999959]",
- "[12.0, 3.66021955085246, 9.277597005411575, 0.20599360180654325, -0.7874265065266156, 0.3937132532633086, 0.39999999999999586]",
- "[12.1, 3.5863984678659864, 9.312046763071718, 0.25599391066156835, -0.6889981932107886, 0.2952849399474817, 0.5999999999999959]",
- "[12.2, 3.512577044034268, 9.336653652555826, 0.3059935269409855, -0.7874265065266157, 0.19685662663165465, 0.3999999999999959]",
- "[12.299999999999999, 3.4289127520634834, 9.361260956537118, 0.3359930684299648, -0.8858548198424427, 0.29528493994748156, 0.19999999999999585]",
- "[12.4, 3.3354056067049385, 9.395711113906167, 0.3659935717577184, -0.9842831331582697, 0.39371325326330864, 0.39999999999999586]",
- "[12.5, 3.2418989787940933, 9.430160753827519, 0.39599302366503836, -0.8858548198424425, 0.2952849399474817, 0.19999999999999585]",
- "[12.6, 3.1582352042144786, 9.464610955226895, 0.42599361645958694, -0.7874265065266155, 0.3937132532633087, 0.3999999999999959]",
- "[12.7, 3.074570824188747, 9.499060551180156, 0.4559929790265793, -0.8858548198424423, 0.2952849399474817, 0.19999999999999576]",
- "[12.799999999999999, 2.9810635909045957, 9.523667293874999, 0.48599366101350655, -0.9842831331582693, 0.19685662663165474, 0.3999999999999958]",
- "[12.9, 2.8875570507606243, 9.548274729710023, 0.5159929345841833, -0.8858548198424423, 0.29528493994748173, 0.19999999999999565]",
- "[13.0, 2.7940497737951038, 9.572881428723496, 0.5459937053288426, -0.9842831331582691, 0.19685662663165476, 0.39999999999999575]",
- "[13.1, 2.7005432771974935, 9.597488908104877, 0.5759928904161175, -0.8858548198424422, 0.29528493994748173, 0.19999999999999568]",
- "[13.2, 2.607035956847315, 9.62209556373369, 0.6059937493156123, -0.9842831331582693, 0.19685662663165474, 0.39999999999999575]",
- "[13.299999999999999, 2.513529503440786, 9.646703086306154, 0.6359928466413907, -0.8858548198424422, 0.29528493994748173, 0.19999999999999565]",
- "[13.4, 2.4200221401319215, 9.67130969897628, 0.6659937928301706, -0.9842831331582691, 0.1968566266316547, 0.3999999999999957]",
- "[13.5, 2.3265157294048, 9.695917264228154, 0.695992803434135, -0.8858548198424423, 0.29528493994748173, 0.19999999999999546]",
- "[13.6, 2.233008323753254, 9.7205238345556, 0.7259938356605194, -0.9842831331582693, 0.19685662663165485, 0.39999999999999536]",
- "[13.7, 2.139501954961906, 9.735287552694285, 0.755992761053691, -0.8858548198424423, 0.09842831331582787, 0.1999999999999953]",
- "[13.8, 2.0459945078689863, 9.750052349134545, 0.7859938774862832, -0.9842831331582693, 0.19685662663165487, 0.39999999999999525]",
- "[13.899999999999999, 1.9524881799172773, 9.764816026433593, 0.8159927198959371, -0.8858548198424423, 0.09842831331582785, 0.19999999999999504]",
- "[14.0, 1.8589806927195434, 9.779580862978666, 0.8459939178189289, -0.9842831331582693, 0.19685662663165476, 0.3999999999999951]",
- "[14.1, 1.7654744039705006, 9.804188550208616, 0.8759926805712852, -0.8858548198424423, 0.29528493994748173, 0.1999999999999949]",
- "[14.2, 1.6719668786821478, 9.828795000899259, 0.9059939558919641, -0.9842831331582692, 0.19685662663165476, 0.39999999999999497]",
- "[14.3, 1.5784606266443406, 9.843558602284405, 0.9359926440494516, -0.8858548198424423, 0.09842831331582777, 0.199999999999995]",
- "[14.399999999999999, 1.4849530663679875, 9.858323511908093, 0.965993990463496, -0.9842831331582693, 0.1968566266316548, 0.3999999999999951]",
- "[14.5, 1.3914468471560981, 9.87308708046732, 0.9959926119208312, -0.8858548198424422, 0.09842831331582778, 0.19999999999999502]",
- "[14.6, 1.297939256781718, 9.887852020189035, 1.02599401949213, -0.9842831331582691, 0.19685662663165476, 0.3999999999999951]",
- "[14.7, 1.2044330642029166, 9.902615562115177, 1.0559925868327447, -0.885854819842442, 0.09842831331582774, 0.19999999999999496]",
- "[14.8, 1.1109254516230984, 9.907536262851185, 1.085994039524065, -0.984283133158269, 7.494005416219807e-16, 0.3999999999999951]",
- "[14.899999999999999, 1.01741855403304, 9.912457678576956, 1.1159940394021954, -0.8858548198424421, 0.09842831331582769, 0.19999999999999496]",
- "[15.0, 0.9239109322874306, 9.917378370147176, 1.1459955107178141, -0.9842831331582691, 6.938893903907228e-16, 0.3999999999999951]",
- "[15.1, 0.830404034637401, 9.922299785812973, 1.1759955107178013, -0.8858548198424421, 0.09842831331582769, 0.19999999999999502]",
- "[15.2, 0.7368964255807746, 9.927220490072173, 1.2059969562502226, -0.9842831331582693, 6.661338147750939e-16, 0.3999999999999951]",
- "[15.3, 0.6433895279307449, 9.932141905737971, 1.2359969562502096, -0.8858548198424423, 0.09842831331582766, 0.19999999999999502]",
- "[15.399999999999999, 0.5498819679174384, 9.937062659040494, 1.2659983021297607, -0.9842831331582691, 6.938893903907228e-16, 0.39999999999999497]",
- "[15.5, 0.45637507026740876, 9.94198407470629, 1.2959983021297476, -0.8858548198424421, 0.09842831331582769, 0.1999999999999949]",
- "[15.6, 0.36286761628009784, 9.95674887804094, 1.3259994325712974, -0.9842831331582691, 0.19685662663165465, 0.39999999999999497]",
- "[15.7, 0.25951741183360655, 9.971512649573445, 1.3559984664572649, -1.082711446474096, 0.0984283133158277, 0.199999999999995]",
- "[15.8, 0.1561680455546203, 9.976433702536601, 1.3859992034456772, -0.9842831331582689, 7.216449660063518e-16, 0.3999999999999949]",
- "[15.899999999999999, 0.06266114796456143, 9.971512286810833, 1.4159992033238082, -0.885854819842442, -0.09842831331582624, 0.1999999999999949]",
- "[16.0, -0.030845780806354917, 9.966590902265922, 1.4459992665594357, -0.9842831331582688, 5.551115123125783e-16, 0.3999999999999948]",
- "[16.1, -0.12435267845638442, 9.961669486600124, 1.4759992665594233, -0.8858548198424416, -0.09842831331582642, 0.19999999999999477]",
- "[16.2, -0.217859759948388, 9.956748254776299, 1.505999640114474, -0.9842831331582689, 5.551115123125783e-16, 0.3999999999999948]",
- "[16.3, -0.31136665759841753, 9.9518268391105, 1.5359996401144616, -0.8858548198424417, -0.09842831331582642, 0.19999999999999477]",
- "[16.4, -0.4048739869195239, 9.94690585511578, 1.5660005172423048, -0.9842831331582689, 5.551115123125783e-16, 0.39999999999999475]",
- "[16.5, -0.49838088456955343, 9.941984439449982, 1.5960005172422922, -0.8858548198424417, -0.09842831331582642, 0.1999999999999947]",
- "[16.6, -0.5918884128825367, 9.937063654447135, 1.626001798708826, -0.9842831331582687, 5.551115123125783e-16, 0.39999999999999475]",
- "[16.7, -0.6853953105325664, 9.932142238781337, 1.6560017987088134, -0.8858548198424415, -0.09842831331582642, 0.1999999999999947]",
- "[16.8, -0.7789029939208332, 9.917377206045728, 1.686003395278346, -0.9842831331582684, -0.19685662663165343, 0.39999999999999475]",
- "[16.9, -0.8724090411227774, 9.902613809496444, 1.71600166722254, -0.8858548198424412, -0.09842831331582638, 0.19999999999999457]",
- "[17.0, -0.9659168472461321, 9.897693302303974, 1.7460035131818745, -0.9842831331582681, 6.106226635438361e-16, 0.3999999999999946]",
- "[17.1, -1.0692665762277562, 9.892771886638176, 1.7760035131818621, -1.0827114464740952, -0.09842831331582638, 0.1999999999999945]",
- "[17.2, -1.1726152924884583, 9.878006626919884, 1.8060055709656069, -0.984283133158268, -0.19685662663165343, 0.3999999999999944]",
- "[17.3, -1.2661211303663136, 9.863243439694694, 1.8360034175767186, -0.885854819842441, -0.09842831331582647, 0.19999999999999446]",
- "[17.4, -1.359629128193692, 9.858323124206244, 1.8660056530662965, -0.984283133158268, 5.273559366969494e-16, 0.3999999999999945]",
- "[17.5, -1.4531360258437216, 9.853401708540446, 1.8960056530662839, -0.8858548198424411, -0.09842831331582647, 0.19999999999999438]",
- "[17.6, -1.5466440975215143, 9.838636287515317, 1.9260080386151517, -0.9842831331582682, -0.19685662663165346, 0.39999999999999425]",
- "[17.7, -1.6401497869831196, 9.81402800099793, 1.9560055836539927, -0.8858548198424414, -0.2952849399474804, 0.19999999999999407]",
- "[17.8, -1.733657925506479, 9.789422163542296, 1.9860081050287508, -0.9842831331582684, -0.19685662663165343, 0.399999999999994]",
- "[17.9, -1.8271635508433417, 9.774659188858095, 2.01600551977024, -0.8858548198424416, -0.09842831331582641, 0.19999999999999385]",
- "[18.0, -1.9206717511852092, 9.759893639168885, 2.0460081667562298, -0.9842831331582685, -0.19685662663165332, 0.3999999999999938]",
- "[18.1, -2.0141773166806445, 9.73528522868533, 2.0760054599037896, -0.8858548198424414, -0.2952849399474804, 0.19999999999999374]",
- "[18.2, -2.1076855751374, 9.710679511163095, 2.106008224975492, -0.9842831331582684, -0.19685662663165338, 0.3999999999999938]",
- "[18.3, -2.2011910840196025, 9.695916652933553, 2.1360054030886055, -0.8858548198424414, -0.09842831331582635, 0.1999999999999938]",
- "[18.4, -2.294699397801286, 9.681150989804529, 2.1660082805770053, -0.9842831331582684, -0.19685662663165332, 0.3999999999999938]",
- "[18.5, -2.388204852485284, 9.656542468509535, 2.1960053485628532, -0.8858548198424412, -0.29528493994748034, 0.19999999999999357]",
- "[18.6, -2.481713219446204, 9.63193685949146, 2.2260083341080374, -0.9842831331582682, -0.1968566266316535, 0.39999999999999347]",
- "[18.7, -2.575218621856513, 9.607328285922776, 2.256005295877112, -0.8858548198424412, -0.29528493994748056, 0.19999999999999324]",
- "[18.8, -2.668727040297224, 9.582722728384494, 2.286008386025921, -0.984283133158268, -0.19685662663165354, 0.39999999999999325]",
- "[18.9, -2.7622323919371814, 9.558114104045464, 2.316005244632909, -0.885854819842441, -0.29528493994748056, 0.19999999999999307]",
- "[19.0, -2.84589488733157, 9.523662623460858, 2.3460084366495373, -0.787426506526614, -0.39371325326330747, 0.39999999999999303]",
- "[19.1, -2.929560548432362, 9.489214308582659, 2.376005196154427, -0.8858548198424407, -0.29528493994748045, 0.19999999999999302]",
- "[19.2, -3.023069064540507, 9.46460884871181, 2.406008484757177, -0.9842831331582678, -0.19685662663165343, 0.3999999999999928]",
- "[19.3, -3.1165743194905544, 9.440000127682866, 2.4360051468964876, -0.8858548198424407, -0.29528493994748034, 0.1999999999999929]",
- "[19.4, -3.2100828838670354, 9.415394716080353, 2.46600853357739, -0.9842831331582675, -0.19685662663165332, 0.3999999999999928]",
- "[19.5, -3.303588090953595, 9.390785947187924, 2.496005098461172, -0.8858548198424405, -0.29528493994748023, 0.1999999999999928]",
- "[19.6, -3.387250443053815, 9.356334323309156, 2.526008581642332, -0.7874265065266134, -0.3937132532633071, 0.3999999999999928]",
- "[19.7, -3.4709162464693963, 9.312039845219907, 2.5560050519727273, -0.8858548198424404, -0.492141566579134, 0.1999999999999928]",
- "[19.799999999999997, -3.564424903950725, 9.267748864059078, 2.586008627836691, -0.9842831331582671, -0.393713253263307, 0.3999999999999928]",
- "[19.9, -3.657930018589577, 9.233300737409722, 2.6160050048726795, -0.8858548198424403, -0.29528493994747984, 0.19999999999999263]",
- "[20.0, -3.7415922788298954, 9.19884902167105, 2.646008674707248, -0.7874265065266133, -0.3937132532633068, 0.3999999999999926]",
- "[20.1, -3.8252581736597775, 9.16440094052194, 2.6760049592896644, -0.8858548198424402, -0.2952849399474799, 0.19999999999999257]",
- "[20.2, -3.9089203891259787, 9.129949180009147, 2.7060087201023593, -0.7874265065266131, -0.39371325326330675, 0.3999999999999926]",
- "[20.299999999999997, -3.992586328557491, 9.095501143461668, 2.736004914057132, -0.8858548198424401, -0.29528493994747973, 0.1999999999999924]",
- "[20.4, -4.08609512149608, 9.061049338512579, 2.7660087651615313, -0.9842831331582669, -0.3937132532633068, 0.39999999999999236]",
- "[20.5, -4.179600101301439, 9.026601346696715, 2.79600486822454, -0.8858548198424401, -0.29528493994747984, 0.19999999999999213]",
- "[20.6, -4.263262227325728, 8.99214949674201, 2.826008810777448, -0.7874265065266128, -0.39371325326330686, 0.39999999999999214]",
- "[20.7, -4.346928255870398, 8.947854793523675, 2.8560048236600197, -0.8858548198424397, -0.4921415665791339, 0.19999999999999202]",
- "[20.799999999999997, -4.430590338152169, 8.893717237163287, 2.8860088550949095, -0.7874265065266128, -0.5905698798949608, 0.3999999999999919]",
- "[20.9, -4.51425641020056, 8.839583670569517, 2.9160047795807156, -0.8858548198424401, -0.49214156657913366, 0.19999999999999163]",
- "[21.0, -4.597918449176116, 8.795292956920294, 2.946008899011047, -0.7874265065266131, -0.39371325326330675, 0.3999999999999915]",
- "[21.1, -4.681584564436101, 8.75099816698664, 2.9760047356936785, -0.8858548198424401, -0.49214156657913377, 0.1999999999999914]",
- "[21.2, -4.765246560287841, 8.706707496461231, 3.0060089427488306, -0.787426506526613, -0.3937132532633067, 0.3999999999999915]",
- "[21.299999999999997, -4.8489127185355745, 8.662412663539827, 3.0360046920831243, -0.8858548198424402, -0.49214156657913377, 0.1999999999999913]",
- "[21.4, -4.932574671534277, 8.618122035867454, 3.06600898621289, -0.7874265065266131, -0.3937132532633067, 0.3999999999999915]",
- "[21.5, -5.016240872501621, 8.573827160226442, 3.096004648743682, -0.8858548198424401, -0.4921415665791336, 0.1999999999999914]",
- "[21.6, -5.099902782913391, 8.529536575141002, 3.126009029407353, -0.7874265065266133, -0.39371325326330664, 0.3999999999999915]",
- "[21.7, -5.183569026335698, 8.485241657045023, 3.1560046056723885, -0.8858548198424404, -0.49214156657913366, 0.1999999999999913]",
- "[21.799999999999997, -5.267230894424258, 8.43110388649143, 3.1860090723341, -0.7874265065266135, -0.5905698798949608, 0.3999999999999915]",
- "[21.9, -5.341049910195291, 8.376970533383561, 3.2160045630302982, -0.6889981932107864, -0.49214156657913366, 0.1999999999999913]",
- "[22.0, -5.4148733849832205, 8.322832721258795, 3.246009114161945, -0.7874265065266133, -0.5905698798949607, 0.39999999999999125]",
- "[22.1, -5.498539711629986, 8.268699409263403, 3.2760045213202362, -0.8858548198424403, -0.4921415665791336, 0.19999999999999107]",
- "[22.2, -5.582201496850422, 8.214561555841682, 3.3060091563646488, -0.7874265065266133, -0.5905698798949606, 0.39999999999999103]",
- "[22.299999999999997, -5.656020430040315, 8.160428285314953, 3.3360044792612875, -0.6889981932107863, -0.49214156657913355, 0.19999999999999096]",
- "[22.4, -5.7298439871380795, 8.106290390880353, 3.366009197641225, -0.7874265065266133, -0.5905698798949606, 0.39999999999999103]",
- "[22.5, -5.813510395817897, 8.052157160918014, 3.396004438113639, -0.8858548198424403, -0.49214156657913355, 0.19999999999999085]",
- "[22.6, -5.897172099306987, 7.998019225764945, 3.426009239230884, -0.7874265065266133, -0.5905698798949606, 0.3999999999999908]",
- "[22.7, -5.970990951072268, 7.934038438888068, 3.4560043966779452, -0.6889981932107864, -0.6889981932107874, 0.19999999999999074]",
- "[22.799999999999997, -6.044814589178103, 7.870062438351749, 3.486009279661074, -0.7874265065266137, -0.5905698798949602, 0.3999999999999908]",
- "[22.9, -6.118633401230641, 7.815929288962378, 3.516004356414395, -0.6889981932107867, -0.4921415665791332, 0.19999999999999063]",
- "[23.0, -6.192457079003763, 7.76179127385242, 3.5460093199988956, -0.7874265065266137, -0.5905698798949601, 0.3999999999999906]",
- "[23.1, -6.266275851427521, 7.697810407634021, 3.5760043162290907, -0.6889981932107868, -0.688998193210787, 0.19999999999999052]",
- "[23.2, -6.3400995685182195, 7.633834486082562, 3.606009359704375, -0.787426506526614, -0.5905698798949601, 0.39999999999999036]",
- "[23.299999999999997, -6.413918301953989, 7.569853580876175, 3.636004276713479, -0.6889981932107871, -0.6889981932107868, 0.1999999999999904]",
- "[23.4, -6.487742057829587, 7.505877698109616, 3.666009398997184, -0.7874265065266142, -0.5905698798949599, 0.39999999999999014]",
- "[23.5, -6.561560752690443, 7.451744665911926, 3.6960042376245497, -0.6889981932107873, -0.492141566579133, 0.19999999999998996]",
- "[23.6, -6.635384547101259, 7.397606534164276, 3.726009438209336, -0.7874265065266144, -0.5905698798949601, 0.3999999999999899]",
- "[23.7, -6.709203203457541, 7.3336255518783995, 3.7560041985978807, -0.6889981932107876, -0.6889981932107869, 0.19999999999998985]",
- "[23.799999999999997, -6.773179009576691, 7.25980171935539, 3.786009476624193, -0.5905698798949607, -0.7874265065266137, 0.3999999999999897]",
- "[23.9, -6.837160029102323, 7.185983100238862, 3.816004161343955, -0.6889981932107878, -0.6889981932107867, 0.19999999999998963]",
- "[24.0, -6.901135798701712, 7.122007330639473, 3.8460095135760732, -0.5905698798949608, -0.5905698798949597, 0.3999999999999895]",
- "[24.1, -6.965116854682434, 7.058026274658752, 3.8760041242214354, -0.6889981932107878, -0.6889981932107867, 0.1999999999999894]",
- "[24.2, -7.038940760125517, 6.994050541459675, 3.906009550416643, -0.7874265065266146, -0.5905698798949599, 0.39999999999998925]",
- "[24.299999999999997, -7.112759306411937, 6.930069449103938, 3.936004087150315, -0.6889981932107874, -0.6889981932107869, 0.1999999999999892]",
- "[24.4, -7.176735003276616, 6.85624550732646, 3.966009587174679, -0.5905698798949602, -0.7874265065266142, 0.39999999999998925]",
- "[24.5, -7.240716131153637, 6.782426996561324, 3.9960040517313837, -0.6889981932107871, -0.6889981932107873, 0.1999999999999893]",
- "[24.6, -7.304691793344264, 6.718451334370697, 4.026009622211196, -0.59056987989496, -0.5905698798949601, 0.39999999999998925]",
- "[24.7, -7.368672955827023, 6.654470171887938, 4.056004016451271, -0.6889981932107871, -0.6889981932107871, 0.1999999999999894]",
- "[24.799999999999997, -7.432648583466595, 6.580646160885353, 4.086009657136601, -0.5905698798949602, -0.7874265065266141, 0.39999999999998925]",
- "[24.9, -7.496629779824063, 6.506827718600663, 4.116003982545445, -0.6889981932107874, -0.6889981932107871, 0.1999999999999892]",
- "[25.0, -7.560605374312337, 6.43300367444678, 4.146009690592077, -0.5905698798949606, -0.7874265065266142, 0.39999999999998903]",
- "[25.1, -7.614738121223041, 6.35918526487291, 4.176003949534639, -0.49214156657913366, -0.6889981932107873, 0.19999999999998896]",
- "[25.2, -7.668876534737013, 6.2853611886957745, 4.20600972265046, -0.5905698798949608, -0.7874265065266144, 0.3999999999999888]",
- "[25.299999999999997, -7.732857795123107, 6.211542810439711, 4.2360039179572535, -0.6889981932107878, -0.6889981932107875, 0.19999999999998885]",
- "[25.4, -7.796833326543464, 6.13771870321791, 4.266009754153839, -0.5905698798949608, -0.7874265065266146, 0.3999999999999888]",
- "[25.5, -7.860814617674484, 6.063900355706775, 4.29600388698892, -0.688998193210788, -0.6889981932107874, 0.19999999999998885]",
- "[25.6, -7.924790118901647, 5.99007621829178, 4.326009784536132, -0.590569879894961, -0.7874265065266144, 0.3999999999999888]",
- "[25.7, -7.978922774133931, 5.916257900396332, 4.3560038571940405, -0.49214156657913405, -0.6889981932107874, 0.19999999999998874]",
- "[25.799999999999997, -8.033061277680288, 5.842433734186809, 4.38600981324988, -0.5905698798949609, -0.7874265065266141, 0.3999999999999888]",
- "[25.9, -8.087193904964005, 5.758766722828366, 4.4160038291181, -0.492141566579134, -0.8858548198424411, 0.19999999999998885]",
- "[26.0, -8.141332435211257, 5.675105614433462, 4.446009839428444, -0.590569879894961, -0.7874265065266142, 0.3999999999999888]",
- "[26.1, -8.195465037138156, 5.601287349843396, 4.476003803773243, -0.4921415665791339, -0.688998193210787, 0.19999999999998863]",
- "[26.2, -8.249603592547642, 5.5274631317707446, 4.506009865211625, -0.5905698798949609, -0.7874265065266138, 0.3999999999999886]",
- "[26.299999999999997, -8.30373616947983, 5.443796070060778, 4.5360037787687855, -0.492141566579134, -0.8858548198424407, 0.19999999999998863]",
- "[26.4, -8.35787474835059, 5.36013501028938, 4.566009887878967, -0.590569879894961, -0.787426506526614, 0.3999999999999886]",
- "[26.5, -8.412007303475209, 5.2863167925015935, 4.596003757124545, -0.4921415665791341, -0.688998193210787, 0.19999999999998852]",
- "[26.6, -8.466145903929107, 5.212492529384529, 4.626009910090277, -0.590569879894961, -0.7874265065266142, 0.3999999999999886]",
- "[26.7, -8.520278437660439, 5.128825424473706, 4.656003735866071, -0.49214156657913416, -0.885854819842441, 0.19999999999998852]",
- "[26.799999999999997, -8.564568131018305, 5.045164405789507, 4.686009928462798, -0.3937132532633072, -0.7874265065266142, 0.3999999999999886]",
- "[26.9, -8.608863927868896, 4.961497283612584, 4.716003719154994, -0.4921415665791341, -0.8858548198424414, 0.19999999999998852]",
- "[27.0, -8.65315360544221, 4.8778362807129385, 4.746009943824916, -0.3937132532633072, -0.7874265065266146, 0.39999999999998836]",
- "[27.1, -8.697449416726744, 4.794169144102071, 4.776003705188264, -0.4921415665791341, -0.8858548198424416, 0.19999999999998852]",
- "[27.2, -8.741739081291643, 4.710508154210843, 4.806009956290454, -0.3937132532633071, -0.7874265065266146, 0.3999999999999886]",
- "[27.299999999999997, -8.7860349040797, 4.626841006096454, 4.836003694279387, -0.492141566579134, -0.8858548198424416, 0.19999999999998852]",
- "[27.4, -8.83032455872984, 4.543180026119984, 4.866009965527727, -0.393713253263307, -0.7874265065266147, 0.39999999999998836]",
- "[27.5, -8.874620389755085, 4.459512869768409, 4.89600368677923, -0.492141566579134, -0.8858548198424415, 0.1999999999999884]",
- "[27.6, -8.918910037939394, 4.3758518962577675, 4.926009971165721, -0.393713253263307, -0.7874265065266145, 0.3999999999999886]",
- "[27.700000000000003, -8.953356852971577, 4.292184735310957, 4.956003683079998, -0.29528493994747995, -0.8858548198424417, 0.19999999999998852]",
- "[27.799999999999997, -8.987809857879302, 4.1986747424137345, 4.986009972423136, -0.3937132532633069, -0.9842831331582689, 0.39999999999998836]",
- "[27.9, -9.022256674478921, 4.10517093782462, 5.0160036875223435, -0.29528493994748006, -0.8858548198424419, 0.1999999999999883]"
- ]
- },
- "type": "simtrace",
- "assert_hits": null
-},
-"4": {
- "node_name": "2-1",
- "id": 4,
- "start_line": 3694,
- "parent": {
- "name": "1-1",
- "index": 3,
- "start_line": 3156
- },
- "child": {},
- "agent": {
- "test1": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test2": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test3": "<class 'quadrotor_agent.QuadrotorAgent'>"
- },
- "init": {
- "test1": "[-9.022256674478921, 4.10517093782462, 5.0160036875223435, -0.29528493994748006, -0.8858548198424419, 0.1999999999999883]"
- },
- "mode": {
- "test1": "[\"Normal\", \"M10\"]",
- "test2": "[\"Normal\", \"T1\"]",
- "test3": "[\"Normal\", \"T0\"]"
- },
- "static": {
- "test1": "[]",
- "test2": "[]",
- "test3": "[]"
- },
- "start_time": 27.9,
- "trace": {
- "test2": [
- "[27.9, -6.68350057677323, 7.352287149796636, 0.07966478501071045, -0.2952849399474801, -0.2952849399474809, -0.20000000000001117]",
- "[28.0, -6.708107596293766, 7.327680130276098, 0.06966490450563179, -0.19685662663165304, -0.19685662663165382, -1.1102230246251565e-14]",
- "[28.1, -6.732714674622724, 7.30307305194714, 0.07966490450563067, -0.29528493994748, -0.2952849399474808, 0.1999999999999889]",
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- "[38.1, -9.400122200713735, 3.228140410211304, 0.079664904497812, -0.09842831331582591, -0.6889981932107893, 0.19999999999998624]",
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- "[95.4, 11.599556860458891, -10.03507464418406, 0.08966457690824753, 0.3937132532633071, 4.440892098500626e-16, -2.6867397195928788e-14]",
- "[95.5, 11.64384960145102, -10.030153228518262, 0.0796645769082285, 0.4921415665791341, 0.09842831331582744, -0.20000000000002696]",
- "[95.6, 11.697985232584058, -10.025231871661802, 0.06966469640500078, 0.5905698798949609, 5.551115123125783e-16, -2.708944180085382e-14]",
- "[95.7, 11.761963636239345, -10.030153287327593, 0.07966469640499808, 0.6889981932107879, -0.09842831331582647, 0.19999999999997292]",
- "[95.8, 11.82594198108521, -10.035074644183961, 0.08966457690802748, 0.590569879894961, 5.551115123125783e-16, -2.731148640577885e-14]",
- "[95.9, 11.880077553408917, -10.03015322851817, 0.07966457690802477, 0.492141566579134, 0.09842831331582758, -0.20000000000002738]",
- "[96.0, 11.924370235591695, -10.025231871661724, 0.0696646964048237, 0.3937132532633071, 6.661338147750939e-16, -2.7533531010703882e-14]",
- "[96.1, 11.968662976583824, -10.030153287327524, 0.0796646964048373, 0.49214156657913416, -0.09842831331582635, 0.19999999999997248]",
- "[96.2, 12.022798607716963, -10.035074644183881, 0.08966457690784402, 0.5905698798949613, 7.771561172376096e-16, -2.7533531010703882e-14]",
- "[96.3, 12.08677701137226, -10.030153228518081, 0.07966457690782491, 0.6889981932107885, 0.09842831331582777, -0.2000000000000276]",
- "[96.4, 12.150755356218193, -10.025231871661644, 0.06966469640464584, 0.5905698798949617, 6.661338147750939e-16, -2.7533531010703882e-14]",
- "[96.5, 12.204890928541891, -10.030153287327444, 0.07966469640465944, 0.49214156657913455, -0.09842831331582635, 0.19999999999997248]",
- "[96.6, 12.249183610724566, -10.035074644183789, 0.08966457690764157, 0.3937132532633075, 6.661338147750939e-16, -2.7755575615628914e-14]",
- "[96.7, 12.293476351716695, -10.03015322851799, 0.07966457690762245, 0.49214156657913466, 0.09842831331582766, -0.20000000000002785]",
- "[96.8, 12.347611982849765, -10.025231871661566, 0.06966469640446432, 0.5905698798949615, 6.661338147750939e-16, -2.7977620220553945e-14]",
- "[96.9, 12.401747555173463, -10.030153287327366, 0.0796646964044779, 0.49214156657913455, -0.0984283133158263, 0.19999999999997203]",
- "[97.0, 12.446040237356128, -10.035074644183698, 0.08966457690744051, 0.3937132532633076, 6.661338147750939e-16, -2.7755575615628914e-14]",
- "[97.1, 12.490332978348256, -10.0301532285179, 0.07966457690742139, 0.49214156657913466, 0.09842831331582766, -0.20000000000002785]",
- "[97.2, 12.544468609481333, -10.02523187166148, 0.06966469640428236, 0.5905698798949613, 7.771561172376096e-16, -2.7977620220553945e-14]",
- "[97.3, 12.60844701313663, -10.03015328732728, 0.07966469640429594, 0.6889981932107884, -0.09842831331582619, 0.19999999999997203]",
- "[97.4, 12.672425357982451, -10.035074644183602, 0.08966457690723917, 0.5905698798949617, 6.661338147750939e-16, -2.7977620220553945e-14]",
- "[97.5, 12.72656093030615, -10.030153228517802, 0.07966457690721998, 0.4921415665791347, 0.09842831331582763, -0.20000000000002804]",
- "[97.6, 12.770853612488887, -10.025231871661394, 0.06966469640410256, 0.39371325326330775, 6.661338147750939e-16, -2.7977620220553945e-14]",
- "[97.7, 12.815146353481017, -10.030153287327193, 0.07966469640411614, 0.49214156657913477, -0.0984283133158263, 0.19999999999997203]",
- "[97.8, 12.8692819846142, -10.035074644183512, 0.08966457690704088, 0.5905698798949619, 6.661338147750939e-16, -2.7977620220553945e-14]",
- "[97.9, 12.933260388269497, -10.030153228517712, 0.0796645769070217, 0.6889981932107888, 0.09842831331582763, -0.20000000000002804]",
- "[98.0, 12.99723873311539, -10.02523187166131, 0.0696646964039222, 0.5905698798949619, 6.661338147750939e-16, -2.8199664825478976e-14]",
- "[98.1, 13.051374305439094, -10.0301532873271, 0.07966469640391938, 0.492141566579135, -0.09842831331582631, 0.1999999999999718]",
- "[98.2, 13.09566698762173, -10.035074644183403, 0.08966457690682411, 0.3937132532633079, 6.661338147750939e-16, -2.8199664825478976e-14]",
- "[98.3, 13.130116897282269, -10.030153228517614, 0.07966457690682129, 0.2952849399474809, 0.09842831331582767, -0.20000000000002832]",
- "[98.4, 13.164566865752212, -10.025231871661227, 0.06966469640373812, 0.39371325326330786, 6.661338147750939e-16, -2.8199664825478976e-14]",
- "[98.5, 13.208859606744333, -10.030153287327016, 0.0796646964037353, 0.4921415665791349, -0.09842831331582631, 0.1999999999999718]",
- "[98.6, 13.262995237877528, -10.035074644183315, 0.0896645769066271, 0.5905698798949618, 6.661338147750939e-16, -2.8199664825478976e-14]",
- "[98.7, 13.326973641532815, -10.030153228517525, 0.07966457690662428, 0.6889981932107888, 0.09842831331582767, -0.20000000000002832]",
- "[98.8, 13.390951986378692, -10.025231871661145, 0.06966469640355677, 0.5905698798949617, 5.551115123125783e-16, -2.842170943040401e-14]",
- "[98.9, 13.445087558702399, -10.030153287326932, 0.07966469640355392, 0.4921415665791347, -0.09842831331582641, 0.1999999999999716]",
- "[99.0, 13.499223189835604, -10.035074644183222, 0.08966457690642743, 0.5905698798949617, 5.551115123125783e-16, -2.8199664825478976e-14]",
- "[99.1, 13.563201593490891, -10.030153228517433, 0.0796645769064246, 0.6889981932107886, 0.09842831331582756, -0.20000000000002832]",
- "[99.2, 13.627179938336763, -10.025231871661061, 0.06966469640337491, 0.5905698798949617, 6.661338147750939e-16, -2.842170943040401e-14]",
- "[99.3, 13.68131551066047, -10.030153287326849, 0.07966469640337207, 0.4921415665791347, -0.0984283133158263, 0.1999999999999716]",
- "[99.4, 13.72560819284308, -10.035074644183132, 0.08966457690622825, 0.3937132532633078, 6.661338147750939e-16, -2.842170943040401e-14]",
- "[99.5, 13.76990093383521, -10.030153228517335, 0.07966457690620904, 0.4921415665791348, 0.09842831331582767, -0.20000000000002857]",
- "[99.6, 13.82403656496834, -10.02523187166097, 0.06966469640317424, 0.5905698798949618, 7.771561172376096e-16, -2.864375403532904e-14]",
- "[99.7, 13.888014968623635, -10.030153287326769, 0.07966469640318774, 0.6889981932107888, -0.09842831331582619, 0.19999999999997137]",
- "[99.8, 13.951993313469407, -10.035074644183043, 0.0896645769060293, 0.5905698798949617, 7.771561172376096e-16, -2.886579864025407e-14]",
- "[99.9, 14.006128885793103, -10.030153228517243, 0.07966457690601006, 0.4921415665791346, 0.09842831331582774, -0.20000000000002893]",
- "[100.0, 14.050421567975791, -10.025231871660882, 0.06966469640299139, 0.3937132532633075, 6.661338147750939e-16, -2.886579864025407e-14]"
- ],
- "test3": [
- "[27.9, -8.79799844626613, -4.661992031017242, 8.065952957733034, 0.295284939947482, -0.6889981932107919, 0.19999999999998824]",
- "[28.0, -8.76354424897978, -4.735817553629921, 8.075944245553245, 0.39371325326330897, -0.7874265065266189, -1.176836406102666e-14]",
- "[28.1, -8.719251507907288, -4.8096387885364225, 8.06594424538994, 0.49214156657913605, -0.6889981932107919, -0.2000000000000119]",
- "[28.2, -8.67496309986251, -4.883464356470636, 8.05595304966016, 0.3937132532633092, -0.7874265065266189, -1.199040866595169e-14]",
- "[28.3, -8.630670358870377, -4.957285591457499, 8.065953049660173, 0.49214156657913616, -0.6889981932107919, 0.19999999999998802]",
- "[28.4, -8.586381992369095, -5.031111200935214, 8.075944160976224, 0.39371325326330925, -0.7874265065266189, -1.199040866595169e-14]",
- "[28.5, -8.542089251296597, -5.104932435841713, 8.065944160812911, 0.49214156657913627, -0.6889981932107919, -0.2000000000000121]",
- "[28.6, -8.497800923241186, -5.1787580837653, 8.055953127616396, 0.3937132532633094, -0.7874265065266187, -1.2212453270876722e-14]",
- "[28.7, -8.453508182249056, -5.252579318752163, 8.065953127616412, 0.49214156657913644, -0.6889981932107918, 0.1999999999999878]",
- "[28.8, -8.409219889725785, -5.326405002207886, 8.075944088613912, 0.39371325326330947, -0.787426506526619, -1.2212453270876722e-14]",
- "[28.9, -8.364927148733656, -5.410069068526347, 8.085944088613928, 0.49214156657913655, -0.8858548198424461, 0.1999999999999878]",
- "[29.0, -8.31078708638297, -5.493728644817821, 8.095934965167984, 0.5905698798949635, -0.7874265065266193, -1.2212453270876722e-14]",
- "[29.1, -8.246808682647309, -5.5773927112166515, 8.085934965004665, 0.6889981932107904, -0.8858548198424462, -0.2000000000000123]",
- "[29.2, -8.182834801693442, -5.661052254833683, 8.07594415484297, 0.5905698798949635, -0.7874265065266193, -1.2434497875801753e-14]",
- "[29.3, -8.128699229369744, -5.7348734898205445, 8.085944154842982, 0.49214156657913644, -0.6889981932107923, 0.19999999999998758]",
- "[29.4, -8.084411038274423, -5.808699274704213, 8.095934909745415, 0.3937132532633095, -0.7874265065266195, -1.2434497875801753e-14]",
- "[29.5, -8.04011829728229, -5.882520509691075, 8.085934909745399, 0.49214156657913655, -0.6889981932107926, -0.2000000000000125]",
- "[29.6, -7.985978150336738, -5.956346319299794, 8.075944205082669, 0.5905698798949635, -0.7874265065266195, -1.2434497875801753e-14]",
- "[29.7, -7.93184257801304, -6.030167554286655, 8.085944205082681, 0.49214156657913644, -0.6889981932107925, 0.19999999999998758]",
- "[29.8, -7.877702410231859, -6.103993384731001, 8.09593486740875, 0.5905698798949635, -0.7874265065266197, -1.2656542480726785e-14]",
- "[29.9, -7.813724006496188, -6.187657451129836, 8.085934867245417, 0.6889981932107904, -0.8858548198424466, -0.20000000000001275]",
- "[30.0, -7.749750217782753, -6.271316902506436, 8.07594424451035, 0.5905698798949636, -0.7874265065266198, -1.2878587085651816e-14]",
- "[30.1, -7.6857718140470785, -6.345138137412921, 8.06594424434701, 0.6889981932107906, -0.6889981932107928, -0.200000000000013]",
- "[30.2, -7.621798034470815, -6.418963996478817, 8.055953640178089, 0.5905698798949635, -0.78742650652662, -1.3100631690576847e-14]",
- "[30.3, -7.567662462147117, -6.49278523146568, 8.065953640178103, 0.49214156657913655, -0.6889981932107933, 0.1999999999999869]",
- "[30.4, -7.51352225285027, -6.556758998147826, 8.07594421814701, 0.5905698798949633, -0.5905698798949663, -1.3100631690576847e-14]",
- "[30.5, -7.459386680606954, -6.620737401883503, 8.065944217983665, 0.49214156657913644, -0.6889981932107934, -0.2000000000000132]",
- "[30.6, -7.4052464624830225, -6.684711159738564, 8.055953657950818, 0.5905698798949632, -0.5905698798949665, -1.3322676295501878e-14]",
- "[30.7, -7.341268058827727, -6.74868956339386, 8.06595365795083, 0.6889981932107901, -0.6889981932107934, 0.1999999999999867]",
- "[30.8, -7.267442171922422, -6.822515450299164, 8.075944205551862, 0.7874265065266169, -0.7874265065266203, -1.3322676295501878e-14]",
- "[30.9, -7.19362093693556, -6.896336685286027, 8.085944205551874, 0.68899819321079, -0.6889981932107934, 0.1999999999999867]",
- "[31.0, -7.1197950393900395, -6.970162582831547, 8.095934731532672, 0.787426506526617, -0.7874265065266206, -1.3322676295501878e-14]",
- "[31.1, -7.04597380448356, -7.0439838177380265, 8.085934731369319, 0.6889981932107901, -0.6889981932107937, -0.2000000000000134]",
- "[31.2, -6.982000064597113, -7.107957557624474, 8.075944207847542, 0.5905698798949632, -0.5905698798949668, -1.354472090042691e-14]",
- "[31.3, -6.918021660941816, -7.17193596127977, 8.085944207847554, 0.6889981932107903, -0.6889981932107938, 0.19999999999998647]",
- "[31.4, -6.854047920173526, -7.235909702048062, 8.095934733161172, 0.5905698798949632, -0.5905698798949668, -1.354472090042691e-14]",
- "[31.5, -6.799912347930215, -7.299888105783745, 8.085934732997814, 0.4921415665791363, -0.6889981932107937, -0.20000000000001367]",
- "[31.6, -6.745772113997295, -7.373714002379831, 8.075944205087819, 0.5905698798949632, -0.7874265065266208, -1.3766765505351941e-14]",
- "[31.7, -6.681793710261609, -7.447535237286305, 8.065944204924454, 0.6889981932107903, -0.6889981932107938, -0.2000000000000139]",
- "[31.8, -6.607967821481764, -7.511508987148616, 8.055953661132365, 0.7874265065266169, -0.590569879894967, -1.3988810110276972e-14]",
- "[31.9, -6.524303755163303, -7.565644559472315, 8.065953661132378, 0.8858548198424439, -0.49214156657913993, 0.19999999999998602]",
- "[32.0, -6.44064433068496, -7.619784773636132, 8.075944229211915, 0.787426506526617, -0.5905698798949668, -1.3988810110276972e-14]",
- "[32.1, -6.366823095698098, -7.673920345959831, 8.085944229211927, 0.68899819321079, -0.4921415665791397, 0.19999999999998602]",
- "[32.2, -6.302849325601401, -7.728060551842128, 8.095934814118982, 0.5905698798949629, -0.5905698798949667, -1.3988810110276972e-14]",
- "[32.3, -6.23887092186571, -7.782196124085432, 8.08593481395561, 0.6889981932107899, -0.4921415665791396, -0.20000000000001408]",
- "[32.4, -6.165045065500773, -7.836336317787201, 8.075944204298512, 0.7874265065266172, -0.5905698798949667, -1.3988810110276972e-14]",
- "[32.5, -6.081380999182312, -7.900314721442498, 8.085944204298524, 0.8858548198424441, -0.6889981932107936, 0.19999999999998602]",
- "[32.6, -5.997721535543976, -7.964288522417667, 8.09593485194865, 0.7874265065266172, -0.5905698798949667, -1.4210854715202004e-14]",
- "[32.7, -5.914057469145118, -8.02826692615336, 8.085934851785273, 0.8858548198424445, -0.688998193210794, -0.20000000000001433]",
- "[32.8, -5.830397983025612, -8.0922407496097, 8.075944158454854, 0.7874265065266175, -0.590569879894967, -1.4210854715202004e-14]",
- "[32.9, -5.756576748038749, -8.146376321933397, 8.085944158454872, 0.6889981932107903, -0.4921415665791398, 0.1999999999999858]",
- "[33.0, -5.682750956979482, -8.200516450329498, 8.095934900808892, 0.7874265065266172, -0.5905698798949669, -1.4210854715202004e-14]",
- "[33.1, -5.6089297220730145, -8.254652022572799, 8.085934900645515, 0.68899819321079, -0.49214156657913977, -0.2000000000000143]",
- "[33.2, -5.544955849125323, -8.298940232857325, 8.075944106751852, 0.5905698798949631, -0.3937132532633129, -1.4432899320127035e-14]",
- "[33.3, -5.480977445470028, -8.343232973849453, 8.085944106751867, 0.68899819321079, -0.49214156657913993, 0.19999999999998558]",
- "[33.4, -5.407151704197571, -8.397373052458743, 8.095934950269482, 0.7874265065266173, -0.5905698798949672, -1.4432899320127035e-14]",
- "[33.5, -5.32348763779871, -8.451508624702042, 8.0859349501061, 0.8858548198424443, -0.4921415665791403, -0.20000000000001456]",
- "[33.6, -5.229976266709581, -8.50564867046484, 8.075944039846524, 0.9842831331582714, -0.5905698798949673, -1.4432899320127035e-14]",
- "[33.7, -5.136469369059553, -8.559784242788538, 8.08594403984654, 0.8858548198424445, -0.4921415665791404, 0.19999999999998558]",
- "[33.8, -5.052809731805562, -8.604072554716195, 8.095935040272503, 0.7874265065266176, -0.39371325326331336, -1.4654943925052066e-14]",
- "[33.9, -4.9789884968991025, -8.648365295788729, 8.085935040109112, 0.6889981932107905, -0.4921415665791403, -0.20000000000001472]",
- "[34.0, -4.905162873926055, -8.692653648794677, 8.07594395621471, 0.7874265065266175, -0.39371325326331336, -1.4876988529977098e-14]",
- "[34.1, -4.8313416390196, -8.73694638986721, 8.065943956051314, 0.6889981932107904, -0.49214156657914027, -0.200000000000015]",
- "[34.2, -4.757516063096137, -8.78123478992274, 8.055952776555188, 0.7874265065266175, -0.39371325326331336, -1.509903313490213e-14]",
- "[34.3, -4.6738519967776755, -8.82552753091487, 8.065952776555203, 0.8858548198424446, -0.4921415665791404, 0.1999999999999849]",
- "[34.4, -4.580340805996866, -8.879667396369353, 8.075944053189678, 0.9842831331582715, -0.5905698798949672, -1.532107773982716e-14]",
- "[34.5, -4.486833908346839, -8.93380296869305, 8.085944053189692, 0.8858548198424445, -0.4921415665791402, 0.1999999999999847]",
- "[34.6, -4.393322773984396, -8.978091472972768, 8.095935444462667, 0.9842831331582717, -0.3937132532633133, -1.532107773982716e-14]",
- "[34.7, -4.299815876334369, -9.012541382633303, 8.085935444462649, 0.8858548198424446, -0.2952849399474864, -0.20000000000001542]",
- "[34.8, -4.216155977531828, -9.046995459809752, 8.07594391258685, 0.7874265065266177, -0.3937132532633134, -1.532107773982716e-14]",
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- "[40.1, 0.4739455581572088, -10.026365745940893, 8.085944548917539, 0.8858548198424467, 0.09842831331582215, 0.19999999999998308]",
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- "[42.1, 2.3637671390019244, -10.026364575696709, 8.085944993950012, 0.8858548198424477, 0.09842831331582216, 0.19999999999998247]",
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- "[44.9, 4.903193752714548, -10.026363849630597, 8.085944934782558, 0.8858548198424487, 0.09842831331582198, 0.1999999999999818]",
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- "[45.1, 5.070517456205862, -10.02636827893712, 8.085935934716673, 0.8858548198424486, -0.0984283133158321, -0.2000000000000185]",
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- "[45.7, 5.670925525463371, -10.026363740212384, 8.085944928123146, 0.8858548198424486, 0.09842831331582176, 0.19999999999998136]",
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- "[45.9, 5.838249011129661, -10.026368387343942, 8.085935485450813, 0.8858548198424486, -0.09842831331583222, -0.20000000000001877]",
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- "[92.5, 23.761780096981727, -29.318140652784702, 8.065944566499036, -0.6889981932107769, -0.2952849399474884, -0.20000000000003496]",
- "[92.6, 23.687953040683748, -29.34274190980254, 8.055956395028696, -0.7874265065266038, -0.19685662663166142, -3.4861002973229915e-14]",
- "[92.7, 23.60428897436529, -29.367348988131504, 8.06595639502871, -0.8858548198424309, -0.29528493994748833, 0.19999999999996515]",
- "[92.8, 23.520630728497558, -29.40180471824276, 8.075944568247323, -0.7874265065266038, -0.3937132532633152, -3.4861002973229915e-14]",
- "[92.9, 23.446809493510692, -29.436254627903292, 8.065944568247303, -0.6889981932107769, -0.29528493994748817, -0.20000000000003496]",
- "[93.0, 23.37298243890349, -29.470710357184167, 8.055956393341408, -0.7874265065266035, -0.39371325326331497, -3.5083047578154947e-14]",
- "[93.1, 23.289318372585036, -29.505160266844705, 8.065956393341422, -0.8858548198424305, -0.295284939947488, 0.19999999999996493]",
- "[93.2, 23.205660125049903, -29.529761526390345, 8.075944569948101, -0.7874265065266036, -0.19685662663166104, -3.5083047578154947e-14]",
- "[93.3, 23.121996058731447, -29.544525773387708, 8.085944569948115, -0.8858548198424308, -0.09842831331583406, 0.19999999999996493]",
- "[93.4, 23.038337823918532, -29.55929585189062, 8.095932720704052, -0.787426506526604, -0.19685662663166104, -3.530509218307998e-14]",
- "[93.5, 22.954673757519384, -29.58390293030028, 8.085932720540066, -0.8858548198424308, -0.29528493994748795, -0.2000000000000354]",
- "[93.6, 22.871015521626852, -29.608504178203322, 8.075944567590419, -0.7874265065266037, -0.19685662663166098, -3.530509218307998e-14]",
- "[93.7, 22.79719428663999, -29.63311125653229, 8.085944567590433, -0.6889981932107768, -0.295284939947488, 0.1999999999999647]",
- "[93.8, 22.723367222210626, -29.65771250541875, 8.095932722538333, -0.7874265065266037, -0.19685662663166115, -3.530509218307998e-14]",
- "[93.9, 22.63970315581148, -29.682319583828413, 8.085932722374347, -0.8858548198424305, -0.29528493994748817, -0.2000000000000354]",
- "[94.0, 22.55604491791116, -29.706920833739236, 8.07594456534499, -0.7874265065266035, -0.19685662663166126, -3.530509218307998e-14]",
- "[94.1, 22.4723808515927, -29.721685080736606, 8.085944565345004, -0.8858548198424304, -0.09842831331583426, 0.1999999999999647]",
- "[94.2, 22.388722612549987, -29.736455155009722, 8.095932724695604, -0.7874265065266035, -0.19685662663166115, -3.5083047578154947e-14]",
- "[94.3, 22.30505854615084, -29.761062233419374, 8.085932724531627, -0.8858548198424305, -0.2952849399474881, -0.20000000000003518]",
- "[94.4, 22.221400305920728, -29.78566348565999, 8.075944562768292, -0.7874265065266037, -0.19685662663166115, -3.530509218307998e-14]",
- "[94.5, 22.13773623960227, -29.800427732657358, 8.085944562768306, -0.8858548198424306, -0.09842831331583415, 0.1999999999999647]",
- "[94.6, 22.054077998171355, -29.81519780454227, 8.09593272697159, -0.7874265065266035, -0.19685662663166115, -3.530509218307998e-14]",
- "[94.7, 21.97041393177221, -29.829962051458946, 8.085932726807604, -0.8858548198424304, -0.09842831331583417, -0.2000000000000354]",
- "[94.8, 21.886755689061292, -29.844732122063856, 8.075944560003427, -0.7874265065266033, -0.19685662663166126, -3.552713678800501e-14]",
- "[94.9, 21.803091622742837, -29.869339200392822, 8.065944560003409, -0.8858548198424304, -0.2952849399474883, -0.2000000000000356]",
- "[95.0, 21.71943336506548, -29.89394047008068, 8.055956362788406, -0.7874265065266035, -0.19685662663166137, -3.552713678800501e-14]",
- "[95.1, 21.635769298747025, -29.908704717078045, 8.065956362788418, -0.8858548198424305, -0.09842831331583439, 0.19999999999996448]",
- "[95.2, 21.552111039784073, -29.913620325388333, 8.075944562615675, -0.7874265065266035, -7.216449660063518e-15, -3.552713678800501e-14]",
- "[95.3, 21.468446973384925, -29.918541741134824, 8.085944562779657, -0.8858548198424305, -0.09842831331583418, 0.19999999999996448]",
- "[95.4, 21.384788726676177, -29.933311807741905, 8.09593273770715, -0.7874265065266035, -0.19685662663166126, -3.552713678800501e-14]",
- "[95.5, 21.301124660357722, -29.94807605473927, 8.085932737707132, -0.8858548198424306, -0.09842831331583428, -0.2000000000000356]",
- "[95.6, 21.21746641223904, -29.9529916522053, 8.075944559914726, -0.7874265065266037, -7.327471962526033e-15, -3.574918139293004e-14]",
- "[95.7, 21.133802345920586, -29.957913067871093, 8.085944559914738, -0.8858548198424309, -0.09842831331583432, 0.19999999999996426]",
- "[95.8, 21.050144096309147, -29.972683131575483, 8.095932740740315, -0.7874265065266037, -0.19685662663166137, -3.552713678800501e-14]",
- "[95.9, 20.96648002999069, -29.98744737857285, 8.085932740740297, -0.8858548198424309, -0.09842831331583439, -0.2000000000000356]",
- "[96.0, 20.88282177889858, -29.992362979012302, 8.07594455690608, -0.787426506526604, -7.438494264988549e-15, -3.574918139293004e-14]",
- "[96.1, 20.799157712499426, -29.9972843947588, 8.065944556742085, -0.8858548198424311, -0.09842831331583443, -0.20000000000003584]",
- "[96.2, 20.71549944619908, -30.002200010406487, 8.055956342005713, -0.7874265065266042, -7.549516567451064e-15, -3.597122599785507e-14]",
- "[96.3, 20.631835379799924, -30.007121426152985, 8.065956342169708, -0.8858548198424312, -0.09842831331583457, 0.19999999999996404]",
- "[96.4, 20.548177111907602, -30.012037043392645, 8.075944560140853, -0.7874265065266044, -7.549516567451064e-15, -3.574918139293004e-14]",
- "[96.5, 20.464513045508447, -30.016958459139147, 8.065944559976856, -0.8858548198424314, -0.09842831331583454, -0.20000000000003584]",
- "[96.6, 20.380854775969254, -30.02187407802568, 8.055956338659353, -0.7874265065266042, -7.438494264988549e-15, -3.574918139293004e-14]",
- "[96.7, 20.2971907096508, -30.026795493691473, 8.065956338659365, -0.8858548198424313, -0.09842831331583443, 0.19999999999996426]",
- "[96.8, 20.21353243844071, -30.031711114248903, 8.075944563372017, -0.787426506526604, -7.216449660063518e-15, -3.597122599785507e-14]",
- "[96.9, 20.129868372041553, -30.0267896985024, 8.085944563536012, -0.8858548198424311, 0.09842831331581978, 0.19999999999996404]",
- "[97.0, 20.036355667447047, -30.021874089781086, 8.095932764198453, -0.9842831331582579, -7.216449660063518e-15, -3.597122599785507e-14]",
- "[97.1, 19.94284876979702, -30.01695267411529, 8.085932764198436, -0.8858548198424308, 0.09842831331581975, -0.20000000000003604]",
- "[97.2, 19.85919050836095, -30.01203706333188, 8.075944559345954, -0.7874265065266037, -7.327471962526033e-15, -3.6193270602780103e-14]",
- "[97.3, 19.775526441961784, -30.00711564758538, 8.085944559509956, -0.8858548198424308, 0.09842831331581967, 0.19999999999996382]",
- "[97.4, 19.6918681786457, -30.002200034921955, 8.0959327681825, -0.7874265065266035, -7.438494264988549e-15, -3.597122599785507e-14]",
- "[97.5, 19.608204112327243, -29.99727861925616, 8.085932768182483, -0.8858548198424305, 0.09842831331581953, -0.20000000000003604]",
- "[97.6, 19.52454584706929, -29.992363004650873, 8.075944555564197, -0.7874265065266036, -7.438494264988549e-15, -3.6193270602780103e-14]",
- "[97.7, 19.44088178067013, -29.98744158890437, 8.085944555728199, -0.8858548198424306, 0.09842831331581955, 0.19999999999996382]",
- "[97.8, 19.35722351343895, -29.982525972325856, 8.095932772355964, -0.7874265065266035, -7.438494264988549e-15, -3.6415315207705135e-14]",
- "[97.9, 19.27355944703979, -29.98744738807236, 8.08593277219195, -0.8858548198424305, -0.09842831331583443, -0.2000000000000365]",
- "[98.0, 19.189901177802117, -29.992363006657378, 8.075944551487119, -0.7874265065266034, -7.438494264988549e-15, -3.6415315207705135e-14]",
- "[98.1, 19.10623711148366, -29.98744159099158, 8.085944551487131, -0.8858548198424304, 0.09842831331581954, 0.1999999999999636]",
- "[98.2, 19.022578840204808, -29.972671548954608, 8.095932776339502, -0.7874265065266035, 0.1968566266316466, -3.6415315207705135e-14]",
- "[98.3, 18.93891477380565, -29.957907302037952, 8.085932776175488, -0.8858548198424305, 0.09842831331581957, -0.2000000000000365]",
- "[98.4, 18.855256500322657, -29.943137262205116, 8.075944546844452, -0.7874265065266036, 0.1968566266316465, -3.6637359812630166e-14]",
- "[98.5, 18.7715924340042, -29.928373015207747, 8.085944546844464, -0.8858548198424306, 0.09842831331581951, 0.19999999999996337]",
- "[98.6, 18.687934158278843, -29.913602977617284, 8.095932780731857, -0.7874265065266036, 0.1968566266316465, -3.6637359812630166e-14]",
- "[98.7, 18.604270091960387, -29.898838730619914, 8.085932780731838, -0.8858548198424306, 0.09842831331581951, -0.2000000000000367]",
- "[98.8, 18.52061181392081, -29.893923103232993, 8.075944542142107, -0.7874265065266036, -7.438494264988549e-15, -3.6637359812630166e-14]",
- "[98.9, 18.43694774752164, -29.889001687486488, 8.085944542306118, -0.8858548198424306, 0.09842831331581955, 0.19999999999996337]",
- "[99.0, 18.353289467189363, -29.874231654502935, 8.095932785554453, -0.7874265065266036, 0.19685662663164638, -3.6637359812630166e-14]",
- "[99.1, 18.269625400870908, -29.859467407505566, 8.085932785554434, -0.8858548198424306, 0.0984283133158194, -0.2000000000000367]",
- "[99.2, 18.185967118106763, -29.844697376953878, 8.075944537364702, -0.7874265065266037, 0.19685662663164638, -3.68594044175552e-14]",
- "[99.3, 18.102303051788304, -29.820090298624915, 8.085944537364714, -0.8858548198424306, 0.2952849399474734, 0.19999999999996315]",
- "[99.4, 18.018644766514246, -29.79548900134035, 8.095932790654441, -0.7874265065266037, 0.1968566266316466, -3.6637359812630166e-14]",
- "[99.5, 17.93498070019579, -29.78072475434298, 8.085932790654422, -0.8858548198424308, 0.09842831331581962, -0.2000000000000367]",
- "[99.6, 17.851322412331783, -29.76595472889116, 8.075944532102081, -0.7874265065266037, 0.1968566266316466, -3.6637359812630166e-14]",
- "[99.7, 17.767658346013327, -29.75119048189379, 8.065944532102062, -0.8858548198424308, 0.09842831331581962, -0.2000000000000367]",
- "[99.8, 17.684000042161497, -29.736420472429796, 8.055956241063493, -0.7874265065266037, 0.1968566266316466, -3.6637359812630166e-14]",
- "[99.9, 17.60033597584304, -29.711813394100833, 8.065956241063505, -0.8858548198424308, 0.29528493994747357, 0.19999999999996337]",
- "[100.0, 17.516677669300304, -29.6872120755476, 8.075944537569814, -0.7874265065266038, 0.1968566266316465, -3.6415315207705135e-14]"
- ],
- "test1": [
- "[27.9, -9.022256674478921, 4.10517093782462, 5.0160036875223435, -0.29528493994748006, -0.8858548198424419, 0.1999999999999883]",
- "[28.0, -9.046860663284727, 4.011660950651433, 5.046009965234613, -0.19685662663165304, -0.9842831331582689, 0.39999999999998836]",
- "[28.099999999999998, -9.061621825896971, 3.918157137386527, 5.096016232506751, -0.09842831331582613, -0.8858548198424417, 0.5999999999999883]",
- "[28.2, -9.076389158619735, 3.8246471540111004, 5.146009962511285, -0.19685662663165304, -0.9842831331582688, 0.39999999999998814]",
- "[28.299999999999997, -9.100999321953452, 3.7311433413658244, 5.196016231042474, -0.29528493994747995, -0.8858548198424417, 0.5999999999999881]",
- "[28.4, -9.135452313900222, 3.6376333614295584, 5.246009968035161, -0.3937132532633068, -0.9842831331582687, 0.39999999999998814]",
- "[28.5, -9.169899146135744, 3.5441295412045415, 5.276003714905518, -0.2952849399474798, -0.8858548198424419, 0.1999999999999882]",
- "[28.599999999999998, -9.204352118755136, 3.460468537844938, 5.306009938640836, -0.3937132532633067, -0.787426506526615, 0.39999999999998814]",
- "[28.7, -9.238798978995508, 3.3768014221063165, 5.336003742415243, -0.2952849399474797, -0.8858548198424419, 0.19999999999998797]",
- "[28.799999999999997, -9.273251922706987, 3.2931403898388023, 5.366009907411543, -0.3937132532633066, -0.7874265065266148, 0.3999999999999879]",
- "[28.9, -9.307698815598382, 3.209473306751205, 5.396003777530732, -0.2952849399474796, -0.8858548198424419, 0.19999999999998797]",
- "[29.0, -9.342151722723349, 3.1159634116367436, 5.426009868185592, -0.39371325326330664, -0.9842831331582688, 0.3999999999999879]",
- "[29.099999999999998, -9.376598660124492, 3.0224594862461047, 5.456003828745725, -0.29528493994747984, -0.885854819842442, 0.19999999999998797]",
- "[29.2, -9.401202794093372, 2.928949644235995, 5.486009811495962, -0.19685662663165285, -0.9842831331582688, 0.3999999999999879]",
- "[29.299999999999997, -9.425812785914376, 2.8354456600780047, 5.516003891467571, -0.29528493994747973, -0.885854819842442, 0.19999999999998797]",
- "[29.4, -9.450416984599187, 2.7419358827838205, 5.546009742719209, -0.19685662663165282, -0.9842831331582689, 0.3999999999999879]",
- "[29.5, -9.47502690559211, 2.6484318277977486, 5.5760039666089245, -0.2952849399474798, -0.8858548198424417, 0.19999999999998785]",
- "[29.599999999999998, -9.509479617648283, 2.5647705638749296, 5.606009660896552, -0.39371325326330686, -0.7874265065266147, 0.3999999999999879]",
- "[29.7, -9.543926763024297, 2.4811037332719534, 5.636004044048247, -0.29528493994747995, -0.8858548198424416, 0.19999999999998797]",
- "[29.799999999999997, -9.568531118151254, 2.387594112419919, 5.666009577419503, -0.1968566266316529, -0.9842831331582685, 0.3999999999999879]",
- "[29.9, -9.593140869308371, 2.294089887598047, 5.69600414640464, -0.29528493994747984, -0.8858548198424417, 0.19999999999998785]",
- "[30.0, -9.617745329056495, 2.2005803713671765, 5.726009467192421, -0.19685662663165285, -0.9842831331582684, 0.3999999999999877]",
- "[30.099999999999998, -9.632507015742181, 2.107076034028828, 5.756004264803797, -0.09842831331582585, -0.8858548198424416, 0.19999999999998763]",
- "[30.2, -9.647273760550213, 2.013566638568135, 5.786009340194349, -0.19685662663165282, -0.9842831331582684, 0.3999999999999875]",
- "[30.299999999999997, -9.662035576511817, 1.9200621719538709, 5.816004400486066, -0.0984283133158258, -0.8858548198424416, 0.1999999999999873]",
- "[30.4, -9.676802183387357, 1.8265529144256694, 5.846009195606667, -0.19685662663165288, -0.9842831331582684, 0.3999999999999875]",
- "[30.5, -9.701411545951807, 1.733048301011129, 5.876004554187104, -0.29528493994747995, -0.8858548198424414, 0.1999999999999873]",
- "[30.599999999999998, -9.726016420193588, 1.6395391992739201, 5.9060090327504335, -0.1968566266316529, -0.9842831331582683, 0.39999999999998725]",
- "[30.7, -9.740778547882265, 1.5460344209325787, 5.936004726451518, -0.09842831331582591, -0.8858548198424413, 0.19999999999998697]",
- "[30.799999999999997, -9.755544824718566, 1.4525254934436183, 5.9660088509536155, -0.19685662663165288, -0.9842831331582684, 0.3999999999999868]",
- "[30.9, -9.770307135993475, 1.3590205315160457, 5.996004917690111, -0.09842831331582588, -0.8858548198424414, 0.19999999999998674]",
- "[31.0, -9.7850732199897, 1.2655117968671588, 6.026008650353587, -0.19685662663165282, -0.9842831331582684, 0.3999999999999866]",
- "[31.099999999999998, -9.799835733259343, 1.172006632944854, 6.056005127530382, -0.09842831331582577, -0.8858548198424414, 0.1999999999999864]",
- "[31.2, -9.804755522904847, 1.0784981092745305, 6.086008431498992, 1.1657341758564144e-15, -0.9842831331582683, 0.39999999999998637]",
- "[31.299999999999997, -9.809676938570643, 0.9849912116245011, 6.116008431498979, -0.09842831331582583, -0.8858548198424414, 0.19999999999998622]",
- "[31.4, -9.824442583428985, 0.8914829161134982, 6.146011271862529, -0.19685662663165276, -0.9842831331582682, 0.39999999999998614]",
- "[31.5, -9.839205552583431, 0.7979772963063911, 6.17600867536791, -0.09842831331582583, -0.8858548198424413, 0.19999999999998613]",
- "[31.599999999999998, -9.844125814061837, 0.7044692444689711, 6.206011020602416, 1.1657341758564144e-15, -0.9842831331582685, 0.3999999999999861]",
- "[31.7, -9.849047229727633, 0.6109623468189415, 6.236011020602403, -0.09842831331582583, -0.8858548198424416, 0.19999999999998594]",
- "[31.799999999999997, -9.863812373873891, 0.5174545520200204, 6.266012843551216, -0.19685662663165285, -0.9842831331582684, 0.399999999999986]",
- "[31.9, -9.878575856412299, 0.42394841882894607, 6.296011290219789, -0.09842831331582585, -0.8858548198424412, 0.19999999999998586]",
- "[32.0, -9.883496642592853, 0.3304408916936712, 6.326012569293294, 1.1657341758564144e-15, -0.9842831331582682, 0.399999999999986]",
- "[32.1, -9.878575226927056, 0.23693399404364163, 6.356012569293281, 0.09842831331582816, -0.8858548198424413, 0.19999999999998583]",
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- "[52.9, 5.06284537575694, -10.029092928823175, 8.076028104261463, 0.8858548198424469, 0.09842831331583007, 0.1999999999999767]",
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- "[53.7, 5.860114705343363, -10.029092820738276, 8.076028323882998, 1.0827114464741014, 0.09842831331583018, 0.1999999999999767]",
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- "[53.9, 6.066809475081035, -10.029097509124908, 8.076018797383002, 1.0827114464741012, -0.09842831331582377, -0.20000000000002344]",
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- "[54.099999999999994, 6.263661368097063, -10.02909277550928, 8.076028415785402, 0.8858548198424477, 0.09842831331583007, 0.1999999999999767]",
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- "[54.3, 6.460522768552173, -10.029097549332736, 8.076018715683277, 1.0827114464741017, -0.0984283133158239, -0.20000000000002344]",
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- "[54.5, 6.6672174153610415, -10.029092738178345, 8.076028491639445, 1.0827114464741021, 0.09842831331583, 0.19999999999997647]",
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- "[54.7, 6.864069194147103, -10.02909758602394, 8.076018641129092, 0.8858548198424486, -0.09842831331582398, -0.20000000000002385]",
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- "[54.9, 7.0609307011436675, -10.029092705659025, 8.076028557716588, 1.0827114464741026, 0.09842831331582988, 0.19999999999997603]",
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- "[90.1, 27.839019412866033, -26.2993380320306, 8.076029505536107, -0.6889981932107846, -0.8858548198424395, 0.19999999999996515]",
- "[90.19999999999999, 27.775046846225447, -26.382996261334352, 8.08601764509776, -0.5905698798949576, -0.7874265065266125, -3.4861002973229915e-14]",
- "[90.3, 27.71106844257016, -26.456817496321218, 8.07601764509774, -0.6889981932107845, -0.6889981932107856, -0.20000000000003496]",
- "[90.4, 27.647095876151965, -26.530644568545178, 8.06602950598794, -0.5905698798949575, -0.7874265065266126, -3.4861002973229915e-14]",
- "[90.5, 27.583117472496678, -26.604465803532044, 8.076029505987954, -0.6889981932107846, -0.6889981932107855, 0.19999999999996515]",
- "[90.6, 27.519144906250403, -26.678292875927923, 8.086017644748411, -0.5905698798949577, -0.7874265065266124, -3.4638958368304884e-14]",
- "[90.69999999999999, 27.455166502514427, -26.752114110834096, 8.076017644584446, -0.6889981932107847, -0.6889981932107854, -0.20000000000003468]",
- "[90.8, 27.3813394299821, -26.825941183366425, 8.066029506101248, -0.7874265065266117, -0.7874265065266122, -3.4861002973229915e-14]",
- "[90.9, 27.307518194995232, -26.89976241835329, 8.076029506101262, -0.6889981932107846, -0.688998193210785, 0.19999999999996515]",
- "[91.0, 27.233691122414367, -26.97358949093416, 8.086017644485821, -0.7874265065266114, -0.7874265065266118, -3.4638958368304884e-14]",
- "[91.1, 27.15986988750819, -27.047410725840336, 8.076017644321857, -0.6889981932107844, -0.6889981932107848, -0.2000000000000348]",
- "[91.19999999999999, 27.095897321457564, -27.121237798431867, 8.066029505958946, -0.5905698798949572, -0.787426506526612, -3.4861002973229915e-14]",
- "[91.3, 27.031918917802276, -27.195059033418733, 8.07602950595896, -0.6889981932107844, -0.6889981932107848, 0.19999999999996515]",
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- "[91.69999999999999, 26.736622302488367, -27.470658310733786, 8.07602950589647, -0.6889981932107841, -0.688998193210785, 0.19999999999996515]",
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- "[91.9, 26.588973994966423, -27.598609280496156, 8.076017644374058, -0.6889981932107844, -0.6889981932107848, -0.20000000000003496]",
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- "[92.1, 26.441325687599498, -27.72656025041354, 8.076029505581486, -0.688998193210784, -0.6889981932107849, 0.19999999999996493]",
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- "[92.30000000000001, 26.283834548977886, -27.854511220569215, 8.076017644530339, -0.8858548198424381, -0.688998193210785, -0.20000000000003518]",
- "[92.4, 26.200176319653934, -27.91848378723, 8.06602950492762, -0.7874265065266113, -0.5905698798949582, -3.530509218307998e-14]",
- "[92.5, 26.126355084667072, -27.98246219088529, 8.076029504927634, -0.6889981932107844, -0.6889981932107853, 0.1999999999999647]",
- "[92.6, 26.052528012931262, -28.046434757791637, 8.086017645029308, -0.7874265065266113, -0.5905698798949583, -3.530509218307998e-14]",
- "[92.69999999999999, 25.96886394653211, -28.100570330034635, 8.076017644865322, -0.8858548198424382, -0.49214156657913144, -0.2000000000000354]",
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- "[92.9, 25.801541650321756, -28.208847311108578, 8.076029504108593, -0.8858548198424383, -0.4921415665791313, 0.19999999999996448]",
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- "[93.1, 25.634219353695908, -28.317124291767033, 8.07601764570957, -0.8858548198424384, -0.492141566579131, -0.2000000000000356]",
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- "[93.30000000000001, 25.466897056616588, -28.425401271972007, 8.07602950318715, -0.8858548198424384, -0.49214156657913105, 0.19999999999996448]",
- "[93.4, 25.383238825396763, -28.479542679394342, 8.086017646642151, -0.7874265065266115, -0.5905698798949579, -3.530509218307998e-14]",
- "[93.5, 25.29957475899761, -28.53367825163734, 8.076017646478169, -0.8858548198424385, -0.4921415665791309, -0.20000000000003532]",
- "[93.6, 25.215916527280147, -28.587819658562026, 8.066029502011975, -0.7874265065266115, -0.5905698798949577, -3.530509218307998e-14]",
- "[93.69999999999999, 25.132252460961688, -28.64195523088572, 8.07602950201199, -0.8858548198424384, -0.4921415665791308, 0.1999999999999647]",
- "[93.80000000000001, 25.04859422874033, -28.68624213778075, 8.086017647502045, -0.7874265065266114, -0.3937132532633038, -3.552713678800501e-14]",
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- "[94.1, 24.777910533641265, -28.81911452727658, 8.076029500759182, -0.8858548198424384, -0.49214156657913105, 0.19999999999996426]",
- "[94.19999999999999, 24.69425230006721, -28.873255932344684, 8.086017648997837, -0.7874265065266114, -0.5905698798949579, -3.574918139293004e-14]",
- "[94.30000000000001, 24.610588233668054, -28.92739150458768, 8.076017648833842, -0.8858548198424384, -0.4921415665791308, -0.20000000000003587]",
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- "[94.5, 24.423568606214946, -29.01597115441888, 8.07602949939361, -0.8858548198424383, -0.4921415665791308, 0.19999999999996404]",
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- "[94.69999999999999, 24.256246304860973, -29.1045508051202, 8.076017650273878, -0.8858548198424384, -0.4921415665791309, -0.20000000000003584]",
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- "[94.9, 24.069226678909896, -29.183287625121846, 8.076029497781619, -0.8858548198424382, -0.29528493994747684, 0.19999999999996426]",
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- "[95.1, 23.88220705391888, -29.252193274133877, 8.076017651896697, -0.8858548198424381, -0.29528493994747695, -0.20000000000003584]",
- "[95.19999999999999, 23.78869432745683, -29.286649012606432, 8.066029495667687, -0.9842831331582652, -0.393713253263304, -3.574918139293004e-14]",
- "[95.30000000000001, 23.6951874298068, -29.330941753598562, 8.076029495667699, -0.8858548198424382, -0.49214156657913105, 0.19999999999996426]",
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- "[95.5, 23.50816780671402, -29.409678576297104, 8.07601765363986, -0.8858548198424382, -0.2952849399474771, -0.20000000000003584]",
- "[95.6, 23.414655082176544, -29.444134312845087, 8.066029493500242, -0.9842831331582652, -0.3937132532633042, -3.597122599785507e-14]",
- "[95.69999999999999, 23.32114818452652, -29.478584222505617, 8.076029493500254, -0.8858548198424381, -0.2952849399474772, 0.19999999999996404]",
- "[95.80000000000001, 23.22763546102431, -29.5031854749824, 8.086017655743449, -0.984283133158265, -0.1968566266316502, -3.597122599785507e-14]",
- "[95.9, 23.134128563374286, -29.527792553311365, 8.076017655743431, -0.8858548198424379, -0.2952849399474772, -0.20000000000003604]",
- "[96.0, 23.04061584102304, -29.562248287673118, 8.066029491161556, -0.9842831331582647, -0.3937132532633043, -3.597122599785507e-14]",
- "[96.1, 22.937266112041417, -29.596698197333648, 8.076029491161568, -1.0827114464740917, -0.2952849399474773, 0.19999999999996404]",
- "[96.19999999999999, 22.833922206589236, -29.621299452133165, 8.086017658124419, -0.9842831331582647, -0.19685662663165038, -3.574918139293004e-14]",
- "[96.30000000000001, 22.74041530901991, -29.645906530542828, 8.076017657960422, -0.8858548198424376, -0.2952849399474774, -0.20000000000003584]",
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- "[96.5, 22.553395691482407, -29.714812172101343, 8.076029488372336, -0.8858548198424375, -0.2952849399474775, 0.19999999999996404]",
- "[96.6, 22.45988297276768, -29.73941342936561, 8.086017660343387, -0.9842831331582648, -0.1968566266316506, -3.597122599785507e-14]",
- "[96.69999999999999, 22.356533243786057, -29.75417767636298, 8.07601766034337, -1.082711446474092, -0.09842831331582363, -0.20000000000003604]",
- "[96.80000000000001, 22.25318933446849, -29.768947743024402, 8.066029485526297, -0.9842831331582647, -0.1968566266316505, -3.6193270602780103e-14]",
- "[96.9, 22.15968243681846, -29.793554821353368, 8.076029485526309, -0.8858548198424375, -0.29528493994747745, 0.19999999999996382]",
- "[97.0, 22.066169720928904, -29.818156081442808, 8.086017663237937, -0.9842831331582644, -0.19685662663165043, -3.6193270602780103e-14]",
- "[97.1, 21.972662823278874, -29.83292032844018, 8.076017663237918, -0.8858548198424373, -0.09842831331582341, -0.20000000000003632]",
- "[97.19999999999999, 21.879150108790636, -29.847690392275762, 8.066029482678898, -0.9842831331582641, -0.19685662663165038, -3.6415315207705135e-14]",
- "[97.30000000000001, 21.775800379809013, -29.862454639273132, 8.07602948267891, -1.082711446474091, -0.09842831331582337, 0.1999999999999636]",
- "[97.4, 21.672456466126118, -29.877224701569222, 8.086017666366057, -0.9842831331582641, -0.19685662663165038, -3.6415315207705135e-14]",
- "[97.5, 21.569106737063787, -29.90183177997889, 8.076017666202041, -1.082711446474091, -0.29528493994747745, -0.2000000000000365]",
- "[97.6, 21.465762821727658, -29.926433044662367, 8.066029479155628, -0.9842831331582642, -0.19685662663165054, -3.6637359812630166e-14]",
- "[97.69999999999999, 21.372255924077628, -29.941197291659737, 8.07602947915564, -0.8858548198424372, -0.09842831331582357, 0.19999999999996337]",
- "[97.80000000000001, 21.278743214381954, -29.94611289527989, 8.086017669452831, -0.9842831331582643, 3.6637359812630166e-15, -3.68594044175552e-14]",
- "[97.9, 21.175393485319617, -29.9510343110264, 8.076017669288806, -1.0827114464740912, -0.09842831331582333, -0.20000000000003695]",
- "[98.0, 21.072049566624095, -29.965804368309875, 8.066029475416334, -0.9842831331582644, -0.19685662663165038, -3.68594044175552e-14]",
- "[98.1, 20.978542668974068, -29.98056861530724, 8.076029475416346, -0.8858548198424375, -0.09842831331582338, 0.19999999999996315]",
- "[98.19999999999999, 20.885029962766325, -29.985484222415323, 8.086017672800777, -0.9842831331582644, 3.552713678800501e-15, -3.68594044175552e-14]",
- "[98.30000000000001, 20.781680233703984, -29.990405638161835, 8.076017672636752, -1.0827114464740912, -0.09842831331582344, -0.20000000000003695]",
- "[98.4, 20.678336311421017, -29.995321247128977, 8.06602947147482, -0.9842831331582642, 3.4416913763379853e-15, -3.708144902248023e-14]",
- "[98.5, 20.574986582358676, -30.00024266287549, 8.076029471638845, -1.0827114464740912, -0.09842831331582354, 0.19999999999996293]",
- "[98.6, 20.47164265808225, -30.015012714578052, 8.086017676851377, -0.9842831331582643, -0.1968566266316505, -3.730349362740526e-14]",
- "[98.69999999999999, 20.378135760512944, -30.029776961494694, 8.076017676687337, -0.8858548198424374, -0.09842831331582348, -0.2000000000000374]",
- "[98.80000000000001, 20.284623060063055, -30.03469257436063, 8.066029467603306, -0.9842831331582642, 3.3306690738754696e-15, -3.752553823233029e-14]",
- "[98.9, 20.181273331000707, -30.02977115861411, 8.076029467767345, -1.0827114464740912, 0.09842831331583034, 0.19999999999996249]",
- "[99.0, 20.07792940277815, -30.024855543707382, 8.086017680998134, -0.984283133158264, 3.3306690738754696e-15, -3.752553823233029e-14]",
- "[99.1, 19.974579673715805, -30.01993412796086, 8.076017680834086, -1.082711446474091, 0.09842831331583032, -0.20000000000003762]",
- "[99.19999999999999, 19.87123574323956, -30.015018510800434, 8.066029463023924, -0.9842831331582642, 3.4416913763379853e-15, -3.752553823233029e-14]",
- "[99.30000000000001, 19.777728845670254, -30.01009709505391, 8.076029463187963, -0.8858548198424372, 0.09842831331583043, 0.19999999999996249]",
- "[99.4, 19.684216151709464, -30.00518147569888, 8.086017685457424, -0.9842831331582639, 3.4416913763379853e-15, -3.730349362740526e-14]",
- "[99.5, 19.58086642264712, -30.010102891445396, 8.076017685293383, -1.0827114464740908, -0.09842831331582355, -0.2000000000000374]",
- "[99.6, 19.47752248773382, -30.015018513042875, 8.06602945846741, -0.9842831331582638, 3.3306690738754696e-15, -3.752553823233029e-14]",
- "[99.69999999999999, 19.384015590164516, -30.010097097296352, 8.056029458303364, -0.8858548198424369, 0.09842831331583035, -0.20000000000003762]",
- "[99.80000000000001, 19.300357302082865, -30.005181459867362, 8.04604119930878, -0.7874265065266098, 3.4416913763379853e-15, -3.774758283725532e-14]",
- "[99.9, 19.226536067176728, -30.00026004412084, 8.056041199472828, -0.6889981932107827, 0.09842831331583043, 0.19999999999996226]",
- "[100.0, 19.16256343985912, -29.995344404792725, 8.066029462326293, -0.5905698798949557, 3.3306690738754696e-15, -3.752553823233029e-14]"
- ]
- },
- "type": "simtrace",
- "assert_hits": null
-},
-"5": {
- "node_name": "1-2",
- "id": 5,
- "start_line": 5900,
- "parent": {
- "name": "0-0",
- "index": 0,
- "start_line": 2
- },
- "child": {
- "2-2": {
- "name": "2-2",
- "index": 6,
- "start_line": 6462
- }
- },
- "agent": {
- "test1": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test2": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test3": "<class 'quadrotor_agent.QuadrotorAgent'>"
- },
- "init": {
- "test1": "[3.9850329655886467, 9.159482892162652, 0.0659935627811023, -0.9842831331582699, 0.3937132532633084, -3.9968028886505635e-15]"
- },
- "mode": {
- "test1": "[\"MoveUp\", \"M12\"]",
- "test2": "[\"Normal\", \"T1\"]",
- "test3": "[\"Normal\", \"T0\"]"
- },
- "static": {
- "test1": "[]",
- "test2": "[]",
- "test3": "[]"
- },
- "start_time": 11.6,
- "trace": {
- "test2": [
- "[11.6, -1.0091076674149413, 9.916345005936593, 0.06966490447036788, -0.39371325326330686, 2.220446049250313e-16, -4.440892098500626e-15]",
- "[11.7, -1.0435575770754806, 9.911423590270802, 0.07966490447036742, -0.29528493994747984, -0.09842831331582677, 0.19999999999999557]",
- "[11.8, -1.0780075455044527, 9.906502233373448, 0.0896647850566924, -0.39371325326330686, 3.3306690738754696e-16, -4.440892098500626e-15]",
- "[11.9, -1.112457455164984, 9.90158081770765, 0.07966478505667564, -0.29528493994747984, -0.09842831331582666, -0.20000000000000456]",
- "[12.0, -1.14690742359884, 9.896659460815176, 0.06966490448027224, -0.39371325326330686, 3.3306690738754696e-16, -4.6629367034256575e-15]",
- "[12.1, -1.1912001645909698, 9.891738045149378, 0.07966490448028808, -0.4921415665791339, -0.09842831331582666, 0.19999999999999535]",
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- "[23.4, -5.172626084992156, 8.479291337262683, 0.08966478501331443, -0.393713253263307, -0.1968566266316537, -9.325873406851315e-15]",
- "[23.5, -5.207075994652687, 8.464527090265317, 0.07966478501329716, -0.29528493994747995, -0.09842831331582669, -0.20000000000000948]",
- "[23.6, -5.241525963121195, 8.449762784459976, 0.06966490450730467, -0.393713253263307, -0.1968566266316536, -9.547918011776346e-15]",
- "[23.7, -5.275975872781735, 8.425155706131022, 0.07966490450730371, -0.29528493994747995, -0.2952849399474805, 0.19999999999999046]",
- "[23.8, -5.3005828923025975, 8.400548686610163, 0.08966478501303926, -0.19685662663165288, -0.19685662663165343, -9.547918011776346e-15]",
- "[23.9, -5.325189970631554, 8.37594160828121, 0.07966478501303828, -0.29528493994747984, -0.2952849399474804, -0.20000000000000961]",
- "[24.0, -5.359639939100122, 8.351334588760285, 0.06966490450716706, -0.39371325326330653, -0.19685662663165354, -9.769962616701378e-15]",
- "[24.1, -5.403932680092243, 8.326727510431324, 0.0796649045071661, -0.49214156657913355, -0.29528493994748056, 0.19999999999999024]",
- "[24.2, -5.448225362276212, 8.30212049091052, 0.08966478501277791, -0.3937132532633066, -0.19685662663165354, -9.769962616701378e-15]",
- "[24.3, -5.482675271936749, 8.287356243913147, 0.07966478501277692, -0.2952849399474796, -0.09842831331582655, -0.20000000000000986]",
- "[24.4, -5.5072822914576, 8.272591938107668, 0.06966490450706087, -0.19685662663165265, -0.1968566266316535, -9.769962616701378e-15]",
- "[24.5, -5.531889369786557, 8.257827691110295, 0.0796649045070599, -0.2952849399474797, -0.09842831331582645, 0.19999999999999024]",
- "[24.6, -5.566339338255313, 8.243063385304707, 0.08966478501255015, -0.39371325326330686, -0.1968566266316535, -9.769962616701378e-15]",
- "[24.7, -5.610632079247434, 8.218456306975746, 0.07966478501254916, -0.49214156657913377, -0.2952849399474805, -0.20000000000000986]",
- "[24.8, -5.654924761431396, 8.184006338507041, 0.06966490450694846, -0.39371325326330686, -0.3937132532633073, -9.992007221626409e-15]",
- "[24.9, -5.689374671091936, 8.1495564288465, 0.07966490450694746, -0.2952849399474798, -0.29528493994748023, 0.19999999999999002]",
- "[25.0, -5.723824639560752, 8.12494940932582, 0.08966478501230979, -0.393713253263307, -0.1968566266316532, -9.992007221626409e-15]",
- "[25.1, -5.758274549221284, 8.110185162328452, 0.07966478501229246, -0.2952849399474799, -0.09842831331582624, -0.2000000000000101]",
- "[25.2, -5.782881568742024, 8.095420856522864, 0.06966490450680296, -0.19685662663165282, -0.19685662663165326, -9.992007221626409e-15]",
- "[25.3, -5.807488647070979, 8.070813778193907, 0.07966490450680197, -0.2952849399474798, -0.29528493994748023, 0.19999999999999002]",
- "[25.4, -5.84193861553984, 8.036363809725048, 0.08966478501207725, -0.39371325326330686, -0.3937132532633073, -9.992007221626409e-15]",
- "[25.5, -5.88623135653197, 8.001913900064517, 0.07966478501205992, -0.4921415665791339, -0.29528493994748023, -0.2000000000000101]",
- "[25.6, -5.930524038715837, 7.977306880543818, 0.06966490450665141, -0.39371325326330703, -0.19685662663165338, -1.021405182655144e-14]",
- "[25.7, -5.964973948376377, 7.952699802214862, 0.07966490450665041, -0.29528493994748, -0.29528493994748034, 0.1999999999999898]",
- "[25.8, -5.9895809678969645, 7.928092782694274, 0.08966478501182595, -0.196856626631653, -0.19685662663165332, -1.021405182655144e-14]",
- "[25.9, -6.014188046225921, 7.903485704365318, 0.07966478501182495, -0.2952849399474799, -0.29528493994748023, -0.20000000000001028]",
- "[26.0, -6.048638014694753, 7.869035735896485, 0.06966490450649199, -0.39371325326330686, -0.3937132532633073, -1.0436096431476471e-14]",
- "[26.1, -6.092930755686875, 7.834585826235945, 0.07966490450649091, -0.4921415665791339, -0.2952849399474803, 0.19999999999998958]",
- "[26.2, -6.1372234378705945, 7.809978806715391, 0.08966478501160324, -0.3937132532633069, -0.19685662663165338, -1.0436096431476471e-14]",
- "[26.3, -6.171673347531135, 7.785371728386434, 0.0796647850116022, -0.2952849399474799, -0.29528493994748034, -0.2000000000000105]",
- "[26.4, -6.206123316000007, 7.7607647088658105, 0.06966490450635232, -0.3937132532633071, -0.19685662663165332, -1.0658141036401503e-14]",
- "[26.5, -6.2405732256605475, 7.736157630536853, 0.07966490450635126, -0.2952849399474802, -0.2952849399474803, 0.19999999999998935]",
- "[26.6, -6.265180245181065, 7.711550611016337, 0.0896647850113862, -0.19685662663165315, -0.19685662663165326, -1.0658141036401503e-14]",
- "[26.7, -6.28978732351003, 7.686943532687372, 0.0796647850113688, -0.2952849399474802, -0.2952849399474803, -0.20000000000001072]",
- "[26.8, -6.324237291978928, 7.652493564218473, 0.06966490450616958, -0.3937132532633071, -0.3937132532633073, -1.0658141036401503e-14]",
- "[26.9, -6.368530032971051, 7.618043654557932, 0.07966490450616852, -0.4921415665791341, -0.2952849399474804, 0.19999999999998935]",
- "[27.0, -6.412822715154711, 7.593436635037437, 0.08966478501115765, -0.3937132532633072, -0.1968566266316535, -1.0658141036401503e-14]",
- "[27.1, -6.447272624815243, 7.568829556708472, 0.07966478501114026, -0.2952849399474803, -0.2952849399474805, -0.20000000000001072]",
- "[27.2, -6.47187964433581, 7.544222537187904, 0.06966490450600404, -0.19685662663165338, -0.1968566266316536, -1.0880185641326534e-14]",
- "[27.3, -6.496486722664766, 7.529458290190531, 0.07966490450600291, -0.29528493994748034, -0.0984283133158266, 0.19999999999998913]",
- "[27.4, -6.530936691133791, 7.514693984384671, 0.08966478501094116, -0.3937132532633072, -0.1968566266316536, -1.0880185641326534e-14]",
- "[27.5, -6.565386600794321, 7.490086906055707, 0.07966478501092375, -0.29528493994748023, -0.2952849399474807, -0.200000000000011]",
- "[27.6, -6.599836569263273, 7.455636937586754, 0.06966490450583251, -0.3937132532633072, -0.39371325326330764, -1.0880185641326534e-14]",
- "[27.7, -6.634286478923812, 7.421187027926215, 0.07966490450583139, -0.29528493994748023, -0.2952849399474807, 0.19999999999998913]",
- "[27.8, -6.658893498444264, 7.386737059457168, 0.08966478501072789, -0.1968566266316532, -0.39371325326330786, -1.1102230246251565e-14]",
- "[27.9, -6.68350057677323, 7.352287149796636, 0.07966478501071045, -0.2952849399474801, -0.2952849399474809, -0.20000000000001117]",
- "[28.0, -6.708107596293766, 7.327680130276098, 0.06966490450563179, -0.19685662663165304, -0.19685662663165382, -1.1102230246251565e-14]",
- "[28.1, -6.732714674622724, 7.30307305194714, 0.07966490450563067, -0.29528493994748, -0.2952849399474808, 0.1999999999999889]",
- "[28.2, -6.767164643091774, 7.268623083478091, 0.08966478501052089, -0.39371325326330686, -0.39371325326330775, -1.1102230246251565e-14]",
- "[28.3, -6.801614552752306, 7.234173173817559, 0.07966478501050345, -0.2952849399474799, -0.2952849399474808, -0.20000000000001117]",
- "[28.4, -6.836064521221271, 7.199723205348594, 0.06966490450543966, -0.39371325326330675, -0.39371325326330764, -1.1102230246251565e-14]",
- "[28.5, -6.87051443088181, 7.165273295688054, 0.07966490450543855, -0.2952849399474798, -0.2952849399474807, 0.1999999999999889]",
- "[28.6, -6.89512145040225, 7.140666276167613, 0.0896647850103151, -0.19685662663165288, -0.19685662663165376, -1.1102230246251565e-14]",
- "[28.7, -6.919728528731216, 7.116059197838647, 0.07966478501029767, -0.2952849399474798, -0.2952849399474807, -0.20000000000001117]"
- ],
- "test3": [
- "[11.6, -6.056790974094466, 7.872819755280709, 8.075945767395458, -0.5905698798949612, -0.5905698798949612, -4.440892098500626e-15]",
- "[11.7, -6.120769377749761, 7.818684182957012, 8.085945767395476, -0.6889981932107883, -0.4921415665791342, 0.19999999999999557]",
- "[11.8, -6.184743178494894, 7.764544007723154, 8.095936414578183, -0.5905698798949612, -0.5905698798949613, -4.440892098500626e-15]",
- "[11.9, -6.248721582230448, 7.710408435479716, 8.085936414415086, -0.6889981932107883, -0.4921415665791344, -0.20000000000000454]",
- "[12.0, -6.322547433604125, 7.6661203108744, 8.075945794616068, -0.7874265065266153, -0.3937132532633074, -4.440892098500626e-15]",
- "[12.1, -6.396368668590987, 7.621827569882271, 8.085945794616086, -0.6889981932107883, -0.49214156657913444, 0.19999999999999557]",
- "[12.2, -6.4603424388096276, 7.567687364121921, 8.095936379770928, -0.5905698798949615, -0.5905698798949613, -4.440892098500626e-15]",
- "[12.3, -6.5243208425451815, 7.503708960386367, 8.08593637960783, -0.6889981932107885, -0.6889981932107884, -0.20000000000000454]",
- "[12.4, -6.588294603831225, 7.4397351991003235, 8.075945812603456, -0.5905698798949615, -0.5905698798949613, -4.440892098500626e-15]",
- "[12.5, -6.652273007486521, 7.385599626776627, 8.085945812603473, -0.6889981932107885, -0.4921415665791342, 0.19999999999999557]",
- "[12.6, -6.716246761583319, 7.331459404894431, 8.09593636499976, -0.5905698798949615, -0.5905698798949611, -4.440892098500626e-15]",
- "[12.7, -6.770382333826755, 7.277323832650994, 8.08593636483666, -0.4921415665791345, -0.49214156657913416, -0.20000000000000456]",
- "[12.8, -6.824522560895607, 7.2231836055821415, 8.075945822979321, -0.5905698798949616, -0.5905698798949611, -4.6629367034256575e-15]",
- "[12.9, -6.888500964631165, 7.159205201846584, 8.065945822816216, -0.6889981932107887, -0.6889981932107883, -0.20000000000000476]",
- "[13.0, -6.9524747180141135, 7.095231448463635, 8.055955271870419, -0.5905698798949617, -0.5905698798949612, -4.6629367034256575e-15]",
- "[13.1, -7.006610290337809, 7.03125304480834, 8.065955271870434, -0.49214156657913455, -0.6889981932107884, 0.19999999999999535]",
- "[13.2, -7.060750512667819, 6.967279291159358, 8.075945823356792, -0.5905698798949613, -0.5905698798949613, -4.6629367034256575e-15]",
- "[13.3, -7.1247289164033765, 6.903300887423801, 8.065945823193688, -0.6889981932107885, -0.6889981932107885, -0.20000000000000476]",
- "[13.4, -7.188702671997435, 6.839327131829743, 8.055955267755063, -0.5905698798949618, -0.5905698798949618, -4.6629367034256575e-15]",
- "[13.5, -7.24283824432113, 6.775348728174447, 8.06595526775508, -0.49214156657913466, -0.6889981932107888, 0.19999999999999535]",
- "[13.6, -7.296978461080937, 6.71137496895526, 8.075945830559737, -0.5905698798949617, -0.5905698798949618, -4.6629367034256575e-15]",
- "[13.7, -7.360956864736233, 6.657239396631565, 8.085945830559753, -0.6889981932107888, -0.49214156657913466, 0.19999999999999535]",
- "[13.8, -7.424930620825303, 6.603099176741641, 8.095936387004212, -0.5905698798949618, -0.5905698798949615, -4.6629367034256575e-15]",
- "[13.9, -7.479066193068737, 6.5391207730060845, 8.085936386841105, -0.49214156657913477, -0.6889981932107886, -0.20000000000000479]",
- "[14.0, -7.53320640751695, 6.475147011475304, 8.075945819339438, -0.5905698798949615, -0.5905698798949617, -4.6629367034256575e-15]",
- "[14.1, -7.587341979840645, 6.4111686078200085, 8.085945819339454, -0.4921415665791343, -0.6889981932107888, 0.19999999999999535]",
- "[14.2, -7.641482184626019, 6.347194836626389, 8.095936406475387, -0.5905698798949612, -0.5905698798949619, -4.6629367034256575e-15]",
- "[14.3, -7.695617756869453, 6.28321643289083, 8.085936406312282, -0.4921415665791342, -0.6889981932107889, -0.20000000000000476]",
- "[14.4, -7.749757950303125, 6.209390576793994, 8.075945796110423, -0.590569879894961, -0.7874265065266159, -4.6629367034256575e-15]",
- "[14.5, -7.8038935225465575, 6.135569341887392, 8.06594579594732, -0.49214156657913394, -0.6889981932107889, -0.20000000000000476]",
- "[14.6, -7.858033692437066, 6.071595535798909, 8.055955137907267, -0.590569879894961, -0.5905698798949619, -4.6629367034256575e-15]",
- "[14.7, -7.912169264760761, 6.007617132143613, 8.065955137907283, -0.4921415665791339, -0.688998193210789, 0.19999999999999535]",
- "[14.8, -7.956457423166977, 5.943643311074231, 8.075945826387555, -0.3937132532633068, -0.5905698798949621, -4.884981308350689e-15]",
- "[14.9, -8.000750164159108, 5.879664907418936, 8.085945826387569, -0.49214156657913377, -0.688998193210789, 0.19999999999999513]",
- "[15.0, -8.054890307269119, 5.805839101645759, 8.095936538843867, -0.5905698798949606, -0.7874265065266157, -4.6629367034256575e-15]",
- "[15.1, -8.109025879512552, 5.732017866739157, 8.085936538680762, -0.49214156657913355, -0.6889981932107887, -0.20000000000000479]",
- "[15.2, -8.153314072781995, 5.6581920840296105, 8.07594577936065, -0.3937132532633066, -0.7874265065266157, -4.884981308350689e-15]",
- "[15.3, -8.197606813774126, 5.584370849042747, 8.085945779360664, -0.49214156657913355, -0.6889981932107888, 0.19999999999999513]",
- "[15.4, -8.241895034048888, 5.520396966104816, 8.095936593553844, -0.39371325326330653, -0.5905698798949618, -5.10702591327572e-15]",
- "[15.5, -8.286187775121288, 5.456418562369253, 8.085936593390729, -0.49214156657913355, -0.688998193210789, -0.20000000000000523]",
- "[15.6, -8.330476019939265, 5.382592831208237, 8.075945729327318, -0.3937132532633067, -0.7874265065266159, -5.329070518200751e-15]",
- "[15.7, -8.374768760931397, 5.3087715962213755, 8.085945729327333, -0.49214156657913366, -0.6889981932107889, 0.19999999999999468]",
- "[15.8, -8.428908797700073, 5.234945896789537, 8.095936657862385, -0.5905698798949608, -0.7874265065266159, -5.329070518200751e-15]",
- "[15.9, -8.4830443699435, 5.161124661882948, 8.085936657699264, -0.4921415665791339, -0.6889981932107889, -0.20000000000000545]",
- "[16.0, -8.527332679685788, 5.087298995646247, 8.075945661713822, -0.39371325326330686, -0.7874265065266157, -5.551115123125783e-15]",
- "[16.1, -8.561782589266043, 5.013477760739661, 8.065945661550694, -0.29528493994747984, -0.6889981932107886, -0.20000000000000567]",
- "[16.2, -8.596236886310752, 4.939652138368621, 8.055954576433052, -0.39371325326330686, -0.7874265065266155, -5.773159728050814e-15]",
- "[16.3, -8.64052962730288, 4.865830903381758, 8.065954576433068, -0.49214156657913377, -0.6889981932107885, 0.19999999999999424]",
- "[16.4, -8.684818021687791, 4.792005321787674, 8.075945744406859, -0.3937132532633067, -0.7874265065266154, -5.995204332975845e-15]",
- "[16.5, -8.729110762679921, 4.718184086800812, 8.085945744406875, -0.49214156657913366, -0.6889981932107884, 0.19999999999999402]",
- "[16.6, -8.773399194904218, 4.644358543046116, 8.095936989267875, -0.3937132532633067, -0.7874265065266153, -6.439293542825908e-15]",
- "[16.7, -8.807849104564749, 4.5705373080592535, 8.08593698926786, -0.29528493994747973, -0.6889981932107884, -0.20000000000000653]",
- "[16.8, -8.842303275514174, 4.496711811783498, 8.075945647932711, -0.39371325326330653, -0.7874265065266155, -6.661338147750939e-15]",
- "[16.9, -8.886596016506303, 4.422890576796634, 8.085945647932725, -0.49214156657913355, -0.6889981932107885, 0.19999999999999335]",
- "[17.0, -8.93088454723921, 4.349065131550549, 8.095937092956879, -0.3937132532633065, -0.7874265065266153, -6.661338147750939e-15]",
- "[17.1, -8.97517728831163, 4.265401065151797, 8.085937092793717, -0.49214156657913344, -0.8858548198424423, -0.20000000000000678]",
- "[17.2, -9.019465877446544, 4.171890015644553, 8.075945529100439, -0.3937132532633066, -0.9842831331582691, -6.8833827526759706e-15]",
- "[17.3, -9.053915787026781, 4.078383118074819, 8.065945528937268, -0.2952849399474796, -0.8858548198424422, -0.200000000000007]",
- "[17.4, -9.088369767411098, 3.984872149701004, 8.055953800386087, -0.39371325326330675, -0.9842831331582689, -7.105427357601002e-15]",
- "[17.5, -9.122819677071629, 3.891365252050976, 8.0659538003861, -0.2952849399474797, -0.8858548198424421, 0.1999999999999929]",
- "[17.6, -9.157273574134306, 3.80770517313466, 8.075945698241497, -0.39371325326330664, -0.7874265065266152, -7.327471962526033e-15]",
- "[17.7, -9.191723483794837, 3.7240411068162, 8.085945698241513, -0.2952849399474796, -0.8858548198424421, 0.19999999999999268]",
- "[17.8, -9.226177304565935, 3.6403809516083037, 8.095937751116493, -0.39371325326330675, -0.787426506526615, -7.327471962526033e-15]",
- "[17.9, -9.260627214226465, 3.5665597166214416, 8.085937751116475, -0.29528493994747973, -0.6889981932107881, -0.20000000000000742]",
- "[18.0, -9.285230463015878, 3.4927346520950255, 8.07594553249445, -0.19685662663165276, -0.7874265065266154, -7.549516567451064e-15]",
- "[18.1, -9.309837541425145, 3.4090705856962615, 8.065945532331263, -0.29528493994747973, -0.8858548198424425, -0.20000000000000767]",
- "[18.2, -9.344291188906627, 3.325410257198755, 8.05595312734294, -0.39371325326330664, -0.7874265065266156, -7.771561172376096e-15]",
- "[18.3, -9.378741098567158, 3.2417461908802943, 8.065953127342956, -0.2952849399474796, -0.8858548198424427, 0.19999999999999224]",
- "[18.4, -9.403344538724044, 3.1580857627339123, 8.075945734811379, -0.19685662663165265, -0.7874265065266157, -7.771561172376096e-15]",
- "[18.5, -9.427951617053006, 3.08426452774705, 8.085945734811395, -0.29528493994747973, -0.6889981932107885, 0.19999999999999224]",
- "[18.6, -9.45255515513257, 3.010439752510787, 8.0959385412524, -0.19685662663165282, -0.7874265065266154, -7.66053886991358e-15]",
- "[18.7, -9.477162233541838, 2.926775686112022, 8.085938541089208, -0.29528493994747984, -0.8858548198424423, -0.20000000000000778]",
- "[18.8, -9.511615575220404, 2.8431150518115977, 8.075945514729034, -0.39371325326330675, -0.7874265065266154, -7.882583474838611e-15]",
- "[18.9, -9.546065484880934, 2.7594509854931366, 8.085945514729051, -0.2952849399474797, -0.8858548198424425, 0.19999999999999213]",
- "[19.0, -9.570669253882466, 2.675790228502111, 8.095938790388633, -0.1968566266316527, -0.7874265065266156, -7.993605777301127e-15]",
- "[19.1, -9.585433500799523, 2.592126162103341, 8.085938790225434, -0.09842831331582569, -0.8858548198424426, -0.2000000000000081]",
- "[19.2, -9.600200925217257, 2.508465273205248, 8.075945246539176, -0.19685662663165265, -0.7874265065266157, -8.215650382226158e-15]",
- "[19.3, -9.624808003546221, 2.424801206886787, 8.065945246539156, -0.2952849399474797, -0.8858548198424429, -0.20000000000000834]",
- "[19.4, -9.649412047289353, 2.3411401751541563, 8.05595141262231, -0.1968566266316527, -0.7874265065266158, -8.43769498715119e-15]",
- "[19.5, -9.664176294286719, 2.2574761088356956, 8.065951412622326, -0.09842831331582572, -0.885854819842443, 0.19999999999999157]",
- "[19.6, -9.678943425937714, 2.173814927170862, 8.075945551191761, -0.1968566266316527, -0.7874265065266159, -8.43769498715119e-15]",
- "[19.7, -9.703550504266678, 2.099993692184, 8.085945551191777, -0.2952849399474797, -0.6889981932107888, 0.19999999999999157]",
- "[19.8, -9.728154846383516, 2.0261697209850076, 8.095939991384785, -0.19685662663165282, -0.7874265065266158, -8.43769498715119e-15]",
- "[19.9, -9.742919093380882, 1.942505654666547, 8.085939991384768, -0.09842831331582585, -0.8858548198424429, -0.2000000000000085]",
- "[20.0, -9.75768591778793, 1.8588441657577661, 8.075945228515398, -0.1968566266316527, -0.787426506526616, -8.659739592076221e-15]",
- "[20.1, -9.772450164785294, 1.775180099439305, 8.085945228515413, -0.09842831331582569, -0.8858548198424432, 0.19999999999999135]",
- "[20.2, -9.787216810780293, 1.6915184321184764, 8.095940353906586, -0.1968566266316527, -0.7874265065266159, -8.881784197001252e-15]",
- "[20.3, -9.801981057697338, 1.6078543657196933, 8.085940353743363, -0.0984283133158258, -0.8858548198424427, -0.20000000000000906]",
- "[20.4, -9.816747515426904, 1.5241925101334317, 8.07594484580894, -0.19685662663165276, -0.7874265065266157, -9.103828801926284e-15]",
- "[20.5, -9.831511762424272, 1.4405284438149704, 8.085944845808955, -0.09842831331582574, -0.8858548198424426, 0.1999999999999909]",
- "[20.6, -9.83643116533286, 1.3568663902537215, 8.095940756015814, 1.2212453270876722e-15, -0.7874265065266157, -9.103828801926284e-15]",
- "[20.7, -9.841352581078981, 1.2732023238549353, 8.085940755852583, -0.09842831331582569, -0.8858548198424427, -0.20000000000000906]",
- "[20.8, -9.856118633395553, 1.1895400628556805, 8.075944424145044, -0.19685662663165265, -0.7874265065266157, -8.992806499463768e-15]",
- "[20.9, -9.870882880392916, 1.1058759965372194, 8.085944424145058, -0.09842831331582566, -0.8858548198424429, 0.19999999999999102]",
- "[21.0, -9.87580270704065, 1.0222135192368258, 8.095941195362595, 1.3877787807814457e-15, -0.7874265065266157, -9.103828801926284e-15]",
- "[21.1, -9.88072412278677, 0.9385494528380395, 8.085941195199366, -0.09842831331582558, -0.8858548198424429, -0.2000000000000095]",
- "[21.2, -9.885644174039658, 0.8548867509324867, 8.075943967598596, 1.3877787807814457e-15, -0.7874265065266159, -9.547918011776346e-15]",
- "[21.3, -9.89056558970546, 0.7712226846140257, 8.08594396759861, -0.09842831331582562, -0.885854819842443, 0.19999999999999046]",
- "[21.4, -9.895485872980448, 0.6875597506863765, 8.095941666653351, 1.3877787807814457e-15, -0.7874265065266157, -9.603429163007604e-15]",
- "[21.5, -9.900407288726578, 0.6038956842875836, 8.085941666490106, -0.09842831331582558, -0.8858548198424427, -0.2000000000000095]",
- "[21.6, -9.905327810425298, 0.5103878926704745, 8.07594348297368, 1.4155343563970746e-15, -0.9842831331582699, -9.492406860545088e-15]",
- "[21.7, -9.910249226171429, 0.41688099510077714, 8.085943483136921, -0.09842831331582558, -0.885854819842443, 0.19999999999999063]",
- "[21.8, -9.915170020461108, 0.3332175501584356, 8.095942220540639, 1.4155343563970746e-15, -0.7874265065266158, -9.492406860545088e-15]",
- "[21.9, -9.920091436207239, 0.2495534837596442, 8.085942220377397, -0.09842831331582558, -0.8858548198424429, -0.20000000000000961]",
- "[22.0, -9.925012478392903, 0.1658897909213197, 8.07594297926499, 1.4155343563970746e-15, -0.7874265065266159, -9.603429163007604e-15]",
- "[22.1, -9.929933894058703, 0.08222572460285871, 8.065942979264975, -0.09842831331582556, -0.885854819842443, -0.20000000000000967]",
- "[22.2, -9.934855186415085, -0.0014382184061858243, 8.055943229821755, 1.4311468676808659e-15, -0.7874265065266159, -9.658940314238862e-15]",
- "[22.3, -9.929933770749285, -0.08510228472464682, 8.065943229821771, 0.09842831331582844, -0.885854819842443, 0.19999999999999035]",
- "[22.4, -9.925012482704409, -0.16876622342218386, 8.07594297050428, 1.4450246554886803e-15, -0.7874265065266158, -9.745676488037702e-15]",
- "[22.5, -9.920091067038607, -0.2524302897406449, 8.085942970504297, 0.09842831331582845, -0.885854819842443, 0.1999999999999903]",
- "[22.6, -9.915170029138432, -0.3360939782934826, 8.09594220290887, 1.4849232954361469e-15, -0.7874265065266159, -9.769962616701378e-15]",
- "[22.7, -9.920091444884566, -0.41975804469227784, 8.085942202745617, -0.09842831331582547, -0.885854819842443, -0.20000000000000961]",
- "[22.8, -9.925012234939327, -0.5034214853997018, 8.07594347394698, 1.4710455076283324e-15, -0.7874265065266162, -9.603429163007604e-15]",
- "[22.9, -9.920090819193195, -0.5870855517984948, 8.085943474110223, 0.09842831331582846, -0.8858548198424433, 0.1999999999999904]",
- "[23.0, -9.915170273238003, -0.6805933191591291, 8.095941706914244, 1.4710455076283324e-15, -0.9842831331582702, -9.658940314238862e-15]",
- "[23.1, -9.91024885749187, -0.774100216728824, 8.085941706750996, 0.09842831331582846, -0.8858548198424433, -0.20000000000000973]",
- "[23.2, -9.895483474043, -0.8577631465957816, 8.07594401594732, 0.19685662663165546, -0.7874265065266162, -9.769962616701378e-15]",
- "[23.3, -9.880719227045637, -0.9414272129142425, 8.085944015947335, 0.09842831331582842, -0.8858548198424431, 0.19999999999999024]",
- "[23.4, -9.875799179721161, -1.02508991089138, 8.095941235565814, 1.3877787807814457e-15, -0.7874265065266163, -9.992007221626409e-15]",
- "[23.5, -9.870877763975024, -1.1087539772901787, 8.085941235402558, 0.09842831331582824, -0.885854819842443, -0.20000000000000995]",
- "[23.6, -9.865957941120664, -1.1924164507972002, 8.075944471892909, 1.27675647831893e-15, -0.7874265065266162, -9.880984919163893e-15]",
- "[23.7, -9.861036525374528, -1.2760805171959972, 8.08594447205616, 0.09842831331582824, -0.8858548198424432, 0.19999999999998996]",
- "[23.8, -9.846270469358274, -1.3597427744955688, 8.095940796246182, 0.1968566266316552, -0.7874265065266162, -1.021405182655144e-14]",
- "[23.9, -9.831506222441249, -1.4434068408943703, 8.08594079608292, 0.09842831331582824, -0.8858548198424433, -0.2000000000000106]",
- "[24.0, -9.816739959198593, -1.5270688909675383, 8.075944892963614, 0.1968566266316552, -0.7874265065266164, -1.0547118733938987e-14]",
- "[24.1, -9.801975712201227, -1.610732957286, 8.065944892963598, 0.0984283133158282, -0.8858548198424434, -0.20000000000001064]",
- "[24.2, -9.787209251903228, -1.694394810303828, 8.05594939024807, 0.19685662663165515, -0.7874265065266165, -1.0547118733938987e-14]",
- "[24.3, -9.772445004905862, -1.7780588766222896, 8.065949390248084, 0.09842831331582816, -0.8858548198424436, 0.19999999999998946]",
- "[24.4, -9.757678356719552, -1.8617205417518066, 8.075944511186654, 0.1968566266316552, -0.7874265065266166, -1.0658141036401503e-14]",
- "[24.5, -9.742914109802532, -1.945384608150614, 8.065944511023375, 0.09842831331582835, -0.8858548198424436, -0.2000000000000106]",
- "[24.6, -9.728147283604095, -2.0290460952680043, 8.055949751793992, 0.19685662663165532, -0.7874265065266166, -1.0658141036401503e-14]",
- "[24.7, -9.713383036606729, -2.112710161586465, 8.065949751794008, 0.09842831331582831, -0.8858548198424435, 0.19999999999998935]",
- "[24.8, -9.698616042269627, -2.196371480565194, 8.075944169376447, 0.1968566266316552, -0.7874265065266166, -1.0658141036401503e-14]",
- "[24.9, -9.683851795352608, -2.280035546964001, 8.065944169213168, 0.09842831331582819, -0.8858548198424436, -0.20000000000001072]",
- "[25.0, -9.669084642631447, -2.3636967075586655, 8.055950073456955, 0.1968566266316552, -0.7874265065266166, -1.0769163338864018e-14]",
- "[25.1, -9.644477564302482, -2.4473607738771253, 8.06595007345697, 0.2952849399474822, -0.8858548198424437, 0.19999999999998924]",
- "[25.2, -9.61987354040761, -2.5310217857614927, 8.075943867043422, 0.1968566266316552, -0.7874265065266168, -1.0769163338864018e-14]",
- "[25.3, -9.595266462078646, -2.6146858520799525, 8.085943867043436, 0.2952849399474822, -0.885854819842444, 0.19999999999998924]",
- "[25.4, -9.570662579719812, -2.6983467224282798, 8.095937373037764, 0.19685662663165515, -0.7874265065266172, -1.0769163338864018e-14]",
- "[25.5, -9.546055501390848, -2.772167957415142, 8.085937373037748, 0.29528493994748223, -0.6889981932107901, -0.20000000000001086]",
- "[25.6, -9.521451742112628, -2.845992511452752, 8.075944117135311, 0.19685662663165532, -0.7874265065266173, -1.0880185641326534e-14]",
- "[25.7, -9.496844663783662, -2.929656577771213, 8.085944117135325, 0.29528493994748234, -0.8858548198424443, 0.19999999999998913]",
- "[25.8, -9.47224101995185, -3.01331720959252, 8.09593713845809, 0.19685662663165548, -0.7874265065266174, -1.0880185641326534e-14]",
- "[25.9, -9.447633941542534, -3.096981275991331, 8.08593713829481, 0.29528493994748245, -0.8858548198424443, -0.20000000000001103]",
- "[26.0, -9.42303041245244, -3.180641793070923, 8.075944350119823, 0.19685662663165543, -0.7874265065266175, -1.1102230246251565e-14]",
- "[26.1, -9.398423334123477, -3.2544630280577858, 8.065944350119807, 0.29528493994748234, -0.6889981932107905, -0.20000000000001117]",
- "[26.2, -9.363969777811228, -3.328287909696368, 8.055951759881468, 0.3937132532633093, -0.7874265065266178, -1.1102230246251565e-14]",
- "[26.3, -9.329519868150694, -3.4119519760148287, 8.065951759881482, 0.29528493994748234, -0.8858548198424447, 0.1999999999999889]",
- "[26.4, -9.304916529896046, -3.4956123022589747, 8.075944160291115, 0.19685662663165537, -0.7874265065266178, -1.1102230246251565e-14]",
- "[26.5, -9.280309451567081, -3.5792763685774354, 8.08594416029113, 0.29528493994748234, -0.8858548198424447, 0.1999999999999889]",
- "[26.6, -9.24585570476729, -3.6629365977566355, 8.095936363471036, 0.3937132532633094, -0.7874265065266177, -1.1102230246251565e-14]",
- "[26.7, -9.211405795106756, -3.736757832743498, 8.08593636347102, 0.29528493994748245, -0.6889981932107907, -0.20000000000001117]",
- "[26.8, -9.186802635091745, -3.810582986044314, 8.075944325232859, 0.19685662663165548, -0.7874265065266178, -1.1102230246251565e-14]",
- "[26.9, -9.16219555676278, -3.8942470523627746, 8.085944325232873, 0.29528493994748245, -0.8858548198424447, 0.1999999999999889]",
- "[27.0, -9.127741652436768, -3.9779071240157537, 8.095936208329638, 0.3937132532633093, -0.7874265065266177, -1.1102230246251565e-14]",
- "[27.1, -9.093291742776234, -4.051728359002617, 8.085936208329622, 0.29528493994748234, -0.6889981932107907, -0.20000000000001117]",
- "[27.2, -9.058837767998604, -4.125553659106577, 8.075944468386005, 0.3937132532633092, -0.7874265065266178, -1.1324274851176597e-14]",
- "[27.3, -9.014545026926118, -4.1993748940130855, 8.06594446822271, 0.49214156657913627, -0.688998193210791, -0.2000000000000114]",
- "[27.4, -8.970256407164337, -4.273200250230296, 8.05595284229761, 0.39371325326330936, -0.7874265065266182, -1.1324274851176597e-14]",
- "[27.5, -8.935806497503808, -4.347021485217159, 8.065952842297625, 0.29528493994748234, -0.6889981932107914, 0.1999999999999887]",
- "[27.6, -8.901352409950782, -4.420846898096519, 8.075944353088884, 0.3937132532633093, -0.7874265065266185, -1.1546319456101628e-14]",
- "[27.7, -8.866902500370612, -4.50451096449534, 8.065944352925582, 0.29528493994748223, -0.8858548198424455, -0.20000000000001167]",
- "[27.8, -8.83244835592666, -4.588170796030379, 8.05595295773302, 0.3937132532633091, -0.7874265065266188, -1.176836406102666e-14]",
- "[27.9, -8.79799844626613, -4.661992031017242, 8.065952957733034, 0.295284939947482, -0.6889981932107919, 0.19999999999998824]",
- "[28.0, -8.76354424897978, -4.735817553629921, 8.075944245553245, 0.39371325326330897, -0.7874265065266189, -1.176836406102666e-14]",
- "[28.1, -8.719251507907288, -4.8096387885364225, 8.06594424538994, 0.49214156657913605, -0.6889981932107919, -0.2000000000000119]",
- "[28.2, -8.67496309986251, -4.883464356470636, 8.05595304966016, 0.3937132532633092, -0.7874265065266189, -1.199040866595169e-14]",
- "[28.3, -8.630670358870377, -4.957285591457499, 8.065953049660173, 0.49214156657913616, -0.6889981932107919, 0.19999999999998802]",
- "[28.4, -8.586381992369095, -5.031111200935214, 8.075944160976224, 0.39371325326330925, -0.7874265065266189, -1.199040866595169e-14]",
- "[28.5, -8.542089251296597, -5.104932435841713, 8.065944160812911, 0.49214156657913627, -0.6889981932107919, -0.2000000000000121]",
- "[28.6, -8.497800923241186, -5.1787580837653, 8.055953127616396, 0.3937132532633094, -0.7874265065266187, -1.2212453270876722e-14]",
- "[28.7, -8.453508182249056, -5.252579318752163, 8.065953127616412, 0.49214156657913644, -0.6889981932107918, 0.1999999999999878]"
- ],
- "test1": [
- "[11.6, 3.9850329655886467, 9.159482892162652, 0.0659935627811023, -0.9842831331582699, 0.3937132532633084, -3.9968028886505635e-15]",
- "[11.7, 3.8915260679386185, 9.193932801823184, 0.05599356278108558, -0.8858548198424429, 0.2952849399474814, -0.20000000000000415]",
- "[11.799999999999999, 3.807862042954821, 9.218539838817486, 0.04599364677044632, -0.7874265065266159, 0.19685662663165432, -4.218847493575595e-15]",
- "[11.9, 3.7340408079679586, 9.243146917146452, 0.035993646770429585, -0.688998193210789, 0.2952849399474814, -0.20000000000000429]",
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- "[28.5, -9.248643689830484, 3.5835026943256443, -4.9440156240847415, -0.2952849399474804, -0.8858548198424445, -0.20000000000001394]",
- "[28.6, -9.28309654989758, 3.489992846269055, -4.974021619121036, -0.39371325326330736, -0.9842831331582715, -0.4000000000000141]",
- "[28.700000000000003, -9.317543521123552, 3.396488887053589, -5.004015648411043, -0.29528493994748045, -0.8858548198424446, -0.20000000000001428]"
- ]
- },
- "type": "simtrace",
- "assert_hits": null
-},
-"6": {
- "node_name": "2-2",
- "id": 6,
- "start_line": 6462,
- "parent": {
- "name": "1-2",
- "index": 5,
- "start_line": 5900
- },
- "child": {},
- "agent": {
- "test1": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test2": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test3": "<class 'quadrotor_agent.QuadrotorAgent'>"
- },
- "init": {
- "test1": "[-9.317543521123552, 3.396488887053589, -5.004015648411043, -0.29528493994748045, -0.8858548198424446, -0.20000000000001428]"
- },
- "mode": {
- "test1": "[\"Normal\", \"M12\"]",
- "test2": "[\"Normal\", \"T1\"]",
- "test3": "[\"Normal\", \"T0\"]"
- },
- "static": {
- "test1": "[]",
- "test2": "[]",
- "test3": "[]"
- },
- "start_time": 28.7,
- "trace": {
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- "[28.7, -6.919728528731216, 7.116059197838647, 0.07966478501029767, -0.2952849399474798, -0.2952849399474807, -0.20000000000001117]",
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- "[90.2, 8.853407271803043, -10.035074644185377, 0.08966457691102103, 0.5905698798949611, 1.5543122344752192e-15, -2.55351295663786e-14]",
- "[90.3, 8.907542844126738, -10.030153228519577, 0.07966457691100212, 0.492141566579134, 0.09842831331582855, -0.20000000000002563]",
- "[90.4, 8.951835526309765, -10.02523187166288, 0.0696646964072945, 0.393713253263307, 1.5543122344752192e-15, -2.5757174171303632e-14]",
- "[90.5, 8.996128267301895, -10.03015328732868, 0.07966469640730829, 0.49214156657913394, -0.09842831331582545, 0.19999999999997425]",
- "[90.6, 9.050263898434796, -10.035074644185276, 0.08966457691080892, 0.5905698798949607, 1.4432899320127035e-15, -2.5757174171303632e-14]",
- "[90.7, 9.10439947075849, -10.030153228519476, 0.07966457691078996, 0.4921415665791336, 0.09842831331582842, -0.20000000000002585]",
- "[90.8, 9.148692152941496, -10.0252318716628, 0.0696646964071318, 0.39371325326330653, 1.3322676295501878e-15, -2.5757174171303632e-14]",
- "[90.9, 9.192984893933627, -10.0301532873286, 0.07966469640714559, 0.4921415665791335, -0.09842831331582567, 0.19999999999997425]",
- "[91.0, 9.24712052506655, -10.035074644185173, 0.08966457691059809, 0.5905698798949605, 1.3322676295501878e-15, -2.5757174171303632e-14]",
- "[91.1, 9.311098928721844, -10.030153228519373, 0.07966457691057913, 0.6889981932107876, 0.09842831331582831, -0.20000000000002585]",
- "[91.2, 9.37507727356799, -10.025231871662724, 0.06966469640696954, 0.5905698798949603, 1.2212453270876722e-15, -2.5757174171303632e-14]",
- "[91.3, 9.429212845891685, -10.030153287328524, 0.07966469640698333, 0.49214156657913316, -0.09842831331582579, 0.19999999999997425]",
- "[91.4, 9.473505528074561, -10.035074644185071, 0.08966457691038204, 0.3937132532633062, 1.2212453270876722e-15, -2.5757174171303632e-14]",
- "[91.5, 9.517798269066692, -10.030153228519271, 0.07966457691036308, 0.49214156657913316, 0.0984283133158282, -0.20000000000002585]",
- "[91.6, 9.57193390019956, -10.025231871662644, 0.06966469640679901, 0.5905698798949601, 1.1102230246251565e-15, -2.5757174171303632e-14]",
- "[91.7, 9.635912303854855, -10.030153287328444, 0.0796646964068128, 0.6889981932107873, -0.0984283133158259, 0.19999999999997425]",
- "[91.8, 9.699890648700876, -10.035074644184968, 0.08966457691016777, 0.5905698798949603, 9.992007221626409e-16, -2.5757174171303632e-14]",
- "[91.9, 9.75402622102457, -10.030153228519168, 0.0796645769101488, 0.49214156657913327, 0.09842831331582798, -0.20000000000002585]",
- "[92.0, 9.798318903207504, -10.025231871662564, 0.06966469640663325, 0.3937132532633063, 9.992007221626409e-16, -2.5757174171303632e-14]",
- "[92.1, 9.832768812868034, -10.030153287328364, 0.07966469640664704, 0.29528493994747934, -0.09842831331582601, 0.19999999999997425]",
- "[92.2, 9.86721878133786, -10.035074644184869, 0.08966457690996266, 0.3937132532633063, 8.881784197001252e-16, -2.5757174171303632e-14]",
- "[92.3, 9.91151152232999, -10.030153228519069, 0.07966457690994369, 0.49214156657913327, 0.09842831331582787, -0.20000000000002585]",
- "[92.4, 9.965647153462898, -10.025231871662479, 0.06966469640645856, 0.5905698798949602, 8.881784197001252e-16, -2.5757174171303632e-14]",
- "[92.5, 10.029625557118194, -10.030153287328279, 0.07966469640647235, 0.6889981932107873, -0.09842831331582612, 0.19999999999997425]",
- "[92.6, 10.093603901964176, -10.035074644184766, 0.08966457690975105, 0.5905698798949605, 8.881784197001252e-16, -2.5757174171303632e-14]",
- "[92.7, 10.14773947428787, -10.030153228518966, 0.07966457690973208, 0.4921415665791334, 0.09842831331582787, -0.20000000000002585]",
- "[92.8, 10.201875105420797, -10.025231871662397, 0.06966469640629003, 0.5905698798949606, 8.881784197001252e-16, -2.5757174171303632e-14]",
- "[92.9, 10.265853509076093, -10.030153287328197, 0.07966469640630382, 0.6889981932107877, -0.09842831331582612, 0.19999999999997425]",
- "[93.0, 10.329831853922057, -10.035074644184665, 0.089664576909541, 0.5905698798949608, 7.771561172376096e-16, -2.55351295663786e-14]",
- "[93.1, 10.383967426245752, -10.030153228518865, 0.07966457690952208, 0.49214156657913366, 0.09842831331582777, -0.20000000000002563]",
- "[93.2, 10.42826010842863, -10.025231871662317, 0.06966469640612027, 0.39371325326330675, 7.771561172376096e-16, -2.5757174171303632e-14]",
- "[93.3, 10.47255284942076, -10.030153287328117, 0.07966469640613406, 0.4921415665791337, -0.09842831331582623, 0.19999999999997425]",
- "[93.4, 10.526688480553805, -10.03507464418457, 0.08966457690933721, 0.5905698798949606, 7.771561172376096e-16, -2.5757174171303632e-14]",
- "[93.5, 10.590666884209101, -10.03015322851877, 0.07966457690931825, 0.6889981932107877, 0.09842831331582776, -0.20000000000002585]",
- "[93.6, 10.65464522905513, -10.02523187166224, 0.06966469640594924, 0.5905698798949607, 7.771561172376096e-16, -2.5979218776228663e-14]",
- "[93.7, 10.708780801378838, -10.030153287328032, 0.07966469640594664, 0.4921415665791335, -0.0984283133158262, 0.19999999999997403]",
- "[93.8, 10.753073483561604, -10.035074644184466, 0.08966457690911328, 0.39371325326330653, 7.771561172376096e-16, -2.6201263381153694e-14]",
- "[93.9, 10.797366224553734, -10.030153228518667, 0.07966457690909429, 0.4921415665791335, 0.09842831331582776, -0.20000000000002627]",
- "[94.0, 10.851501855686715, -10.025231871662148, 0.06966469640575623, 0.5905698798949607, 7.771561172376096e-16, -2.6201263381153694e-14]",
- "[94.1, 10.90563742801042, -10.030153287327938, 0.07966469640575362, 0.49214156657913366, -0.09842831331582622, 0.1999999999999738]",
- "[94.2, 10.949930110193169, -10.035074644184359, 0.08966457690889162, 0.3937132532633067, 7.771561172376096e-16, -2.6201263381153694e-14]",
- "[94.3, 10.994222851185299, -10.03015322851856, 0.07966457690887263, 0.4921415665791337, 0.09842831331582776, -0.20000000000002627]",
- "[94.4, 11.048358482318294, -10.025231871662056, 0.06966469640556261, 0.5905698798949609, 5.551115123125783e-16, -2.6201263381153694e-14]",
- "[94.5, 11.112336885973582, -10.030153287327845, 0.07966469640556, 0.6889981932107879, -0.09842831331582644, 0.1999999999999738]",
- "[94.6, 11.176315230819482, -10.03507464418425, 0.08966457690866947, 0.590569879894961, 4.440892098500626e-16, -2.6423307986078726e-14]",
- "[94.7, 11.23045080314318, -10.03015322851845, 0.07966457690865046, 0.49214156657913394, 0.09842831331582745, -0.2000000000000265]",
- "[94.8, 11.274743485325994, -10.025231871661967, 0.06966469640537204, 0.3937132532633071, 5.551115123125783e-16, -2.6645352591003757e-14]",
- "[94.9, 11.319036226318115, -10.030153287327757, 0.07966469640536937, 0.49214156657913416, -0.09842831331582644, 0.19999999999997337]",
- "[95.0, 11.373171857451219, -10.03507464418415, 0.08966457690845192, 0.590569879894961, 4.440892098500626e-16, -2.6645352591003757e-14]",
- "[95.1, 11.437150261106503, -10.03015322851836, 0.07966457690844923, 0.688998193210788, 0.09842831331582744, -0.20000000000002677]",
- "[95.2, 11.501128605952474, -10.025231871661891, 0.06966469640519679, 0.590569879894961, 4.440892098500626e-16, -2.6867397195928788e-14]",
- "[95.3, 11.55526417827618, -10.03015328732768, 0.07966469640519411, 0.49214156657913405, -0.09842831331582655, 0.19999999999997314]",
- "[95.4, 11.599556860458891, -10.03507464418406, 0.08966457690824753, 0.3937132532633071, 4.440892098500626e-16, -2.6867397195928788e-14]",
- "[95.5, 11.64384960145102, -10.030153228518262, 0.0796645769082285, 0.4921415665791341, 0.09842831331582744, -0.20000000000002696]",
- "[95.6, 11.697985232584058, -10.025231871661802, 0.06966469640500078, 0.5905698798949609, 5.551115123125783e-16, -2.708944180085382e-14]",
- "[95.7, 11.761963636239345, -10.030153287327593, 0.07966469640499808, 0.6889981932107879, -0.09842831331582647, 0.19999999999997292]",
- "[95.8, 11.82594198108521, -10.035074644183961, 0.08966457690802748, 0.590569879894961, 5.551115123125783e-16, -2.731148640577885e-14]",
- "[95.9, 11.880077553408917, -10.03015322851817, 0.07966457690802477, 0.492141566579134, 0.09842831331582758, -0.20000000000002738]",
- "[96.0, 11.924370235591695, -10.025231871661724, 0.0696646964048237, 0.3937132532633071, 6.661338147750939e-16, -2.7533531010703882e-14]",
- "[96.1, 11.968662976583824, -10.030153287327524, 0.0796646964048373, 0.49214156657913416, -0.09842831331582635, 0.19999999999997248]",
- "[96.2, 12.022798607716963, -10.035074644183881, 0.08966457690784402, 0.5905698798949613, 7.771561172376096e-16, -2.7533531010703882e-14]",
- "[96.3, 12.08677701137226, -10.030153228518081, 0.07966457690782491, 0.6889981932107885, 0.09842831331582777, -0.2000000000000276]",
- "[96.4, 12.150755356218193, -10.025231871661644, 0.06966469640464584, 0.5905698798949617, 6.661338147750939e-16, -2.7533531010703882e-14]",
- "[96.5, 12.204890928541891, -10.030153287327444, 0.07966469640465944, 0.49214156657913455, -0.09842831331582635, 0.19999999999997248]",
- "[96.6, 12.249183610724566, -10.035074644183789, 0.08966457690764157, 0.3937132532633075, 6.661338147750939e-16, -2.7755575615628914e-14]",
- "[96.7, 12.293476351716695, -10.03015322851799, 0.07966457690762245, 0.49214156657913466, 0.09842831331582766, -0.20000000000002785]",
- "[96.8, 12.347611982849765, -10.025231871661566, 0.06966469640446432, 0.5905698798949615, 6.661338147750939e-16, -2.7977620220553945e-14]",
- "[96.9, 12.401747555173463, -10.030153287327366, 0.0796646964044779, 0.49214156657913455, -0.0984283133158263, 0.19999999999997203]",
- "[97.0, 12.446040237356128, -10.035074644183698, 0.08966457690744051, 0.3937132532633076, 6.661338147750939e-16, -2.7755575615628914e-14]",
- "[97.1, 12.490332978348256, -10.0301532285179, 0.07966457690742139, 0.49214156657913466, 0.09842831331582766, -0.20000000000002785]",
- "[97.2, 12.544468609481333, -10.02523187166148, 0.06966469640428236, 0.5905698798949613, 7.771561172376096e-16, -2.7977620220553945e-14]",
- "[97.3, 12.60844701313663, -10.03015328732728, 0.07966469640429594, 0.6889981932107884, -0.09842831331582619, 0.19999999999997203]",
- "[97.4, 12.672425357982451, -10.035074644183602, 0.08966457690723917, 0.5905698798949617, 6.661338147750939e-16, -2.7977620220553945e-14]",
- "[97.5, 12.72656093030615, -10.030153228517802, 0.07966457690721998, 0.4921415665791347, 0.09842831331582763, -0.20000000000002804]",
- "[97.6, 12.770853612488887, -10.025231871661394, 0.06966469640410256, 0.39371325326330775, 6.661338147750939e-16, -2.7977620220553945e-14]",
- "[97.7, 12.815146353481017, -10.030153287327193, 0.07966469640411614, 0.49214156657913477, -0.0984283133158263, 0.19999999999997203]",
- "[97.8, 12.8692819846142, -10.035074644183512, 0.08966457690704088, 0.5905698798949619, 6.661338147750939e-16, -2.7977620220553945e-14]",
- "[97.9, 12.933260388269497, -10.030153228517712, 0.0796645769070217, 0.6889981932107888, 0.09842831331582763, -0.20000000000002804]",
- "[98.0, 12.99723873311539, -10.02523187166131, 0.0696646964039222, 0.5905698798949619, 6.661338147750939e-16, -2.8199664825478976e-14]",
- "[98.1, 13.051374305439094, -10.0301532873271, 0.07966469640391938, 0.492141566579135, -0.09842831331582631, 0.1999999999999718]",
- "[98.2, 13.09566698762173, -10.035074644183403, 0.08966457690682411, 0.3937132532633079, 6.661338147750939e-16, -2.8199664825478976e-14]",
- "[98.3, 13.130116897282269, -10.030153228517614, 0.07966457690682129, 0.2952849399474809, 0.09842831331582767, -0.20000000000002832]",
- "[98.4, 13.164566865752212, -10.025231871661227, 0.06966469640373812, 0.39371325326330786, 6.661338147750939e-16, -2.8199664825478976e-14]",
- "[98.5, 13.208859606744333, -10.030153287327016, 0.0796646964037353, 0.4921415665791349, -0.09842831331582631, 0.1999999999999718]",
- "[98.6, 13.262995237877528, -10.035074644183315, 0.0896645769066271, 0.5905698798949618, 6.661338147750939e-16, -2.8199664825478976e-14]",
- "[98.7, 13.326973641532815, -10.030153228517525, 0.07966457690662428, 0.6889981932107888, 0.09842831331582767, -0.20000000000002832]",
- "[98.8, 13.390951986378692, -10.025231871661145, 0.06966469640355677, 0.5905698798949617, 5.551115123125783e-16, -2.842170943040401e-14]",
- "[98.9, 13.445087558702399, -10.030153287326932, 0.07966469640355392, 0.4921415665791347, -0.09842831331582641, 0.1999999999999716]",
- "[99.0, 13.499223189835604, -10.035074644183222, 0.08966457690642743, 0.5905698798949617, 5.551115123125783e-16, -2.8199664825478976e-14]",
- "[99.1, 13.563201593490891, -10.030153228517433, 0.0796645769064246, 0.6889981932107886, 0.09842831331582756, -0.20000000000002832]",
- "[99.2, 13.627179938336763, -10.025231871661061, 0.06966469640337491, 0.5905698798949617, 6.661338147750939e-16, -2.842170943040401e-14]",
- "[99.3, 13.68131551066047, -10.030153287326849, 0.07966469640337207, 0.4921415665791347, -0.0984283133158263, 0.1999999999999716]",
- "[99.4, 13.72560819284308, -10.035074644183132, 0.08966457690622825, 0.3937132532633078, 6.661338147750939e-16, -2.842170943040401e-14]",
- "[99.5, 13.76990093383521, -10.030153228517335, 0.07966457690620904, 0.4921415665791348, 0.09842831331582767, -0.20000000000002857]",
- "[99.6, 13.82403656496834, -10.02523187166097, 0.06966469640317424, 0.5905698798949618, 7.771561172376096e-16, -2.864375403532904e-14]",
- "[99.7, 13.888014968623635, -10.030153287326769, 0.07966469640318774, 0.6889981932107888, -0.09842831331582619, 0.19999999999997137]",
- "[99.8, 13.951993313469407, -10.035074644183043, 0.0896645769060293, 0.5905698798949617, 7.771561172376096e-16, -2.886579864025407e-14]",
- "[99.9, 14.006128885793103, -10.030153228517243, 0.07966457690601006, 0.4921415665791346, 0.09842831331582774, -0.20000000000002893]",
- "[100.0, 14.050421567975791, -10.025231871660882, 0.06966469640299139, 0.3937132532633075, 6.661338147750939e-16, -2.886579864025407e-14]"
- ],
- "test3": [
- "[28.7, -8.453508182249056, -5.252579318752163, 8.065953127616412, 0.49214156657913644, -0.6889981932107918, 0.1999999999999878]",
- "[28.8, -8.409219889725785, -5.326405002207886, 8.075944088613912, 0.39371325326330947, -0.787426506526619, -1.2212453270876722e-14]",
- "[28.9, -8.364927148733656, -5.410069068526347, 8.085944088613928, 0.49214156657913655, -0.8858548198424461, 0.1999999999999878]",
- "[29.0, -8.31078708638297, -5.493728644817821, 8.095934965167984, 0.5905698798949635, -0.7874265065266193, -1.2212453270876722e-14]",
- "[29.1, -8.246808682647309, -5.5773927112166515, 8.085934965004665, 0.6889981932107904, -0.8858548198424462, -0.2000000000000123]",
- "[29.2, -8.182834801693442, -5.661052254833683, 8.07594415484297, 0.5905698798949635, -0.7874265065266193, -1.2434497875801753e-14]",
- "[29.3, -8.128699229369744, -5.7348734898205445, 8.085944154842982, 0.49214156657913644, -0.6889981932107923, 0.19999999999998758]",
- "[29.4, -8.084411038274423, -5.808699274704213, 8.095934909745415, 0.3937132532633095, -0.7874265065266195, -1.2434497875801753e-14]",
- "[29.5, -8.04011829728229, -5.882520509691075, 8.085934909745399, 0.49214156657913655, -0.6889981932107926, -0.2000000000000125]",
- "[29.6, -7.985978150336738, -5.956346319299794, 8.075944205082669, 0.5905698798949635, -0.7874265065266195, -1.2434497875801753e-14]",
- "[29.7, -7.93184257801304, -6.030167554286655, 8.085944205082681, 0.49214156657913644, -0.6889981932107925, 0.19999999999998758]",
- "[29.8, -7.877702410231859, -6.103993384731001, 8.09593486740875, 0.5905698798949635, -0.7874265065266197, -1.2656542480726785e-14]",
- "[29.9, -7.813724006496188, -6.187657451129836, 8.085934867245417, 0.6889981932107904, -0.8858548198424466, -0.20000000000001275]",
- "[30.0, -7.749750217782753, -6.271316902506436, 8.07594424451035, 0.5905698798949636, -0.7874265065266198, -1.2878587085651816e-14]",
- "[30.1, -7.6857718140470785, -6.345138137412921, 8.06594424434701, 0.6889981932107906, -0.6889981932107928, -0.200000000000013]",
- "[30.2, -7.621798034470815, -6.418963996478817, 8.055953640178089, 0.5905698798949635, -0.78742650652662, -1.3100631690576847e-14]",
- "[30.3, -7.567662462147117, -6.49278523146568, 8.065953640178103, 0.49214156657913655, -0.6889981932107933, 0.1999999999999869]",
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- "[52.1, 11.6946789752244, -10.026363409467706, 8.085944609594055, 0.8858548198424502, 0.09842831331582175, 0.19999999999997825]",
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- "[99.8, 17.684000042161497, -29.736420472429796, 8.055956241063493, -0.7874265065266037, 0.1968566266316466, -3.6637359812630166e-14]",
- "[99.9, 17.60033597584304, -29.711813394100833, 8.065956241063505, -0.8858548198424308, 0.29528493994747357, 0.19999999999996337]",
- "[100.0, 17.516677669300304, -29.6872120755476, 8.075944537569814, -0.7874265065266038, 0.1968566266316465, -3.6415315207705135e-14]"
- ],
- "test1": [
- "[28.7, -9.317543521123552, 3.396488887053589, -5.004015648411043, -0.29528493994748045, -0.8858548198424446, -0.20000000000001428]",
- "[28.8, -9.34214767502632, 3.3029790649773645, -5.014009706165181, -0.19685662663165354, -0.9842831331582718, -1.4432899320127035e-14]",
- "[28.9, -9.356911921943288, 3.2094721674077364, -5.024009706328565, -0.09842831331582656, -0.8858548198424449, -0.20000000000001456]",
- "[29.0, -9.37167904464644, 3.1159623940519245, -5.034003863079445, -0.1968566266316535, -0.9842831331582718, -1.454392162258955e-14]",
- "[29.099999999999998, -9.386443291563404, 3.0224554964822983, -5.044003863242832, -0.09842831331582651, -0.8858548198424446, -0.20000000000001467]",
- "[29.2, -9.401210357742752, 2.9289457796502885, -5.074009591639224, -0.19685662663165354, -0.9842831331582715, -0.4000000000000148]",
- "[29.3, -9.42582022994626, 2.8354416758748022, -5.104003914665893, -0.2952849399474806, -0.8858548198424446, -0.20000000000001483]",
- "[29.4, -9.46027290543031, 2.741932012401255, -5.13400953464132, -0.39371325326330764, -0.9842831331582713, -0.4000000000000147]",
- "[29.5, -9.494720080238395, 2.648427849603671, -5.164003977597092, -0.2952849399474806, -0.8858548198424443, -0.20000000000001472]",
- "[29.599999999999998, -9.519324457893855, 2.5549182512801405, -5.194009465191879, -0.19685662663165365, -0.9842831331582711, -0.4000000000000148]",
- "[29.7, -9.543934199240127, 2.4614140166474163, -5.224004054112036, -0.2952849399474806, -0.8858548198424442, -0.20000000000001483]",
- "[29.8, -9.568538655756498, 2.3679044971847976, -5.254009381466523, -0.19685662663165365, -0.9842831331582712, -0.4000000000000148]",
- "[29.9, -9.583300325872397, 2.2744001764162354, -5.284004145409159, -0.09842831331582658, -0.8858548198424442, -0.20000000000001472]",
- "[30.0, -9.598067100838364, 2.180890750797608, -5.314009282078693, -0.1968566266316536, -0.9842831331582711, -0.4000000000000148]",
- "[30.099999999999998, -9.62267665415754, 2.0873863281377942, -5.3440042530578005, -0.29528493994748056, -0.8858548198424441, -0.20000000000001472]",
- "[30.2, -9.647281314635105, 2.0037246796707335, -5.374009165976272, -0.1968566266316537, -0.787426506526617, -0.4000000000000148]",
- "[30.3, -9.662043198118909, 1.9200582498387118, -5.404004363468764, -0.09842831331582674, -0.8858548198424443, -0.20000000000001472]",
- "[30.4, -9.67680975051107, 1.8265490467938867, -5.434009047882652, -0.19685662663165365, -0.9842831331582713, -0.4000000000000149]",
- "[30.5, -9.70141906431982, 1.733044384623644, -5.464004505531539, -0.2952849399474806, -0.8858548198424442, -0.20000000000001483]",
- "[30.599999999999998, -9.726023981785973, 1.6395353261108048, -5.494008896265733, -0.19685662663165357, -0.9842831331582713, -0.400000000000015]",
- "[30.7, -9.750633141501986, 1.546030509847825, -5.524004667021146, -0.2952849399474806, -0.8858548198424443, -0.20000000000001494]",
- "[30.8, -9.775238222837537, 1.4525216152043843, -5.554008724783263, -0.1968566266316536, -0.9842831331582714, -0.4000000000000151]",
- "[30.9, -9.790000562193049, 1.3590166251962092, -5.584004848577738, -0.09842831331582655, -0.8858548198424443, -0.20000000000001505]",
- "[31.0, -9.794920164546234, 1.265507914233571, -5.614008533112281, 4.996003610813204e-16, -0.9842831331582712, -0.40000000000001534]",
- "[31.099999999999998, -9.799841580272, 1.1720010166435095, -5.644008532990418, -0.09842831331582647, -0.8858548198424443, -0.2000000000000155]",
- "[31.2, -9.804761385958487, 1.0784925090141675, -5.674011804364788, 4.996003610813204e-16, -0.9842831331582715, -0.4000000000000157]",
- "[31.3, -9.809682801684254, 0.984985611424106, -5.704011804242926, -0.09842831331582647, -0.8858548198424447, -0.20000000000001572]",
- "[31.4, -9.824448436614281, 0.8914773258414173, -5.734014624432782, -0.1968566266316535, -0.9842831331582718, -0.4000000000000159]",
- "[31.5, -9.839211413254521, 0.797971698548519, -5.764012043148812, -0.09842831331582647, -0.8858548198424446, -0.200000000000016]",
- "[31.599999999999998, -9.853976808994453, 0.7044636521559248, -5.794014377319783, -0.1968566266316534, -0.9842831331582713, -0.40000000000001595]",
- "[31.7, -9.868740032599518, 0.6109577778981953, -5.824012297852461, -0.09842831331582638, -0.8858548198424444, -0.20000000000001583]",
- "[31.8, -9.873660553601558, 0.51744998558441, -5.85401411575164, 5.828670879282072e-16, -0.9842831331582714, -0.40000000000001584]",
- "[31.9, -9.868739137935762, 0.4239430879343801, -5.88401411575163, 0.09842831331582758, -0.8858548198424444, -0.2000000000000159]",
- "[32.0, -9.863818350911208, 0.3304355616431055, -5.9140153931101835, 6.106226635438361e-16, -0.9842831331582713, -0.4000000000000159]",
- "[32.1, -9.868739766577006, 0.2369286639930757, -5.944015393110174, -0.09842831331582638, -0.8858548198424443, -0.2000000000000159]",
- "[32.2, -9.873660828109657, 0.14342141220989985, -5.974016112685932, 6.106226635438361e-16, -0.9842831331582713, -0.4000000000000159]",
- "[32.3, -9.878582243775455, 0.04007168322827537, -6.004016112685923, -0.09842831331582638, -1.0827114464740983, -0.2000000000000159]",
- "[32.4, -9.883503599338244, -0.0632779856503396, -6.034016234811361, 5.551115123125783e-16, -0.9842831331582711, -0.4000000000000159]",
- "[32.5, -9.878582183672446, -0.15678488330036933, -6.064016234811351, 0.09842831331582753, -0.885854819842444, -0.20000000000001594]",
- "[32.6, -9.873661002832108, -0.25029201577585786, -6.094016711961564, 5.48172618408671e-16, -0.9842831331582709, -0.40000000000001606]",
- "[32.7, -9.878582418557876, -0.34379891336591856, -6.124016711839699, -0.09842831331582641, -0.8858548198424441, -0.20000000000001616]",
- "[32.8, -9.883503322152698, -0.4373063230869232, -6.154017752334964, 5.828670879282072e-16, -0.9842831331582713, -0.40000000000001634]",
- "[32.9, -9.878581906486902, -0.530813220736953, -6.184017752334954, 0.09842831331582758, -0.8858548198424444, -0.2000000000000164]",
- "[33.0, -9.873661274104634, -0.6243209016705145, -6.214019343916686, 5.828670879282072e-16, -0.9842831331582712, -0.40000000000001656]",
- "[33.1, -9.868739858438838, -0.7178277993205444, -6.244019343916676, 0.09842831331582758, -0.8858548198424442, -0.2000000000000166]",
- "[33.2, -9.853974565546027, -0.8113357428660176, -6.2740214691089164, 0.1968566266316546, -0.9842831331582711, -0.4000000000000169]",
- "[33.3, -9.839211491883084, -0.9048414671816203, -6.304019084968841, 0.09842831331582769, -0.8858548198424441, -0.2000000000000169]",
- "[33.4, -9.834291374147154, -0.9983496627615166, -6.334021722278811, 8.326672684688674e-16, -0.9842831331582713, -0.4000000000000167]",
- "[33.5, -9.829369958421386, -1.0918565603515749, -6.3640217221569415, 0.0984283133158278, -0.8858548198424444, -0.20000000000001683]",
- "[33.6, -9.824450080823594, -1.1853649960696095, -6.394024847412161, 7.771561172376096e-16, -0.9842831331582713, -0.4000000000000169]",
- "[33.7, -9.819528665097824, -1.2887147251112054, -6.424024847290292, 0.0984283133158278, -1.0827114464740983, -0.20000000000001683]",
- "[33.8, -9.804762641106159, -1.3920626770985358, -6.4540284580283585, 0.1968566266316547, -0.9842831331582717, -0.4000000000000167]",
- "[33.9, -9.790000290626537, -1.485567678230819, -6.484024604426305, 0.09842831331582774, -0.8858548198424447, -0.20000000000001672]",
- "[34.0, -9.775234042310979, -1.5790765771990372, -6.514028670976094, 0.1968566266316547, -0.9842831331582719, -0.400000000000017]",
- "[34.1, -9.76047189818476, -1.6725813719779197, -6.544024398077209, 0.09842831331582774, -0.8858548198424447, -0.20000000000001694]",
- "[34.2, -9.745705449980814, -1.7660904708345273, -6.574028870787343, 0.19685662663165482, -0.9842831331582719, -0.4000000000000171]",
- "[34.3, -9.730943499371616, -1.8595950720963887, -6.604024204674319, 0.09842831331582791, -0.885854819842445, -0.20000000000001716]",
- "[34.4, -9.716176863902238, -1.9531043582184278, -6.634029057895764, 0.19685662663165476, -0.984283133158272, -0.40000000000001734]",
- "[34.5, -9.701415094449052, -2.0466087783242752, -6.664024023685376, 0.0984283133158278, -0.885854819842445, -0.20000000000001728]",
- "[34.6, -9.686648283773964, -2.140118239652025, -6.694029232913549, 0.19685662663165482, -0.9842831331582721, -0.40000000000001723]",
- "[34.7, -9.662038558472346, -2.2336224903293993, -6.724023854435404, 0.29528493994748173, -0.8858548198424452, -0.20000000000001716]",
- "[34.8, -9.637434207556646, -2.327132115392691, -6.7540293963636655, 0.1968566266316548, -0.984283133158272, -0.40000000000001723]",
- "[34.9, -9.61282432404098, -2.4206362078560164, -6.784023696404749, 0.29528493994748173, -0.8858548198424451, -0.20000000000001728]",
- "[35.0, -9.588220126090347, -2.514145985884374, -6.814029549148184, 0.19685662663165487, -0.984283133158272, -0.40000000000001723]",
- "[35.1, -9.563610094664057, -2.6076499304370735, -6.844023548644392, 0.2952849399474818, -0.8858548198424452, -0.20000000000001728]",
- "[35.2, -9.539006039764002, -2.7011598515160165, -6.8740296920574115, 0.19685662663165485, -0.984283133158272, -0.40000000000001734]",
- "[35.3, -9.514395869953699, -2.7946636576847017, -6.904023410366207, 0.2952849399474819, -0.8858548198424447, -0.2000000000000175]",
- "[35.4, -9.489791948961532, -2.878324566666364, -6.93402982587143, 0.19685662663165487, -0.7874265065266177, -0.40000000000001756]",
- "[35.5, -9.465181655618629, -2.9619918479987626, -6.964023293169942, 0.2952849399474819, -0.8858548198424447, -0.2000000000000176]",
- "[35.6, -9.440577848407953, -3.055502016767081, -6.994029939871838, 0.19685662663165493, -0.9842831331582717, -0.4000000000000177]",
- "[35.7, -9.415967438684072, -3.149005583022196, -7.024023170691693, 0.295284939947482, -0.8858548198424445, -0.2000000000000176]",
- "[35.8, -9.381514139214149, -3.2326662595312663, -7.0540300585662665, 0.39371325326330875, -0.7874265065266173, -0.4000000000000177]",
- "[35.9, -9.347067670526114, -3.3163337668222255, -7.08402306673152, 0.2952849399474817, -0.8858548198424442, -0.2000000000000176]",
- "[36.0, -9.312614270079374, -3.4098441552584644, -7.1140301597844955, 0.3937132532633087, -0.9842831331582711, -0.4000000000000177]",
- "[36.1, -9.278167904646875, -3.5033475086804593, -7.144022958141148, 0.2952849399474817, -0.8858548198424442, -0.20000000000001772]",
- "[36.2, -9.243714398913362, -3.5870079789259406, -7.174030265130065, 0.3937132532633087, -0.7874265065266173, -0.4000000000000177]",
- "[36.3, -9.209268131084736, -3.670675687076307, -7.204022865161927, 0.2952849399474816, -0.8858548198424445, -0.2000000000000176]",
- "[36.4, -9.174814534975761, -3.7641862711747804, -7.234030355787976, 0.39371325326330864, -0.9842831331582718, -0.4000000000000177]",
- "[36.5, -9.14036835956501, -3.8576894345750237, -7.264022768032654, 0.29528493994748184, -0.885854819842445, -0.20000000000001772]",
- "[36.6, -9.10591466920666, -3.95120011292287, -7.294030450167366, 0.39371325326330886, -0.9842831331582721, -0.4000000000000179]",
- "[36.7, -9.071468585409795, -4.044703184709234, -7.324022676258529, 0.29528493994748206, -0.8858548198424453, -0.20000000000001805]",
- "[36.8, -9.037014805960984, -4.128363381239416, -7.354030539419325, 0.39371325326330897, -0.7874265065266184, -0.4000000000000181]",
- "[36.9, -8.992718156139576, -4.212031356387157, -7.3840225969297, 0.4921415665791359, -0.8858548198424457, -0.20000000000001805]",
- "[37.0, -8.948429361755672, -4.295691476097392, -7.414030616183685, 0.39371325326330897, -0.7874265065266186, -0.4000000000000181]",
- "[37.1, -8.904132637265146, -4.379359525914249, -7.444022521971221, 0.49214156657913577, -0.8858548198424456, -0.20000000000001816]",
- "[37.2, -8.859843915798232, -4.463019572707493, -7.474030689387842, 0.3937132532633089, -0.7874265065266187, -0.4000000000000181]",
- "[37.3, -8.825398060858532, -4.546687693746783, -7.50402245045597, 0.2952849399474819, -0.8858548198424459, -0.20000000000001827]",
- "[37.4, -8.790944061654757, -4.630347670521997, -7.53403076014472, 0.39371325326330897, -0.7874265065266189, -0.40000000000001834]",
- "[37.5, -8.746647197043226, -4.71401586045986, -7.564022381215387, 0.4921415665791361, -0.885854819842446, -0.20000000000001839]",
- "[37.6, -8.702358612552045, -4.807526914610833, -7.594030826957872, 0.3937132532633091, -0.984283133158273, -0.40000000000001856]",
- "[37.7, -8.65806168000191, -4.901029620702856, -7.62402230998167, 0.4921415665791361, -0.8858548198424459, -0.20000000000001839]",
- "[37.8, -8.603921881964974, -4.984689461308079, -7.654030896359082, 0.590569879894963, -0.7874265065266188, -0.40000000000001856]",
- "[37.9, -8.54979056540529, -5.058506440530924, -7.684022248920392, 0.492141566579136, -0.6889981932107918, -0.2000000000000186]",
- "[38.0, -8.505502106864009, -5.132331957968637, -7.714030950584982, 0.3937132532633092, -0.7874265065266189, -0.40000000000001856]",
- "[38.1, -8.461205056708565, -5.216000333450414, -7.7440221946423495, 0.4921415665791361, -0.8858548198424457, -0.20000000000001872]",
- "[38.2, -8.407065146496656, -5.29966006188066, -7.774031008952098, 0.5905698798949631, -0.7874265065266187, -0.4000000000000188]",
- "[38.3, -8.35293393955284, -5.383328493579, -7.804022138781027, 0.4921415665791361, -0.8858548198424459, -0.20000000000001883]",
- "[38.4, -8.308645590773994, -5.4669881676841765, -7.83403106347582, 0.3937132532633092, -0.7874265065266188, -0.400000000000019]",
- "[38.5, -8.264348430715078, -5.550656653069425, -7.864022084216402, 0.492141566579136, -0.8858548198424456, -0.20000000000001916]",
- "[38.6, -8.210208413059215, -5.634316274055721, -7.894031116845345, 0.5905698798949629, -0.7874265065266186, -0.40000000000001923]",
- "[38.7, -8.156077311060617, -5.7179848106992806, -7.924022033432342, 0.4921415665791361, -0.8858548198424454, -0.20000000000001927]",
- "[38.8, -8.101937244031518, -5.801644382312343, -7.934012900480169, 0.5905698798949632, -0.7874265065266184, -1.9317880628477724e-14]",
- "[38.9, -8.037958840376222, -5.875465617299205, -7.924012900480155, 0.6889981932107903, -0.6889981932107914, 0.1999999999999807]",
- "[39.0, -7.973984955271794, -5.949291370836938, -7.914022081884794, 0.5905698798949633, -0.7874265065266184, -1.9317880628477724e-14]",
- "[39.1, -7.919849383028565, -6.032955437235867, -7.924022082048317, 0.4921415665791362, -0.8858548198424455, -0.20000000000001944]",
- "[39.2, -7.865709270935495, -6.116614963784956, -7.934012857529049, 0.5905698798949632, -0.7874265065266186, -1.9539925233402755e-14]",
- "[39.3, -7.8017308672802, -6.190436198771819, -7.924012857529036, 0.6889981932107904, -0.6889981932107915, 0.19999999999998047]",
- "[39.4, -7.737757022087687, -6.264261992221464, -7.914022120032115, 0.5905698798949635, -0.7874265065266182, -1.9761969838327786e-14]",
- "[39.5, -7.673778618351916, -6.3479260586204, -7.9240221201956516, 0.6889981932107905, -0.8858548198424452, -0.20000000000001983]",
- "[39.6, -7.609804788528403, -6.431585551107078, -7.934012826463756, 0.5905698798949633, -0.787426506526618, -1.9761969838327786e-14]",
- "[39.7, -7.555669216204705, -6.505406786093941, -7.924012826463743, 0.49214156657913644, -0.6889981932107911, 0.19999999999998025]",
- "[39.8, -7.501529056128117, -6.579232608833692, -7.9140221484824345, 0.5905698798949633, -0.787426506526618, -1.9539925233402755e-14]",
- "[39.9, -7.437550652392349, -6.653053843740084, -7.924022148645965, 0.6889981932107905, -0.6889981932107909, -0.2000000000000196]",
- "[40.0, -7.363724819393614, -6.726879676738819, -7.934012805781684, 0.7874265065266172, -0.7874265065266176, -1.9761969838327786e-14]",
- "[40.1, -7.289903584406752, -6.800700911725681, -7.924012805781671, 0.6889981932107903, -0.6889981932107907, 0.19999999999998025]",
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- "[98.9, 20.18129058938708, -30.02978318285336, -7.9240117028220896, -1.082711446474089, 0.09842831331582921, 0.19999999999996093]",
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- "[99.3, 19.77774589722307, -30.010108912459554, -7.92401170696521, -0.8858548198424351, 0.09842831331582914, 0.1999999999999607]",
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- "[99.7, 19.38403264176973, -30.0101089146496, -7.944011711415291, -0.8858548198424353, 0.0984283133158292, -0.20000000000003937]",
- "[99.8, 19.300374277751565, -30.005193201284094, -7.954000124707972, -0.7874265065266084, 2.3314683517128287e-15, -3.952393967665557e-14]",
- "[99.9, 19.226553042764706, -30.0002717856183, -7.9440001247079595, -0.6889981932107816, 0.09842831331582932, 0.1999999999999605]",
- "[100.0, 19.162580339568976, -29.99535607041206, -7.934011707675032, -0.5905698798949546, 2.3314683517128287e-15, -3.952393967665557e-14]"
- ]
- },
- "type": "simtrace",
- "assert_hits": null
-},
-"7": {
- "node_name": "1-3",
- "id": 7,
- "start_line": 8644,
- "parent": {
- "name": "0-0",
- "index": 0,
- "start_line": 2
- },
- "child": {
- "2-3": {
- "name": "2-3",
- "index": 8,
- "start_line": 9182
- }
- },
- "agent": {
- "test1": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test2": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test3": "<class 'quadrotor_agent.QuadrotorAgent'>"
- },
- "init": {
- "test1": "[3.9850329655886467, 9.159482892162652, 0.0659935627811023, -0.9842831331582699, 0.3937132532633084, -3.9968028886505635e-15]"
- },
- "mode": {
- "test1": "[\"MoveUp\", \"M10\"]",
- "test2": "[\"Normal\", \"T1\"]",
- "test3": "[\"Normal\", \"T0\"]"
- },
- "static": {
- "test1": "[]",
- "test2": "[]",
- "test3": "[]"
- },
- "start_time": 11.6,
- "trace": {
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- "[18.6, -3.558401746614683, 9.306089874797374, 0.08966478501745884, -0.39371325326330625, -0.19685662663165382, -7.549516567451064e-15]",
- "[18.7, -3.592851656275223, 9.2913256278, 0.07966478501745808, -0.2952849399474792, -0.09842831331582685, -0.2000000000000077]",
- "[18.8, -3.627301624742004, 9.276561321996383, 0.06966490450795682, -0.3937132532633064, -0.19685662663165393, -7.549516567451064e-15]",
- "[18.9, -3.661751534402544, 9.261797074999008, 0.07966490450795607, -0.2952849399474794, -0.09842831331582698, 0.19999999999999246]",
- "[19.0, -3.6863585539250434, 9.24703276919518, 0.08966478501701819, -0.1968566266316525, -0.19685662663165393, -7.549516567451064e-15]",
- "[19.1, -3.710965632254, 9.232268522197804, 0.07966478501701743, -0.2952849399474795, -0.09842831331582697, -0.2000000000000077]",
- "[19.2, -3.745415600720994, 9.217504216393973, 0.0696649045079481, -0.39371325326330664, -0.19685662663165393, -7.771561172376096e-15]",
- "[19.3, -3.7897083417131165, 9.202739969396598, 0.07966490450794733, -0.49214156657913377, -0.09842831331582691, 0.19999999999999224]",
- "[19.4, -3.834001023898565, 9.187975663592551, 0.0896647850165686, -0.39371325326330675, -0.19685662663165393, -7.993605777301127e-15]",
- "[19.5, -3.868450933559096, 9.173211416595187, 0.07966478501655148, -0.2952849399474797, -0.09842831331582694, -0.20000000000000806]",
- "[19.6, -3.902900902026345, 9.158447110791101, 0.06966490450800011, -0.39371325326330664, -0.19685662663165393, -7.993605777301127e-15]",
- "[19.7, -3.9373508116868847, 9.143682863793728, 0.07966490450799933, -0.2952849399474797, -0.09842831331582691, 0.19999999999999202]",
- "[19.8, -3.9619578312089425, 9.128918557989454, 0.08966478501616415, -0.19685662663165276, -0.19685662663165393, -7.993605777301127e-15]",
- "[19.9, -3.986564909537907, 9.11415431099209, 0.07966478501614703, -0.2952849399474798, -0.09842831331582694, -0.20000000000000806]",
- "[20.0, -4.0210148780053245, 9.099390005187841, 0.06966490450793955, -0.39371325326330664, -0.19685662663165382, -7.993605777301127e-15]",
- "[20.1, -4.065307618997445, 9.084625758190468, 0.07966490450793877, -0.49214156657913355, -0.0984283133158268, 0.19999999999999202]",
- "[20.2, -4.109600301182495, 9.069861452386021, 0.08966478501575087, -0.39371325326330653, -0.1968566266316537, -7.993605777301127e-15]",
- "[20.3, -4.144050210843027, 9.055097205388657, 0.07966478501573375, -0.29528493994747945, -0.09842831331582672, -0.20000000000000806]",
- "[20.4, -4.17850017931065, 9.0403328995842, 0.0696649045079426, -0.3937132532633064, -0.1968566266316537, -8.215650382226158e-15]",
- "[20.5, -4.21295008897119, 9.025568652586827, 0.07966490450794177, -0.2952849399474795, -0.09842831331582669, 0.1999999999999918]",
- "[20.6, -4.237557108492894, 9.010804346782201, 0.08966478501538588, -0.1968566266316526, -0.1968566266316536, -8.215650382226158e-15]",
- "[20.7, -4.26216418682185, 8.996040099784828, 0.07966478501538507, -0.29528493994747956, -0.09842831331582658, -0.20000000000000834]",
- "[20.8, -4.296614155289609, 8.981275793980231, 0.06966490450787144, -0.39371325326330664, -0.1968566266316535, -8.43769498715119e-15]",
- "[20.9, -4.340906896281728, 8.956668715651276, 0.07966490450787062, -0.4921415665791336, -0.29528493994748045, 0.19999999999999157]",
- "[21.0, -4.385199578466458, 8.932061696129713, 0.08966478501503161, -0.39371325326330653, -0.19685662663165332, -8.43769498715119e-15]",
- "[21.1, -4.419649488126996, 8.917297449132338, 0.07966478501503076, -0.2952849399474796, -0.09842831331582635, -0.2000000000000085]",
- "[21.2, -4.44425650764857, 8.902533143327581, 0.0696649045078509, -0.1968566266316527, -0.19685662663165338, -8.43769498715119e-15]",
- "[21.3, -4.468863585977527, 8.887768896330206, 0.07966490450785008, -0.2952849399474797, -0.09842831331582638, 0.19999999999999157]",
- "[21.4, -4.503313554445586, 8.873004590525316, 0.08966478501475383, -0.39371325326330664, -0.19685662663165326, -8.43769498715119e-15]",
- "[21.5, -4.537763464106124, 8.85824034352794, 0.07966478501475298, -0.29528493994747973, -0.0984283133158263, -0.2000000000000085]",
- "[21.6, -4.57221343257416, 8.843476037723068, 0.06966490450779922, -0.39371325326330664, -0.19685662663165326, -8.659739592076221e-15]",
- "[21.7, -4.6066633422346985, 8.818868959394111, 0.07966490450779835, -0.2952849399474797, -0.2952849399474803, 0.19999999999999135]",
- "[21.8, -4.641113310702881, 8.794261939872797, 0.0896647850144493, -0.39371325326330664, -0.19685662663165332, -8.659739592076221e-15]",
- "[21.9, -4.675563220363419, 8.779497692875426, 0.07966478501444843, -0.2952849399474797, -0.09842831331582633, -0.20000000000000873]",
- "[22.0, -4.710013188831569, 8.764733387070438, 0.0696649045077326, -0.39371325326330686, -0.1968566266316535, -8.659739592076221e-15]",
- "[22.1, -4.7444630984921075, 8.749969140073066, 0.07966490450773174, -0.2952849399474799, -0.09842831331582647, 0.19999999999999135]",
- "[22.2, -4.769070118013309, 8.735204834267934, 0.08966478501415359, -0.19685662663165282, -0.1968566266316535, -8.659739592076221e-15]",
- "[22.3, -4.793677196342266, 8.720440587270563, 0.07966478501415272, -0.2952849399474798, -0.0984283133158265, -0.20000000000000873]",
- "[22.4, -4.828127164810511, 8.705676281465482, 0.06966490450762514, -0.39371325326330664, -0.1968566266316535, -8.881784197001252e-15]",
- "[22.5, -4.872419905802633, 8.681069203136525, 0.07966490450762427, -0.49214156657913366, -0.29528493994748045, 0.19999999999999113]",
- "[22.6, -4.916712587986904, 8.656462183615417, 0.08966478501385378, -0.3937132532633068, -0.1968566266316536, -8.881784197001252e-15]",
- "[22.7, -4.951162497647434, 8.631855105286453, 0.07966478501383656, -0.2952849399474798, -0.29528493994748056, -0.20000000000000898]",
- "[22.8, -4.975769517168574, 8.607248085765312, 0.0696649045075341, -0.19685662663165293, -0.1968566266316537, -9.103828801926284e-15]",
- "[22.9, -5.000376595497531, 8.592483838767937, 0.07966490450753318, -0.29528493994747995, -0.09842831331582669, 0.1999999999999909]",
- "[23.0, -5.024983615018554, 8.577719532962627, 0.08966478501359254, -0.196856626631653, -0.1968566266316536, -9.103828801926284e-15]",
- "[23.1, -5.049590693347511, 8.553112454633668, 0.07966478501359163, -0.29528493994747995, -0.29528493994748056, -0.20000000000000917]",
- "[23.2, -5.0840406618159255, 8.528505435112585, 0.06966490450741097, -0.39371325326330686, -0.1968566266316537, -9.325873406851315e-15]",
- "[23.3, -5.128333402808046, 8.503898356783628, 0.07966490450741005, -0.49214156657913394, -0.2952849399474807, 0.19999999999999069]",
- "[23.4, -5.172626084992156, 8.479291337262683, 0.08966478501331443, -0.393713253263307, -0.1968566266316537, -9.325873406851315e-15]",
- "[23.5, -5.207075994652687, 8.464527090265317, 0.07966478501329716, -0.29528493994747995, -0.09842831331582669, -0.20000000000000948]",
- "[23.6, -5.241525963121195, 8.449762784459976, 0.06966490450730467, -0.393713253263307, -0.1968566266316536, -9.547918011776346e-15]",
- "[23.7, -5.275975872781735, 8.425155706131022, 0.07966490450730371, -0.29528493994747995, -0.2952849399474805, 0.19999999999999046]",
- "[23.8, -5.3005828923025975, 8.400548686610163, 0.08966478501303926, -0.19685662663165288, -0.19685662663165343, -9.547918011776346e-15]",
- "[23.9, -5.325189970631554, 8.37594160828121, 0.07966478501303828, -0.29528493994747984, -0.2952849399474804, -0.20000000000000961]",
- "[24.0, -5.359639939100122, 8.351334588760285, 0.06966490450716706, -0.39371325326330653, -0.19685662663165354, -9.769962616701378e-15]",
- "[24.1, -5.403932680092243, 8.326727510431324, 0.0796649045071661, -0.49214156657913355, -0.29528493994748056, 0.19999999999999024]",
- "[24.2, -5.448225362276212, 8.30212049091052, 0.08966478501277791, -0.3937132532633066, -0.19685662663165354, -9.769962616701378e-15]",
- "[24.3, -5.482675271936749, 8.287356243913147, 0.07966478501277692, -0.2952849399474796, -0.09842831331582655, -0.20000000000000986]",
- "[24.4, -5.5072822914576, 8.272591938107668, 0.06966490450706087, -0.19685662663165265, -0.1968566266316535, -9.769962616701378e-15]",
- "[24.5, -5.531889369786557, 8.257827691110295, 0.0796649045070599, -0.2952849399474797, -0.09842831331582645, 0.19999999999999024]",
- "[24.6, -5.566339338255313, 8.243063385304707, 0.08966478501255015, -0.39371325326330686, -0.1968566266316535, -9.769962616701378e-15]",
- "[24.7, -5.610632079247434, 8.218456306975746, 0.07966478501254916, -0.49214156657913377, -0.2952849399474805, -0.20000000000000986]",
- "[24.8, -5.654924761431396, 8.184006338507041, 0.06966490450694846, -0.39371325326330686, -0.3937132532633073, -9.992007221626409e-15]",
- "[24.9, -5.689374671091936, 8.1495564288465, 0.07966490450694746, -0.2952849399474798, -0.29528493994748023, 0.19999999999999002]",
- "[25.0, -5.723824639560752, 8.12494940932582, 0.08966478501230979, -0.393713253263307, -0.1968566266316532, -9.992007221626409e-15]",
- "[25.1, -5.758274549221284, 8.110185162328452, 0.07966478501229246, -0.2952849399474799, -0.09842831331582624, -0.2000000000000101]",
- "[25.2, -5.782881568742024, 8.095420856522864, 0.06966490450680296, -0.19685662663165282, -0.19685662663165326, -9.992007221626409e-15]",
- "[25.3, -5.807488647070979, 8.070813778193907, 0.07966490450680197, -0.2952849399474798, -0.29528493994748023, 0.19999999999999002]",
- "[25.4, -5.84193861553984, 8.036363809725048, 0.08966478501207725, -0.39371325326330686, -0.3937132532633073, -9.992007221626409e-15]",
- "[25.5, -5.88623135653197, 8.001913900064517, 0.07966478501205992, -0.4921415665791339, -0.29528493994748023, -0.2000000000000101]",
- "[25.6, -5.930524038715837, 7.977306880543818, 0.06966490450665141, -0.39371325326330703, -0.19685662663165338, -1.021405182655144e-14]",
- "[25.7, -5.964973948376377, 7.952699802214862, 0.07966490450665041, -0.29528493994748, -0.29528493994748034, 0.1999999999999898]",
- "[25.8, -5.9895809678969645, 7.928092782694274, 0.08966478501182595, -0.196856626631653, -0.19685662663165332, -1.021405182655144e-14]",
- "[25.9, -6.014188046225921, 7.903485704365318, 0.07966478501182495, -0.2952849399474799, -0.29528493994748023, -0.20000000000001028]",
- "[26.0, -6.048638014694753, 7.869035735896485, 0.06966490450649199, -0.39371325326330686, -0.3937132532633073, -1.0436096431476471e-14]",
- "[26.1, -6.092930755686875, 7.834585826235945, 0.07966490450649091, -0.4921415665791339, -0.2952849399474803, 0.19999999999998958]",
- "[26.2, -6.1372234378705945, 7.809978806715391, 0.08966478501160324, -0.3937132532633069, -0.19685662663165338, -1.0436096431476471e-14]",
- "[26.3, -6.171673347531135, 7.785371728386434, 0.0796647850116022, -0.2952849399474799, -0.29528493994748034, -0.2000000000000105]",
- "[26.4, -6.206123316000007, 7.7607647088658105, 0.06966490450635232, -0.3937132532633071, -0.19685662663165332, -1.0658141036401503e-14]",
- "[26.5, -6.2405732256605475, 7.736157630536853, 0.07966490450635126, -0.2952849399474802, -0.2952849399474803, 0.19999999999998935]",
- "[26.6, -6.265180245181065, 7.711550611016337, 0.0896647850113862, -0.19685662663165315, -0.19685662663165326, -1.0658141036401503e-14]",
- "[26.7, -6.28978732351003, 7.686943532687372, 0.0796647850113688, -0.2952849399474802, -0.2952849399474803, -0.20000000000001072]",
- "[26.8, -6.324237291978928, 7.652493564218473, 0.06966490450616958, -0.3937132532633071, -0.3937132532633073, -1.0658141036401503e-14]",
- "[26.9, -6.368530032971051, 7.618043654557932, 0.07966490450616852, -0.4921415665791341, -0.2952849399474804, 0.19999999999998935]",
- "[27.0, -6.412822715154711, 7.593436635037437, 0.08966478501115765, -0.3937132532633072, -0.1968566266316535, -1.0658141036401503e-14]",
- "[27.1, -6.447272624815243, 7.568829556708472, 0.07966478501114026, -0.2952849399474803, -0.2952849399474805, -0.20000000000001072]",
- "[27.2, -6.47187964433581, 7.544222537187904, 0.06966490450600404, -0.19685662663165338, -0.1968566266316536, -1.0880185641326534e-14]",
- "[27.3, -6.496486722664766, 7.529458290190531, 0.07966490450600291, -0.29528493994748034, -0.0984283133158266, 0.19999999999998913]",
- "[27.4, -6.530936691133791, 7.514693984384671, 0.08966478501094116, -0.3937132532633072, -0.1968566266316536, -1.0880185641326534e-14]",
- "[27.5, -6.565386600794321, 7.490086906055707, 0.07966478501092375, -0.29528493994748023, -0.2952849399474807, -0.200000000000011]",
- "[27.6, -6.599836569263273, 7.455636937586754, 0.06966490450583251, -0.3937132532633072, -0.39371325326330764, -1.0880185641326534e-14]",
- "[27.7, -6.634286478923812, 7.421187027926215, 0.07966490450583139, -0.29528493994748023, -0.2952849399474807, 0.19999999999998913]",
- "[27.8, -6.658893498444264, 7.386737059457168, 0.08966478501072789, -0.1968566266316532, -0.39371325326330786, -1.1102230246251565e-14]",
- "[27.9, -6.68350057677323, 7.352287149796636, 0.07966478501071045, -0.2952849399474801, -0.2952849399474809, -0.20000000000001117]"
- ],
- "test3": [
- "[11.6, -6.056790974094466, 7.872819755280709, 8.075945767395458, -0.5905698798949612, -0.5905698798949612, -4.440892098500626e-15]",
- "[11.7, -6.120769377749761, 7.818684182957012, 8.085945767395476, -0.6889981932107883, -0.4921415665791342, 0.19999999999999557]",
- "[11.8, -6.184743178494894, 7.764544007723154, 8.095936414578183, -0.5905698798949612, -0.5905698798949613, -4.440892098500626e-15]",
- "[11.9, -6.248721582230448, 7.710408435479716, 8.085936414415086, -0.6889981932107883, -0.4921415665791344, -0.20000000000000454]",
- "[12.0, -6.322547433604125, 7.6661203108744, 8.075945794616068, -0.7874265065266153, -0.3937132532633074, -4.440892098500626e-15]",
- "[12.1, -6.396368668590987, 7.621827569882271, 8.085945794616086, -0.6889981932107883, -0.49214156657913444, 0.19999999999999557]",
- "[12.2, -6.4603424388096276, 7.567687364121921, 8.095936379770928, -0.5905698798949615, -0.5905698798949613, -4.440892098500626e-15]",
- "[12.3, -6.5243208425451815, 7.503708960386367, 8.08593637960783, -0.6889981932107885, -0.6889981932107884, -0.20000000000000454]",
- "[12.4, -6.588294603831225, 7.4397351991003235, 8.075945812603456, -0.5905698798949615, -0.5905698798949613, -4.440892098500626e-15]",
- "[12.5, -6.652273007486521, 7.385599626776627, 8.085945812603473, -0.6889981932107885, -0.4921415665791342, 0.19999999999999557]",
- "[12.6, -6.716246761583319, 7.331459404894431, 8.09593636499976, -0.5905698798949615, -0.5905698798949611, -4.440892098500626e-15]",
- "[12.7, -6.770382333826755, 7.277323832650994, 8.08593636483666, -0.4921415665791345, -0.49214156657913416, -0.20000000000000456]",
- "[12.8, -6.824522560895607, 7.2231836055821415, 8.075945822979321, -0.5905698798949616, -0.5905698798949611, -4.6629367034256575e-15]",
- "[12.9, -6.888500964631165, 7.159205201846584, 8.065945822816216, -0.6889981932107887, -0.6889981932107883, -0.20000000000000476]",
- "[13.0, -6.9524747180141135, 7.095231448463635, 8.055955271870419, -0.5905698798949617, -0.5905698798949612, -4.6629367034256575e-15]",
- "[13.1, -7.006610290337809, 7.03125304480834, 8.065955271870434, -0.49214156657913455, -0.6889981932107884, 0.19999999999999535]",
- "[13.2, -7.060750512667819, 6.967279291159358, 8.075945823356792, -0.5905698798949613, -0.5905698798949613, -4.6629367034256575e-15]",
- "[13.3, -7.1247289164033765, 6.903300887423801, 8.065945823193688, -0.6889981932107885, -0.6889981932107885, -0.20000000000000476]",
- "[13.4, -7.188702671997435, 6.839327131829743, 8.055955267755063, -0.5905698798949618, -0.5905698798949618, -4.6629367034256575e-15]",
- "[13.5, -7.24283824432113, 6.775348728174447, 8.06595526775508, -0.49214156657913466, -0.6889981932107888, 0.19999999999999535]",
- "[13.6, -7.296978461080937, 6.71137496895526, 8.075945830559737, -0.5905698798949617, -0.5905698798949618, -4.6629367034256575e-15]",
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- "[14.1, -7.587341979840645, 6.4111686078200085, 8.085945819339454, -0.4921415665791343, -0.6889981932107888, 0.19999999999999535]",
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- "[14.3, -7.695617756869453, 6.28321643289083, 8.085936406312282, -0.4921415665791342, -0.6889981932107889, -0.20000000000000476]",
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- "[14.7, -7.912169264760761, 6.007617132143613, 8.065955137907283, -0.4921415665791339, -0.688998193210789, 0.19999999999999535]",
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- "[14.9, -8.000750164159108, 5.879664907418936, 8.085945826387569, -0.49214156657913377, -0.688998193210789, 0.19999999999999513]",
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- "[15.1, -8.109025879512552, 5.732017866739157, 8.085936538680762, -0.49214156657913355, -0.6889981932107887, -0.20000000000000479]",
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- "[15.3, -8.197606813774126, 5.584370849042747, 8.085945779360664, -0.49214156657913355, -0.6889981932107888, 0.19999999999999513]",
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- "[15.7, -8.374768760931397, 5.3087715962213755, 8.085945729327333, -0.49214156657913366, -0.6889981932107889, 0.19999999999999468]",
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- "[15.9, -8.4830443699435, 5.161124661882948, 8.085936657699264, -0.4921415665791339, -0.6889981932107889, -0.20000000000000545]",
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- "[16.3, -8.64052962730288, 4.865830903381758, 8.065954576433068, -0.49214156657913377, -0.6889981932107885, 0.19999999999999424]",
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- "[18.5, -9.427951617053006, 3.08426452774705, 8.085945734811395, -0.29528493994747973, -0.6889981932107885, 0.19999999999999224]",
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- "[18.9, -9.546065484880934, 2.7594509854931366, 8.085945514729051, -0.2952849399474797, -0.8858548198424425, 0.19999999999999213]",
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- "[19.1, -9.585433500799523, 2.592126162103341, 8.085938790225434, -0.09842831331582569, -0.8858548198424426, -0.2000000000000081]",
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- "[19.7, -9.703550504266678, 2.099993692184, 8.085945551191777, -0.2952849399474797, -0.6889981932107888, 0.19999999999999157]",
- "[19.8, -9.728154846383516, 2.0261697209850076, 8.095939991384785, -0.19685662663165282, -0.7874265065266158, -8.43769498715119e-15]",
- "[19.9, -9.742919093380882, 1.942505654666547, 8.085939991384768, -0.09842831331582585, -0.8858548198424429, -0.2000000000000085]",
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- "[20.1, -9.772450164785294, 1.775180099439305, 8.085945228515413, -0.09842831331582569, -0.8858548198424432, 0.19999999999999135]",
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- "[20.3, -9.801981057697338, 1.6078543657196933, 8.085940353743363, -0.0984283133158258, -0.8858548198424427, -0.20000000000000906]",
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- "[20.5, -9.831511762424272, 1.4405284438149704, 8.085944845808955, -0.09842831331582574, -0.8858548198424426, 0.1999999999999909]",
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- "[20.7, -9.841352581078981, 1.2732023238549353, 8.085940755852583, -0.09842831331582569, -0.8858548198424427, -0.20000000000000906]",
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- "[20.9, -9.870882880392916, 1.1058759965372194, 8.085944424145058, -0.09842831331582566, -0.8858548198424429, 0.19999999999999102]",
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- "[21.1, -9.88072412278677, 0.9385494528380395, 8.085941195199366, -0.09842831331582558, -0.8858548198424429, -0.2000000000000095]",
- "[21.2, -9.885644174039658, 0.8548867509324867, 8.075943967598596, 1.3877787807814457e-15, -0.7874265065266159, -9.547918011776346e-15]",
- "[21.3, -9.89056558970546, 0.7712226846140257, 8.08594396759861, -0.09842831331582562, -0.885854819842443, 0.19999999999999046]",
- "[21.4, -9.895485872980448, 0.6875597506863765, 8.095941666653351, 1.3877787807814457e-15, -0.7874265065266157, -9.603429163007604e-15]",
- "[21.5, -9.900407288726578, 0.6038956842875836, 8.085941666490106, -0.09842831331582558, -0.8858548198424427, -0.2000000000000095]",
- "[21.6, -9.905327810425298, 0.5103878926704745, 8.07594348297368, 1.4155343563970746e-15, -0.9842831331582699, -9.492406860545088e-15]",
- "[21.7, -9.910249226171429, 0.41688099510077714, 8.085943483136921, -0.09842831331582558, -0.885854819842443, 0.19999999999999063]",
- "[21.8, -9.915170020461108, 0.3332175501584356, 8.095942220540639, 1.4155343563970746e-15, -0.7874265065266158, -9.492406860545088e-15]",
- "[21.9, -9.920091436207239, 0.2495534837596442, 8.085942220377397, -0.09842831331582558, -0.8858548198424429, -0.20000000000000961]",
- "[22.0, -9.925012478392903, 0.1658897909213197, 8.07594297926499, 1.4155343563970746e-15, -0.7874265065266159, -9.603429163007604e-15]",
- "[22.1, -9.929933894058703, 0.08222572460285871, 8.065942979264975, -0.09842831331582556, -0.885854819842443, -0.20000000000000967]",
- "[22.2, -9.934855186415085, -0.0014382184061858243, 8.055943229821755, 1.4311468676808659e-15, -0.7874265065266159, -9.658940314238862e-15]",
- "[22.3, -9.929933770749285, -0.08510228472464682, 8.065943229821771, 0.09842831331582844, -0.885854819842443, 0.19999999999999035]",
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- "[22.5, -9.920091067038607, -0.2524302897406449, 8.085942970504297, 0.09842831331582845, -0.885854819842443, 0.1999999999999903]",
- "[22.6, -9.915170029138432, -0.3360939782934826, 8.09594220290887, 1.4849232954361469e-15, -0.7874265065266159, -9.769962616701378e-15]",
- "[22.7, -9.920091444884566, -0.41975804469227784, 8.085942202745617, -0.09842831331582547, -0.885854819842443, -0.20000000000000961]",
- "[22.8, -9.925012234939327, -0.5034214853997018, 8.07594347394698, 1.4710455076283324e-15, -0.7874265065266162, -9.603429163007604e-15]",
- "[22.9, -9.920090819193195, -0.5870855517984948, 8.085943474110223, 0.09842831331582846, -0.8858548198424433, 0.1999999999999904]",
- "[23.0, -9.915170273238003, -0.6805933191591291, 8.095941706914244, 1.4710455076283324e-15, -0.9842831331582702, -9.658940314238862e-15]",
- "[23.1, -9.91024885749187, -0.774100216728824, 8.085941706750996, 0.09842831331582846, -0.8858548198424433, -0.20000000000000973]",
- "[23.2, -9.895483474043, -0.8577631465957816, 8.07594401594732, 0.19685662663165546, -0.7874265065266162, -9.769962616701378e-15]",
- "[23.3, -9.880719227045637, -0.9414272129142425, 8.085944015947335, 0.09842831331582842, -0.8858548198424431, 0.19999999999999024]",
- "[23.4, -9.875799179721161, -1.02508991089138, 8.095941235565814, 1.3877787807814457e-15, -0.7874265065266163, -9.992007221626409e-15]",
- "[23.5, -9.870877763975024, -1.1087539772901787, 8.085941235402558, 0.09842831331582824, -0.885854819842443, -0.20000000000000995]",
- "[23.6, -9.865957941120664, -1.1924164507972002, 8.075944471892909, 1.27675647831893e-15, -0.7874265065266162, -9.880984919163893e-15]",
- "[23.7, -9.861036525374528, -1.2760805171959972, 8.08594447205616, 0.09842831331582824, -0.8858548198424432, 0.19999999999998996]",
- "[23.8, -9.846270469358274, -1.3597427744955688, 8.095940796246182, 0.1968566266316552, -0.7874265065266162, -1.021405182655144e-14]",
- "[23.9, -9.831506222441249, -1.4434068408943703, 8.08594079608292, 0.09842831331582824, -0.8858548198424433, -0.2000000000000106]",
- "[24.0, -9.816739959198593, -1.5270688909675383, 8.075944892963614, 0.1968566266316552, -0.7874265065266164, -1.0547118733938987e-14]",
- "[24.1, -9.801975712201227, -1.610732957286, 8.065944892963598, 0.0984283133158282, -0.8858548198424434, -0.20000000000001064]",
- "[24.2, -9.787209251903228, -1.694394810303828, 8.05594939024807, 0.19685662663165515, -0.7874265065266165, -1.0547118733938987e-14]",
- "[24.3, -9.772445004905862, -1.7780588766222896, 8.065949390248084, 0.09842831331582816, -0.8858548198424436, 0.19999999999998946]",
- "[24.4, -9.757678356719552, -1.8617205417518066, 8.075944511186654, 0.1968566266316552, -0.7874265065266166, -1.0658141036401503e-14]",
- "[24.5, -9.742914109802532, -1.945384608150614, 8.065944511023375, 0.09842831331582835, -0.8858548198424436, -0.2000000000000106]",
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- "[24.7, -9.713383036606729, -2.112710161586465, 8.065949751794008, 0.09842831331582831, -0.8858548198424435, 0.19999999999998935]",
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- "[24.9, -9.683851795352608, -2.280035546964001, 8.065944169213168, 0.09842831331582819, -0.8858548198424436, -0.20000000000001072]",
- "[25.0, -9.669084642631447, -2.3636967075586655, 8.055950073456955, 0.1968566266316552, -0.7874265065266166, -1.0769163338864018e-14]",
- "[25.1, -9.644477564302482, -2.4473607738771253, 8.06595007345697, 0.2952849399474822, -0.8858548198424437, 0.19999999999998924]",
- "[25.2, -9.61987354040761, -2.5310217857614927, 8.075943867043422, 0.1968566266316552, -0.7874265065266168, -1.0769163338864018e-14]",
- "[25.3, -9.595266462078646, -2.6146858520799525, 8.085943867043436, 0.2952849399474822, -0.885854819842444, 0.19999999999998924]",
- "[25.4, -9.570662579719812, -2.6983467224282798, 8.095937373037764, 0.19685662663165515, -0.7874265065266172, -1.0769163338864018e-14]",
- "[25.5, -9.546055501390848, -2.772167957415142, 8.085937373037748, 0.29528493994748223, -0.6889981932107901, -0.20000000000001086]",
- "[25.6, -9.521451742112628, -2.845992511452752, 8.075944117135311, 0.19685662663165532, -0.7874265065266173, -1.0880185641326534e-14]",
- "[25.7, -9.496844663783662, -2.929656577771213, 8.085944117135325, 0.29528493994748234, -0.8858548198424443, 0.19999999999998913]",
- "[25.8, -9.47224101995185, -3.01331720959252, 8.09593713845809, 0.19685662663165548, -0.7874265065266174, -1.0880185641326534e-14]",
- "[25.9, -9.447633941542534, -3.096981275991331, 8.08593713829481, 0.29528493994748245, -0.8858548198424443, -0.20000000000001103]",
- "[26.0, -9.42303041245244, -3.180641793070923, 8.075944350119823, 0.19685662663165543, -0.7874265065266175, -1.1102230246251565e-14]",
- "[26.1, -9.398423334123477, -3.2544630280577858, 8.065944350119807, 0.29528493994748234, -0.6889981932107905, -0.20000000000001117]",
- "[26.2, -9.363969777811228, -3.328287909696368, 8.055951759881468, 0.3937132532633093, -0.7874265065266178, -1.1102230246251565e-14]",
- "[26.3, -9.329519868150694, -3.4119519760148287, 8.065951759881482, 0.29528493994748234, -0.8858548198424447, 0.1999999999999889]",
- "[26.4, -9.304916529896046, -3.4956123022589747, 8.075944160291115, 0.19685662663165537, -0.7874265065266178, -1.1102230246251565e-14]",
- "[26.5, -9.280309451567081, -3.5792763685774354, 8.08594416029113, 0.29528493994748234, -0.8858548198424447, 0.1999999999999889]",
- "[26.6, -9.24585570476729, -3.6629365977566355, 8.095936363471036, 0.3937132532633094, -0.7874265065266177, -1.1102230246251565e-14]",
- "[26.7, -9.211405795106756, -3.736757832743498, 8.08593636347102, 0.29528493994748245, -0.6889981932107907, -0.20000000000001117]",
- "[26.8, -9.186802635091745, -3.810582986044314, 8.075944325232859, 0.19685662663165548, -0.7874265065266178, -1.1102230246251565e-14]",
- "[26.9, -9.16219555676278, -3.8942470523627746, 8.085944325232873, 0.29528493994748245, -0.8858548198424447, 0.1999999999999889]",
- "[27.0, -9.127741652436768, -3.9779071240157537, 8.095936208329638, 0.3937132532633093, -0.7874265065266177, -1.1102230246251565e-14]",
- "[27.1, -9.093291742776234, -4.051728359002617, 8.085936208329622, 0.29528493994748234, -0.6889981932107907, -0.20000000000001117]",
- "[27.2, -9.058837767998604, -4.125553659106577, 8.075944468386005, 0.3937132532633092, -0.7874265065266178, -1.1324274851176597e-14]",
- "[27.3, -9.014545026926118, -4.1993748940130855, 8.06594446822271, 0.49214156657913627, -0.688998193210791, -0.2000000000000114]",
- "[27.4, -8.970256407164337, -4.273200250230296, 8.05595284229761, 0.39371325326330936, -0.7874265065266182, -1.1324274851176597e-14]",
- "[27.5, -8.935806497503808, -4.347021485217159, 8.065952842297625, 0.29528493994748234, -0.6889981932107914, 0.1999999999999887]",
- "[27.6, -8.901352409950782, -4.420846898096519, 8.075944353088884, 0.3937132532633093, -0.7874265065266185, -1.1546319456101628e-14]",
- "[27.7, -8.866902500370612, -4.50451096449534, 8.065944352925582, 0.29528493994748223, -0.8858548198424455, -0.20000000000001167]",
- "[27.8, -8.83244835592666, -4.588170796030379, 8.05595295773302, 0.3937132532633091, -0.7874265065266188, -1.176836406102666e-14]",
- "[27.9, -8.79799844626613, -4.661992031017242, 8.065952957733034, 0.295284939947482, -0.6889981932107919, 0.19999999999998824]"
- ],
- "test1": [
- "[11.6, 3.9850329655886467, 9.159482892162652, 0.0659935627811023, -0.9842831331582699, 0.3937132532633084, -3.9968028886505635e-15]",
- "[11.7, 3.8915260679386106, 9.19393280182319, 0.07599356278110189, -0.8858548198424427, 0.2952849399474814, 0.19999999999999601]",
- "[11.799999999999999, 3.8078620577172275, 9.218539824055076, 0.10599367676673854, -0.7874265065266157, 0.19685662663165437, 0.39999999999999614]",
- "[11.9, 3.7340409009683433, 9.24314698062202, 0.155993835741292, -0.6889981932107887, 0.2952849399474815, 0.5999999999999959]",
- "[12.0, 3.66021955085246, 9.277597005411575, 0.20599360180654325, -0.7874265065266156, 0.3937132532633086, 0.39999999999999586]",
- "[12.1, 3.5863984678659864, 9.312046763071718, 0.25599391066156835, -0.6889981932107886, 0.2952849399474817, 0.5999999999999959]",
- "[12.2, 3.512577044034268, 9.336653652555826, 0.3059935269409855, -0.7874265065266157, 0.19685662663165465, 0.3999999999999959]",
- "[12.299999999999999, 3.4289127520634834, 9.361260956537118, 0.3359930684299648, -0.8858548198424427, 0.29528493994748156, 0.19999999999999585]",
- "[12.4, 3.3354056067049385, 9.395711113906167, 0.3659935717577184, -0.9842831331582697, 0.39371325326330864, 0.39999999999999586]",
- "[12.5, 3.2418989787940933, 9.430160753827519, 0.39599302366503836, -0.8858548198424425, 0.2952849399474817, 0.19999999999999585]",
- "[12.6, 3.1582352042144786, 9.464610955226895, 0.42599361645958694, -0.7874265065266155, 0.3937132532633087, 0.3999999999999959]",
- "[12.7, 3.074570824188747, 9.499060551180156, 0.4559929790265793, -0.8858548198424423, 0.2952849399474817, 0.19999999999999576]",
- "[12.799999999999999, 2.9810635909045957, 9.523667293874999, 0.48599366101350655, -0.9842831331582693, 0.19685662663165474, 0.3999999999999958]",
- "[12.9, 2.8875570507606243, 9.548274729710023, 0.5159929345841833, -0.8858548198424423, 0.29528493994748173, 0.19999999999999565]",
- "[13.0, 2.7940497737951038, 9.572881428723496, 0.5459937053288426, -0.9842831331582691, 0.19685662663165476, 0.39999999999999575]",
- "[13.1, 2.7005432771974935, 9.597488908104877, 0.5759928904161175, -0.8858548198424422, 0.29528493994748173, 0.19999999999999568]",
- "[13.2, 2.607035956847315, 9.62209556373369, 0.6059937493156123, -0.9842831331582693, 0.19685662663165474, 0.39999999999999575]",
- "[13.299999999999999, 2.513529503440786, 9.646703086306154, 0.6359928466413907, -0.8858548198424422, 0.29528493994748173, 0.19999999999999565]",
- "[13.4, 2.4200221401319215, 9.67130969897628, 0.6659937928301706, -0.9842831331582691, 0.1968566266316547, 0.3999999999999957]",
- "[13.5, 2.3265157294048, 9.695917264228154, 0.695992803434135, -0.8858548198424423, 0.29528493994748173, 0.19999999999999546]",
- "[13.6, 2.233008323753254, 9.7205238345556, 0.7259938356605194, -0.9842831331582693, 0.19685662663165485, 0.39999999999999536]",
- "[13.7, 2.139501954961906, 9.735287552694285, 0.755992761053691, -0.8858548198424423, 0.09842831331582787, 0.1999999999999953]",
- "[13.8, 2.0459945078689863, 9.750052349134545, 0.7859938774862832, -0.9842831331582693, 0.19685662663165487, 0.39999999999999525]",
- "[13.899999999999999, 1.9524881799172773, 9.764816026433593, 0.8159927198959371, -0.8858548198424423, 0.09842831331582785, 0.19999999999999504]",
- "[14.0, 1.8589806927195434, 9.779580862978666, 0.8459939178189289, -0.9842831331582693, 0.19685662663165476, 0.3999999999999951]",
- "[14.1, 1.7654744039705006, 9.804188550208616, 0.8759926805712852, -0.8858548198424423, 0.29528493994748173, 0.1999999999999949]",
- "[14.2, 1.6719668786821478, 9.828795000899259, 0.9059939558919641, -0.9842831331582692, 0.19685662663165476, 0.39999999999999497]",
- "[14.3, 1.5784606266443406, 9.843558602284405, 0.9359926440494516, -0.8858548198424423, 0.09842831331582777, 0.199999999999995]",
- "[14.399999999999999, 1.4849530663679875, 9.858323511908093, 0.965993990463496, -0.9842831331582693, 0.1968566266316548, 0.3999999999999951]",
- "[14.5, 1.3914468471560981, 9.87308708046732, 0.9959926119208312, -0.8858548198424422, 0.09842831331582778, 0.19999999999999502]",
- "[14.6, 1.297939256781718, 9.887852020189035, 1.02599401949213, -0.9842831331582691, 0.19685662663165476, 0.3999999999999951]",
- "[14.7, 1.2044330642029166, 9.902615562115177, 1.0559925868327447, -0.885854819842442, 0.09842831331582774, 0.19999999999999496]",
- "[14.8, 1.1109254516230984, 9.907536262851185, 1.085994039524065, -0.984283133158269, 7.494005416219807e-16, 0.3999999999999951]",
- "[14.899999999999999, 1.01741855403304, 9.912457678576956, 1.1159940394021954, -0.8858548198424421, 0.09842831331582769, 0.19999999999999496]",
- "[15.0, 0.9239109322874306, 9.917378370147176, 1.1459955107178141, -0.9842831331582691, 6.938893903907228e-16, 0.3999999999999951]",
- "[15.1, 0.830404034637401, 9.922299785812973, 1.1759955107178013, -0.8858548198424421, 0.09842831331582769, 0.19999999999999502]",
- "[15.2, 0.7368964255807746, 9.927220490072173, 1.2059969562502226, -0.9842831331582693, 6.661338147750939e-16, 0.3999999999999951]",
- "[15.3, 0.6433895279307449, 9.932141905737971, 1.2359969562502096, -0.8858548198424423, 0.09842831331582766, 0.19999999999999502]",
- "[15.399999999999999, 0.5498819679174384, 9.937062659040494, 1.2659983021297607, -0.9842831331582691, 6.938893903907228e-16, 0.39999999999999497]",
- "[15.5, 0.45637507026740876, 9.94198407470629, 1.2959983021297476, -0.8858548198424421, 0.09842831331582769, 0.1999999999999949]",
- "[15.6, 0.36286761628009784, 9.95674887804094, 1.3259994325712974, -0.9842831331582691, 0.19685662663165465, 0.39999999999999497]",
- "[15.7, 0.25951741183360655, 9.971512649573445, 1.3559984664572649, -1.082711446474096, 0.0984283133158277, 0.199999999999995]",
- "[15.8, 0.1561680455546203, 9.976433702536601, 1.3859992034456772, -0.9842831331582689, 7.216449660063518e-16, 0.3999999999999949]",
- "[15.899999999999999, 0.06266114796456143, 9.971512286810833, 1.4159992033238082, -0.885854819842442, -0.09842831331582624, 0.1999999999999949]",
- "[16.0, -0.030845780806354917, 9.966590902265922, 1.4459992665594357, -0.9842831331582688, 5.551115123125783e-16, 0.3999999999999948]",
- "[16.1, -0.12435267845638442, 9.961669486600124, 1.4759992665594233, -0.8858548198424416, -0.09842831331582642, 0.19999999999999477]",
- "[16.2, -0.217859759948388, 9.956748254776299, 1.505999640114474, -0.9842831331582689, 5.551115123125783e-16, 0.3999999999999948]",
- "[16.3, -0.31136665759841753, 9.9518268391105, 1.5359996401144616, -0.8858548198424417, -0.09842831331582642, 0.19999999999999477]",
- "[16.4, -0.4048739869195239, 9.94690585511578, 1.5660005172423048, -0.9842831331582689, 5.551115123125783e-16, 0.39999999999999475]",
- "[16.5, -0.49838088456955343, 9.941984439449982, 1.5960005172422922, -0.8858548198424417, -0.09842831331582642, 0.1999999999999947]",
- "[16.6, -0.5918884128825367, 9.937063654447135, 1.626001798708826, -0.9842831331582687, 5.551115123125783e-16, 0.39999999999999475]",
- "[16.7, -0.6853953105325664, 9.932142238781337, 1.6560017987088134, -0.8858548198424415, -0.09842831331582642, 0.1999999999999947]",
- "[16.8, -0.7789029939208332, 9.917377206045728, 1.686003395278346, -0.9842831331582684, -0.19685662663165343, 0.39999999999999475]",
- "[16.9, -0.8724090411227774, 9.902613809496444, 1.71600166722254, -0.8858548198424412, -0.09842831331582638, 0.19999999999999457]",
- "[17.0, -0.9659168472461321, 9.897693302303974, 1.7460035131818745, -0.9842831331582681, 6.106226635438361e-16, 0.3999999999999946]",
- "[17.1, -1.0692665762277562, 9.892771886638176, 1.7760035131818621, -1.0827114464740952, -0.09842831331582638, 0.1999999999999945]",
- "[17.2, -1.1726152924884583, 9.878006626919884, 1.8060055709656069, -0.984283133158268, -0.19685662663165343, 0.3999999999999944]",
- "[17.3, -1.2661211303663136, 9.863243439694694, 1.8360034175767186, -0.885854819842441, -0.09842831331582647, 0.19999999999999446]",
- "[17.4, -1.359629128193692, 9.858323124206244, 1.8660056530662965, -0.984283133158268, 5.273559366969494e-16, 0.3999999999999945]",
- "[17.5, -1.4531360258437216, 9.853401708540446, 1.8960056530662839, -0.8858548198424411, -0.09842831331582647, 0.19999999999999438]",
- "[17.6, -1.5466440975215143, 9.838636287515317, 1.9260080386151517, -0.9842831331582682, -0.19685662663165346, 0.39999999999999425]",
- "[17.7, -1.6401497869831196, 9.81402800099793, 1.9560055836539927, -0.8858548198424414, -0.2952849399474804, 0.19999999999999407]",
- "[17.8, -1.733657925506479, 9.789422163542296, 1.9860081050287508, -0.9842831331582684, -0.19685662663165343, 0.399999999999994]",
- "[17.9, -1.8271635508433417, 9.774659188858095, 2.01600551977024, -0.8858548198424416, -0.09842831331582641, 0.19999999999999385]",
- "[18.0, -1.9206717511852092, 9.759893639168885, 2.0460081667562298, -0.9842831331582685, -0.19685662663165332, 0.3999999999999938]",
- "[18.1, -2.0141773166806445, 9.73528522868533, 2.0760054599037896, -0.8858548198424414, -0.2952849399474804, 0.19999999999999374]",
- "[18.2, -2.1076855751374, 9.710679511163095, 2.106008224975492, -0.9842831331582684, -0.19685662663165338, 0.3999999999999938]",
- "[18.3, -2.2011910840196025, 9.695916652933553, 2.1360054030886055, -0.8858548198424414, -0.09842831331582635, 0.1999999999999938]",
- "[18.4, -2.294699397801286, 9.681150989804529, 2.1660082805770053, -0.9842831331582684, -0.19685662663165332, 0.3999999999999938]",
- "[18.5, -2.388204852485284, 9.656542468509535, 2.1960053485628532, -0.8858548198424412, -0.29528493994748034, 0.19999999999999357]",
- "[18.6, -2.481713219446204, 9.63193685949146, 2.2260083341080374, -0.9842831331582682, -0.1968566266316535, 0.39999999999999347]",
- "[18.7, -2.575218621856513, 9.607328285922776, 2.256005295877112, -0.8858548198424412, -0.29528493994748056, 0.19999999999999324]",
- "[18.8, -2.668727040297224, 9.582722728384494, 2.286008386025921, -0.984283133158268, -0.19685662663165354, 0.39999999999999325]",
- "[18.9, -2.7622323919371814, 9.558114104045464, 2.316005244632909, -0.885854819842441, -0.29528493994748056, 0.19999999999999307]",
- "[19.0, -2.84589488733157, 9.523662623460858, 2.3460084366495373, -0.787426506526614, -0.39371325326330747, 0.39999999999999303]",
- "[19.1, -2.929560548432362, 9.489214308582659, 2.376005196154427, -0.8858548198424407, -0.29528493994748045, 0.19999999999999302]",
- "[19.2, -3.023069064540507, 9.46460884871181, 2.406008484757177, -0.9842831331582678, -0.19685662663165343, 0.3999999999999928]",
- "[19.3, -3.1165743194905544, 9.440000127682866, 2.4360051468964876, -0.8858548198424407, -0.29528493994748034, 0.1999999999999929]",
- "[19.4, -3.2100828838670354, 9.415394716080353, 2.46600853357739, -0.9842831331582675, -0.19685662663165332, 0.3999999999999928]",
- "[19.5, -3.303588090953595, 9.390785947187924, 2.496005098461172, -0.8858548198424405, -0.29528493994748023, 0.1999999999999928]",
- "[19.6, -3.387250443053815, 9.356334323309156, 2.526008581642332, -0.7874265065266134, -0.3937132532633071, 0.3999999999999928]",
- "[19.7, -3.4709162464693963, 9.312039845219907, 2.5560050519727273, -0.8858548198424404, -0.492141566579134, 0.1999999999999928]",
- "[19.799999999999997, -3.564424903950725, 9.267748864059078, 2.586008627836691, -0.9842831331582671, -0.393713253263307, 0.3999999999999928]",
- "[19.9, -3.657930018589577, 9.233300737409722, 2.6160050048726795, -0.8858548198424403, -0.29528493994747984, 0.19999999999999263]",
- "[20.0, -3.7415922788298954, 9.19884902167105, 2.646008674707248, -0.7874265065266133, -0.3937132532633068, 0.3999999999999926]",
- "[20.1, -3.8252581736597775, 9.16440094052194, 2.6760049592896644, -0.8858548198424402, -0.2952849399474799, 0.19999999999999257]",
- "[20.2, -3.9089203891259787, 9.129949180009147, 2.7060087201023593, -0.7874265065266131, -0.39371325326330675, 0.3999999999999926]",
- "[20.299999999999997, -3.992586328557491, 9.095501143461668, 2.736004914057132, -0.8858548198424401, -0.29528493994747973, 0.1999999999999924]",
- "[20.4, -4.08609512149608, 9.061049338512579, 2.7660087651615313, -0.9842831331582669, -0.3937132532633068, 0.39999999999999236]",
- "[20.5, -4.179600101301439, 9.026601346696715, 2.79600486822454, -0.8858548198424401, -0.29528493994747984, 0.19999999999999213]",
- "[20.6, -4.263262227325728, 8.99214949674201, 2.826008810777448, -0.7874265065266128, -0.39371325326330686, 0.39999999999999214]",
- "[20.7, -4.346928255870398, 8.947854793523675, 2.8560048236600197, -0.8858548198424397, -0.4921415665791339, 0.19999999999999202]",
- "[20.799999999999997, -4.430590338152169, 8.893717237163287, 2.8860088550949095, -0.7874265065266128, -0.5905698798949608, 0.3999999999999919]",
- "[20.9, -4.51425641020056, 8.839583670569517, 2.9160047795807156, -0.8858548198424401, -0.49214156657913366, 0.19999999999999163]",
- "[21.0, -4.597918449176116, 8.795292956920294, 2.946008899011047, -0.7874265065266131, -0.39371325326330675, 0.3999999999999915]",
- "[21.1, -4.681584564436101, 8.75099816698664, 2.9760047356936785, -0.8858548198424401, -0.49214156657913377, 0.1999999999999914]",
- "[21.2, -4.765246560287841, 8.706707496461231, 3.0060089427488306, -0.787426506526613, -0.3937132532633067, 0.3999999999999915]",
- "[21.299999999999997, -4.8489127185355745, 8.662412663539827, 3.0360046920831243, -0.8858548198424402, -0.49214156657913377, 0.1999999999999913]",
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- "[21.5, -5.016240872501621, 8.573827160226442, 3.096004648743682, -0.8858548198424401, -0.4921415665791336, 0.1999999999999914]",
- "[21.6, -5.099902782913391, 8.529536575141002, 3.126009029407353, -0.7874265065266133, -0.39371325326330664, 0.3999999999999915]",
- "[21.7, -5.183569026335698, 8.485241657045023, 3.1560046056723885, -0.8858548198424404, -0.49214156657913366, 0.1999999999999913]",
- "[21.799999999999997, -5.267230894424258, 8.43110388649143, 3.1860090723341, -0.7874265065266135, -0.5905698798949608, 0.3999999999999915]",
- "[21.9, -5.341049910195291, 8.376970533383561, 3.2160045630302982, -0.6889981932107864, -0.49214156657913366, 0.1999999999999913]",
- "[22.0, -5.4148733849832205, 8.322832721258795, 3.246009114161945, -0.7874265065266133, -0.5905698798949607, 0.39999999999999125]",
- "[22.1, -5.498539711629986, 8.268699409263403, 3.2760045213202362, -0.8858548198424403, -0.4921415665791336, 0.19999999999999107]",
- "[22.2, -5.582201496850422, 8.214561555841682, 3.3060091563646488, -0.7874265065266133, -0.5905698798949606, 0.39999999999999103]",
- "[22.299999999999997, -5.656020430040315, 8.160428285314953, 3.3360044792612875, -0.6889981932107863, -0.49214156657913355, 0.19999999999999096]",
- "[22.4, -5.7298439871380795, 8.106290390880353, 3.366009197641225, -0.7874265065266133, -0.5905698798949606, 0.39999999999999103]",
- "[22.5, -5.813510395817897, 8.052157160918014, 3.396004438113639, -0.8858548198424403, -0.49214156657913355, 0.19999999999999085]",
- "[22.6, -5.897172099306987, 7.998019225764945, 3.426009239230884, -0.7874265065266133, -0.5905698798949606, 0.3999999999999908]",
- "[22.7, -5.970990951072268, 7.934038438888068, 3.4560043966779452, -0.6889981932107864, -0.6889981932107874, 0.19999999999999074]",
- "[22.799999999999997, -6.044814589178103, 7.870062438351749, 3.486009279661074, -0.7874265065266137, -0.5905698798949602, 0.3999999999999908]",
- "[22.9, -6.118633401230641, 7.815929288962378, 3.516004356414395, -0.6889981932107867, -0.4921415665791332, 0.19999999999999063]",
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- "[23.1, -6.266275851427521, 7.697810407634021, 3.5760043162290907, -0.6889981932107868, -0.688998193210787, 0.19999999999999052]",
- "[23.2, -6.3400995685182195, 7.633834486082562, 3.606009359704375, -0.787426506526614, -0.5905698798949601, 0.39999999999999036]",
- "[23.299999999999997, -6.413918301953989, 7.569853580876175, 3.636004276713479, -0.6889981932107871, -0.6889981932107868, 0.1999999999999904]",
- "[23.4, -6.487742057829587, 7.505877698109616, 3.666009398997184, -0.7874265065266142, -0.5905698798949599, 0.39999999999999014]",
- "[23.5, -6.561560752690443, 7.451744665911926, 3.6960042376245497, -0.6889981932107873, -0.492141566579133, 0.19999999999998996]",
- "[23.6, -6.635384547101259, 7.397606534164276, 3.726009438209336, -0.7874265065266144, -0.5905698798949601, 0.3999999999999899]",
- "[23.7, -6.709203203457541, 7.3336255518783995, 3.7560041985978807, -0.6889981932107876, -0.6889981932107869, 0.19999999999998985]",
- "[23.799999999999997, -6.773179009576691, 7.25980171935539, 3.786009476624193, -0.5905698798949607, -0.7874265065266137, 0.3999999999999897]",
- "[23.9, -6.837160029102323, 7.185983100238862, 3.816004161343955, -0.6889981932107878, -0.6889981932107867, 0.19999999999998963]",
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- "[24.1, -6.965116854682434, 7.058026274658752, 3.8760041242214354, -0.6889981932107878, -0.6889981932107867, 0.1999999999999894]",
- "[24.2, -7.038940760125517, 6.994050541459675, 3.906009550416643, -0.7874265065266146, -0.5905698798949599, 0.39999999999998925]",
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- "[24.5, -7.240716131153637, 6.782426996561324, 3.9960040517313837, -0.6889981932107871, -0.6889981932107873, 0.1999999999999893]",
- "[24.6, -7.304691793344264, 6.718451334370697, 4.026009622211196, -0.59056987989496, -0.5905698798949601, 0.39999999999998925]",
- "[24.7, -7.368672955827023, 6.654470171887938, 4.056004016451271, -0.6889981932107871, -0.6889981932107871, 0.1999999999999894]",
- "[24.799999999999997, -7.432648583466595, 6.580646160885353, 4.086009657136601, -0.5905698798949602, -0.7874265065266141, 0.39999999999998925]",
- "[24.9, -7.496629779824063, 6.506827718600663, 4.116003982545445, -0.6889981932107874, -0.6889981932107871, 0.1999999999999892]",
- "[25.0, -7.560605374312337, 6.43300367444678, 4.146009690592077, -0.5905698798949606, -0.7874265065266142, 0.39999999999998903]",
- "[25.1, -7.614738121223041, 6.35918526487291, 4.176003949534639, -0.49214156657913366, -0.6889981932107873, 0.19999999999998896]",
- "[25.2, -7.668876534737013, 6.2853611886957745, 4.20600972265046, -0.5905698798949608, -0.7874265065266144, 0.3999999999999888]",
- "[25.299999999999997, -7.732857795123107, 6.211542810439711, 4.2360039179572535, -0.6889981932107878, -0.6889981932107875, 0.19999999999998885]",
- "[25.4, -7.796833326543464, 6.13771870321791, 4.266009754153839, -0.5905698798949608, -0.7874265065266146, 0.3999999999999888]",
- "[25.5, -7.860814617674484, 6.063900355706775, 4.29600388698892, -0.688998193210788, -0.6889981932107874, 0.19999999999998885]",
- "[25.6, -7.924790118901647, 5.99007621829178, 4.326009784536132, -0.590569879894961, -0.7874265065266144, 0.3999999999999888]",
- "[25.7, -7.978922774133931, 5.916257900396332, 4.3560038571940405, -0.49214156657913405, -0.6889981932107874, 0.19999999999998874]",
- "[25.799999999999997, -8.033061277680288, 5.842433734186809, 4.38600981324988, -0.5905698798949609, -0.7874265065266141, 0.3999999999999888]",
- "[25.9, -8.087193904964005, 5.758766722828366, 4.4160038291181, -0.492141566579134, -0.8858548198424411, 0.19999999999998885]",
- "[26.0, -8.141332435211257, 5.675105614433462, 4.446009839428444, -0.590569879894961, -0.7874265065266142, 0.3999999999999888]",
- "[26.1, -8.195465037138156, 5.601287349843396, 4.476003803773243, -0.4921415665791339, -0.688998193210787, 0.19999999999998863]",
- "[26.2, -8.249603592547642, 5.5274631317707446, 4.506009865211625, -0.5905698798949609, -0.7874265065266138, 0.3999999999999886]",
- "[26.299999999999997, -8.30373616947983, 5.443796070060778, 4.5360037787687855, -0.492141566579134, -0.8858548198424407, 0.19999999999998863]",
- "[26.4, -8.35787474835059, 5.36013501028938, 4.566009887878967, -0.590569879894961, -0.787426506526614, 0.3999999999999886]",
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- "[26.7, -8.520278437660439, 5.128825424473706, 4.656003735866071, -0.49214156657913416, -0.885854819842441, 0.19999999999998852]",
- "[26.799999999999997, -8.564568131018305, 5.045164405789507, 4.686009928462798, -0.3937132532633072, -0.7874265065266142, 0.3999999999999886]",
- "[26.9, -8.608863927868896, 4.961497283612584, 4.716003719154994, -0.4921415665791341, -0.8858548198424414, 0.19999999999998852]",
- "[27.0, -8.65315360544221, 4.8778362807129385, 4.746009943824916, -0.3937132532633072, -0.7874265065266146, 0.39999999999998836]",
- "[27.1, -8.697449416726744, 4.794169144102071, 4.776003705188264, -0.4921415665791341, -0.8858548198424416, 0.19999999999998852]",
- "[27.2, -8.741739081291643, 4.710508154210843, 4.806009956290454, -0.3937132532633071, -0.7874265065266146, 0.3999999999999886]",
- "[27.299999999999997, -8.7860349040797, 4.626841006096454, 4.836003694279387, -0.492141566579134, -0.8858548198424416, 0.19999999999998852]",
- "[27.4, -8.83032455872984, 4.543180026119984, 4.866009965527727, -0.393713253263307, -0.7874265065266147, 0.39999999999998836]",
- "[27.5, -8.874620389755085, 4.459512869768409, 4.89600368677923, -0.492141566579134, -0.8858548198424415, 0.1999999999999884]",
- "[27.6, -8.918910037939394, 4.3758518962577675, 4.926009971165721, -0.393713253263307, -0.7874265065266145, 0.3999999999999886]",
- "[27.700000000000003, -8.953356852971577, 4.292184735310957, 4.956003683079998, -0.29528493994747995, -0.8858548198424417, 0.19999999999998852]",
- "[27.799999999999997, -8.987809857879302, 4.1986747424137345, 4.986009972423136, -0.3937132532633069, -0.9842831331582689, 0.39999999999998836]",
- "[27.9, -9.022256674478921, 4.10517093782462, 5.0160036875223435, -0.29528493994748006, -0.8858548198424419, 0.1999999999999883]"
- ]
- },
- "type": "simtrace",
- "assert_hits": null
-},
-"8": {
- "node_name": "2-3",
- "id": 8,
- "start_line": 9182,
- "parent": {
- "name": "1-3",
- "index": 7,
- "start_line": 8644
- },
- "child": {
- "3-0": {
- "name": "3-0",
- "index": 9,
- "start_line": 10518
- }
- },
- "agent": {
- "test1": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test2": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test3": "<class 'quadrotor_agent.QuadrotorAgent'>"
- },
- "init": {
- "test1": "[-9.022256674478921, 4.10517093782462, 5.0160036875223435, -0.29528493994748006, -0.8858548198424419, 0.1999999999999883]"
- },
- "mode": {
- "test1": "[\"Normal\", \"T0\"]",
- "test2": "[\"Normal\", \"T1\"]",
- "test3": "[\"Normal\", \"T0\"]"
- },
- "static": {
- "test1": "[]",
- "test2": "[]",
- "test3": "[]"
- },
- "start_time": 27.9,
- "trace": {
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- "[27.9, -6.68350057677323, 7.352287149796636, 0.07966478501071045, -0.2952849399474801, -0.2952849399474809, -0.20000000000001117]",
- "[28.0, -6.708107596293766, 7.327680130276098, 0.06966490450563179, -0.19685662663165304, -0.19685662663165382, -1.1102230246251565e-14]",
- "[28.1, -6.732714674622724, 7.30307305194714, 0.07966490450563067, -0.29528493994748, -0.2952849399474808, 0.1999999999999889]",
- "[28.2, -6.767164643091774, 7.268623083478091, 0.08966478501052089, -0.39371325326330686, -0.39371325326330775, -1.1102230246251565e-14]",
- "[28.3, -6.801614552752306, 7.234173173817559, 0.07966478501050345, -0.2952849399474799, -0.2952849399474808, -0.20000000000001117]",
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- "[28.7, -6.919728528731216, 7.116059197838647, 0.07966478501029767, -0.2952849399474798, -0.2952849399474807, -0.20000000000001117]",
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- "[28.9, -6.99847123819231, 7.047159319709137, 0.07966490450524126, -0.4921415665791337, -0.2952849399474807, 0.1999999999999889]",
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- "[29.3, -7.126427927885921, 6.929045343730066, 0.07966490450504599, -0.29528493994747995, -0.2952849399474806, 0.1999999999999887]",
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- "[29.9, -7.3331273270407475, 6.722345944575242, 0.07966478500969941, -0.2952849399474802, -0.29528493994748084, -0.2000000000000116]",
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- "[30.1, -7.402027205170252, 6.643603235114154, 0.07966490450463436, -0.29528493994748, -0.4921415665791348, 0.19999999999998846]",
- "[30.2, -7.4364771736392985, 6.599310552930539, 0.08966478500953345, -0.3937132532633072, -0.39371325326330775, -1.1546319456101628e-14]",
- "[30.3, -7.470927083299829, 6.564860643270008, 0.079664785009516, -0.29528493994748023, -0.2952849399474808, -0.2000000000000116]",
- "[30.4, -7.495534102820377, 6.53041067480106, 0.06966490450441587, -0.1968566266316531, -0.39371325326330775, -1.1546319456101628e-14]",
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- "[30.7, -7.5988838906104865, 6.417218055679369, 0.0796647850093398, -0.4921415665791342, -0.4921415665791349, -0.2000000000000114]",
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- "[30.9, -7.677626482454763, 6.338475463835092, 0.07966490450419439, -0.29528493994748023, -0.2952849399474809, 0.1999999999999887]",
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- "[31.1, -7.716997748972622, 6.2695755857055575, 0.07966478500916305, -0.09842831331582644, -0.2952849399474806, -0.2000000000000114]",
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- "[65.0, -4.552527659445515, -8.883463663120361, 0.08966467999277117, 0.5905698798949635, -0.19685662663165182, -1.8207657603852567e-14]",
- "[65.1, -4.48854925579022, -8.908070741449325, 0.079664679992753, 0.6889981932107905, -0.29528493994747884, -0.20000000000001833]",
- "[65.2, -4.4245709109423075, -8.942520709917241, 0.06966479948555537, 0.5905698798949635, -0.39371325326330564, -1.84297022087776e-14]",
- "[65.3, -4.370435338618601, -8.976970619577779, 0.07966479948555352, 0.4921415665791365, -0.2952849399474787, 0.19999999999998158]",
- "[65.4, -4.32614265643383, -9.001577639099384, 0.08966467999280014, 0.3937132532633095, -0.1968566266316517, -1.865174681370263e-14]",
- "[65.5, -4.281849915441701, -9.026184717428348, 0.07966467999278191, 0.49214156657913644, -0.2952849399474786, -0.20000000000001872]",
- "[65.6, -4.227714284310826, -9.060634685896058, 0.06966479948516374, 0.5905698798949635, -0.39371325326330586, -1.865174681370263e-14]",
- "[65.7, -4.16373588065554, -9.095084595556596, 0.07966479948516188, 0.6889981932107906, -0.2952849399474789, 0.19999999999998136]",
- "[65.8, -4.099757535807377, -9.119691615078427, 0.08966467999286831, 0.5905698798949637, -0.19685662663165193, -1.865174681370263e-14]",
- "[65.9, -4.045621963483678, -9.134455862075795, 0.07966467999285008, 0.49214156657913666, -0.09842831331582498, -0.20000000000001872]",
- "[66.0, -3.9914863323530883, -9.149220167880058, 0.06966479948465637, 0.5905698798949637, -0.19685662663165204, -1.865174681370263e-14]",
- "[66.1, -3.9275079286978003, -9.173827246209015, 0.0796647994846545, 0.6889981932107908, -0.295284939947479, 0.19999999999998136]",
- "[66.2, -3.863529583849323, -9.208277214676363, 0.08966467999299838, 0.5905698798949637, -0.39371325326330575, -1.865174681370263e-14]",
- "[66.3, -3.809394011525626, -9.242727124336895, 0.07966467999298014, 0.49214156657913666, -0.29528493994747884, -0.20000000000001872]",
- "[66.4, -3.7651013293400486, -9.267334143859305, 0.06966479948409471, 0.39371325326330964, -0.19685662663165182, -1.887379141862766e-14]",
- "[66.5, -3.7208085883479267, -9.291941222188262, 0.07966479948409282, 0.49214156657913666, -0.2952849399474788, 0.19999999999998114]",
- "[66.6, -3.6666729572177323, -9.31654824171073, 0.0896646799930888, 0.5905698798949633, -0.19685662663165193, -1.887379141862766e-14]",
- "[66.7, -3.6026945535624364, -9.331312488708098, 0.07966467999307057, 0.6889981932107904, -0.09842831331582494, -0.20000000000001894]",
- "[66.8, -3.538716208713336, -9.346076794511662, 0.0696647994834586, 0.5905698798949635, -0.19685662663165193, -1.887379141862766e-14]",
- "[66.9, -3.4845806363896306, -9.360841041509039, 0.07966479948345671, 0.4921415665791365, -0.09842831331582497, 0.19999999999998114]",
- "[67.0, -3.4304450052598856, -9.375605347312451, 0.08966467999336686, 0.5905698798949633, -0.19685662663165193, -1.9095836023552692e-14]",
- "[67.1, -3.36646660160459, -9.400212425641415, 0.07966467999334859, 0.6889981932107903, -0.2952849399474789, -0.20000000000001916]",
- "[67.2, -3.3024882567549922, -9.424819445164683, 0.0696647994827242, 0.5905698798949633, -0.19685662663165188, -1.9095836023552692e-14]",
- "[67.3, -3.2483526844312873, -9.449426523493639, 0.07966479948272227, 0.49214156657913644, -0.2952849399474788, 0.19999999999998092]",
- "[67.4, -3.204060002244653, -9.474033543017105, 0.08966467999375277, 0.39371325326330947, -0.19685662663165182, -1.9095836023552692e-14]",
- "[67.5, -3.1597672612525227, -9.49864062134607, 0.0796646799937345, 0.49214156657913644, -0.2952849399474788, -0.20000000000001916]",
- "[67.6, -3.105631630123657, -9.523247640869867, 0.06966479948203669, 0.5905698798949633, -0.19685662663165188, -1.9317880628477724e-14]",
- "[67.7, -3.04165322646837, -9.538011887867244, 0.07966479948203473, 0.6889981932107905, -0.09842831331582491, 0.1999999999999807]",
- "[67.8, -2.977674881617977, -9.552776193669512, 0.08966467999426908, 0.5905698798949636, -0.19685662663165182, -1.9539925233402755e-14]",
- "[67.9, -2.9235393092942723, -9.567540440666885, 0.07966467999426713, 0.4921415665791365, -0.09842831331582484, -0.20000000000001963]",
- "[68.0, -2.8792466271065584, -9.582304746468665, 0.06966479948103776, 0.39371325326330947, -0.19685662663165193, -1.9539925233402755e-14]",
- "[68.1, -2.8349538861144357, -9.597068993466038, 0.07966479948103582, 0.49214156657913644, -0.09842831331582494, 0.19999999999998047]",
- "[68.2, -2.780818254986568, -9.611833299267577, 0.0896646799947578, 0.5905698798949632, -0.19685662663165182, -1.9539925233402755e-14]",
- "[68.3, -2.726682682662863, -9.62659754626495, 0.07966467999475585, 0.49214156657913616, -0.09842831331582484, -0.20000000000001963]",
- "[68.4, -2.682390000474363, -9.641361852065948, 0.0696647994799316, 0.393713253263309, -0.19685662663165193, -1.9539925233402755e-14]",
- "[68.5, -2.6479400908138233, -9.656126099063322, 0.07966479947992965, 0.2952849399474821, -0.09842831331582494, 0.19999999999998047]",
- "[68.6, -2.6134901223499365, -9.67089040486404, 0.08966467999531003, 0.3937132532633091, -0.19685662663165193, -1.9317880628477724e-14]",
- "[68.7, -2.5691973813578146, -9.685654651861416, 0.0796646799953081, 0.4921415665791362, -0.09842831331582495, -0.20000000000001947]",
- "[68.8, -2.515061750231249, -9.700418957661652, 0.06966479947893561, 0.5905698798949633, -0.19685662663165193, -1.9539925233402755e-14]",
- "[68.9, -2.4510833465759614, -9.715183204659025, 0.07966479947893366, 0.6889981932107905, -0.09842831331582494, 0.19999999999998047]",
- "[69.0, -2.3871050017229503, -9.729947510458677, 0.08966467999648992, 0.5905698798949635, -0.19685662663165193, -1.9539925233402755e-14]",
- "[69.1, -2.3329694293992453, -9.74471175745605, 0.07966467999648796, 0.4921415665791364, -0.09842831331582495, -0.20000000000001963]",
- "[69.2, -2.278833798274131, -9.759476063254834, 0.0696647994771682, 0.5905698798949632, -0.19685662663165182, -1.9761969838327786e-14]",
- "[69.3, -2.214855394618844, -9.774240310252207, 0.0796647994771662, 0.6889981932107901, -0.09842831331582488, 0.19999999999998025]",
- "[69.4, -2.150877049764148, -9.789004616050175, 0.08966467999814404, 0.5905698798949632, -0.19685662663165193, -1.9761969838327786e-14]",
- "[69.5, -2.096741477440451, -9.803768863047539, 0.07966467999812571, 0.49214156657913627, -0.09842831331582497, -0.20000000000001986]",
- "[69.6, -2.052448795247769, -9.80869021991389, 0.06966479947480286, 0.3937132532633093, 1.9984014443252818e-15, -1.9984014443252818e-14]",
- "[69.7, -2.0081560542556467, -9.813611635579681, 0.07966479947480085, 0.49214156657913627, -0.09842831331582501, 0.19999999999998003]",
- "[69.8, -1.9540204231333396, -9.828375941375658, 0.08966467999982147, 0.590569879894963, -0.19685662663165204, -1.9984014443252818e-14]",
- "[69.9, -1.8900420194780438, -9.843140188373022, 0.07966467999980313, 0.6889981932107899, -0.098428313315825, -0.20000000000002005]",
- "[70.0, -1.8260636746198295, -9.848061545241737, 0.06966479947167142, 0.5905698798949628, 1.9984014443252818e-15, -2.020605904817785e-14]",
- "[70.1, -1.7719281022961242, -9.852982960907529, 0.0796647994716694, 0.49214156657913566, -0.098428313315825, 0.1999999999999798]",
- "[70.2, -1.727635420099423, -9.8579043177779, 0.08966468000315536, 0.3937132532633086, 2.1094237467877974e-15, -2.020605904817785e-14]",
- "[70.3, -1.6833426791072927, -9.862825733443701, 0.07966468000313699, 0.49214156657913566, -0.09842831331582488, -0.2000000000000203]",
- "[70.4, -1.6292070479898078, -9.877590039234853, 0.06966479946831255, 0.5905698798949627, -0.19685662663165193, -2.042810365310288e-14]",
- "[70.5, -1.575071475666103, -9.892354286232228, 0.07966479946831048, 0.49214156657913566, -0.09842831331582491, 0.19999999999997958]",
- "[70.6, -1.5307787934655848, -9.897275643106413, 0.0896646800075514, 0.3937132532633088, 1.9984014443252818e-15, -2.042810365310288e-14]",
- "[70.7, -1.4864860524734547, -9.902197058772215, 0.079664680007533, 0.49214156657913566, -0.098428313315825, -0.20000000000002052]",
- "[70.8, -1.4421933702706156, -9.907118415648723, 0.06966479946357157, 0.3937132532633087, 1.9984014443252818e-15, -2.0650148258027912e-14]"
- ],
- "test3": [
- "[27.9, -8.79799844626613, -4.661992031017242, 8.065952957733034, 0.295284939947482, -0.6889981932107919, 0.19999999999998824]",
- "[28.0, -8.76354424897978, -4.735817553629921, 8.075944245553245, 0.39371325326330897, -0.7874265065266189, -1.176836406102666e-14]",
- "[28.1, -8.719251507907288, -4.8096387885364225, 8.06594424538994, 0.49214156657913605, -0.6889981932107919, -0.2000000000000119]",
- "[28.2, -8.67496309986251, -4.883464356470636, 8.05595304966016, 0.3937132532633092, -0.7874265065266189, -1.199040866595169e-14]",
- "[28.3, -8.630670358870377, -4.957285591457499, 8.065953049660173, 0.49214156657913616, -0.6889981932107919, 0.19999999999998802]",
- "[28.4, -8.586381992369095, -5.031111200935214, 8.075944160976224, 0.39371325326330925, -0.7874265065266189, -1.199040866595169e-14]",
- "[28.5, -8.542089251296597, -5.104932435841713, 8.065944160812911, 0.49214156657913627, -0.6889981932107919, -0.2000000000000121]",
- "[28.6, -8.497800923241186, -5.1787580837653, 8.055953127616396, 0.3937132532633094, -0.7874265065266187, -1.2212453270876722e-14]",
- "[28.7, -8.453508182249056, -5.252579318752163, 8.065953127616412, 0.49214156657913644, -0.6889981932107918, 0.1999999999999878]",
- "[28.8, -8.409219889725785, -5.326405002207886, 8.075944088613912, 0.39371325326330947, -0.787426506526619, -1.2212453270876722e-14]",
- "[28.9, -8.364927148733656, -5.410069068526347, 8.085944088613928, 0.49214156657913655, -0.8858548198424461, 0.1999999999999878]",
- "[29.0, -8.31078708638297, -5.493728644817821, 8.095934965167984, 0.5905698798949635, -0.7874265065266193, -1.2212453270876722e-14]",
- "[29.1, -8.246808682647309, -5.5773927112166515, 8.085934965004665, 0.6889981932107904, -0.8858548198424462, -0.2000000000000123]",
- "[29.2, -8.182834801693442, -5.661052254833683, 8.07594415484297, 0.5905698798949635, -0.7874265065266193, -1.2434497875801753e-14]",
- "[29.3, -8.128699229369744, -5.7348734898205445, 8.085944154842982, 0.49214156657913644, -0.6889981932107923, 0.19999999999998758]",
- "[29.4, -8.084411038274423, -5.808699274704213, 8.095934909745415, 0.3937132532633095, -0.7874265065266195, -1.2434497875801753e-14]",
- "[29.5, -8.04011829728229, -5.882520509691075, 8.085934909745399, 0.49214156657913655, -0.6889981932107926, -0.2000000000000125]",
- "[29.6, -7.985978150336738, -5.956346319299794, 8.075944205082669, 0.5905698798949635, -0.7874265065266195, -1.2434497875801753e-14]",
- "[29.7, -7.93184257801304, -6.030167554286655, 8.085944205082681, 0.49214156657913644, -0.6889981932107925, 0.19999999999998758]",
- "[29.8, -7.877702410231859, -6.103993384731001, 8.09593486740875, 0.5905698798949635, -0.7874265065266197, -1.2656542480726785e-14]",
- "[29.9, -7.813724006496188, -6.187657451129836, 8.085934867245417, 0.6889981932107904, -0.8858548198424466, -0.20000000000001275]",
- "[30.0, -7.749750217782753, -6.271316902506436, 8.07594424451035, 0.5905698798949636, -0.7874265065266198, -1.2878587085651816e-14]",
- "[30.1, -7.6857718140470785, -6.345138137412921, 8.06594424434701, 0.6889981932107906, -0.6889981932107928, -0.200000000000013]",
- "[30.2, -7.621798034470815, -6.418963996478817, 8.055953640178089, 0.5905698798949635, -0.78742650652662, -1.3100631690576847e-14]",
- "[30.3, -7.567662462147117, -6.49278523146568, 8.065953640178103, 0.49214156657913655, -0.6889981932107933, 0.1999999999999869]",
- "[30.4, -7.51352225285027, -6.556758998147826, 8.07594421814701, 0.5905698798949633, -0.5905698798949663, -1.3100631690576847e-14]",
- "[30.5, -7.459386680606954, -6.620737401883503, 8.065944217983665, 0.49214156657913644, -0.6889981932107934, -0.2000000000000132]",
- "[30.6, -7.4052464624830225, -6.684711159738564, 8.055953657950818, 0.5905698798949632, -0.5905698798949665, -1.3322676295501878e-14]",
- "[30.7, -7.341268058827727, -6.74868956339386, 8.06595365795083, 0.6889981932107901, -0.6889981932107934, 0.1999999999999867]",
- "[30.8, -7.267442171922422, -6.822515450299164, 8.075944205551862, 0.7874265065266169, -0.7874265065266203, -1.3322676295501878e-14]",
- "[30.9, -7.19362093693556, -6.896336685286027, 8.085944205551874, 0.68899819321079, -0.6889981932107934, 0.1999999999999867]",
- "[31.0, -7.1197950393900395, -6.970162582831547, 8.095934731532672, 0.787426506526617, -0.7874265065266206, -1.3322676295501878e-14]",
- "[31.1, -7.04597380448356, -7.0439838177380265, 8.085934731369319, 0.6889981932107901, -0.6889981932107937, -0.2000000000000134]",
- "[31.2, -6.982000064597113, -7.107957557624474, 8.075944207847542, 0.5905698798949632, -0.5905698798949668, -1.354472090042691e-14]",
- "[31.3, -6.918021660941816, -7.17193596127977, 8.085944207847554, 0.6889981932107903, -0.6889981932107938, 0.19999999999998647]",
- "[31.4, -6.854047920173526, -7.235909702048062, 8.095934733161172, 0.5905698798949632, -0.5905698798949668, -1.354472090042691e-14]",
- "[31.5, -6.799912347930215, -7.299888105783745, 8.085934732997814, 0.4921415665791363, -0.6889981932107937, -0.20000000000001367]",
- "[31.6, -6.745772113997295, -7.373714002379831, 8.075944205087819, 0.5905698798949632, -0.7874265065266208, -1.3766765505351941e-14]",
- "[31.7, -6.681793710261609, -7.447535237286305, 8.065944204924454, 0.6889981932107903, -0.6889981932107938, -0.2000000000000139]",
- "[31.8, -6.607967821481764, -7.511508987148616, 8.055953661132365, 0.7874265065266169, -0.590569879894967, -1.3988810110276972e-14]",
- "[31.9, -6.524303755163303, -7.565644559472315, 8.065953661132378, 0.8858548198424439, -0.49214156657913993, 0.19999999999998602]",
- "[32.0, -6.44064433068496, -7.619784773636132, 8.075944229211915, 0.787426506526617, -0.5905698798949668, -1.3988810110276972e-14]",
- "[32.1, -6.366823095698098, -7.673920345959831, 8.085944229211927, 0.68899819321079, -0.4921415665791397, 0.19999999999998602]",
- "[32.2, -6.302849325601401, -7.728060551842128, 8.095934814118982, 0.5905698798949629, -0.5905698798949667, -1.3988810110276972e-14]",
- "[32.3, -6.23887092186571, -7.782196124085432, 8.08593481395561, 0.6889981932107899, -0.4921415665791396, -0.20000000000001408]",
- "[32.4, -6.165045065500773, -7.836336317787201, 8.075944204298512, 0.7874265065266172, -0.5905698798949667, -1.3988810110276972e-14]",
- "[32.5, -6.081380999182312, -7.900314721442498, 8.085944204298524, 0.8858548198424441, -0.6889981932107936, 0.19999999999998602]",
- "[32.6, -5.997721535543976, -7.964288522417667, 8.09593485194865, 0.7874265065266172, -0.5905698798949667, -1.4210854715202004e-14]",
- "[32.7, -5.914057469145118, -8.02826692615336, 8.085934851785273, 0.8858548198424445, -0.688998193210794, -0.20000000000001433]",
- "[32.8, -5.830397983025612, -8.0922407496097, 8.075944158454854, 0.7874265065266175, -0.590569879894967, -1.4210854715202004e-14]",
- "[32.9, -5.756576748038749, -8.146376321933397, 8.085944158454872, 0.6889981932107903, -0.4921415665791398, 0.1999999999999858]",
- "[33.0, -5.682750956979482, -8.200516450329498, 8.095934900808892, 0.7874265065266172, -0.5905698798949669, -1.4210854715202004e-14]",
- "[33.1, -5.6089297220730145, -8.254652022572799, 8.085934900645515, 0.68899819321079, -0.49214156657913977, -0.2000000000000143]",
- "[33.2, -5.544955849125323, -8.298940232857325, 8.075944106751852, 0.5905698798949631, -0.3937132532633129, -1.4432899320127035e-14]",
- "[33.3, -5.480977445470028, -8.343232973849453, 8.085944106751867, 0.68899819321079, -0.49214156657913993, 0.19999999999998558]",
- "[33.4, -5.407151704197571, -8.397373052458743, 8.095934950269482, 0.7874265065266173, -0.5905698798949672, -1.4432899320127035e-14]",
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- "[44.1, 4.135461473938702, -10.026363997213364, 8.065945234334293, 0.8858548198424485, 0.098428313315822, -0.20000000000001783]",
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- "[67.8, 25.833771540862386, -11.881698703420804, 8.095933159520222, 0.7874265065266244, -0.5905698798949672, -2.6645352591003757e-14]",
- "[67.9, 25.917435607261417, -11.93583427566393, 8.085933159356486, 0.8858548198424515, -0.4921415665791401, -0.20000000000002668]",
- "[68.0, 26.001094070008566, -11.989975451558943, 8.075944545452856, 0.7874265065266246, -0.5905698798949671, -2.6867397195928788e-14]",
- "[68.1, 26.07491530499543, -12.04411102388264, 8.08594454545287, 0.6889981932107976, -0.49214156657914016, 0.19999999999997314]",
- "[68.2, 26.148742149182624, -12.098252205406663, 8.095933147918707, 0.7874265065266246, -0.5905698798949672, -2.6867397195928788e-14]",
- "[68.3, 26.222563384088918, -12.152387777649787, 8.085933147754966, 0.6889981932107976, -0.49214156657914016, -0.20000000000002696]",
- "[68.4, 26.286536173098913, -12.196674903996628, 8.075944556352951, 0.5905698798949708, -0.3937132532633132, -2.708944180085382e-14]",
- "[68.5, 26.350514576754207, -12.240967644988759, 8.085944556352965, 0.6889981932107977, -0.4921415665791403, 0.19999999999997292]",
- "[68.6, 26.424341430793373, -12.295108836364761, 8.095933138800211, 0.7874265065266248, -0.5905698798949675, -2.708944180085382e-14]",
- "[68.7, 26.50800549719241, -12.359087240100632, 8.085933138636463, 0.8858548198424517, -0.6889981932107944, -0.20000000000002713]",
- "[68.8, 26.591663938779003, -12.432914099819358, 8.075944567729712, 0.7874265065266247, -0.7874265065266215, -2.731148640577885e-14]",
- "[68.9, 26.665485173765866, -12.50673533480622, 8.085944567729724, 0.6889981932107978, -0.6889981932107945, 0.1999999999999727]",
- "[69.0, 26.729457945930683, -12.570708106971034, 8.095933124903397, 0.5905698798949706, -0.5905698798949672, -2.731148640577885e-14]",
- "[69.1, 26.793436349666564, -12.63468651070691, 8.085933124739643, 0.6889981932107976, -0.6889981932107943, -0.20000000000002746]",
- "[69.2, 26.85740911618518, -12.698659277225524, 8.075944579038675, 0.5905698798949706, -0.5905698798949672, -2.7533531010703882e-14]",
- "[69.3, 26.921387519921062, -12.752794849468637, 8.065944578874916, 0.6889981932107977, -0.4921415665791401, -0.20000000000002763]",
- "[69.4, 26.995214384708, -12.806936051592409, 8.055956018266437, 0.7874265065266247, -0.5905698798949671, -2.7755575615628914e-14]",
- "[69.5, 27.069035619694862, -12.870914455247705, 8.065956018266451, 0.6889981932107976, -0.6889981932107943, 0.19999999999997226]",
- "[69.6, 27.142862489545493, -12.944741325098331, 8.075944568585827, 0.7874265065266247, -0.7874265065266214, -2.7755575615628914e-14]",
- "[69.7, 27.216683724451773, -13.028405391497378, 8.06594456842206, 0.6889981932107978, -0.8858548198424483, -0.20000000000002785]",
- "[69.8, 27.280656486885192, -13.112063816593958, 8.055956031021957, 0.590569879894971, -0.7874265065266215, -2.7977620220553945e-14]",
- "[69.9, 27.344634890540487, -13.185885051580822, 8.06595603102197, 0.6889981932107979, -0.6889981932107946, 0.19999999999997203]",
- "[70.0, 27.408607646873563, -13.249857807913891, 8.075944556026556, 0.590569879894971, -0.5905698798949677, -2.7977620220553945e-14]",
- "[70.1, 27.462743219197257, -13.30399338023759, 8.08594455602657, 0.4921415665791441, -0.49214156657914077, 0.19999999999997203]",
- "[70.2, 27.516884455991413, -13.358134617031745, 8.095933046187051, 0.5905698798949709, -0.5905698798949676, -2.7533531010703882e-14]",
- "[70.3, 27.580862859727297, -13.422113020767625, 8.08593304602329, 0.6889981932107979, -0.6889981932107946, -0.20000000000002763]",
- "[70.4, 27.654689763639006, -13.495939924679332, 8.075944564913828, 0.7874265065266252, -0.7874265065266216, -2.7755575615628914e-14]",
- "[70.5, 27.728510998625868, -13.57960399099779, 8.085944564913842, 0.688998193210798, -0.8858548198424487, 0.19999999999997226]",
- "[70.6, 27.79248372759272, -13.663262382627806, 8.09593303431204, 0.5905698798949711, -0.7874265065266218, -2.7533531010703882e-14]",
- "[70.7, 27.846619299835833, -13.737083617534088, 8.08593303414828, 0.49214156657914404, -0.6889981932107947, -0.20000000000002763]",
- "[70.8, 27.900760552315603, -13.810910532677024, 8.075944575859962, 0.5905698798949712, -0.7874265065266219, -2.7533531010703882e-14]"
- ],
- "test1": [
- "[27.9, -9.022256674478921, 4.10517093782462, 5.0160036875223435, -0.29528493994748006, -0.8858548198424419, 0.1999999999999883]",
- "[28.0, -9.046860663284727, 4.011660950651433, 5.046009965234613, -0.19685662663165304, -0.9842831331582689, 0.39999999999998836]",
- "[28.099999999999998, -9.061621825896971, 3.918157137386527, 5.096016232506751, -0.09842831331582613, -0.8858548198424417, 0.5999999999999883]",
- "[28.2, -9.076389158619735, 3.8246471540111004, 5.146009962511285, -0.19685662663165304, -0.9842831331582688, 0.39999999999998814]",
- "[28.299999999999997, -9.100999321953452, 3.7311433413658244, 5.196016231042474, -0.29528493994747995, -0.8858548198424417, 0.5999999999999881]",
- "[28.4, -9.135452313900222, 3.6376333614295584, 5.246009968035161, -0.3937132532633068, -0.9842831331582687, 0.39999999999998814]",
- "[28.5, -9.169899146135744, 3.5441295412045415, 5.276003714905518, -0.2952849399474798, -0.8858548198424419, 0.1999999999999882]",
- "[28.599999999999998, -9.204352118755136, 3.460468537844938, 5.306009938640836, -0.3937132532633067, -0.787426506526615, 0.39999999999998814]",
- "[28.7, -9.238798978995508, 3.3768014221063165, 5.336003742415243, -0.2952849399474797, -0.8858548198424419, 0.19999999999998797]",
- "[28.799999999999997, -9.273251922706987, 3.2931403898388023, 5.366009907411543, -0.3937132532633066, -0.7874265065266148, 0.3999999999999879]",
- "[28.9, -9.307698815598382, 3.209473306751205, 5.396003777530732, -0.2952849399474796, -0.8858548198424419, 0.19999999999998797]",
- "[29.0, -9.342151722723349, 3.1159634116367436, 5.426009868185592, -0.39371325326330664, -0.9842831331582688, 0.3999999999999879]",
- "[29.099999999999998, -9.376598660124492, 3.0224594862461047, 5.456003828745725, -0.29528493994747984, -0.885854819842442, 0.19999999999998797]",
- "[29.2, -9.401202794093372, 2.928949644235995, 5.486009811495962, -0.19685662663165285, -0.9842831331582688, 0.3999999999999879]",
- "[29.299999999999997, -9.425812785914376, 2.8354456600780047, 5.516003891467571, -0.29528493994747973, -0.885854819842442, 0.19999999999998797]",
- "[29.4, -9.450416984599187, 2.7419358827838205, 5.546009742719209, -0.19685662663165282, -0.9842831331582689, 0.3999999999999879]",
- "[29.5, -9.47502690559211, 2.6484318277977486, 5.5760039666089245, -0.2952849399474798, -0.8858548198424417, 0.19999999999998785]",
- "[29.599999999999998, -9.509479617648283, 2.5647705638749296, 5.606009660896552, -0.39371325326330686, -0.7874265065266147, 0.3999999999999879]",
- "[29.7, -9.543926763024297, 2.4811037332719534, 5.636004044048247, -0.29528493994747995, -0.8858548198424416, 0.19999999999998797]",
- "[29.799999999999997, -9.568531118151254, 2.387594112419919, 5.666009577419503, -0.1968566266316529, -0.9842831331582685, 0.3999999999999879]",
- "[29.9, -9.593140869308371, 2.294089887598047, 5.69600414640464, -0.29528493994747984, -0.8858548198424417, 0.19999999999998785]",
- "[30.0, -9.617745329056495, 2.2005803713671765, 5.726009467192421, -0.19685662663165285, -0.9842831331582684, 0.3999999999999877]",
- "[30.099999999999998, -9.632507015742181, 2.107076034028828, 5.756004264803797, -0.09842831331582585, -0.8858548198424416, 0.19999999999998763]",
- "[30.2, -9.647273760550213, 2.013566638568135, 5.786009340194349, -0.19685662663165282, -0.9842831331582684, 0.3999999999999875]",
- "[30.299999999999997, -9.662035576511817, 1.9200621719538709, 5.816004400486066, -0.0984283133158258, -0.8858548198424416, 0.1999999999999873]",
- "[30.4, -9.676802183387357, 1.8265529144256694, 5.846009195606667, -0.19685662663165288, -0.9842831331582684, 0.3999999999999875]",
- "[30.5, -9.701411545951807, 1.733048301011129, 5.876004554187104, -0.29528493994747995, -0.8858548198424414, 0.1999999999999873]",
- "[30.599999999999998, -9.726016420193588, 1.6395391992739201, 5.9060090327504335, -0.1968566266316529, -0.9842831331582683, 0.39999999999998725]",
- "[30.7, -9.740778547882265, 1.5460344209325787, 5.936004726451518, -0.09842831331582591, -0.8858548198424413, 0.19999999999998697]",
- "[30.799999999999997, -9.755544824718566, 1.4525254934436183, 5.9660088509536155, -0.19685662663165288, -0.9842831331582684, 0.3999999999999868]",
- "[30.9, -9.770307135993475, 1.3590205315160457, 5.996004917690111, -0.09842831331582588, -0.8858548198424414, 0.19999999999998674]",
- "[31.0, -9.7850732199897, 1.2655117968671588, 6.026008650353587, -0.19685662663165282, -0.9842831331582684, 0.3999999999999866]",
- "[31.099999999999998, -9.799835733259343, 1.172006632944854, 6.056005127530382, -0.09842831331582577, -0.8858548198424414, 0.1999999999999864]",
- "[31.2, -9.804755522904847, 1.0784981092745305, 6.086008431498992, 1.1657341758564144e-15, -0.9842831331582683, 0.39999999999998637]",
- "[31.299999999999997, -9.809676938570643, 0.9849912116245011, 6.116008431498979, -0.09842831331582583, -0.8858548198424414, 0.19999999999998622]",
- "[31.4, -9.824442583428985, 0.8914829161134982, 6.146011271862529, -0.19685662663165276, -0.9842831331582682, 0.39999999999998614]",
- "[31.5, -9.839205552583431, 0.7979772963063911, 6.17600867536791, -0.09842831331582583, -0.8858548198424413, 0.19999999999998613]",
- "[31.599999999999998, -9.844125814061837, 0.7044692444689711, 6.206011020602416, 1.1657341758564144e-15, -0.9842831331582685, 0.3999999999999861]",
- "[31.7, -9.849047229727633, 0.6109623468189415, 6.236011020602403, -0.09842831331582583, -0.8858548198424416, 0.19999999999998594]",
- "[31.799999999999997, -9.863812373873891, 0.5174545520200204, 6.266012843551216, -0.19685662663165285, -0.9842831331582684, 0.399999999999986]",
- "[31.9, -9.878575856412299, 0.42394841882894607, 6.296011290219789, -0.09842831331582585, -0.8858548198424412, 0.19999999999998586]",
- "[32.0, -9.883496642592853, 0.3304408916936712, 6.326012569293294, 1.1657341758564144e-15, -0.9842831331582682, 0.399999999999986]",
- "[32.1, -9.878575226927056, 0.23693399404364163, 6.356012569293281, 0.09842831331582816, -0.8858548198424413, 0.19999999999998583]",
- "[32.199999999999996, -9.873654165547286, 0.14342674210758574, 6.386013289179677, 1.1518563880486e-15, -0.9842831331582681, 0.3999999999999858]",
- "[32.3, -9.878575581273061, 0.04991984451753079, 6.4160132890577986, -0.0984283133158258, -0.885854819842441, 0.19999999999998558]",
- "[32.4, -9.883496922067899, -0.043587128003458986, 6.446013441190759, 1.2212453270876722e-15, -0.9842831331582679, 0.3999999999999855]",
- "[32.5, -9.8785755064021, -0.13709402565348844, 6.4760134411907435, 0.09842831331582821, -0.885854819842441, 0.19999999999998533]",
- "[32.6, -9.87365429616911, -0.23060112873632768, 6.506013858616981, 1.2004286453759505e-15, -0.984283133158268, 0.3999999999999853]",
- "[32.699999999999996, -9.878575711894884, -0.3241080263263822, 6.536013858495103, -0.0984283133158258, -0.885854819842441, 0.1999999999999852]",
- "[32.8, -9.883496644103932, -0.41761540743316145, 6.5660148408481, 1.1934897514720433e-15, -0.984283133158268, 0.39999999999998515]",
- "[32.9, -9.878575228378159, -0.511122305023216, 6.59601484072622, 0.0984283133158283, -0.8858548198424411, 0.1999999999999852]",
- "[33.0, -9.873654569079424, -0.6046299590403068, 6.626016377615411, 1.27675647831893e-15, -0.984283133158268, 0.3999999999999852]",
- "[33.1, -9.868733153413627, -0.6981368566903362, 6.656016377615396, 0.09842831331582826, -0.885854819842441, 0.19999999999998516]",
- "[33.199999999999996, -9.853967884654924, -0.7916447761016998, 6.686018453768675, 0.19685662663165526, -0.9842831331582678, 0.3999999999999853]",
- "[33.3, -9.839204788677023, -0.8949956561027915, 6.716016114971157, 0.09842831331582821, -1.082711446474095, 0.19999999999998513]",
- "[33.4, -9.834284663873609, -0.9983440942220309, 6.7460187379204575, 1.27675647831893e-15, -0.9842831331582678, 0.39999999999998515]",
- "[33.5, -9.829363248207812, -1.0918509918720603, 6.776018737920443, 0.09842831331582826, -0.8858548198424407, 0.1999999999999851]",
- "[33.6, -9.824443380414841, -1.1853594373949161, 6.806021883098426, 1.27675647831893e-15, -0.9842831331582678, 0.39999999999998515]",
- "[33.699999999999996, -9.819521964749045, -1.2788663350449454, 6.836021883098411, 0.09842831331582826, -0.8858548198424407, 0.1999999999999851]",
- "[33.8, -9.804755937774026, -1.372375012672626, 6.866025499898463, 0.19685662663165537, -0.9842831331582678, 0.39999999999998526]",
- "[33.9, -9.789993582201094, -1.4658800188982193, 6.896021656645687, 0.09842831331582838, -0.8858548198424407, 0.19999999999998525]",
- "[34.0, -9.775227335432385, -1.5593889163195875, 6.926025720052373, 0.19685662663165532, -0.9842831331582673, 0.39999999999998526]",
- "[34.1, -9.760465193461137, -1.652893708943498, 6.95602144277472, 0.09842831331582841, -0.8858548198424403, 0.1999999999999852]",
- "[34.199999999999996, -9.74569873926871, -1.7464028137885843, 6.986025927653056, 0.19685662663165548, -0.9842831331582675, 0.39999999999998526]",
- "[34.3, -9.7309367985903, -1.8399074051196538, 7.016021241361298, 0.09842831331582852, -0.8858548198424405, 0.1999999999999852]",
- "[34.4, -9.716170149161531, -1.9334167052010824, 7.04602612294732, 0.19685662663165548, -0.9842831331582674, 0.39999999999998526]",
- "[34.5, -9.691560575235105, -2.026921107253649, 7.076021052053822, 0.29528493994748245, -0.8858548198424405, 0.1999999999999853]",
- "[34.6, -9.666956082693103, -2.120430590690639, 7.106026306206549, 0.19685662663165543, -0.9842831331582673, 0.3999999999999855]",
- "[34.699999999999996, -9.652194508841955, -2.213934815194449, 7.1360208745454, 0.09842831331582846, -0.8858548198424403, 0.19999999999998552]",
- "[34.8, -9.637427504003238, -2.307444470685825, 7.16602647830157, 0.19685662663165548, -0.9842831331582673, 0.3999999999999855]",
- "[34.9, -9.622666096887244, -2.4009485284544834, 7.196020707845323, 0.09842831331582852, -0.8858548198424403, 0.19999999999998552]",
- "[35.0, -9.607898930551334, -2.4944583454430527, 7.2260266397534, 0.19685662663165543, -0.9842831331582671, 0.3999999999999855]",
- "[35.1, -9.583288855911874, -2.587962246782586, 7.256020551443231, 0.29528493994748245, -0.8858548198424401, 0.1999999999999852]",
- "[35.199999999999996, -9.548835875522935, -2.6814722151610244, 7.286026790965781, 0.39371325326330947, -0.9842831331582671, 0.39999999999998526]",
- "[35.3, -9.514389108519541, -2.774975970153915, 7.316020405288654, 0.29528493994748256, -0.8858548198424402, 0.1999999999999853]",
- "[35.4, -9.489785242492317, -2.868486080105682, 7.346026932479096, 0.19685662663165554, -0.984283133158267, 0.39999999999998526]",
- "[35.5, -9.465174884223583, -2.961989697815937, 7.376020267852486, 0.2952849399474825, -0.88585481984244, 0.1999999999999852]",
- "[35.6, -9.440571151380606, -3.045650418648413, 7.406027065664748, 0.19685662663165548, -0.7874265065266132, 0.39999999999998526]",
- "[35.699999999999996, -9.415960670108742, -3.1293178879097763, 7.436020151103691, 0.2952849399474824, -0.88585481984244, 0.1999999999999853]",
- "[35.8, -9.391357050671543, -3.2228282444515712, 7.466027179349208, 0.19685662663165554, -0.9842831331582668, 0.39999999999998526]",
- "[35.9, -9.366746453246714, -3.316331623005736, 7.496020028772809, 0.29528493994748256, -0.8858548198424399, 0.1999999999999853]",
- "[36.0, -9.33229296607952, -3.409842098162427, 7.526027298036162, 0.39371325326330936, -0.9842831331582671, 0.39999999999998503]",
- "[36.099999999999994, -9.297846690372404, -3.5033453618590387, 7.5560199140766064, 0.2952849399474824, -0.8858548198424401, 0.19999999999998508]",
- "[36.2, -9.263393091989334, -3.5870057394549626, 7.586027409323457, 0.3937132532633094, -0.7874265065266131, 0.39999999999998503]",
- "[36.3, -9.22894691928407, -3.670673542728693, 7.616019816070758, 0.29528493994748245, -0.88585481984244, 0.19999999999998497]",
- "[36.4, -9.194493225645793, -3.7641842243564656, 7.646027504870068, 0.3937132532633094, -0.9842831331582669, 0.39999999999998503]",
- "[36.5, -9.1600471504547, -3.8576872875370576, 7.676019713474858, 0.29528493994748245, -0.8858548198424399, 0.19999999999998497]",
- "[36.599999999999994, -9.12559335727075, -3.9413474703321016, 7.706027604544563, 0.3937132532633093, -0.7874265065266127, 0.3999999999999848]",
- "[36.7, -9.09114737450018, -4.02501546354052, 7.736019625356797, 0.2952849399474823, -0.8858548198424399, 0.19999999999998475]",
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- "[58.9, 11.066922232076843, -10.029092527115035, 8.076028920506275, 0.8858548198424483, 0.09842831331583021, 0.1999999999999747]",
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- "[59.7, 11.8641915690934, -10.029092509811113, 8.076028955666686, 1.0827114464741026, 0.09842831331582999, 0.1999999999999747]",
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- "[59.9, 12.061042903885955, -10.02909780165021, 8.076018202990102, 0.8858548198424485, -0.09842831331582398, -0.20000000000002519]",
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- "[60.1, 12.257904829941964, -10.029092502225852, 8.076028971079438, 1.082711446474103, 0.0984283133158301, 0.19999999999997492]",
- "[60.199999999999996, 12.361249252315982, -10.024176393167663, 8.08601818839421, 0.9842831331582762, 3.1086244689504383e-15, -2.4868995751603507e-14]",
- "[60.3, 12.464598981378158, -10.02909780891401, 8.076018188230524, 1.0827114464741032, -0.09842831331582387, -0.20000000000002502]",
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- "[60.5, 12.661450294043053, -10.02909249494725, 8.076028985869092, 0.8858548198424491, 0.0984283133158301, 0.19999999999997492]",
- "[60.6, 12.75496251221861, -10.024176399806981, 8.086018174903543, 0.984283133158276, 3.1086244689504383e-15, -2.5091040356528538e-14]",
- "[60.699999999999996, 12.858312241280787, -10.02909781555333, 8.076018174739852, 1.082711446474103, -0.09842831331582391, -0.20000000000002519]",
- "[60.8, 12.96165664338698, -10.034013904343695, 8.06602899860799, 0.9842831331582759, 3.1086244689504383e-15, -2.531308496145357e-14]",
- "[60.9, 13.065006372368607, -10.029092488677895, 8.076028998608004, 1.082711446474103, 0.0984283133158301, 0.1999999999999747]",
- "[61.0, 13.168350768080666, -10.024176406281663, 8.086018161747388, 0.9842831331582762, 3.1086244689504383e-15, -2.55351295663786e-14]",
- "[61.1, 13.26185766565014, -10.029097822028021, 8.076018161583685, 0.8858548198424491, -0.09842831331582387, -0.20000000000002569]",
- "[61.199999999999996, 13.355369902393278, -10.034013898600714, 8.066029010277363, 0.984283133158276, 3.1086244689504383e-15, -2.5757174171303632e-14]",
- "[61.3, 13.458719631374906, -10.029092482934914, 8.076029010277374, 1.082711446474103, 0.09842831331583012, 0.19999999999997425]",
- "[61.4, 13.562064015664772, -10.024176411960877, 8.086018150207597, 0.984283133158276, 3.219646771412954e-15, -2.55351295663786e-14]",
- "[61.5, 13.665413744726958, -10.029097827707233, 8.076018150043891, 1.0827114464741032, -0.09842831331582377, -0.20000000000002569]",
- "[61.6, 13.768758123390134, -10.03401389305458, 8.066029021546738, 0.9842831331582764, 3.219646771412954e-15, -2.5757174171303632e-14]",
- "[61.699999999999996, 13.862265021040164, -10.02909247738878, 8.076029021546749, 0.8858548198424493, 0.09842831331583023, 0.19999999999997425]",
- "[61.8, 13.955777274161008, -10.024176417193795, 8.086018139574627, 0.9842831331582764, 3.3306690738754696e-15, -2.5757174171303632e-14]",
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- "[62.9, 15.063079690109436, -10.029092463455049, 8.076029049859148, 0.88585481984245, 0.09842831331583032, 0.1999999999999738]",
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- "[63.3, 15.466635770950901, -10.02909245954046, 8.076029057813328, 1.0827114464741048, 0.0984283133158302, 0.19999999999997337]",
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- "[63.5, 15.663487006745632, -10.029097850377385, 8.076018103979525, 0.8858548198424502, -0.09842831331582387, -0.20000000000002674]",
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- "[64.1, 16.263894313080403, -10.029092452357808, 8.076029072408, 0.8858548198424501, 0.09842831331583002, 0.19999999999997337]",
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- "[64.3, 16.460756344520966, -10.02909785716672, 8.076018090184014, 1.0827114464741041, -0.09842831331582387, -0.20000000000002652]",
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- "[64.5, 16.66745039468582, -10.029092449207178, 8.076029078809855, 1.0827114464741041, 0.0984283133158301, 0.19999999999997337]",
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- "[64.69999999999999, 16.864301610152314, -10.029097860372346, 8.07601808367038, 0.8858548198424496, -0.09842831331582386, -0.20000000000002674]",
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- "[64.9, 17.061163650887273, -10.029092446269043, 8.07602908477996, 1.0827114464741041, 0.09842831331583013, 0.19999999999997314]",
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- "[65.3, 17.46470889884669, -10.029092443384904, 8.076029090640324, 0.8858548198424503, 0.09842831331583023, 0.19999999999997314]",
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- "[65.69999999999999, 17.868264981031633, -10.029092440813788, 8.076029095864659, 1.0827114464741041, 0.09842831331583013, 0.19999999999997292]",
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- "[65.9, 18.06511617996064, -10.029097868516434, 8.076018067122073, 0.8858548198424498, -0.09842831331582377, -0.20000000000002724]",
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- "[66.1, 18.26197823662236, -10.029092438486357, 8.07602910059382, 1.082711446474104, 0.09842831331583013, 0.1999999999999727]",
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- "[66.5, 18.6655234541741, -10.029092436193524, 8.076029105252701, 0.8858548198424502, 0.09842831331583002, 0.19999999999997248]",
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- "[66.69999999999999, 18.862385517836316, -10.029097873224075, 8.076018057556428, 1.082711446474104, -0.09842831331582388, -0.20000000000002763]",
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- "[66.9, 19.069079536725546, -10.029092434150055, 8.076029109404896, 1.082711446474104, 0.09842831331583013, 0.19999999999997248]",
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- "[67.1, 19.265930722028592, -10.029097875478657, 8.076018052975245, 0.88585481984245, -0.09842831331582377, -0.20000000000002763]",
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- "[67.3, 19.462792791985734, -10.029092432153167, 8.076029113462422, 1.082711446474104, 0.09842831331583021, 0.19999999999997226]",
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- "[67.5, 19.66948680483438, -10.02909787742895, 8.076018049012363, 1.0827114464741034, -0.09842831331582377, -0.2000000000000279]",
- "[67.6, 19.772831086645443, -10.034013845924184, 8.066029117312477, 0.9842831331582766, 3.219646771412954e-15, -2.7977620220553945e-14]",
- "[67.69999999999999, 19.86633798421488, -10.029092430177794, 8.076029117476244, 0.8858548198424496, 0.09842831331583021, 0.19999999999997203]",
- "[67.8, 19.95985033087291, -10.024176463519995, 8.086018045442577, 0.9842831331582763, 3.4416913763379853e-15, -2.7755575615628914e-14]",
- "[67.9, 20.063200059935124, -10.029097879266383, 8.076018045278811, 1.0827114464741034, -0.09842831331582355, -0.20000000000002785]",
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- "[68.1, 20.26989406719701, -10.038935259896622, 8.07602912108078, 1.0827114464741034, -0.09842831331582366, 0.19999999999997226]",
- "[68.19999999999999, 20.37323834287375, -10.043851222257532, 8.086018040316112, 0.9842831331582765, 3.219646771412954e-15, -2.7755575615628914e-14]",
- "[68.3, 20.466745240443196, -10.048772638003918, 8.076018040152345, 0.8858548198424495, -0.09842831331582376, -0.2000000000000279]",
- "[68.4, 20.560257593772352, -10.053688597990588, 8.06602912574131, 0.9842831331582765, 3.219646771412954e-15, -2.7977620220553945e-14]",
- "[68.5, 20.66360732283457, -10.058610013736976, 8.076029125905075, 1.0827114464741037, -0.09842831331582377, 0.19999999999997203]",
- "[68.6, 20.76695159379702, -10.063525971383598, 8.08601803556128, 0.9842831331582768, 3.1086244689504383e-15, -2.7755575615628914e-14]",
- "[68.69999999999999, 20.86045849136646, -10.068447387129986, 8.076018035397514, 0.8858548198424497, -0.09842831331582388, -0.20000000000002785]",
- "[68.8, 20.953970849317866, -10.073363342494412, 8.066029130378583, 0.9842831331582769, 3.1086244689504383e-15, -2.7755575615628914e-14]",
- "[68.9, 21.05732057838008, -10.0782847582408, 8.076029130542345, 1.082711446474104, -0.09842831331582387, 0.19999999999997226]",
- "[69.0, 21.160664844809116, -10.093054467790752, 8.086018030986946, 0.9842831331582766, -0.19685662663165093, -2.7533531010703882e-14]",
- "[69.1, 21.264014573871325, -10.107818714707534, 8.076018030823185, 1.0827114464741034, -0.09842831331582394, -0.20000000000002763]",
- "[69.19999999999999, 21.367358836641653, -10.122588427916195, 8.066029137812833, 0.9842831331582762, -0.19685662663165093, -2.7755575615628914e-14]",
- "[69.3, 21.46086573429168, -10.137352674913561, 8.076029137812847, 0.8858548198424492, -0.09842831331582394, 0.19999999999997226]",
- "[69.4, 21.554378101695512, -10.152122391664733, 8.086018023625043, 0.9842831331582759, -0.19685662663165082, -2.7755575615628914e-14]",
- "[69.5, 21.657727830757725, -10.166886638581513, 8.076018023461277, 1.0827114464741028, -0.09842831331582381, -0.2000000000000279]",
- "[69.6, 21.761072086506754, -10.181656358811477, 8.066029144717762, 0.9842831331582758, -0.19685662663165093, -2.7755575615628914e-14]",
- "[69.69999999999999, 21.85457898415678, -10.196420605808843, 8.076029144717776, 0.8858548198424487, -0.09842831331582394, 0.19999999999997226]",
- "[69.8, 21.948091358481026, -10.211190329480429, 8.086018016468131, 0.9842831331582756, -0.19685662663165093, -2.7755575615628914e-14]",
- "[69.9, 22.05144108754324, -10.225954576397207, 8.076018016304365, 1.0827114464741026, -0.09842831331582394, -0.20000000000002785]",
- "[70.0, 22.15478533647019, -10.240724303449248, 8.066029151422873, 0.9842831331582759, -0.19685662663165082, -2.7977620220553945e-14]",
- "[70.1, 22.248292234120218, -10.265331381778212, 8.076029151422887, 0.8858548198424488, -0.29528493994747773, 0.19999999999997203]",
- "[70.19999999999999, 22.341804615838623, -10.289932976038797, 8.086018008148782, 0.9842831331582761, -0.19685662663165066, -2.7977620220553945e-14]",
- "[70.3, 22.435311513408063, -10.31454005444835, 8.076018007985011, 0.8858548198424491, -0.2952849399474776, -0.20000000000002802]",
- "[70.4, 22.528823899665856, -10.339141644169551, 8.066029160482843, 0.9842831331582761, -0.19685662663165066, -2.7977620220553945e-14]",
- "[70.5, 22.632173628647482, -10.363748722498515, 8.076029160482857, 1.082711446474103, -0.2952849399474776, 0.19999999999997203]",
- "[70.6, 22.73551786447301, -10.388350307671377, 8.086017998743088, 0.984283133158276, -0.1968566266316506, -2.7977620220553945e-14]",
- "[70.69999999999999, 22.82902476204245, -10.41295738608093, 8.076017998579315, 0.8858548198424488, -0.29528493994747756, -0.20000000000002813]",
- "[70.8, 22.92253715731602, -10.437558966786344, 8.066029169396646, 0.9842831331582755, -0.19685662663165054, -2.7977620220553945e-14]"
- ]
- },
- "type": "simtrace",
- "assert_hits": null
-},
-"9": {
- "node_name": "3-0",
- "id": 9,
- "start_line": 10518,
- "parent": {
- "name": "2-3",
- "index": 8,
- "start_line": 9182
- },
- "child": {
- "4-0": {
- "name": "4-0",
- "index": 10,
- "start_line": 11068
- }
- },
- "agent": {
- "test1": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test2": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test3": "<class 'quadrotor_agent.QuadrotorAgent'>"
- },
- "init": {
- "test1": "[22.92253715731602, -10.437558966786344, 8.066029169396646, 0.9842831331582755, -0.19685662663165054, -2.7977620220553945e-14]"
- },
- "mode": {
- "test1": "[\"MoveDown\", \"M01\"]",
- "test2": "[\"Normal\", \"T1\"]",
- "test3": "[\"Normal\", \"T0\"]"
- },
- "static": {
- "test1": "[]",
- "test2": "[]",
- "test3": "[]"
- },
- "start_time": 70.8,
- "trace": {
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- "[81.8, 4.414290576496511, -10.035074644188096, 0.08966457691670071, 0.39371325326330875, 1.9984014443252818e-15, -2.3092638912203256e-14]",
- "[81.9, 4.458583317488634, -10.030153228522307, 0.07966457691669843, 0.49214156657913577, 0.09842831331582896, -0.2000000000000232]",
- "[82.0, 4.512718948619728, -10.025231871663902, 0.06966469640952883, 0.5905698798949626, 2.220446049250313e-15, -2.3314683517128287e-14]",
- "[82.1, 4.5766973522750165, -10.03015328732969, 0.07966469640952649, 0.6889981932107895, -0.09842831331582474, 0.1999999999999767]",
- "[82.2, 4.640675697122711, -10.035074644187887, 0.089664576916277, 0.5905698798949623, 2.3314683517128287e-15, -2.353672812205332e-14]",
- "[82.3, 4.694811269446408, -10.030153228522085, 0.07966457691625828, 0.49214156657913527, 0.09842831331582931, -0.20000000000002366]",
- "[82.4, 4.739103951630916, -10.025231871663905, 0.06966469640954176, 0.39371325326330836, 2.4424906541753444e-15, -2.375877272697835e-14]",
- "[82.5, 4.783396692623047, -10.030153287329707, 0.07966469640955573, 0.4921415665791353, -0.09842831331582458, 0.19999999999997625]",
- "[82.6, 4.837532323754529, -10.035074644187722, 0.08966457691593543, 0.5905698798949622, 2.3314683517128287e-15, -2.375877272697835e-14]",
- "[82.7, 4.891667896078235, -10.030153228521929, 0.07966457691593307, 0.49214156657913544, 0.09842831331582935, -0.20000000000002385]",
- "[82.8, 4.945803527209714, -10.02523187166391, 0.06966469640954526, 0.5905698798949622, 2.3314683517128287e-15, -2.375877272697835e-14]",
- "[82.9, 4.999939099533411, -10.030153287329712, 0.07966469640955923, 0.49214156657913544, -0.09842831331582469, 0.19999999999997625]",
- "[83.0, 5.04423178171759, -10.03507464418756, 0.0896645769155987, 0.39371325326330847, 2.220446049250313e-15, -2.353672812205332e-14]",
- "[83.1, 5.08852452270972, -10.030153228521758, 0.07966457691557999, 0.4921415665791355, 0.0984283133158292, -0.20000000000002366]",
- "[83.2, 5.142660153841343, -10.025231871663886, 0.06966469640948336, 0.5905698798949623, 2.220446049250313e-15, -2.353672812205332e-14]",
- "[83.3, 5.196795726165048, -10.030153287329677, 0.079664696409481, 0.4921415665791353, -0.09842831331582479, 0.19999999999997647]",
- "[83.4, 5.250931357296832, -10.03507464418739, 0.08966457691524748, 0.5905698798949622, 2.1094237467877974e-15, -2.353672812205332e-14]",
- "[83.5, 5.305066929620528, -10.030153228521588, 0.07966457691522877, 0.49214156657913516, 0.09842831331582909, -0.20000000000002366]",
- "[83.6, 5.349359611804593, -10.025231871663854, 0.06966469640941564, 0.39371325326330825, 2.220446049250313e-15, -2.375877272697835e-14]",
- "[83.7, 5.393652352796724, -10.030153287329655, 0.07966469640942961, 0.4921415665791352, -0.0984283133158248, 0.19999999999997625]",
- "[83.8, 5.447787983928629, -10.035074644187251, 0.08966457691495244, 0.5905698798949622, 2.1094237467877974e-15, -2.375877272697835e-14]",
- "[83.9, 5.5019235562523345, -10.030153228521458, 0.07966457691495007, 0.49214156657913544, 0.09842831331582913, -0.20000000000002385]",
- "[84.0, 5.546216238436286, -10.025231871663836, 0.06966469640936623, 0.39371325326330836, 1.9984014443252818e-15, -2.375877272697835e-14]",
- "[84.1, 5.590508979428416, -10.030153287329638, 0.0796646964093802, 0.4921415665791353, -0.09842831331582502, 0.19999999999997625]",
- "[84.2, 5.6446446105604275, -10.035074644187121, 0.0896645769146846, 0.5905698798949622, 1.887379141862766e-15, -2.375877272697835e-14]",
- "[84.3, 5.708623014215716, -10.030153228521328, 0.07966457691468223, 0.688998193210789, 0.09842831331582891, -0.20000000000002385]",
- "[84.4, 5.772601359062728, -10.025231871663816, 0.06966469640931405, 0.590569879894962, 1.887379141862766e-15, -2.398081733190338e-14]",
- "[84.5, 5.826736931386433, -10.030153287329608, 0.07966469640931166, 0.4921415665791351, -0.09842831331582513, 0.19999999999997603]",
- "[84.6, 5.880872562518557, -10.035074644186977, 0.08966457691438262, 0.5905698798949619, 1.887379141862766e-15, -2.375877272697835e-14]",
- "[84.7, 5.9350081348422625, -10.030153228521185, 0.07966457691438025, 0.4921415665791351, 0.09842831331582891, -0.20000000000002385]",
- "[84.8, 5.989143765974348, -10.025231871663774, 0.06966469640922301, 0.590569879894962, 1.887379141862766e-15, -2.398081733190338e-14]",
- "[84.9, 6.053122169629638, -10.030153287329565, 0.07966469640922062, 0.6889981932107889, -0.09842831331582513, 0.19999999999997603]",
- "[85.0, 6.117100514476407, -10.035074644186837, 0.08966457691409313, 0.590569879894962, 1.7763568394002505e-15, -2.398081733190338e-14]",
- "[85.1, 6.1712360868001035, -10.030153228521037, 0.07966457691407437, 0.4921415665791351, 0.09842831331582877, -0.20000000000002405]",
- "[85.2, 6.21552876898375, -10.025231871663722, 0.06966469640911299, 0.39371325326330814, 1.887379141862766e-15, -2.4202861936828413e-14]",
- "[85.3, 6.259821509975873, -10.030153287329515, 0.07966469640911056, 0.49214156657913527, -0.0984283133158251, 0.1999999999999758]",
- "[85.4, 6.313957141108174, -10.035074644186707, 0.08966457691382013, 0.5905698798949623, 1.7763568394002505e-15, -2.4202861936828413e-14]",
- "[85.5, 6.37793554476347, -10.030153228520906, 0.07966457691380135, 0.6889981932107893, 0.09842831331582874, -0.20000000000002427]",
- "[85.6, 6.441913889610205, -10.025231871663667, 0.0696646964089937, 0.5905698798949621, 1.7763568394002505e-15, -2.4424906541753444e-14]",
- "[85.7, 6.496049461933903, -10.03015328732947, 0.07966469640900761, 0.4921415665791351, -0.09842831331582522, 0.1999999999999756]",
- "[85.8, 6.5403421441173455, -10.035074644186583, 0.0896645769135499, 0.3937132532633082, 1.6653345369377348e-15, -2.4424906541753444e-14]",
- "[85.9, 6.584634885109466, -10.03015322852079, 0.07966457691354745, 0.49214156657913516, 0.09842831331582863, -0.2000000000000245]",
- "[86.0, 6.638770516241792, -10.025231871663618, 0.06966469640887929, 0.590569879894962, 1.6653345369377348e-15, -2.4424906541753444e-14]",
- "[86.1, 6.69290608856549, -10.03015328732942, 0.0796646964088932, 0.492141566579135, -0.09842831331582533, 0.1999999999999756]",
- "[86.2, 6.747041719697938, -10.035074644186468, 0.08966457691330942, 0.5905698798949618, 1.4432899320127035e-15, -2.4424906541753444e-14]",
- "[86.3, 6.801177292021644, -10.030153228520675, 0.07966457691330697, 0.4921415665791347, 0.09842831331582841, -0.2000000000000245]",
- "[86.4, 6.8454699742050815, -10.02523187166357, 0.06966469640877154, 0.39371325326330775, 1.5543122344752192e-15, -2.4646951146678475e-14]",
- "[86.5, 6.889762715197211, -10.03015328732937, 0.07966469640878543, 0.4921415665791347, -0.09842831331582541, 0.19999999999997536]",
- "[86.6, 6.943898346329714, -10.035074644186363, 0.08966457691308599, 0.5905698798949619, 1.5543122344752192e-15, -2.4646951146678475e-14]",
- "[86.7, 6.9980339186534195, -10.030153228520572, 0.07966457691308353, 0.4921415665791349, 0.09842831331582855, -0.20000000000002474]",
- "[86.8, 7.042326600836802, -10.025231871663522, 0.06966469640865819, 0.39371325326330786, 1.5543122344752192e-15, -2.4868995751603507e-14]",
- "[86.9, 7.086619341828923, -10.030153287329314, 0.0796646964086557, 0.49214156657913477, -0.09842831331582544, 0.19999999999997514]",
- "[87.0, 7.1309120240121935, -10.035074644186253, 0.08966457691285035, 0.3937132532633078, 1.4432899320127035e-15, -2.4646951146678475e-14]",
- "[87.1, 7.175204765004315, -10.030153228520462, 0.07966457691284788, 0.4921415665791349, 0.09842831331582844, -0.20000000000002474]",
- "[87.2, 7.229340396136806, -10.025231871663458, 0.06966469640851403, 0.5905698798949617, 1.5543122344752192e-15, -2.4868995751603507e-14]",
- "[87.3, 7.293318799792092, -10.03015328732925, 0.07966469640851154, 0.6889981932107887, -0.09842831331582544, 0.19999999999997514]",
- "[87.4, 7.357297144638478, -10.03507464418614, 0.08966457691260393, 0.5905698798949617, 1.5543122344752192e-15, -2.4646951146678475e-14]",
- "[87.5, 7.411432716962183, -10.03015322852035, 0.07966457691260147, 0.49214156657913466, 0.09842831331582855, -0.20000000000002474]"
- ],
- "test3": [
- "[70.8, 27.900760552315603, -13.810910532677024, 8.075944575859962, 0.5905698798949712, -0.7874265065266219, -2.7533531010703882e-14]",
- "[70.9, 27.954896124639298, -13.884731767663887, 8.085944575859976, 0.4921415665791441, -0.6889981932107948, 0.19999999999997248]",
- "[71.0, 28.009037382104484, -13.948704486177691, 8.095933024018253, 0.5905698798949711, -0.5905698798949679, -2.7533531010703882e-14]",
- "[71.1, 28.0631729543476, -14.012682889913572, 8.085933023854494, 0.4921415665791441, -0.688998193210795, -0.20000000000002763]",
- "[71.2, 28.11731421606298, -14.086509814292109, 8.075944584332312, 0.590569879894971, -0.7874265065266219, -2.7755575615628914e-14]",
- "[71.3, 28.18129261971828, -14.170173880610566, 8.085944584332326, 0.688998193210798, -0.885854819842449, 0.19999999999997226]",
- "[71.4, 28.245265328925928, -14.263686472708244, 8.095933013581083, 0.590569879894971, -0.9842831331582761, -2.7755575615628914e-14]",
- "[71.5, 28.299400901169037, -14.357193370277688, 8.085933013417316, 0.492141566579144, -0.8858548198424492, -0.20000000000002785]",
- "[71.6, 28.343687941992616, -14.440851736427593, 8.075944595793066, 0.39371325326331696, -0.7874265065266222, -2.7755575615628914e-14]",
- "[71.7, 28.387980683065333, -14.51467297133387, 8.065944595629299, 0.492141566579144, -0.6889981932107953, -0.20000000000002785]",
- "[71.8, 28.442121947307584, -14.58849989823928, 8.05595616124157, 0.5905698798949708, -0.7874265065266222, -2.7977620220553945e-14]",
- "[71.9, 28.49625751963128, -14.662321133226145, 8.065956161241584, 0.4921415665791439, -0.6889981932107953, 0.19999999999997203]",
- "[72.0, 28.54054456440911, -14.726293840667145, 8.075944586900633, 0.39371325326331685, -0.5905698798949683, -2.7977620220553945e-14]",
- "[72.1, 28.58483730540124, -14.790272244322441, 8.085944586900647, 0.4921415665791439, -0.6889981932107953, 0.19999999999997203]",
- "[72.2, 28.638978590485745, -14.86409919207011, 8.095932978938245, 0.5905698798949709, -0.7874265065266223, -2.7755575615628914e-14]",
- "[72.3, 28.693114162728858, -14.947763258469157, 8.08593297877448, 0.4921415665791439, -0.8858548198424493, -0.20000000000002785]",
- "[72.4, 28.737401186610786, -15.041275873229393, 8.075944595574573, 0.393713253263317, -0.9842831331582762, -2.7977620220553945e-14]",
- "[72.5, 28.781693927683502, -15.134782770798836, 8.0659445954108, 0.4921415665791441, -0.8858548198424493, -0.20000000000002807]",
- "[72.6, 28.825980959686074, -15.218441128127736, 8.055956195710259, 0.39371325326331724, -0.7874265065266224, -2.7977620220553945e-14]",
- "[72.7, 28.870273700678204, -15.302105194446195, 8.065956195710273, 0.4921415665791443, -0.8858548198424493, 0.19999999999997203]",
- "[72.8, 28.91456072843654, -15.38576354753086, 8.07594458678679, 0.39371325326331735, -0.7874265065266224, -2.7977620220553945e-14]",
- "[72.9, 28.958853469509258, -15.459584782437137, 8.065944586623015, 0.4921415665791444, -0.6889981932107954, -0.20000000000002807]",
- "[73.0, 29.003140493380183, -15.533411734545211, 8.055956203445469, 0.39371325326331746, -0.7874265065266222, -2.7977620220553945e-14]",
- "[73.1, 29.03759040304072, -15.607232969532076, 8.065956203445483, 0.2952849399474905, -0.6889981932107953, 0.19999999999997203]",
- "[73.2, 29.07204603337341, -15.681059925191095, 8.075944579407729, 0.3937132532633175, -0.7874265065266225, -2.7977620220553945e-14]",
- "[73.3, 29.106495942953355, -15.764723991590147, 8.065944579243954, 0.2952849399474905, -0.8858548198424494, -0.20000000000002807]",
- "[73.4, 29.140951576910695, -15.848382333611797, 8.055956210646766, 0.3937132532633174, -0.7874265065266226, -2.8199664825478976e-14]",
- "[73.5, 29.175401486571225, -15.922203568598661, 8.06595621064678, 0.2952849399474904, -0.6889981932107956, 0.1999999999999718]",
- "[73.6, 29.209857124072872, -15.996030531426637, 8.07594457204217, 0.3937132532633175, -0.7874265065266225, -2.8199664825478976e-14]",
- "[73.7, 29.244307033733403, -16.0698517664135, 8.085944572042184, 0.2952849399474905, -0.6889981932107956, 0.1999999999999718]",
- "[73.8, 29.27876268763517, -16.143678745641594, 8.095932900113585, 0.3937132532633175, -0.7874265065266223, -2.7977620220553945e-14]",
- "[73.9, 29.313212597215113, -16.227342812040643, 8.085932899949812, 0.2952849399474905, -0.8858548198424492, -0.20000000000002807]",
- "[74.0, 29.347668254493996, -16.311001130740756, 8.075944578740502, 0.3937132532633175, -0.7874265065266224, -2.8199664825478976e-14]",
- "[74.1, 29.382118164073933, -16.39466519713981, 8.065944578576723, 0.29528493994749055, -0.8858548198424494, -0.2000000000000283]",
- "[74.2, 29.406719504497904, -16.47832352555328, 8.05595623763049, 0.19685662663166364, -0.7874265065266226, -2.842170943040401e-14]",
- "[74.3, 29.431326582826863, -16.552144760540138, 8.065956237630502, 0.29528493994749067, -0.6889981932107957, 0.1999999999999716]",
- "[74.4, 29.45592792012028, -16.62597173656254, 8.075944572215654, 0.1968566266316637, -0.7874265065266226, -2.842170943040401e-14]",
- "[74.5, 29.48053499844924, -16.709635802881, 8.085944572215666, 0.29528493994749067, -0.8858548198424495, 0.1999999999999716]",
- "[74.6, 29.514990665432432, -16.793294111876797, 8.095932873706445, 0.3937132532633175, -0.7874265065266226, -2.8199664825478976e-14]",
- "[74.7, 29.54944057501237, -16.87695817827585, 8.085932873542664, 0.2952849399474905, -0.8858548198424495, -0.20000000000002824]",
- "[74.8, 29.57404189279969, -16.960616484052675, 8.075944578592637, 0.19685662663166353, -0.7874265065266226, -2.842170943040401e-14]",
- "[74.9, 29.598648971209254, -17.034437718958944, 8.065944578428853, 0.2952849399474905, -0.6889981932107957, -0.20000000000002852]",
- "[75.0, 29.623250299373538, -17.108264704110486, 8.055956262393513, 0.19685662663166342, -0.7874265065266225, -2.842170943040401e-14]",
- "[75.1, 29.647857377702497, -17.191928770428945, 8.065956262393525, 0.29528493994749044, -0.8858548198424494, 0.1999999999999716]",
- "[75.2, 29.672458703041517, -17.27558708375746, 8.075944572688101, 0.19685662663166342, -0.7874265065266224, -2.842170943040401e-14]",
- "[75.3, 29.697065781370476, -17.35925115007592, 8.085944572688113, 0.29528493994749044, -0.8858548198424493, 0.1999999999999716]",
- "[75.4, 29.721667090476064, -17.442909447171008, 8.095932849997403, 0.19685662663166337, -0.7874265065266224, -2.842170943040401e-14]",
- "[75.5, 29.736431337392833, -17.526573513570064, 8.085932849833618, 0.09842831331583636, -0.8858548198424493, -0.20000000000002852]",
- "[75.6, 29.75120135642667, -17.61023180785206, 8.075944578240348, 0.19685662663166348, -0.7874265065266222, -2.842170943040401e-14]",
- "[75.7, 29.77580843475563, -17.69389587417052, 8.08594457824036, 0.29528493994749044, -0.8858548198424491, 0.1999999999999716]",
- "[75.8, 29.80040973829191, -17.777554165696287, 8.095932844233161, 0.19685662663166342, -0.7874265065266219, -2.842170943040401e-14]",
- "[75.9, 29.825016816701474, -17.861218232095347, 8.085932844069374, 0.2952849399474904, -0.8858548198424488, -0.20000000000002852]",
- "[76.0, 29.849618117535464, -17.944876520918836, 8.075944583567427, 0.19685662663166342, -0.7874265065266222, -2.864375403532904e-14]",
- "[76.1, 29.864382364532833, -18.0285405872373, 8.065944583567408, 0.09842831331583643, -0.8858548198424491, -0.20000000000002874]",
- "[76.2, 29.879152378235023, -18.112198886850937, 8.055956301140572, 0.19685662663166326, -0.7874265065266222, -2.864375403532904e-14]",
- "[76.3, 29.893916625232393, -18.1958629531694, 8.065956301140588, 0.09842831331583629, -0.8858548198424492, 0.19999999999997137]",
- "[76.4, 29.908686641438702, -18.279521250278922, 8.0759445784792, 0.19685662663166326, -0.7874265065266224, -2.864375403532904e-14]",
- "[76.5, 29.923450888436072, -18.363185316597384, 8.065944578479181, 0.09842831331583626, -0.8858548198424493, -0.20000000000002874]",
- "[76.6, 29.938220907068242, -18.44684361128104, 8.05595630606976, 0.19685662663166326, -0.7874265065266222, -2.886579864025407e-14]",
- "[76.7, 29.952985154065612, -18.5305076775995, 8.065956306069774, 0.09842831331583626, -0.8858548198424492, 0.19999999999997115]",
- "[76.8, 29.967755175079013, -18.61416596990193, 8.075944573640685, 0.19685662663166315, -0.7874265065266222, -2.90878432451791e-14]",
- "[76.9, 29.982519422076376, -18.697830036220385, 8.065944573640666, 0.09842831331583617, -0.8858548198424494, -0.20000000000002915]",
- "[77.0, 29.99728944539685, -18.781488326215744, 8.055956310757548, 0.19685662663166315, -0.7874265065266225, -2.90878432451791e-14]",
- "[77.1, 30.01205369239421, -18.8651523925342, 8.06595631075756, 0.0984283133158362, -0.8858548198424497, 0.19999999999997092]",
- "[77.2, 30.01696932947046, -18.948810680263108, 8.0759445690354, 9.325873406851315e-15, -0.787426506526623, -2.90878432451791e-14]",
- "[77.3, 30.021890745136254, -19.032474746581563, 8.085944569035412, 0.0984283133158363, -0.8858548198424503, 0.19999999999997092]",
- "[77.4, 30.026806366572025, -19.11613301867, 8.09593279553279, 9.43689570931383e-15, -0.7874265065266232, -2.886579864025407e-14]",
- "[77.5, 30.031727782318423, -19.19979708506906, 8.08593279536899, 0.09842831331583644, -0.8858548198424503, -0.20000000000002896]",
- "[77.6, 30.036643401658615, -19.283455355061914, 8.075944573129684, 9.43689570931383e-15, -0.7874265065266233, -2.886579864025407e-14]",
- "[77.7, 30.04156481740501, -19.367119421460977, 8.085944573293478, 0.09842831331583643, -0.8858548198424503, 0.19999999999997115]",
- "[77.8, 30.046480434685005, -19.450777689393636, 8.09593279134659, 9.547918011776346e-15, -0.7874265065266234, -2.886579864025407e-14]",
- "[77.9, 30.051401850431404, -19.534441755792702, 8.08593279118279, 0.09842831331583653, -0.8858548198424504, -0.2000000000000289]",
- "[78.0, 30.056317465716774, -19.618100021730733, 8.075944577182613, 9.547918011776346e-15, -0.7874265065266235, -2.90878432451791e-14]",
- "[78.1, 30.05139604997037, -19.701764088129796, 8.065944577018808, -0.09842831331581745, -0.8858548198424505, -0.20000000000002918]",
- "[78.2, 30.046480423052724, -19.78542236570011, 8.0559563393826, 9.658940314238862e-15, -0.7874265065266235, -2.90878432451791e-14]",
- "[78.3, 30.05140183871852, -19.869086432018566, 8.065956339382613, 0.09842831331583664, -0.8858548198424507, 0.19999999999997092]",
- "[78.4, 30.056317463764724, -19.952744707717432, 8.075944573216168, 9.658940314238862e-15, -0.7874265065266239, -2.90878432451791e-14]",
- "[78.5, 30.051396048018322, -20.03640877411649, 8.065944573052361, -0.09842831331581733, -0.8858548198424511, -0.20000000000002918]",
- "[78.6, 30.046480424782793, -20.120067048004685, 8.05595634289797, 9.547918011776346e-15, -0.7874265065266242, -2.930988785010413e-14]",
- "[78.7, 30.051401840448587, -20.203731114323144, 8.065956342897982, 0.09842831331583654, -0.8858548198424512, 0.1999999999999707]",
- "[78.8, 30.05631746190077, -20.297243806186792, 8.075944569428703, 9.658940314238862e-15, -0.9842831331582779, -2.930988785010413e-14]",
- "[78.9, 30.051396046234974, -20.39075070383682, 8.085944569428715, -0.09842831331581733, -0.8858548198424508, 0.1999999999999707]",
- "[79.0, 30.046480440324952, -20.474408960399504, 8.095932764378773, 9.658940314238862e-15, -0.7874265065266239, -2.9753977059954195e-14]",
- "[79.1, 30.041559024578543, -20.558073026798578, 8.085932764214949, -0.09842831331581733, -0.885854819842451, -0.2000000000000299]",
- "[79.2, 30.036643420328712, -20.64173128170107, 8.075944572638296, 9.658940314238862e-15, -0.7874265065266239, -2.9976021664879227e-14]",
- "[79.3, 30.0317220045823, -20.72539534810015, 8.065944572474464, -0.0984283133158173, -0.8858548198424507, -0.20000000000003007]",
- "[79.4, 30.02680638833047, -20.809053615004643, 8.055956356510512, 9.658940314238862e-15, -0.7874265065266238, -3.019806626980426e-14]",
- "[79.5, 30.02188497258406, -20.892717681403717, 8.065956356674343, -0.09842831331581732, -0.8858548198424507, 0.1999999999999698]",
- "[79.6, 30.016969357919255, -20.976375946721188, 8.075944569413561, 9.547918011776346e-15, -0.7874265065266237, -2.9976021664879227e-14]",
- "[79.7, 30.012047942253453, -21.060040013039647, 8.085944569413572, -0.09842831331581745, -0.8858548198424505, 0.19999999999997004]",
- "[79.8, 30.00713234278327, -21.143698263162488, 8.095932751278289, 9.43689570931383e-15, -0.7874265065266235, -2.9976021664879227e-14]",
- "[79.9, 30.002210927036852, -21.227362329561572, 8.08593275111446, -0.09842831331581756, -0.8858548198424503, -0.20000000000003007]",
- "[80.0, 29.987440862335237, -21.311020578175786, 8.075944572315185, -0.1968566266316445, -0.7874265065266233, -2.9976021664879227e-14]",
- "[80.1, 29.97267661533787, -21.394684644494244, 8.085944572315196, -0.09842831331581753, -0.8858548198424501, 0.19999999999997004]",
- "[80.2, 29.95790654921054, -21.478342891682743, 8.095932748217509, -0.1968566266316445, -0.7874265065266229, -2.9976021664879227e-14]",
- "[80.3, 29.943142302293793, -21.562006958081824, 8.085932748053677, -0.09842831331581751, -0.8858548198424498, -0.20000000000003004]",
- "[80.4, 29.928372234791304, -21.64566520389516, 8.07594457494559, -0.19685662663164438, -0.7874265065266232, -3.019806626980426e-14]",
- "[80.5, 29.913607987793934, -21.72932927021362, 8.085944574945602, -0.09842831331581738, -0.8858548198424501, 0.1999999999999698]",
- "[80.6, 29.898837918933484, -21.812987514668993, 8.09593274529439, -0.19685662663164438, -0.7874265065266233, -3.042011087472929e-14]",
- "[80.7, 29.884073671936118, -21.896651580987452, 8.08593274529437, -0.0984283133158174, -0.8858548198424502, -0.2000000000000305]",
- "[80.8, 29.869303601766315, -21.98030982413347, 8.075944577606093, -0.1968566266316445, -0.7874265065266233, -3.042011087472929e-14]",
- "[80.9, 29.85453935476895, -22.06397389045193, 8.085944577606105, -0.09842831331581751, -0.8858548198424503, 0.1999999999999696]",
- "[81.0, 29.839769283305067, -22.147632132303873, 8.095932742664882, -0.1968566266316446, -0.787426506526623, -3.042011087472929e-14]",
- "[81.1, 29.8151622049761, -22.23129619862233, 8.085932742664863, -0.29528493994747157, -0.88585481984245, -0.2000000000000305]",
- "[81.2, 29.790560952328303, -22.31495443925963, 8.075944580074172, -0.1968566266316446, -0.7874265065266228, -3.042011087472929e-14]",
- "[81.3, 29.765953873999337, -22.39861850557809, 8.065944580074152, -0.29528493994747157, -0.8858548198424497, -0.2000000000000305]",
- "[81.4, 29.741352608783952, -22.482276758782977, 8.055956391946921, -0.1968566266316446, -0.7874265065266228, -3.042011087472929e-14]",
- "[81.5, 29.726588361786586, -22.565940825101436, 8.065956391946933, -0.09842831331581763, -0.8858548198424498, 0.1999999999999696]",
- "[81.6, 29.711818300512206, -22.64959907714288, 8.07594457771013, -0.19685662663164438, -0.7874265065266228, -3.019806626980426e-14]",
- "[81.7, 29.68721122210263, -22.733263143541958, 8.065944577546292, -0.2952849399474714, -0.8858548198424496, -0.2000000000000303]",
- "[81.8, 29.662609959169696, -22.816921394464394, 8.05595639405685, -0.19685662663164433, -0.7874265065266226, -3.042011087472929e-14]",
- "[81.9, 29.63800288084073, -22.900585460782853, 8.065956394056862, -0.29528493994747135, -0.8858548198424496, 0.1999999999999696]",
- "[82.0, 29.613401618982675, -22.98424371063041, 8.075944575362211, -0.19685662663164444, -0.7874265065266227, -3.019806626980426e-14]",
- "[82.1, 29.588794540653712, -23.058064945617268, 8.085944575362223, -0.29528493994747146, -0.6889981932107958, 0.1999999999999698]",
- "[82.2, 29.564193293523555, -23.131892011802936, 8.095932726741426, -0.1968566266316445, -0.7874265065266227, -3.019806626980426e-14]",
- "[82.3, 29.539586215113978, -23.215556078202013, 8.085932726577589, -0.2952849399474714, -0.8858548198424494, -0.2000000000000303]",
- "[82.4, 29.505130473309787, -23.29921431237681, 8.075944577118255, -0.39371325326329853, -0.7874265065266224, -3.042011087472929e-14]",
- "[82.5, 29.47068056364926, -23.373035547363674, 8.065944577118236, -0.2952849399474716, -0.6889981932107955, -0.2000000000000305]",
- "[82.6, 29.446079304554978, -23.446862601585213, 8.055956401428686, -0.19685662663164466, -0.7874265065266225, -3.064215547965432e-14]",
- "[82.7, 29.42147222622602, -23.530526667903676, 8.065956401428698, -0.29528493994747157, -0.8858548198424495, 0.19999999999996937]",
- "[82.8, 29.39687096804073, -23.614184914078468, 8.075944575271228, -0.19685662663164466, -0.7874265065266225, -3.064215547965432e-14]",
- "[82.9, 29.37226388963115, -23.697848980477552, 8.06594457510738, -0.2952849399474717, -0.8858548198424495, -0.2000000000000307]",
- "[83.0, 29.337808158891168, -23.781507225716563, 8.055956403166284, -0.39371325326329853, -0.7874265065266225, -3.086420008457935e-14]",
- "[83.1, 29.303358249230634, -23.85532846070343, 8.065956403166298, -0.29528493994747157, -0.6889981932107956, 0.19999999999996915]",
- "[83.2, 29.26890251769446, -23.929155517565945, 8.07594457348956, -0.39371325326329865, -0.7874265065266225, -3.086420008457935e-14]",
- "[83.3, 29.234452608033926, -24.00297675255281, 8.06594457348954, -0.2952849399474717, -0.6889981932107955, -0.200000000000031]",
- "[83.4, 29.19999687580174, -24.076803810111333, 8.055956404580522, -0.39371325326329876, -0.7874265065266226, -3.086420008457935e-14]",
- "[83.5, 29.165546966141203, -24.160467876429784, 8.06595640458052, -0.2952849399474718, -0.8858548198424495, 0.19999999999996915]",
- "[83.6, 29.131091233154134, -24.244126119421704, 8.075944571955654, -0.39371325326329876, -0.7874265065266226, -3.086420008457935e-14]",
- "[83.7, 29.096641323493596, -24.317947354408574, 8.06594457195565, -0.2952849399474718, -0.6889981932107956, -0.200000000000031]",
- "[83.8, 29.062185589788665, -24.39177441343984, 8.055956406039149, -0.39371325326329887, -0.7874265065266225, -3.086420008457935e-14]",
- "[83.9, 29.027735680128128, -24.46559564842671, 8.065956406039147, -0.2952849399474719, -0.6889981932107956, 0.19999999999996915]",
- "[84.0, 28.99327994576808, -24.539422708113086, 8.075944570624484, -0.39371325326329887, -0.7874265065266225, -3.086420008457935e-14]",
- "[84.1, 28.948987204775964, -24.613243943099956, 8.085944570624482, -0.49214156657912583, -0.6889981932107956, 0.19999999999996915]",
- "[84.2, 28.904700302891314, -24.6870710171943, 8.095932705933778, -0.39371325326329876, -0.7874265065266224, -3.108624468950438e-14]",
- "[84.3, 28.860407561899187, -24.760892252181158, 8.085932705933761, -0.4921415665791256, -0.6889981932107954, -0.20000000000003118]",
- "[84.4, 28.816120660550187, -24.834719326811147, 8.07594457171287, -0.39371325326329865, -0.7874265065266224, -3.1308289294429414e-14]",
- "[84.5, 28.771827919558064, -24.908540561798006, 8.085944571712883, -0.49214156657912567, -0.6889981932107953, 0.1999999999999687]",
- "[84.6, 28.72754101874286, -24.982367636961794, 8.095932704849126, -0.39371325326329876, -0.7874265065266223, -3.1308289294429414e-14]",
- "[84.7, 28.69309110916296, -25.056188871868024, 8.08593270468526, -0.29528493994747174, -0.6889981932107953, -0.2000000000000314]",
- "[84.8, 28.658635358789148, -25.130015947568168, 8.075944572638852, -0.39371325326329887, -0.7874265065266225, -3.1530333899354446e-14]",
- "[84.9, 28.614342617797018, -25.203837182555034, 8.085944572638866, -0.4921415665791259, -0.6889981932107957, 0.19999999999996848]",
- "[85.0, 28.570055718053922, -25.277664258790935, 8.09593270359665, -0.39371325326329887, -0.7874265065266226, -3.175237850427948e-14]",
- "[85.1, 28.525762977061785, -25.35148549377779, 8.085932703596631, -0.4921415665791258, -0.6889981932107956, -0.20000000000003182]",
- "[85.2, 28.471621563023902, -25.425312570478837, 8.075944573583994, -0.5905698798949526, -0.7874265065266226, -3.197442310920451e-14]",
- "[85.3, 28.41748599078085, -25.499133805385053, 8.065944573420106, -0.4921415665791256, -0.6889981932107956, -0.200000000000032]",
- "[85.4, 28.373199078047787, -25.57296086863098, 8.055956416067529, -0.3937132532632986, -0.7874265065266227, -3.197442310920451e-14]",
- "[85.5, 28.32890633705566, -25.646782103617838, 8.065956416067541, -0.4921415665791256, -0.6889981932107957, 0.19999999999996804]",
- "[85.6, 28.28461942476645, -25.71075467857022, 8.075944572518233, -0.3937132532632986, -0.5905698798949688, -3.197442310920451e-14]",
- "[85.7, 28.240326683774324, -25.774733082225517, 8.085944572518246, -0.4921415665791256, -0.6889981932107958, 0.19999999999996804]",
- "[85.8, 28.1861852685888, -25.8485601600742, 8.095932700198953, -0.5905698798949526, -0.7874265065266228, -3.197442310920451e-14]",
- "[85.9, 28.132049696345753, -25.922381394980416, 8.08593270003506, -0.4921415665791256, -0.6889981932107958, -0.20000000000003204]",
- "[86.0, 28.08776279853649, -25.99620847315015, 8.075944573006701, -0.3937132532632986, -0.7874265065266229, -3.197442310920451e-14]",
- "[86.1, 28.043470057544365, -26.07002970813701, 8.085944573006714, -0.4921415665791256, -0.6889981932107959, 0.19999999999996804]",
- "[86.2, 27.98932864163878, -26.134002268210416, 8.095932699224297, -0.5905698798949527, -0.590569879894969, -3.219646771412954e-14]",
- "[86.3, 27.93519306939573, -26.197980671946357, 8.085932699060402, -0.49214156657912567, -0.688998193210796, -0.2000000000000323]",
- "[86.4, 27.88105165330056, -26.26195323183018, 8.075944573228051, -0.5905698798949527, -0.5905698798949688, -3.219646771412954e-14]",
- "[86.5, 27.82691608097686, -26.325931635485478, 8.085944573228065, -0.4921415665791257, -0.6889981932107957, 0.19999999999996781]",
- "[86.6, 27.77277466469, -26.389904195177607, 8.095932698670909, -0.5905698798949526, -0.5905698798949688, -3.219646771412954e-14]",
- "[86.7, 27.71863909244695, -26.45388259891355, 8.085932698507014, -0.4921415665791256, -0.6889981932107957, -0.2000000000000323]",
- "[86.8, 27.664497675999108, -26.5178551584447, 8.075944573391261, -0.5905698798949526, -0.5905698798949688, -3.241851231905457e-14]",
- "[86.9, 27.61036210367541, -26.5818335621, 8.085944573391275, -0.4921415665791256, -0.6889981932107957, 0.1999999999999676]",
- "[87.0, 27.556220687064304, -26.645806121467885, 8.095932698175279, -0.5905698798949524, -0.5905698798949688, -3.241851231905457e-14]",
- "[87.1, 27.492242283409006, -26.709784525123187, 8.08593269817526, -0.6889981932107794, -0.6889981932107958, -0.2000000000000325]",
- "[87.2, 27.428269724131844, -26.773757084400348, 8.075944573575587, -0.5905698798949524, -0.5905698798949688, -3.26405569239796e-14]",
- "[87.3, 27.374134151808146, -26.837735488055646, 8.085944573575595, -0.49214156657912544, -0.6889981932107957, 0.19999999999996737]",
- "[87.4, 27.319992735014154, -26.901708047240646, 8.09593269798798, -0.5905698798949524, -0.5905698798949688, -3.26405569239796e-14]",
- "[87.5, 27.256014331278198, -26.9656864509766, 8.085932697824072, -0.6889981932107792, -0.6889981932107956, -0.20000000000003273]"
- ],
- "test1": [
- "[70.8, 22.92253715731602, -10.437558966786344, 8.066029169396646, 0.9842831331582755, -0.19685662663165054, -2.7977620220553945e-14]",
- "[70.89999999999999, 23.025886886378238, -10.462166045195898, 8.056029169232875, 1.0827114464741026, -0.2952849399474775, -0.20000000000002807]",
- "[71.0, 23.129231124933717, -10.496621445282573, 8.046040325425531, 0.9842831331582756, -0.3937132532633044, -2.8199664825478976e-14]",
- "[71.1, 23.23258085399593, -10.540914186355293, 8.03604032526175, 1.0827114464741028, -0.49214156657913144, -0.2000000000000283]",
- "[71.2, 23.33592509796735, -10.585201442337215, 8.006029180073918, 0.984283133158276, -0.3937132532633046, -0.4000000000000281]",
- "[71.3, 23.42942652480573, -10.619645881186104, 7.976040296411209, 0.885854819842449, -0.2952849399474775, -0.20000000000002816]",
- "[71.39999999999999, 23.52293887830623, -10.65410124669711, 7.946029210474075, 0.9842831331582759, -0.3937132532633044, -0.40000000000002833]",
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- ]
- },
- "type": "simtrace",
- "assert_hits": null
-},
-"10": {
- "node_name": "4-0",
- "id": 10,
- "start_line": 11068,
- "parent": {
- "name": "3-0",
- "index": 9,
- "start_line": 10518
- },
- "child": {},
- "agent": {
- "test1": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test2": "<class 'quadrotor_agent.QuadrotorAgent'>",
- "test3": "<class 'quadrotor_agent.QuadrotorAgent'>"
- },
- "init": {
- "test1": "[29.39413822599522, -23.612231786526316, 2.995974963338259, -0.49214156657912955, -0.8858548198424389, -0.2000000000000337]"
- },
- "mode": {
- "test1": "[\"Normal\", \"T1\"]",
- "test2": "[\"Normal\", \"T1\"]",
- "test3": "[\"Normal\", \"T0\"]"
- },
- "static": {
- "test1": "[]",
- "test2": "[]",
- "test3": "[]"
- },
- "start_time": 87.5,
- "trace": {
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- "[94.1, 10.90563742801042, -10.030153287327938, 0.07966469640575362, 0.49214156657913366, -0.09842831331582622, 0.1999999999999738]",
- "[94.2, 10.949930110193169, -10.035074644184359, 0.08966457690889162, 0.3937132532633067, 7.771561172376096e-16, -2.6201263381153694e-14]",
- "[94.3, 10.994222851185299, -10.03015322851856, 0.07966457690887263, 0.4921415665791337, 0.09842831331582776, -0.20000000000002627]",
- "[94.4, 11.048358482318294, -10.025231871662056, 0.06966469640556261, 0.5905698798949609, 5.551115123125783e-16, -2.6201263381153694e-14]",
- "[94.5, 11.112336885973582, -10.030153287327845, 0.07966469640556, 0.6889981932107879, -0.09842831331582644, 0.1999999999999738]",
- "[94.6, 11.176315230819482, -10.03507464418425, 0.08966457690866947, 0.590569879894961, 4.440892098500626e-16, -2.6423307986078726e-14]",
- "[94.7, 11.23045080314318, -10.03015322851845, 0.07966457690865046, 0.49214156657913394, 0.09842831331582745, -0.2000000000000265]",
- "[94.8, 11.274743485325994, -10.025231871661967, 0.06966469640537204, 0.3937132532633071, 5.551115123125783e-16, -2.6645352591003757e-14]",
- "[94.9, 11.319036226318115, -10.030153287327757, 0.07966469640536937, 0.49214156657913416, -0.09842831331582644, 0.19999999999997337]",
- "[95.0, 11.373171857451219, -10.03507464418415, 0.08966457690845192, 0.590569879894961, 4.440892098500626e-16, -2.6645352591003757e-14]",
- "[95.1, 11.437150261106503, -10.03015322851836, 0.07966457690844923, 0.688998193210788, 0.09842831331582744, -0.20000000000002677]",
- "[95.2, 11.501128605952474, -10.025231871661891, 0.06966469640519679, 0.590569879894961, 4.440892098500626e-16, -2.6867397195928788e-14]",
- "[95.3, 11.55526417827618, -10.03015328732768, 0.07966469640519411, 0.49214156657913405, -0.09842831331582655, 0.19999999999997314]",
- "[95.4, 11.599556860458891, -10.03507464418406, 0.08966457690824753, 0.3937132532633071, 4.440892098500626e-16, -2.6867397195928788e-14]",
- "[95.5, 11.64384960145102, -10.030153228518262, 0.0796645769082285, 0.4921415665791341, 0.09842831331582744, -0.20000000000002696]",
- "[95.6, 11.697985232584058, -10.025231871661802, 0.06966469640500078, 0.5905698798949609, 5.551115123125783e-16, -2.708944180085382e-14]",
- "[95.7, 11.761963636239345, -10.030153287327593, 0.07966469640499808, 0.6889981932107879, -0.09842831331582647, 0.19999999999997292]",
- "[95.8, 11.82594198108521, -10.035074644183961, 0.08966457690802748, 0.590569879894961, 5.551115123125783e-16, -2.731148640577885e-14]",
- "[95.9, 11.880077553408917, -10.03015322851817, 0.07966457690802477, 0.492141566579134, 0.09842831331582758, -0.20000000000002738]",
- "[96.0, 11.924370235591695, -10.025231871661724, 0.0696646964048237, 0.3937132532633071, 6.661338147750939e-16, -2.7533531010703882e-14]",
- "[96.1, 11.968662976583824, -10.030153287327524, 0.0796646964048373, 0.49214156657913416, -0.09842831331582635, 0.19999999999997248]",
- "[96.2, 12.022798607716963, -10.035074644183881, 0.08966457690784402, 0.5905698798949613, 7.771561172376096e-16, -2.7533531010703882e-14]",
- "[96.3, 12.08677701137226, -10.030153228518081, 0.07966457690782491, 0.6889981932107885, 0.09842831331582777, -0.2000000000000276]",
- "[96.4, 12.150755356218193, -10.025231871661644, 0.06966469640464584, 0.5905698798949617, 6.661338147750939e-16, -2.7533531010703882e-14]",
- "[96.5, 12.204890928541891, -10.030153287327444, 0.07966469640465944, 0.49214156657913455, -0.09842831331582635, 0.19999999999997248]",
- "[96.6, 12.249183610724566, -10.035074644183789, 0.08966457690764157, 0.3937132532633075, 6.661338147750939e-16, -2.7755575615628914e-14]",
- "[96.7, 12.293476351716695, -10.03015322851799, 0.07966457690762245, 0.49214156657913466, 0.09842831331582766, -0.20000000000002785]",
- "[96.8, 12.347611982849765, -10.025231871661566, 0.06966469640446432, 0.5905698798949615, 6.661338147750939e-16, -2.7977620220553945e-14]",
- "[96.9, 12.401747555173463, -10.030153287327366, 0.0796646964044779, 0.49214156657913455, -0.0984283133158263, 0.19999999999997203]",
- "[97.0, 12.446040237356128, -10.035074644183698, 0.08966457690744051, 0.3937132532633076, 6.661338147750939e-16, -2.7755575615628914e-14]",
- "[97.1, 12.490332978348256, -10.0301532285179, 0.07966457690742139, 0.49214156657913466, 0.09842831331582766, -0.20000000000002785]",
- "[97.2, 12.544468609481333, -10.02523187166148, 0.06966469640428236, 0.5905698798949613, 7.771561172376096e-16, -2.7977620220553945e-14]",
- "[97.3, 12.60844701313663, -10.03015328732728, 0.07966469640429594, 0.6889981932107884, -0.09842831331582619, 0.19999999999997203]",
- "[97.4, 12.672425357982451, -10.035074644183602, 0.08966457690723917, 0.5905698798949617, 6.661338147750939e-16, -2.7977620220553945e-14]",
- "[97.5, 12.72656093030615, -10.030153228517802, 0.07966457690721998, 0.4921415665791347, 0.09842831331582763, -0.20000000000002804]",
- "[97.6, 12.770853612488887, -10.025231871661394, 0.06966469640410256, 0.39371325326330775, 6.661338147750939e-16, -2.7977620220553945e-14]",
- "[97.7, 12.815146353481017, -10.030153287327193, 0.07966469640411614, 0.49214156657913477, -0.0984283133158263, 0.19999999999997203]",
- "[97.8, 12.8692819846142, -10.035074644183512, 0.08966457690704088, 0.5905698798949619, 6.661338147750939e-16, -2.7977620220553945e-14]",
- "[97.9, 12.933260388269497, -10.030153228517712, 0.0796645769070217, 0.6889981932107888, 0.09842831331582763, -0.20000000000002804]",
- "[98.0, 12.99723873311539, -10.02523187166131, 0.0696646964039222, 0.5905698798949619, 6.661338147750939e-16, -2.8199664825478976e-14]",
- "[98.1, 13.051374305439094, -10.0301532873271, 0.07966469640391938, 0.492141566579135, -0.09842831331582631, 0.1999999999999718]",
- "[98.2, 13.09566698762173, -10.035074644183403, 0.08966457690682411, 0.3937132532633079, 6.661338147750939e-16, -2.8199664825478976e-14]",
- "[98.3, 13.130116897282269, -10.030153228517614, 0.07966457690682129, 0.2952849399474809, 0.09842831331582767, -0.20000000000002832]",
- "[98.4, 13.164566865752212, -10.025231871661227, 0.06966469640373812, 0.39371325326330786, 6.661338147750939e-16, -2.8199664825478976e-14]",
- "[98.5, 13.208859606744333, -10.030153287327016, 0.0796646964037353, 0.4921415665791349, -0.09842831331582631, 0.1999999999999718]",
- "[98.6, 13.262995237877528, -10.035074644183315, 0.0896645769066271, 0.5905698798949618, 6.661338147750939e-16, -2.8199664825478976e-14]",
- "[98.7, 13.326973641532815, -10.030153228517525, 0.07966457690662428, 0.6889981932107888, 0.09842831331582767, -0.20000000000002832]",
- "[98.8, 13.390951986378692, -10.025231871661145, 0.06966469640355677, 0.5905698798949617, 5.551115123125783e-16, -2.842170943040401e-14]",
- "[98.9, 13.445087558702399, -10.030153287326932, 0.07966469640355392, 0.4921415665791347, -0.09842831331582641, 0.1999999999999716]",
- "[99.0, 13.499223189835604, -10.035074644183222, 0.08966457690642743, 0.5905698798949617, 5.551115123125783e-16, -2.8199664825478976e-14]",
- "[99.1, 13.563201593490891, -10.030153228517433, 0.0796645769064246, 0.6889981932107886, 0.09842831331582756, -0.20000000000002832]",
- "[99.2, 13.627179938336763, -10.025231871661061, 0.06966469640337491, 0.5905698798949617, 6.661338147750939e-16, -2.842170943040401e-14]",
- "[99.3, 13.68131551066047, -10.030153287326849, 0.07966469640337207, 0.4921415665791347, -0.0984283133158263, 0.1999999999999716]",
- "[99.4, 13.72560819284308, -10.035074644183132, 0.08966457690622825, 0.3937132532633078, 6.661338147750939e-16, -2.842170943040401e-14]",
- "[99.5, 13.76990093383521, -10.030153228517335, 0.07966457690620904, 0.4921415665791348, 0.09842831331582767, -0.20000000000002857]",
- "[99.6, 13.82403656496834, -10.02523187166097, 0.06966469640317424, 0.5905698798949618, 7.771561172376096e-16, -2.864375403532904e-14]",
- "[99.7, 13.888014968623635, -10.030153287326769, 0.07966469640318774, 0.6889981932107888, -0.09842831331582619, 0.19999999999997137]",
- "[99.8, 13.951993313469407, -10.035074644183043, 0.0896645769060293, 0.5905698798949617, 7.771561172376096e-16, -2.886579864025407e-14]",
- "[99.9, 14.006128885793103, -10.030153228517243, 0.07966457690601006, 0.4921415665791346, 0.09842831331582774, -0.20000000000002893]",
- "[100.0, 14.050421567975791, -10.025231871660882, 0.06966469640299139, 0.3937132532633075, 6.661338147750939e-16, -2.886579864025407e-14]"
- ],
- "test3": [
- "[87.5, 27.256014331278198, -26.9656864509766, 8.085932697824072, -0.6889981932107792, -0.6889981932107956, -0.20000000000003273]",
- "[87.6, 27.192041772153846, -27.02965901010095, 8.075944573534917, -0.5905698798949521, -0.5905698798949686, -3.2862601528904634e-14]",
- "[87.7, 27.13790619991081, -27.083794582343984, 8.065944573371002, -0.4921415665791251, -0.49214156657914154, -0.20000000000003293]",
- "[87.8, 27.08376479689891, -27.13793598535588, 8.055956420954274, -0.5905698798949518, -0.5905698798949682, -3.3084646133829665e-14]",
- "[87.9, 27.02962922457522, -27.201914389011176, 8.065956420954286, -0.49214156657912483, -0.6889981932107951, 0.19999999999996693]",
- "[88.0, 26.97548782151487, -27.265886961929816, 8.07594457327256, -0.5905698798949518, -0.5905698798949681, -3.3084646133829665e-14]",
- "[88.1, 26.911509417859577, -27.320022534253507, 8.085944573272572, -0.6889981932107787, -0.49214156657914115, 0.19999999999996693]",
- "[88.2, 26.84753685877706, -27.374163951149985, 8.095932697476718, -0.5905698798949519, -0.5905698798949682, -3.2862601528904634e-14]",
- "[88.3, 26.783558455041106, -27.428299523393022, 8.085932697312805, -0.6889981932107787, -0.4921415665791413, -0.20000000000003296]",
- "[88.4, 26.71958589583205, -27.482440940162952, 8.075944572851522, -0.5905698798949515, -0.5905698798949685, -3.3084646133829665e-14]",
- "[88.5, 26.655607492176756, -27.536576512486644, 8.085944572851535, -0.6889981932107784, -0.4921415665791415, 0.19999999999996693]",
- "[88.6, 26.591634932843633, -27.59071792913252, 8.095932697564894, -0.5905698798949514, -0.5905698798949685, -3.3084646133829665e-14]",
- "[88.7, 26.527656529107677, -27.654696332868475, 8.085932697400974, -0.6889981932107784, -0.6889981932107955, -0.20000000000003318]",
- "[88.8, 26.4636839696613, -27.718668892314856, 8.075944572457473, -0.5905698798949516, -0.5905698798949687, -3.3306690738754696e-14]",
- "[88.9, 26.39970556600601, -27.772804464638554, 8.085944572457485, -0.6889981932107785, -0.4921415665791417, 0.1999999999999667]",
- "[89.0, 26.335733006447636, -27.82694588105918, 8.09593269762854, -0.5905698798949516, -0.5905698798949685, -3.3306690738754696e-14]",
- "[89.1, 26.271754602711674, -27.881081453302215, 8.085932697464616, -0.6889981932107784, -0.4921415665791416, -0.2000000000000334]",
- "[89.2, 26.19792752381175, -27.925368350381287, 8.07594457191996, -0.7874265065266052, -0.3937132532633147, -3.352873534367973e-14]",
- "[89.3, 26.124106288824887, -27.969661091373418, 8.085944571919974, -0.6889981932107783, -0.49214156657914165, 0.19999999999996648]",
- "[89.4, 26.050279210284295, -28.023802507250846, 8.095932698194758, -0.7874265065266055, -0.5905698798949688, -3.352873534367973e-14]",
- "[89.5, 25.976457975378107, -28.07793807949387, 8.08593269803083, -0.6889981932107786, -0.49214156657914193, -0.20000000000003362]",
- "[89.6, 25.912485414963964, -28.13207949505872, 8.075944571120885, -0.5905698798949517, -0.5905698798949688, -3.375077994860476e-14]",
- "[89.7, 25.848507011308673, -28.186215067382413, 8.0859445711209, -0.6889981932107787, -0.4921415665791419, 0.19999999999996626]",
- "[89.8, 25.78453445068192, -28.230501965346, 8.095932698462848, -0.5905698798949516, -0.3937132532633149, -3.375077994860476e-14]",
- "[89.9, 25.72055604694596, -28.274794706418803, 8.085932698298913, -0.6889981932107786, -0.4921415665791419, -0.2000000000000338]",
- "[90.0, 25.64672896925144, -28.328936121450152, 8.075944570304934, -0.7874265065266057, -0.590569879894969, -3.375077994860476e-14]",
- "[90.1, 25.572907734345254, -28.38307169369318, 8.065944570140998, -0.6889981932107788, -0.4921415665791421, -0.20000000000003385]",
- "[90.2, 25.499080670841675, -28.42735860616859, 8.05595641331196, -0.7874265065266056, -0.39371325326331513, -3.397282455352979e-14]",
- "[90.3, 25.425259435854812, -28.471651347160723, 8.065956413311975, -0.6889981932107786, -0.4921415665791421, 0.19999999999996604]",
- "[90.4, 25.351432372787357, -28.515938260072264, 8.075944571027195, -0.7874265065266057, -0.3937132532633151, -3.397282455352979e-14]",
- "[90.5, 25.277611137800495, -28.5602310010644, 8.085944571027209, -0.6889981932107788, -0.4921415665791421, 0.19999999999996604]",
- "[90.6, 25.20378406136337, -28.604517900606268, 8.095932701576116, -0.7874265065266056, -0.3937132532633152, -3.419486915845482e-14]",
- "[90.7, 25.129962826457188, -28.648810641679077, 8.085932701412165, -0.6889981932107787, -0.4921415665791422, -0.20000000000003434]",
- "[90.8, 25.05613575050992, -28.693097541710802, 8.075944569867886, -0.7874265065266055, -0.39371325326331535, -3.441691376337985e-14]",
- "[90.9, 24.982314515523054, -28.737390282702933, 8.085944569867898, -0.6889981932107784, -0.4921415665791423, 0.1999999999999656]",
- "[91.0, 24.90848744006673, -28.7816771832256, 8.095932702409725, -0.7874265065266054, -0.39371325326331535, -3.441691376337985e-14]",
- "[91.1, 24.83466620516055, -28.816127092805452, 8.085932702245763, -0.6889981932107782, -0.2952849399474884, -0.2000000000000345]",
- "[91.2, 24.760839130265765, -28.850582842373914, 8.075944568562926, -0.7874265065266048, -0.3937132532633154, -3.4638958368304884e-14]",
- "[91.3, 24.68701789535959, -28.885032751953766, 8.065944568398962, -0.6889981932107778, -0.2952849399474884, -0.2000000000000348]",
- "[91.4, 24.613190834887295, -28.919488487099734, 8.05595640541055, -0.7874265065266045, -0.3937132532633151, -3.4861002973229915e-14]",
- "[91.5, 24.53936959990043, -28.953938396760265, 8.065956405410564, -0.6889981932107775, -0.2952849399474881, 0.19999999999996515]",
- "[91.6, 24.46554254003958, -28.988394131294786, 8.075944569641402, -0.7874265065266042, -0.3937132532633152, -3.4638958368304884e-14]",
- "[91.7, 24.391721305052716, -29.032686872286913, 8.085944569641416, -0.6889981932107772, -0.49214156657914215, 0.19999999999996537]",
- "[91.8, 24.31789423198664, -29.076973775199832, 8.09593270704008, -0.7874265065266042, -0.39371325326331524, -3.4638958368304884e-14]",
- "[91.9, 24.244072997080465, -29.111423684779684, 8.085932706876115, -0.6889981932107772, -0.29528493994748833, -0.20000000000003476]",
- "[92.0, 24.170245924647094, -29.145879431886723, 8.075944568191833, -0.787426506526604, -0.3937132532633152, -3.4861002973229915e-14]",
- "[92.1, 24.086581858328636, -29.180329341547253, 8.085944568191847, -0.8858548198424311, -0.2952849399474882, 0.19999999999996515]",
- "[92.2, 24.002923628724385, -29.21478508792199, 8.095932708364119, -0.7874265065266041, -0.3937132532633153, -3.4861002973229915e-14]",
- "[92.3, 23.919259562405927, -29.24923499758252, 8.0859327083641, -0.885854819842431, -0.2952849399474883, -0.20000000000003496]",
- "[92.4, 23.835601331968594, -29.283690743124172, 8.075944566499055, -0.7874265065266038, -0.3937132532633154, -3.4861002973229915e-14]",
- "[92.5, 23.761780096981727, -29.318140652784702, 8.065944566499036, -0.6889981932107769, -0.2952849399474884, -0.20000000000003496]",
- "[92.6, 23.687953040683748, -29.34274190980254, 8.055956395028696, -0.7874265065266038, -0.19685662663166142, -3.4861002973229915e-14]",
- "[92.7, 23.60428897436529, -29.367348988131504, 8.06595639502871, -0.8858548198424309, -0.29528493994748833, 0.19999999999996515]",
- "[92.8, 23.520630728497558, -29.40180471824276, 8.075944568247323, -0.7874265065266038, -0.3937132532633152, -3.4861002973229915e-14]",
- "[92.9, 23.446809493510692, -29.436254627903292, 8.065944568247303, -0.6889981932107769, -0.29528493994748817, -0.20000000000003496]",
- "[93.0, 23.37298243890349, -29.470710357184167, 8.055956393341408, -0.7874265065266035, -0.39371325326331497, -3.5083047578154947e-14]",
- "[93.1, 23.289318372585036, -29.505160266844705, 8.065956393341422, -0.8858548198424305, -0.295284939947488, 0.19999999999996493]",
- "[93.2, 23.205660125049903, -29.529761526390345, 8.075944569948101, -0.7874265065266036, -0.19685662663166104, -3.5083047578154947e-14]",
- "[93.3, 23.121996058731447, -29.544525773387708, 8.085944569948115, -0.8858548198424308, -0.09842831331583406, 0.19999999999996493]",
- "[93.4, 23.038337823918532, -29.55929585189062, 8.095932720704052, -0.787426506526604, -0.19685662663166104, -3.530509218307998e-14]",
- "[93.5, 22.954673757519384, -29.58390293030028, 8.085932720540066, -0.8858548198424308, -0.29528493994748795, -0.2000000000000354]",
- "[93.6, 22.871015521626852, -29.608504178203322, 8.075944567590419, -0.7874265065266037, -0.19685662663166098, -3.530509218307998e-14]",
- "[93.7, 22.79719428663999, -29.63311125653229, 8.085944567590433, -0.6889981932107768, -0.295284939947488, 0.1999999999999647]",
- "[93.8, 22.723367222210626, -29.65771250541875, 8.095932722538333, -0.7874265065266037, -0.19685662663166115, -3.530509218307998e-14]",
- "[93.9, 22.63970315581148, -29.682319583828413, 8.085932722374347, -0.8858548198424305, -0.29528493994748817, -0.2000000000000354]",
- "[94.0, 22.55604491791116, -29.706920833739236, 8.07594456534499, -0.7874265065266035, -0.19685662663166126, -3.530509218307998e-14]",
- "[94.1, 22.4723808515927, -29.721685080736606, 8.085944565345004, -0.8858548198424304, -0.09842831331583426, 0.1999999999999647]",
- "[94.2, 22.388722612549987, -29.736455155009722, 8.095932724695604, -0.7874265065266035, -0.19685662663166115, -3.5083047578154947e-14]",
- "[94.3, 22.30505854615084, -29.761062233419374, 8.085932724531627, -0.8858548198424305, -0.2952849399474881, -0.20000000000003518]",
- "[94.4, 22.221400305920728, -29.78566348565999, 8.075944562768292, -0.7874265065266037, -0.19685662663166115, -3.530509218307998e-14]",
- "[94.5, 22.13773623960227, -29.800427732657358, 8.085944562768306, -0.8858548198424306, -0.09842831331583415, 0.1999999999999647]",
- "[94.6, 22.054077998171355, -29.81519780454227, 8.09593272697159, -0.7874265065266035, -0.19685662663166115, -3.530509218307998e-14]",
- "[94.7, 21.97041393177221, -29.829962051458946, 8.085932726807604, -0.8858548198424304, -0.09842831331583417, -0.2000000000000354]",
- "[94.8, 21.886755689061292, -29.844732122063856, 8.075944560003427, -0.7874265065266033, -0.19685662663166126, -3.552713678800501e-14]",
- "[94.9, 21.803091622742837, -29.869339200392822, 8.065944560003409, -0.8858548198424304, -0.2952849399474883, -0.2000000000000356]",
- "[95.0, 21.71943336506548, -29.89394047008068, 8.055956362788406, -0.7874265065266035, -0.19685662663166137, -3.552713678800501e-14]",
- "[95.1, 21.635769298747025, -29.908704717078045, 8.065956362788418, -0.8858548198424305, -0.09842831331583439, 0.19999999999996448]",
- "[95.2, 21.552111039784073, -29.913620325388333, 8.075944562615675, -0.7874265065266035, -7.216449660063518e-15, -3.552713678800501e-14]",
- "[95.3, 21.468446973384925, -29.918541741134824, 8.085944562779657, -0.8858548198424305, -0.09842831331583418, 0.19999999999996448]",
- "[95.4, 21.384788726676177, -29.933311807741905, 8.09593273770715, -0.7874265065266035, -0.19685662663166126, -3.552713678800501e-14]",
- "[95.5, 21.301124660357722, -29.94807605473927, 8.085932737707132, -0.8858548198424306, -0.09842831331583428, -0.2000000000000356]",
- "[95.6, 21.21746641223904, -29.9529916522053, 8.075944559914726, -0.7874265065266037, -7.327471962526033e-15, -3.574918139293004e-14]",
- "[95.7, 21.133802345920586, -29.957913067871093, 8.085944559914738, -0.8858548198424309, -0.09842831331583432, 0.19999999999996426]",
- "[95.8, 21.050144096309147, -29.972683131575483, 8.095932740740315, -0.7874265065266037, -0.19685662663166137, -3.552713678800501e-14]",
- "[95.9, 20.96648002999069, -29.98744737857285, 8.085932740740297, -0.8858548198424309, -0.09842831331583439, -0.2000000000000356]",
- "[96.0, 20.88282177889858, -29.992362979012302, 8.07594455690608, -0.787426506526604, -7.438494264988549e-15, -3.574918139293004e-14]",
- "[96.1, 20.799157712499426, -29.9972843947588, 8.065944556742085, -0.8858548198424311, -0.09842831331583443, -0.20000000000003584]",
- "[96.2, 20.71549944619908, -30.002200010406487, 8.055956342005713, -0.7874265065266042, -7.549516567451064e-15, -3.597122599785507e-14]",
- "[96.3, 20.631835379799924, -30.007121426152985, 8.065956342169708, -0.8858548198424312, -0.09842831331583457, 0.19999999999996404]",
- "[96.4, 20.548177111907602, -30.012037043392645, 8.075944560140853, -0.7874265065266044, -7.549516567451064e-15, -3.574918139293004e-14]",
- "[96.5, 20.464513045508447, -30.016958459139147, 8.065944559976856, -0.8858548198424314, -0.09842831331583454, -0.20000000000003584]",
- "[96.6, 20.380854775969254, -30.02187407802568, 8.055956338659353, -0.7874265065266042, -7.438494264988549e-15, -3.574918139293004e-14]",
- "[96.7, 20.2971907096508, -30.026795493691473, 8.065956338659365, -0.8858548198424313, -0.09842831331583443, 0.19999999999996426]",
- "[96.8, 20.21353243844071, -30.031711114248903, 8.075944563372017, -0.787426506526604, -7.216449660063518e-15, -3.597122599785507e-14]",
- "[96.9, 20.129868372041553, -30.0267896985024, 8.085944563536012, -0.8858548198424311, 0.09842831331581978, 0.19999999999996404]",
- "[97.0, 20.036355667447047, -30.021874089781086, 8.095932764198453, -0.9842831331582579, -7.216449660063518e-15, -3.597122599785507e-14]",
- "[97.1, 19.94284876979702, -30.01695267411529, 8.085932764198436, -0.8858548198424308, 0.09842831331581975, -0.20000000000003604]",
- "[97.2, 19.85919050836095, -30.01203706333188, 8.075944559345954, -0.7874265065266037, -7.327471962526033e-15, -3.6193270602780103e-14]",
- "[97.3, 19.775526441961784, -30.00711564758538, 8.085944559509956, -0.8858548198424308, 0.09842831331581967, 0.19999999999996382]",
- "[97.4, 19.6918681786457, -30.002200034921955, 8.0959327681825, -0.7874265065266035, -7.438494264988549e-15, -3.597122599785507e-14]",
- "[97.5, 19.608204112327243, -29.99727861925616, 8.085932768182483, -0.8858548198424305, 0.09842831331581953, -0.20000000000003604]",
- "[97.6, 19.52454584706929, -29.992363004650873, 8.075944555564197, -0.7874265065266036, -7.438494264988549e-15, -3.6193270602780103e-14]",
- "[97.7, 19.44088178067013, -29.98744158890437, 8.085944555728199, -0.8858548198424306, 0.09842831331581955, 0.19999999999996382]",
- "[97.8, 19.35722351343895, -29.982525972325856, 8.095932772355964, -0.7874265065266035, -7.438494264988549e-15, -3.6415315207705135e-14]",
- "[97.9, 19.27355944703979, -29.98744738807236, 8.08593277219195, -0.8858548198424305, -0.09842831331583443, -0.2000000000000365]",
- "[98.0, 19.189901177802117, -29.992363006657378, 8.075944551487119, -0.7874265065266034, -7.438494264988549e-15, -3.6415315207705135e-14]",
- "[98.1, 19.10623711148366, -29.98744159099158, 8.085944551487131, -0.8858548198424304, 0.09842831331581954, 0.1999999999999636]",
- "[98.2, 19.022578840204808, -29.972671548954608, 8.095932776339502, -0.7874265065266035, 0.1968566266316466, -3.6415315207705135e-14]",
- "[98.3, 18.93891477380565, -29.957907302037952, 8.085932776175488, -0.8858548198424305, 0.09842831331581957, -0.2000000000000365]",
- "[98.4, 18.855256500322657, -29.943137262205116, 8.075944546844452, -0.7874265065266036, 0.1968566266316465, -3.6637359812630166e-14]",
- "[98.5, 18.7715924340042, -29.928373015207747, 8.085944546844464, -0.8858548198424306, 0.09842831331581951, 0.19999999999996337]",
- "[98.6, 18.687934158278843, -29.913602977617284, 8.095932780731857, -0.7874265065266036, 0.1968566266316465, -3.6637359812630166e-14]",
- "[98.7, 18.604270091960387, -29.898838730619914, 8.085932780731838, -0.8858548198424306, 0.09842831331581951, -0.2000000000000367]",
- "[98.8, 18.52061181392081, -29.893923103232993, 8.075944542142107, -0.7874265065266036, -7.438494264988549e-15, -3.6637359812630166e-14]",
- "[98.9, 18.43694774752164, -29.889001687486488, 8.085944542306118, -0.8858548198424306, 0.09842831331581955, 0.19999999999996337]",
- "[99.0, 18.353289467189363, -29.874231654502935, 8.095932785554453, -0.7874265065266036, 0.19685662663164638, -3.6637359812630166e-14]",
- "[99.1, 18.269625400870908, -29.859467407505566, 8.085932785554434, -0.8858548198424306, 0.0984283133158194, -0.2000000000000367]",
- "[99.2, 18.185967118106763, -29.844697376953878, 8.075944537364702, -0.7874265065266037, 0.19685662663164638, -3.68594044175552e-14]",
- "[99.3, 18.102303051788304, -29.820090298624915, 8.085944537364714, -0.8858548198424306, 0.2952849399474734, 0.19999999999996315]",
- "[99.4, 18.018644766514246, -29.79548900134035, 8.095932790654441, -0.7874265065266037, 0.1968566266316466, -3.6637359812630166e-14]",
- "[99.5, 17.93498070019579, -29.78072475434298, 8.085932790654422, -0.8858548198424308, 0.09842831331581962, -0.2000000000000367]",
- "[99.6, 17.851322412331783, -29.76595472889116, 8.075944532102081, -0.7874265065266037, 0.1968566266316466, -3.6637359812630166e-14]",
- "[99.7, 17.767658346013327, -29.75119048189379, 8.065944532102062, -0.8858548198424308, 0.09842831331581962, -0.2000000000000367]",
- "[99.8, 17.684000042161497, -29.736420472429796, 8.055956241063493, -0.7874265065266037, 0.1968566266316466, -3.6637359812630166e-14]",
- "[99.9, 17.60033597584304, -29.711813394100833, 8.065956241063505, -0.8858548198424308, 0.29528493994747357, 0.19999999999996337]",
- "[100.0, 17.516677669300304, -29.6872120755476, 8.075944537569814, -0.7874265065266038, 0.1968566266316465, -3.6415315207705135e-14]"
- ],
- "test1": [
- "[87.5, 29.39413822599522, -23.612231786526316, 2.995974963338259, -0.49214156657912955, -0.8858548198424389, -0.2000000000000337]",
- "[87.6, 29.349847689609145, -23.70574088878239, 2.985979442955889, -0.39371325326330253, -0.9842831331582658, -3.3639757646142243e-14]",
- "[87.7, 29.31539778002928, -23.799247786351746, 2.975979442791953, -0.2952849399474755, -0.8858548198424387, -0.20000000000003348]",
- "[87.8, 29.290792891736412, -23.892756874037868, 2.9659838928043816, -0.1968566266316485, -0.9842831331582658, -3.352873534367973e-14]",
- "[87.9, 29.26618581332678, -23.986263771607224, 2.9559838926404494, -0.29528493994747573, -0.885854819842439, -0.2000000000000337]",
- "[88.0, 29.241580910463846, -24.069925662459656, 2.9259794722334505, -0.1968566266316486, -0.7874265065266118, -0.4000000000000341]",
- "[88.1, 29.21697167859538, -24.153591882317613, 2.8959838480871753, -0.2952849399474757, -0.885854819842439, -0.20000000000003415]",
- "[88.2, 29.182519637321093, -24.2471009115814, 2.8659795167851723, -0.39371325326330253, -0.984283133158266, -0.40000000000003444]",
- "[88.3, 29.14807183733784, -24.340605699554146, 2.8359838035136797, -0.2952849399474756, -0.8858548198424389, -0.20000000000003448]",
- "[88.4, 29.113619839935783, -24.42426767813108, 2.8059795613572303, -0.3937132532633026, -0.787426506526612, -0.40000000000003444]",
- "[88.5, 29.069325033152285, -24.507933810240907, 2.77598375891239, -0.49214156657912955, -0.8858548198424389, -0.2000000000000346]",
- "[88.6, 29.025034336000907, -24.591595832718617, 2.7459796059595067, -0.39371325326330264, -0.7874265065266117, -0.40000000000003466]",
- "[88.7, 28.98073957312977, -24.675261920916086, 2.715983714287577, -0.49214156657912966, -0.8858548198424384, -0.2000000000000346]",
- "[88.8, 28.9266020008876, -24.75892398731607, 2.68597965058191, -0.5905698798949566, -0.7874265065266115, -0.40000000000003466]",
- "[88.9, 28.872468406509654, -24.84259003158029, 2.655983669640445, -0.49214156657912955, -0.8858548198424385, -0.20000000000003465]",
- "[89.0, 28.82817762149191, -24.926252141924365, 2.6259796952263503, -0.3937132532633026, -0.7874265065266115, -0.40000000000003466]",
- "[89.1, 28.783882946505855, -25.00991814223675, 2.59598362497759, -0.4921415665791296, -0.8858548198424387, -0.20000000000003465]",
- "[89.2, 28.73959211752851, -25.093580296540424, 2.5659797398865734, -0.39371325326330264, -0.7874265065266117, -0.400000000000035]",
- "[89.3, 28.695297486510913, -25.17724625288435, 2.5359835802967337, -0.4921415665791295, -0.885854819842439, -0.20000000000003498]",
- "[89.4, 28.641160046149707, -25.26090845116529, 2.505979784564707, -0.5905698798949564, -0.7874265065266121, -0.400000000000035]",
- "[89.5, 28.58702631986452, -25.344574363522256, 2.4759835355961974, -0.4921415665791295, -0.885854819842439, -0.20000000000003504]",
- "[89.6, 28.53288892349984, -25.42823660579974, 2.445979829262296, -0.5905698798949566, -0.787426506526612, -0.4000000000000352]",
- "[89.7, 28.478755153210074, -25.502056038752677, 2.4159834908793183, -0.4921415665791296, -0.6889981932107849, -0.20000000000003515]",
- "[89.8, 28.424617800859476, -25.575879053766446, 2.385979873979188, -0.5905698798949566, -0.787426506526612, -0.4000000000000353]",
- "[89.9, 28.370483986546557, -25.65954487809568, 2.3559834461439926, -0.4921415665791296, -0.8858548198424387, -0.20000000000003526]",
- "[90.0, 28.316346678225198, -25.743207208416482, 2.3259799187084447, -0.5905698798949565, -0.7874265065266117, -0.4000000000000351]",
- "[90.1, 28.262212819877096, -25.81702672942775, 2.295983401396583, -0.49214156657912955, -0.6889981932107849, -0.20000000000003526]",
- "[90.2, 28.208075555599578, -25.89084965636843, 2.265979963455275, -0.5905698798949565, -0.7874265065266118, -0.4000000000000352]",
- "[90.3, 28.15394165319938, -25.974515392610385, 2.235983356632399, -0.49214156657912944, -0.885854819842439, -0.20000000000003526]",
- "[90.4, 28.099804432979735, -26.0581778110329, 2.2059800082138596, -0.5905698798949564, -0.787426506526612, -0.4000000000000353]",
- "[90.5, 28.045670486516023, -26.131997420159774, 2.1759833118567626, -0.49214156657912944, -0.6889981932107851, -0.20000000000003526]",
- "[90.6, 27.991533310367757, -26.2058202589712, 2.1459800529884383, -0.5905698798949561, -0.787426506526612, -0.4000000000000351]",
- "[90.7, 27.927553324931367, -26.279639912176965, 2.1159832670658774, -0.6889981932107831, -0.688998193210785, -0.2000000000000351]",
- "[90.8, 27.863576481014594, -26.35346270690235, 2.085980097777564, -0.5905698798949561, -0.7874265065266121, -0.4000000000000352]",
- "[90.9, 27.799596539671104, -26.427282404201016, 2.055983222261067, -0.6889981932107831, -0.6889981932107849, -0.20000000000003526]",
- "[91.0, 27.735619651655373, -26.501105154827453, 2.0259801425789874, -0.5905698798949559, -0.787426506526612, -0.4000000000000353]",
- "[91.1, 27.67163975441664, -26.57492489623088, 1.9959831774444539, -0.6889981932107829, -0.688998193210785, -0.2000000000000352]",
- "[91.2, 27.607662822290326, -26.648747602746727, 1.9659801873922493, -0.590569879894956, -0.7874265065266118, -0.4000000000000351]",
- "[91.3, 27.54368296916777, -26.72256738826632, 1.935983132616491, -0.6889981932107829, -0.6889981932107847, -0.2000000000000351]",
- "[91.4, 27.479705992919683, -26.796390050660392, 1.9059802322169055, -0.5905698798949559, -0.7874265065266117, -0.4000000000000352]",
- "[91.5, 27.41572618392427, -26.87020988030714, 1.875983087777617, -0.6889981932107828, -0.6889981932107848, -0.2000000000000351]",
- "[91.6, 27.351749163543634, -26.934186900687774, 1.8459802770525233, -0.5905698798949559, -0.5905698798949579, -0.400000000000035]",
- "[91.7, 27.287769398686493, -26.99816666554491, 1.8159830429271127, -0.6889981932107827, -0.6889981932107847, -0.20000000000003504]",
- "[91.8, 27.213946824568936, -27.062143730069504, 1.785980321899701, -0.7874265065266097, -0.5905698798949577, -0.400000000000035]",
- "[91.9, 27.14012690663463, -27.12612345077736, 1.755982998065779, -0.6889981932107825, -0.6889981932107849, -0.20000000000003493]",
- "[92.0, 27.07614979795542, -27.19010055945657, 1.7259803667577012, -0.5905698798949557, -0.5905698798949581, -0.4000000000000349]",
- "[92.1, 27.01217012140629, -27.254080236005706, 1.6959829531960908, -0.6889981932107827, -0.6889981932107851, -0.20000000000003482]",
- "[92.2, 26.938347635606267, -27.31805738884784, 1.6659804116242265, -0.7874265065266097, -0.5905698798949581, -0.400000000000035]",
- "[92.3, 26.86452762934544, -27.382037021229166, 1.6359829083164767, -0.6889981932107827, -0.6889981932107851, -0.2000000000000351]",
- "[92.4, 26.800550432330617, -27.44601421824399, 1.6059804565006852, -0.5905698798949558, -0.5905698798949582, -0.4000000000000351]",
- "[92.5, 26.736570844125826, -27.509993806448783, 1.5759828634290594, -0.6889981932107827, -0.6889981932107851, -0.20000000000003515]",
- "[92.6, 26.66274844667895, -27.573971047644065, 1.545980501385115, -0.7874265065266098, -0.5905698798949581, -0.4000000000000352]",
- "[92.7, 26.588928352056666, -27.637950591663945, 1.515982818532576, -0.6889981932107829, -0.6889981932107851, -0.20000000000003515]",
- "[92.8, 26.515105998799186, -27.70192787704862, 1.485980546278634, -0.78742650652661, -0.5905698798949581, -0.40000000000003527]",
- "[92.9, 26.44128585998363, -27.765907376875216, 1.455982773628206, -0.6889981932107829, -0.6889981932107851, -0.20000000000003532]",
- "[93.0, 26.36746355092335, -27.82988470645709, 1.4259805911801406, -0.7874265065266103, -0.590569879894958, -0.40000000000003555]",
- "[93.1, 26.283798432634512, -27.88401922681041, 1.3959827287162798, -0.8858548198424373, -0.492141566579131, -0.20000000000003543]",
- "[93.2, 26.200135396184297, -27.938155829002355, 1.3659806360902889, -0.7874265065266104, -0.5905698798949579, -0.40000000000003555]",
- "[93.3, 26.126315168958655, -28.00213524041887, 1.3359826837962632, -0.6889981932107834, -0.6889981932107849, -0.20000000000003548]",
- "[93.4, 26.052492948315784, -28.066112658418156, 1.3059806810066745, -0.7874265065266105, -0.5905698798949579, -0.40000000000003555]",
- "[93.5, 25.978672676874993, -28.120247267195783, 1.2759826388703122, -0.6889981932107834, -0.4921415665791308, -0.20000000000003554]",
- "[93.6, 25.90485050045089, -28.17438378095672, 1.2459807259304196, -0.7874265065266102, -0.5905698798949579, -0.40000000000003566]",
- "[93.7, 25.821185514808512, -28.2285184339565, 1.2159825939374793, -0.8858548198424373, -0.4921415665791309, -0.20000000000003565]",
- "[93.8, 25.737522345701695, -28.28265490349184, 1.1859807708611518, -0.7874265065266102, -0.5905698798949577, -0.40000000000003566]",
- "[93.9, 25.653857404288118, -28.336789600720422, 1.1559825489981237, -0.8858548198424372, -0.4921415665791306, -0.20000000000003565]",
- "[94.0, 25.570194190949437, -28.381081488732775, 1.1259808157981088, -0.7874265065266102, -0.39371325326330364, -0.4000000000000359]",
- "[94.1, 25.496373786822836, -28.425375060585168, 1.0959825040527316, -0.688998193210783, -0.49214156657913066, -0.20000000000003593]",
- "[94.2, 25.422551743093912, -28.47951144165093, 1.0659808607409071, -0.7874265065266102, -0.5905698798949576, -0.4000000000000361]",
- "[94.3, 25.33888689015537, -28.53364622735455, 1.0359824591023112, -0.8858548198424372, -0.4921415665791306, -0.20000000000003615]",
- "[94.4, 25.255223588335944, -28.587782564177285, 1.0059809056894653, -0.7874265065266103, -0.5905698798949576, -0.4000000000000362]",
- "[94.5, 25.181403095723418, -28.641917394126644, 0.9759824141463619, -0.6889981932107834, -0.4921415665791307, -0.20000000000003626]",
- "[94.6, 25.10758114048581, -28.68620941486802, 0.9459809506431882, -0.7874265065266103, -0.39371325326330364, -0.40000000000003644]",
- "[94.7, 25.02391637604372, -28.73050285398378, 0.9159823691854965, -0.8858548198424372, -0.4921415665791306, -0.20000000000003643]",
- "[94.8, 24.940252985722626, -28.774794918978536, 0.8859809956023429, -0.7874265065266102, -0.3937132532633036, -0.4000000000000366]",
- "[94.9, 24.8565882655363, -28.819088313838527, 0.8559823242197953, -0.8858548198424372, -0.49214156657913044, -0.2000000000000366]",
- "[95.0, 24.763080736147003, -28.86338042309139, 0.8259810405662571, -0.9842831331582643, -0.39371325326330353, -0.4000000000000367]",
- "[95.1, 24.669574448104537, -28.907673773691084, 0.7959822792496085, -0.8858548198424372, -0.4921415665791304, -0.20000000000003665]",
- "[95.2, 24.585910969262773, -28.95196592720652, 0.7659810855347626, -0.7874265065266102, -0.39371325326330325, -0.40000000000003677]",
- "[95.3, 24.50224633760125, -28.996259233541707, 0.7359822342755024, -0.885854819842437, -0.4921415665791302, -0.2000000000000367]",
- "[95.4, 24.418582814492982, -29.040551431323642, 0.7059811305073443, -0.78742650652661, -0.39371325326330314, -0.40000000000003677]",
- "[95.5, 24.334918227099834, -29.084844693390462, 0.6759821892975968, -0.885854819842437, -0.49214156657913005, -0.20000000000003676]",
- "[95.6, 24.251254659721265, -29.1291369354427, 0.6459811754838538, -0.78742650652661, -0.3937132532633031, -0.40000000000003694]",
- "[95.7, 24.167590116600156, -29.163586368300585, 0.6159821443161748, -0.885854819842437, -0.295284939947476, -0.20000000000003698]",
- "[95.8, 24.074082764284086, -29.198036732627163, 0.5859812204640403, -0.984283133158264, -0.39371325326330286, -0.40000000000003694]",
- "[95.9, 23.980576299161235, -29.23248620976052, 0.5559820993314472, -0.8858548198424371, -0.29528493994747584, -0.20000000000003695]",
- "[96.0, 23.887068991122298, -29.266936529809957, 0.5259812654476019, -0.9842831331582642, -0.39371325326330275, -0.40000000000003705]",
- "[96.1, 23.793562481720883, -29.301386051221872, 0.4959820543438211, -0.8858548198424373, -0.2952849399474757, -0.200000000000037]",
- "[96.2, 23.70989878151128, -29.335836326991263, 0.4659813104341911, -0.7874265065266103, -0.39371325326330264, -0.4000000000000371]",
- "[96.3, 23.626234371225536, -29.370285892684507, 0.4359820093536059, -0.8858548198424374, -0.2952849399474756, -0.20000000000003704]",
- "[96.4, 23.53272715174932, -29.40473612417122, 0.405981355423504, -0.9842831331582643, -0.39371325326330264, -0.4000000000000371]",
- "[96.5, 23.439220553782757, -29.439185734148282, 0.37598196436102926, -0.8858548198424372, -0.2952849399474757, -0.2000000000000371]",
- "[96.6, 23.355556765005442, -29.463792534936097, 0.3459814004152907, -0.7874265065266104, -0.19685662663164863, -0.4000000000000373]",
- "[96.7, 23.271892443289563, -29.48839986866248, 0.315981919366431, -0.8858548198424373, -0.2952849399474756, -0.20000000000003731]",
- "[96.8, 23.17838531238549, -29.522850011577056, 0.28598144540922, -0.9842831331582644, -0.39371325326330253, -0.4000000000000373]",
- "[96.9, 23.084878625844944, -29.55729971012811, 0.25598187437010184, -0.8858548198424374, -0.29528493994747546, -0.20000000000003731]",
- "[97.0, 22.99137153922972, -29.58190659949188, 0.22598149040499163, -0.9842831331582644, -0.1968566266316484, -0.4000000000000374]",
- "[97.1, 22.89786480839962, -29.60651384464077, 0.19598182937236222, -0.8858548198424374, -0.2952849399474754, -0.20000000000003737]",
- "[97.2, 22.80435776607469, -29.631120778294836, 0.1659815354022823, -0.9842831331582644, -0.1968566266316485, -0.4000000000000375]",
- "[97.3, 22.710850990953762, -29.655727979152896, 0.13598178437353825, -0.8858548198424374, -0.2952849399474754, -0.20000000000003743]",
- "[97.4, 22.617343992920247, -29.690177989196915, 0.10598158040076291, -0.9842831331582644, -0.3937132532633023, -0.4000000000000375]",
- "[97.5, 22.523837173507534, -29.72462782062014, 0.07598173937396185, -0.8858548198424372, -0.2952849399474753, -0.20000000000003748]",
- "[97.6, 22.43033021976623, -29.749234842857824, 0.06598185334781997, -0.9842831331582642, -0.19685662663164843, -3.752553823233029e-14]",
- "[97.7, 22.336823322116192, -29.763999089855194, 0.07598185334781622, -0.8858548198424372, -0.09842831331582147, 0.19999999999996249]",
- "[97.8, 22.2433163683748, -29.778763392943926, 0.085981739373782, -0.9842831331582643, -0.19685662663164838, -3.752553823233029e-14]",
- "[97.9, 22.14980947072477, -29.793527639941292, 0.07598173937376188, -0.8858548198424372, -0.0984283133158214, -0.20000000000003765]",
- "[98.0, 22.056302516983457, -29.80829194302994, 0.06598185334761497, -0.9842831331582643, -0.19685662663164838, -3.774758283725532e-14]",
- "[98.1, 21.95295278800184, -29.832899021358894, 0.0759818533476112, -1.0827114464740915, -0.2952849399474753, 0.19999999999996226]",
- "[98.2, 21.849603115111574, -29.85750604359649, 0.08598173937358228, -0.9842831331582644, -0.19685662663164827, -3.752553823233029e-14]",
- "[98.3, 21.756096217461543, -29.872270290593857, 0.07598173937356215, -0.8858548198424373, -0.09842831331582129, -0.20000000000003765]",
- "[98.4, 21.662589263720246, -29.8870345936825, 0.0659818533474098, -0.9842831331582642, -0.19685662663164838, -3.774758283725532e-14]",
- "[98.5, 21.55923953473863, -29.911641672011456, 0.07598185334740604, -1.0827114464740915, -0.2952849399474753, 0.19999999999996226]",
- "[98.6, 21.455889861848362, -29.93624869424906, 0.08598173937338283, -0.9842831331582644, -0.19685662663164832, -3.752553823233029e-14]",
- "[98.7, 21.35254013286674, -29.951012941246425, 0.0759817393733627, -1.0827114464740915, -0.09842831331582134, -0.20000000000003765]",
- "[98.8, 21.249190459976386, -29.955934300820946, 0.06598185334720441, -0.9842831331582643, 5.662137425588298e-15, -3.774758283725532e-14]",
- "[98.9, 21.155683562326356, -29.96085571648674, 0.07598185334721702, -0.8858548198424373, -0.09842831331582133, 0.19999999999996226]",
- "[99.0, 21.06217660858497, -29.965777076061183, 0.08598173937319997, -0.9842831331582642, 5.662137425588298e-15, -3.774758283725532e-14]",
- "[99.1, 20.958826879603354, -29.970698491726974, 0.07598173937319619, -1.0827114464740915, -0.09842831331582134, -0.20000000000003781]",
- "[99.2, 20.855477206712994, -29.98546279481561, 0.06598185334703144, -0.9842831331582642, -0.19685662663164838, -3.774758283725532e-14]",
- "[99.3, 20.752127477731378, -30.00022704181298, 0.07598185334702767, -1.0827114464740915, -0.09842831331582141, 0.19999999999996226]",
- "[99.4, 20.648777804841107, -30.00514840138743, 0.08598173937301745, -0.9842831331582644, 5.551115123125783e-15, -3.774758283725532e-14]",
- "[99.5, 20.555270907191076, -30.01006981705322, 0.07598173937301367, -0.8858548198424374, -0.09842831331582146, -0.20000000000003781]",
- "[99.6, 20.461763953449783, -30.014991176627753, 0.06598185334684187, -0.9842831331582643, 5.440092820663267e-15, -3.774758283725532e-14]",
- "[99.7, 20.35841422446816, -30.010069760961958, 0.07598185334685448, -1.0827114464740915, 0.09842831331583243, 0.19999999999996226]",
- "[99.8, 20.25506455157788, -30.005148401387505, 0.08598173937285136, -0.9842831331582645, 5.440092820663267e-15, -3.774758283725532e-14]",
- "[99.9, 20.151714822596265, -30.010069817053296, 0.07598173937284758, -1.0827114464740917, -0.09842831331582157, -0.20000000000003781]",
- "[100.0, 20.0483651497059, -30.01499117662783, 0.06598185334666812, -0.9842831331582649, 5.329070518200751e-15, -3.7969627442180354e-14]"
- ]
- },
- "type": "simtrace",
- "assert_hits": null
-}
-}
\ No newline at end of file
diff --git a/demo/quadrotor/prarm.json b/demo/quadrotor/prarm.json
deleted file mode 100644
index 2bb05cb7de1a4af54276aa83a5d1493345cc58f4..0000000000000000000000000000000000000000
--- a/demo/quadrotor/prarm.json
+++ /dev/null
@@ -1,184 +0,0 @@
-{
- "bias1" : [0.005067077465355396, 0.013770184479653835, 0.02960527129471302, -0.005076207220554352,
- 0.00986097939312458, -0.004963981453329325, 0.005067163147032261, 0.022097138687968254,
- 0.005067095160484314, -0.009861057624220848, -0.005051563028246164, -0.013770153746008873,
- 0.009860980324447155, 0.009861058555543423, 0.013770055025815964, 0.005067105405032635,
- -0.01376994326710701, 0.005067072343081236, -0.005067067686468363, -0.013769976794719696],
- "bias2" : [-0.009237067773938179, -0.00437132129445672, 0.0007612668559886515, 0.009431629441678524,
- -0.04935901612043381, 0.00892704352736473, 0.00891881249845028, -0.042356036603450775, 0.03377627208828926,
- 0.014071502722799778, -0.0018434594385325909, -0.0006053714314475656, -0.0038432874716818333,
- -0.007012223359197378, -0.0007034881855361164, 0.007561248727142811, -0.042776428163051605,
- 0.009373181499540806, 0.0031296780798584223, 0.008734943345189095],
- "bias3" : [-0.8870829939842224, -1.152485728263855, -1.3024290800094604, -1.1338839530944824, -0.12526285648345947,
- -0.35318782925605774, -0.9353211522102356, -1.0099754333496094],
- "weight1" : [
- [-0.012771551497280598, 0.8522672653198242, 0.005031325854361057, 0.010413140058517456, 0.5228086709976196,
- 0.0038109351880848408],
- [0.01777890883386135, 0.011899493634700775, -0.8380187153816223, 0.010888529941439629, 0.011424682103097439,
- -0.5449933409690857],
- [0.01807912439107895, 0.012226282618939877, -0.8379306793212891, 0.011077952571213245, 0.011494635604321957,
- -0.5451062917709351],
- [0.01277169119566679, -0.8522672057151794, -0.005030765198171139, -0.010413102805614471, -0.5228087902069092,
- -0.0038107011932879686],
- [-0.8513970971107483, -0.01639718748629093, -0.015279111452400684, -0.5237646102905273, -0.014861795119941235,
- -0.008371188305318356],
- [0.012770231813192368, -0.8522675633430481, -0.005036665592342615, -0.010414107702672482, -0.5228080749511719,
- -0.0038130702450871468],
- [-0.012771555222570896, 0.8522672653198242, 0.005031300242990255, 0.01041315495967865, 0.5228086709976196,
- 0.0038109151646494865],
- [-0.8513400554656982, -0.01752384752035141, -0.01597718894481659, -0.5237532258033752, -0.01596754789352417,
- -0.009223726578056812],
- [-0.012771563604474068, 0.8522672057151794, 0.005031331907957792, 0.010413155891001225, 0.5228087902069092,
- 0.0038109072484076023],
- [0.8513972163200378, 0.016397155821323395, 0.015279067680239677, 0.5237646698951721, 0.014861810952425003,
- 0.008371211588382721],
- [0.012771359644830227, -0.8522672653198242, -0.005032065790146589, -0.010413287207484245, -0.5228086709976196,
- -0.003811270697042346],
- [-0.01777891255915165, -0.011899505741894245, 0.8380184173583984, -0.010888525284826756, -0.011424724943935871,
- 0.5449937582015991],
- [-0.8513973355293274, -0.016397180035710335, -0.01527908630669117, -0.5237643718719482, -0.014861813746392727,
- -0.008371248841285706],
- [-0.8513972163200378, -0.01639718748629093, -0.0152790741994977, -0.5237645506858826, -0.01486178208142519,
- -0.008371269330382347],
- [0.01777891255915165, 0.011899520643055439, -0.8380185961723328, 0.010888495482504368, 0.011424724012613297,
- -0.54499351978302],
- [-0.012771572917699814, 0.8522672653198242, 0.005031317938119173, 0.010413181968033314, 0.5228086709976196,
- 0.003810951951891184],
- [-0.017778869718313217, -0.011899495497345924, 0.838018536567688, -0.010888428427278996, -0.011424727737903595,
- 0.54499351978302],
- [-0.012771587818861008, 0.8522674441337585, 0.005031261593103409, 0.010413181968033314, 0.5228084325790405,
- 0.0038109596353024244],
- [0.012771571055054665, -0.8522672057151794, -0.00503126997500658, -0.010413173586130142, -0.5228086113929749,
- -0.0038109286688268185],
- [-0.017778851091861725, -0.011899485252797604, 0.838018536567688, -0.010888493619859219, -0.0114247165620327,
- 0.54499351978302]],
- "weight2" : [
- [0.004485692363232374, 0.4092908799648285, 0.40233033895492554, -0.0044856867752969265, -0.008494298905134201,
- -0.004485597368329763, 0.004485687240958214, -0.008073708973824978, 0.004485689103603363, 0.008494298905134201,
- -0.004485669545829296, -0.4092909097671509, -0.00849429052323103, -0.008494291454553604, 0.4092908799648285,
- 0.004485682118684053, -0.4092908799648285, 0.004485685378313065, -0.004485683515667915, -0.4092908799648285],
- [-0.0012539782328531146, 0.011227603070437908, 0.010983745567500591, 0.0012537383008748293,
- -0.44823628664016724, 0.0012566098012030125, -0.0012539738090708852, -0.4422348737716675,
- -0.0012539689196273685, 0.44823625683784485, 0.0012543690390884876, -0.011227612383663654, -0.4482363164424896,
- -0.4482361674308777, 0.011227606795728207, -0.001253972644917667, -0.011227593757212162, -0.001253975322470069,
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- "weight3" : [
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-}
\ No newline at end of file
diff --git a/demo/quadrotor/quadrotor_agent.py b/demo/quadrotor/quadrotor_agent.py
deleted file mode 100644
index e4e20ca90b9a7aeec07f1e65ae3ff03426ef063c..0000000000000000000000000000000000000000
--- a/demo/quadrotor/quadrotor_agent.py
+++ /dev/null
@@ -1,225 +0,0 @@
-# Example agent.
-from typing import Tuple, List
-import json
-import os
-import numpy as np
-from scipy.integrate import ode
-import torch
-import math
-from verse.agents import BaseAgent
-from verse.map import LaneMap
-from verse.map.lane_map_3d import LaneMap_3d
-
-
-class FFNNC(torch.nn.Module):
- def __init__(self, D_in=6, D_out=8):
- super(FFNNC, self).__init__()
- self.layer1 = torch.nn.Linear(D_in, 20)
- self.layer2 = torch.nn.Linear(20, 20)
- self.layer3 = torch.nn.Linear(20, D_out)
-
- def forward(self, x):
- x = torch.tanh(self.layer1(x))
- x = torch.tanh(self.layer2(x))
- x = self.layer3(x)
- return x
-
-
-class QuadrotorAgent(BaseAgent):
- def __init__(self, id, code=None, file_name=None, t_v_pair = [], box_side = []):
- super().__init__(id, code, file_name)
- self.t_v_pair = t_v_pair
- self.box_side = box_side
-
- @staticmethod
- def dynamic(t, state, u):
- u1, u2, u3, bx, by, bz, sc, ddf = u # len 7
- vx, vy, vz = state[6:] # len 9
- sc = -1 * sc
- dvx = 9.81 * np.sin(u1) / np.cos(u1)
- dvy = -9.81 * np.sin(u2) / np.cos(u2)
- tmp1 = dvx * math.cos(sc) - dvy * math.sin(sc)
- tmp2 = dvx * math.sin(sc) + dvy * math.cos(sc)
- dvx = tmp1
- dvy = tmp2
- dvz = u3 - 9.81
- dx = vx
- dy = vy
- dz = vz
- dref_x = bx
- dref_y = by
- dref_z = bz
- return [dref_x, dref_y, dref_z, dx, dy, dz, dvx, dvy, dvz]
-
- def action_handler(self, mode, state, lane_map: LaneMap_3d):
- # if mode[0] == 'Normal':
- df = 0
- if lane_map.check_guard_box(self.id, state[3:9], self.box_side):
- # lane_map.get_next_point(mode[1], self.id, state[3:6])
- df = 1
- # else:
- # raise ValueError
- return df
-
- def runModel(self, mode, initalCondition, time_bound, time_step, ref_input, lane_map: LaneMap_3d):
- path = os.path.abspath(__file__)
- path = path.replace('quadrotor_agent.py', 'prarm.json')
- # print(path)
- with open(path, 'r') as f:
- prarms = json.load(f)
- bias1 = prarms['bias1']
- bias2 = prarms['bias2']
- bias3 = prarms['bias3']
- weight1 = prarms['weight1']
- weight2 = prarms['weight2']
- weight3 = prarms['weight3']
-
- bias1 = torch.FloatTensor(bias1)
- bias2 = torch.FloatTensor(bias2)
- bias3 = torch.FloatTensor(bias3)
- weight1 = torch.FloatTensor(weight1)
- weight2 = torch.FloatTensor(weight2)
- weight3 = torch.FloatTensor(weight3)
- controller = FFNNC()
- controller.layer1.weight = torch.nn.Parameter(weight1)
- controller.layer2.weight = torch.nn.Parameter(weight2)
- controller.layer3.weight = torch.nn.Parameter(weight3)
- controller.layer1.bias = torch.nn.Parameter(bias1)
- controller.layer2.bias = torch.nn.Parameter(bias2)
- controller.layer3.bias = torch.nn.Parameter(bias3)
- control_input_list = [[-0.1, -0.1, 7.81],
- [-0.1, -0.1, 11.81],
- [-0.1, 0.1, 7.81],
- [-0.1, 0.1, 11.81],
- [0.1, -0.1, 7.81],
- [0.1, -0.1, 11.81],
- [0.1, 0.1, 7.81],
- [0.1, 0.1, 11.81]]
- init = initalCondition
- trajectory = [init]
- r = ode(self.dynamic)
- # r.set_initial_value(init)
- ex_list = []
- ey_list = []
- ez_list = []
- t = 0
- time = [t]
- trace = [[t]]
- trace[0].extend(init[3:])
- i = 0
- df = 0
- while (t < time_bound) or df != 1:
- ex = trajectory[i][3] - trajectory[i][0]
- ey = trajectory[i][4] - trajectory[i][1]
- ez = trajectory[i][5] - trajectory[i][2]
- # if self.id == 'test1':
- # print([t, ex, ey, ez, trajectory[i][0],
- # trajectory[i][1], trajectory[i][2]])
- evx = trajectory[i][6] - ref_input[0]
- evy = trajectory[i][7] - ref_input[1]
- evz = trajectory[i][8] - ref_input[2]
-
- sc = ref_input[3] # math.atan2(dot, det)
-
- tmp1 = ex * math.cos(sc) - ey * math.sin(sc)
- tmp2 = ex * math.sin(sc) + ey * math.cos(sc)
- ex = tmp1
- ey = tmp2
-
- tmp1 = evx * math.cos(sc) - evy * math.sin(sc)
- tmp2 = evx * math.sin(sc) + evy * math.cos(sc)
- evx = tmp1
- evy = tmp2
-
- data = torch.FloatTensor(
- [0.2 * ex, 0.2 * ey, 0.2 * ez, 0.1 * evx, 0.1 * evy, 0.1 * evz])
- res = controller(data)
- res = res.detach().numpy()
- idx = np.argmax(res)
- u = control_input_list[idx] + ref_input[0:3] + [sc]
-
- df = self.action_handler(mode, init, lane_map)
-
- u = u+[df]
- init = trajectory[i] # len 9
- r = ode(self.dynamic)
- r.set_initial_value(init)
- r.set_f_params(u)
- val = r.integrate(r.t + time_step)
-
- t = t+time_step
- if round(t-time_bound-time_step, 4) >= 0:
- break
- i += 1
- # print(i,idx,u,res)
- trajectory.append(val)
- time.append(t)
-
- ex_list.append(ex)
- ey_list.append(ey)
- ez_list.append(ez)
- trace.append([t])
- # remove the reference trajectory from the trace
- trace[i].extend(val[3:])
- # if self.id == 'test1':
- # print([t, trajectory[i][0], trajectory[i][1], trajectory[i][2]])
- # print('curr', val[3:6])
- # print(trajectory)
- return trace
-
- def TC_simulate(self, mode: List[str], initialCondition, time_bound, time_step, lane_map: LaneMap_3d = None) -> np.ndarray:
- # print("TC", initialCondition)
- # total time_bound remained
- time_bound = float(time_bound)
- traces = []
- end_time = 0
- time_limit = self.t_v_pair[0]
- mode_parameters = lane_map.get_next_point(
- lane_map.trans_func(mode[1]), self.id, np.array(initialCondition[:3]), np.array(initialCondition[3:6]), self.t_v_pair)
- while time_bound > end_time:
- ref_vx = (mode_parameters[3] - mode_parameters[0]) / time_limit
- ref_vy = (mode_parameters[4] - mode_parameters[1]) / time_limit
- ref_vz = (mode_parameters[5] - mode_parameters[2]) / time_limit
- sym_rot_angle = 0
- # if self.id == 'test1':
- # print('test', np.linalg.norm(
- # np.array([ref_vx, ref_vy, ref_vz])))
- trace = self.runModel(mode, mode_parameters[0:3] + list(initialCondition), min(time_limit, time_bound-end_time), time_step, [ref_vx, ref_vy, ref_vz,
- sym_rot_angle], lane_map)
- # if lane_map.check_guard_box(self.id, np.array(trace[-1][1:])):
- # mode_parameters = lane_map.get_next_point(
- # mode[1], self.id, np.array(trace[-1][1:4]), np.array(trace[-1][4:7]))
- # delta = np.array(trace)[:, 1:4]-mode_parameters[3:6]
- # min_dis = float('inf')
- # min_index = 0
- # index = 0
- # for a in delta:
- # dis = np.linalg.norm(a)
- # if min_dis > dis:
- # min_dis = dis
- # min_index = index
- # index += 1
- # if self.id == 'test1':
- # print(index)
- # trace = trace[:index]
- for p in trace:
- p[0] = round(p[0]+end_time, 4)
- end_time = trace[-1][0]
- initialCondition = trace[-1][1:]
- mode_parameters = lane_map.get_next_point(
- lane_map.trans_func(mode[1]), self.id, None, np.array(initialCondition[3:6]), self.t_v_pair)
- if round(trace[0][0]-0, 4) != 0:
- trace = trace[1:]
- traces.extend(trace)
- # print([ref_vx, ref_vy, ref_vz, sym_rot_angle])
- return np.array(traces)
-
-# import json
-# import os
-# if __name__ == "__main__":
-# path = os.path.abspath(__file__)
-# path=path.replace('tempCodeRunnerFile.py', 'prarm.json')
-# print(path)
-# with open(path, 'r') as f:
-# prarms = json.load(f)
-# print(prarms)
diff --git a/demo/quadrotor/quadrotor_agent2.py b/demo/quadrotor/quadrotor_agent2.py
deleted file mode 100644
index 360002a794c339dcc48d498d320f9aa6bfd3b60a..0000000000000000000000000000000000000000
--- a/demo/quadrotor/quadrotor_agent2.py
+++ /dev/null
@@ -1,304 +0,0 @@
-# Example agent.
-from typing import Tuple, List
-import json
-import os
-import numpy as np
-from scipy.integrate import ode
-import torch
-import math
-from verse.agents import BaseAgent
-from verse.map import LaneMap
-from verse.map.lane_map_3d import LaneMap_3d
-import scipy
-from scipy.integrate import odeint
-
-class FFNNC(torch.nn.Module):
- def __init__(self, D_in=6, D_out=8):
- super(FFNNC, self).__init__()
- self.layer1 = torch.nn.Linear(D_in, 20)
- self.layer2 = torch.nn.Linear(20, 20)
- self.layer3 = torch.nn.Linear(20, D_out)
-
- def forward(self, x):
- x = torch.tanh(self.layer1(x))
- x = torch.tanh(self.layer2(x))
- x = self.layer3(x)
- return x
-
-g = 9.81; d0 = 10; d1 = 8; n0 = 10; kT = 0.91
-A = np.zeros([10, 10])
-A[0, 1] = 1.
-A[1, 2] = g
-A[2, 2] = -d1
-A[2, 3] = 1
-A[3, 2] = -d0
-A[4, 5] = 1.
-A[5, 6] = g
-A[6, 6] = -d1
-A[6, 7] = 1
-A[7, 6] = -d0
-A[8, 9] = 1.
-
-B = np.zeros([10, 3])
-B[3, 0] = n0
-B[7, 1] = n0
-B[9, 2] = kT
-
-
-def lqr(A, B, Q, R):
- """Solve the continuous time lqr controller.
- dx/dt = A x + B u
- cost = integral x.T*Q*x + u.T*R*u
- """
- # http://www.mwm.im/lqr-controllers-with-python/
- # ref Bertsekas, p.151
-
- # first, try to solve the ricatti equation
- X = np.matrix(scipy.linalg.solve_continuous_are(A, B, Q, R))
-
- # compute the LQR gain
- K = np.matrix(scipy.linalg.inv(R) * (B.T * X))
-
- eigVals, eigVecs = scipy.linalg.eig(A - B * K)
-
- return np.asarray(K), np.asarray(X), np.asarray(eigVals)
-
-####################### solve LQR #######################
-n = A.shape[0]
-m = B.shape[1]
-Q = np.eye(n)
-Q[0, 0] = 10.
-Q[1, 1] = 10.
-Q[2, 2] = 10.
-R = np.diag([1., 1., 1.])
-K, _, _ = lqr(A, B, Q, R)
-
-####################### The controller ######################
-def u(x, goal):
- goal = np.array(goal)
- return K.dot([goal[0],0,0,0, goal[1],0,0,0, goal[2],0] - x) + [0, 0, g / kT]
-
-# non-linear dynamics
-def dynamics(x, u):
- x, vx, theta_x, omega_x, y, vy, theta_y, omega_y, z, vz = x.reshape(-1).tolist()
- ax, ay, az = u.reshape(-1).tolist()
- dot_x = np.array([
- vx,
- g * np.tan(theta_x),
- -d1 * theta_x + omega_x,
- -d0 * theta_x + n0 * ax,
- vy,
- g * np.tan(theta_y),
- -d1 * theta_y + omega_y,
- -d0 * theta_y + n0 * ay,
- vz,
- kT * az - g])
- return dot_x
-
-
-class QuadrotorAgent(BaseAgent):
- def __init__(self, id, code=None, file_name=None):
- super().__init__(id, code, file_name)
- pass
-
- @staticmethod
- def cl_nonlinear(x, t, goal):
- x = np.array(x)
- dot_x = dynamics(x, u(x, goal))
- return dot_x
-
-
- def action_handler(self, mode, state, lane_map: LaneMap_3d):
- # if mode[0] == 'Normal':
- df = 0
- if lane_map.check_guard_box(self.id, state[3:9]):
- # lane_map.get_next_point(mode[1], self.id, state[3:6])
- df = 1
- # else:
- # raise ValueError
- return df
-
- # def runModel(self, mode, initalCondition, time_bound, time_step, ref_input, lane_map: LaneMap_3d):
- # path = os.path.abspath(__file__)
- # path = path.replace('quadrotor_agent.py', 'prarm.json')
- # # print(path)
- # with open(path, 'r') as f:
- # prarms = json.load(f)
- # bias1 = prarms['bias1']
- # bias2 = prarms['bias2']
- # bias3 = prarms['bias3']
- # weight1 = prarms['weight1']
- # weight2 = prarms['weight2']
- # weight3 = prarms['weight3']
-
- # bias1 = torch.FloatTensor(bias1)
- # bias2 = torch.FloatTensor(bias2)
- # bias3 = torch.FloatTensor(bias3)
- # weight1 = torch.FloatTensor(weight1)
- # weight2 = torch.FloatTensor(weight2)
- # weight3 = torch.FloatTensor(weight3)
- # controller = FFNNC()
- # controller.layer1.weight = torch.nn.Parameter(weight1)
- # controller.layer2.weight = torch.nn.Parameter(weight2)
- # controller.layer3.weight = torch.nn.Parameter(weight3)
- # controller.layer1.bias = torch.nn.Parameter(bias1)
- # controller.layer2.bias = torch.nn.Parameter(bias2)
- # controller.layer3.bias = torch.nn.Parameter(bias3)
- # control_input_list = [[-0.1, -0.1, 7.81],
- # [-0.1, -0.1, 11.81],
- # [-0.1, 0.1, 7.81],
- # [-0.1, 0.1, 11.81],
- # [0.1, -0.1, 7.81],
- # [0.1, -0.1, 11.81],
- # [0.1, 0.1, 7.81],
- # [0.1, 0.1, 11.81]]
- # init = initalCondition
- # trajectory = [init]
- # r = ode(self.dynamic)
- # # r.set_initial_value(init)
- # ex_list = []
- # ey_list = []
- # ez_list = []
- # t = 0
- # time = [t]
- # trace = [[t]]
- # trace[0].extend(init[3:])
- # i = 0
- # df = 0
- # while (t < time_bound) and df == 0:
- # ex = trajectory[i][3] - trajectory[i][0]
- # ey = trajectory[i][4] - trajectory[i][1]
- # ez = trajectory[i][5] - trajectory[i][2]
- # # if self.id == 'test1':
- # # print([t, ex, ey, ez, trajectory[i][0],
- # # trajectory[i][1], trajectory[i][2]])
- # evx = trajectory[i][6] - ref_input[0]
- # evy = trajectory[i][7] - ref_input[1]
- # evz = trajectory[i][8] - ref_input[2]
-
- # sc = ref_input[3] # math.atan2(dot, det)
-
- # tmp1 = ex * math.cos(sc) - ey * math.sin(sc)
- # tmp2 = ex * math.sin(sc) + ey * math.cos(sc)
- # ex = tmp1
- # ey = tmp2
-
- # tmp1 = evx * math.cos(sc) - evy * math.sin(sc)
- # tmp2 = evx * math.sin(sc) + evy * math.cos(sc)
- # evx = tmp1
- # evy = tmp2
-
- # data = torch.FloatTensor(
- # [0.2 * ex, 0.2 * ey, 0.2 * ez, 0.1 * evx, 0.1 * evy, 0.1 * evz])
- # res = controller(data)
- # res = res.detach().numpy()
- # idx = np.argmax(res)
- # u = control_input_list[idx] + ref_input[0:3] + [sc]
-
- # df = self.action_handler(mode, init, lane_map)
-
- # u = u+[df]
- # init = trajectory[i] # len 9
- # r = ode(self.dynamic)
- # r.set_initial_value(init)
- # r.set_f_params(u)
- # val = r.integrate(r.t + time_step)
-
- # t = t+time_step
- # if round(t-time_bound-time_step, 4) >= 0:
- # break
- # i += 1
- # # print(i,idx,u,res)
- # trajectory.append(val)
- # time.append(t)
-
- # ex_list.append(ex)
- # ey_list.append(ey)
- # ez_list.append(ez)
- # trace.append([t])
- # # remove the reference trajectory from the trace
- # trace[i].extend(val[3:])
- # # if self.id == 'test1':
- # # print([t, trajectory[i][0], trajectory[i][1], trajectory[i][2]])
- # # print('curr', val[3:6])
- # # print(trajectory)
- # return trace
- def runModel(self, x, goal, dt, time_bound, mode, lane_map):
- t = 0
- time = [t]
- trace = [[t]]
- trace[0].extend(x)
- i = 0
- df = 0
- while t<time_bound and df == 0:
- t = round(t+dt,10)
- curr_position = np.array(x)[[0,4,8]]
- error = goal-curr_position
- distance = np.sqrt((error**2).sum())
- if distance > 1:
- goal = curr_position + error/distance
- x = odeint(self.cl_nonlinear, x, [0, dt], args=(goal,))[-1].tolist()
- trace.append([t] + x)
- df = self.action_handler(mode, x, lane_map)
- return trace
-
- def TC_simulate(self, mode: List[str], initialCondition, time_bound, time_step, lane_map: LaneMap_3d = None) -> np.ndarray:
- # print("TC", initialCondition)
- # total time_bound remained
- time_bound = float(time_bound)
- traces = []
- end_time = 0
- time_limit = lane_map.get_time_limit(self.id)
- time_limit = 2
- mode_parameters = lane_map.get_next_point(
- lane_map.trans_func(mode[1]), self.id, np.array(initialCondition[:3]), np.array(initialCondition[3:6]))
- while time_bound > end_time:
- ref_vx = (mode_parameters[3] - mode_parameters[0]) / time_limit
- ref_vy = (mode_parameters[4] - mode_parameters[1]) / time_limit
- ref_vz = (mode_parameters[5] - mode_parameters[2]) / time_limit
- sym_rot_angle = 0
- # if self.id == 'test1':
- # print('test', np.linalg.norm(
- # np.array([ref_vx, ref_vy, ref_vz])))
- # trace = self.runModel(mode, mode_parameters[0:3] + list(initialCondition), min(time_limit, time_bound-end_time), time_step, [ref_vx, ref_vy, ref_vz,
- trace = self.runModel(initialCondition, mode_parameters[3:],time_step, min(time_limit, time_bound-end_time), mode, lane_map)
- # if lane_map.check_guard_box(self.id, np.array(trace[-1][1:])):
- # mode_parameters = lane_map.get_next_point(
- # mode[1], self.id, np.array(trace[-1][1:4]), np.array(trace[-1][4:7]))
- # delta = np.array(trace)[:, 1:4]-mode_parameters[3:6]
- # min_dis = float('inf')
- # min_index = 0
- # index = 0
- # for a in delta:
- # dis = np.linalg.norm(a)
- # if min_dis > dis:
- # min_dis = dis
- # min_index = index
- # index += 1
- # if self.id == 'test1':
- # print(index)
- # trace = trace[:index]
- for p in trace:
- p[0] = round(p[0]+end_time, 4)
- end_time = trace[-1][0]
- initialCondition = trace[-1][1:]
- mode_parameters = lane_map.get_next_point(
- lane_map.trans_func(mode[1]), self.id, None, np.array(initialCondition[3:6]))
- if round(trace[0][0]-0, 4) != 0:
- trace = trace[1:]
- traces.extend(trace)
- # print([ref_vx, ref_vy, ref_vz, sym_rot_angle])
- return np.array(traces)
-
-# import json
-# import os
-if __name__ == "__main__":
- # path = os.path.abspath(__file__)
- # path=path.replace('tempCodeRunnerFile.py', 'prarm.json')
- # print(path)
- # with open(path, 'r') as f:
- # prarms = json.load(f)
- # print(prarms)
- agent = QuadrotorAgent('test',code="")
- agent.run_model([0,0,0,0,0,0,0,0,0,0],np.array([5,5,5]),0.1, 10)
-
diff --git a/demo/quadrotor/quadrotor_controller.py b/demo/quadrotor/quadrotor_controller.py
deleted file mode 100644
index ad78becfb87c974bc93a331551b9c7228dd24b20..0000000000000000000000000000000000000000
--- a/demo/quadrotor/quadrotor_controller.py
+++ /dev/null
@@ -1,72 +0,0 @@
-from enum import Enum, auto
-import copy
-
-
-class CraftMode(Enum):
- Normal = auto()
- Switch_Down = auto()
- Switch_Up = auto()
- Switch_Left = auto()
- Switch_Right = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
- Lane3 = auto()
- Lane4 = auto()
-
-
-class State:
- x = 0.0
- y = 0.0
- z = 0.0
- vx = 0.0
- vy = 0.0
- vz = 0.0
- craft_mode: CraftMode = CraftMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
-
- def __init__(self, x, y, z, vx, vy, vz, craft_mode, lane_mode):
- pass
-
-
-def controller(ego: State, others: State, lane_map):
- output = copy.deepcopy(ego)
-
- # def close(a, b):
- # return a.x-b.x < 3 and a.x-b.x > 0 and a.y-b.y < 3 and a.y-b.y > 0
- # if ego.craft_mode == CraftMode.Normal:
- # if close(ego, others) and ego.lane_mode == others.lane_mode:
- # if lane_map.has_right(ego.lane_mode):
- # output.craft_mode = CraftMode.Switch_Right
- # output.lane_mode = lane_map.right_lane(ego.lane_mode)
- # if lane_map.has_left(ego.lane_mode):
- # output.craft_mode = CraftMode.Switch_Left
- # output.lane_mode = lane_map.left_lane(ego.lane_mode)
- # if lane_map.has_up(ego.lane_mode):
- # output.craft_mode = CraftMode.Switch_Up
- # output.lane_mode = lane_map.up_lane(ego.lane_mode)
- # if lane_map.has_down(ego.lane_mode):
- # output.craft_mode = CraftMode.Switch_Down
- # output.lane_mode = lane_map.down_lane(ego.lane_mode)
- if ego.craft_mode == CraftMode.Normal:
- if lane_map.get_longitudinal_position(others.lane_mode, [others.x, others.y, others.z]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y, ego.z]) > 0 \
- and lane_map.get_longitudinal_position(others.lane_mode, [others.x, others.y, others.z]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y, ego.z]) < 4 \
- and ego.lane_mode == others.lane_mode:
- if lane_map.has_right(ego.lane_mode):
- output.craft_mode = CraftMode.Switch_Right
- output.lane_mode = lane_map.right_lane(ego.lane_mode)
- if lane_map.has_left(ego.lane_mode):
- output.craft_mode = CraftMode.Switch_Left
- output.lane_mode = lane_map.left_lane(ego.lane_mode)
- if lane_map.has_up(ego.lane_mode):
- output.craft_mode = CraftMode.Switch_Up
- output.lane_mode = lane_map.up_lane(ego.lane_mode)
- if lane_map.has_down(ego.lane_mode):
- output.craft_mode = CraftMode.Switch_Down
- output.lane_mode = lane_map.down_lane(ego.lane_mode)
-
- # assert not (ego.x > 20 and ego.x < 25), "test"
- return output
diff --git a/demo/quadrotor/quadrotor_controller2.py b/demo/quadrotor/quadrotor_controller2.py
deleted file mode 100644
index 74f4b73875e2b629f63bc14e16de9858fe4f6254..0000000000000000000000000000000000000000
--- a/demo/quadrotor/quadrotor_controller2.py
+++ /dev/null
@@ -1,65 +0,0 @@
-from enum import Enum, auto
-import copy
-
-
-class CraftMode(Enum):
- Normal = auto()
- Switch_Down = auto()
- Switch_Up = auto()
- Switch_Left = auto()
- Switch_Right = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
- Lane3 = auto()
- Lane4 = auto()
-
-
-class State:
- x = 0.0
- y = 0.0
- z = 0.0
- vx = 0.0
- vy = 0.0
- vz = 0.0
- craft_mode: CraftMode = CraftMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
-
- def __init__(self, x, y, z, vx, vy, vz, craft_mode, lane_mode):
- pass
-
-
-def controller(ego: State, lane_map):
- output = copy.deepcopy(ego)
-
- # if ego.craft_mode == CraftMode.Normal:
- # if lane_map.get_longitudinal_position(others.lane_mode, [others.x, others.y, others.z]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y, ego.z]) > 3 \
- # and lane_map.get_longitudinal_position(others.lane_mode, [others.x, others.y, others.z]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y, ego.z]) < 5 \
- # and ego.lane_mode == others.lane_mode:
- # if lane_map.has_right(ego.lane_mode):
- # output.craft_mode = CraftMode.Switch_Right
- # output.lane_mode = lane_map.right_lane(ego.lane_mode)
- # if lane_map.get_longitudinal_position(others.lane_mode, [others.x, others.y, others.z]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y, ego.z]) > 3 \
- # and lane_map.get_longitudinal_position(others.lane_mode, [others.x, others.y, others.z]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y, ego.z]) < 5 \
- # and ego.lane_mode == others.lane_mode:
- # if lane_map.has_left(ego.lane_mode):
- # output.craft_mode = CraftMode.Switch_Left
- # output.lane_mode = lane_map.left_lane(ego.lane_mode)
- # if lane_map.get_longitudinal_position(others.lane_mode, [others.x, others.y, others.z]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y, ego.z]) > 3 \
- # and lane_map.get_longitudinal_position(others.lane_mode, [others.x, others.y, others.z]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y, ego.z]) < 5 \
- # and ego.lane_mode == others.lane_mode:
- # if lane_map.has_up(ego.lane_mode):
- # output.craft_mode = CraftMode.Switch_Up
- # output.lane_mode = lane_map.up_lane(ego.lane_mode)
- # if lane_map.get_longitudinal_position(others.lane_mode, [others.x, others.y, others.z]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y, ego.z]) > 3 \
- # and lane_map.get_longitudinal_position(others.lane_mode, [others.x, others.y, others.z]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y, ego.z]) < 5 \
- # and ego.lane_mode == others.lane_mode:
- # if lane_map.has_down(ego.lane_mode):
- # output.craft_mode = CraftMode.Switch_Down
- # output.lane_mode = lane_map.down_lane(ego.lane_mode)
-
- # assert not (ego.x > 20 and ego.x < 25), "test"
- return output
diff --git a/demo/quadrotor/quadrotor_controller3.py b/demo/quadrotor/quadrotor_controller3.py
deleted file mode 100644
index df6d912379850ef1be90337204e7d9bdb1e02c75..0000000000000000000000000000000000000000
--- a/demo/quadrotor/quadrotor_controller3.py
+++ /dev/null
@@ -1,77 +0,0 @@
-from enum import Enum, auto
-import copy
-from typing import List
-
-
-class CraftMode(Enum):
- Normal = auto()
- MoveUp = auto()
- MoveDown = auto()
-
-
-class TrackMode(Enum):
- T0 = auto()
- T1 = auto()
- T2 = auto()
- M01 = auto()
- M10 = auto()
- M12 = auto()
- M21 = auto()
-
-
-class State:
- x: float
- y: float
- z: float
- vx: float
- vy: float
- vz: float
- craft_mode: CraftMode
- track_mode: TrackMode
-
- def __init__(self, x, y, z, vx, vy, vz, craft_mode, track_mode):
- pass
-
-
-# def is_close(ego, other):
-# res = ego.x-other.x > -5 and ego.x-other.x < 5 and \
-# ego.x-other.x < -4 and ego.x-other.x > 4 and \
-# ego.y-other.y > -5 and ego.y-other.y < 5 and \
-# ego.y-other.y < -4 and ego.y-other.y > 4
-# return res
-
-def is_close(ego, other):
- res = (((ego.vx <= 0) and (ego.x-other.x > 2 and ego.x-other.x < 5)) or ((ego.vx > 0) and (ego.x-other.x <= -2 and ego.x-other.x > - 5))) \
- and (((ego.vy <= 0) and (ego.y-other.y > 2 and ego.y-other.y < 5)) or ((ego.vy > 0) and (ego.y-other.y <= -2 and ego.y-other.y > - 5)))
- return res
-
-
-def controller(ego: State, others: List[State], lane_map):
- next = copy.deepcopy(ego)
-
- if ego.craft_mode == CraftMode.Normal:
- if any((is_close(ego, other) and ego.track_mode == other.track_mode) for other in others):
- if lane_map.h_exist(ego.track_mode, ego.craft_mode, 'MoveUp'):
- next.craft_mode = CraftMode.MoveUp
- next.track_mode = lane_map.h(
- ego.track_mode, ego.craft_mode, 'MoveUp')
- if lane_map.h_exist(ego.track_mode, ego.craft_mode, 'MoveDown'):
- next.craft_mode = CraftMode.MoveDown
- next.track_mode = lane_map.h(
- ego.track_mode, ego.craft_mode, 'MoveDown')
-
- if ego.craft_mode == CraftMode.MoveUp:
- if lane_map.altitude(ego.track_mode)-ego.z > -1 and lane_map.altitude(ego.track_mode)-ego.z < 1:
- next.craft_mode = CraftMode.Normal
- if lane_map.h_exist(ego.track_mode, ego.craft_mode, 'Normal'):
- next.track_mode = lane_map.h(
- ego.track_mode, ego.craft_mode, 'Normal')
-
- if ego.craft_mode == CraftMode.MoveDown:
- if lane_map.altitude(ego.track_mode)-ego.z > -1 and lane_map.altitude(ego.track_mode)-ego.z < 1:
- next.craft_mode = CraftMode.Normal
- if lane_map.h_exist(ego.track_mode, ego.craft_mode, 'Normal'):
- next.track_mode = lane_map.h(
- ego.track_mode, ego.craft_mode, 'Normal')
-
- return next
diff --git a/demo/quadrotor/quadrotor_controller4.py b/demo/quadrotor/quadrotor_controller4.py
deleted file mode 100644
index b40d4d9f6d2af1899ae92d6a98b43f66269fb8aa..0000000000000000000000000000000000000000
--- a/demo/quadrotor/quadrotor_controller4.py
+++ /dev/null
@@ -1,38 +0,0 @@
-from enum import Enum, auto
-import copy
-from typing import List
-
-
-class CraftMode(Enum):
- Normal = auto()
- MoveUp = auto()
- MoveDown = auto()
-
-
-class TrackMode(Enum):
- T0 = auto()
- T1 = auto()
- T2 = auto()
- M01 = auto()
- M10 = auto()
- M12 = auto()
- M21 = auto()
-
-
-class State:
- x: float
- y: float
- z: float
- vx: float
- vy: float
- vz: float
- craft_mode: CraftMode
- track_mode: TrackMode
-
- def __init__(self, x, y, z, vx, vy, vz, craft_mode, track_mode):
- pass
-
-
-def controller(ego: State, others: List[State], lane_map):
- output = copy.deepcopy(ego)
- return output
diff --git a/demo/quadrotor/quadrotor_controller5.py b/demo/quadrotor/quadrotor_controller5.py
deleted file mode 100644
index b229a86f2877879f0833d36ac053206a7c3405dd..0000000000000000000000000000000000000000
--- a/demo/quadrotor/quadrotor_controller5.py
+++ /dev/null
@@ -1,81 +0,0 @@
-from enum import Enum, auto
-import copy
-from typing import List
-
-
-class CraftMode(Enum):
- Normal = auto()
- MoveUp = auto()
- MoveDown = auto()
-
-
-class TrackMode(Enum):
- T0 = auto()
- T1 = auto()
- T2 = auto()
- M01 = auto()
- M10 = auto()
- M12 = auto()
- M21 = auto()
-
-
-class State:
- x: float
- y: float
- z: float
- vx: float
- vy: float
- vz: float
- thetax: float
- omegax: float
- thetay: float
- omegay: float
- craft_mode: CraftMode
- lane_mode: TrackMode
-
- def __init__(self, x, y, z, vx, vy, vz, thetax, omegax, thetay, omegay, craft_mode, lane_mode):
- pass
-
-
-# def is_close(ego, other):
-# res = ego.x-other.x > -5 and ego.x-other.x < 5 and \
-# ego.x-other.x < -4 and ego.x-other.x > 4 and \
-# ego.y-other.y > -5 and ego.y-other.y < 5 and \
-# ego.y-other.y < -4 and ego.y-other.y > 4
-# return res
-
-def is_close(ego, other):
- res = (((ego.vx <= 0) and (ego.x-other.x > 2 and ego.x-other.x < 5)) or ((ego.vx > 0) and (ego.x-other.x <= -2 and ego.x-other.x > - 5))) \
- and (((ego.vy <= 0) and (ego.y-other.y > 2 and ego.y-other.y < 5)) or ((ego.vy > 0) and (ego.y-other.y <= -2 and ego.y-other.y > - 5)))
- return res
-
-
-def controller(ego: State, others: List[State], lane_map):
- output = copy.deepcopy(ego)
-
- if ego.craft_mode == CraftMode.Normal:
- if any((is_close(ego, other) and ego.lane_mode == other.lane_mode) for other in others):
- if lane_map.h_exist(ego.lane_mode, ego.craft_mode, 'MoveUp'):
- output.craft_mode = CraftMode.MoveUp
- output.lane_mode = lane_map.h(
- ego.lane_mode, ego.craft_mode, 'MoveUp')
- if lane_map.h_exist(ego.lane_mode, ego.craft_mode, 'MoveDown'):
- output.craft_mode = CraftMode.MoveDown
- output.lane_mode = lane_map.h(
- ego.lane_mode, ego.craft_mode, 'MoveDown')
-
- if ego.craft_mode == CraftMode.MoveUp:
- if lane_map.altitude(ego.lane_mode)-ego.z > -1 and lane_map.altitude(ego.lane_mode)-ego.z < 1:
- output.craft_mode = CraftMode.Normal
- if lane_map.h_exist(ego.lane_mode, ego.craft_mode, 'Normal'):
- output.lane_mode = lane_map.h(
- ego.lane_mode, ego.craft_mode, 'Normal')
-
- if ego.craft_mode == CraftMode.MoveDown:
- if lane_map.altitude(ego.lane_mode)-ego.z > -1 and lane_map.altitude(ego.lane_mode)-ego.z < 1:
- output.craft_mode = CraftMode.Normal
- if lane_map.h_exist(ego.lane_mode, ego.craft_mode, 'Normal'):
- output.lane_mode = lane_map.h(
- ego.lane_mode, ego.craft_mode, 'Normal')
-
- return output
diff --git a/demo/quadrotor/quadrotor_controller6.py b/demo/quadrotor/quadrotor_controller6.py
deleted file mode 100644
index 3f6efb127d510ef268b14046df82fdc5f6fe3a32..0000000000000000000000000000000000000000
--- a/demo/quadrotor/quadrotor_controller6.py
+++ /dev/null
@@ -1,56 +0,0 @@
-from enum import Enum, auto
-import copy
-from typing import List
-
-
-class CraftMode(Enum):
- Normal = auto()
- MoveUp = auto()
- MoveDown = auto()
-
-
-class TrackMode(Enum):
- T0 = auto()
- T1 = auto()
- T2 = auto()
- M01 = auto()
- M10 = auto()
- M12 = auto()
- M21 = auto()
-
-
-class State:
- x: float
- y: float
- z: float
- vx: float
- vy: float
- vz: float
- thetax: float
- omegax: float
- thetay: float
- omegay: float
- craft_mode: CraftMode
- lane_mode: TrackMode
-
- def __init__(self, x, y, z, vx, vy, vz, thetax, omegax, thetay, omegay, craft_mode, lane_mode):
- pass
-
-
-# def is_close(ego, other):
-# res = ego.x-other.x > -5 and ego.x-other.x < 5 and \
-# ego.x-other.x < -4 and ego.x-other.x > 4 and \
-# ego.y-other.y > -5 and ego.y-other.y < 5 and \
-# ego.y-other.y < -4 and ego.y-other.y > 4
-# return res
-
-def is_close(ego, other):
- res = (((ego.vx <= 0) and (ego.x-other.x > 2 and ego.x-other.x < 5)) or ((ego.vx > 0) and (ego.x-other.x <= -2 and ego.x-other.x > - 5))) \
- and (((ego.vy <= 0) and (ego.y-other.y > 2 and ego.y-other.y < 5)) or ((ego.vy > 0) and (ego.y-other.y <= -2 and ego.y-other.y > - 5)))
- return res
-
-
-def controller(ego: State, others: List[State], lane_map):
- output = copy.deepcopy(ego)
-
- return output
diff --git a/demo/quadrotor/test.json b/demo/quadrotor/test.json
deleted file mode 100644
index 76c9f53a4053a0bfade65d2675266fd1be9bd527..0000000000000000000000000000000000000000
--- a/demo/quadrotor/test.json
+++ /dev/null
@@ -1,34 +0,0 @@
-{
- "grid_resolution": [0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
- "symmetry_level": "0",
- "reachability_engine": "default",
- "refine_threshold": 10,
- "agents": [{
- "initialModeID": 0,
- "segLength": -1,
- "edge_list": [[0,1],[1,2],[2,3],[1,4],[4,5]],
- "variables": ["x", "y", "z", "vx", "vy", "vz"],
- "guards": [
- ["Box", [[4.6, -0.4, -1, -1, -100, -100], [5.4, 0.4, 1, 1, 100, 100]]],
- ["Box", [[4.6, 2.6, -1, -100, -100, -100], [5.4, 3.4, 1, 100, 100, 100]]],
- ["Box", [[1.6, 2.6, -1, -100, -100, -100], [2.4, 3.4, 1, 100, 100, 100]]],
- ["Box", [[4.6, 2.6, -1, -100, -100, -100], [5.4, 3.4, 1, 100, 100, 100]]],
- ["Box", [[7.6, 2.6, -1, -100, -100, -100], [8.4, 3.4, 1, 100, 100, 100]]]
- ],
- "timeHorizons": [20,20,20,20,20,20],
- "directory": "examples/models/NNquadrotor_new_code_TR",
- "mode_list": [
- ["follow_waypoint", [3, 0, 0, 5, 0, 0]],
- ["follow_waypoint", [5, 0, 0, 5, 3, 0]],
- ["follow_waypoint", [5, 3, 0, 2, 3, 0]],
- ["follow_waypoint", [2, 3, 0, 2, 6, 0]],
- ["follow_waypoint", [5, 3, 0, 8, 3, 0]],
- ["follow_waypoint", [8, 3, 0, 8, 0, 0]]
- ],
- "initialSet": ["Box", [[2.75, -0.25, -0.1, 0, 0, 0], [3, 0,0, 0.1, 0.1, 0.1]]]
- }],
- "time_step": 0.1,
- "unsafeSet": [
- ["Box",[[1.5,2.8,-100,-100,-100,-100],[1.7,3.2,100,100,100,100]]]
- ]
-}
\ No newline at end of file
diff --git a/demo/vehicle/controller/inc-expr-fsw4.py b/demo/tacas2023/exp11/decision_logic/inc-expr-fsw4.py
similarity index 98%
rename from demo/vehicle/controller/inc-expr-fsw4.py
rename to demo/tacas2023/exp11/decision_logic/inc-expr-fsw4.py
index f008a0b0c18f07f8fd09f6ecaa227db8c34f0ed4..5947ad25b0e10b60f03e458ac6267159a1acea90 100644
--- a/demo/vehicle/controller/inc-expr-fsw4.py
+++ b/demo/tacas2023/exp11/decision_logic/inc-expr-fsw4.py
@@ -58,7 +58,7 @@ def car_right(ego, others, lane_map):
def controller(ego:State, others:List[State], lane_map):
output = copy.deepcopy(ego)
if ego.agent_mode == AgentMode.Normal:
- if car_front(ego, others, lane_map, 4, 3):
+ if car_front(ego, others, lane_map, 4.5, 3):
# Switch left if left lane is empty
if lane_map.h_exist(ego.track_mode, ego.agent_mode, AgentMode.SwitchLeft) and \
not car_left(ego, others, lane_map):
diff --git a/demo/vehicle/controller/inc-expr-fsw7.py b/demo/tacas2023/exp11/decision_logic/inc-expr-fsw7.py
similarity index 100%
rename from demo/vehicle/controller/inc-expr-fsw7.py
rename to demo/tacas2023/exp11/decision_logic/inc-expr-fsw7.py
diff --git a/demo/vehicle/controller/inc-expr.py b/demo/tacas2023/exp11/decision_logic/inc-expr.py
similarity index 100%
rename from demo/vehicle/controller/inc-expr.py
rename to demo/tacas2023/exp11/decision_logic/inc-expr.py
diff --git a/demo/vehicle/inc-expr.py b/demo/tacas2023/exp11/inc-expr.py
similarity index 97%
rename from demo/vehicle/inc-expr.py
rename to demo/tacas2023/exp11/inc-expr.py
index 8a274ddcc6db25f81e36e0d9013a24844a8e8407..7d0c8aa386c8bd0b8728e67a5e9cf1bcd8484873 100644
--- a/demo/vehicle/inc-expr.py
+++ b/demo/tacas2023/exp11/inc-expr.py
@@ -75,7 +75,7 @@ def run(sim, meas=False):
if sim:
fig = simulation_tree(traces, tmp_map, fig, 1, 2, print_dim_list=[1, 2])
else:
- fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines')
+ fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines',combine_rect=5)
fig.show()
if sim:
@@ -91,7 +91,7 @@ def run(sim, meas=False):
})
if __name__ == "__main__":
- input_code_name = './demo/vehicle/controller/inc-expr6.py' if "6" in arg else './demo/vehicle/controller/inc-expr.py'
+ input_code_name = './demo/tacas2023/exp11/decision_logic/inc-expr6.py' if "6" in arg else './demo/tacas2023/exp11/decision_logic/inc-expr.py'
config = ScenarioConfig()
config.incremental = 'i' in arg
scenario = Scenario(config)
diff --git a/demo/tacas2023/exp2/demo9.py b/demo/tacas2023/exp2/demo9.py
index 29c68df11723639c40650d8f74c23487cbe0d989..19af198139a148030088b824377fbff79f87a155 100644
--- a/demo/tacas2023/exp2/demo9.py
+++ b/demo/tacas2023/exp2/demo9.py
@@ -9,6 +9,9 @@ from enum import Enum, auto
import plotly.graph_objects as go
import matplotlib.pyplot as plt
+import pyvista as pv
+from verse.plotter.plotter3D import *
+
class LaneObjectMode(Enum):
Vehicle = auto()
@@ -74,11 +77,21 @@ if __name__ == "__main__":
scenario.init_seg_length = 5
traces = scenario.verify(40, 0.1, params={"bloating_method": 'GLOBAL'})
- # fig = go.Figure()
- # fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace')
- # fig.show()
+
+ fig = go.Figure()
+ fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace')
+ fig.show()
# fig = go.Figure()
# fig = reachtube_anime(traces, tmp_map, fig, 1,
# 2, 'lines', 'trace', combine_rect=1)
# fig.show()
+
+ # fig = pv.Plotter()
+ # fig = plot3dReachtube(traces,'car1',1,2,0,'b',fig)
+ # fig = plot3dReachtube(traces,'car2',1,2,0,'r',fig)
+ # fig = plot3dReachtube(traces,'car3',1,2,0,'g',fig)
+ # fig = plot_line_3d([0,0,0],[10,0,0],ax=fig,color='r')
+ # fig = plot_line_3d([0,0,0],[0,10,0],ax=fig,color='g')
+ # fig = plot_line_3d([0,0,0],[0,0,10],ax=fig,color='b')
+ # fig.show()
diff --git a/demo/uncertain_dynamics/controller1.py b/demo/uncertain_dynamics/controller1.py
deleted file mode 100644
index af4cb0867f207afdf9addc2488281ce4fb131df7..0000000000000000000000000000000000000000
--- a/demo/uncertain_dynamics/controller1.py
+++ /dev/null
@@ -1,18 +0,0 @@
-from enum import Enum, auto
-import copy
-
-class AgentMode(Enum):
- Default = auto()
-
-class State:
- x1 = 0.0
- x2 = 0.0
- agent_mode: AgentMode = AgentMode.Default
-
- def __init__(self, x, y, agent_mode: AgentMode):
- pass
-
-def controller(ego: State):
- output = copy.deepcopy(ego)
-
- return output
diff --git a/demo/uncertain_dynamics/uncertain_agents.py b/demo/uncertain_dynamics/uncertain_agents.py
deleted file mode 100644
index cc15440b95acd5626c9a2891d9672d3ee3b88c4d..0000000000000000000000000000000000000000
--- a/demo/uncertain_dynamics/uncertain_agents.py
+++ /dev/null
@@ -1,240 +0,0 @@
-from typing import Tuple, List
-
-import numpy as np
-from scipy.integrate import ode
-
-from verse.agents import BaseAgent
-from verse.parser import ControllerIR
-
-from scipy.optimize import minimize
-from sympy import Symbol, diff
-from sympy.utilities.lambdify import lambdify
-from sympy.core import *
-
-def find_min(expr, var_range):
- bounds = []
- vars = list(expr.free_symbols)
- x0 = []
- jac = []
- for var in vars:
- bounds.append(var_range[var])
- x0.append(var_range[var][0])
- jac.append(diff(expr, var))
- expr_func = lambdify([vars], expr)
- jac_func = lambdify([vars], jac)
- res = minimize(
- expr_func,
- x0,
- bounds = bounds,
- jac = jac_func,
- method = 'L-BFGS-B'
- )
- return res.fun
-
-def find_max(expr, var_range):
- tmp = -expr
- res = find_min(tmp, var_range)
- return -res
-
-def computeD(exprs, symbol_x, symbol_w, x, w, x_hat, w_hat):
- d = []
- for expr in exprs:
- if all(a<=b for a,b in zip(x, x_hat)) and all(a<=b for a,b in zip(w,w_hat)):
- var_range = {}
- for i, var in enumerate(symbol_x):
- var_range[var] = (x[i], x_hat[i])
- for i, var in enumerate(symbol_w):
- var_range[var] = (w[i], w_hat[i])
- res = find_min(expr, var_range)
- d.append(res)
- elif all(b<=a for a,b in zip(x,x_hat)) and all(b<=a for a,b in zip(w,w_hat)):
- var_range = {}
- for i,var in enumerate(symbol_x):
- var_range[var] = (x_hat[i], x[i])
- for i, var in enumerate(symbol_w):
- var_range[var] = (w_hat[i], w[i])
- res = find_max(expr, var_range)
- d.append(res)
- else:
- raise ValueError(f"Condition for x, w, x_hat, w_hat not satisfied: {[x, w, x_hat, w_hat]}")
- return d
-
-class Agent1(BaseAgent):
- def __init__(self, id):
- self.id = id
- self.controller = ControllerIR.empty()
-
- def dynamics(self, x, args):
- w1, w2, dt = args
- x1, x2 = x
-
- x1_plus = x1+dt*(x1*(1.1+w1-x2-0.1*x2))
- x2_plus = x2+dt*(x2*(4+w2-3*x1-x2))
- return [x1_plus, x2_plus]
-
- def decomposition(self, x, w, xhat, what, params):
- dt = params
- x1 = Symbol('x1',real=True)
- x2 = Symbol('x2',real=True)
-
- w1 = Symbol('w1',real=True)
- w2 = Symbol('w2',real=True)
-
- exprs = [
- x1+dt*x1*(1.1+w1-x1-0.1*x2),
- x2+dt*x2*(4+w2-3*x1-x2),
- ]
- res = computeD(exprs, [x1, x2], [w1, w2], x, w, xhat, what)
- return res
-
-class Agent2(BaseAgent):
- def __init__(self, id):
- self.id = id
- self.controller = ControllerIR.empty()
-
- def dynamics(self, x, args):
- w1, w2, dt = args
- x1, x2 = x
-
- x1_plus = x1+dt*(x1*(1.1+w1-x1-0.1*x2))
- x2_plus = x2+dt*(x2*(4+w2-3*x1-x2))
- return [x1_plus, x2_plus]
-
- def dynamics_jac(self, x, args):
- w1, w2, dt = args
- x1, x2 = x
-
- j1x1 = dt*(w1 - x1 - x2/10 + 11/10) - dt*x1 + 1
- j1x2 = -(dt*x1)/10
- j1w1 = dt*x1
- j1w2 = 0
- j2x1 = -3*dt*x2
- j2x2 = dt*(w2 - 3*x1 - x2 + 4) - dt*x2 + 1
- j2w1 = 0
- j2w2 = dt*x2
-
- return np.array([[j1x1, j1x2, j1w1, j1w2], [j2x1, j2x2, j2w1, j2w2]])
-
-class Agent3(BaseAgent):
- def __init__(self, id):
- self.id = id
- self.controller = ControllerIR.empty()
-
- def dynamics(self, x, args):
- w1, w2, dt = args
- x1, x2 = x
- '''Begin Dynamic'''
- x1_plus = x1+dt*(x1*(1.1+w1-x1-0.1*x2))
- x2_plus = x2+dt*(x2*(4+w2-3*x1-x2))
- '''End Dynamic'''
- return [x1_plus, x2_plus]
-
-class Agent4(BaseAgent):
- def __init__(self, id):
- self.id = id
- self.controller = ControllerIR.empty()
-
- def dynamics(self, x, args):
- w1, dt = args
- x1, x2, x3, x4 = x
-
- x1_plus = x1 + dt*(-2*x1+x2*(1+x1)+x3+w1)
- x2_plus = x2 + dt*(-x2+x1*(1-x2)+0.1)
- x3_plus = x3 + dt*(-x4)
- x4_plus = x4 + dt*(x3)
- return [x1_plus, x2_plus, x3_plus, x4_plus]
-
- def dynamics_jac(self, x, args):
- w1, dt = args
- x1, x2, x3, x4 = x
-
- j1x1,j1x2,j1x3,j1x4,j1w1 = [dt*(x2 - 2) + 1, dt*(x1 + 1), dt, 0, dt]
- j2x1,j2x2,j2x3,j2x4,j2w1 = [ -dt*(x2 - 1), 1 - dt*(x1 + 1), 0, 0, 0]
- j3x1,j3x2,j3x3,j3x4,j3w1 = [ 0, 0, 1, -dt, 0]
- j4x1,j4x2,j4x3,j4x4,j4w1 = [ 0, 0, dt, 1, 0]
-
- return np.array([
- [j1x1,j1x2,j1x3,j1x4,j1w1],
- [j2x1,j2x2,j2x3,j2x4,j2w1],
- [j3x1,j3x2,j3x3,j3x4,j3w1],
- [j4x1,j4x2,j4x3,j4x4,j4w1],
- ])
-
-class Agent5(BaseAgent):
- def __init__(self, id):
- # super().__init__(id, code, file_name)
- self.id = id
- self.controller = ControllerIR.empty()
- self.init_cont = None
- self.init_disc = None
- self.static_parameters = None
- self.uncertain_parameters = None
-
- def dynamics(self, x, args):
- w1 = args
- x1, x2, x3, x4 = x
-
- dx1 = -2*x1+x2*(1+x1)+x3+w1
- dx2 = -x2+x1*(1-x2)+0.1
- dx3 = -x4
- dx4 = x3
- return [dx1, dx2, dx3, dx4]
-
- def decomposition(self, x, w, xhat, what):
- x1, x2, x3, x4 = x
- w1 = w
- x1hat, x2hat, x3hat, x4hat = xhat
- w1hat = what
-
- d1 = -2*x1+self._a(x,xhat)+x3+w1
- d2 = -x2+self._b(x,xhat)+0.1
- d3 = -x4hat
- d4 = x3
-
- return [d1, d2, d3, d4]
-
- def _a(self, x, xhat):
- x1, x2, x3, x4 = x
- x1hat, x2hat, x3hat, x4hat = xhat
- if all(a<=b for a,b in zip(x,xhat)):
- return min(x2*(1+x1), x2hat*(1+x1))
- elif all(a<=b for a,b in zip(xhat, x)):
- return max(x2*(1+x1), x2hat*(1+x1))
-
- def _b(self, x, xhat):
- x1, x2, x3, x4 = x
- x1hat, x2hat, x3hat, x4hat = xhat
- if all(a<=b for a,b in zip(x,xhat)):
- return min(x1*(1-x2), x1hat*(1-x2))
- elif all(a<=b for a,b in zip(xhat, x)):
- return max(x1*(1-x2), x1hat*(1-x2))
-
-class Agent6(BaseAgent):
- def __init__(self, id):
- # super().__init__(id, code, file_name)
- self.id = id
- self.controller = ControllerIR.empty()
- self.init_cont = None
- self.init_disc = None
- self.static_parameters = None
- self.uncertain_parameters = None
-
- def dynamics(self, x, args):
- w1,w2 = args
- x1, x2 = x
-
- dx1 = x1*(1.1 + w1 - x1 - 0.1*x2)
- dx2 = x2*(4+w2-3*x1-x2)
- return [dx1, dx2]
-
- def decomposition(self, x, w, xhat, what):
- x1, x2 = x
- w1, w2 = w
- x1hat, x2hat = xhat
- w1hat, w2hat = what
-
- d1 = x1*(1.1+w1-x1-0.1*x2hat)
- d2 = x2*(4+w2-3*x1hat-x2)
-
- return [d1, d2]
-
diff --git a/demo/uncertain_dynamics/uncertain_demo1.py b/demo/uncertain_dynamics/uncertain_demo1.py
deleted file mode 100644
index 2dbde631e903fece4268414563e35fe760315f76..0000000000000000000000000000000000000000
--- a/demo/uncertain_dynamics/uncertain_demo1.py
+++ /dev/null
@@ -1,42 +0,0 @@
-
-from uncertain_agents import Agent1
-from verse import Scenario
-from verse.plotter.plotter2D import *
-from verse.plotter.plotter2D_old import plot_reachtube_tree
-
-import matplotlib.pyplot as plt
-import plotly.graph_objects as go
-from enum import Enum, auto
-
-
-class AgentMode(Enum):
- Default = auto()
-
-
-if __name__ == "__main__":
- scenario = Scenario()
-
- car = Agent1('car1')
- scenario.add_agent(car)
- # car = vanderpol_agent('car2', file_name=input_code_name)
- # scenario.add_agent(car)
- # scenario.set_sensor(FakeSensor2())
- # modify mode list input
- scenario.set_init(
- [
- [[1, 1], [1, 1]],
- ],
- [
- tuple([AgentMode.Default]),
- ],
- uncertain_param_list=[
- [[-0.1, -0.1], [0.1, 0.1]]
- ]
- )
- traces = scenario.verify(10, 0.01, reachability_method='MIXMONO_DISC')
- fig = plot_reachtube_tree(traces.root, 'car1', 0, [1])
- plt.show()
- # fig = go.Figure()
- # fig = simulation_tree(traces, None, fig, 1, 2,
- # 'lines', 'trace', print_dim_list=[1, 2])
- # fig.show()
diff --git a/demo/uncertain_dynamics/uncertain_demo2.py b/demo/uncertain_dynamics/uncertain_demo2.py
deleted file mode 100644
index 9cf278ecdf5103aa316d92d5554f7962d1f4ab4c..0000000000000000000000000000000000000000
--- a/demo/uncertain_dynamics/uncertain_demo2.py
+++ /dev/null
@@ -1,42 +0,0 @@
-
-from uncertain_agents import Agent2
-from verse import Scenario
-from verse.plotter.plotter2D import *
-from verse.plotter.plotter2D_old import plot_reachtube_tree
-
-import matplotlib.pyplot as plt
-import plotly.graph_objects as go
-from enum import Enum, auto
-
-
-class AgentMode(Enum):
- Default = auto()
-
-
-if __name__ == "__main__":
- scenario = Scenario()
-
- car = Agent2('car1')
- scenario.add_agent(car)
- # car = vanderpol_agent('car2', file_name=input_code_name)
- # scenario.add_agent(car)
- # scenario.set_sensor(FakeSensor2())
- # modify mode list input
- scenario.set_init(
- [
- [[1, 1], [1, 1]],
- ],
- [
- tuple([AgentMode.Default]),
- ],
- uncertain_param_list=[
- [[-0.1, -0.1], [0.1, 0.1]]
- ]
- )
- traces = scenario.verify(10, 0.01, reachability_method='MIXMONO_DISC')
- fig = plot_reachtube_tree(traces.root, 'car1', 0, [1])
- plt.show()
- # fig = go.Figure()
- # fig = simulation_tree(traces, None, fig, 1, 2,
- # 'lines', 'trace', print_dim_list=[1, 2])
- # fig.show()
diff --git a/demo/uncertain_dynamics/uncertain_demo3.py b/demo/uncertain_dynamics/uncertain_demo3.py
deleted file mode 100644
index a514cb49177bda3434cc8b48b634b0fa212107f6..0000000000000000000000000000000000000000
--- a/demo/uncertain_dynamics/uncertain_demo3.py
+++ /dev/null
@@ -1,42 +0,0 @@
-
-from uncertain_agents import Agent3
-from verse import Scenario
-from verse.plotter.plotter2D import *
-from verse.plotter.plotter2D_old import plot_reachtube_tree
-
-import matplotlib.pyplot as plt
-import plotly.graph_objects as go
-from enum import Enum, auto
-
-
-class AgentMode(Enum):
- Default = auto()
-
-
-if __name__ == "__main__":
- scenario = Scenario()
-
- car = Agent3('car1')
- scenario.add_agent(car)
- # car = vanderpol_agent('car2', file_name=input_code_name)
- # scenario.add_agent(car)
- # scenario.set_sensor(FakeSensor2())
- # modify mode list input
- scenario.set_init(
- [
- [[1, 1], [1, 1]],
- ],
- [
- tuple([AgentMode.Default]),
- ],
- uncertain_param_list=[
- [[-0.1, -0.1], [0.1, 0.1]]
- ]
- )
- traces = scenario.verify(10, 0.01, reachability_method='MIXMONO_DISC')
- fig = plot_reachtube_tree(traces.root, 'car1', 0, [1])
- plt.show()
- # fig = go.Figure()
- # fig = simulation_tree(traces, None, fig, 1, 2,
- # 'lines', 'trace', print_dim_list=[1, 2])
- # fig.show()
diff --git a/demo/uncertain_dynamics/uncertain_demo4.py b/demo/uncertain_dynamics/uncertain_demo4.py
deleted file mode 100644
index 04799073fe937ed50fd85b5a976934de9ab670eb..0000000000000000000000000000000000000000
--- a/demo/uncertain_dynamics/uncertain_demo4.py
+++ /dev/null
@@ -1,49 +0,0 @@
-
-from uncertain_agents import Agent4
-from verse import Scenario
-from verse.plotter.plotter2D import *
-from verse.plotter.plotter2D_old import plot_reachtube_tree
-
-import matplotlib.pyplot as plt
-import plotly.graph_objects as go
-from enum import Enum, auto
-
-
-class AgentMode(Enum):
- Default = auto()
-
-
-if __name__ == "__main__":
- scenario = Scenario()
-
- car = Agent4('car1')
- scenario.add_agent(car)
- # car = vanderpol_agent('car2', file_name=input_code_name)
- # scenario.add_agent(car)
- # scenario.set_sensor(FakeSensor2())
- # modify mode list input
- scenario.set_init(
- [
- [[1,1,1,0], [1.5,1.5,1,0]],
- ],
- [
- tuple([AgentMode.Default]),
- ],
- uncertain_param_list=[
- [[-0.5],[0.5]],
- ]
- )
- traces = scenario.verify(10, 0.01, reachability_method='MIXMONO_DISC')
- fig = plt.figure(0)
- fig = plot_reachtube_tree(traces.root, 'car1', 0, [1],fig=fig)
- fig = plt.figure(1)
- fig = plot_reachtube_tree(traces.root, 'car1', 0, [2],fig=fig)
- fig = plt.figure(2)
- fig = plot_reachtube_tree(traces.root, 'car1', 0, [3],fig=fig)
- fig = plt.figure(3)
- fig = plot_reachtube_tree(traces.root, 'car1', 0, [4],fig=fig)
- plt.show()
- # fig = go.Figure()
- # fig = simulation_tree(traces, None, fig, 1, 2,
- # 'lines', 'trace', print_dim_list=[1, 2])
- # fig.show()
diff --git a/demo/uncertain_dynamics/uncertain_demo5.py b/demo/uncertain_dynamics/uncertain_demo5.py
deleted file mode 100644
index cb1532a7fb78be291c4b8946e3a3cd988e8080d2..0000000000000000000000000000000000000000
--- a/demo/uncertain_dynamics/uncertain_demo5.py
+++ /dev/null
@@ -1,51 +0,0 @@
-
-from uncertain_agents import Agent5
-from verse import Scenario
-from verse.plotter.plotter2D import *
-from verse.plotter.plotter2D_old import plot_reachtube_tree
-
-import matplotlib.pyplot as plt
-import plotly.graph_objects as go
-from enum import Enum, auto
-
-
-class AgentMode(Enum):
- Default = auto()
-
-
-if __name__ == "__main__":
- scenario = Scenario()
-
- car = Agent5('car1')
- scenario.add_agent(car)
- # car = vanderpol_agent('car2', file_name=input_code_name)
- # scenario.add_agent(car)
- # scenario.set_sensor(FakeSensor2())
- # modify mode list input
- scenario.set_init(
- [
- [[1,1,1,0], [1.5,1.5,1,0]],
- ],
- [
- tuple([AgentMode.Default]),
- ],
- uncertain_param_list=[
- [[-0.5],[0.5]],
- ]
- )
- traces = scenario.verify(10, 0.01, reachability_method='MIXMONO_CONT')
- fig = plt.figure(0)
- fig = plot_reachtube_tree(traces.root, 'car1', 0, [1],fig=fig)
- fig = plt.figure(1)
- fig = plot_reachtube_tree(traces.root, 'car1', 0, [2],fig=fig)
- fig = plt.figure(2)
- fig = plot_reachtube_tree(traces.root, 'car1', 0, [3],fig=fig)
- fig = plt.figure(3)
- fig = plot_reachtube_tree(traces.root, 'car1', 0, [4],fig=fig)
- fig = plt.figure(4)
- fig = plot_reachtube_tree(traces.root, 'car1', 1, [2],fig=fig)
- plt.show()
- # fig = go.Figure()
- # fig = reachtube_tree(traces, None, fig, 1, 2,[1, 2],
- # 'lines', 'trace')
- # fig.show()
diff --git a/demo/uncertain_dynamics/uncertain_demo6.py b/demo/uncertain_dynamics/uncertain_demo6.py
deleted file mode 100644
index 73777996e714426522cf3dfb0c67d0fcf278d076..0000000000000000000000000000000000000000
--- a/demo/uncertain_dynamics/uncertain_demo6.py
+++ /dev/null
@@ -1,51 +0,0 @@
-
-from uncertain_agents import Agent6
-from verse import Scenario
-from verse.plotter.plotter2D import *
-from verse.plotter.plotter2D_old import plot_reachtube_tree
-
-import matplotlib.pyplot as plt
-import plotly.graph_objects as go
-from enum import Enum, auto
-
-
-class AgentMode(Enum):
- Default = auto()
-
-
-if __name__ == "__main__":
- scenario = Scenario()
-
- car = Agent6('car1')
- scenario.add_agent(car)
- # car = vanderpol_agent('car2', file_name=input_code_name)
- # scenario.add_agent(car)
- # scenario.set_sensor(FakeSensor2())
- # modify mode list input
- scenario.set_init(
- [
- [[0.3,0.3], [2,2]],
- ],
- [
- tuple([AgentMode.Default]),
- ],
- uncertain_param_list=[
- [[-0.1,-0.1],[0.1,0.1]],
- ]
- )
- traces = scenario.verify(10, 0.01, reachability_method='MIXMONO_CONT')
- # fig = plt.figure(0)
- # fig = plot_reachtube_tree(traces.root, 'car1', 0, [1],fig=fig)
- # fig = plt.figure(1)
- # fig = plot_reachtube_tree(traces.root, 'car1', 0, [2],fig=fig)
- # fig = plt.figure(4)
- # fig = plot_reachtube_tree(traces.root, 'car1', 1, [2],fig=fig)
- # plt.show()
- fig = go.Figure()
- fig = reachtube_tree(traces, None, fig, 0, 1, [0, 1],
- 'lines', 'trace')
- fig.show()
- fig = go.Figure()
- fig = reachtube_tree(traces, None, fig, 0, 2, [0, 2],
- 'lines', 'trace')
- fig.show()
diff --git a/demo/vehicle/controller/example_controller1.py b/demo/vehicle/controller/example_controller1.py
deleted file mode 100644
index 1580d47b27c1f650a07c27568f9c5aef6ea9aa2a..0000000000000000000000000000000000000000
--- a/demo/vehicle/controller/example_controller1.py
+++ /dev/null
@@ -1,39 +0,0 @@
-from enum import Enum, auto
-import copy
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode):
- self.data = []
-
-def controller(ego:State, other:State, lane_map):
- output = copy.deepcopy(ego)
- if ego.vehicle_mode == VehicleMode.Normal:
- if lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) > 0 \
- and lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < 3 \
- and ego.lane_mode == other.lane_mode:
- output.vehicle_mode = VehicleMode.Brake
- elif ego.vehicle_mode == VehicleMode.Brake:
- if lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) > 10 \
- or ego.lane_mode != other.lane_mode:
- output.vehicle_mode = VehicleMode.Normal
-
- return output
-
diff --git a/demo/vehicle/controller/example_controller10.py b/demo/vehicle/controller/example_controller10.py
deleted file mode 100644
index 0ce0bc67b0b1a7ab41f60912468e2217fa464644..0000000000000000000000000000000000000000
--- a/demo/vehicle/controller/example_controller10.py
+++ /dev/null
@@ -1,72 +0,0 @@
-from enum import Enum, auto
-import copy
-from typing import List
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
- type_mode: LaneObjectMode = LaneObjectMode.Vehicle
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type_mode: LaneObjectMode):
- pass
-
-def controller(ego:State, others:List[State], lane_map):
- output = copy.deepcopy(ego)
- test = lambda other: other.x-ego.x > 3 and other.x-ego.x < 5 and ego.lane_mode == other.lane_mode
- if ego.vehicle_mode == VehicleMode.Normal:
- if any((test(other) and other.type_mode==LaneObjectMode.Vehicle) for other in others):
- if lane_map.has_left(ego.lane_mode):
- output.vehicle_mode = VehicleMode.SwitchLeft
- if any(test(other) for other in others):
- if lane_map.has_right(ego.lane_mode):
- output.vehicle_mode = VehicleMode.SwitchRight
- lat_dist = lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y])
- if ego.vehicle_mode == VehicleMode.SwitchLeft:
- if lat_dist >= 2.5:
- output.vehicle_mode = VehicleMode.Normal
- output.lane_mode = lane_map.left_lane(ego.lane_mode)
- output.x = ego.x
- if ego.vehicle_mode == VehicleMode.SwitchRight:
- if lat_dist <= -2.5:
- output.vehicle_mode = VehicleMode.Normal
- output.lane_mode = lane_map.right_lane(ego.lane_mode)
- # def abs_diff(a, b):
- # # if a < b:
- # # r = b - a
- # # else:
- # # r = a - b
- # return a - b
- # def test(o):
- # # if ego.lane_mode == o.lane_mode:
- # # r = abs_diff(ego.x, o.x) > 6
- # # else:
- # # r = True
- # return abs_diff(o.x, ego.x) > 5.1
- # assert all(test(o) for o in others)
- # assert ego.lane_mode != TrackMode.Lane0, "lane 0"
- # assert ego.x < 40, "x"
- # assert not (ego.lane_mode == TrackMode.Lane2 and ego.x > 30), "lane 2"
- return output
-
diff --git a/demo/vehicle/controller/example_controller11.py b/demo/vehicle/controller/example_controller11.py
deleted file mode 100644
index 12905ca0398b6cbe60e42cf41a6e49870956433c..0000000000000000000000000000000000000000
--- a/demo/vehicle/controller/example_controller11.py
+++ /dev/null
@@ -1,39 +0,0 @@
-from enum import Enum, auto
-import copy
-
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode):
- self.data = []
-
-
-def controller(ego: State, other: State, lane_map):
- output = copy.deepcopy(ego)
- if ego.vehicle_mode == VehicleMode.Normal:
- if ego.x > 20 and ego.x < 25:
- output.vehicle_mode = VehicleMode.Brake
- elif ego.vehicle_mode == VehicleMode.Brake:
- if ego.x >= 25:
- output.vehicle_mode = VehicleMode.Normal
-
- return output
diff --git a/demo/vehicle/controller/example_controller12.py b/demo/vehicle/controller/example_controller12.py
deleted file mode 100644
index 47dc2eb515d92d6bbb98eada127aa8fcb4b4a9d7..0000000000000000000000000000000000000000
--- a/demo/vehicle/controller/example_controller12.py
+++ /dev/null
@@ -1,47 +0,0 @@
-from enum import Enum, auto
-import copy
-from typing import List
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
- Stop = auto()
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
- type_mode: LaneObjectMode = LaneObjectMode.Vehicle
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type_mode: LaneObjectMode):
- pass
-
-def controller(ego:State, others:List[State], lane_map):
- output = copy.deepcopy(ego)
- # Detect the stop sign
- if ego.vehicle_mode == VehicleMode.Normal:
- if any(other.x - ego.x < 5 and other.x - ego.x > -1 for other in others):
- output.vehicle_mode = VehicleMode.Brake
- if ego.vehicle_mode == VehicleMode.Brake:
- if ego.v <= 0:
- output.vehicle_mode = VehicleMode.Stop
- output.v = 0
- return output
-
diff --git a/demo/vehicle/controller/example_controller2.py b/demo/vehicle/controller/example_controller2.py
deleted file mode 100644
index ba54567f2e901422adb36958fa4a58f8e3ba5edd..0000000000000000000000000000000000000000
--- a/demo/vehicle/controller/example_controller2.py
+++ /dev/null
@@ -1,56 +0,0 @@
-from enum import Enum, auto
-import copy
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode):
- pass
-
-def controller(ego:State, other:State, lane_map):
- output = copy.deepcopy(ego)
- if ego.vehicle_mode == VehicleMode.Normal:
- if lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) > 3 \
- and lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < 5 \
- and ego.lane_mode == other.lane_mode:
- if lane_map.has_left(ego.lane_mode):
- output.vehicle_mode = VehicleMode.SwitchLeft
- if lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) > 3 \
- and lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < 5 \
- and ego.lane_mode == other.lane_mode:
- if lane_map.has_right(ego.lane_mode):
- output.vehicle_mode = VehicleMode.SwitchRight
- if ego.vehicle_mode == VehicleMode.SwitchLeft:
- if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) >= 2.5:
- output.vehicle_mode = VehicleMode.Normal
- output.lane_mode = lane_map.left_lane(ego.lane_mode)
- if ego.vehicle_mode == VehicleMode.SwitchRight:
- if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) <= -2.5:
- output.vehicle_mode = VehicleMode.Normal
- output.lane_mode = lane_map.right_lane(ego.lane_mode)
-
- return output
-
diff --git a/demo/vehicle/controller/example_controller3.py b/demo/vehicle/controller/example_controller3.py
deleted file mode 100644
index 212f12c8fd0589e8b12eab5ae019efb9ade4c89d..0000000000000000000000000000000000000000
--- a/demo/vehicle/controller/example_controller3.py
+++ /dev/null
@@ -1,52 +0,0 @@
-from enum import Enum, auto
-import copy
-from verse.map import LaneMap
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
- type_mode: LaneObjectMode
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type_mode: LaneObjectMode):
- self.data = []
-
-def controller(ego:State, other:State, sign:State, lane_map:LaneMap):
- output = copy.deepcopy(ego)
- if ego.vehicle_mode == VehicleMode.Normal:
- if sign.x - ego.x < 3 and sign.x - ego.x > 0 and ego.lane_mode == sign.lane_mode:
- output.vehicle_mode = VehicleMode.Brake
- return output
-
- if lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) > 0 \
- and lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < 3 \
- and ego.lane_mode == other.lane_mode:
- output.vehicle_mode = VehicleMode.Brake
- elif ego.vehicle_mode == VehicleMode.Brake:
- if lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) > 10 \
- or ego.lane_mode != other.lane_mode:
- output.vehicle_mode = VehicleMode.Normal
-
- return output
-
diff --git a/demo/vehicle/controller/example_controller4.py b/demo/vehicle/controller/example_controller4.py
deleted file mode 100644
index 25eada35235aee1f4e513ec4be72557c72d0626d..0000000000000000000000000000000000000000
--- a/demo/vehicle/controller/example_controller4.py
+++ /dev/null
@@ -1,73 +0,0 @@
-from enum import Enum, auto
-import copy
-from typing import List
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
- type_mode: LaneObjectMode = LaneObjectMode.Vehicle
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type_mode: LaneObjectMode):
- pass
-
-def controller(ego:State, others:List[State], lane_map):
- output = copy.deepcopy(ego)
- test = lambda other: other.x-ego.x > 3 and other.x-ego.x < 5 and ego.lane_mode == other.lane_mode
- if ego.vehicle_mode == VehicleMode.Normal:
- if any((test(other) and other.type_mode==LaneObjectMode.Vehicle) for other in others):
- if lane_map.has_left(ego.lane_mode):
- output.vehicle_mode = VehicleMode.SwitchLeft
- if any(test(other) for other in others):
- if lane_map.has_right(ego.lane_mode):
- output.vehicle_mode = VehicleMode.SwitchRight
- lat_dist = lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y])
- if ego.vehicle_mode == VehicleMode.SwitchLeft:
- if lat_dist >= (lane_map.get_lane_width(ego.lane_mode)-0.2):
- output.vehicle_mode = VehicleMode.Normal
- output.lane_mode = lane_map.left_lane(ego.lane_mode)
- output.x = ego.x
- if ego.vehicle_mode == VehicleMode.SwitchRight:
- if lat_dist <= -(lane_map.get_lane_width(ego.lane_mode)-0.2):
- output.vehicle_mode = VehicleMode.Normal
- output.lane_mode = lane_map.right_lane(ego.lane_mode)
- def abs_diff(a, b):
- # if a < b:
- # r = b - a
- # else:
- # r = a - b
- return a - b
- def test(o):
- # if ego.lane_mode == o.lane_mode:
- # r = abs_diff(ego.x, o.x) > 6
- # else:
- # r = True
- return abs_diff(o.x, ego.x) > 5.1
- # assert all(test(o) for o in others)
- # assert ego.lane_mode != TrackMode.Lane0, "lane 0"
- # assert ego.x < 40, "x"
- # assert not (ego.lane_mode == TrackMode.Lane2 and ego.x > 30 and ego.x<50), "lane 2"
- assert not (ego.x>30 and ego.x<50 and ego.y>-4 and ego.y<-2), "Danger Zone"
- return output
-
diff --git a/demo/vehicle/controller/example_controller5.py b/demo/vehicle/controller/example_controller5.py
deleted file mode 100644
index 580b9dad79a5516d19e589bb9a9a65d452e21390..0000000000000000000000000000000000000000
--- a/demo/vehicle/controller/example_controller5.py
+++ /dev/null
@@ -1,66 +0,0 @@
-from enum import Enum, auto
-import copy
-from typing import List
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
- type: LaneObjectMode = LaneObjectMode.Vehicle
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type: LaneObjectMode):
- pass
-
-def vehicle_front(ego, others, lane_map):
- res = any((lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) > 3 \
- and lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < 5 \
- and ego.lane_mode == other.lane_mode) for other in others)
- return res
-
-def vehicle_close(ego, others):
- res = any(ego.x-other.x<1.0 and ego.x-other.x>-1.0 and ego.y-other.y<1.0 and ego.y-other.y>-1.0 for other in others)
- return res
-
-def controller(ego:State, others:List[State], lane_map):
- output = copy.deepcopy(ego)
- if ego.vehicle_mode == VehicleMode.Normal:
- if vehicle_front(ego, others, lane_map):
- if lane_map.has_left(ego.lane_mode):
- output.vehicle_mode = VehicleMode.SwitchLeft
- if vehicle_front(ego, others, lane_map):
- if lane_map.has_right(ego.lane_mode):
- output.vehicle_mode = VehicleMode.SwitchRight
- if ego.vehicle_mode == VehicleMode.SwitchLeft:
- if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) >= 2.5:
- output.vehicle_mode = VehicleMode.Normal
- output.lane_mode = lane_map.left_lane(ego.lane_mode)
- if ego.vehicle_mode == VehicleMode.SwitchRight:
- if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) <= -2.5:
- output.vehicle_mode = VehicleMode.Normal
- output.lane_mode = lane_map.right_lane(ego.lane_mode)
-
- assert not vehicle_close(ego, others)
-
- return output
-
diff --git a/demo/vehicle/controller/example_controller6.py b/demo/vehicle/controller/example_controller6.py
deleted file mode 100644
index ec8ec2e0f62755cd39fa3ad4b41031bc6362f779..0000000000000000000000000000000000000000
--- a/demo/vehicle/controller/example_controller6.py
+++ /dev/null
@@ -1,56 +0,0 @@
-from enum import Enum, auto
-import copy
-from typing import List
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
- type: LaneObjectMode = LaneObjectMode.Vehicle
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type: LaneObjectMode):
- pass
-
-def controller(ego:State, others:List[State], lane_map):
- output = copy.deepcopy(ego)
- if ego.vehicle_mode == VehicleMode.Normal:
- if any((other.x-ego.x > 3 and other.x-ego.x < 5 and ego.lane_mode == other.lane_mode) for other in others):
- if lane_map.has_left(ego.lane_mode) and \
- not any((other.x-ego.x<8 and other.lane_mode==lane_map.left_lane(ego.lane_mode)) for other in others):
- output.vehicle_mode = VehicleMode.SwitchLeft
- if any((other.x-ego.x > 3 and other.x-ego.x < 5 and ego.lane_mode == other.lane_mode) for other in others):
- if lane_map.has_right(ego.lane_mode) and \
- not any((other.x-ego.x<8 and other.lane_mode==lane_map.right_lane(ego.lane_mode)) for other in others):
- output.vehicle_mode = VehicleMode.SwitchRight
- if ego.vehicle_mode == VehicleMode.SwitchLeft:
- if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) >= 2.5:
- output.vehicle_mode = VehicleMode.Normal
- output.lane_mode = lane_map.left_lane(ego.lane_mode)
- if ego.vehicle_mode == VehicleMode.SwitchRight:
- if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) <= -2.5:
- output.vehicle_mode = VehicleMode.Normal
- output.lane_mode = lane_map.right_lane(ego.lane_mode)
-
- return output
-
diff --git a/demo/vehicle/controller/example_controller7.py b/demo/vehicle/controller/example_controller7.py
deleted file mode 100644
index 6d52de1cc120c3457191b1e9b4c82366c1b4b7a2..0000000000000000000000000000000000000000
--- a/demo/vehicle/controller/example_controller7.py
+++ /dev/null
@@ -1,71 +0,0 @@
-from enum import Enum, auto
-import copy
-from typing import List
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
- type: LaneObjectMode = LaneObjectMode.Vehicle
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type: LaneObjectMode):
- pass
-
-def car_front(ego, others, lane_map):
- return any((lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) > 3 \
- and lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < 5 \
- and ego.lane_mode == other.lane_mode) for other in others)
-
-def car_left(ego, others, lane_map):
- return any((lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < 8 and \
- lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) >-3 and \
- other.lane_mode==lane_map.left_lane(ego.lane_mode)) for other in others)
-
-def car_right(ego, others, lane_map):
- return any((lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < 8 and \
- lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) >-3 and \
- other.lane_mode==lane_map.right_lane(ego.lane_mode)) for other in others)
-
-def controller(ego:State, others:List[State], lane_map):
- output = copy.deepcopy(ego)
- if ego.vehicle_mode == VehicleMode.Normal:
- if car_front(ego, others, lane_map):
- if lane_map.has_left(ego.lane_mode) and \
- not car_left(ego, others, lane_map):
- output.vehicle_mode = VehicleMode.SwitchLeft
- if car_front(ego, others, lane_map):
- if lane_map.has_right(ego.lane_mode) and \
- not car_right(ego, others, lane_map):
- output.vehicle_mode = VehicleMode.SwitchRight
- if ego.vehicle_mode == VehicleMode.SwitchLeft:
- if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) >= 2.5:
- output.vehicle_mode = VehicleMode.Normal
- output.lane_mode = lane_map.left_lane(ego.lane_mode)
- if ego.vehicle_mode == VehicleMode.SwitchRight:
- if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) <= -2.5:
- output.vehicle_mode = VehicleMode.Normal
- output.lane_mode = lane_map.right_lane(ego.lane_mode)
-
- return output
-
diff --git a/demo/vehicle/controller/example_controller8.py b/demo/vehicle/controller/example_controller8.py
deleted file mode 100644
index 195bc19caf2f8f0dcb6c00cdb2f75df7fff46fde..0000000000000000000000000000000000000000
--- a/demo/vehicle/controller/example_controller8.py
+++ /dev/null
@@ -1,101 +0,0 @@
-from enum import Enum, auto
-import copy
-from typing import List
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
- Stop = auto()
-
-class TrackMode(Enum):
- T0 = auto()
- T1 = auto()
- T2 = auto()
- T3 = auto()
- T4 = auto()
- M01 = auto()
- M12 = auto()
- M23 = auto()
- M40 = auto()
- M04 = auto()
- M32 = auto()
- M21 = auto()
- M10 = auto()
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- agent_mode: VehicleMode = VehicleMode.Normal
- track_mode: TrackMode = TrackMode.T0
- type: LaneObjectMode = LaneObjectMode.Vehicle
-
-def car_front(ego, others, track_map, thresh_far, thresh_close):
- return any((track_map.get_longitudinal_position(other.track_mode, [other.x,other.y]) - track_map.get_longitudinal_position(ego.track_mode, [ego.x,ego.y]) > thresh_close \
- and track_map.get_longitudinal_position(other.track_mode, [other.x,other.y]) - track_map.get_longitudinal_position(ego.track_mode, [ego.x,ego.y]) < thresh_far \
- and ego.track_mode == other.track_mode) for other in others)
-
-def car_left(ego, others, track_map):
- return any((track_map.get_longitudinal_position(other.track_mode, [other.x,other.y]) - track_map.get_longitudinal_position(ego.track_mode, [ego.x,ego.y]) < 8 and \
- track_map.get_longitudinal_position(other.track_mode, [other.x,other.y]) - track_map.get_longitudinal_position(ego.track_mode, [ego.x,ego.y]) >-3 and \
- other.track_mode==track_map.left_lane(ego.track_mode)) for other in others)
-
-def car_right(ego, others, track_map):
- return any((track_map.get_longitudinal_position(other.track_mode, [other.x,other.y]) - track_map.get_longitudinal_position(ego.track_mode, [ego.x,ego.y]) < 8 and \
- track_map.get_longitudinal_position(other.track_mode, [other.x,other.y]) - track_map.get_longitudinal_position(ego.track_mode, [ego.x,ego.y]) >-3 and \
- other.track_mode==track_map.right_lane(ego.track_mode)) for other in others)
-
-def controller(ego:State, others:List[State], track_map):
- output = copy.deepcopy(ego)
- if ego.agent_mode == VehicleMode.Normal:
- # Switch left if left lane is empty
- if car_front(ego, others, track_map, 5, 3):
- if track_map.h_exist(ego.track_mode, ego.agent_mode, VehicleMode.SwitchLeft) and \
- not car_left(ego, others, track_map):
- output.agent_mode = VehicleMode.SwitchLeft
-
- # Switch right if right lane is empty
- if car_front(ego, others, track_map, 5, 3):
- if track_map.h_exist(ego.track_mode, ego.agent_mode, VehicleMode.SwitchRight) and \
- not car_right(ego, others, track_map):
- output.agent_mode = VehicleMode.SwitchRight
-
- # # If really close just brake
- # if car_front(ego, others, track_map, 2, -0.5):
- # output.agent_mode = VehicleMode.Stop
- # output.v = 0.1
-
- # If switched left enough, return to normal mode
- if ego.agent_mode == VehicleMode.SwitchLeft:
- if track_map.get_lateral_distance(ego.track_mode, [ego.x, ego.y]) >= (track_map.get_lane_width(ego.track_mode)-0.2):
- output.agent_mode = VehicleMode.Normal
- output.track_mode = track_map.h(ego.track_mode, ego.agent_mode, VehicleMode.SwitchLeft)
-
- # If switched right enough,return to normal mode
- if ego.agent_mode == VehicleMode.SwitchRight:
- if track_map.get_lateral_distance(ego.track_mode, [ego.x, ego.y]) <= -(track_map.get_lane_width(ego.track_mode)-0.2):
- output.agent_mode = VehicleMode.Normal
- output.track_mode = track_map.h(ego.track_mode, ego.agent_mode, VehicleMode.SwitchRight)
-
- # if ego.agent_mode == VehicleMode.Brake:
- # if all((\
- # (track_map.get_longitudinal_position(other.track_mode, [other.x,other.y]) -\
- # track_map.get_longitudinal_position(ego.track_mode, [ego.x,ego.y]) > 5 or \
- # track_map.get_longitudinal_position(other.track_mode, [other.x,other.y]) -\
- # track_map.get_longitudinal_position(ego.track_mode, [ego.x,ego.y]) < -0.5) and\
- # other.track_mode==ego.track_mode) for other in others):
- # output.agent_mode = VehicleMode.Normal
- # output.v = 1.0
-
- return output
-
diff --git a/demo/vehicle/controller/example_controller9.py b/demo/vehicle/controller/example_controller9.py
deleted file mode 100644
index 9f54eb5994c27d34a62e7f069e8049d7d56ec2de..0000000000000000000000000000000000000000
--- a/demo/vehicle/controller/example_controller9.py
+++ /dev/null
@@ -1,47 +0,0 @@
-from enum import Enum, auto
-import copy
-from typing import List
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
- Stop = auto()
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
- type_mode: LaneObjectMode = LaneObjectMode.Vehicle
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type_mode: LaneObjectMode):
- pass
-
-def controller(ego:State, others:List[State], lane_map):
- output = copy.deepcopy(ego)
- # Detect the stop sign
- if ego.vehicle_mode == VehicleMode.Normal:
- if any(other.x - ego.x < 5 and other.x - ego.x > -1 and other.type_mode==LaneObjectMode.Sign for other in others):
- output.vehicle_mode = VehicleMode.Brake
- if ego.vehicle_mode == VehicleMode.Brake:
- if ego.v <= 0:
- output.vehicle_mode = VehicleMode.Stop
- output.v = 0
- return output
-
diff --git a/demo/vehicle/controller/example_two_car_sign_lane_switch.py b/demo/vehicle/controller/example_two_car_sign_lane_switch.py
deleted file mode 100644
index 99670b8521a9ec73a5d489d3ab496e5c3990f2f1..0000000000000000000000000000000000000000
--- a/demo/vehicle/controller/example_two_car_sign_lane_switch.py
+++ /dev/null
@@ -1,111 +0,0 @@
-from verse.plotter2D import *
-
-from enum import Enum, auto
-import copy
-import plotly.graph_objects as go
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-class State:
- x: float
- y: float
- theta: float
- v: float
- vehicle_mode: VehicleMode
- lane_mode: TrackMode
- type: LaneObjectMode
-
- def __init__(self, x: float = 0, y: float = 0, theta: float = 0, v: float = 0, vehicle_mode: VehicleMode = VehicleMode.Normal, lane_mode: TrackMode = TrackMode.Lane0, type: LaneObjectMode = LaneObjectMode.Vehicle):
- pass
- # self.data = []
- # self.x = x
- # self.y = y
- # self.theta = theta
- # self.v = v
- # self.vehicle_mode = vehicle_mode
- # self.lane_mode = lane_mode
- # self.obj_mode = obj_mode
-
-def controller(ego: State, other: State, sign: State, lane_map):
- output = copy.deepcopy(ego)
- if ego.vehicle_mode == VehicleMode.Normal:
- if sign.type == LaneObjectMode.Obstacle and sign.x - ego.x < 3 and sign.x - ego.x > 0 and ego.lane_mode == sign.lane_mode:
- output.vehicle_mode = VehicleMode.SwitchLeft
- return output
- if lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) > 3 \
- and lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < 5 \
- and ego.lane_mode == other.lane_mode:
- if lane_map.has_left(ego.lane_mode):
- output.vehicle_mode = VehicleMode.SwitchLeft
- if lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) > 3 \
- and lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < 5 \
- and ego.lane_mode == other.lane_mode:
- if lane_map.has_right(ego.lane_mode):
- output.vehicle_mode = VehicleMode.SwitchRight
- if ego.vehicle_mode == VehicleMode.SwitchLeft:
- if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) >= 2.5:
- output.vehicle_mode = VehicleMode.Normal
- output.lane_mode = lane_map.left_lane(ego.lane_mode)
- if ego.vehicle_mode == VehicleMode.SwitchRight:
- if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) <= -2.5:
- output.vehicle_mode = VehicleMode.Normal
- output.lane_mode = lane_map.right_lane(ego.lane_mode)
-
- return output
-
-
-from verse.example.example_agent.car_agent import CarAgent
-from verse.example.example_agent.sign_agent import SignAgent
-from verse.scene_verifier.scenario.scenario import Scenario
-from verse.map.example_map.simple_map2 import SimpleMap3
-from verse.sensor.example_sensor.fake_sensor import FakeSensor2
-
-if __name__ == "__main__":
- import sys
- input_code_name = sys.argv[0]
- scenario = Scenario()
-
- car = CarAgent('car1', file_name="example_controller3.py")
- scenario.add_agent(car)
- car = CarAgent('car2', file_name=input_code_name)
- scenario.add_agent(car)
- scenario.add_agent(SignAgent("sign"))
- scenario.set_map(SimpleMap3())
- scenario.set_sensor(FakeSensor2())
- scenario.set_init(
- [
- [[0, -0.2, 0, 1.0],[0.2, 0.2, 0, 1.0]],
- [[10, 0, 0, 0.5],[10, 0, 0, 0.5]],
- [[20, 0, 0, 0],[20, 0, 0, 0]],
- ],
- [
- (VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Vehicle),
- (VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Vehicle),
- (VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Obstacle),
- ]
- )
- # simulator = Simulator()
- traces = scenario.simulate(40,0.05)
- # traces = scenario.verify(40)
-
- fig = go.Figure()
- fig = simulation_anime(traces, None, fig, 1,
- 2, 'lines', 'trace', print_dim_list=[1, 2])
- fig.show()
diff --git a/demo/vehicle/demo10.py b/demo/vehicle/demo10.py
deleted file mode 100644
index 01dd2c12840198966a6e064409b00ce10ec496be..0000000000000000000000000000000000000000
--- a/demo/vehicle/demo10.py
+++ /dev/null
@@ -1,98 +0,0 @@
-from verse.agents.example_agent import CarAgent, NPCAgent
-from verse.map.example_map import SimpleMap2
-from verse import Scenario
-from verse.plotter.plotter2D import *
-# from verse.plotter.plotter2D_old import plot_reachtube_tree, plot_map
-from noisy_sensor import NoisyVehicleSensor
-
-from enum import Enum, auto
-import plotly.graph_objects as go
-import matplotlib.pyplot as plt
-
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-class State:
- x: float
- y: float
- theta: float
- v: float
- vehicle_mode: VehicleMode
- lane_mode: TrackMode
- type_mode: LaneObjectMode
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type_mode: LaneObjectMode):
- pass
-
-
-if __name__ == "__main__":
- input_code_name = './demo/vehicle/controller/example_controller12.py'
-
- scenario = Scenario()
- car = CarAgent('car1', file_name=input_code_name)
- scenario.add_agent(car)
- car = NPCAgent('car2')
- scenario.add_agent(car)
- tmp_map = SimpleMap2()
- scenario.set_map(tmp_map)
- scenario.set_sensor(NoisyVehicleSensor((1, 1), (0, 0)))
- scenario.set_init(
- [
- [[5, -0.1, 0, 1.0], [5.5, 0.1, 0, 1.1]],
- [[20, 0, 0, 0.5], [20, 0, 0, 0.5]],
- ],
- [
- (VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Vehicle),
- (VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Vehicle),
- ]
- )
- scenario.init_seg_length = 5
- traces = scenario.verify(40, 0.05)
-
- # fig = plt.figure(2)
- # fig = plot_reachtube_tree(traces.root, 'car1', 0, [1], 'b', fig)
- # fig = plot_reachtube_tree(traces.root, 'car2', 0, [1], 'r', fig)
-
- scenario1 = Scenario()
- car1 = CarAgent('car1', file_name=input_code_name)
- scenario1.add_agent(car1)
- car1 = NPCAgent('car2')
- scenario1.add_agent(car1)
- tmp_map1 = SimpleMap2()
- scenario1.set_map(tmp_map1)
- # scenario1.set_sensor(NoisyVehicleSensor((0,1), (0,0)))
- scenario1.set_init(
- [
- [[5, -0.1, 0, 1.0], [6, 0.1, 0, 1.0]],
- [[20, 0, 0, 0.5], [20, 0, 0, 0.5]],
- ],
- [
- (VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Vehicle),
- (VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Vehicle),
- ]
- )
- scenario1.init_seg_length = 5
- traces1 = scenario1.verify(40, 0.05, params={"bloating_method": 'GLOBAL'})
-
- fig = go.Figure()
- fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace')
- fig.show()
diff --git a/demo/vehicle/demo11.py b/demo/vehicle/demo11.py
deleted file mode 100644
index 321bc259e7562c9b9c900ddae0af2fbe21450bd6..0000000000000000000000000000000000000000
--- a/demo/vehicle/demo11.py
+++ /dev/null
@@ -1,107 +0,0 @@
-from verse.agents.example_agent import CarAgent, NPCAgent
-from verse.map.example_map import SimpleMap3, SimpleMap6
-from verse import Scenario
-from noisy_sensor import NoisyVehicleSensor
-from verse.plotter.plotter2D import *
-from verse.plotter.plotter2D_old import plot_reachtube_tree, plot_map
-
-from enum import Enum, auto
-import plotly.graph_objects as go
-import matplotlib.pyplot as plt
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-class State:
- x: float
- y: float
- theta: float
- v: float
- vehicle_mode: VehicleMode
- lane_mode: TrackMode
- type_mode: LaneObjectMode
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type_mode: LaneObjectMode):
- pass
-
-
-if __name__ == "__main__":
- input_code_name = './demo/vehicle/controller/example_controller5.py'
-
- scenario = Scenario()
- car = CarAgent('car1', file_name=input_code_name)
- scenario.add_agent(car)
- car = NPCAgent('car2')
- scenario.add_agent(car)
- car = NPCAgent('car3')
- scenario.add_agent(car)
- tmp_map = SimpleMap3()
- scenario.set_map(tmp_map)
- scenario.set_init(
- [
- [[5, -0.5, 0, 1.0], [5.5, 0.5, 0, 1.0]],
- [[20, -0.2, 0, 0.5], [20, 0.2, 0, 0.5]],
- [[4-2.5, 2.8, 0, 1.0], [4.5-2.5, 3.2, 0, 1.0]],
- ],
- [
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane0),
- ]
- )
- scenario.set_sensor(NoisyVehicleSensor((0.5,0.5), (0,0)))
-
- scenario.init_seg_length = 5
- traces = scenario.verify(40, 0.1, params={"bloating_method":'GLOBAL'})
-
- fig = plt.figure(2)
- fig = plot_reachtube_tree(traces.root, 'car1', 1, [2], 'b', fig)
- fig = plot_reachtube_tree(traces.root, 'car2', 1, [2], 'r', fig)
- fig = plot_reachtube_tree(traces.root, 'car3', 1, [2], 'r', fig)
- fig = plot_map(tmp_map, 'g', fig)
-
- scenario1 = Scenario()
- car = CarAgent('car1', file_name=input_code_name)
- scenario1.add_agent(car)
- car = NPCAgent('car2')
- scenario1.add_agent(car)
- car = NPCAgent('car3')
- scenario1.add_agent(car)
- tmp_map = SimpleMap3()
- scenario1.set_map(tmp_map)
- scenario1.set_init(
- [
- [[5, -0.5, 0, 1.0], [5.5, 0.5, 0, 1.0]],
- [[20, -0.2, 0, 0.5], [20, 0.2, 0, 0.5]],
- [[4-2.5, 2.8, 0, 1.0], [4.5-2.5, 3.2, 0, 1.0]],
- ],
- [
- (VehicleMode.Normal, TrackMode.Lane1,),
- (VehicleMode.Normal, TrackMode.Lane1,),
- (VehicleMode.Normal, TrackMode.Lane0,),
- ]
- )
-
- scenario1.init_seg_length = 5
- traces = scenario1.verify(40, 0.1, params={"bloating_method":'GLOBAL'})
-
- fig = plot_reachtube_tree(traces.root, 'car1', 1, [2], 'g', fig)
- plt.show()
\ No newline at end of file
diff --git a/demo/vehicle/demo19.py b/demo/vehicle/demo19.py
deleted file mode 100644
index 1a6443f569967f4b4e06faf6ff7c25a1434695c0..0000000000000000000000000000000000000000
--- a/demo/vehicle/demo19.py
+++ /dev/null
@@ -1,59 +0,0 @@
-from verse.agents.example_agent import CarAgent, NPCAgent
-from verse.map.example_map import SimpleMap3
-from verse import Scenario
-from verse.plotter.plotter2D import *
-# from verse.plotter.plotter2D_old import plot_reachtube_tree, plot_map
-from noisy_sensor import NoisyVehicleSensor
-
-import plotly.graph_objects as go
-from enum import Enum, auto
-
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode):
- self.data = []
-
-
-if __name__ == "__main__":
- input_code_name = './demo/vehicle/controller/example_controller11.py'
- scenario = Scenario()
-
- car = CarAgent('car1', file_name=input_code_name)
- scenario.add_agent(car)
- tmp_map = SimpleMap3()
- scenario.set_map(tmp_map)
- # scenario.set_sensor(FakeSensor1())
- scenario.set_init(
- [
- [[10.0, 0, 0, 1], [10.0, 0, 0, 1]],
- ],
- [
- (VehicleMode.Normal, TrackMode.Lane1),
- ]
- )
-
- traces = scenario.simulate(20, 0.05)
- fig = go.Figure()
- fig = simulation_anime(traces, tmp_map, fig, 1, 2,
- [1, 2, 4], 'lines', 'trace')
- fig.show()
diff --git a/demo/vehicle/demo2.py b/demo/vehicle/demo2.py
deleted file mode 100644
index fb1ef6ae79630ca8406eb0a00942dcd924cca8c4..0000000000000000000000000000000000000000
--- a/demo/vehicle/demo2.py
+++ /dev/null
@@ -1,117 +0,0 @@
-from verse.agents.example_agent import CarAgent
-from verse.map.example_map import SimpleMap3
-from verse.sensor.example_sensor import FakeSensor2
-from verse import Scenario
-from verse.plotter.plotter2D import *
-from enum import Enum, auto
-from gen_json import write_json, read_json
-import os
-
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode):
- self.data = []
-
-
-if __name__ == "__main__":
- input_code_name = './demo/vehicle/controller/example_controller2.py'
- scenario = Scenario()
-
- car1 = CarAgent('car1', file_name=input_code_name)
- scenario.add_agent(car1)
- car2 = CarAgent('car2', file_name=input_code_name)
- scenario.add_agent(car2)
- tmp_map = SimpleMap3()
- scenario.set_map(tmp_map)
- # scenario.set_sensor(FakeSensor2())
-
- # # TEST1: wrong dims. AssertionError: the length of element in init not fit the number of continuous variables
- # scenario.set_init_single('car1', [
- # [0, -0.2, 0, 1.0, 0], [0.1, 0.2, 0, 1.0]], (VehicleMode.Normal, TrackMode.Lane1))
- # # TEST2: wrong dims. AssertionError: the length of element in init_mode not fit the number of discrete variables
- # scenario.set_init_single('car1', [
- # [0, -0.2, 0, 1.0], [0.1, 0.2, 0, 1.0]], (VehicleMode.Normal, TrackMode.Lane1, TrackMode.Lane1))
- # # TEST3: wrong agent id. AssertionError: agent_id not found
- # scenario.set_init_single('car3', [
- # [0, -0.2, 0, 1.0], [0.1, 0.2, 0, 1.0]], (VehicleMode.Normal, TrackMode.Lane1))
- # # TEST4: not all agents inited. AssertionError: init of car2 not initialized
- # scenario.set_init_single('car1', [
- # [0, -0.2, 0, 1.0], [0.1, 0.2, 0, 1.0]], (VehicleMode.Normal, TrackMode.Lane1))
- # # TEST5: init individually. works
- # scenario.set_init_single('car1', [
- # [0, -0.2, 0, 1.0], [0.1, 0.2, 0, 1.0]], (VehicleMode.Normal, TrackMode.Lane1))
- # scenario.set_init_single('car2', [[10, 0, 0, 0.5], [
- # 10, 0, 0, 0.5]], (VehicleMode.Normal, TrackMode.Lane1))
- # # TEST6: init together. works
- # scenario.set_init(
- # [
- # [[0, -0.2, 0, 1.0], [0.1, 0.2, 0, 1.0]],
- # [[10, 0, 0, 0.5], [10, 0, 0, 0.5]],
- # ],
- # [
- # (VehicleMode.Normal, TrackMode.Lane1),
- # (VehicleMode.Normal, TrackMode.Lane1),
- # ]
- # )
- # TEST7: init individually and omit the another limitation if it is the same as the first one. works
- scenario.set_init_single('car1', [
- [0, -0.2, 0, 1.0], [0.1, 0.2, 0, 1.0]], (VehicleMode.Normal, TrackMode.Lane1))
- scenario.set_init_single(
- 'car2', [[10, 0, 0, 0.5]], (VehicleMode.Normal, TrackMode.Lane1))
-
- traces = scenario.simulate(1, 0.001)
- fig = go.Figure()
- fig = simulation_anime(traces, tmp_map, fig, 1, 2, [0, 1, 2],
- 'lines', anime_mode='normal', full_trace=True, time_step=0.001)
- fig.show()
-
- # traces = scenario.simulate(30, 1)
- # path = os.path.abspath('.')
- # if os.path.exists(path+'/demo'):
- # path += '/demo'
- # path += '/output'
- # if not os.path.exists(path):
- # os.makedirs(path)
- # file = path+"/output.json"
- # write_json(traces, file)
-
- # root = read_json(file)
- # fig = go.Figure()
- # fig = simulation_tree(root, tmp_map, fig, 1, 2, 'lines')
- # fig.show()
- # # traces = scenario.verify(70, 0.05)
- # fig = go.Figure()
- # fig = simulation_tree(traces, tmp_map, fig, 1, 2,
- # 'lines', 'trace', print_dim_list=[1, 2])
- # # # fig = reachtube_anime(traces, tmp_map, fig, 1,
- # # # 2, 'lines', 'trace', print_dim_list=[1, 2])
- # fig.show()
- # fig = go.Figure()
- # # traces = scenario.verify(30, 0.2)
- # path = os.path.abspath(__file__)
- # path = path.replace('demo2.py', 'output.json')
- # # write_json(traces, path)
- # traces = read_json(path)
- # fig = reachtube_anime(traces, tmp_map, fig, 1,
- # 2, 'lines', 'trace', print_dim_list=[1, 2], sample_rate=1, speed_rate=5)
- # fig.show()
diff --git a/demo/vehicle/demo20.py b/demo/vehicle/demo20.py
deleted file mode 100644
index 79dd470d3a4185b611c295e7cecd0f848ec49e19..0000000000000000000000000000000000000000
--- a/demo/vehicle/demo20.py
+++ /dev/null
@@ -1,85 +0,0 @@
-from verse.agents.example_agent import CarAgent
-from verse import Scenario
-from verse.sensor.example_sensor import FakeSensor2
-from verse.agents.example_agent import CarAgent, NPCAgent
-from verse.map.example_map import SimpleMap3_v2
-from verse import Scenario
-from verse.plotter.plotter2D import *
-
-
-from enum import Enum, auto
-import plotly.graph_objects as go
-
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
- Accelerate = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode):
- self.data = []
-
-
-if __name__ == "__main__":
- input_code_name = './demo/vehicle/controller/example_controller10.py'
- scenario = Scenario()
-
- car = CarAgent('car1', file_name=input_code_name)
- scenario.add_agent(car)
- car = CarAgent('car2', file_name=input_code_name)
- scenario.add_agent(car)
- tmp_map = SimpleMap3_v2()
- scenario.set_map(tmp_map)
- scenario.set_sensor(FakeSensor2())
- scenario.set_init(
- [
- [[0, -0.2, 0, 1.0], [0.1, 0.2, 0, 1.0]],
- [[10, 0, 0, 0.5], [10, 0, 0, 0.5]],
- ],
- [
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane1),
- ]
- )
- # traces = scenario.verify(30)
- # # fig = go.Figure()
- # # fig = plotly_reachtube_tree_v2(traces, 'car1', 1, [2], 'blue', fig)
- # # fig = plotly_reachtube_tree_v2(traces, 'car2', 1, [2], 'red', fig)
- # # fig.show()
- # fig = go.Figure()
- # fig = generate_reachtube_anime(traces, tmp_map, fig)
- # # # fig = plotly_reachtube_tree_v2(traces, 'car2', 1, [2], 'red', fig)
- # fig.show()
- # fig = plt.figure(2)
- # fig = plot_map(tmp_map, 'g', fig)
- # # fig = plot_simulation_tree(traces, 'car1', 1, [2], 'b', fig)
- # # fig = plot_simulation_tree(traces, 'car2', 1, [2], 'r', fig)
- # fig = plot_reachtube_tree(traces, 'car1', 1, [2], 'b', fig)
- # fig = plot_reachtube_tree(traces, 'car2', 1, [2], 'r', fig)
- # plt.show()
- # # fig1 = plt.figure(2)
- # fig = generate_simulation_anime(traces, tmp_map, fig)
- # plt.show()
-
- traces = scenario.simulate(25, 0.05)
- fig = go.Figure()
- fig = simulation_anime(traces, tmp_map, fig, 1, 2,
- [1, 2], 'detailed', 'trace')
- fig.show()
diff --git a/demo/vehicle/demo3.py b/demo/vehicle/demo3.py
deleted file mode 100644
index 92598daf128a2b43b7b18c68b2f0a90d29cca68e..0000000000000000000000000000000000000000
--- a/demo/vehicle/demo3.py
+++ /dev/null
@@ -1,80 +0,0 @@
-from verse.agents.example_agent import CarAgent, NPCAgent
-from verse.map.example_map import SimpleMap3
-from verse import Scenario
-from enum import Enum, auto
-from verse.plotter.plotter2D import *
-
-import plotly.graph_objects as go
-
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
- type_mode: LaneObjectMode = LaneObjectMode.Vehicle
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type_mode: LaneObjectMode):
- pass
-
-
-if __name__ == "__main__":
- input_code_name = './demo/vehicle/controller/example_controller4.py'
- scenario = Scenario()
-
- scenario.add_agent(CarAgent('car1', file_name=input_code_name, initial_state=[[0, -0.2, 0, 1.0], [0.01, 0.2, 0, 1.0]], initial_mode=(VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Vehicle)))
- scenario.add_agent(NPCAgent('car2', initial_state=[[10, 0, 0, 0.5], [10, 0, 0, 0.5]], initial_mode=(VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Vehicle)))
- scenario.add_agent(NPCAgent('car3', initial_state=[[20, 3, 0, 0.5], [20, 3, 0, 0.5]], initial_mode=(VehicleMode.Normal, TrackMode.Lane0, LaneObjectMode.Vehicle)))
- scenario.add_agent(NPCAgent('car4', initial_state=[[30, 0, 0, 0.5], [30, 0, 0, 0.5]], initial_mode=(VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Vehicle)))
- tmp_map = SimpleMap3()
- scenario.set_map(tmp_map)
- # scenario.set_init(
- # [
- # [[0, -0.2, 0, 1.0], [0.01, 0.2, 0, 1.0]],
- # [[10, 0, 0, 0.5], [10, 0, 0, 0.5]],
- # [[20, 3, 0, 0.5], [20, 3, 0, 0.5]],
- # [[30, 0, 0, 0.5], [30, 0, 0, 0.5]],
- # ],
- # [
- # (VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Vehicle),
- # (VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Vehicle),
- # (VehicleMode.Normal, TrackMode.Lane0, LaneObjectMode.Vehicle),
- # (VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Vehicle),
- # ]
- # )
- traces = scenario.simulate(70, 0.05)
- # traces.dump('./output1.json')
- fig = go.Figure()
- fig = simulation_anime(traces, tmp_map, fig, 1,
- 2, [1, 2], 'lines', 'trace', anime_mode='trail', full_trace = True)
- fig.show()
-
- # traces = scenario.verify(70, 0.1)
- # # traces.dump('./output2.json')
- # fig = go.Figure()
- # fig = reachtube_tree(traces, tmp_map, fig, 1,
- # 2, [1, 2], 'lines', 'trace', combine_rect=10)
- # fig.show()
diff --git a/demo/vehicle/demo4.py b/demo/vehicle/demo4.py
deleted file mode 100644
index 0c85bb1e17da3545a00166b1d3d3c100ca66c5f1..0000000000000000000000000000000000000000
--- a/demo/vehicle/demo4.py
+++ /dev/null
@@ -1,116 +0,0 @@
-from verse.agents.example_agent import CarAgent, NPCAgent
-from verse.map.example_map import SimpleMap4
-from verse import Scenario
-from verse.plotter.plotter2D import *
-
-from enum import Enum, auto
-import plotly.graph_objects as go
-from enum import Enum, auto
-
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
- Lane3 = auto()
-
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
- type: LaneObjectMode = LaneObjectMode.Vehicle
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type: LaneObjectMode):
- pass
-
-
-if __name__ == "__main__":
- input_code_name = './demo/vehicle/controller/example_controller8.py'
- scenario = Scenario()
-
- car = CarAgent('car1', file_name=input_code_name)
- scenario.add_agent(car)
- car = NPCAgent('car2')
- scenario.add_agent(car)
- car = NPCAgent('car3')
- scenario.add_agent(car)
- car = NPCAgent('car4')
- scenario.add_agent(car)
- car = NPCAgent('car5')
- scenario.add_agent(car)
- car = NPCAgent('car6')
- scenario.add_agent(car)
- tmp_map = SimpleMap4()
- scenario.set_map(tmp_map)
- scenario.set_init(
- [
- [[0, -0.2, 0, 1.0], [0.05, 0.2, 0, 1.0]],
- [[10, 0, 0, 0.5], [10, 0, 0, 0.5]],
- [[20, 3, 0, 0.5], [20, 3, 0, 0.5]],
- [[30, 0, 0, 0.5], [30, 0, 0, 0.5]],
- [[23, -3, 0, 0.5], [23, -3, 0, 0.5]],
- [[40, -6, 0, 0.5], [40, -6, 0, 0.5]],
- ],
- [
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane0),
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane2),
- (VehicleMode.Normal, TrackMode.Lane3),
- ],
- [
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- ]
- )
-
- # traces = scenario.simulate(80, 0.1)
- # fig = go.Figure()
- # # fig = simulation_anime(
- # # traces, tmp_map, fig, 1, 2, 'lines', print_dim_list=[1, 2])
- # # fig.show()
- # # fig = go.Figure()
- # fig = simulation_tree(
- # traces, tmp_map, fig, 1, 2, 'lines', print_dim_list=[1, 2])
- # fig.show()
- # scenario.init_seg_length = 10
- traces = scenario.verify(80, 0.1)
- # root = traces.root
- # queue = [root]
- # while queue:
- # node = queue.pop(0)
- # print(node.mode)
- # queue += node.child
- # node.child = []
- # fig = go.Figure()
- # fig = reachtube_tree(node, tmp_map, fig, 1, 2,
- # 'lines', print_dim_list=[1, 2], combine_rect=10)
- # fig.show()
-
- fig = go.Figure()
- fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines')
- fig.show()
diff --git a/demo/vehicle/demo5.py b/demo/vehicle/demo5.py
deleted file mode 100644
index 71bfd85eb588153d86cec1deb18b8d391eb7af09..0000000000000000000000000000000000000000
--- a/demo/vehicle/demo5.py
+++ /dev/null
@@ -1,74 +0,0 @@
-from verse.agents.example_agent import CarAgent, NPCAgent
-from verse.map.example_map import SimpleMap3
-from verse import Scenario
-from verse.plotter.plotter2D import *
-from enum import Enum, auto
-
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-if __name__ == "__main__":
- input_code_name = './demo/vehicle/controller/example_controller7.py'
- scenario = Scenario()
-
- car = CarAgent('car1', file_name=input_code_name)
- scenario.add_agent(car)
- car = NPCAgent('car2')
- scenario.add_agent(car)
- car = NPCAgent('car3')
- scenario.add_agent(car)
- car = NPCAgent('car4')
- scenario.add_agent(car)
- # car = NPCAgent('car5')
- # scenario.add_agent(car)
- tmp_map = SimpleMap3()
- scenario.set_map(tmp_map)
- scenario.set_init(
- [
- [[0, -0.0, 0, 1.0], [0.0, 0.0, 0, 1.0]],
- [[10, 0, 0, 0.5], [10, 0, 0, 0.5]],
- [[30, 0, 0, 0.5], [30, 0, 0, 0.5]],
- [[10, 3, 0, 0.5], [10, 3, 0, 0.5]],
- ],
- [
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane0),
- ],
- [
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- ]
- )
- # traces = scenario.simulate(70, 0.05)
- # fig = go.Figure()
- # fig = simulation_tree(traces, tmp_map, fig, 1,
- # 2, 'lines', 'trace', print_dim_list=[1, 2])
- # fig.show()
-
- traces = scenario.verify(70, 0.05)
- fig = go.Figure()
- fig = reachtube_anime(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace')
- fig.show()
diff --git a/demo/vehicle/demo6.py b/demo/vehicle/demo6.py
deleted file mode 100644
index 0ceff86f2b3fb44472eec34b26dd4ab2f478785c..0000000000000000000000000000000000000000
--- a/demo/vehicle/demo6.py
+++ /dev/null
@@ -1,115 +0,0 @@
-from verse.agents.example_agent import CarAgent, NPCAgent
-from verse.map.example_map import SimpleMap4
-from verse import Scenario
-from verse.plotter.plotter2D import *
-
-from enum import Enum, auto
-import plotly.graph_objects as go
-
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
- Lane3 = auto()
-
-# class State:
-# x = 0.0
-# y = 0.0
-# theta = 0.0
-# v = 0.0
-# vehicle_mode: VehicleMode = VehicleMode.Normal
-# lane_mode: TrackMode = TrackMode.Lane0
-# type: LaneObjectMode = LaneObjectMode.Vehicle
-
-# def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type: LaneObjectMode):
-# pass
-
-
-if __name__ == "__main__":
- input_code_name = './demo/vehicle/controller/example_controller7.py'
- scenario = Scenario()
-
- car = CarAgent('car1', file_name=input_code_name)
- scenario.add_agent(car)
- car = NPCAgent('car2')
- scenario.add_agent(car)
- car = CarAgent('car3', file_name=input_code_name)
- scenario.add_agent(car)
- car = NPCAgent('car4')
- scenario.add_agent(car)
- car = NPCAgent('car5')
- scenario.add_agent(car)
- car = NPCAgent('car6')
- scenario.add_agent(car)
- car = NPCAgent('car7')
- scenario.add_agent(car)
- tmp_map = SimpleMap4()
- scenario.set_map(tmp_map)
- scenario.set_init(
- [
- [[0, -0.0, 0, 1.0], [0.0, 0.0, 0, 1.0]],
- [[10, 0, 0, 0.5], [10, 0, 0, 0.5]],
- [[14.5, 3, 0, 0.6], [14.5, 3, 0, 0.6]],
- [[20, 3, 0, 0.5], [20, 3, 0, 0.5]],
- [[30, 0, 0, 0.5], [30, 0, 0, 0.5]],
- [[23, -3, 0, 0.5], [23, -3, 0, 0.5]],
- [[40, -6, 0, 0.5], [40, -6, 0, 0.5]],
- ],
- [
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane0),
- (VehicleMode.Normal, TrackMode.Lane0),
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane2),
- (VehicleMode.Normal, TrackMode.Lane3),
- ],
- [
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- ]
- )
- # traces = scenario.simulate(80, 0.05)
- traces = scenario.verify(80, 0.05)
-
- # fig = plt.figure(2)
- # fig = plot_map(tmp_map, 'g', fig)
- # fig = plot_reachtube_tree(traces, 'car1', 1, [2], 'b', fig)
- # fig = plot_reachtube_tree(traces, 'car2', 1, [2], 'r', fig)
- # fig = plot_reachtube_tree(traces, 'car3', 1, [2], 'r', fig)
- # fig = plot_reachtube_tree(traces, 'car4', 1, [2], 'r', fig)
- # fig = plot_reachtube_tree(traces, 'car5', 1, [2], 'r', fig)
- # fig = plot_reachtube_tree(traces, 'car6', 1, [2], 'r', fig)
- # plt.show()
-
- traces = scenario.simulate(80, 0.05)
- fig = go.Figure()
- fig = simulation_anime(traces, tmp_map, fig, 1, 2, [
- 1, 2], 'lines', 'trace', sample_rate=1)
- fig.show()
-
- traces = scenario.verify(80, 0.05)
- fig = go.Figure()
- fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace')
- fig.show()
diff --git a/demo/vehicle/demo7.py b/demo/vehicle/demo7.py
deleted file mode 100644
index d6c7a986f175e2c756a3817faaaf0200aa3d72d2..0000000000000000000000000000000000000000
--- a/demo/vehicle/demo7.py
+++ /dev/null
@@ -1,110 +0,0 @@
-# SM: Noting some things about the example
-
-from verse.agents.example_agent import CarAgent, NPCAgent
-from verse.map.example_map import SimpleMap4
-from verse import Scenario
-from verse.plotter.plotter2D import *
-
-from enum import Enum, auto
-import plotly.graph_objects as go
-
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
- Lane3 = auto()
-
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
- type: LaneObjectMode = LaneObjectMode.Vehicle
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type: LaneObjectMode):
- pass
-
-
-if __name__ == "__main__":
- input_code_name = './demo/vehicle/controller/example_controller8.py'
- scenario = Scenario()
-
- car = CarAgent('car1', file_name=input_code_name)
- scenario.add_agent(car)
- car = NPCAgent('car2')
- scenario.add_agent(car)
- car = CarAgent('car3', file_name=input_code_name)
- scenario.add_agent(car)
- car = NPCAgent('car4')
- scenario.add_agent(car)
- car = NPCAgent('car5')
- scenario.add_agent(car)
- car = CarAgent('car8', file_name=input_code_name)
- scenario.add_agent(car)
- car = NPCAgent('car6')
- scenario.add_agent(car)
- car = NPCAgent('car7')
- scenario.add_agent(car)
- tmp_map = SimpleMap4()
- scenario.set_map(tmp_map)
- scenario.set_init(
- [
- [[0, -0.0, 0, 1.0], [0.0, 0.0, 0, 1.0]],
- [[10, 0, 0, 0.5], [10, 0, 0, 0.5]],
- [[14, 3, 0, 0.6], [14, 3, 0, 0.6]],
- [[20, 3, 0, 0.5], [20, 3, 0, 0.5]],
- [[30, 0, 0, 0.5], [30, 0, 0, 0.5]],
- [[23, -3, 0, 0.6], [23, -3, 0, 0.6]],
- [[28.5, -3, 0, 0.5], [28.5, -3, 0, 0.5]],
- [[40, -6, 0, 0.5], [40, -6, 0, 0.5]],
- ],
- [
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane0),
- (VehicleMode.Normal, TrackMode.Lane0),
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane2),
- (VehicleMode.Normal, TrackMode.Lane2),
- (VehicleMode.Normal, TrackMode.Lane3),
- ],
- [
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- (LaneObjectMode.Vehicle,),
- ],
-
- )
- traces = scenario.simulate(60, 0.1)
- fig = go.Figure()
- fig = simulation_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace')
- fig.show()
-
- traces = scenario.verify(60, 0.1)
- fig = go.Figure()
- fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace')
- fig.show()
diff --git a/demo/vehicle/demo8.py b/demo/vehicle/demo8.py
deleted file mode 100644
index a8c67dc999831eb88f38aee5bc2fe98aabdf353d..0000000000000000000000000000000000000000
--- a/demo/vehicle/demo8.py
+++ /dev/null
@@ -1,80 +0,0 @@
-from verse.agents.example_agent import CarAgent, SignAgent
-from verse.map.example_map import SimpleMap3
-from verse import Scenario
-from verse.plotter.plotter2D import *
-# from verse.plotter.plotter2D_old import *
-
-from enum import Enum, auto
-import plotly.graph_objects as go
-
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-class State:
- x: float
- y: float
- theta: float
- v: float
- vehicle_mode: VehicleMode
- lane_mode: TrackMode
- type_mode: LaneObjectMode
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type_mode: LaneObjectMode):
- pass
-
-
-if __name__ == "__main__":
- input_code_name = './demo/vehicle/controller/example_controller9.py'
- scenario = Scenario()
-
- car = CarAgent('car1', file_name=input_code_name)
- scenario.add_agent(car)
- sign = SignAgent('stop_sign')
- scenario.add_agent(sign)
- tmp_map = SimpleMap3()
- scenario.set_map(tmp_map)
- scenario.set_init(
- [
- [[0, 0, 0, 1], [0.5, 0, 0, 1]],
- [[15, 0, 0, 0.5], [15, 0, 0, 0.5]],
- ],
- [
- (VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Vehicle),
- (VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Sign),
- ]
- )
- # traces = scenario.simulate(13, 0.05)
- scenario.init_seg_length = 5
- scenario.verify_method = 'GLOBAL'
- traces = scenario.verify(13, 0.05)
-
- # # fig = plt.figure(2)
- # # fig = plot_map(tmp_map, 'g', fig)
- # fig = plot_reachtube_tree(traces.root, 'car1', 0, [1], 'b')
- # fig = plot_reachtube_tree(traces.root, 'stop_sign', 0, [1], 'r', fig)
- # # fig = plot_reachtube_tree(traces, 'car3', 1, [2], 'r', fig)
- # # fig = plot_reachtube_tree(traces, 'car4', 1, [2], 'r', fig)
- # plt.show()
-
- fig = go.Figure()
- fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace')
- fig.show()
diff --git a/demo/vehicle/demo9.py b/demo/vehicle/demo9.py
deleted file mode 100644
index 5f979f99a9ed0e6e92ed56100914fc8aea4ce3e2..0000000000000000000000000000000000000000
--- a/demo/vehicle/demo9.py
+++ /dev/null
@@ -1,81 +0,0 @@
-from verse.agents.example_agent import CarAgent, NPCAgent
-from verse.map.example_map import SimpleMap3, SimpleMap6
-from verse import Scenario
-from noisy_sensor import NoisyVehicleSensor
-from verse.plotter.plotter2D import *
-# from verse.plotter.plotter2D_old import plot_reachtube_tree, plot_map
-
-from enum import Enum, auto
-import plotly.graph_objects as go
-import matplotlib.pyplot as plt
-
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-class State:
- x: float
- y: float
- theta: float
- v: float
- vehicle_mode: VehicleMode
- lane_mode: TrackMode
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode):
- pass
-
-
-if __name__ == "__main__":
- input_code_name = './demo/vehicle/controller/example_controller5.py'
- scenario = Scenario()
-
- car = CarAgent('car1', file_name=input_code_name)
- scenario.add_agent(car)
- car = NPCAgent('car2')
- scenario.add_agent(car)
- car = NPCAgent('car3')
- scenario.add_agent(car)
- tmp_map = SimpleMap6()
- scenario.set_map(tmp_map)
- scenario.set_init(
- [
- [[5, -0.5, 0, 1.0], [5.5, 0.5, 0, 1.0]],
- [[20, -0.2, 0, 0.5], [20, 0.2, 0, 0.5]],
- [[4-2.5, 2.8, 0, 1.0], [4.5-2.5, 3.2, 0, 1.0]],
- ],
- [
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane1),
- (VehicleMode.Normal, TrackMode.Lane0),
- ]
- )
-
- scenario.init_seg_length = 5
- traces = scenario.verify(40, 0.1, params={"bloating_method": 'GLOBAL'})
-
- fig = go.Figure()
- fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace')
- fig.show()
-
- fig = go.Figure()
- fig = reachtube_anime(traces, tmp_map, fig, 1,
- 2, 'lines', 'trace', combine_rect = 1)
- fig.show()
diff --git a/demo/vehicle/demo_opendrive.py b/demo/vehicle/demo_opendrive.py
deleted file mode 100644
index da6e9f1310f8c9a1994cf2f410217e33319a8b81..0000000000000000000000000000000000000000
--- a/demo/vehicle/demo_opendrive.py
+++ /dev/null
@@ -1,65 +0,0 @@
-from verse.agents.example_agent import CarAgent, NPCAgent
-from verse.map import opendrive_map
-from verse import Scenario
-from enum import Enum, auto
-from verse.plotter.plotter2D import *
-
-import plotly.graph_objects as go
-
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
- type_mode: LaneObjectMode = LaneObjectMode.Vehicle
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type_mode: LaneObjectMode):
- pass
-
-
-if __name__ == "__main__":
- input_code_name = './demo/vehicle/controller/example_controller10.py'
- scenario = Scenario()
- scenario.add_agent(CarAgent('car1', file_name=input_code_name))
- scenario.add_agent(NPCAgent('car2'))
- tmp_map = opendrive_map('./demo/vehicle/t1_triple.xodr')
-
- scenario.set_map(tmp_map)
- scenario.set_init(
- [
- [[-65, -57.5, 0, 1.0], [-65, -57.5, 0, 1.0]],
- [[-65, -62.5, 0, 1.0], [-65, -62.5, 0, 1.0]],
- ],
- [
- (VehicleMode.Normal, TrackMode.Lane2, LaneObjectMode.Vehicle),
- (VehicleMode.Normal, TrackMode.Lane1, LaneObjectMode.Vehicle),
- ]
- )
- traces = scenario.simulate(400, 0.1) # traces.dump('./output1.json')
- fig = go.Figure()
- fig = simulation_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace')
- fig.show()
diff --git a/demo/vehicle/demo_opendrive2.py b/demo/vehicle/demo_opendrive2.py
deleted file mode 100644
index 3b05132d541f76b6c9836a5efd2c22aad3c2ad0c..0000000000000000000000000000000000000000
--- a/demo/vehicle/demo_opendrive2.py
+++ /dev/null
@@ -1,72 +0,0 @@
-from verse.agents.example_agent import CarAgent, NPCAgent
-from verse.map import opendrive_map
-from verse import Scenario
-from enum import Enum, auto
-from verse.plotter.plotter2D import *
-
-import plotly.graph_objects as go
-
-
-class LaneObjectMode(Enum):
- Vehicle = auto()
- Ped = auto() # Pedestrians
- Sign = auto() # Signs, stop signs, merge, yield etc.
- Signal = auto() # Traffic lights
- Obstacle = auto() # Static (to road/lane) obstacles
-
-
-class VehicleMode(Enum):
- Normal = auto()
- SwitchLeft = auto()
- SwitchRight = auto()
- Brake = auto()
-
-
-class TrackMode(Enum):
- Lane0 = auto()
- Lane1 = auto()
- Lane2 = auto()
-
-
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: TrackMode = TrackMode.Lane0
- type_mode: LaneObjectMode = LaneObjectMode.Vehicle
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: TrackMode, type_mode: LaneObjectMode):
- pass
-
-
-if __name__ == "__main__":
- input_code_name = './demo/vehicle/controller/example_controller8.py'
- scenario = Scenario()
- scenario.add_agent(CarAgent('car1', file_name=input_code_name))
- scenario.add_agent(NPCAgent('car2'))
- tmp_map = opendrive_map('./demo/vehicle/t1_triple.xodr')
-
- scenario.set_map(tmp_map)
- scenario.set_init(
- [
- [[-65, -57.5, 0, 1.0], [-65, -57.5, 0, 1.0]],
- # [[-37, -63.0, 0, 0.5],[-37, -63.0, 0, 0.5]],
- # [[18, -67.0, 0, 1.0],[18, -67.0, 0, 1.0]],
- # [[32, -68.0, 0, 1.0],[32, -68.0, 0, 1.0]],
- [[46, -69.0, 0, 0.5], [46, -69.0, 0, 0.5]],
- ],
- [
- (VehicleMode.Normal, TrackMode.Lane2, ),
- (VehicleMode.Normal, TrackMode.Lane2, ),
- ],
- [
- (LaneObjectMode.Vehicle, ),
- (LaneObjectMode.Vehicle, ),
- ]
- )
- traces = scenario.simulate(400, 0.1) # traces.dump('./output1.json')
- fig = go.Figure()
- fig = simulation_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace')
- fig.show()
diff --git a/demo/vehicle/gen_json.py b/demo/vehicle/gen_json.py
deleted file mode 100644
index 2b7696eb2290f47a5a450803c59aef409f2d89f1..0000000000000000000000000000000000000000
--- a/demo/vehicle/gen_json.py
+++ /dev/null
@@ -1,181 +0,0 @@
-from json import dump, dumps, load, loads
-import os
-import copy
-import queue
-from verse.analysis.analysis_tree import AnalysisTree, AnalysisTreeNode
-from verse.plotter.plotter2D import *
-
-AGENT = 'agent'
-INIT = 'init'
-MODE = 'mode'
-STATIC = 'static'
-START_TIME = 'start_time'
-CHILD = 'child'
-TRACE = 'trace'
-TYPE = 'simtrace'
-ASSERT_HITS = 'assert_hits'
-
-curr_lines = 2
-tree_dict = {}
-total_id = 0
-
-
-class json_node():
- def __init__(self, data) -> None:
- self.data = data
- self.child = []
-
- def add_child(self, child):
- self.child.append(child)
-
- def set_children(self, children):
- self.child = children
-
-
-def write_json(root, file):
- with open(file, 'w', encoding='utf-8') as f:
- dump(root, f)
- return
-
-
-def trans_dict(root: AnalysisTreeNode, level, id, parent_dict):
- global curr_lines, tree_dict, total_id
- rst_dict = {'node_name': None, 'id': 0, 'start_line': 1, 'parent': None, 'child': {}, 'agent': {}, 'init': {}, 'mode': {}, 'static': {}, 'start_time': 0,
- 'trace': {}, 'type': 'simtrace', 'assert_hits': None}
- if level not in tree_dict:
- tree_dict[level] = id
- rst_dict['node_name'] = f'{level}-{id}'
- i = 0
- if parent_dict == None:
- total_id = 0
- curr_lines = 2
- rst_dict['parent'] = None
- else:
- # i = 1
- rst_dict['parent'] = {
- 'name': parent_dict['node_name'], 'index': parent_dict['id'], 'start_line': parent_dict['start_line']}
- # json_obj = dumps(rst_dict, indent=4, separators=(', ', ': '))
- # curr_lines = curr_lines+2+json_obj.count('\n')
- parent_dict['child'][rst_dict['node_name']] = {
- 'name': rst_dict['node_name'], 'index': total_id, 'start_line': curr_lines}
-
- rst_dict['start_line'] = curr_lines
- rst_dict['id'] = total_id
- total_id += 1
-
- agent_dict = {}
- for agent_id in root.agent:
- agent_dict[agent_id] = f'{type(root.agent[agent_id])}'
- rst_dict['agent'] = agent_dict
-
- init_dict = {}
- for agent_id in root.init:
- init_dict[agent_id] = dumps(root.init[agent_id])
- rst_dict['init'] = init_dict
-
- mode_dict = {}
- for agent_id in root.mode:
- mode_dict[agent_id] = dumps(root.mode[agent_id])
- rst_dict['mode'] = mode_dict
-
- static_dict = {}
- for agent_id in root.static:
- static_dict[agent_id] = dumps(root.static[agent_id])
- rst_dict['static'] = static_dict
-
- rst_dict['start_time'] = root.start_time
- rst_dict['type'] = root.type
-
- trace_dict = {}
- for agent_id in root.trace:
- trace_dict[agent_id] = [dumps(step) for step in root.trace[agent_id]]
- rst_dict['trace'] = trace_dict
-
- if level+1 not in tree_dict:
- tree_dict[level+1] = 0
- init_id = tree_dict[level+1]
- for child in root.child:
- rst_dict['child'][f'{level+1}-{tree_dict[level+1]}'] = None
- tree_dict[level+1] += 1
- i += 1
- json_obj = dumps(rst_dict, indent=4, separators=(', ', ': '))
- curr_lines = curr_lines+json_obj.count('\n')+1+4*i
- child_list = []
- for child in root.child:
- child_list.append(trans_dict(child, level+1, init_id, rst_dict))
- init_id += 1
-
- json_root = json_node(rst_dict)
- json_root.set_children(child_list)
- return json_root
-
-
-def write_json(root, file):
- root = trans_dict(root, 0, 0, None)
- if os.path.exists(file):
- os.remove(file)
- with open(file, 'a') as f:
- f.write('{\n')
-
- def output(root, cnt):
- f.write(f'"{cnt}": ')
- cnt += 1
- f.write(dumps(root.data, indent=4, separators=(', ', ': ')))
- for child in root.child:
- f.write(',\n')
- cnt = output(child, cnt)
- return cnt
-
- output(root, 0)
- f.write('\n}')
-
-
-def parse_trace(root, agend_id):
- pass
-
-
-def read_json(file):
- if not os.path.exists(file):
- print('file not exists')
- with open(file, 'r') as f:
- total_dict = load(f)
-
- def create_node(index):
- node_dict = total_dict[str(index)]
- mode_dict = {agent_id: loads(mode_json)
- for agent_id, mode_json in node_dict['mode'].items()}
- init_dict = {agent_id: loads(init_json)
- for agent_id, init_json in node_dict['init'].items()}
- trace_dict = {}
- for agent_id, trace_json_list in node_dict['trace'].items():
- trace_list = [loads(trace_json) for trace_json in trace_json_list]
- trace_dict[agent_id] = trace_list
- child_list = []
- for child in node_dict['child']:
- child_id = node_dict['child'][child]['index']
- child_list.append(create_node(child_id))
-
- node = AnalysisTreeNode(
- trace=trace_dict,
- init=init_dict,
- mode=mode_dict,
- static=node_dict['static'],
- agent=node_dict['agent'],
- child=child_list,
- start_time=node_dict['start_time'],
- type='simtrace'
- )
- return node
-
- root = create_node(0)
-
- return root
-
-
-if __name__ == "__main__":
- path = os.path.abspath('.')
- if os.path.exists(path+'/demo'):
- path += '/demo'
- path += '/output'
- file = path+"/output.json"
- root = read_json(file)
diff --git a/demo/vehicle/noisy_sensor.py b/demo/vehicle/noisy_sensor.py
deleted file mode 100644
index 288e9c32d785ff0bfb8f1b6f92f9524337e92a99..0000000000000000000000000000000000000000
--- a/demo/vehicle/noisy_sensor.py
+++ /dev/null
@@ -1,27 +0,0 @@
-from verse.sensor import BaseSensor
-from typing import Tuple
-import numpy as np
-
-class NoisyVehicleSensor(BaseSensor):
- def __init__(self, noise_x = Tuple[float, float], noise_y = Tuple[float, float]):
- self.noise_x = noise_x
- self.noise_y = noise_y
-
- def sense(self, scenario, agent, state_dict, lane_map):
- cont, disc, len_dict = super().sense(scenario, agent, state_dict, lane_map)
- tmp = np.array(list(state_dict.values())[0][0])
- if tmp.ndim<2:
- return cont, disc, len_dict
- else:
- # Apply noise to observed x
- if 'others.x' in cont:
- for x_range in cont['others.x']:
- x_range[0] -= self.noise_x[0]
- x_range[1] += self.noise_x[1]
-
- # Apply noise to observed y
- if 'others.y' in cont:
- for y_range in cont['others.y']:
- y_range[0] -= self.noise_y[0]
- y_range[1] += self.noise_y[1]
- return cont, disc, len_dict
diff --git a/demo/vehicle/output.json b/demo/vehicle/output.json
deleted file mode 100644
index 48103d17cdd10329832af2ac8bb43bc078c17d46..0000000000000000000000000000000000000000
--- a/demo/vehicle/output.json
+++ /dev/null
@@ -1,1237 +0,0 @@
-{
-"0": {
- "node_name": "0-0",
- "id": 0,
- "start_line": 2,
- "parent": null,
- "child": {
- "1-0": {
- "name": "1-0",
- "index": 1,
- "start_line": 253
- },
- "1-1": {
- "name": "1-1",
- "index": 3,
- "start_line": 745
- }
- },
- "agent": {
- "car1": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>",
- "car2": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>"
- },
- "init": {
- "car1": "[[0, -0.2, 0, 1.0], [0.1, 0.2, 0, 1.0]]",
- "car2": "[[10, 0, 0, 0.5], [10, 0, 0, 0.5]]"
- },
- "mode": {
- "car1": "[\"Normal\", \"Lane1\"]",
- "car2": "[\"Normal\", \"Lane1\"]"
- },
- "static": {
- "car1": "[]",
- "car2": "[]"
- },
- "start_time": 0,
- "trace": {
- "car1": [
- "[0.0, 0.0, -0.2, -0.010259574072372706, 1.0]",
- "[0.2, 0.2839735187071956, 0.2, 0.010259574072372706, 1.0]",
- "[0.2, 0.21602648129280438, -0.18102260458410557, -0.018379536882066838, 1.0]",
- "[0.4, 0.48455269515820604, 0.18102260458410557, 0.018379536882066838, 1.0]",
- "[0.4, 0.4154473048417939, -0.16395414571913436, -0.024699297819101074, 1.0]",
- "[0.6000000000000001, 0.6850216365043383, 0.16395414571913436, 0.024699297819101074, 1.0]",
- "[0.6000000000000001, 0.6149783634956615, -0.14859251084056646, -0.029510363790061403, 1.0]",
- "[0.8, 0.8854018778850428, 0.14859251084056646, 0.029510363790061403, 1.0]",
- "[0.8, 0.8145981221149574, -0.13475743251635525, -0.033062429008290706, 1.0]",
- "[1.0, 1.085710653625001, 0.13475743251635525, 0.033062429008290706, 1.0]",
- "[1.0, 1.0142893463749996, -0.12228837220160758, -0.03556886105922083, 1.0]",
- "[1.2, 1.285961769671804, 0.12228837220160758, 0.03556886105922083, 1.0]",
- "[1.2, 1.2140382303281965, -0.11104238175892578, -0.03721157261510352, 1.0]",
- "[1.4, 1.4861662981048829, 0.11104238175892578, 0.03721157261510352, 1.0]",
- "[1.4, 1.4138337018951175, -0.10089216730157041, -0.03814531096224553, 1.0]",
- "[1.5999999999999999, 1.686333129543391, 0.10089216730157041, 0.03814531096224553, 1.0]",
- "[1.5999999999999999, 1.6136668704566088, -0.09172434834540978, -0.0385014122911356, 1.0]",
- "[1.8, 1.8864694120614374, 0.09172434834540978, 0.0385014122911356, 1.0]",
- "[1.8, 1.8135305879385628, -0.08343790046905726, -0.0385014122911356, 1.0]",
- "[2.0, 2.0865808984810132, 0.08343790046905726, 0.0385014122911356, 1.0]",
- "[2.0, 2.0134191015189873, -0.07594287825535542, -0.03839107338633297, 1.0]",
- "[2.2, 2.286672234835655, 0.07594287825535542, 0.03839107338633297, 1.0]",
- "[2.2, 2.2133277651643457, -0.06915887768112347, -0.03790819946979385, 1.0]",
- "[2.4000000000000004, 2.4867471690718466, 0.06915887768112347, 0.03790819946979385, 1.0]",
- "[2.4000000000000004, 2.4132528309281547, -0.06301415671862882, -0.037131856803825046, 1.0]",
- "[2.6, 2.6868087314810754, 0.06301415671862882, 0.037131856803825046, 1.0]",
- "[2.6, 2.6131912685189262, -0.0574447017121785, -0.03612840523157809, 1.0]",
- "[2.8000000000000003, 2.8868593764749315, 0.0574447017121785, 0.03612840523157809, 1.0]",
- "[2.8000000000000003, 2.8131406235250704, -0.052393306092211205, -0.03495334221459475, 1.0]",
- "[3.0, 3.0869010949997424, 0.052393306092211205, 0.03495334221459475, 1.0]",
- "[3.0, 3.01309890500026, -0.04780880949982366, -0.03365289066735905, 1.0]",
- "[3.2, 3.286935504475645, 0.04780880949982366, 0.03365289066735905, 1.0]",
- "[3.2, 3.2130644955243577, -0.04364542453176884, -0.03226536735671632, 1.0]",
- "[3.4000000000000004, 3.4869639208390972, 0.04364542453176884, 0.03226536735671632, 1.0]",
- "[3.4000000000000004, 3.413036079160906, -0.039862141062204426, -0.03082236101056486, 1.0]",
- "[3.6, 3.686987416327405, 0.039862141062204426, 0.03082236101056486, 1.0]",
- "[3.6, 3.6130125836725986, -0.03642219916040824, -0.02934974561681908, 1.0]",
- "[3.8000000000000003, 3.887006865892288, 0.03642219916040824, 0.02934974561681908, 1.0]",
- "[3.8000000000000003, 3.8129931341077157, -0.033292622609028315, -0.027868551124687637, 1.0]",
- "[4.0, 4.087022984533915, 0.033292622609028315, 0.027868551124687637, 1.0]",
- "[4.0, 4.01297701546609, -0.030443805927677717, -0.026395710870198392, 1.0]",
- "[4.2, 4.287036357375695, 0.030443805927677717, 0.026395710870198392, 1.0]",
- "[4.2, 4.212963642624309, -0.027849148620670866, -0.024944702508568343, 1.0]",
- "[4.4, 4.487047463927276, 0.027849148620670866, 0.024944702508568343, 1.0]",
- "[4.4, 4.412952536072726, -0.025484731098176706, -0.023526097014276017, 1.0]",
- "[4.6000000000000005, 4.687056697688052, 0.025484731098176706, 0.023526097014276017, 1.0]",
- "[4.6000000000000005, 4.612943302311948, -0.02332902737198453, -0.022148028371415565, 1.0]",
- "[4.8, 4.887064382009678, 0.02332902737198453, 0.022148028371415565, 1.0]",
- "[4.8, 4.8129356179903215, -0.02136265020649794, -0.02081659488928066, 1.0]",
- "[5.0, 5.0870707829506845, 0.02136265020649794, 0.02081659488928066, 1.0]",
- "[5.0, 5.012929217049313, -0.019568124918963856, -0.019536201610756577, 1.0]",
- "[5.2, 5.2870761197090435, 0.019568124918963856, 0.019536201610756577, 1.0]",
- "[5.2, 5.212923880290953, -0.017929688476769578, -0.01830985200649348, 1.0]",
- "[5.4, 5.4870805731015535, 0.017929688476769578, 0.01830985200649348, 1.0]",
- "[5.4, 5.4129194268984415, -0.01643311094010704, -0.017139396041462036, 1.0]",
- "[5.6000000000000005, 5.68708429246583, 0.01643311094010704, 0.017139396041462036, 1.0]",
- "[5.6000000000000005, 5.612915707534164, -0.015065536651213364, -0.01602574074067565, 1.0]",
- "[5.8, 5.887087401286466, 0.015065536651213364, 0.01602574074067565, 1.0]",
- "[5.8, 5.812912598713527, -0.013815342882090707, -0.014969028548555332, 1.0]",
- "[6.0, 6.087090001787774, 0.013815342882090707, 0.014969028548555332, 1.0]",
- "[6.0, 6.0129099982122165, -0.012672013925937637, -0.013968788054949855, 1.0]",
- "[6.2, 6.287092178688207, 0.012672013925937637, 0.013968788054949855, 1.0]",
- "[6.2, 6.2129078213117825, -0.011626028857858543, -0.013024061035660296, 1.0]",
- "[6.4, 6.487094002273754, 0.011626028857858543, 0.013024061035660296, 1.0]",
- "[6.4, 6.4129059977262335, -0.010668761401667547, -0.01213350921378219, 1.0]",
- "[6.6000000000000005, 6.687095530917253, 0.010668761401667547, 0.01213350921378219, 1.0]",
- "[6.6000000000000005, 6.612904469082734, -0.009792390525250315, -0.011295503679240622, 1.0]",
- "[6.8, 6.887096813146276, 0.009792390525250315, 0.011295503679240622, 1.0]",
- "[6.8, 6.812903186853709, -0.008989820550079962, -0.010508199497960826, 1.0]",
- "[7.0, 7.08709788934273, 0.008989820550079962, 0.010508199497960826, 1.0]",
- "[7.0, 7.0129021106572536, -0.008254609703833389, -0.009769597690849908, 1.0]",
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- "[9.799999999999999, 14.90000000000007, 0.0, 0.0, 0.5]",
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- "[10.399999999999999, 15.200000000000074, 0.0, 0.0, 0.5]"
- ]
- },
- "type": "reachtube",
- "assert_hits": null
-},
-"1": {
- "node_name": "1-0",
- "id": 1,
- "start_line": 253,
- "parent": {
- "name": "0-0",
- "index": 0,
- "start_line": 2
- },
- "child": {
- "2-0": {
- "name": "2-0",
- "index": 2,
- "start_line": 398
- }
- },
- "agent": {
- "car1": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>",
- "car2": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>"
- },
- "init": {
- "car1": "[[9.612897015045753, -0.002759923802261281, -0.0036364371585944077, 1.0], [10.487103292978597, 0.002759923802261281, 0.0036364371585944077, 1.0]]"
- },
- "mode": {
- "car1": "[\"SwitchRight\", \"Lane1\"]",
- "car2": "[\"Normal\", \"Lane1\"]"
- },
- "static": {
- "car1": "[]",
- "car2": "[]"
- },
- "start_time": 9.6,
- "trace": {
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- ]
- },
- "type": "reachtube",
- "assert_hits": null
-},
-"2": {
- "node_name": "2-0",
- "id": 2,
- "start_line": 398,
- "parent": {
- "name": "1-0",
- "index": 1,
- "start_line": 253
- },
- "child": {},
- "agent": {
- "car1": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>",
- "car2": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>"
- },
- "init": {
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- },
- "mode": {
- "car1": "[\"Normal\", \"Lane2\"]",
- "car2": "[\"Normal\", \"Lane1\"]"
- },
- "static": {
- "car1": "[]",
- "car2": "[]"
- },
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- "[23.4, 23.5369888553041, 2.9905387228402027, 0.016325092545023644, 1.0]",
- "[23.4, 22.87933487876575, 2.9890724309519197, 0.012183995976687633, 1.0]",
- "[23.6, 23.736987451051544, 2.991286964694205, 0.015069806688899711, 1.0]",
- "[23.6, 23.079332973588347, 2.98993888454273, 0.011239646500198349, 1.0]",
- "[23.799999999999997, 23.93698626264148, 2.991975706514072, 0.013909547704844715, 1.0]",
- "[23.799999999999997, 23.27933136214175, 2.9907361633363507, 0.010367799922232792, 1.0]",
- "[24.0, 24.136985256809854, 2.992609713023102, 0.01283732607554589, 1.0]",
- "[24.0, 23.47932999903905, 2.991469842256014, 0.009562985524153418, 1.0]",
- "[24.2, 24.336984405399622, 2.9931933631026784, 0.011846638609375881, 1.0]",
- "[24.2, 23.67932884589864, 2.9921450402334617, 0.008820132535833382, 1.0]",
- "[24.4, 24.5369836845763, 2.9937306815844043, 0.010931438492466267, 1.0]",
- "[24.4, 23.879327870259225, 2.992766458354823, 0.008134542651411926, 1.0]",
- "[24.6, 24.736983074164563, 2.994225368354013, 0.010086106608862073, 1.0]",
- "[24.6, 24.079327044664197, 2.9933384147100943, 0.007501864186097102, 1.0]",
- "[24.799999999999997, 24.936982557087212, 2.9946808250027273, 0.009305424171431969, 1.0]",
- "[24.799999999999997, 24.279326345888684, 2.993864876243709, 0.006918067813246297, 1.0]",
- "[25.0, 25.13698211889038, 2.9951001792401075, 0.008584546684220767, 1.0]",
- "[25.0, 24.479325754286805, 2.9943494878754007, 0.0063794238167657995, 1.0]",
- "[25.2, 25.336981747341763, 2.995486307262954, 0.0079189792390996, 1.0]",
- "[25.2, 24.67932525324017, 2.994795599135124, 0.00588248079118645, 1.0]",
- "[25.4, 25.53698143212123, 2.9958418542570433, 0.007304553135257474, 1.0]",
- "[25.4, 24.879324828688276, 2.9952062885329065, 0.005424045720327638, 1.0]",
- "[25.6, 25.736981164765222, 2.996169253192722, 0.0067374037987321285, 1.0]",
- "[25.6, 25.079324468769077, 2.995584385863892, 0.005001165365010094, 1.0]",
- "[25.799999999999997, 25.936980938006236, 2.996470742059983, 0.006213949970327077, 1.0]",
- "[25.799999999999997, 25.279324163615804, 2.99593249263023, 0.0046111088906816205, 1.0]",
- "[26.0, 26.136980745672773, 2.9967483796775616, 0.005730874123498178, 1.0]",
- "[26.0, 25.479323904880538, 2.9962530007443338, 0.004251351666758841, 1.0]",
- "[26.2, 26.33698058253246, 2.997004060196719, 0.005285104068774723, 1.0]",
- "[26.2, 25.679323685490598, 2.9965481096637774, 0.003919560171041361, 1.0]",
- "[26.4, 26.53698044414866, 2.997239526410538, 0.004873795697728087, 1.0]",
- "[26.4, 25.879323499453, 2.996819842093668, 0.003613577934443708, 1.0]",
- "[26.6, 26.736980326759262, 2.9974563819697018, 0.0044943168170974886, 1.0]",
- "[26.6, 26.079323341688987, 2.9970700583801797, 0.00333141246347586, 1.0]",
- "[26.799999999999997, 26.93698022717389, 2.9976561025968373, 0.004144232022305695, 1.0]",
- "[26.799999999999997, 26.279323207894123, 2.9973004697078367, 0.003071223080300614, 1.0]",
- "[27.0, 27.136980142686895, 2.9978400463834984, 0.0038212885590079796, 1.0]",
- "[27.0, 26.47932309441987, 2.997512650202981, 0.00283130962273465, 1.0]",
- "[27.2, 27.33698007100359, 2.9980094632465417, 0.0035234031213737674, 1.0]",
- "[27.2, 26.679322998173365, 2.9977080480367406, 0.002610101949188338, 1.0]",
- "[27.4, 27.53698001017778, 2.998165503614038, 0.003248649536375485, 1.0]",
- "[27.4, 26.879322916532622, 2.997887995612525, 0.002406150196209186, 1.0]",
- "[27.6, 27.736979958558734, 2.9983092264047846, 0.0029952472843420837, 1.0]",
- "[27.6, 27.07932284727469, 2.9980537189155525, 0.002218115738973403, 1.0]",
- "[27.799999999999997, 27.93697991474643, 2.9984416063600134, 0.0027615508073341975, 1.0]",
- "[27.799999999999997, 27.27932278851481, 2.998206346095122, 0.0020447628077250534, 1.0]",
- "[28.0, 28.136979877553365, 2.998563540780899, 0.002546039558438331, 1.0]",
- "[28.0, 27.47932273865493, 2.9983469153441185, 0.0018849507157737899, 1.0]",
- "[28.2, 28.336979845973126, 2.9986758557208852, 0.0023473087467936926, 1.0]",
- "[28.2, 27.67932269633993, 2.998476382134673, 0.0017376266572093116, 1.0]",
- "[28.4, 28.536979819161285, 2.998779311677695, 0.002164060735005491, 1.0]",
- "[28.4, 27.87932266042144, 2.998595625863752, 0.0016018190349635015, 1.0]",
- "[28.6, 28.73697979639823, 2.998874608826124, 0.001995097047518243, 1.0]",
- "[28.6, 28.079322629931447, 2.9987054559578294, 0.0014766312822341318, 1.0]",
- "[28.799999999999997, 28.93697977707261, 2.998962391829221, 0.0018393109504866807, 1.0]",
- "[28.799999999999997, 28.27932260404914, 2.9988066174815744, 0.0013612361425752366, 1.0]",
- "[29.0, 29.13697976066549, 2.999043254262377, 0.0016956805656610538, 1.0]",
- "[29.0, 28.479322582077984, 2.998899796291618, 0.0012548703761480985, 1.0]",
- "[29.2, 29.33697974673632, 2.9991177426818343, 0.0015632624827742515, 1.0]",
- "[29.2, 28.67932256342688, 2.998985623773004, 0.001156829861719471, 1.0]",
- "[29.4, 29.53697973491108, 2.9991863603666484, 0.0014411858368623528, 1.0]",
- "[29.4, 28.879322547594178, 2.999064681192692, 0.0010664650659762335, 1.0]",
- "[29.6, 29.73697972487223, 2.9992495707605853, 0.0013286468188515967, 1.0]",
- "[29.6, 29.07932253415409, 2.999137503701605, 0.000983176853611386, 1.0]",
- "[29.799999999999997, 29.93697971635017, 2.999307800638341, 0.0012249035895945792, 1.0]",
- "[29.799999999999997, 29.279322522745222, 2.9992045840140418, 0.0009064126134161133, 1.0]",
- "[30.0, 30.13697970911004, 2.999361461955754, 0.0011292715693261251, 1.0]"
- ]
- },
- "type": "reachtube",
- "assert_hits": null
-}
-}
\ No newline at end of file
diff --git a/demo/vehicle/t1_triple.xodr b/demo/vehicle/t1_triple.xodr
deleted file mode 100644
index 4ca40876bae12fe3f360e0e6d7024fa3c95e6d2b..0000000000000000000000000000000000000000
--- a/demo/vehicle/t1_triple.xodr
+++ /dev/null
@@ -1,1945 +0,0 @@
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diff --git a/inc-expr.py b/inc-expr.py
index 2f1fbffa5002ef3d5eceea6f3437a42a975a000b..f78ef02d90ce8e2725eb065156646f9b044136e0 100644
--- a/inc-expr.py
+++ b/inc-expr.py
@@ -20,7 +20,7 @@ xprms = [
"".join(l) for l in product("brn8", ("", "i"))]
rslts = []
for xprm in xprms:
- cmd = Popen(f"/usr/bin/time -v -- python3.8 demo/vehicle/inc-expr.py {xprm}", stdout=PIPE, stderr=PIPE, shell=True)
+ cmd = Popen(f"/usr/bin/time -v -- python3.8 demo/tacas2023/exp11/inc-expr.py {xprm}", stdout=PIPE, stderr=PIPE, shell=True)
print(f"run '{xprm}', pid={cmd.pid}")
ret = cmd.wait()
stderr = cmd.stderr.readlines()
diff --git a/verse/scenario/scenario.py b/verse/scenario/scenario.py
index 5766c6cc4da734b075f3f4c96ad34ed343085f4d..02d8fec93e498e73f0796a8824a2c7e8f538df29 100644
--- a/verse/scenario/scenario.py
+++ b/verse/scenario/scenario.py
@@ -34,6 +34,8 @@ def pack_env(agent: BaseAgent, ego_ty_name: str, cont: Dict[str, float], disc: D
for k, v in e.items():
k1, k2 = k.split(".")
packed[k1][k2] = v
+ ego_keys, ego_vals = tuple(map(list, zip(*packed[EGO].items())))
+ state_ty = namedtuple(ego_ty_name, ego_keys)
for arg in agent.controller.args:
if "map" in arg.name:
packed[arg.name] = lane_map
@@ -123,7 +125,7 @@ def check_sim_transitions(agent: BaseAgent, guards: List[Tuple], cont, disc, map
@dataclass
class ScenarioConfig:
- incremental: bool = True
+ incremental: bool = False
unsafe_continue: bool = False
init_seg_length: int = 1000
reachability_method: str = 'DRYVR'
@@ -477,7 +479,7 @@ class Scenario:
continue
if len(satisfied) != 0:
satisfied_guard.extend(satisfied)
- assert all(len(s[2]) == 4 for s in satisfied)
+ # assert all(len(s[2]) == 4 for s in satisfied)
if len(all_asserts) > 0:
return all_asserts, dict(transitions), idx
if len(satisfied_guard) > 0: