{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.628000, -0.029000, -0.365602 ], "estimate": [ 0.628000, -0.029000, -0.365602 ], "true_pose": [ 0.628000, -0.029000, -0.365602 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.030000, 1.030000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.010000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 0.990000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.240000, 1.250000, 1.270000, 1.290000, 1.310000, 1.320000, 1.330000, 1.360000, 1.380000, 1.410000, 1.430000, 1.460000, 1.490000, 1.520000, 1.550000, 1.580000, 1.620000, 1.670000, 1.700000, 1.730000, 1.780000, 1.820000, 1.880000, 1.930000, 1.990000, 2.040000, 2.110000, 2.180000, 2.260000, 2.330000, 2.430000, 2.530000, 2.630000, 2.740000, 2.870000, 3.020000, 3.160000, 3.320000, 3.520000, 3.740000, 3.990000, 4.280000, 4.630000, 5.020000, 5.500000, 17.510000, 10.160000, 10.130000, 10.010000, 13.710000, 10.910000, 14.410000, null, null, null, null, 8.590000, null, null, null, null, null, null, 7.730000, null, null, null, null, null, 6.930000, 6.970000, 7.030000, 7.040000, 3.560000, 3.390000, 3.230000, 3.080000, 2.950000, 2.830000, 2.720000, 2.620000, 2.520000, 2.440000, 2.370000, 2.290000, 2.220000, 2.160000, 2.100000, 2.050000, 1.990000, 1.940000, 1.880000, 1.830000, 1.800000, 1.760000, 1.720000, 1.680000, 1.640000, 1.620000, 1.580000, 1.560000, 1.530000, 1.500000, 1.490000, 1.460000, 1.450000, 1.500000, 1.470000, 1.380000, 1.360000, 1.340000, 1.330000, 1.320000, 1.300000, 1.290000, 1.270000, 1.260000, 1.240000, 1.230000, 1.240000, 1.220000, 1.230000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052890, 244110 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.697000, -0.105000, -0.937241 ], "estimate": [ 0.697000, -0.105000, -0.937241 ], "true_pose": [ 0.697000, -0.105000, -0.937241 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.720000, 1.660000, 1.640000, 1.600000, 1.570000, 1.530000, 1.510000, 1.470000, 1.440000, 1.420000, 1.400000, 1.370000, 1.340000, 1.320000, 1.300000, 1.280000, 1.260000, 1.240000, 1.220000, 1.200000, 1.180000, 1.170000, 1.170000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.090000, 1.070000, 1.070000, 1.050000, 1.040000, 1.020000, 1.020000, 1.010000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.970000, 0.960000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.950000, 0.960000, 0.950000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.170000, 1.180000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.330000, 1.340000, 1.380000, 1.400000, 1.420000, 1.450000, 1.490000, 1.520000, 1.560000, 1.590000, 1.620000, 1.660000, 1.700000, 1.750000, 1.800000, 1.840000, 1.900000, 1.960000, 2.030000, 2.090000, 2.160000, 2.240000, 2.330000, 2.430000, 2.520000, 2.640000, 2.760000, 2.890000, 3.050000, 3.200000, 3.390000, 3.610000, 3.870000, 4.160000, 4.490000, 4.890000, 5.340000, 10.520000, 10.170000, 10.160000, 10.040000, 13.750000, 10.930000, 13.310000, 16.440000, null, null, null, 8.550000, null, null, null, null, null, null, 7.780000, null, null, null, null, null, 6.980000, 7.020000, 7.060000, 7.100000, 7.110000, 3.450000, 3.280000, 3.130000, 3.000000, 2.890000, 2.780000, 2.680000, 2.580000, 2.480000, 2.420000, 2.350000, 2.280000, 2.200000, 2.150000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052892, 442399 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.745000, -0.103000, -1.445861 ], "estimate": [ 0.745000, -0.103000, -1.445861 ], "true_pose": [ 0.745000, -0.103000, -1.445861 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.070000, 4.000000, 4.020000, 4.080000, 4.130000, 4.180000, 4.230000, 4.290000, 4.350000, 4.370000, 4.330000, 4.260000, 4.300000, 4.290000, 3.160000, 3.210000, 3.280000, 3.320000, 3.340000, 3.360000, 3.400000, 3.460000, 3.480000, 3.420000, null, null, null, null, 3.550000, 1.710000, 1.680000, 1.640000, 1.590000, 1.570000, 1.530000, 1.500000, 1.480000, 1.440000, 1.420000, 1.390000, 1.370000, 1.340000, 1.310000, 1.300000, 1.270000, 1.260000, 1.240000, 1.220000, 1.200000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.110000, 1.100000, 1.090000, 1.090000, 1.070000, 1.070000, 1.060000, 1.040000, 1.040000, 1.030000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.090000, 1.090000, 1.110000, 1.120000, 1.140000, 1.150000, 1.180000, 1.190000, 1.200000, 1.220000, 1.240000, 1.270000, 1.280000, 1.300000, 1.310000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.520000, 1.550000, 1.570000, 1.610000, 1.660000, 1.700000, 1.740000, 1.790000, 1.840000, 1.900000, 1.950000, 2.010000, 2.080000, 2.130000, 2.220000, 2.290000, 2.390000, 2.500000, 2.600000, 2.720000, 2.850000, 3.000000, 3.170000, 3.350000, 3.570000, 3.810000, 4.080000, 4.400000, 4.790000, 5.230000, 5.730000, 10.230000, 10.200000, 10.110000, 10.220000, 10.980000, null, 9.430000, null, null, null, 8.700000, 8.820000, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 0 ], "timestamp": [ 976052893, 797315 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.720000, -0.082000, -1.926357 ], "estimate": [ 0.720000, -0.082000, -1.926357 ], "true_pose": [ 0.719000, -0.078000, -1.926357 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.000000, 3.140000, 3.270000, 3.430000, 3.630000, 3.830000, 4.030000, 4.290000, 4.560000, 4.890000, 5.280000, 5.700000, 6.250000, 6.850000, 8.570000, 8.500000, 8.470000, 8.440000, 8.440000, 8.420000, 8.420000, 8.410000, 8.410000, 8.400000, 8.410000, 8.410000, 8.420000, 4.090000, 3.990000, 3.980000, 4.010000, 4.060000, 4.120000, 4.160000, 4.230000, 4.280000, 4.320000, 4.340000, 4.290000, 4.280000, 4.260000, 4.270000, 3.140000, 3.180000, 3.270000, 3.280000, 3.310000, 3.350000, 3.400000, 3.440000, 3.480000, 3.420000, null, null, null, null, 3.540000, 1.730000, 1.680000, 1.640000, 1.610000, 1.580000, 1.540000, 1.510000, 1.480000, 1.450000, 1.430000, 1.400000, 1.370000, 1.350000, 1.330000, 1.320000, 1.290000, 1.270000, 1.250000, 1.230000, 1.220000, 1.200000, 1.190000, 1.180000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.020000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.130000, 1.140000, 1.160000, 1.180000, 1.190000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.280000, 1.310000, 1.320000, 1.350000, 1.370000, 1.400000, 1.430000, 1.450000, 1.470000, 1.510000, 1.530000, 1.570000, 1.600000, 1.650000, 1.680000, 1.720000, 1.770000, 1.810000, 1.870000, 1.920000, 1.980000, 2.030000, 2.120000, 2.170000, 2.250000, 2.330000, 2.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052895, 777946 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.705000, -0.041000, -2.460599 ], "estimate": [ 0.705000, -0.041000, -2.460599 ], "true_pose": [ 0.705000, -0.039000, -2.460599 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.360000, 1.370000, 1.390000, 1.420000, 1.440000, 1.450000, 1.480000, 1.510000, 1.530000, 1.570000, 1.600000, 1.640000, 1.670000, 1.720000, 1.750000, 1.800000, 3.270000, 3.220000, 3.180000, 3.160000, 3.150000, 3.110000, 3.090000, 3.060000, 2.800000, 2.770000, 2.750000, 2.730000, 2.680000, 2.760000, 2.870000, 3.010000, 3.140000, 3.290000, 3.450000, 3.650000, 3.870000, 4.090000, 4.340000, 4.660000, 5.060000, 5.430000, 5.890000, 6.520000, 7.220000, 8.480000, 8.440000, 8.440000, 8.410000, 8.400000, 8.390000, 8.380000, 8.380000, 8.370000, 8.380000, 8.380000, 8.390000, 8.400000, 4.060000, 3.960000, 3.950000, 4.000000, 4.040000, 4.100000, 4.160000, 4.210000, 4.280000, 4.320000, 4.290000, 4.250000, 4.240000, 4.220000, 4.250000, 3.110000, 3.180000, 3.260000, 3.290000, 3.310000, 3.350000, 3.390000, 3.420000, 3.470000, 3.410000, null, null, null, null, 3.510000, null, null, 1.680000, 1.650000, 1.610000, 1.580000, 1.550000, 1.520000, 1.490000, 1.460000, 1.440000, 1.420000, 1.400000, 1.380000, 1.350000, 1.340000, 1.320000, 1.290000, 1.280000, 1.260000, 1.230000, 1.220000, 1.200000, 1.200000, 1.180000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.030000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052897, 556887 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.676000, 0.022000, -3.013907 ], "estimate": [ 0.676000, 0.022000, -3.013907 ], "true_pose": [ 0.662000, 0.024000, -3.013907 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.060000, 1.060000, 1.050000, 1.070000, 1.080000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.160000, 1.170000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.310000, 1.330000, 1.360000, 1.370000, 1.400000, 1.430000, 1.440000, 1.470000, 1.500000, 1.520000, 1.570000, 1.610000, 1.650000, 1.680000, 1.720000, 5.120000, 3.180000, 3.150000, 3.140000, 3.110000, 3.080000, 3.050000, 3.030000, 2.780000, 2.750000, 2.730000, 2.700000, 2.680000, 2.680000, 2.800000, 2.930000, 3.070000, 3.220000, 3.380000, 3.580000, 3.810000, 4.050000, 4.320000, 4.640000, 5.040000, 5.420000, 5.920000, 6.570000, 8.530000, 8.450000, 8.430000, 8.410000, 8.400000, 8.380000, 8.380000, 8.370000, 8.380000, 8.360000, 8.380000, 8.390000, 8.390000, 8.400000, 4.080000, 3.970000, 3.940000, 3.990000, 4.030000, 4.090000, 4.150000, 4.210000, 4.270000, 4.310000, 4.320000, 4.220000, 4.120000, 4.210000, 3.430000, 4.260000, 3.200000, 3.270000, 3.300000, 3.330000, 3.360000, 3.390000, 3.440000, 3.480000, 3.450000, null, null, null, null, null, null, null, null, 1.730000, 1.690000, 1.650000, 1.620000, 1.590000, 1.560000, 1.530000, 1.510000, 1.480000, 1.460000, 1.430000, 1.410000, 1.390000, 1.370000, 1.350000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.260000, 1.250000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000, 1.130000, 1.120000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052899, 529538 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.743000, 0.076000, 2.754618 ], "estimate": [ 0.743000, 0.076000, 2.754618 ], "true_pose": [ 0.697000, 0.068000, 2.753056 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.970000, 0.980000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.200000, 1.220000, 1.240000, 1.260000, 1.270000, 1.290000, 1.310000, 1.330000, 1.360000, 1.370000, 1.400000, 1.440000, 1.450000, 1.480000, 1.520000, 1.560000, 1.590000, 1.640000, 1.670000, 1.740000, 3.150000, 3.140000, 3.120000, 3.090000, 3.060000, 3.050000, 3.030000, 2.770000, 2.740000, 2.710000, 2.690000, 2.670000, 2.640000, 2.790000, 2.930000, 3.070000, 3.230000, 3.410000, 3.610000, 3.860000, 4.110000, 4.400000, 4.750000, 5.160000, 5.630000, 6.250000, 6.950000, 8.480000, 8.450000, 8.430000, 8.410000, 8.390000, 8.380000, 8.380000, 8.380000, 8.390000, 8.380000, 8.390000, 8.390000, 8.410000, 4.160000, 4.060000, 3.950000, 3.970000, 4.030000, 4.070000, 4.130000, 4.190000, 4.260000, 4.300000, 4.360000, 4.310000, 4.260000, 4.260000, 4.260000, 4.270000, 3.340000, 3.230000, 3.300000, 3.340000, 3.370000, 3.410000, 3.450000, 3.500000, 3.520000, 3.470000, null, null, null, null, 3.590000, null, null, 1.760000, 1.750000, 1.720000, 1.690000, 1.660000, 1.620000, 1.600000, 1.570000, 1.550000, 1.520000, 1.490000, 1.460000, 1.450000, 1.430000, 1.410000, 1.380000, 1.370000, 1.360000, 1.350000, 1.330000, 1.320000, 1.300000, 1.290000, 1.270000, 1.260000, 1.250000, 1.240000, 1.220000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052901, 264404 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.730000, 0.132000, 2.251103 ], "estimate": [ 0.730000, 0.132000, 2.251103 ], "true_pose": [ 0.679000, 0.124000, 2.252665 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.540000, 1.510000, 1.490000, 1.450000, 1.430000, 1.410000, 1.450000, 1.410000, 1.330000, 1.300000, 1.290000, 1.260000, 1.250000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.090000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.020000, 1.020000, 1.010000, 1.000000, 1.000000, 0.980000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.970000, 0.960000, 0.960000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.990000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.150000, 1.140000, 1.170000, 1.190000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.330000, 1.350000, 1.380000, 1.390000, 1.440000, 1.460000, 1.490000, 1.520000, 1.560000, 1.610000, 1.650000, 1.700000, 3.150000, 3.130000, 3.100000, 3.080000, 3.070000, 3.050000, 3.030000, 2.770000, 2.750000, 2.730000, 2.700000, 2.680000, 2.660000, 2.800000, 2.940000, 3.100000, 3.280000, 3.470000, 3.700000, 3.930000, 4.230000, 4.560000, 4.990000, 5.430000, 5.980000, 6.690000, 8.540000, 8.470000, 8.460000, 8.440000, 8.430000, 8.420000, 8.410000, 8.410000, 8.410000, 8.410000, 8.430000, 8.440000, 8.430000, 8.450000, 4.150000, 4.040000, 3.990000, 4.040000, 4.090000, 4.150000, 4.200000, 4.280000, 4.330000, 4.380000, 4.380000, 4.350000, 4.220000, 4.310000, 4.300000, 4.310000, 3.190000, 3.330000, 3.370000, 3.400000, 3.430000, 3.470000, 3.520000, 3.540000, 3.460000, null, null, null, null, 3.630000, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0 ], "timestamp": [ 976052902, 966743 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.763000, 0.167000, 1.718776 ], "estimate": [ 0.763000, 0.167000, 1.718776 ], "true_pose": [ 0.771000, 0.163000, 1.718775 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.780000, null, null, null, null, null, 6.970000, 6.990000, 7.040000, 3.380000, 3.190000, 3.030000, 2.860000, 2.740000, 2.610000, 2.500000, 2.380000, 2.320000, 2.230000, 2.140000, 2.080000, 2.000000, 1.930000, 1.880000, 1.830000, 1.770000, 1.730000, 1.680000, 1.630000, 1.600000, 1.550000, 1.520000, 1.480000, 1.450000, 1.430000, 1.380000, 1.370000, 1.370000, 1.420000, 1.290000, 1.270000, 1.250000, 1.230000, 1.220000, 1.200000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.980000, 0.970000, 0.960000, 0.950000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.980000, 0.970000, 0.970000, 0.960000, 0.990000, 1.000000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.250000, 1.270000, 1.280000, 1.310000, 1.330000, 1.360000, 1.390000, 1.410000, 1.450000, 1.470000, 1.510000, 1.530000, 1.590000, 1.620000, 1.670000, 1.730000, 1.790000, 3.160000, 3.130000, 3.110000, 3.090000, 3.070000, 3.060000, 2.800000, 2.780000, 2.760000, 2.730000, 2.690000, 2.780000, 2.920000, 3.070000, 3.230000, 3.440000, 3.670000, 3.920000, 4.200000, 4.550000, 4.950000, 5.420000, 5.980000, 6.720000, 8.590000, 8.520000, 8.510000, 8.490000, 8.470000, 8.470000, 8.470000, 8.470000, 8.470000, 8.470000, 8.470000, 8.480000, 8.490000, 8.500000 ], "valid": [ 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052905, 623800 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.811000, 0.171000, 1.240365 ], "estimate": [ 0.811000, 0.171000, 1.240365 ], "true_pose": [ 0.810000, 0.180000, 1.234114 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.180000, 3.310000, 3.460000, 3.620000, 3.810000, 4.020000, 4.280000, 4.550000, 4.880000, 5.250000, 5.670000, 14.210000, 10.350000, 10.170000, 10.060000, 10.140000, null, null, 9.370000, null, null, null, 8.600000, 8.760000, null, null, null, null, null, 7.740000, null, null, null, null, null, 6.910000, 6.950000, 6.980000, 3.360000, 3.160000, 3.000000, 2.840000, 2.710000, 2.580000, 2.480000, 2.360000, 2.290000, 2.210000, 2.120000, 2.050000, 1.980000, 1.910000, 1.850000, 1.790000, 1.750000, 1.690000, 1.640000, 1.590000, 1.550000, 1.520000, 1.490000, 1.460000, 1.430000, 1.390000, 1.370000, 1.340000, 1.320000, 1.320000, 1.350000, 1.270000, 1.240000, 1.220000, 1.190000, 1.180000, 1.160000, 1.160000, 1.140000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.020000, 1.010000, 1.000000, 1.000000, 0.980000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.930000, 0.950000, 0.950000, 0.950000, 0.950000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 1.000000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.080000, 1.100000, 1.110000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.210000, 1.220000, 1.230000, 1.260000, 1.280000, 1.300000, 1.330000, 1.360000, 1.380000, 1.400000, 1.440000, 1.470000, 1.520000, 1.540000, 1.590000, 1.640000, 1.680000, 1.730000, 1.800000, 3.180000, 3.160000, 3.140000, 3.120000, 3.110000, 3.050000, 2.840000, 2.810000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052906, 624459 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.700000, 0.143000, 0.683830 ], "estimate": [ 0.700000, 0.143000, 0.683830 ], "true_pose": [ 0.741000, 0.138000, 0.693204 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.470000, 1.490000, 1.510000, 1.540000, 1.550000, 1.570000, 1.600000, 1.630000, 1.640000, 1.670000, 1.710000, 1.750000, 1.760000, 1.810000, 1.850000, 1.890000, 1.930000, 1.980000, 2.020000, 2.070000, 2.130000, 2.190000, 2.250000, 2.310000, 2.380000, 2.460000, 2.540000, 2.620000, 2.720000, 2.820000, 2.930000, 3.050000, 3.170000, 3.330000, 3.480000, 3.680000, 3.880000, 4.100000, 4.360000, 4.660000, 5.010000, 5.410000, 13.730000, 10.500000, 10.140000, 10.110000, 10.000000, 17.350000, 10.880000, 14.350000, null, null, null, 8.470000, 8.540000, null, null, null, null, null, null, null, null, null, null, null, null, 6.860000, 6.910000, 6.930000, 3.320000, 3.130000, 2.970000, 2.820000, 2.700000, 2.570000, 2.460000, 2.360000, 2.270000, 2.200000, 2.110000, 2.040000, 1.980000, 1.890000, 1.850000, 1.790000, 1.740000, 1.690000, 1.650000, 1.600000, 1.570000, 1.530000, 1.490000, 1.460000, 1.430000, 1.400000, 1.370000, 1.350000, 1.320000, 1.300000, 1.300000, 1.300000, 1.340000, 1.220000, 1.200000, 1.190000, 1.170000, 1.150000, 1.150000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.050000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.980000, 0.980000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.000000, 1.030000, 1.030000, 1.030000, 1.050000, 1.050000, 1.050000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.150000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052908, 347530 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.710000, 0.112000, 0.143128 ], "estimate": [ 0.710000, 0.112000, 0.143128 ], "true_pose": [ 0.764000, 0.101000, 0.157190 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.250000, 1.260000, 1.260000, 1.270000, 1.280000, 1.300000, 1.310000, 1.320000, 1.340000, 1.340000, 1.370000, 1.380000, 1.390000, 1.410000, 1.430000, 1.450000, 1.470000, 1.490000, 1.520000, 1.540000, 1.560000, 1.590000, 1.610000, 1.640000, 1.680000, 1.710000, 1.750000, 1.780000, 1.820000, 1.860000, 1.890000, 1.940000, 1.990000, 2.050000, 2.100000, 2.170000, 2.220000, 2.300000, 2.360000, 2.440000, 2.530000, 2.620000, 2.720000, 2.820000, 2.930000, 3.060000, 3.190000, 3.350000, 3.500000, 3.690000, 3.910000, 4.140000, 4.420000, 4.750000, 5.120000, 5.550000, 17.490000, 10.210000, 10.070000, 9.970000, 10.030000, null, null, 9.230000, null, null, null, 8.450000, null, null, null, null, null, null, 7.640000, null, null, null, null, null, 6.810000, 6.860000, 6.880000, 6.910000, 3.330000, 3.140000, 2.970000, 2.850000, 2.710000, 2.600000, 2.480000, 2.390000, 2.290000, 2.230000, 2.140000, 2.080000, 2.000000, 1.950000, 1.890000, 1.830000, 1.780000, 1.730000, 1.690000, 1.650000, 1.600000, 1.560000, 1.540000, 1.500000, 1.470000, 1.440000, 1.410000, 1.390000, 1.370000, 1.340000, 1.320000, 1.300000, 1.290000, 1.340000, 1.350000, 1.220000, 1.210000, 1.190000, 1.180000, 1.160000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.030000, 1.020000, 1.030000, 1.010000, 1.010000, 1.010000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052910, 195126 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.747000, 0.011000, -0.113109 ], "estimate": [ 1.747000, 0.011000, -0.113109 ], "true_pose": [ 1.742000, 0.024000, -0.114672 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.000000, 1.000000, 1.010000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.240000, 1.260000, 1.270000, 1.280000, 1.300000, 1.320000, 1.350000, 1.370000, 1.400000, 1.410000, 1.440000, 1.470000, 1.510000, 1.530000, 1.570000, 1.600000, 1.630000, 1.670000, 1.710000, 1.760000, 1.800000, 1.860000, 1.910000, 1.950000, 2.010000, 2.090000, 2.150000, 2.230000, 2.290000, 2.380000, 2.470000, 2.570000, 2.680000, 2.800000, 2.930000, 3.080000, 3.230000, 3.420000, 3.650000, 3.900000, 4.170000, 4.480000, 12.470000, 9.460000, 9.100000, 9.080000, 8.960000, 9.040000, 9.520000, 9.840000, 12.230000, null, null, null, null, 7.460000, null, 7.490000, null, null, null, null, null, 6.690000, null, null, null, null, null, null, null, 5.930000, 5.950000, 5.980000, 6.030000, 6.080000, 5.840000, 5.740000, 6.000000, 5.910000, 2.540000, 2.450000, 2.370000, 2.290000, 2.220000, 2.160000, 2.110000, 2.040000, 2.000000, 1.940000, 1.890000, 1.850000, 1.820000, 1.780000, 1.730000, 1.690000, 1.660000, 1.640000, 1.610000, 1.580000, 1.570000, 1.530000, 1.510000, 1.490000, 1.450000, 1.430000, 1.410000, 1.390000, 1.370000, 1.350000, 1.340000, 1.330000, 1.310000, 1.300000, 1.290000, 1.270000, 1.260000, 1.250000, 1.240000, 1.220000, 1.220000, 1.210000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.170000, 1.160000, 1.160000, 1.150000, 1.140000, 1.140000, 1.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052916, 119112 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.727000, -0.112000, -0.179874 ], "estimate": [ 2.727000, -0.112000, -0.179874 ], "true_pose": [ 2.711000, -0.097000, -0.181437 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.940000, 0.960000, 0.960000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.130000, 1.150000, 1.160000, 1.180000, 1.210000, 1.230000, 1.250000, 1.280000, 1.300000, 1.330000, 1.370000, 1.400000, 1.430000, 1.460000, 1.510000, 1.540000, 1.580000, 1.630000, 1.680000, 1.720000, 1.790000, 1.840000, 1.910000, 1.980000, 2.060000, 2.140000, 2.230000, 2.330000, 2.450000, 2.550000, 2.700000, 2.850000, 3.030000, 3.210000, 3.440000, 5.790000, 11.830000, 8.470000, 8.120000, 8.090000, 8.010000, 8.000000, null, 8.850000, 11.360000, 11.250000, 14.380000, null, null, null, 6.490000, 6.540000, null, 6.510000, null, null, null, null, null, null, null, 5.770000, null, null, null, null, null, null, null, null, 5.060000, 5.090000, 5.140000, 5.180000, 5.230000, 5.270000, 5.060000, 4.960000, 5.200000, 5.170000, 5.050000, 4.910000, 4.780000, 4.820000, 4.880000, 4.940000, 4.500000, 4.570000, 4.630000, 5.070000, 5.060000, 5.130000, 1.850000, 1.820000, 1.780000, 1.750000, 1.730000, 1.700000, 1.660000, 1.640000, 1.620000, 1.590000, 1.580000, 1.550000, 1.530000, 1.520000, 1.500000, 1.480000, 1.470000, 1.450000, 1.450000, 1.430000, 1.420000, 1.410000, 1.390000, 1.380000, 1.370000, 1.360000, 1.360000, 1.350000, 1.340000, 1.340000, 1.330000, 1.330000, 1.330000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052919, 518290 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.784000, -0.284000, -0.149036 ], "estimate": [ 3.784000, -0.284000, -0.149036 ], "true_pose": [ 3.720000, -0.284000, -0.155287 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.810000, 0.820000, 0.840000, 0.860000, 0.870000, 0.880000, 0.900000, 0.920000, 0.940000, 0.950000, 0.970000, 0.990000, 1.010000, 1.040000, 1.060000, 1.080000, 1.110000, 1.160000, 1.180000, 1.210000, 1.250000, 1.290000, 1.340000, 1.380000, 1.420000, 1.490000, 1.550000, 1.600000, 1.680000, 1.760000, 1.840000, 1.940000, 2.050000, 2.160000, 2.290000, 2.440000, 2.630000, 10.620000, 14.490000, 7.410000, 7.070000, 7.050000, 7.030000, 6.980000, 7.060000, 11.670000, 7.830000, 10.230000, 6.270000, 13.120000, 6.180000, null, null, null, null, 5.510000, 5.640000, null, 5.560000, null, null, null, null, null, null, null, null, 4.870000, null, null, null, null, null, null, null, null, null, null, null, 4.240000, null, 4.330000, null, 4.460000, null, null, 4.370000, 4.270000, 4.220000, 4.540000, 4.430000, 4.350000, 4.260000, 4.190000, 4.140000, 4.180000, 4.260000, 4.340000, 4.290000, 3.950000, 3.990000, 4.090000, 4.540000, 4.610000, 4.750000, 4.850000, 6.330000, 6.470000, 6.690000, 4.620000, 4.630000, 6.800000, 6.720000, 6.670000, 5.980000, 5.930000, 5.910000, 6.100000, 6.430000, 5.950000, 6.340000, 4.860000, 4.890000, 4.900000, 4.920000, 4.930000, 6.170000, 1.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052922, 949486 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.895000, -0.367000, -0.016333 ], "estimate": [ 4.895000, -0.367000, -0.016333 ], "true_pose": [ 4.813000, -0.358000, -0.008521 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.510000, 0.510000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.690000, 0.700000, 0.710000, 0.730000, 0.730000, 0.740000, 0.760000, 0.780000, 0.790000, 0.820000, 0.840000, 0.850000, 0.870000, 0.890000, 0.930000, 0.960000, 0.980000, 1.010000, 1.050000, 1.080000, 1.110000, 1.160000, 1.200000, 1.250000, 1.290000, 1.360000, 1.410000, 1.480000, 1.560000, 1.670000, 3.510000, 3.490000, 3.760000, 13.070000, 13.510000, 10.100000, 6.350000, 6.060000, 6.040000, 6.020000, 5.960000, 5.990000, 6.080000, null, 6.830000, null, 10.320000, 10.090000, 5.170000, null, null, null, null, null, 4.550000, 4.510000, 4.620000, null, null, 4.570000, null, null, null, null, null, null, null, null, null, null, null, 3.960000, null, null, null, 3.770000, 3.750000, 3.700000, 3.690000, 3.630000, 3.620000, 3.580000, 3.560000, 3.530000, 3.500000, 3.490000, 3.440000, null, null, null, null, null, null, null, 3.670000, 3.640000, 3.590000, 3.570000, 3.930000, 3.790000, 3.750000, 3.710000, 3.670000, 3.620000, 3.590000, 3.630000, 3.730000, 3.830000, 3.800000, 3.780000, 3.500000, 3.460000, 3.620000, 4.240000, 4.420000, 6.550000, 6.510000, 6.460000, 6.410000, 4.320000, 4.330000, 5.740000, 5.710000, 5.700000, 5.900000, 6.230000, 6.200000, 6.170000, 6.150000, 5.110000, 4.810000, 4.790000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052926, 565171 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.860000, -0.257000, 0.033980 ], "estimate": [ 5.860000, -0.257000, 0.033980 ], "true_pose": [ 5.832000, -0.234000, 0.029292 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.580000, 0.570000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.660000, 0.670000, 0.670000, 0.680000, 0.700000, 0.700000, 0.710000, 0.730000, 0.810000, 3.080000, 3.050000, 2.640000, 3.340000, 3.730000, 3.740000, 3.750000, 2.480000, 3.510000, 3.660000, 3.580000, 3.450000, 3.330000, 3.240000, 3.250000, 3.280000, 2.070000, 3.340000, null, null, null, 3.110000, 2.520000, 2.560000, 2.770000, 2.800000, null, 6.390000, 12.720000, 9.710000, 12.610000, 8.450000, 5.390000, 5.070000, 5.040000, 5.020000, 5.010000, 4.930000, 4.970000, 5.050000, null, 5.780000, null, 8.180000, 11.300000, 4.270000, 8.810000, 4.140000, 4.240000, null, null, null, null, null, null, 3.490000, 3.600000, null, 3.760000, null, null, 3.580000, null, null, null, null, 3.340000, null, null, 3.220000, 3.190000, 3.170000, 3.160000, 3.110000, 3.110000, 3.070000, 3.050000, 2.980000, 3.000000, 2.980000, 2.950000, 2.950000, 2.920000, 2.890000, 2.880000, 2.870000, 2.840000, 2.830000, 2.820000, 2.800000, 2.790000, 2.780000, 2.770000, 2.750000, 2.740000, 2.730000, 2.730000, 2.720000, 2.710000, 2.730000, null, null, null, 3.060000, 3.150000, null, 3.140000, 3.060000, 3.040000, 3.020000, 2.980000, 3.280000, 3.260000, 3.240000, 3.210000, 3.190000, 3.180000, 3.160000, 3.150000, 3.130000, 3.330000, 3.410000, 3.410000, 3.400000, 3.390000, 3.390000, 3.200000, 6.130000, 6.110000, 6.090000, 5.520000, 4.110000, 4.080000, 6.060000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052930, 151836 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.878000, -0.206000, 0.022943 ], "estimate": [ 6.878000, -0.206000, 0.022943 ], "true_pose": [ 6.844000, -0.186000, 0.016692 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.220000, 3.220000, 3.210000, 3.210000, 3.190000, 3.000000, 2.950000, 2.910000, 2.880000, 2.860000, 2.830000, 2.800000, 2.760000, 2.750000, 2.710000, 2.690000, 2.670000, 2.650000, 2.630000, 2.600000, 2.590000, 2.570000, 2.560000, 2.540000, 2.530000, 2.520000, 2.510000, 2.490000, 2.350000, 2.010000, 2.460000, 2.460000, 2.590000, 1.780000, 1.740000, 1.790000, 2.660000, 3.040000, 3.040000, 3.040000, 1.280000, 1.280000, 2.580000, 2.890000, 3.030000, 2.850000, 2.640000, 2.480000, 2.420000, 2.430000, 2.440000, 2.450000, 2.460000, 2.480000, 14.170000, 1.640000, 1.620000, 2.210000, 2.230000, null, 1.860000, 1.850000, null, null, 5.940000, 6.020000, null, null, null, null, null, 5.400000, 7.430000, 11.800000, 8.720000, 11.660000, 7.460000, 4.280000, 4.060000, 4.040000, 4.030000, 4.000000, 3.930000, 3.920000, 3.980000, 4.010000, null, null, 4.770000, 7.270000, 7.210000, 10.270000, 8.240000, 3.210000, 7.600000, 9.710000, 9.560000, 3.210000, null, null, null, null, null, null, null, null, null, 2.480000, 2.590000, null, null, 2.720000, 2.660000, 2.640000, 2.600000, null, 2.550000, 2.510000, 2.490000, 2.490000, 2.480000, 2.440000, 2.430000, 2.390000, 2.390000, 2.360000, 2.360000, 2.340000, 2.330000, 2.310000, 2.310000, 2.290000, 2.280000, 2.270000, 2.260000, 2.250000, 2.230000, 2.230000, 2.210000, 2.210000, 2.220000, 2.200000, 2.200000, 2.180000, 2.170000, 2.150000, 2.150000, 2.150000, 2.150000, 2.140000, 2.140000, 2.150000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.160000, 2.180000, 2.190000, 2.200000, 2.220000, 2.210000, 2.220000, 2.230000, 2.240000, 2.260000, 2.270000, 2.250000, 2.840000, 3.070000, 3.360000, 3.700000, 2.740000, 2.700000, 2.700000, 2.700000, 2.700000, 2.710000, 3.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052933, 730083 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.911000, -0.157000, 0.029924 ], "estimate": [ 7.911000, -0.157000, 0.029924 ], "true_pose": [ 7.879000, -0.142000, 0.029923 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.290000, 2.260000, 2.240000, 2.210000, 2.180000, 2.150000, 2.140000, 2.150000, 2.210000, 2.280000, 2.340000, 2.410000, 2.490000, 2.200000, 2.610000, 2.600000, 2.570000, 2.550000, 1.000000, 0.980000, 0.970000, 0.990000, 2.480000, 2.460000, 1.870000, 1.790000, 1.800000, 1.800000, 1.790000, 1.790000, 1.780000, 1.780000, 1.100000, 1.090000, 1.310000, 1.440000, 3.640000, 9.610000, 9.630000, null, 12.060000, 12.300000, null, 12.490000, 12.650000, 12.740000, 14.220000, 13.980000, 13.750000, 13.540000, 13.460000, 7.360000, null, null, null, null, null, null, 5.080000, 5.120000, 5.160000, null, null, null, 4.250000, 4.480000, 9.570000, 6.580000, 10.290000, 6.480000, 10.860000, 10.790000, 3.090000, 3.080000, 3.060000, 3.040000, 3.030000, 2.990000, 2.920000, 2.910000, 2.940000, 2.990000, 3.010000, 10.220000, 3.400000, null, 3.710000, null, 7.230000, 6.140000, null, 7.260000, 6.910000, 2.170000, 8.750000, 8.620000, 8.580000, 8.380000, 8.270000, 2.220000, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, 1.530000, 1.630000, 1.670000, null, 1.710000, 1.770000, 1.760000, 1.750000, 1.750000, 1.750000, 1.720000, 1.700000, 1.710000, 1.700000, 1.690000, 1.690000, 1.680000, 1.680000, 1.660000, 1.650000, 1.640000, 1.620000, 1.620000, 1.600000, 1.600000, 1.600000, 1.600000, 1.610000, 1.610000, 1.610000, 1.620000, 1.610000, 1.610000, 1.610000, 1.600000, 1.600000, 1.610000, 1.610000, 1.630000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.700000, 1.720000, 1.720000, 1.720000, 1.740000, 1.750000, 1.750000, 1.760000, 1.770000, 1.790000, 1.800000, 1.810000, 1.830000, 1.840000, 1.860000, 1.870000, 1.890000, 1.900000, 1.910000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052937, 507055 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.827000, -0.166000, -0.320262 ], "estimate": [ 8.827000, -0.166000, -0.320262 ], "true_pose": [ 8.789000, -0.165000, -0.324950 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.210000, 2.200000, 2.230000, 2.250000, 2.260000, 2.290000, 2.320000, 2.350000, 2.170000, 2.400000, 2.430000, 2.470000, 1.660000, 1.460000, 1.160000, 1.490000, 1.510000, 1.500000, 1.480000, 1.470000, 1.460000, 1.500000, 1.550000, 1.600000, 1.640000, 1.700000, 1.760000, 1.840000, 1.900000, 1.980000, 2.070000, 2.170000, 2.320000, 2.430000, 2.590000, 2.780000, 7.470000, 6.950000, 5.790000, 5.790000, 5.790000, null, 3.130000, 12.830000, 12.310000, 11.790000, 11.320000, 10.890000, 10.510000, 10.170000, 9.840000, 9.510000, 9.230000, 8.980000, 9.050000, null, null, 11.470000, 11.620000, null, 11.820000, 11.930000, 13.220000, 13.420000, 13.480000, 13.210000, 12.990000, null, null, null, null, null, 4.250000, 4.370000, 4.270000, null, 4.470000, null, null, null, 3.590000, 6.080000, 6.160000, 8.250000, 5.660000, 8.630000, 2.160000, 2.140000, 2.120000, 2.110000, 2.090000, 2.080000, 2.070000, 2.040000, 2.000000, 1.940000, 1.950000, 1.970000, 2.000000, 2.020000, 2.050000, 9.330000, 9.290000, 2.410000, 5.780000, 6.200000, null, 2.760000, 5.240000, 6.270000, 5.340000, null, 8.190000, 6.020000, 5.510000, 5.620000, 7.700000, 7.620000, 1.210000, 5.650000, 4.280000, 7.230000, 7.150000, 7.050000, 6.990000, 1.160000, 6.840000, 6.790000, 1.270000, 1.260000, null, null, 1.360000, null, null, null, null, null, null, 1.160000, 1.170000, 1.160000, 1.160000, 1.160000, 1.130000, 1.110000, 1.110000, 1.130000, 1.120000, 1.120000, 1.110000, 1.120000, 1.110000, 1.100000, 1.100000, 1.100000, 1.070000, 1.080000, 1.020000, 0.920000, 0.890000, 0.980000, 1.050000, 1.090000, 1.110000, 1.110000, 1.080000, 1.100000, 1.100000, 1.040000, 0.960000, 0.820000, 0.840000, 1.110000, 1.130000, 1.120000, 1.030000, 1.010000, 1.150000, 1.170000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052943, 271512 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 9.169000, -0.512000, -0.762322 ], "estimate": [ 9.169000, -0.512000, -0.762322 ], "true_pose": [ 9.135000, -0.494000, -0.777947 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.530000, 3.500000, 1.910000, 1.910000, null, null, 3.630000, 3.580000, 3.080000, 2.850000, 2.640000, 2.540000, 2.370000, 2.190000, 2.070000, 2.010000, 2.020000, 2.020000, 2.040000, 0.930000, 0.880000, 0.930000, 2.100000, 1.920000, 1.340000, 1.310000, 1.290000, 1.250000, 1.230000, 1.200000, 1.180000, 1.160000, 1.170000, 1.200000, 1.210000, 1.230000, 1.260000, 1.290000, 1.320000, 1.350000, 1.380000, 1.410000, 1.440000, 1.490000, 1.530000, 1.560000, 1.610000, 1.670000, 1.710000, 1.780000, 1.840000, 1.900000, 1.990000, 2.070000, 2.160000, 2.250000, 2.370000, 2.510000, 7.800000, 7.550000, 6.960000, 5.400000, 5.390000, 5.390000, 2.740000, 2.710000, null, 12.770000, 12.190000, 11.650000, 11.180000, 10.780000, 10.340000, 9.980000, 9.650000, 9.330000, 9.040000, 8.750000, 8.580000, 8.630000, null, null, 10.960000, 11.100000, null, 11.460000, 11.360000, 12.690000, 12.890000, 13.130000, 11.570000, 12.640000, 12.430000, null, null, null, null, null, null, 3.830000, 3.960000, 3.870000, null, null, null, null, 2.970000, null, 3.170000, 5.770000, 6.210000, 8.300000, 8.240000, 5.160000, 5.180000, 6.170000, 9.540000, 2.100000, 1.780000, 1.760000, 1.750000, 1.740000, 1.730000, 1.730000, 1.730000, 1.720000, 1.720000, 1.690000, 1.650000, 1.620000, 1.620000, 1.650000, 1.690000, 1.710000, 1.750000, null, 7.300000, 4.990000, null, 2.500000, 7.910000, 6.020000, 5.770000, 7.620000, 5.880000, 7.360000, 7.280000, 7.190000, 5.440000, 7.020000, 6.940000, 6.860000, 6.780000, 4.150000, 6.670000, 4.620000, 6.550000, 6.520000, 6.430000, 3.990000, 4.540000, 6.610000, 4.620000, 4.670000, null, null, null, 3.640000, 6.290000, 3.750000, null, 4.460000, 1.060000, 1.190000, 1.150000, 1.160000, 1.190000, 1.180000, 1.140000, 1.160000 ], "valid": [ 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052947, 130661 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 9.871000, -1.177000, -0.723777 ], "estimate": [ 9.871000, -1.177000, -0.723777 ], "true_pose": [ 9.822000, -1.189000, -0.739402 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.190000, 1.200000, 1.210000, 1.230000, 1.240000, 1.250000, 1.250000, 1.270000, 1.280000, 1.300000, 1.310000, 1.310000, 1.330000, 1.350000, 1.370000, 1.390000, 1.400000, 1.420000, 1.450000, 1.480000, 1.510000, 1.530000, 1.560000, 1.590000, 1.620000, 1.650000, 1.680000, 1.720000, 1.750000, 3.880000, 3.870000, 4.480000, 5.250000, 6.980000, 6.970000, 6.970000, 6.960000, 6.960000, 6.960000, 6.970000, 1.870000, 1.870000, 1.950000, 6.990000, 7.000000, 4.550000, 4.540000, 4.530000, 4.530000, 5.180000, null, null, 14.310000, 13.390000, 13.130000, 11.950000, 11.350000, 10.800000, 10.290000, 9.840000, 9.460000, 9.070000, 8.740000, 8.420000, 8.140000, 7.860000, 7.620000, 7.580000, 7.660000, 10.590000, null, 9.990000, 10.050000, 10.180000, 10.320000, 10.340000, 10.390000, 11.730000, 11.900000, 12.120000, 11.890000, 11.660000, 11.470000, null, null, null, null, null, 3.850000, null, null, null, 2.800000, 2.950000, 2.850000, 2.890000, null, 2.930000, null, null, null, null, null, null, 1.990000, null, 2.220000, 8.720000, 8.660000, 4.230000, 8.560000, 5.540000, 8.470000, 5.220000, 8.400000, 4.730000, 4.400000, 8.300000, 8.280000, 8.270000, 8.240000, 4.230000, 6.590000, 6.720000, 8.180000, 4.700000, 5.160000, 1.280000, 1.260000, 1.240000, 1.220000, 1.200000, 1.180000, 1.170000, 1.010000, 0.990000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.020000, 1.020000, 1.010000, 1.010000, 1.050000, 1.160000, null, null, null, 3.760000, 3.700000, 3.490000, 6.110000, 6.120000, 6.130000, null, null, 6.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1 ], "timestamp": [ 976052950, 724555 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 10.669000, -1.831000, -0.691482 ], "estimate": [ 10.669000, -1.831000, -0.691482 ], "true_pose": [ 10.629000, -1.840000, -0.697732 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.010000, 5.100000, 5.120000, 5.000000, 4.940000, 1.890000, 1.890000, 4.990000, 4.460000, 4.180000, 4.130000, 4.120000, 4.270000, 4.060000, 3.680000, 1.300000, 1.300000, 1.320000, 3.470000, 3.430000, 3.400000, 3.380000, 3.380000, 3.530000, 3.710000, 3.920000, 4.140000, 4.390000, 4.660000, 6.430000, 6.400000, 6.380000, 6.360000, 6.340000, 6.330000, 6.310000, 6.290000, 6.280000, 6.270000, 6.270000, 6.270000, 3.820000, 3.790000, 3.770000, 3.750000, 3.740000, 3.960000, 4.260000, 4.640000, 5.130000, 5.770000, 17.950000, 17.970000, null, null, 14.720000, 13.040000, 12.260000, 12.270000, 10.640000, 10.060000, 9.490000, 9.020000, 8.600000, 8.200000, 7.850000, 7.540000, 7.230000, 6.950000, 6.720000, 6.610000, 6.660000, 9.520000, 9.530000, 9.230000, 8.980000, 9.000000, 9.110000, 9.220000, 9.330000, 9.340000, 9.410000, 10.680000, 10.840000, 9.500000, 10.980000, 10.770000, 10.570000, 10.420000, null, null, null, null, null, null, null, 2.840000, null, null, null, null, null, 1.940000, 1.800000, null, null, 1.870000, 1.990000, null, null, 1.970000, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, 1.350000, 1.100000, 3.480000, 7.450000, 7.440000, 7.440000, 5.840000, 3.970000, 7.440000, 3.570000, 6.330000, 6.280000, 3.980000, 4.460000, 6.230000, 6.170000, 6.100000, 6.020000, 4.560000, 4.110000, 6.720000, 4.770000, 6.670000, 4.780000, 6.540000, 6.480000, 6.450000, 3.860000, 6.330000, 3.990000, 4.660000, 4.960000, 6.180000, 4.270000, 6.110000, 5.440000, 3.700000, 6.040000, 4.180000, 6.000000, 5.980000, 5.960000, 5.950000, 5.940000, 5.910000, 5.910000, 1.650000, 6.130000, 6.120000, 4.100000, 6.090000, 6.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052954, 433269 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 11.440000, -2.459000, -0.677729 ], "estimate": [ 11.440000, -2.459000, -0.677729 ], "true_pose": [ 11.385000, -2.460000, -0.683979 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.420000, 3.270000, 3.220000, 3.190000, 3.180000, 3.250000, 3.310000, 3.390000, 3.480000, 3.570000, 3.670000, 3.770000, 3.880000, 3.980000, 4.100000, 4.220000, 4.370000, 6.140000, 6.100000, 6.050000, 6.010000, 5.970000, 5.930000, 5.890000, 5.870000, 5.840000, 5.810000, 3.230000, 3.200000, 3.170000, 3.140000, 3.140000, 3.240000, 3.350000, 3.470000, 3.600000, 3.710000, 3.880000, 4.050000, 4.270000, 4.500000, 4.800000, 5.120000, 5.550000, 6.110000, null, 17.120000, 17.150000, 17.160000, 17.190000, 17.230000, null, 13.920000, 11.940000, 11.430000, 10.100000, 9.370000, 8.700000, 8.180000, 7.710000, 7.270000, 6.910000, 6.570000, 6.240000, 5.980000, 5.730000, 5.680000, 5.730000, 5.900000, 8.540000, 8.630000, 8.410000, 8.150000, 8.020000, 8.080000, 8.160000, 8.240000, 8.340000, 8.360000, 8.380000, 8.690000, 9.760000, 9.900000, 8.510000, 9.960000, 9.760000, 9.600000, 2.640000, null, null, null, null, null, null, null, null, null, null, 1.790000, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, 1.090000, 0.830000, 0.810000, 0.890000, null, null, 1.080000, 0.940000, 0.920000, null, null, null, null, 1.070000, null, null, null, null, null, null, null, null, null, null, null, null, null, 0.890000, 0.890000, 0.880000, 0.890000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.820000, 0.800000, 0.790000, 0.790000, 0.780000, 0.620000, 0.640000, 0.660000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 3.020000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052957, 954063 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 11.562000, -2.586000, -1.131871 ], "estimate": [ 11.562000, -2.586000, -1.131871 ], "true_pose": [ 11.508000, -2.580000, -1.125621 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.660000, 4.690000, 4.720000, 4.760000, 4.810000, 4.840000, 4.890000, 4.930000, 4.390000, 5.020000, 5.070000, 5.130000, 5.180000, 5.250000, 5.100000, 4.970000, 4.870000, 4.180000, null, 4.040000, 3.540000, 3.460000, 3.390000, 3.230000, 3.180000, 3.130000, 3.150000, 3.210000, 3.280000, 3.350000, 3.420000, 3.490000, 3.580000, 3.660000, 3.760000, 3.850000, 3.950000, 4.060000, 4.170000, 4.300000, 6.100000, 6.040000, 6.000000, 5.940000, 5.900000, 5.860000, 5.820000, 5.780000, 5.740000, 3.170000, 3.090000, 3.060000, 3.020000, 2.990000, 3.060000, 3.140000, 3.240000, 3.340000, 3.460000, 3.550000, 3.690000, 3.830000, 3.990000, 4.180000, 4.410000, 4.660000, 4.960000, 5.320000, 5.780000, 6.450000, 16.960000, 16.940000, 16.960000, 16.970000, 17.000000, 17.050000, null, null, 12.090000, 11.250000, 10.070000, 9.320000, 8.640000, 8.070000, 7.590000, 7.140000, 6.780000, 6.420000, 6.100000, 5.820000, 5.580000, 5.480000, 5.520000, 5.560000, 8.330000, 8.370000, 8.330000, 8.070000, 7.830000, 7.830000, 7.900000, 7.980000, 8.070000, 8.200000, 8.120000, 8.240000, 9.460000, 9.590000, 9.730000, 9.890000, 9.720000, 9.510000, 9.370000, 2.400000, null, null, null, null, null, null, null, null, null, null, null, null, 1.620000, null, null, null, null, null, null, null, null, null, null, null, null, null, null, 1.200000, 1.180000, 1.120000, null, 1.090000, 1.080000, 1.070000, 1.050000, 0.930000, 0.820000, 0.840000, 0.660000, 0.670000, 0.710000, 0.940000, 0.920000, null, 0.790000, 0.790000, 0.860000, null, null, null, 0.920000, null, null, 0.870000, 0.870000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.820000, 0.830000, 0.810000, 0.810000, 0.820000, 0.810000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052962, 101830 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 11.954000, -3.438000, -1.164052 ], "estimate": [ 11.954000, -3.438000, -1.164052 ], "true_pose": [ 11.909000, -3.435000, -1.160927 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.950000, 4.990000, 5.020000, 5.060000, 5.090000, 4.170000, 3.340000, 3.230000, 2.950000, 2.860000, 2.840000, 2.860000, 2.890000, 2.920000, 2.960000, 2.990000, 3.040000, 3.070000, 3.110000, 3.150000, 3.190000, 3.250000, 3.290000, 3.340000, 3.400000, 3.450000, 3.510000, 3.580000, 3.650000, 3.720000, 3.790000, 3.840000, 5.680000, 5.610000, 5.530000, 5.470000, 5.410000, 2.450000, 2.400000, 2.350000, 2.310000, 2.300000, 2.320000, 2.360000, 2.410000, 2.460000, 2.490000, 2.550000, 2.600000, 2.660000, 2.730000, 2.790000, 2.860000, 2.940000, 3.020000, 3.100000, 3.190000, 3.300000, 3.400000, 3.510000, 3.650000, 3.790000, 3.950000, 4.140000, 4.370000, 4.630000, 4.950000, 5.310000, 5.820000, 6.560000, 16.040000, 16.040000, 16.050000, 16.060000, 16.090000, 16.100000, 16.140000, null, 12.080000, 10.760000, 10.310000, 8.910000, 8.210000, 7.570000, 7.060000, 6.610000, 6.220000, 5.880000, 5.560000, 5.280000, 5.030000, 4.800000, 4.610000, 4.520000, 4.560000, 4.590000, 5.490000, 7.400000, 7.470000, 7.290000, 7.080000, 6.850000, 6.890000, 6.980000, 7.040000, 7.100000, null, 7.280000, 7.230000, 7.380000, 8.600000, 8.720000, 8.860000, 7.400000, 8.820000, 8.650000, 8.520000, 8.380000, 8.260000, 8.140000, 7.100000, 7.010000, 6.360000, 6.960000, 7.130000, 7.300000, 2.120000, 2.080000, 2.060000, 1.750000, 1.570000, 1.550000, 1.510000, 1.480000, 1.450000, 1.440000, 1.400000, 1.380000, 1.360000, 1.320000, 1.310000, 1.290000, 1.290000, 1.270000, 1.250000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.140000, 1.150000, 1.150000, 1.130000, 1.120000, 1.100000, 1.100000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.000000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.960000, 0.970000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052966, 729879 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.360000, -4.428000, -1.206444 ], "estimate": [ 12.360000, -4.428000, -1.206444 ], "true_pose": [ 12.320000, -4.359000, -1.215819 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.920000, 2.940000, 2.960000, 2.980000, 3.000000, 3.010000, 3.030000, 3.070000, 3.090000, 3.120000, 3.140000, 3.170000, 3.200000, 3.220000, 3.260000, 3.300000, 2.070000, 1.910000, 1.810000, 1.790000, 1.790000, 1.800000, 1.810000, 1.830000, 1.850000, 1.860000, 1.880000, 1.890000, 1.910000, 1.930000, 1.950000, 1.970000, 1.990000, 2.020000, 2.040000, 2.060000, 2.090000, 2.130000, 2.160000, 2.190000, 2.210000, 2.250000, 2.280000, 2.330000, 2.360000, 2.410000, 2.460000, 2.500000, 2.550000, 2.610000, 2.660000, 2.720000, 2.800000, 2.870000, 2.950000, 3.040000, 3.120000, 3.220000, 3.320000, 3.450000, 3.560000, 3.690000, 3.850000, 4.040000, 4.240000, 4.510000, 4.810000, 5.180000, 5.640000, 6.280000, 15.100000, 15.090000, 15.090000, 15.090000, 15.100000, 15.100000, 15.120000, 15.140000, 15.160000, 12.170000, 10.570000, 9.360000, 9.320000, 7.600000, 6.990000, 6.410000, 5.980000, 5.580000, 5.220000, 4.930000, 4.670000, 4.410000, 4.190000, 3.990000, 3.810000, 3.650000, 3.500000, 3.520000, 3.560000, 3.580000, 3.620000, 6.410000, 6.480000, 6.340000, 6.160000, 5.990000, 5.890000, 5.910000, 6.000000, 6.050000, 6.140000, 6.210000, 5.860000, 6.250000, 6.300000, 6.530000, 7.760000, 7.900000, 8.020000, 6.480000, 6.470000, 7.740000, 7.650000, 7.540000, 7.430000, 7.350000, 7.250000, 6.550000, 6.210000, 6.130000, 6.060000, 5.440000, 6.360000, 6.550000, 6.680000, 6.620000, 6.310000, 6.520000, 6.460000, 6.410000, 6.340000, 6.290000, 6.240000, 6.200000, 6.160000, 5.810000, 5.470000, 5.460000, 5.580000, 4.900000, 3.540000, 3.530000, 3.170000, 3.160000, 1.400000, 1.390000, 1.380000, 1.380000, 1.400000, 1.410000, 1.400000, 1.400000, 1.380000, 1.400000, 1.400000, 5.010000, 3.840000, 3.090000, 2.510000, 2.120000, 1.820000, 1.020000, 1.020000, 1.010000, 0.990000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052970, 666180 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.704000, -5.379000, -1.261644 ], "estimate": [ 12.704000, -5.379000, -1.261644 ], "true_pose": [ 12.652000, -5.353000, -1.269457 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.680000, 1.680000, 1.680000, 1.680000, 1.680000, 1.690000, 1.690000, 1.690000, 1.680000, 1.670000, 1.670000, 1.670000, 1.700000, 1.710000, 1.720000, 1.730000, 1.730000, 1.730000, 1.740000, 1.750000, 1.760000, 1.770000, 1.780000, 1.790000, 1.810000, 1.830000, 1.840000, 1.860000, 1.880000, 1.890000, 1.910000, 1.920000, 1.940000, 1.960000, 1.980000, 2.010000, 2.030000, 2.060000, 2.090000, 2.120000, 2.150000, 2.180000, 2.220000, 2.240000, 2.280000, 2.330000, 2.360000, 2.400000, 2.450000, 2.510000, 2.560000, 2.630000, 2.670000, 2.740000, 2.830000, 2.900000, 2.980000, 3.070000, 3.170000, 3.280000, 3.400000, 3.520000, 3.660000, 3.810000, 4.000000, 4.220000, 4.480000, 4.780000, 5.160000, 5.630000, 6.290000, 16.770000, 14.150000, 14.130000, 14.120000, 14.130000, 14.120000, 14.110000, 14.130000, 14.130000, 14.160000, 11.800000, 9.970000, 8.620000, 8.300000, 6.820000, 6.200000, 5.650000, 5.200000, 4.840000, 4.500000, 4.200000, 3.960000, 3.750000, 3.550000, 3.360000, 3.200000, 3.050000, 2.920000, 2.790000, 2.690000, 2.590000, 2.490000, 2.510000, 2.540000, 2.560000, 2.600000, 2.620000, 5.500000, 5.350000, 5.210000, 5.080000, 4.950000, 4.920000, 4.970000, 5.050000, 5.110000, 5.190000, 4.960000, 5.360000, 4.850000, 5.340000, 5.410000, 5.570000, 7.000000, 7.140000, 7.180000, 5.630000, 6.990000, 5.630000, 6.810000, 6.730000, 6.650000, 6.580000, 6.510000, 6.440000, 6.380000, 5.510000, 5.440000, 5.400000, 5.360000, 5.420000, 4.540000, 5.860000, 5.990000, 6.000000, 5.960000, 5.660000, 5.910000, 5.870000, 5.850000, 5.760000, 5.730000, 5.700000, 5.670000, 5.650000, 5.640000, 5.610000, 5.020000, 5.010000, 4.980000, 5.490000, 5.550000, 5.540000, 4.540000, 4.360000, 5.540000, 5.540000, 5.540000, 3.310000, 3.160000, 3.170000, 3.150000, 2.980000, 2.860000, 2.870000, 2.880000, 2.890000, 2.890000, 2.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052973, 632869 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.999000, -6.328000, -1.349866 ], "estimate": [ 12.999000, -6.328000, -1.349866 ], "true_pose": [ 12.952000, -6.315000, -1.360804 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.610000, 1.600000, 1.600000, 1.610000, 1.610000, 1.620000, 1.610000, 1.610000, 1.600000, 1.600000, 1.600000, 1.610000, 1.620000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.660000, 1.670000, 1.670000, 1.680000, 1.690000, 1.700000, 1.700000, 1.720000, 1.730000, 1.740000, 1.760000, 1.780000, 1.800000, 1.800000, 1.810000, 1.830000, 1.860000, 1.880000, 1.900000, 1.920000, 1.940000, 1.970000, 2.000000, 2.010000, 2.050000, 2.090000, 2.110000, 2.150000, 2.190000, 2.230000, 2.280000, 2.320000, 2.360000, 2.420000, 2.460000, 2.530000, 2.580000, 2.660000, 2.730000, 2.800000, 2.880000, 2.960000, 3.060000, 3.160000, 3.270000, 3.400000, 3.520000, 3.670000, 3.840000, 4.050000, 4.300000, 4.590000, 4.940000, 5.380000, 6.010000, 15.840000, 15.810000, 13.180000, 13.160000, 13.140000, 13.140000, 13.130000, 13.130000, 13.130000, 13.140000, 13.150000, 13.170000, 10.170000, 8.560000, 7.350000, 7.300000, 5.730000, 5.180000, 4.710000, 4.310000, 4.000000, 3.750000, 3.490000, 3.260000, 3.070000, 2.910000, 2.770000, 2.640000, 2.510000, 2.400000, 2.300000, 2.210000, 2.120000, 2.040000, 1.960000, 1.900000, 1.850000, 1.780000, 1.730000, 1.680000, 1.630000, 1.600000, 1.550000, 1.530000, 1.560000, 1.580000, 1.600000, 1.640000, 1.650000, 1.690000, 1.720000, 4.060000, 4.130000, 4.210000, 4.290000, 4.360000, 4.440000, 4.450000, 4.580000, 3.870000, 4.570000, 4.710000, 6.410000, 6.410000, 6.340000, 6.260000, 4.900000, 6.130000, 4.940000, 6.010000, 5.970000, 5.900000, 5.880000, 5.820000, 5.770000, 5.740000, 5.700000, 5.090000, 4.880000, 4.850000, 4.830000, 4.800000, 5.180000, 5.420000, 5.480000, 4.060000, 5.510000, 5.460000, 5.220000, 5.460000, 5.440000, 5.430000, 5.360000, 5.350000, 5.350000, 5.340000, 5.340000, 5.330000, 5.330000, 5.340000, 5.320000, 4.780000, 4.780000, 4.800000, 5.370000, 5.400000, 5.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052977, 445845 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.188000, -7.287000, -1.398403 ], "estimate": [ 13.188000, -7.287000, -1.398403 ], "true_pose": [ 13.159000, -7.276000, -1.412466 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.530000, 1.530000, 1.520000, 1.530000, 1.530000, 1.530000, 1.540000, 1.540000, 1.530000, 1.530000, 1.530000, 1.530000, 1.530000, 1.540000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.600000, 1.610000, 1.620000, 1.620000, 1.630000, 1.650000, 1.660000, 1.670000, 1.690000, 1.710000, 1.720000, 1.720000, 1.740000, 1.770000, 1.790000, 1.800000, 1.830000, 1.850000, 1.870000, 1.890000, 1.930000, 1.950000, 1.970000, 2.010000, 2.040000, 2.080000, 2.110000, 2.160000, 2.200000, 2.230000, 2.280000, 2.340000, 2.390000, 2.440000, 2.500000, 2.570000, 2.640000, 2.710000, 2.790000, 2.870000, 2.970000, 3.060000, 3.170000, 3.290000, 3.430000, 3.580000, 3.740000, 3.950000, 4.200000, 4.490000, 4.860000, 5.300000, 5.940000, 14.910000, 14.880000, 14.840000, 12.200000, 12.180000, 12.150000, 12.150000, 12.140000, 12.140000, 12.140000, 12.140000, 12.140000, 12.150000, 10.360000, 8.310000, 6.920000, 6.290000, 5.200000, 4.680000, 4.230000, 3.850000, 3.520000, 3.260000, 3.040000, 2.830000, 2.680000, 2.520000, 2.380000, 2.260000, 2.140000, 2.050000, 1.950000, 1.870000, 1.800000, 1.740000, 1.680000, 1.620000, 1.560000, 1.510000, 1.470000, 1.410000, 1.370000, 1.320000, 1.290000, 1.260000, 1.230000, 1.200000, 1.160000, 1.140000, 1.110000, 1.090000, 1.060000, 1.040000, 1.030000, 1.010000, 0.990000, 0.970000, 0.960000, 0.940000, 0.930000, 0.910000, 0.910000, 0.910000, 0.890000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.830000, 0.900000, 0.970000, 1.020000, 5.280000, 5.250000, 5.230000, 5.220000, 5.200000, 4.490000, 4.460000, 4.460000, 4.420000, 4.440000, 5.160000, 5.240000, 5.240000, 5.240000, 4.990000, 3.800000, 5.250000, 5.260000, 5.260000, 5.200000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052981, 790339 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.387000, -8.248000, -1.420170 ], "estimate": [ 13.387000, -8.248000, -1.420170 ], "true_pose": [ 13.301000, -8.218000, -1.410795 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.470000, 1.470000, 1.470000, 1.480000, 1.470000, 1.480000, 1.480000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.510000, 1.510000, 1.510000, 1.520000, 1.520000, 1.530000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.590000, 1.600000, 1.620000, 1.630000, 1.650000, 1.660000, 1.670000, 1.690000, 1.710000, 1.720000, 1.740000, 1.770000, 1.790000, 1.810000, 1.840000, 1.870000, 1.890000, 1.910000, 1.950000, 1.970000, 2.020000, 2.050000, 2.090000, 2.130000, 2.170000, 2.230000, 2.260000, 2.320000, 2.370000, 2.430000, 2.490000, 2.560000, 2.630000, 2.710000, 2.790000, 2.880000, 2.980000, 3.080000, 3.220000, 3.340000, 3.490000, 3.670000, 3.880000, 4.120000, 4.420000, 4.790000, 5.240000, 5.880000, 14.030000, 13.980000, 13.940000, 13.920000, 11.260000, 11.230000, 11.220000, 11.210000, 11.190000, 11.190000, 11.180000, 11.180000, 11.180000, 11.190000, 11.190000, 8.540000, 6.870000, 5.720000, 5.310000, 5.340000, 3.880000, 3.500000, 3.210000, 2.940000, 2.700000, 2.500000, 2.350000, 2.210000, 2.090000, 1.980000, 1.860000, 1.790000, 1.710000, 1.630000, 1.550000, 1.490000, 1.430000, 1.370000, 1.330000, 1.280000, 1.240000, 1.190000, 1.160000, 1.120000, 1.090000, 1.050000, 1.020000, 1.000000, 0.970000, 0.950000, 0.930000, 0.920000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.800000, 0.810000, 0.800000, 0.790000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.650000, 0.640000, 0.640000, 0.630000, 0.640000, 0.620000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052984, 407173 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.490000, -9.288000, -1.511517 ], "estimate": [ 13.490000, -9.288000, -1.511517 ], "true_pose": [ 13.393000, -9.217000, -1.502142 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.380000, 1.380000, 1.370000, 1.380000, 1.380000, 1.380000, 1.390000, 1.380000, 1.390000, 1.380000, 1.380000, 1.380000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.410000, 1.410000, 1.420000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.470000, 1.490000, 1.490000, 1.510000, 1.520000, 1.530000, 1.550000, 1.570000, 1.590000, 1.600000, 1.610000, 1.630000, 1.650000, 1.660000, 1.680000, 1.710000, 1.730000, 1.760000, 1.790000, 1.810000, 1.840000, 1.880000, 1.900000, 1.940000, 1.980000, 2.030000, 2.060000, 2.120000, 2.160000, 2.220000, 2.260000, 2.330000, 2.380000, 2.450000, 2.510000, 2.590000, 2.670000, 2.770000, 2.860000, 2.970000, 3.100000, 3.210000, 3.380000, 3.550000, 3.770000, 4.020000, 4.320000, 4.680000, 5.150000, 5.880000, 8.110000, 12.970000, 13.000000, 12.980000, 10.310000, 10.300000, 10.270000, 10.240000, 10.230000, 10.220000, 10.220000, 10.210000, 10.200000, 10.200000, 10.220000, 10.210000, 8.980000, 7.060000, 5.830000, 4.920000, 4.330000, 4.350000, 4.380000, 3.120000, 2.840000, 2.620000, 2.450000, 2.280000, 2.140000, 2.010000, 1.890000, 1.790000, 1.700000, 1.620000, 1.540000, 1.480000, 1.400000, 1.360000, 1.300000, 1.260000, 1.220000, 1.170000, 1.140000, 1.100000, 1.070000, 1.040000, 1.000000, 0.990000, 0.990000, 0.990000, 0.920000, 0.890000, 0.870000, 0.850000, 0.830000, 0.820000, 0.810000, 0.790000, 0.780000, 0.760000, 0.740000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.680000, 0.680000, 0.670000, 0.670000, 0.650000, 0.650000, 0.640000, 0.630000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.580000, 0.580000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052987, 943407 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.512000, -10.249000, -1.624948 ], "estimate": [ 13.512000, -10.249000, -1.624948 ], "true_pose": [ 13.431000, -10.223000, -1.618698 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.260000, 1.260000, 1.260000, 1.250000, 1.250000, 1.250000, 1.240000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.240000, 1.250000, 1.250000, 1.250000, 1.250000, 1.260000, 1.260000, 1.270000, 1.270000, 1.280000, 1.280000, 1.290000, 1.300000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.390000, 1.420000, 1.420000, 1.420000, 1.440000, 1.460000, 1.480000, 1.500000, 1.520000, 1.530000, 1.550000, 1.570000, 1.600000, 1.610000, 1.640000, 1.670000, 1.690000, 1.720000, 1.750000, 1.790000, 1.820000, 1.860000, 1.910000, 1.950000, 1.990000, 2.040000, 2.100000, 2.150000, 2.210000, 2.260000, 2.330000, 2.410000, 2.490000, 2.570000, 2.670000, 2.780000, 2.900000, 3.030000, 3.170000, 3.330000, 3.540000, 3.780000, 4.070000, 4.420000, 4.920000, 5.560000, 7.150000, 12.100000, 11.790000, 12.020000, 11.980000, 9.320000, 9.290000, 9.260000, 9.240000, 9.240000, 9.200000, 9.220000, 9.220000, 9.210000, 9.210000, 9.210000, 9.210000, 9.220000, 9.230000, 6.670000, 5.610000, 4.820000, 4.210000, 3.760000, 3.410000, 3.360000, 3.370000, 3.390000, 3.400000, 2.310000, 2.160000, 2.030000, 1.930000, 1.830000, 1.740000, 1.660000, 1.580000, 1.520000, 1.460000, 1.410000, 1.350000, 1.300000, 1.260000, 1.210000, 1.210000, 1.150000, 1.100000, 1.060000, 1.040000, 1.020000, 0.980000, 0.960000, 0.930000, 0.920000, 0.890000, 0.870000, 0.860000, 0.840000, 0.830000, 0.830000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.750000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.700000, 0.680000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.630000, 0.630000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052991, 395887 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.430000, -11.253000, -1.642548 ], "estimate": [ 13.430000, -11.253000, -1.642548 ], "true_pose": [ 13.409000, -11.233000, -1.673798 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.110000, 1.110000, 1.100000, 1.100000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.280000, 1.300000, 1.320000, 1.320000, 1.340000, 1.360000, 1.380000, 1.410000, 1.420000, 1.440000, 1.450000, 1.480000, 1.510000, 1.530000, 1.560000, 1.600000, 1.620000, 1.650000, 1.680000, 1.730000, 1.770000, 1.800000, 1.840000, 1.900000, 1.950000, 2.010000, 2.060000, 2.130000, 2.200000, 2.270000, 2.360000, 2.450000, 2.540000, 2.660000, 2.770000, 2.900000, 3.080000, 3.260000, 3.520000, 3.800000, 4.140000, 4.540000, 5.210000, 6.100000, 11.120000, 11.060000, 11.020000, 10.990000, 10.940000, 8.280000, 8.250000, 8.230000, 8.210000, 8.200000, 8.200000, 8.180000, 8.180000, 8.180000, 8.170000, 8.170000, 8.170000, 8.180000, 8.190000, 8.210000, 6.830000, 5.830000, 5.110000, 4.510000, 4.030000, 3.680000, 3.380000, 3.090000, 2.880000, 2.690000, 2.530000, 2.390000, 2.380000, 2.390000, 2.410000, 2.440000, 2.440000, 2.460000, 2.760000, 2.790000, 2.800000, 2.840000, 2.870000, 2.880000, 1.390000, 1.340000, 1.310000, 1.270000, 1.230000, 1.190000, 1.160000, 1.130000, 1.100000, 1.070000, 1.040000, 1.020000, 1.000000, 0.970000, 0.970000, 0.950000, 0.930000, 0.920000, 0.910000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.840000, 0.820000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.720000, 0.730000, 0.720000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976052994, 895668 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.378000, -12.218000, -1.669524 ], "estimate": [ 13.378000, -12.218000, -1.669524 ], "true_pose": [ 13.332000, -12.198000, -1.691399 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.970000, 0.970000, 0.980000, 0.970000, 0.980000, 0.970000, 0.980000, 0.970000, 0.970000, 0.980000, 0.970000, 0.970000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.180000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.300000, 1.310000, 1.330000, 1.360000, 1.380000, 1.420000, 1.430000, 1.460000, 1.500000, 1.530000, 1.560000, 1.600000, 1.640000, 1.680000, 1.730000, 1.780000, 1.830000, 1.890000, 1.950000, 2.020000, 2.090000, 2.170000, 2.270000, 2.360000, 2.460000, 2.590000, 2.730000, 2.870000, 3.080000, 3.310000, 3.570000, 3.930000, 4.420000, 5.190000, 10.200000, 10.140000, 10.100000, 9.760000, 10.020000, 9.980000, 7.330000, 7.300000, 7.280000, 7.260000, 7.250000, 7.240000, 7.230000, 7.230000, 7.210000, 7.220000, 7.210000, 7.210000, 7.220000, 7.220000, 7.220000, 7.230000, 7.240000, 7.290000, 5.880000, 5.210000, 4.690000, 4.260000, 3.940000, 3.630000, 3.360000, 3.140000, 2.960000, 2.790000, 2.640000, 2.480000, 2.370000, 2.250000, 2.140000, 2.060000, 1.980000, 1.900000, 1.830000, 1.770000, 1.710000, 1.650000, 1.610000, 1.560000, 1.530000, 1.560000, 1.580000, 1.610000, 1.630000, 1.650000, 1.670000, 1.710000, 2.040000, 2.080000, 2.120000, 2.150000, 2.200000, 4.210000, 4.280000, 4.360000, 4.440000, 4.520000, null, 5.910000, 6.010000, 6.160000, 6.320000, 6.380000, 6.300000, 6.220000, 6.160000, 4.780000, 4.800000, 5.970000, 5.910000, 5.850000, 5.820000, 5.760000, 5.710000, 5.660000, 5.620000, 5.590000, 4.710000, 0.880000, 0.830000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053002, 896893 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.317000, -13.189000, -1.643270 ], "estimate": [ 13.317000, -13.189000, -1.643270 ], "true_pose": [ 13.251000, -13.203000, -1.665145 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.110000, 1.110000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.250000, 1.270000, 1.290000, 1.310000, 1.340000, 1.370000, 1.390000, 1.430000, 1.450000, 1.500000, 1.530000, 1.570000, 1.620000, 1.680000, 1.710000, 1.770000, 1.830000, 1.900000, 1.960000, 2.040000, 2.130000, 2.230000, 2.320000, 2.430000, 2.560000, 2.720000, 2.890000, 3.110000, 3.390000, 3.740000, 4.210000, 4.810000, 9.240000, 9.210000, 9.150000, 9.110000, 9.070000, 9.030000, 9.000000, 6.330000, 6.300000, 6.270000, 6.260000, 6.250000, 6.230000, 6.230000, 6.220000, 6.210000, 6.220000, 6.210000, 6.210000, 6.210000, 6.210000, 6.210000, 6.230000, 6.230000, 6.240000, 6.260000, 6.280000, 6.350000, 5.210000, 4.730000, 4.350000, 4.030000, 3.740000, 3.500000, 3.290000, 3.110000, 2.960000, 2.790000, 2.650000, 2.540000, 2.430000, 2.330000, 2.230000, 2.160000, 2.080000, 2.010000, 1.940000, 1.890000, 1.840000, 1.770000, 1.730000, 1.680000, 1.630000, 1.590000, 1.550000, 1.510000, 1.470000, 1.450000, 1.410000, 1.390000, 1.350000, 1.340000, 1.310000, 1.280000, 1.260000, 1.230000, 1.220000, 1.200000, 1.180000, 1.160000, 1.150000, 1.130000, 1.110000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.010000, 0.990000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.970000, 1.070000, 1.140000, 1.210000, 5.480000, 5.460000, 5.440000, 5.410000, 5.400000, 5.370000, 4.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053006, 526548 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.237000, -14.206000, -1.629412 ], "estimate": [ 13.237000, -14.206000, -1.629412 ], "true_pose": [ 13.140000, -14.207000, -1.651287 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.840000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.160000, 1.180000, 1.200000, 1.220000, 1.250000, 1.260000, 1.300000, 1.310000, 1.340000, 1.370000, 1.400000, 1.440000, 1.470000, 1.510000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.800000, 1.860000, 1.930000, 2.000000, 2.100000, 2.190000, 2.290000, 2.420000, 2.570000, 2.750000, 2.920000, 3.150000, 3.420000, 3.770000, 8.380000, 8.330000, 8.270000, 8.220000, 8.190000, 8.130000, 8.070000, 8.060000, 8.020000, 7.970000, 5.320000, 5.300000, 5.280000, 5.260000, 5.240000, 5.240000, 5.230000, 5.220000, 5.220000, 5.210000, 5.210000, 5.200000, 5.210000, 5.210000, 5.200000, 5.220000, 5.220000, 5.240000, 5.240000, 5.250000, 5.270000, 5.290000, 5.310000, 5.320000, 5.400000, 4.660000, 4.090000, 3.840000, 3.610000, 3.410000, 3.240000, 3.070000, 2.920000, 2.790000, 2.670000, 2.560000, 2.470000, 2.380000, 2.300000, 2.230000, 2.160000, 2.090000, 2.030000, 1.980000, 1.910000, 1.870000, 1.820000, 1.770000, 1.720000, 1.670000, 1.640000, 1.610000, 1.570000, 1.540000, 1.510000, 1.480000, 1.460000, 1.430000, 1.400000, 1.380000, 1.360000, 1.340000, 1.320000, 1.290000, 1.280000, 1.260000, 1.240000, 1.230000, 1.220000, 1.200000, 1.190000, 1.190000, 1.170000, 1.160000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.080000, 1.080000, 1.070000, 1.060000, 1.070000, 1.060000, 1.040000, 1.050000, 1.050000, 1.050000, 1.040000, 1.040000, 1.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053010, 302767 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.181000, -15.231000, -1.647222 ], "estimate": [ 13.181000, -15.231000, -1.647222 ], "true_pose": [ 13.068000, -15.178000, -1.656597 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.930000, 0.950000, 0.950000, 0.960000, 0.980000, 0.990000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.100000, 1.110000, 1.130000, 1.150000, 1.160000, 1.190000, 1.210000, 1.240000, 1.270000, 1.310000, 1.330000, 1.360000, 1.390000, 1.430000, 1.450000, 1.510000, 1.540000, 1.590000, 1.640000, 1.700000, 1.750000, 1.820000, 1.880000, 1.960000, 2.040000, 2.130000, 2.230000, 2.330000, 2.490000, 2.630000, 2.790000, 2.990000, 7.560000, 7.490000, 7.440000, 7.370000, 7.320000, 7.270000, 7.230000, 7.180000, 7.150000, 6.740000, 7.070000, 7.030000, 7.000000, 4.330000, 4.300000, 4.280000, 4.260000, 4.260000, 4.240000, 4.240000, 4.230000, 4.220000, 4.210000, 4.210000, 4.210000, 4.220000, 4.220000, 4.210000, 4.210000, 4.210000, 4.220000, 4.230000, 4.240000, 4.250000, 4.250000, 4.260000, 4.270000, 4.290000, 4.310000, 4.330000, 4.340000, 4.360000, 4.480000, 4.500000, 4.530000, 4.670000, 3.360000, 3.210000, 3.070000, 2.950000, 2.830000, 2.720000, 2.640000, 2.540000, 2.450000, 2.370000, 2.310000, 2.250000, 2.180000, 2.120000, 2.060000, 2.000000, 1.960000, 1.900000, 1.870000, 1.820000, 1.780000, 1.740000, 1.710000, 1.670000, 1.640000, 1.610000, 1.590000, 1.550000, 1.540000, 1.510000, 1.490000, 1.470000, 1.460000, 1.440000, 1.420000, 1.440000, 1.370000, 1.360000, 1.350000, 1.330000, 1.320000, 1.310000, 1.290000, 1.280000, 1.270000, 1.250000, 1.260000, 1.250000, 1.240000, 1.230000, 1.230000, 1.220000, 1.210000, 1.210000, 1.190000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.170000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053013, 709877 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.133000, -16.206000, -1.602740 ], "estimate": [ 13.133000, -16.206000, -1.602740 ], "true_pose": [ 13.006000, -16.181000, -1.608990 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.860000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.060000, 1.070000, 1.090000, 1.110000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.250000, 1.260000, 1.290000, 1.320000, 1.340000, 1.360000, 1.400000, 1.430000, 1.450000, 1.500000, 1.540000, 1.590000, 1.630000, 1.680000, 1.730000, 1.790000, 1.850000, 1.920000, 1.990000, 2.060000, 4.640000, 4.760000, 6.960000, 6.880000, 6.810000, 6.730000, 6.670000, 6.600000, 6.550000, 6.490000, 6.430000, 6.390000, 6.340000, 6.300000, 6.250000, 6.220000, 6.180000, 5.770000, 6.110000, 6.080000, 6.050000, 3.320000, 3.310000, 3.300000, 3.290000, 3.280000, 3.280000, 3.270000, 3.260000, 3.250000, 3.240000, 3.240000, 3.230000, 3.240000, 3.230000, 3.230000, 3.240000, 3.240000, 3.240000, 3.240000, 3.250000, 3.250000, 3.260000, 3.260000, 3.270000, 3.280000, 3.290000, 3.290000, 3.300000, 3.310000, 3.320000, 3.340000, 3.360000, 3.370000, 3.390000, 3.420000, 3.430000, 3.450000, 3.590000, 3.620000, 3.650000, 3.790000, 3.830000, 3.860000, 3.890000, 2.590000, 2.520000, 2.430000, 2.370000, 2.300000, 2.250000, 2.190000, 2.140000, 2.090000, 2.040000, 1.990000, 1.950000, 1.910000, 1.870000, 1.830000, 1.800000, 1.770000, 1.740000, 1.700000, 1.680000, 1.660000, 1.640000, 1.610000, 1.580000, 1.550000, 1.540000, 1.530000, 1.510000, 1.490000, 1.480000, 1.460000, 1.450000, 1.420000, 1.410000, 1.410000, 1.400000, 1.390000, 1.380000, 1.380000, 1.360000, 1.360000, 1.340000, 1.340000, 1.340000, 1.330000, 1.310000, 1.320000, 1.310000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053017, 176977 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.084000, -17.180000, -1.650651 ], "estimate": [ 13.084000, -17.180000, -1.650651 ], "true_pose": [ 12.944000, -17.161000, -1.656901 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.930000, 0.940000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.940000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.050000, 1.060000, 1.060000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.170000, 1.180000, 1.210000, 1.220000, 1.250000, 1.270000, 1.290000, 1.320000, 4.120000, 4.010000, 3.900000, 3.800000, 3.720000, 3.630000, 3.570000, 3.490000, 3.420000, 3.370000, 3.460000, 3.530000, 3.640000, 3.710000, 3.780000, 3.850000, 3.930000, 6.080000, 6.190000, 6.120000, 6.040000, 5.970000, 5.900000, 5.830000, 5.760000, 5.710000, 5.640000, 5.590000, 5.540000, 5.490000, 5.440000, 5.390000, 5.350000, 5.310000, 5.270000, 5.230000, 4.710000, 5.160000, 5.130000, 2.400000, 2.350000, 2.340000, 2.330000, 2.320000, 2.310000, 2.310000, 2.300000, 2.290000, 2.280000, 2.270000, 2.270000, 2.270000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.270000, 2.270000, 2.270000, 2.280000, 2.270000, 2.280000, 2.280000, 2.300000, 2.300000, 2.310000, 2.310000, 2.310000, 2.320000, 2.320000, 2.340000, 2.350000, 2.360000, 2.380000, 2.390000, 2.400000, 2.420000, 2.430000, 2.460000, 2.460000, 2.490000, 2.520000, 2.530000, 2.560000, 2.590000, 2.610000, 2.660000, 2.780000, 2.830000, 2.860000, 3.030000, 3.060000, 3.100000, 3.140000, 3.190000, 3.200000, 5.400000, 5.490000, 5.580000, 5.670000, 6.840000, 1.920000, 1.860000, 1.840000, 1.810000, 1.780000, 1.750000, 1.730000, 1.700000, 1.680000, 1.670000, 1.640000, 1.620000, 1.610000, 1.590000, 1.570000, 1.560000, 1.540000, 1.530000, 1.530000, 1.520000, 1.490000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.440000, 1.430000, 1.430000, 1.430000, 1.420000, 1.420000, 1.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053020, 826035 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.010000, -18.194000, -1.670128 ], "estimate": [ 13.010000, -18.194000, -1.670128 ], "true_pose": [ 12.868000, -18.219000, -1.674815 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.190000, 6.990000, 7.120000, 7.110000, 11.030000, 12.120000, 18.770000, 18.570000, 19.830000, 19.870000, 20.920000, 14.300000, 8.200000, 8.150000, 8.160000, 8.170000, 8.190000, 8.220000, 8.220000, 8.250000, 6.320000, 5.840000, 5.390000, 5.030000, 4.740000, 4.440000, 4.200000, 3.980000, 3.780000, 3.600000, 3.430000, 3.280000, 3.150000, 3.020000, 2.910000, 2.810000, 2.730000, 2.670000, 2.740000, 2.770000, 2.790000, 2.830000, 2.920000, 2.960000, 2.970000, 3.020000, 3.060000, 3.100000, 3.140000, 5.210000, 5.120000, 5.090000, 5.160000, 5.230000, 5.350000, 5.320000, 5.220000, 5.150000, 5.080000, 5.010000, 4.940000, 4.870000, 4.800000, 4.750000, 4.690000, 4.650000, 4.590000, 4.540000, 4.490000, 4.450000, 4.410000, 4.360000, 4.330000, 4.280000, 1.420000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.330000, 1.320000, 1.320000, 1.310000, 1.310000, 1.300000, 1.300000, 1.300000, 1.290000, 1.280000, 1.280000, 1.270000, 1.270000, 1.270000, 1.260000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.260000, 1.270000, 1.270000, 1.270000, 1.260000, 1.270000, 1.270000, 1.280000, 1.280000, 1.280000, 1.280000, 1.290000, 1.300000, 1.280000, 1.310000, 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 1.340000, 1.350000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.440000, 1.460000, 1.460000, 1.490000, 1.500000, 1.520000, 1.540000, 1.550000, 1.570000, 1.600000, 1.620000, 1.650000, 1.680000, 1.710000, 1.740000, 1.770000, 1.800000, 1.840000, 1.870000, 1.920000, 1.950000, 2.000000, 2.180000, 2.220000, 2.410000, 2.510000, 2.560000, 2.630000, 5.290000, null, 5.140000, 5.060000, null, 6.690000, 6.620000, 6.570000, 6.520000, 6.470000, 6.430000, 6.370000, 6.330000, 6.290000, 5.460000, 5.440000, 5.420000, 5.400000, 6.000000, 6.110000, 6.160000, 1.570000, 1.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053024, 324625 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.957000, -18.557000, -2.087188 ], "estimate": [ 12.957000, -18.557000, -2.087188 ], "true_pose": [ 12.801000, -18.590000, -2.091875 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.280000, 2.730000, 2.810000, 2.910000, 2.990000, 3.090000, 3.200000, 3.310000, 3.460000, 3.560000, 3.550000, 3.540000, 3.770000, 3.970000, 4.190000, 4.430000, 4.720000, 5.030000, 5.400000, 5.820000, 6.320000, 6.910000, 7.080000, 7.070000, 7.060000, 8.770000, 11.460000, 12.070000, 18.560000, 18.740000, 19.770000, 22.170000, 20.810000, 8.050000, 8.040000, 8.060000, 8.060000, 8.080000, 8.090000, 8.110000, 6.330000, 5.710000, 5.140000, 4.720000, 4.340000, 4.020000, 3.740000, 3.510000, 3.310000, 3.100000, 2.940000, 2.790000, 2.670000, 2.550000, 2.450000, 2.510000, 2.530000, 2.550000, 2.570000, 2.600000, 2.670000, 2.700000, 2.730000, 2.760000, 2.780000, 2.810000, 2.840000, 2.880000, 5.160000, 5.050000, 4.930000, 4.830000, 4.830000, 4.900000, 4.970000, 5.040000, 5.050000, 4.970000, 4.880000, 4.800000, 4.730000, 4.660000, 4.600000, 4.530000, 4.470000, 4.420000, 4.360000, 4.300000, 4.250000, 4.200000, 4.150000, 4.130000, 4.080000, 4.040000, 3.980000, 1.040000, 1.020000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.930000, 0.920000, 0.920000, 0.920000, 0.930000, 0.920000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.020000, 1.020000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.110000, 1.130000, 1.150000, 1.150000, 1.170000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.330000, 1.360000, 1.390000, 1.410000, 1.450000, 1.490000, 1.510000, 1.540000, 1.570000, 1.620000, 1.670000, 1.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053028, 793511 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.891000, -18.520000, -2.597058 ], "estimate": [ 12.891000, -18.520000, -2.597058 ], "true_pose": [ 12.742000, -18.525000, -2.595495 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.430000, 1.400000, 1.380000, 1.350000, 1.330000, 1.300000, 1.280000, 1.270000, 1.250000, 1.240000, 1.220000, 1.200000, 1.180000, 1.160000, 1.150000, 1.140000, 1.120000, 1.110000, 1.090000, 1.080000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.040000, 1.100000, 1.140000, 1.200000, 1.270000, 2.740000, 2.830000, 2.920000, 3.010000, 3.120000, 3.250000, 3.370000, 3.520000, 3.520000, 3.510000, 3.690000, 3.870000, 4.090000, 4.330000, 4.600000, 4.910000, 5.260000, 5.680000, 6.160000, 6.730000, 7.050000, 7.040000, 7.020000, 8.720000, 9.910000, 12.020000, 18.730000, 18.580000, 19.710000, 19.740000, 22.150000, 8.110000, 8.010000, 8.030000, 8.040000, 8.030000, 8.060000, 8.080000, 6.600000, 5.920000, 5.350000, 4.890000, 4.530000, 4.190000, 3.890000, 3.650000, 3.440000, 3.240000, 3.060000, 2.900000, 2.770000, 2.650000, 2.540000, 2.430000, 2.480000, 2.510000, 2.530000, 2.550000, 2.580000, 2.660000, 2.680000, 2.710000, 2.740000, 2.770000, 2.800000, 2.830000, 2.870000, 5.120000, 5.000000, 4.890000, 4.790000, 4.850000, 4.920000, 4.990000, 5.100000, 5.020000, 4.940000, 4.860000, 4.790000, 4.710000, 4.650000, 4.590000, 4.520000, 4.460000, 4.410000, 4.350000, 4.300000, 4.250000, 4.200000, 4.160000, 4.120000, 4.070000, 4.040000, 4.010000, 3.970000, 1.090000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.980000, 0.970000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.000000, 1.000000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.040000, 1.090000, 1.070000, 1.080000, 1.100000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053030, 754726 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.852000, -18.423000, -3.128031 ], "estimate": [ 12.852000, -18.423000, -3.128031 ], "true_pose": [ 12.708000, -18.417000, -3.126468 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 15.890000, null, 17.820000, 5.020000, 4.340000, 3.910000, 3.580000, 3.300000, 3.060000, 2.860000, 2.700000, 2.550000, 2.430000, 2.340000, 2.250000, 2.160000, 2.080000, 2.000000, 1.940000, 1.880000, 1.830000, 1.760000, 1.720000, 1.680000, 1.630000, 1.590000, 1.560000, 1.520000, 1.490000, 1.460000, 1.420000, 1.400000, 1.370000, 1.350000, 1.320000, 1.290000, 1.270000, 1.260000, 1.240000, 1.220000, 1.200000, 1.170000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 1.030000, 1.070000, 1.130000, 1.210000, 1.290000, 2.840000, 2.940000, 3.050000, 3.160000, 3.290000, 3.420000, 3.480000, 3.490000, 3.520000, 3.760000, 3.980000, 4.220000, 4.490000, 4.790000, 5.150000, 5.560000, 6.030000, 6.630000, 7.040000, 7.030000, 7.000000, 8.710000, 9.850000, 12.010000, 18.730000, 18.620000, 19.700000, 19.810000, 22.140000, 8.410000, 8.010000, 8.020000, 8.030000, 8.040000, 8.050000, 8.060000, 8.090000, 6.120000, 5.570000, 5.070000, 4.700000, 4.370000, 4.060000, 3.800000, 3.580000, 3.390000, 3.200000, 3.030000, 2.890000, 2.760000, 2.660000, 2.550000, 2.440000, 2.510000, 2.530000, 2.560000, 2.580000, 2.620000, 2.680000, 2.710000, 2.740000, 2.770000, 2.800000, 2.840000, 2.880000, 2.900000, 5.070000, 4.970000, 4.850000, 4.850000, 4.930000, 5.000000, 5.080000, 5.070000, 4.990000, 4.900000, 4.830000, 4.760000, 4.690000, 4.630000, 4.560000, 4.500000, 4.450000, 4.400000, 4.350000, 4.290000, 4.260000, 4.210000, 4.160000, 4.130000, 4.090000, 4.040000, 4.010000, 3.990000, 1.140000, 1.090000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.020000, 1.020000, 1.030000, 1.020000, 1.010000, 1.010000, 1.020000 ], "valid": [ 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053032, 609361 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.851000, -18.315000, 2.843608 ], "estimate": [ 12.851000, -18.315000, 2.843608 ], "true_pose": [ 12.683000, -18.370000, 2.824858 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.930000, 6.330000, 6.190000, 6.160000, 6.150000, 6.530000, 6.970000, 7.500000, 8.090000, 8.850000, 9.750000, 10.780000, 14.160000, 14.190000, 14.270000, null, null, null, null, 15.780000, null, null, 4.470000, 3.950000, 3.620000, 3.350000, 3.100000, 2.890000, 2.720000, 2.560000, 2.440000, 2.340000, 2.230000, 2.150000, 2.090000, 2.010000, 1.950000, 1.890000, 1.840000, 1.790000, 1.720000, 1.680000, 1.640000, 1.590000, 1.550000, 1.520000, 1.490000, 1.450000, 1.430000, 1.380000, 1.370000, 1.340000, 1.320000, 1.290000, 1.270000, 1.250000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.140000, 1.130000, 1.120000, 1.090000, 1.080000, 1.070000, 1.060000, 1.040000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 1.010000, 1.060000, 1.140000, 1.220000, 2.830000, 2.930000, 3.050000, 3.150000, 3.300000, 3.430000, 3.470000, 3.470000, 3.540000, 3.780000, 4.020000, 4.260000, 4.540000, 4.870000, 5.240000, 5.680000, 6.180000, 6.820000, 7.030000, 7.010000, 7.030000, 8.690000, 11.230000, null, 18.460000, 19.730000, 19.690000, 22.130000, 14.020000, 8.030000, 8.000000, 8.010000, 8.020000, 8.040000, 8.050000, 8.080000, 6.590000, 5.940000, 5.430000, 4.980000, 4.620000, 4.310000, 4.010000, 3.760000, 3.550000, 3.380000, 3.190000, 3.030000, 2.890000, 2.770000, 2.660000, 2.560000, 2.470000, 2.510000, 2.540000, 2.560000, 2.590000, 2.630000, 2.690000, 2.720000, 2.760000, 2.790000, 2.810000, 2.840000, 2.890000, 2.920000, 5.040000, 4.940000, 4.840000, 4.890000, 4.980000, 5.060000, 5.140000, 5.040000, 4.980000, 4.890000, 4.820000, 4.750000, 4.690000, 4.630000, 4.570000, 4.510000, 4.450000, 4.410000, 4.360000, 4.300000, 4.270000, 4.220000, 4.180000, 4.140000, 4.100000, 4.060000, 4.040000, 4.000000, 1.170000, 1.130000, 1.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053038, 727399 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.866000, -18.292000, 2.304573 ], "estimate": [ 12.866000, -18.292000, 2.304573 ], "true_pose": [ 12.679000, -18.330000, 2.296761 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.110000, 2.140000, 2.190000, 2.200000, 2.250000, 2.290000, 2.330000, 2.380000, 2.420000, 2.480000, 2.530000, 2.580000, 2.640000, 2.720000, 2.790000, 2.860000, 2.930000, 3.000000, 3.080000, 3.170000, 3.250000, 3.360000, 3.460000, 3.590000, 3.700000, 3.840000, 3.990000, 4.150000, 4.320000, 4.510000, 4.700000, 4.960000, 6.260000, 6.120000, 6.090000, 6.210000, 6.610000, 7.100000, 7.640000, 8.300000, 9.060000, 10.020000, 14.120000, 14.090000, 14.220000, 14.230000, null, null, null, 15.820000, null, 16.590000, 5.110000, 4.370000, 3.920000, 3.600000, 3.320000, 3.080000, 2.870000, 2.710000, 2.570000, 2.450000, 2.350000, 2.250000, 2.170000, 2.110000, 2.030000, 1.960000, 1.900000, 1.840000, 1.790000, 1.730000, 1.690000, 1.650000, 1.610000, 1.580000, 1.540000, 1.510000, 1.470000, 1.450000, 1.420000, 1.390000, 1.340000, 1.330000, 1.290000, 1.270000, 1.260000, 1.240000, 1.220000, 1.200000, 1.170000, 1.170000, 1.150000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 1.040000, 1.120000, 1.180000, 2.960000, 3.090000, 3.220000, 3.370000, 3.480000, 3.490000, 3.480000, 3.710000, 3.940000, 4.190000, 4.470000, 4.800000, 5.170000, 5.610000, 6.140000, 6.810000, 7.050000, 7.030000, 7.040000, 11.730000, 11.450000, null, 18.490000, 19.730000, 19.730000, null, 14.140000, 8.040000, 8.030000, 8.050000, 8.060000, 8.070000, 8.090000, 8.110000, 6.600000, 5.950000, 5.440000, 5.010000, 4.650000, 4.340000, 4.070000, 3.820000, 3.610000, 3.430000, 3.260000, 3.080000, 2.960000, 2.830000, 2.720000, 2.620000, 2.510000, 2.540000, 2.580000, 2.590000, 2.630000, 2.660000, 2.730000, 2.760000, 2.790000, 2.820000, 2.850000, 2.890000, 2.930000, 2.940000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053039, 859881 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.844000, -18.305000, 2.299045 ], "estimate": [ 12.844000, -18.305000, 2.299045 ], "true_pose": [ 12.719000, -18.320000, 2.288108 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.090000, 2.110000, 2.160000, 2.180000, 2.210000, 2.250000, 2.290000, 2.330000, 2.370000, 2.410000, 2.470000, 2.520000, 2.580000, 2.640000, 2.720000, 2.780000, 2.860000, 2.930000, 3.010000, 3.080000, 3.170000, 3.260000, 3.380000, 3.470000, 3.590000, 3.720000, 3.850000, 4.010000, 4.140000, 4.330000, 4.520000, 4.730000, 4.980000, 6.140000, 6.100000, 6.100000, 6.220000, 6.630000, 7.120000, 7.660000, 8.340000, 9.110000, 10.050000, 14.090000, 14.090000, 14.180000, 14.230000, null, null, 15.810000, 15.820000, null, 5.420000, 4.540000, 4.020000, 3.680000, 3.380000, 3.120000, 2.910000, 2.740000, 2.580000, 2.470000, 2.370000, 2.260000, 2.180000, 2.110000, 2.030000, 1.970000, 1.910000, 1.840000, 1.790000, 1.730000, 1.690000, 1.650000, 1.610000, 1.570000, 1.540000, 1.510000, 1.470000, 1.430000, 1.420000, 1.390000, 1.340000, 1.330000, 1.310000, 1.290000, 1.260000, 1.240000, 1.230000, 1.200000, 1.180000, 1.170000, 1.160000, 1.140000, 1.130000, 1.110000, 1.090000, 1.090000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.970000, 1.030000, 1.100000, 1.180000, 2.970000, 3.100000, 3.230000, 3.380000, 3.490000, 3.460000, 3.480000, 3.730000, 3.950000, 4.200000, 4.510000, 4.850000, 5.230000, 5.670000, 6.230000, 6.920000, 7.030000, 7.030000, 10.050000, 12.000000, 12.030000, 18.480000, 18.570000, 19.730000, 19.780000, 14.080000, 8.050000, 8.030000, 8.030000, 8.040000, 8.060000, 8.070000, 8.090000, 6.670000, 6.050000, 5.530000, 5.070000, 4.720000, 4.410000, 4.110000, 3.860000, 3.660000, 3.480000, 3.290000, 3.120000, 2.990000, 2.850000, 2.750000, 2.650000, 2.530000, 2.540000, 2.550000, 2.580000, 2.610000, 2.640000, 2.670000, 2.740000, 2.780000, 2.810000, 2.830000, 2.860000, 2.900000, 2.940000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053042, 487429 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.764000, -18.366000, 2.821415 ], "estimate": [ 12.764000, -18.366000, 2.821415 ], "true_pose": [ 12.645000, -18.356000, 2.810478 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.720000, 4.950000, 6.210000, 6.160000, 6.110000, 6.150000, 6.500000, 6.940000, 7.460000, 8.060000, 8.780000, 9.660000, 10.690000, 14.130000, 14.160000, 14.240000, null, null, null, 15.920000, 15.740000, 16.610000, 4.780000, 4.150000, 3.740000, 3.450000, 3.190000, 2.950000, 2.750000, 2.590000, 2.460000, 2.350000, 2.240000, 2.160000, 2.090000, 2.010000, 1.940000, 1.880000, 1.830000, 1.790000, 1.730000, 1.670000, 1.630000, 1.590000, 1.540000, 1.520000, 1.480000, 1.440000, 1.410000, 1.380000, 1.360000, 1.330000, 1.300000, 1.290000, 1.270000, 1.250000, 1.220000, 1.200000, 1.190000, 1.170000, 1.150000, 1.140000, 1.120000, 1.100000, 1.100000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.020000, 1.020000, 1.010000, 0.990000, 0.980000, 0.990000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 1.020000, 1.080000, 1.160000, 1.220000, 2.890000, 2.990000, 3.110000, 3.240000, 3.380000, 3.460000, 3.450000, 3.460000, 3.730000, 3.950000, 4.190000, 4.460000, 4.780000, 5.150000, 5.590000, 6.080000, 6.690000, 7.010000, 7.000000, 6.990000, 8.690000, 11.990000, 12.090000, 18.460000, 19.670000, 19.680000, 22.110000, 9.250000, 7.990000, 7.980000, 7.990000, 8.000000, 8.020000, 8.040000, 8.060000, 6.340000, 5.770000, 5.280000, 4.860000, 4.530000, 4.200000, 3.940000, 3.710000, 3.510000, 3.340000, 3.160000, 3.010000, 2.870000, 2.750000, 2.640000, 2.550000, 2.450000, 2.490000, 2.520000, 2.550000, 2.580000, 2.600000, 2.680000, 2.700000, 2.740000, 2.760000, 2.800000, 2.820000, 2.860000, 2.910000, 5.000000, 4.900000, 4.870000, 4.890000, 4.970000, 5.030000, 5.110000, 5.030000, 4.940000, 4.870000, 4.810000, 4.730000, 4.680000, 4.610000, 4.560000, 4.500000, 4.440000, 4.400000, 4.340000, 4.300000, 4.260000, 4.210000, 4.180000, 4.140000, 4.090000, 4.060000, 4.040000, 3.960000, 3.490000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053044, 801020 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.252000, -18.531000, -2.937729 ], "estimate": [ 12.252000, -18.531000, -2.937729 ], "true_pose": [ 12.095000, -18.557000, -2.948666 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.020000, 0.980000, 0.950000, 0.910000, 0.870000, 0.850000, 0.820000, 0.800000, 0.770000, 0.740000, 0.720000, 0.700000, 0.680000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.800000, 0.810000, 0.830000, 1.710000, 1.780000, 1.810000, 1.830000, 1.860000, 1.890000, 1.920000, 1.960000, 1.980000, 2.020000, 2.060000, 2.100000, 2.140000, 2.190000, 2.230000, 2.270000, 2.330000, 2.380000, 2.450000, 2.510000, 2.570000, 2.650000, 2.720000, 2.800000, 2.890000, 2.970000, 2.970000, 2.960000, 3.030000, 3.170000, 3.300000, 3.450000, 3.610000, 3.780000, 3.990000, 4.220000, 4.470000, 4.760000, 5.090000, 5.440000, 5.890000, 6.400000, 6.450000, 6.440000, 6.440000, 9.700000, 11.310000, 11.420000, null, 17.870000, 19.140000, 19.110000, null, 13.470000, 7.420000, 7.410000, 7.420000, 7.430000, 7.440000, 7.460000, 7.470000, 7.490000, 5.530000, 5.060000, 4.600000, 4.260000, 3.980000, 3.700000, 3.470000, 3.260000, 3.090000, 2.940000, 2.800000, 2.650000, 2.520000, 2.410000, 2.330000, 2.250000, 2.160000, 2.090000, 2.020000, 1.960000, 1.890000, 1.920000, 1.940000, 1.960000, 1.990000, 2.020000, 2.040000, 2.120000, 2.150000, 2.180000, 2.210000, 2.240000, 2.260000, 2.310000, 2.340000, 2.390000, 4.330000, 4.420000, 4.510000, 4.580000, 4.660000, 4.590000, 4.520000, 4.470000, 4.400000, 4.360000, 4.310000, 4.250000, 4.220000, 4.170000, 4.130000, 4.090000, 4.050000, 4.010000, 3.960000, 3.940000, 3.900000, 3.870000, 3.840000, 3.810000, 3.790000, 3.760000, 3.740000, 3.720000, 3.700000, 3.680000, 3.210000, 3.650000, 3.640000, 3.620000, 3.610000, 3.590000, 3.580000, 3.580000, 3.570000, 3.570000, 3.560000, 3.550000, 3.550000, 3.190000, 3.540000, 3.240000, 3.250000, 3.250000, 3.260000, 3.260000, 3.250000, 3.440000, 1.170000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053049, 180953 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 11.325000, -18.650000, -3.086575 ], "estimate": [ 11.325000, -18.650000, -3.086575 ], "true_pose": [ 11.125000, -18.665000, -3.077200 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.450000, 1.450000, 1.440000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.480000, 1.480000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.540000, 1.550000, 1.560000, 1.570000, 1.570000, 1.600000, 1.610000, 1.630000, 1.630000, 1.650000, 1.660000, 1.680000, 1.710000, 1.720000, 1.740000, 1.760000, 1.780000, 1.800000, 1.840000, 1.870000, 1.880000, 1.920000, 1.940000, 1.980000, 2.010000, 2.050000, 2.090000, 2.120000, 2.170000, 2.170000, 2.160000, 2.130000, 2.140000, 2.180000, 2.280000, 2.330000, 2.400000, 2.460000, 2.530000, 2.600000, 2.670000, 2.760000, 2.840000, 2.940000, 3.030000, 3.150000, 3.270000, 3.390000, 3.540000, 3.700000, 3.890000, 4.090000, 4.310000, 4.550000, 4.840000, 5.160000, 5.510000, 5.480000, 5.460000, 5.460000, 7.730000, 8.550000, 9.680000, 10.440000, 10.430000, null, 16.890000, 18.150000, 18.100000, 20.540000, 12.540000, 6.430000, 6.430000, 6.430000, 6.450000, 6.450000, 6.460000, 6.470000, 6.490000, 6.500000, 4.950000, 4.490000, 4.150000, 3.840000, 3.570000, 3.350000, 3.150000, 2.960000, 2.820000, 2.680000, 2.550000, 2.430000, 2.330000, 2.230000, 2.140000, 2.070000, 1.990000, 1.920000, 1.850000, 1.820000, 1.740000, 1.700000, 1.640000, 1.590000, 1.540000, 1.510000, 1.460000, 1.430000, 1.390000, 1.360000, 1.340000, 1.320000, 1.290000, 1.260000, 1.240000, 1.210000, 1.190000, 1.170000, 1.150000, 1.150000, 1.130000, 1.110000, 1.100000, 1.100000, 1.100000, 1.150000, 1.190000, 1.220000, 1.270000, 1.290000, 1.380000, 1.460000, 1.510000, 1.570000, 1.600000, 1.670000, 1.740000, 1.800000, 3.770000, 3.750000, 3.720000, 3.700000, 3.670000, 3.660000, 3.640000, 3.620000, 3.610000, 3.600000, 3.580000, 3.570000, 3.550000, 3.540000, 3.530000, 3.530000, 3.520000, 3.510000, 3.510000, 3.500000, 3.500000, 3.500000, 3.500000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053052, 926103 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 10.318000, -18.668000, 3.136513 ], "estimate": [ 10.318000, -18.668000, 3.136513 ], "true_pose": [ 10.124000, -18.702000, 3.127138 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.410000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.430000, 1.440000, 1.440000, 1.450000, 1.450000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.490000, 1.500000, 1.500000, 1.510000, 1.530000, 1.540000, 1.550000, 1.530000, 1.470000, 1.470000, 1.470000, 1.480000, 1.500000, 1.550000, 1.560000, 1.570000, 1.600000, 1.620000, 1.640000, 1.660000, 1.680000, 1.700000, 1.730000, 1.760000, 1.780000, 1.810000, 1.840000, 1.870000, 1.910000, 1.950000, 1.970000, 2.010000, 2.060000, 2.100000, 2.160000, 2.200000, 2.250000, 2.320000, 2.370000, 2.440000, 2.520000, 2.590000, 2.650000, 2.740000, 2.830000, 2.930000, 3.040000, 3.150000, 3.270000, 3.390000, 3.530000, 3.690000, 3.870000, 4.070000, 4.310000, 4.540000, 4.530000, 4.500000, 4.480000, 5.030000, 6.490000, 6.140000, 7.810000, 8.690000, 8.840000, 9.440000, null, 16.130000, 15.900000, 17.140000, 17.120000, null, 11.500000, 5.410000, 5.420000, 5.430000, 5.440000, 5.450000, 5.460000, 5.470000, 5.480000, 5.500000, 5.520000, 5.540000, 5.560000, 3.850000, 3.590000, 3.380000, 3.170000, 3.000000, 2.840000, 2.700000, 2.570000, 2.450000, 2.340000, 2.260000, 2.180000, 2.090000, 2.040000, 1.970000, 1.880000, 1.830000, 1.780000, 1.730000, 1.670000, 1.640000, 1.590000, 1.540000, 1.510000, 1.470000, 1.440000, 1.400000, 1.370000, 1.350000, 1.320000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.170000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.060000, 1.030000, 1.030000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.920000, 0.910000, 0.900000, 0.910000, 0.910000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053056, 381348 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 9.340000, -18.700000, 3.039021 ], "estimate": [ 9.340000, -18.700000, 3.039021 ], "true_pose": [ 9.128000, -18.655000, 3.062458 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.250000, 1.250000, 1.240000, 1.240000, 1.240000, 1.240000, 1.250000, 1.240000, 1.240000, 1.250000, 1.250000, 1.250000, 1.260000, 1.260000, 1.260000, 1.270000, 1.270000, 1.260000, 1.270000, 1.270000, 1.280000, 1.280000, 1.280000, 1.290000, 1.300000, 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.410000, 1.430000, 1.440000, 1.460000, 1.470000, 1.480000, 1.490000, 1.520000, 1.540000, 1.560000, 1.570000, 1.600000, 1.630000, 1.650000, 1.670000, 1.700000, 1.720000, 1.750000, 1.780000, 1.820000, 1.850000, 1.900000, 1.940000, 1.970000, 2.010000, 2.060000, 2.120000, 2.170000, 2.220000, 2.290000, 2.340000, 2.420000, 2.490000, 2.570000, 2.660000, 2.740000, 2.840000, 2.950000, 3.040000, 3.170000, 3.310000, 3.470000, 3.560000, 3.530000, 3.510000, 3.490000, 3.480000, 4.810000, 5.170000, 5.570000, 6.030000, 6.550000, 7.220000, 8.050000, 8.460000, 8.430000, null, 15.880000, 14.890000, 16.150000, 16.130000, 16.180000, null, 10.610000, 4.930000, 4.420000, 4.440000, 4.450000, 4.450000, 4.460000, 4.470000, 4.490000, 4.500000, 4.520000, 4.530000, 4.550000, 4.560000, 4.590000, 4.610000, 4.640000, 3.260000, 2.970000, 2.810000, 2.700000, 2.580000, 2.490000, 2.390000, 2.310000, 2.240000, 2.150000, 2.080000, 2.010000, 1.940000, 1.890000, 1.840000, 1.790000, 1.750000, 1.690000, 1.650000, 1.610000, 1.570000, 1.530000, 1.500000, 1.470000, 1.440000, 1.410000, 1.380000, 1.360000, 1.340000, 1.330000, 1.310000, 1.280000, 1.290000, 1.250000, 1.220000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.140000, 1.130000, 1.110000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.000000, 1.010000, 1.000000, 1.000000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053060, 235200 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.371000, -18.576000, 3.021420 ], "estimate": [ 8.371000, -18.576000, 3.021420 ], "true_pose": [ 8.132000, -18.548000, 3.051107 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.090000, 1.090000, 1.090000, 1.090000, 1.080000, 1.090000, 1.080000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.320000, 1.320000, 1.340000, 1.360000, 1.380000, 1.410000, 1.430000, 1.450000, 1.470000, 1.490000, 1.520000, 1.550000, 1.570000, 1.610000, 1.640000, 1.660000, 1.710000, 1.730000, 1.770000, 1.810000, 1.860000, 1.910000, 1.960000, 2.010000, 2.060000, 2.130000, 2.190000, 2.260000, 2.330000, 2.420000, 2.500000, 2.590000, 2.570000, 2.540000, 2.530000, 2.510000, 2.500000, 2.490000, 3.010000, 3.090000, 3.970000, 4.240000, 4.560000, 4.900000, 4.290000, 5.810000, 5.520000, 7.160000, 7.460000, 7.460000, 7.950000, 14.900000, 13.870000, 15.160000, 15.120000, 15.150000, 17.540000, null, 8.210000, 6.040000, 4.670000, 3.780000, 3.440000, 3.460000, 3.470000, 3.480000, 3.490000, 3.500000, 3.510000, 3.530000, 3.550000, 3.560000, 3.580000, 3.600000, 3.620000, 3.640000, 3.660000, 3.700000, 3.710000, 3.740000, 3.770000, 3.790000, 3.830000, 3.860000, 3.900000, 3.940000, 2.250000, 2.170000, 2.120000, 2.060000, 1.990000, 1.950000, 1.900000, 1.860000, 1.810000, 1.760000, 1.740000, 1.690000, 1.660000, 1.620000, 1.600000, 1.570000, 1.550000, 1.530000, 1.500000, 1.470000, 1.460000, 1.430000, 1.410000, 1.380000, 1.370000, 1.370000, 1.340000, 1.330000, 1.310000, 1.290000, 1.280000, 1.270000, 1.270000, 1.250000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.210000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.150000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053063, 562216 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.339000, -18.379000, 2.905073 ], "estimate": [ 7.339000, -18.379000, 2.905073 ], "true_pose": [ 7.089000, -18.395000, 2.922260 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.890000, 0.890000, 0.890000, 0.890000, 0.880000, 0.880000, 0.880000, 0.880000, 0.870000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.170000, 1.200000, 1.210000, 1.240000, 1.260000, 1.280000, 1.310000, 1.330000, 1.350000, 1.380000, 1.420000, 1.450000, 1.480000, 1.520000, 1.560000, 1.590000, 1.580000, 1.560000, 1.540000, 1.530000, 1.510000, 1.500000, 1.490000, 1.490000, 1.470000, 1.450000, 1.580000, 2.420000, 2.530000, 1.970000, 2.800000, 2.950000, 3.110000, 3.310000, 3.550000, 3.830000, 3.230000, 4.520000, 4.970000, 4.280000, 6.230000, 5.810000, 6.430000, 6.460000, 14.160000, 12.860000, 13.180000, 14.100000, 14.130000, 16.530000, null, 16.560000, 7.970000, 6.480000, 5.480000, 4.740000, 4.170000, 3.690000, 3.680000, 3.690000, 2.740000, 2.620000, 2.490000, 2.510000, 2.530000, 2.540000, 2.560000, 2.580000, 2.590000, 2.600000, 2.630000, 2.640000, 2.660000, 2.690000, 2.710000, 2.720000, 2.760000, 2.780000, 2.800000, 2.840000, 2.870000, 2.900000, 2.930000, 2.970000, 3.010000, 3.040000, 3.100000, 3.130000, 3.180000, 3.230000, 3.270000, 3.320000, 3.380000, 3.440000, 3.490000, 3.560000, 3.630000, 3.700000, 3.780000, 3.850000, 3.940000, 4.030000, 1.660000, 1.620000, 1.620000, 1.580000, 1.570000, 1.550000, 1.540000, 1.530000, 1.510000, 1.490000, 1.490000, 1.470000, 1.470000, 1.450000, 1.450000, 1.440000, 1.420000, 1.420000, 1.410000, 1.420000, 1.410000, 1.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053067, 277905 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.754000, -18.252000, -2.988546 ], "estimate": [ 6.754000, -18.252000, -2.988546 ], "true_pose": [ 6.494000, -18.282000, -2.974483 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.840000, 0.860000, 0.880000, 0.890000, 0.890000, 0.890000, 0.910000, 0.930000, 0.940000, 0.950000, 0.970000, 0.990000, 1.000000, 1.010000, 1.030000, 1.050000, 1.070000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 1.000000, 0.980000, 0.970000, 0.940000, 0.940000, 0.930000, 0.910000, 0.910000, 0.900000, 0.890000, 0.920000, 1.610000, 1.670000, 1.720000, 1.790000, 1.860000, 1.400000, 1.990000, 2.100000, 2.190000, 2.310000, 2.430000, 2.570000, 2.730000, 2.900000, 3.110000, 3.360000, 2.540000, 3.970000, 4.380000, 4.890000, 3.710000, 5.870000, 5.860000, 5.860000, 13.600000, 12.310000, 12.310000, 13.540000, 13.560000, 15.970000, null, 16.000000, 8.840000, 7.480000, 6.310000, 5.510000, 4.880000, 4.380000, 3.960000, 3.640000, 3.350000, 3.150000, 3.150000, 3.170000, 3.200000, 6.720000, 2.210000, 2.160000, 2.060000, 1.990000, 2.000000, 2.010000, 2.030000, 2.050000, 2.060000, 2.080000, 2.100000, 2.130000, 2.140000, 2.170000, 2.200000, 2.220000, 2.250000, 2.260000, 2.290000, 2.330000, 2.360000, 2.400000, 2.430000, 2.470000, 2.500000, 2.550000, 2.590000, 2.640000, 2.670000, 2.730000, 2.790000, 2.840000, 2.900000, 2.950000, 3.020000, 3.100000, 3.170000, 3.250000, 3.330000, 3.420000, 3.520000, 3.610000, 3.720000, 3.840000, 3.960000, 4.090000, 4.230000, 4.380000, 4.470000, 4.440000, 4.410000, 4.380000, 4.340000, 4.320000, 4.290000, 4.270000, 1.520000, 1.510000, 1.510000, 1.500000, 1.500000, 1.500000, 1.480000, 1.480000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.460000, 1.470000, 1.460000, 1.460000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053072, 917979 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.810000, -18.359000, -3.010834 ], "estimate": [ 5.810000, -18.359000, -3.010834 ], "true_pose": [ 5.547000, -18.402000, -2.995209 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.930000, 0.930000, 0.750000, 0.750000, 0.960000, 0.970000, 0.990000, 1.000000, 1.000000, 1.020000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.120000, 1.140000, 1.160000, 1.190000, 1.220000, 1.230000, 1.250000, 1.280000, 1.310000, 1.340000, 1.360000, 1.390000, 1.430000, 1.470000, 1.510000, 1.560000, 1.600000, 1.640000, 1.710000, 1.760000, 1.810000, 1.870000, 1.940000, 2.010000, 2.100000, 2.180000, 1.740000, 2.380000, 2.500000, 2.620000, 2.770000, 2.930000, 3.100000, 3.310000, 3.580000, 2.930000, 4.210000, 4.630000, 4.060000, 4.950000, 4.950000, 4.950000, 5.860000, 12.400000, 11.360000, 11.420000, 12.600000, 12.630000, 12.680000, 13.830000, 15.090000, 15.070000, 6.980000, 5.980000, 5.130000, 4.560000, 4.060000, 3.670000, 3.350000, 3.070000, 2.830000, 2.650000, 2.470000, 2.230000, 2.230000, 2.230000, 2.230000, 2.260000, 2.330000, 5.310000, 6.250000, 4.710000, 6.360000, 8.750000, 1.370000, 1.320000, 1.280000, 1.250000, 1.210000, 1.180000, 1.140000, 1.120000, 1.120000, 1.130000, 1.140000, 1.170000, 1.180000, 1.200000, 1.230000, 1.240000, 1.270000, 1.290000, 1.320000, 1.340000, 1.360000, 1.380000, 1.410000, 1.440000, 1.470000, 1.500000, 1.530000, 1.570000, 1.610000, 1.660000, 1.690000, 1.730000, 1.790000, 1.850000, 1.890000, 1.960000, 2.020000, 2.100000, 2.180000, 2.260000, 2.350000, 2.450000, 2.570000, 2.690000, 2.840000, 2.980000, 3.140000, 3.320000, 3.530000, 3.750000, 4.010000, 4.100000, 4.080000, 4.070000, 4.060000, 4.040000, 4.040000, 4.030000, 4.030000, 4.020000, 4.020000, 4.020000, 4.020000, 4.020000, 4.020000, 4.020000, 4.020000, 4.030000, 4.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053076, 410189 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.781000, -18.497000, -3.135929 ], "estimate": [ 4.781000, -18.497000, -3.135929 ], "true_pose": [ 4.528000, -18.558000, -3.123429 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.130000, 1.140000, 1.150000, 1.170000, 0.920000, 0.940000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.340000, 1.370000, 1.390000, 1.420000, 1.440000, 1.470000, 1.500000, 1.540000, 1.580000, 1.620000, 1.650000, 1.700000, 1.740000, 1.790000, 1.850000, 1.900000, 1.970000, 2.030000, 2.110000, 2.170000, 2.260000, 2.350000, 1.920000, 2.540000, 2.670000, 2.800000, 2.930000, 3.090000, 3.270000, 3.480000, 3.730000, 3.340000, 3.980000, 3.970000, 3.960000, 3.960000, 4.400000, 4.980000, 5.740000, 6.720000, 10.380000, 10.350000, 11.620000, 11.630000, 11.630000, 14.040000, 14.040000, 14.050000, 14.070000, 6.020000, 5.160000, 4.430000, 3.880000, 3.460000, 3.120000, 2.840000, 2.610000, 2.420000, 2.250000, 2.100000, 1.970000, 1.840000, 1.750000, 1.670000, 1.580000, 1.520000, 1.450000, 1.390000, 1.290000, 1.250000, 1.240000, 1.250000, 1.250000, 1.260000, 1.290000, 1.300000, 1.320000, 7.220000, 3.360000, 5.330000, 6.670000, 6.520000, 6.370000, 4.710000, 2.720000, 5.960000, 3.080000, 3.010000, 3.040000, 3.070000, 3.100000, 3.130000, 3.170000, null, null, 5.050000, 4.970000, 2.950000, 4.840000, 3.910000, 4.720000, 4.670000, 4.620000, 4.580000, 4.530000, 4.470000, 4.450000, 4.400000, 4.360000, 4.320000, 4.290000, 4.250000, 4.230000, 0.560000, 0.550000, 0.550000, 0.540000, 0.560000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053079, 835060 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.831000, -18.463000, 3.049763 ], "estimate": [ 3.831000, -18.463000, 3.049763 ], "true_pose": [ 3.578000, -18.542000, 3.062263 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.860000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.140000, 1.150000, 1.170000, 1.190000, 1.220000, 1.230000, 1.250000, 1.270000, 1.290000, 1.020000, 1.350000, 1.380000, 1.400000, 1.440000, 1.470000, 1.510000, 1.560000, 1.600000, 1.650000, 1.700000, 1.750000, 1.800000, 1.870000, 1.930000, 2.000000, 2.080000, 2.160000, 2.240000, 2.340000, 2.450000, 2.560000, 2.140000, 2.840000, 3.020000, 3.000000, 2.990000, 2.980000, 2.970000, 2.940000, 3.120000, 3.450000, 3.850000, 4.360000, 4.990000, 5.850000, 9.380000, 9.360000, 10.600000, 10.620000, 10.640000, 10.650000, 13.040000, null, 13.060000, 13.070000, 5.930000, 4.990000, 4.500000, 3.990000, 3.580000, 3.260000, 3.000000, 2.770000, 2.570000, 2.390000, 2.240000, 2.120000, 2.010000, 1.900000, 1.800000, 1.720000, 1.650000, 1.570000, 1.510000, 1.440000, 1.400000, 1.360000, 1.310000, 1.260000, 1.220000, 1.180000, 1.140000, 1.110000, 1.070000, 1.040000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.910000, 0.900000, 0.880000, 0.870000, 0.850000, 0.830000, 0.820000, 0.820000, 0.810000, 0.790000, 0.770000, 0.770000, 0.770000, 0.760000, 0.750000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.690000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.610000, 0.620000, 0.620000, 0.610000, 0.620000, 0.670000, 0.680000, 0.700000, 4.020000, 4.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053083, 427827 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.872000, -18.478000, -3.091239 ], "estimate": [ 2.872000, -18.478000, -3.091239 ], "true_pose": [ 2.626000, -18.572000, -3.075614 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.850000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.130000, 1.140000, 1.160000, 1.180000, 1.190000, 1.220000, 1.230000, 1.250000, 1.280000, 1.310000, 1.340000, 1.360000, 1.390000, 1.420000, 1.360000, 1.490000, 1.540000, 1.580000, 1.630000, 1.680000, 1.730000, 1.790000, 1.840000, 1.910000, 1.980000, 2.060000, 2.060000, 2.040000, 2.020000, 2.020000, 2.010000, 1.990000, 1.970000, 1.970000, 2.080000, 2.220000, 2.400000, 2.590000, 2.820000, 3.090000, 3.430000, 3.820000, 4.320000, 4.950000, 8.600000, 8.350000, 8.360000, 9.610000, 9.630000, 9.620000, 9.630000, 12.030000, null, 12.050000, 12.070000, 11.460000, 4.940000, 4.930000, 3.980000, 3.600000, 3.290000, 3.020000, 2.790000, 2.580000, 2.400000, 2.260000, 2.140000, 2.020000, 1.920000, 1.820000, 1.730000, 1.650000, 1.580000, 1.520000, 1.460000, 1.400000, 1.360000, 1.310000, 1.270000, 1.230000, 1.180000, 1.150000, 1.130000, 1.090000, 1.060000, 1.030000, 1.010000, 0.980000, 0.960000, 0.940000, 0.920000, 0.910000, 0.890000, 0.880000, 0.860000, 0.840000, 0.830000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053087, 121039 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.801000, -18.529000, 3.137472 ], "estimate": [ 1.801000, -18.529000, 3.137472 ], "true_pose": [ 1.644000, -18.650000, 3.140597 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.870000, 0.870000, 0.870000, 0.880000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.020000, 1.030000, 1.030000, 1.050000, 1.060000, 1.070000, 1.090000, 1.110000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.250000, 1.250000, 1.230000, 1.200000, 1.180000, 1.150000, 1.160000, 1.140000, 1.120000, 1.100000, 1.080000, 1.070000, 1.100000, 1.140000, 1.160000, 1.200000, 1.240000, 1.270000, 1.320000, 1.360000, 1.420000, 1.480000, 1.540000, 1.600000, 1.670000, 1.750000, 1.840000, 1.940000, 2.040000, 2.170000, 2.310000, 2.480000, 2.680000, 2.910000, 3.170000, 3.480000, 3.870000, 4.320000, 8.390000, 7.400000, 7.370000, 7.670000, 8.620000, 8.630000, 8.620000, 8.630000, 11.040000, 9.900000, null, 11.070000, 11.080000, 10.470000, 10.490000, 3.950000, 3.930000, 3.950000, 2.950000, 2.710000, 2.520000, 2.350000, 2.200000, 2.080000, 1.960000, 1.860000, 1.760000, 1.680000, 1.600000, 1.540000, 1.480000, 1.410000, 1.370000, 1.310000, 1.270000, 1.240000, 1.180000, 1.150000, 1.120000, 1.080000, 1.050000, 1.020000, 0.980000, 0.960000, 0.950000, 0.930000, 0.910000, 0.890000, 0.860000, 0.850000, 0.830000, 0.830000, 0.820000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.660000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053090, 674340 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.802000, -18.478000, 3.126017 ], "estimate": [ 0.802000, -18.478000, 3.126017 ], "true_pose": [ 0.594000, -18.601000, 3.129142 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.500000, 0.510000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.770000, 0.780000, 0.800000, 0.830000, 0.840000, 0.870000, 0.900000, 0.920000, 0.940000, 0.980000, 1.000000, 1.030000, 1.060000, 1.100000, 1.140000, 1.170000, 1.230000, 1.270000, 1.320000, 1.380000, 1.440000, 1.500000, 1.590000, 1.660000, 1.750000, 1.850000, 1.980000, 2.130000, 2.310000, 2.500000, 2.740000, 3.050000, 7.410000, 7.390000, 6.550000, 6.370000, 6.360000, 7.620000, 7.620000, 7.630000, 7.630000, 7.630000, 10.040000, 10.060000, 8.810000, 10.060000, 10.080000, 10.100000, 9.480000, 9.500000, 9.520000, 9.570000, 3.260000, 2.980000, 2.990000, 2.990000, 3.000000, 2.950000, 2.950000, 2.040000, 1.980000, 1.890000, 1.820000, 1.730000, 1.660000, 1.600000, 1.540000, 1.490000, 1.430000, 1.400000, 1.340000, 1.300000, 1.260000, 1.230000, 1.200000, 1.160000, 1.140000, 1.110000, 1.080000, 1.050000, 1.030000, 1.010000, 0.980000, 0.960000, 0.950000, 0.930000, 0.930000, 0.920000, 0.900000, 0.880000, 0.880000, 0.860000, 0.850000, 0.840000, 0.840000, 0.820000, 0.820000, 0.800000, 0.800000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.720000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053094, 205217 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.201000, -18.436000, -3.082586 ], "estimate": [ -0.201000, -18.436000, -3.082586 ], "true_pose": [ -0.385000, -18.565000, -3.079461 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.580000, 0.580000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.670000, 0.690000, 0.700000, 0.700000, 0.720000, 0.740000, 0.760000, 0.780000, 0.800000, 0.830000, 0.840000, 0.870000, 0.900000, 0.910000, 0.950000, 0.980000, 1.010000, 1.050000, 1.100000, 1.140000, 1.190000, 1.240000, 1.300000, 1.360000, 1.430000, 1.500000, 1.590000, 1.690000, 1.810000, 1.950000, 2.120000, 2.300000, 6.420000, 6.410000, 6.390000, 5.830000, 5.340000, 5.350000, 5.370000, 6.630000, 6.620000, 6.610000, 6.610000, 6.610000, 6.650000, 9.030000, 7.910000, 9.060000, 9.080000, 9.090000, 9.100000, 8.480000, 8.520000, 8.540000, 8.630000, 8.610000, 8.640000, 9.020000, 9.380000, 5.810000, 5.090000, 2.230000, 2.130000, 2.020000, 2.020000, 2.020000, 2.040000, 2.060000, 2.010000, 2.020000, 2.030000, 2.050000, 2.060000, 2.070000, 2.080000, 2.090000, 2.110000, 2.130000, 2.140000, 1.190000, 1.160000, 1.160000, 1.120000, 1.090000, 1.070000, 1.060000, 1.030000, 1.010000, 1.000000, 0.980000, 0.960000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.890000, 0.880000, 0.880000, 0.880000, 0.870000, 0.850000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053097, 912402 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.223000, -18.428000, 3.072065 ], "estimate": [ -1.223000, -18.428000, 3.072065 ], "true_pose": [ -1.435000, -18.542000, 3.068940 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.400000, 0.390000, 0.400000, 0.400000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.400000, 0.400000, 0.400000, 0.410000, 0.410000, 0.410000, 0.420000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.440000, 0.440000, 0.440000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.470000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.520000, 0.510000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.560000, 0.570000, 0.580000, 0.590000, 0.610000, 0.620000, 0.630000, 0.640000, 0.660000, 0.680000, 0.700000, 0.710000, 0.720000, 0.740000, 0.770000, 0.790000, 0.810000, 0.840000, 0.870000, 0.900000, 0.920000, 0.960000, 1.000000, 1.040000, 1.090000, 1.130000, 1.200000, 1.250000, 8.470000, 8.440000, 8.380000, 8.340000, 8.310000, 5.430000, 5.430000, 5.410000, 5.390000, 5.370000, 4.500000, 4.350000, 4.340000, 4.340000, 5.610000, 5.610000, 5.610000, 5.600000, 5.600000, 5.600000, 5.590000, 8.030000, 8.030000, null, 6.760000, 6.870000, 8.090000, 8.110000, 7.510000, 7.510000, 7.540000, 7.720000, 7.630000, 7.640000, 7.660000, 7.880000, 8.420000, 8.470000, 8.520000, 4.830000, 4.670000, 4.110000, 3.960000, 3.950000, 3.980000, 4.020000, 4.060000, 3.950000, 3.830000, 3.710000, 3.600000, 3.540000, 1.340000, 1.320000, 1.290000, 1.260000, 1.220000, 1.190000, 1.180000, 1.170000, 1.180000, 1.190000, 1.180000, 1.230000, 1.270000, 1.270000, 1.250000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.330000, 1.340000, 1.370000, 1.400000, 1.430000, 1.450000, 1.480000, 1.510000, 1.540000, 1.570000, 1.620000, 1.640000, 1.680000, 1.720000, 1.770000, 1.820000, 1.860000, 1.940000, 2.380000, 3.500000, 3.710000, 3.950000, 3.350000, 4.110000, 4.200000, 4.230000, 4.050000, 4.050000, 4.080000, 4.170000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053101, 472548 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.224000, -18.398000, 3.128420 ], "estimate": [ -2.224000, -18.398000, 3.128420 ], "true_pose": [ -2.428000, -18.497000, 3.136232 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.330000, 0.330000, 0.330000, 0.330000, 0.330000, 0.330000, 0.340000, 0.340000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.400000, 0.400000, 0.390000, 0.400000, 6.210000, 6.080000, 5.940000, 5.820000, 5.700000, 5.600000, 5.450000, 5.460000, 5.560000, 8.950000, 8.150000, 7.010000, 9.400000, 9.260000, 4.790000, 4.730000, 4.680000, 4.620000, 4.740000, 4.860000, 4.980000, 5.130000, 5.260000, 5.410000, 5.570000, 5.740000, 5.930000, 6.140000, 6.370000, 6.610000, 6.890000, 7.180000, 7.510000, 7.530000, 7.480000, 7.440000, 7.400000, 7.350000, 4.510000, 4.450000, 4.430000, 4.410000, 4.390000, 4.380000, 4.380000, 3.330000, 3.340000, 3.320000, 3.340000, 3.360000, 4.620000, 4.610000, 4.610000, 4.600000, 4.590000, 4.610000, 4.610000, 4.590000, 7.030000, null, 5.880000, 5.790000, 5.750000, 7.110000, 7.130000, 7.030000, 6.550000, 6.550000, 6.580000, 6.620000, 6.770000, 6.680000, 6.710000, 6.750000, 7.470000, 7.530000, 7.580000, 7.630000, 7.680000, 7.750000, 7.820000, 3.940000, 3.860000, 3.760000, 3.430000, 3.240000, 3.150000, 3.110000, 3.130000, 3.160000, 3.200000, 3.240000, 3.220000, 3.140000, 3.090000, 3.020000, 2.950000, 2.900000, 2.850000, 2.800000, 2.810000, 2.820000, 2.850000, 2.910000, 2.970000, 3.030000, 3.100000, 3.180000, 3.240000, 3.330000, 3.410000, 3.500000, 3.600000, 3.700000, 3.820000, 3.930000, 4.260000, 4.710000, 4.670000, 4.640000, 4.610000, 4.570000, 4.540000, 4.510000, 4.480000, 4.450000, 4.430000, 4.410000, 4.380000, 4.360000, 4.350000, 4.330000, 4.320000, 0.870000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053105, 286697 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.231000, -18.439000, -3.104347 ], "estimate": [ -3.231000, -18.439000, -3.104347 ], "true_pose": [ -3.443000, -18.491000, -3.090285 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.220000, 2.220000, 2.210000, 2.220000, 2.230000, 2.230000, 2.230000, 2.240000, 2.240000, 2.250000, 2.270000, 2.470000, 2.920000, 4.140000, 14.040000, 10.050000, 10.040000, 8.860000, 8.420000, 7.990000, 7.650000, 7.300000, 7.010000, 6.720000, 6.470000, 6.220000, 6.020000, 5.810000, 5.640000, 5.450000, 5.300000, 5.150000, 5.020000, 4.890000, 4.820000, 4.830000, 7.790000, 7.890000, 7.990000, 8.110000, 7.460000, 4.050000, 3.990000, 3.910000, 3.860000, 3.910000, 3.980000, 4.050000, 4.130000, 4.220000, 4.320000, 4.400000, 4.500000, 4.600000, 4.720000, 4.830000, 4.950000, 5.090000, 5.220000, 5.380000, 5.530000, 5.710000, 5.900000, 6.110000, 6.330000, 6.570000, 6.580000, 6.540000, 6.500000, 6.450000, 3.520000, 3.490000, 3.470000, 3.450000, 3.430000, 3.420000, 3.410000, 3.400000, 2.340000, 2.340000, 2.340000, 2.320000, 2.320000, 2.320000, 2.390000, 3.600000, 3.610000, 3.610000, 3.590000, 3.590000, 3.600000, 3.590000, 3.600000, 3.600000, 3.590000, 3.630000, 6.030000, 6.020000, 4.930000, 5.290000, 4.830000, 6.110000, 6.130000, 6.040000, 5.560000, 5.570000, 5.580000, 5.610000, 5.660000, 5.840000, 5.730000, 5.750000, 5.790000, 5.820000, 6.580000, 6.640000, 6.700000, 6.740000, 6.810000, 6.870000, 6.950000, 7.020000, 5.340000, 7.180000, 7.260000, 7.130000, 3.090000, 3.050000, 2.990000, 2.950000, 2.900000, 2.850000, 2.760000, 2.500000, 2.460000, 2.400000, 2.360000, 2.330000, 2.380000, 2.420000, 2.470000, 2.520000, 2.540000, 2.520000, 2.490000, 2.460000, 2.430000, 2.410000, 2.380000, 2.350000, 2.330000, 2.310000, 2.290000, 2.260000, 2.240000, 2.240000, 2.280000, 2.320000, 2.400000, 2.510000, 2.640000, 2.770000, 2.910000, 3.080000, 3.270000, 3.470000, 4.360000, 4.350000, 4.340000, 4.320000, 4.300000, 4.290000, 4.270000, 4.270000, 4.270000, 4.270000, 4.270000, 4.260000, 4.260000, 4.260000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053108, 671627 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.255000, -18.427000, -3.140385 ], "estimate": [ -4.255000, -18.427000, -3.140385 ], "true_pose": [ -4.447000, -18.511000, -3.126323 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.690000, 3.930000, 4.200000, 4.550000, 4.910000, 5.670000, 23.280000, 24.220000, 23.510000, null, 17.340000, 10.090000, 9.790000, 8.440000, 7.790000, 7.230000, 6.760000, 6.330000, 5.960000, 5.640000, 5.360000, 5.080000, 4.860000, 4.650000, 4.450000, 4.280000, 4.300000, 4.320000, 6.950000, 7.010000, 7.070000, 3.420000, 3.360000, 3.260000, 3.220000, 3.240000, 3.280000, 3.320000, 3.370000, 3.390000, 3.450000, 3.500000, 3.550000, 3.610000, 3.650000, 3.710000, 3.780000, 3.850000, 3.920000, 3.990000, 4.060000, 4.150000, 4.240000, 4.320000, 4.430000, 4.520000, 4.640000, 4.750000, 4.870000, 5.000000, 5.140000, 5.280000, 5.430000, 5.610000, 5.700000, 5.650000, 2.560000, 2.530000, 2.510000, 2.490000, 2.480000, 2.460000, 2.440000, 1.400000, 1.380000, 1.380000, 1.370000, 1.370000, 1.370000, 1.350000, 1.350000, 1.340000, 1.330000, 1.340000, 2.600000, 2.590000, 2.600000, 2.610000, 2.610000, 2.590000, 2.580000, 2.600000, 2.600000, 2.600000, 2.590000, 2.600000, 2.590000, 2.580000, 2.600000, 2.600000, 2.620000, 3.910000, 3.910000, 3.920000, 3.800000, 3.770000, 3.870000, 3.860000, 5.100000, 4.800000, 4.610000, 4.630000, 4.660000, 4.680000, 4.710000, 5.030000, 4.820000, 4.840000, 4.870000, 4.910000, 4.930000, 5.730000, 5.790000, 5.850000, 5.900000, 5.970000, 6.040000, 6.100000, 6.190000, 6.270000, 4.520000, 4.570000, 6.460000, 6.330000, 6.200000, 6.090000, 5.980000, 5.880000, 5.790000, 4.660000, 4.600000, 4.530000, 4.470000, 2.420000, 2.390000, 2.360000, 2.330000, 2.320000, 2.290000, 2.280000, 2.260000, 2.240000, 2.220000, 2.210000, 2.190000, 2.170000, 1.950000, 1.930000, 1.920000, 1.900000, 1.880000, 1.880000, 1.850000, 1.870000, 1.950000, 2.060000, 2.190000, 2.130000, 2.120000, 2.110000, 2.110000, 2.090000, 2.090000, 2.080000, 2.070000, 2.070000, 2.060000, 2.060000, 2.050000, 2.050000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053112, 872251 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.719000, -18.408000, 2.772302 ], "estimate": [ -4.719000, -18.408000, 2.772302 ], "true_pose": [ -4.925000, -18.553000, 2.770739 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.530000, 2.590000, 2.630000, 2.690000, 2.760000, 2.820000, 2.890000, 2.970000, 3.050000, 3.140000, 3.220000, 3.330000, 3.440000, 3.560000, 3.700000, 3.850000, 4.030000, 4.230000, 4.450000, 4.730000, 5.040000, 5.440000, 5.940000, 6.710000, 19.540000, 19.550000, 23.150000, 24.130000, 23.430000, null, 9.650000, 8.730000, 7.690000, 6.960000, 6.360000, 5.850000, 5.420000, 5.040000, 4.740000, 4.470000, 4.200000, 4.070000, 4.080000, 4.140000, 6.640000, 6.680000, 3.160000, 3.040000, 2.930000, 2.950000, 2.990000, 3.020000, 3.040000, 3.080000, 3.110000, 3.140000, 3.180000, 3.220000, 3.260000, 3.300000, 3.340000, 3.380000, 3.430000, 3.480000, 3.540000, 3.590000, 3.630000, 3.690000, 3.770000, 3.830000, 3.910000, 3.970000, 4.050000, 4.140000, 4.230000, 4.330000, 4.430000, 4.530000, 4.640000, 4.760000, 4.890000, 5.020000, 5.160000, 2.110000, 2.090000, 2.070000, 2.050000, 2.040000, 0.930000, 0.920000, 0.900000, 0.910000, 0.900000, 0.890000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.850000, 0.850000, 0.850000, 0.840000, 0.860000, 2.150000, 2.120000, 2.120000, 2.130000, 2.130000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.110000, 2.120000, 2.120000, 2.130000, 2.120000, 2.110000, 2.140000, 2.150000, 2.170000, 2.170000, 4.620000, 3.510000, 3.490000, 4.670000, 3.430000, 3.410000, 4.760000, 4.620000, 4.390000, 4.180000, 4.210000, 4.230000, 4.260000, 4.290000, 4.610000, 4.510000, 4.420000, 4.450000, 4.490000, 4.530000, 4.590000, 5.390000, 5.460000, 5.510000, 5.590000, 5.640000, 5.730000, 5.820000, 5.890000, 5.990000, 6.080000, 6.160000, 4.240000, 6.000000, 5.900000, 5.810000, 5.710000, 5.630000, 5.540000, 5.460000, 4.430000, 4.390000, 4.330000, 4.270000, 4.190000, 4.170000, 4.140000, 4.090000, 4.030000, 4.020000, 2.190000, 2.180000, 2.170000, 2.150000, 2.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053116, 768517 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.699000, -18.330000, 2.271494 ], "estimate": [ -4.699000, -18.330000, 2.271494 ], "true_pose": [ -4.901000, -18.434000, 2.282431 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.310000, 3.250000, 3.190000, 3.120000, 3.070000, 3.010000, 2.950000, 2.910000, 2.860000, 2.820000, 2.780000, 2.730000, 2.700000, 2.660000, 2.630000, 2.590000, 2.560000, 2.530000, 2.490000, 2.470000, 2.440000, 2.410000, 2.390000, 2.380000, 2.360000, 2.360000, 2.360000, 2.410000, 2.460000, 2.510000, 2.560000, 2.620000, 2.680000, 2.750000, 2.820000, 2.880000, 2.960000, 3.040000, 3.130000, 3.230000, 3.330000, 3.440000, 3.570000, 3.720000, 3.860000, 4.050000, 4.250000, 4.500000, 4.770000, 5.120000, 5.540000, 6.150000, 7.100000, 19.500000, 19.820000, 22.750000, 24.090000, 23.380000, 17.190000, 9.630000, 8.290000, 7.440000, 6.760000, 6.200000, 5.740000, 5.340000, 4.960000, 4.660000, 4.400000, 4.140000, 4.040000, 4.050000, 4.120000, 6.620000, 6.660000, 3.130000, 3.040000, 2.910000, 2.920000, 2.950000, 2.970000, 3.000000, 3.040000, 3.070000, 3.100000, 3.140000, 3.170000, 3.220000, 3.260000, 3.300000, 3.340000, 3.400000, 3.450000, 3.490000, 3.550000, 3.600000, 3.660000, 3.720000, 3.800000, 3.860000, 3.930000, 4.020000, 4.100000, 4.190000, 4.290000, 4.390000, 4.500000, 4.610000, 4.720000, 4.850000, 4.980000, 5.120000, 5.280000, 2.110000, 2.090000, 2.070000, 2.050000, 2.040000, 2.020000, 1.170000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.870000, 0.860000, 0.870000, 0.910000, 2.150000, 2.160000, 2.150000, 2.140000, 2.150000, 2.140000, 2.150000, 2.140000, 2.140000, 2.150000, 2.150000, 2.140000, 2.130000, 2.140000, 2.160000, 2.180000, 2.200000, 2.200000, 3.470000, 3.570000, 3.510000, 3.400000, 3.430000, 3.420000, 3.430000, 4.670000, 4.450000, 4.220000, 4.240000, 4.260000, 4.290000, 4.330000, 4.670000, 4.540000, 4.460000, 4.490000, 4.540000, 4.570000, 4.720000, 5.440000, 5.510000, 5.580000, 5.660000, 5.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053118, 681090 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.646000, -18.289000, 1.767561 ], "estimate": [ -4.646000, -18.289000, 1.767561 ], "true_pose": [ -4.868000, -18.417000, 1.778498 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.230000, 2.240000, 2.250000, 5.080000, 5.100000, 5.230000, 5.240000, 5.280000, 5.310000, 5.330000, 5.370000, 5.400000, 5.430000, 5.480000, 5.410000, 5.450000, 5.500000, 5.550000, 5.580000, 7.960000, 4.020000, 3.900000, 3.800000, 3.700000, 3.610000, 3.520000, 3.440000, 3.370000, 3.280000, 3.230000, 3.160000, 3.100000, 3.030000, 2.980000, 2.920000, 2.880000, 2.830000, 2.780000, 2.740000, 2.710000, 2.670000, 2.630000, 2.590000, 2.570000, 2.530000, 2.490000, 2.480000, 2.450000, 2.420000, 2.390000, 2.380000, 2.350000, 2.320000, 2.310000, 2.310000, 2.330000, 2.370000, 2.420000, 2.460000, 2.510000, 2.570000, 2.620000, 2.690000, 2.770000, 2.840000, 2.910000, 3.000000, 3.100000, 3.180000, 3.290000, 3.400000, 3.520000, 3.670000, 3.820000, 4.000000, 4.220000, 4.460000, 4.730000, 5.100000, 5.560000, 6.170000, null, 19.490000, 23.030000, 22.670000, 23.360000, 23.360000, 17.170000, 9.590000, 8.040000, 7.310000, 6.660000, 6.130000, 5.670000, 5.300000, 4.960000, 4.660000, 4.400000, 4.180000, 4.010000, 4.020000, 4.080000, 6.600000, 6.650000, 3.110000, 3.060000, 2.940000, 2.890000, 2.910000, 2.940000, 2.970000, 3.000000, 3.040000, 3.070000, 3.110000, 3.140000, 3.190000, 3.230000, 3.280000, 3.320000, 3.360000, 3.410000, 3.470000, 3.520000, 3.570000, 3.630000, 3.700000, 3.780000, 3.840000, 3.920000, 4.000000, 4.080000, 4.170000, 4.280000, 4.380000, 4.490000, 4.590000, 4.720000, 4.840000, 4.970000, 5.120000, 5.280000, 5.280000, 2.120000, 2.100000, 2.080000, 2.070000, 2.050000, 2.040000, 2.030000, 2.010000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.950000, 2.180000, 2.180000, 2.170000, 2.170000, 2.170000, 2.170000, 2.180000, 2.190000, 2.180000, 2.170000, 2.160000, 2.180000, 2.200000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053120, 287881 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.747000, -17.340000, 1.762251 ], "estimate": [ -4.747000, -17.340000, 1.762251 ], "true_pose": [ -4.991000, -17.438000, 1.760688 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.210000, 5.220000, 5.240000, 5.250000, 5.240000, 5.180000, 5.220000, 3.710000, 3.500000, 3.310000, 3.160000, 3.010000, 2.880000, 2.770000, 2.650000, 2.560000, 2.470000, 2.380000, 2.320000, 2.240000, 2.180000, 2.110000, 2.050000, 2.000000, 1.960000, 1.900000, 1.860000, 1.810000, 1.770000, 1.720000, 1.690000, 1.660000, 1.630000, 1.600000, 1.570000, 1.560000, 1.550000, 1.560000, 1.580000, 1.590000, 1.600000, 1.630000, 1.650000, 1.660000, 1.680000, 1.700000, 1.730000, 1.750000, 1.770000, 1.790000, 1.820000, 1.860000, 1.880000, 1.920000, 1.950000, 1.980000, 2.010000, 2.060000, 2.100000, 2.150000, 2.190000, 2.240000, 2.300000, 2.360000, 2.430000, 2.490000, 2.570000, 2.650000, 2.750000, 2.830000, 2.940000, 3.040000, 3.160000, 3.290000, 3.450000, 3.620000, 3.840000, 4.120000, 4.440000, 4.770000, 5.340000, 6.180000, 18.470000, 18.500000, 21.890000, 23.090000, 22.370000, null, 16.190000, 8.640000, 7.220000, 6.530000, 6.000000, 5.530000, 5.150000, 4.810000, 4.520000, 4.240000, 4.020000, 3.820000, 3.620000, 3.450000, 3.310000, 3.100000, 3.070000, 3.080000, 3.120000, 5.740000, 5.790000, 5.850000, 5.900000, 5.970000, 6.020000, 2.230000, 2.170000, 2.130000, 2.080000, 2.020000, 2.020000, 2.040000, 2.070000, 2.110000, 2.130000, 2.170000, 2.210000, 2.240000, 2.280000, 2.330000, 2.380000, 2.420000, 2.460000, 2.510000, 2.570000, 2.630000, 2.690000, 2.750000, 2.820000, 2.900000, 2.960000, 3.050000, 3.140000, 3.240000, 3.340000, 3.450000, 3.560000, 3.690000, 3.820000, 3.980000, 4.130000, 4.310000, 4.500000, 4.720000, 4.830000, 4.800000, 4.780000, 4.750000, 4.730000, 4.700000, 4.700000, 4.690000, 4.670000, 4.650000, 4.640000, 4.620000, 4.620000, 4.610000, 4.610000, 4.600000, 4.600000, 1.860000, 1.850000, 1.800000, 1.800000, 1.810000, 1.810000, 1.810000, 1.810000, 1.820000, 1.820000, 1.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053124, 942119 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.952000, -16.331000, 1.827771 ], "estimate": [ -4.952000, -16.331000, 1.827771 ], "true_pose": [ -5.194000, -16.450000, 1.824646 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.210000, 1.210000, 1.210000, 1.220000, 1.210000, 1.210000, 1.210000, 1.220000, 1.210000, 1.210000, 1.210000, 1.220000, 1.210000, 1.220000, 1.220000, 1.220000, 1.230000, 1.240000, 1.240000, 1.250000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.290000, 1.300000, 1.320000, 1.330000, 1.340000, 1.350000, 1.350000, 1.360000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.460000, 1.480000, 1.490000, 1.520000, 1.540000, 1.570000, 1.590000, 1.610000, 1.640000, 1.660000, 1.690000, 1.720000, 1.760000, 1.790000, 1.830000, 1.860000, 1.900000, 1.950000, 2.000000, 2.040000, 2.100000, 2.160000, 2.220000, 2.290000, 2.360000, 2.440000, 2.530000, 2.610000, 2.700000, 2.820000, 2.930000, 3.090000, 3.270000, 3.460000, 3.680000, 4.000000, 4.350000, 4.780000, 5.580000, 17.480000, 17.490000, 17.500000, 20.900000, 22.070000, 21.370000, 21.350000, 15.190000, 7.620000, 6.460000, 5.830000, 5.330000, 4.910000, 4.550000, 4.240000, 3.980000, 3.730000, 3.520000, 3.350000, 3.190000, 3.030000, 2.900000, 2.770000, 2.670000, 2.550000, 2.470000, 2.380000, 2.290000, 2.220000, 2.120000, 2.080000, 2.100000, 2.100000, 2.140000, 5.000000, 5.060000, 5.110000, 5.190000, 5.250000, 5.330000, 5.400000, 5.480000, 4.570000, 5.640000, 3.590000, 4.230000, null, 5.970000, 5.880000, 5.790000, 1.340000, 1.330000, 1.300000, 1.290000, 1.260000, 1.260000, 1.250000, 1.240000, 1.220000, 1.220000, 1.220000, 1.240000, 1.280000, 1.320000, 1.360000, 1.420000, 1.460000, 1.530000, 1.600000, 1.670000, 1.750000, 1.830000, 1.930000, 2.030000, 2.150000, 2.290000, 2.450000, 2.620000, 2.840000, 3.220000, 3.530000, 3.890000, 4.330000, 4.450000, 4.440000, 4.430000, 4.430000, 4.420000, 4.420000, 4.420000, 4.420000, 4.420000, 4.420000, 4.430000, 4.430000, 4.440000, 4.450000, 4.460000, 4.470000, 4.470000, 4.490000, 4.510000, 4.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053127, 713013 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.246000, -15.327000, 1.911833 ], "estimate": [ -5.246000, -15.327000, 1.911833 ], "true_pose": [ -5.498000, -15.448000, 1.905583 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.170000, 1.160000, 1.170000, 1.160000, 1.170000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.240000, 1.250000, 1.270000, 1.270000, 1.290000, 1.290000, 1.300000, 1.320000, 1.330000, 1.340000, 1.360000, 1.370000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.470000, 1.490000, 1.520000, 1.540000, 1.570000, 1.600000, 1.630000, 1.660000, 1.690000, 1.730000, 1.760000, 1.790000, 1.820000, 1.870000, 1.910000, 1.960000, 2.020000, 2.070000, 2.130000, 2.200000, 2.270000, 2.370000, 2.440000, 2.520000, 2.610000, 2.720000, 2.860000, 2.990000, 3.150000, 3.350000, 3.560000, 3.860000, 4.210000, 4.590000, 5.380000, 11.480000, 16.480000, 16.460000, 16.470000, 17.630000, 19.650000, 21.050000, 20.320000, 14.190000, 6.590000, 5.630000, 4.990000, 4.500000, 4.120000, 3.790000, 3.490000, 3.270000, 3.060000, 2.860000, 2.700000, 2.550000, 2.420000, 2.310000, 2.210000, 2.110000, 2.030000, 1.940000, 1.860000, 1.800000, 1.740000, 1.670000, 1.620000, 1.560000, 1.520000, 1.480000, 1.430000, 1.390000, 1.360000, 1.330000, 1.280000, 1.260000, 1.230000, 1.210000, 1.180000, 1.150000, 1.130000, 1.100000, 1.110000, 1.140000, 1.140000, 1.150000, 1.210000, 1.240000, 3.970000, 5.040000, 5.160000, 3.370000, 2.700000, null, 4.940000, 4.890000, 4.850000, 4.800000, 4.750000, 4.710000, 4.660000, 3.670000, 4.590000, 2.420000, 4.520000, 4.480000, 4.460000, 4.430000, 4.410000, 3.480000, 4.350000, 4.330000, 2.800000, 2.740000, 4.270000, 4.250000, 4.240000, 4.230000, 4.220000, 4.210000, 4.200000, 2.840000, 4.190000, 4.180000, 4.180000, 4.170000, 4.170000, 4.170000, 4.170000, 4.170000, 0.980000, 0.960000, 0.960000, 0.960000, 0.930000, 0.860000, 0.800000, 0.780000, 0.790000, 0.780000, 0.820000, 0.810000, 0.820000, 0.820000, 0.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053131, 541910 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.574000, -14.425000, 1.618415 ], "estimate": [ -5.574000, -14.425000, 1.618415 ], "true_pose": [ -5.791000, -14.560000, 1.630915 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.210000, 1.210000, 1.200000, 1.200000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.190000, 1.180000, 1.190000, 1.180000, 1.190000, 1.200000, 1.200000, 1.200000, 1.210000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.270000, 1.280000, 1.290000, 1.310000, 1.320000, 1.330000, 1.360000, 1.350000, 1.370000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.470000, 1.490000, 1.500000, 1.530000, 1.550000, 1.580000, 1.600000, 1.640000, 1.670000, 1.690000, 1.730000, 1.760000, 1.800000, 1.840000, 1.880000, 1.920000, 1.960000, 2.010000, 2.070000, 2.130000, 2.200000, 2.250000, 2.340000, 2.410000, 2.500000, 2.580000, 2.680000, 2.830000, 2.930000, 3.070000, 3.250000, 3.430000, 3.680000, 3.970000, 4.320000, 4.790000, 5.520000, 10.500000, 10.580000, 15.540000, 15.540000, 15.530000, 15.530000, 19.330000, 18.800000, 20.100000, 19.390000, 5.610000, 4.650000, 4.030000, 3.540000, 3.170000, 2.880000, 2.630000, 2.410000, 2.250000, 2.100000, 1.960000, 1.840000, 1.740000, 1.640000, 1.570000, 1.490000, 1.410000, 1.360000, 1.300000, 1.250000, 1.190000, 1.140000, 1.110000, 1.060000, 1.020000, 0.990000, 0.950000, 0.930000, 0.900000, 0.890000, 0.860000, 0.830000, 0.820000, 0.800000, 0.790000, 0.770000, 0.740000, 0.740000, 0.730000, 0.710000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053137, 523633 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.606000, -13.475000, 1.668415 ], "estimate": [ -5.606000, -13.475000, 1.668415 ], "true_pose": [ -5.852000, -13.577000, 1.680915 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.000000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.150000, 1.160000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.350000, 1.370000, 1.390000, 1.410000, 1.440000, 1.470000, 1.500000, 1.520000, 1.560000, 1.590000, 1.640000, 1.670000, 1.720000, 1.740000, 1.800000, 1.850000, 1.910000, 1.970000, 2.040000, 2.110000, 2.180000, 2.260000, 2.370000, 2.460000, 2.580000, 2.750000, 2.860000, 3.050000, 3.270000, 3.540000, 3.860000, 4.290000, 8.940000, 9.480000, 9.530000, 14.580000, 14.550000, 14.530000, 14.540000, 14.540000, 18.080000, 17.740000, 19.080000, 18.370000, null, 4.630000, 3.660000, 3.300000, 2.980000, 2.700000, 2.470000, 2.290000, 2.120000, 1.960000, 1.850000, 1.740000, 1.640000, 1.550000, 1.490000, 1.400000, 1.340000, 1.270000, 1.240000, 1.180000, 1.130000, 1.080000, 1.040000, 1.000000, 0.970000, 0.930000, 0.910000, 0.880000, 0.850000, 0.830000, 0.820000, 0.800000, 0.770000, 0.760000, 0.740000, 0.730000, 0.710000, 0.700000, 0.680000, 0.680000, 0.670000, 0.660000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053140, 850643 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.748000, -12.468000, 1.759662 ], "estimate": [ -5.748000, -12.468000, 1.759662 ], "true_pose": [ -6.010000, -12.602000, 1.764350 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.140000, 1.170000, 1.170000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.270000, 1.300000, 1.330000, 1.340000, 1.370000, 1.380000, 1.410000, 1.440000, 1.480000, 1.510000, 1.540000, 1.580000, 1.620000, 1.660000, 1.700000, 1.740000, 1.800000, 1.840000, 1.900000, 1.960000, 2.030000, 2.110000, 2.190000, 2.290000, 2.370000, 2.490000, 2.600000, 2.740000, 2.920000, 3.130000, 3.380000, 3.620000, 4.240000, 8.490000, 7.790000, 8.550000, 8.600000, 13.640000, 13.620000, 13.600000, 13.590000, 13.570000, 13.590000, 17.140000, 16.790000, 18.140000, 17.410000, 3.940000, 3.650000, 3.630000, 2.600000, 2.300000, 2.080000, 1.890000, 1.730000, 1.600000, 1.490000, 1.400000, 1.310000, 1.240000, 1.170000, 1.100000, 1.040000, 1.000000, 0.930000, 0.900000, 0.870000, 0.830000, 0.800000, 0.770000, 0.740000, 0.710000, 0.680000, 0.660000, 0.640000, 0.620000, 0.600000, 0.590000, 0.580000, 0.560000, 0.550000, 0.530000, 0.530000, 0.520000, 0.500000, 0.500000, 0.490000, 0.490000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.390000, 0.380000, 0.380000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.380000, 0.370000, 0.370000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053144, 270514 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.819000, -11.980000, 1.420100 ], "estimate": [ -5.819000, -11.980000, 1.420100 ], "true_pose": [ -6.086000, -12.120000, 1.415413 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.940000, 0.950000, 0.940000, 0.950000, 0.970000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.080000, 1.080000, 1.100000, 1.110000, 1.120000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.290000, 1.320000, 1.340000, 1.360000, 1.390000, 1.400000, 1.430000, 1.470000, 1.490000, 1.520000, 1.560000, 1.610000, 1.650000, 1.680000, 1.730000, 1.780000, 1.840000, 1.900000, 1.960000, 2.030000, 2.110000, 2.180000, 2.290000, 2.370000, 2.480000, 2.600000, 2.740000, 2.900000, 3.090000, 3.410000, 3.820000, 4.480000, 8.010000, 8.020000, 8.010000, 8.100000, 8.200000, 13.150000, 13.120000, 13.110000, 13.100000, 13.090000, 13.110000, 16.740000, 16.240000, 17.650000, 17.120000, 16.910000, 3.150000, 3.150000, 2.200000, 2.030000, 1.810000, 1.640000, 1.500000, 1.380000, 1.280000, 1.190000, 1.120000, 1.040000, 0.970000, 0.920000, 0.880000, 0.830000, 0.800000, 0.760000, 0.730000, 0.690000, 0.660000, 0.650000, 0.630000, 0.610000, 0.580000, 0.570000, 0.550000, 0.540000, 0.510000, 0.500000, 0.500000, 0.480000, 0.480000, 0.470000, 0.460000, 0.450000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.310000, 0.300000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.310000, 0.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053148, 793426 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.594000, -11.015000, 1.404684 ], "estimate": [ -5.594000, -11.015000, 1.404684 ], "true_pose": [ -5.851000, -11.121000, 1.406247 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.650000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.700000, 0.720000, 0.720000, 0.740000, 0.740000, 0.760000, 0.760000, 0.780000, 0.780000, 0.790000, 0.820000, 0.830000, 0.850000, 0.860000, 0.880000, 0.900000, 0.920000, 0.920000, 0.950000, 0.970000, 0.990000, 1.020000, 1.040000, 1.070000, 1.080000, 1.120000, 1.150000, 1.190000, 1.220000, 1.250000, 1.300000, 1.350000, 1.400000, 1.460000, 1.510000, 1.580000, 1.650000, 1.740000, 1.820000, 1.920000, 2.030000, 2.200000, 2.410000, 2.720000, 3.190000, 4.190000, 7.080000, 6.230000, 7.140000, 7.170000, 12.200000, 12.170000, 12.150000, 12.140000, 12.150000, 12.160000, 13.110000, 15.770000, 15.310000, 16.710000, 16.010000, 11.200000, 9.810000, 9.830000, 7.860000, 7.090000, 6.490000, 2.520000, 2.290000, 2.280000, 2.270000, 2.280000, 2.300000, 2.250000, 2.250000, 2.260000, 2.260000, 1.640000, 1.360000, 1.330000, 1.280000, 1.220000, 1.170000, 1.140000, 1.100000, 1.060000, 1.040000, 0.990000, 0.970000, 0.940000, 0.930000, 0.900000, 0.880000, 0.850000, 0.830000, 0.820000, 0.820000, 0.810000, 0.790000, 0.770000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.650000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053152, 463418 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.550000, -9.979000, 1.550827 ], "estimate": [ -5.550000, -9.979000, 1.550827 ], "true_pose": [ -5.809000, -10.080000, 1.549265 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.710000, 0.720000, 0.730000, 0.750000, 0.760000, 0.780000, 0.790000, 0.800000, 0.830000, 0.850000, 0.880000, 0.900000, 0.920000, 0.950000, 0.980000, 1.010000, 1.030000, 1.060000, 1.110000, 1.140000, 1.190000, 1.240000, 1.300000, 1.360000, 1.450000, 1.530000, 1.660000, 1.800000, 1.980000, 2.200000, 2.470000, 2.930000, 6.040000, 6.050000, 6.070000, 5.500000, 6.110000, 6.140000, 6.210000, 11.160000, 11.150000, 11.140000, 11.140000, 11.130000, 11.130000, 11.300000, 14.680000, 14.330000, 15.720000, 15.000000, 14.970000, 10.130000, 8.900000, 8.830000, 7.440000, 6.780000, 6.230000, 5.780000, 5.410000, 5.060000, 4.770000, 4.490000, 4.260000, 4.040000, 3.860000, 3.690000, 1.570000, 1.520000, 1.450000, 1.370000, 1.320000, 1.330000, 1.340000, 1.340000, 1.350000, 1.380000, 1.400000, 1.350000, 1.350000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.410000, 1.420000, 1.430000, 1.430000, 1.450000, 1.460000, 1.480000, 1.500000, 1.520000, 1.530000, 1.550000, 1.570000, 1.590000, 1.620000, 1.640000, 1.660000, 1.690000, 1.710000, 1.740000, 1.770000, 1.800000, 1.840000, 2.860000, 2.950000, 3.060000, 3.170000, 0.660000, 0.640000, 0.630000, 0.620000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053155, 870762 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.579000, -8.987000, 1.551872 ], "estimate": [ -5.579000, -8.987000, 1.551872 ], "true_pose": [ -5.805000, -9.092000, 1.562810 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.490000, 0.470000, 0.470000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.520000, 0.540000, 0.540000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.580000, 0.600000, 0.610000, 0.610000, 0.620000, 0.640000, 0.640000, 0.670000, 0.670000, 0.690000, 0.700000, 0.710000, 0.730000, 0.750000, 0.770000, 0.790000, 0.810000, 0.830000, 0.860000, 0.890000, 0.920000, 0.950000, 0.990000, 1.020000, 1.050000, 1.100000, 1.140000, 1.210000, 1.250000, 1.320000, 1.380000, 1.450000, 1.550000, 1.680000, 1.830000, 1.990000, 2.220000, 2.600000, 3.250000, 5.150000, 5.050000, 5.060000, 4.130000, 5.040000, 5.100000, 5.120000, 5.150000, 5.260000, 10.150000, 10.130000, 10.120000, 10.120000, 10.100000, 10.110000, 10.100000, 10.970000, 13.650000, 13.290000, 14.700000, 14.020000, 13.960000, 9.850000, 8.750000, 7.830000, 7.820000, 7.850000, 6.200000, 5.770000, 5.370000, 5.040000, 4.750000, 4.500000, 4.290000, 4.060000, 3.880000, 3.700000, 3.550000, 3.400000, 3.280000, 3.160000, 3.070000, 2.960000, 2.850000, 2.760000, 2.670000, 2.600000, 2.510000, 2.450000, 2.400000, 2.340000, 2.280000, 2.230000, 2.180000, 2.120000, 2.080000, 2.110000, 2.160000, 2.190000, 2.220000, 2.270000, 2.430000, 2.470000, 2.510000, 2.550000, 2.600000, 2.660000, 2.720000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.730000, 0.730000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.680000, 0.670000, 0.650000, 0.650000, 0.640000, 0.640000, 0.650000, 0.700000, 0.700000, 0.790000, 0.790000, 0.790000, 0.780000, 0.770000, 0.810000, 0.840000, 0.900000, 0.940000, 0.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053159, 559370 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.602000, -7.992000, 1.572708 ], "estimate": [ -5.602000, -7.992000, 1.572708 ], "true_pose": [ -5.827000, -8.084000, 1.588333 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.520000, 0.520000, 0.530000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.680000, 0.690000, 0.700000, 0.720000, 0.720000, 0.730000, 0.750000, 0.770000, 0.770000, 0.790000, 0.800000, 0.830000, 0.850000, 0.870000, 0.890000, 0.920000, 0.930000, 0.970000, 1.010000, 1.040000, 1.070000, 1.110000, 1.150000, 1.190000, 1.230000, 1.290000, 1.350000, 1.410000, 1.480000, 1.570000, 1.670000, 1.810000, 1.970000, 2.160000, 2.390000, 2.850000, 3.270000, 5.140000, 4.070000, 4.050000, 4.050000, 3.180000, 4.040000, 4.070000, 4.100000, 4.110000, 4.130000, 4.150000, 9.170000, 9.150000, 9.140000, 9.130000, 9.110000, 9.100000, 9.090000, 9.090000, 9.090000, 9.110000, 10.220000, 12.680000, 12.290000, 13.690000, 12.940000, 12.950000, 9.050000, 8.110000, 7.330000, 6.810000, 6.830000, 6.860000, 5.510000, 5.170000, 4.870000, 4.610000, 4.340000, 4.130000, 3.930000, 3.770000, 3.610000, 3.470000, 3.360000, 3.230000, 3.110000, 2.990000, 2.900000, 2.800000, 2.720000, 2.640000, 2.570000, 2.510000, 2.440000, 2.370000, 2.320000, 2.260000, 2.230000, 2.180000, 2.120000, 2.080000, 2.030000, 1.990000, 1.960000, 1.920000, 1.890000, 1.860000, 1.820000, 1.790000, 1.760000, 1.740000, 1.710000, 1.680000, 1.670000, 1.650000, 1.630000, 1.610000, 1.600000, 1.570000, 1.560000, 1.540000, 1.540000, 1.510000, 1.500000, 1.500000, 1.480000, 1.480000, 1.520000, 1.610000, 1.700000, 2.010000, 2.100000, 2.200000, 3.890000, 3.840000, 3.820000, 3.830000, 3.810000, 3.810000, 3.800000, 3.790000, 3.780000, 3.870000, 4.030000, 4.030000, 4.020000, 4.020000, 4.020000, 4.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053163, 220576 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.664000, -6.986000, 1.645936 ], "estimate": [ -5.664000, -6.986000, 1.645936 ], "true_pose": [ -5.917000, -7.098000, 1.650624 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.800000, 0.790000, 0.800000, 0.800000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.970000, 0.990000, 1.010000, 1.030000, 1.050000, 1.060000, 1.090000, 1.120000, 1.150000, 1.170000, 1.210000, 1.240000, 1.270000, 1.310000, 1.350000, 1.380000, 1.430000, 1.480000, 1.530000, 1.590000, 1.660000, 1.720000, 1.790000, 1.880000, 1.980000, 2.090000, 2.220000, 2.390000, 2.590000, 2.810000, 3.120000, 3.570000, 3.110000, 2.190000, 3.070000, 3.110000, 3.120000, 2.690000, 3.120000, 3.120000, 3.120000, 3.130000, 3.130000, 3.140000, 3.220000, 8.200000, 8.180000, 8.150000, 8.140000, 8.130000, 8.110000, 8.090000, 8.080000, 8.070000, 8.070000, 8.070000, 8.060000, 8.080000, 9.240000, 11.620000, 11.230000, 12.670000, 12.010000, 11.920000, 11.910000, 8.080000, 7.290000, 6.640000, 6.080000, 5.800000, 5.820000, 5.850000, 6.110000, 4.500000, 4.260000, 4.040000, 3.850000, 3.670000, 3.500000, 3.370000, 3.230000, 3.110000, 3.000000, 2.890000, 2.800000, 2.710000, 2.630000, 2.550000, 2.490000, 2.430000, 2.360000, 2.300000, 2.240000, 2.190000, 2.140000, 2.080000, 2.040000, 1.990000, 1.960000, 1.910000, 1.870000, 1.850000, 1.810000, 1.780000, 1.740000, 1.730000, 1.700000, 1.670000, 1.650000, 1.620000, 1.610000, 1.590000, 1.580000, 1.550000, 1.540000, 1.530000, 1.520000, 1.490000, 1.470000, 1.460000, 1.460000, 1.450000, 1.420000, 1.420000, 1.410000, 1.400000, 1.390000, 1.370000, 1.380000, 1.360000, 1.370000, 1.370000, 1.350000, 1.350000, 1.340000, 1.340000, 1.330000, 1.330000, 1.330000, 1.320000, 1.320000, 1.320000, 1.320000, 1.330000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053166, 829203 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.726000, -5.985000, 1.591462 ], "estimate": [ -5.726000, -5.985000, 1.591462 ], "true_pose": [ -5.980000, -6.088000, 1.596150 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.190000, 1.220000, 1.230000, 1.250000, 1.270000, 1.300000, 1.330000, 1.360000, 1.390000, 1.420000, 1.440000, 1.480000, 1.520000, 1.560000, 1.600000, 1.640000, 1.690000, 1.740000, 1.800000, 1.850000, 1.920000, 1.320000, 1.500000, 2.150000, 2.250000, 2.360000, 2.480000, 2.220000, 2.210000, 2.210000, 2.210000, 1.750000, 2.200000, 2.200000, 2.190000, 2.180000, 2.180000, 2.180000, 2.170000, 2.180000, 2.180000, 2.180000, 2.180000, 2.180000, 2.240000, 7.350000, 7.310000, 7.270000, 7.230000, 7.210000, 7.190000, 7.160000, 7.140000, 7.120000, 7.110000, 7.090000, 7.070000, 7.060000, 7.050000, 7.050000, 7.050000, 7.050000, 7.050000, 7.190000, 8.190000, 10.600000, 10.280000, 11.650000, 11.570000, 10.930000, 10.930000, 10.860000, 6.920000, 6.310000, 5.820000, 5.390000, 5.020000, 4.820000, 4.840000, 4.880000, 4.960000, 5.150000, 3.720000, 3.560000, 3.400000, 3.260000, 3.140000, 3.020000, 2.910000, 2.820000, 2.730000, 2.650000, 2.570000, 2.490000, 2.420000, 2.350000, 2.280000, 2.230000, 2.170000, 2.120000, 2.090000, 2.030000, 1.990000, 1.950000, 1.900000, 1.860000, 1.840000, 1.810000, 1.760000, 1.740000, 1.720000, 1.680000, 1.670000, 1.660000, 1.670000, 1.650000, 1.590000, 1.550000, 1.540000, 1.530000, 1.510000, 1.490000, 1.470000, 1.470000, 1.450000, 1.430000, 1.430000, 1.410000, 1.400000, 1.390000, 1.390000, 1.370000, 1.360000, 1.360000, 1.360000, 1.350000, 1.340000, 1.330000, 1.330000, 1.330000, 1.330000, 1.320000, 1.320000, 1.310000, 1.310000, 1.310000, 1.310000, 1.300000, 1.300000, 1.300000, 1.310000, 1.300000, 1.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053170, 445983 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.696000, -4.971000, 1.549175 ], "estimate": [ -5.696000, -4.971000, 1.549175 ], "true_pose": [ -5.949000, -5.052000, 1.560113 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.110000, 1.110000, 0.810000, 0.800000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.220000, 1.240000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.360000, 1.390000, 1.400000, 1.430000, 1.440000, 1.470000, 1.490000, 1.530000, 1.550000, 1.230000, 0.980000, 1.220000, 1.470000, 1.460000, 1.450000, 1.430000, 1.410000, 1.400000, 1.390000, 1.370000, 1.360000, 1.360000, 1.340000, 1.330000, 1.320000, 1.310000, 1.310000, 1.300000, 1.290000, 1.280000, 1.280000, 1.270000, 1.260000, 1.260000, 1.260000, 1.250000, 1.250000, 1.300000, 1.310000, 1.330000, 1.510000, 1.760000, 2.210000, 2.760000, 6.590000, 6.550000, 6.490000, 6.460000, 6.440000, 6.370000, 6.350000, 6.310000, 6.270000, 6.240000, 6.210000, 6.180000, 6.150000, 6.140000, 6.130000, 6.100000, 6.090000, 6.080000, 6.060000, 6.060000, 6.060000, 6.050000, 6.040000, 6.040000, 6.050000, 6.030000, 7.190000, 9.580000, 9.630000, 9.230000, 10.650000, 10.570000, 9.950000, 9.950000, 9.930000, 9.900000, 6.080000, 5.620000, 5.240000, 4.920000, 4.620000, 4.350000, 4.130000, 3.930000, 3.850000, 3.900000, 3.940000, 3.960000, 4.240000, 4.260000, 4.290000, 4.310000, 6.910000, 2.760000, 2.670000, 2.590000, 2.510000, 2.450000, 2.380000, 2.320000, 2.260000, 2.210000, 2.160000, 2.110000, 2.070000, 2.010000, 1.980000, 1.940000, 1.900000, 1.870000, 1.840000, 1.830000, 1.780000, 1.750000, 1.720000, 1.680000, 1.670000, 1.650000, 1.630000, 1.610000, 1.580000, 1.570000, 1.550000, 1.540000, 1.520000, 1.500000, 1.490000, 1.470000, 1.470000, 1.460000, 1.450000, 1.430000, 1.420000, 1.410000, 1.410000, 1.400000, 1.390000, 1.380000, 1.380000, 1.380000, 1.380000, 1.370000, 1.370000, 1.370000, 1.360000, 1.360000, 1.350000, 1.350000, 1.360000, 1.350000, 1.350000, 1.360000, 1.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053173, 812630 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.675000, -3.968000, 1.490118 ], "estimate": [ -5.675000, -3.968000, 1.490118 ], "true_pose": [ -5.914000, -4.043000, 1.524493 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.800000, 0.750000, 0.730000, 0.690000, 0.660000, 0.640000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.630000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.750000, 0.770000, 0.780000, 0.800000, 0.810000, 0.850000, 0.860000, 0.880000, 0.910000, 0.940000, 0.960000, 1.000000, 1.030000, 1.070000, 1.100000, 1.140000, 1.180000, 1.250000, 1.290000, 1.350000, 1.410000, 1.470000, 1.550000, 1.620000, 1.710000, 1.830000, 6.210000, 6.130000, 6.060000, 5.990000, 5.920000, 5.870000, 5.800000, 5.740000, 5.680000, 5.630000, 5.570000, 5.530000, 5.480000, 5.460000, 5.410000, 5.370000, 5.320000, 5.310000, 5.280000, 5.240000, 5.220000, 5.180000, 5.150000, 5.140000, 5.120000, 5.100000, 5.100000, 5.070000, 5.050000, 5.030000, 5.020000, 5.010000, 5.010000, 5.000000, 5.000000, 5.000000, 5.000000, 5.000000, 5.010000, 5.060000, 6.200000, 8.580000, 8.250000, 9.640000, 9.660000, 8.960000, 8.940000, 8.940000, 8.930000, 8.910000, 9.490000, 5.280000, 4.940000, 4.650000, 4.400000, 4.180000, 3.980000, 3.790000, 3.620000, 3.470000, 3.330000, 3.210000, 3.080000, 2.990000, 2.930000, 3.000000, 3.040000, 3.070000, 3.190000, 3.380000, 3.410000, 3.450000, 3.490000, 5.800000, 5.680000, 5.550000, 5.590000, 5.680000, 5.770000, 5.810000, 2.010000, 1.960000, 1.910000, 1.880000, 1.850000, 1.810000, 1.790000, 1.760000, 1.740000, 1.720000, 1.690000, 1.680000, 1.650000, 1.630000, 1.610000, 1.590000, 1.580000, 1.570000, 1.550000, 1.550000, 1.530000, 1.520000, 1.500000, 1.490000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.450000, 1.440000, 1.430000, 1.420000, 1.420000, 1.420000, 1.420000, 1.390000, 1.390000, 1.400000, 1.390000, 1.400000, 1.400000, 1.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053177, 429615 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.649000, -2.956000, 1.609281 ], "estimate": [ -5.649000, -2.956000, 1.609281 ], "true_pose": [ -5.914000, -3.054000, 1.642094 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.080000, 1.080000, 1.100000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.220000, 1.230000, 1.310000, 2.390000, 2.440000, 2.490000, 2.550000, 2.630000, 2.680000, 2.760000, 2.850000, 2.920000, 3.020000, 3.120000, 3.250000, 3.360000, 3.500000, 3.640000, 3.800000, 5.910000, 5.810000, 5.700000, 5.610000, 5.520000, 5.420000, 5.340000, 5.270000, 5.190000, 5.110000, 5.040000, 4.990000, 4.920000, 4.860000, 4.800000, 4.740000, 4.690000, 4.640000, 4.590000, 4.540000, 4.530000, 4.470000, 4.440000, 4.390000, 4.360000, 4.330000, 4.300000, 4.260000, 4.230000, 4.210000, 4.190000, 4.160000, 4.140000, 4.120000, 4.110000, 4.100000, 4.090000, 4.070000, 4.060000, 4.050000, 4.040000, 4.030000, 4.020000, 4.010000, 4.010000, 4.010000, 4.010000, 4.000000, 4.000000, 4.010000, 4.020000, 4.060000, 5.190000, 7.620000, 7.270000, 8.630000, 8.420000, 8.600000, 7.950000, 7.970000, 8.010000, 7.950000, 7.950000, 8.540000, 8.620000, 8.830000, 4.280000, 4.050000, 3.860000, 3.690000, 3.520000, 3.390000, 3.250000, 3.120000, 3.030000, 2.930000, 2.830000, 2.750000, 2.660000, 2.580000, 2.510000, 2.440000, 2.380000, 2.330000, 2.260000, 2.210000, 2.160000, 2.110000, 2.100000, 2.180000, 2.230000, 2.250000, 2.290000, 2.640000, 2.680000, 2.730000, 2.790000, 5.090000, 5.150000, 5.080000, 5.010000, 4.950000, 4.900000, 4.830000, 4.780000, 4.720000, 4.680000, 4.630000, 4.590000, 4.540000, 4.500000, 4.450000, 4.430000, 4.390000, 4.350000, 4.320000, 4.300000, 4.270000, 4.250000, 1.470000, 1.470000, 1.460000, 1.450000, 1.450000, 1.440000, 1.430000, 1.430000, 1.420000, 1.420000, 1.420000, 1.420000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.420000, 1.410000, 1.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053181, 299510 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.746000, -1.920000, 1.653135 ], "estimate": [ -5.746000, -1.920000, 1.653135 ], "true_pose": [ -6.053000, -2.025000, 1.685948 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.340000, 2.370000, 2.400000, 2.410000, 2.450000, 2.490000, 2.520000, 2.560000, 2.580000, 2.620000, 2.670000, 2.710000, 2.740000, 2.810000, 2.860000, 2.920000, 2.970000, 3.030000, 3.110000, 3.160000, 3.240000, 3.310000, 6.460000, 6.530000, 6.830000, 6.920000, 6.980000, 5.430000, 5.290000, 5.170000, 5.060000, 4.940000, 4.820000, 4.710000, 4.620000, 4.540000, 4.460000, 4.360000, 4.290000, 4.210000, 4.140000, 4.080000, 4.010000, 3.950000, 3.880000, 3.840000, 3.780000, 3.740000, 3.700000, 3.630000, 3.610000, 3.550000, 3.520000, 3.470000, 3.440000, 3.400000, 3.360000, 3.330000, 3.310000, 3.280000, 3.260000, 3.230000, 3.210000, 3.190000, 3.180000, 3.160000, 3.150000, 3.120000, 3.110000, 3.090000, 3.080000, 3.080000, 3.080000, 3.060000, 3.060000, 3.050000, 3.040000, 3.030000, 3.020000, 3.030000, 3.020000, 3.020000, 3.020000, 3.010000, 3.020000, 3.010000, 3.030000, 4.170000, 4.180000, 6.570000, 6.660000, 6.230000, 7.630000, 7.330000, 7.560000, 6.930000, 6.970000, 6.990000, 6.960000, 6.930000, 7.520000, 7.550000, 7.640000, 7.820000, 7.940000, 7.990000, 3.410000, 3.190000, 3.050000, 2.930000, 2.830000, 2.740000, 2.650000, 2.560000, 2.490000, 2.410000, 2.340000, 2.280000, 2.230000, 2.180000, 2.110000, 2.070000, 2.030000, 1.980000, 1.930000, 1.900000, 1.860000, 1.820000, 1.780000, 1.750000, 1.720000, 1.690000, 1.660000, 1.630000, 1.610000, 1.590000, 1.570000, 1.560000, 1.530000, 1.500000, 1.490000, 1.480000, 1.460000, 1.450000, 1.430000, 1.410000, 1.410000, 1.410000, 1.390000, 1.460000, 1.530000, 1.590000, 1.640000, 4.170000, 4.140000, 4.120000, 4.100000, 4.080000, 4.050000, 4.040000, 4.020000, 3.680000, 3.990000, 3.980000, 3.960000, 3.960000, 3.950000, 3.940000, 3.930000, 3.930000, 3.920000, 3.920000, 3.590000, 3.910000, 3.910000, 3.920000, 3.920000, 3.920000, 3.750000, 3.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053184, 640064 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.795000, -0.914000, 1.641993 ], "estimate": [ -5.795000, -0.914000, 1.641993 ], "true_pose": [ -6.123000, -0.959000, 1.681056 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.920000, 2.950000, 2.990000, 3.030000, 3.070000, 3.090000, 9.640000, 8.880000, 8.280000, 7.710000, 7.280000, 6.840000, 6.460000, 6.140000, 6.110000, 6.150000, 6.420000, 5.150000, 4.940000, 4.750000, 4.580000, 4.420000, 4.280000, 4.140000, 4.030000, 3.900000, 3.780000, 3.680000, 3.580000, 3.480000, 3.390000, 3.320000, 3.250000, 3.180000, 3.110000, 3.050000, 3.010000, 2.930000, 2.870000, 2.820000, 2.770000, 2.720000, 2.690000, 2.630000, 2.590000, 2.550000, 2.510000, 2.480000, 2.450000, 2.410000, 2.390000, 2.370000, 2.340000, 2.310000, 2.290000, 2.260000, 2.250000, 2.250000, 2.210000, 2.200000, 2.180000, 2.160000, 2.140000, 2.140000, 2.120000, 2.110000, 2.090000, 2.080000, 2.070000, 2.060000, 2.060000, 2.040000, 2.040000, 2.040000, 2.030000, 2.020000, 2.020000, 2.020000, 2.010000, 2.010000, 2.000000, 2.000000, 2.000000, 2.000000, 2.000000, 2.000000, 2.030000, 5.660000, 3.120000, 5.550000, 5.570000, 5.660000, 5.190000, 6.600000, 6.610000, 6.450000, 6.520000, 5.930000, 5.960000, 5.990000, 6.000000, 5.920000, 5.910000, 6.450000, 6.580000, 6.670000, 6.880000, 6.960000, 7.010000, 7.070000, 6.820000, 6.850000, 3.100000, 2.790000, 2.550000, 2.330000, 2.270000, 2.200000, 2.140000, 2.080000, 2.030000, 1.980000, 1.930000, 1.890000, 1.850000, 1.810000, 1.780000, 1.730000, 1.700000, 1.670000, 1.630000, 1.610000, 1.580000, 1.550000, 1.550000, 1.510000, 1.490000, 1.480000, 1.460000, 1.450000, 1.430000, 1.390000, 1.380000, 1.380000, 1.370000, 1.350000, 1.350000, 1.330000, 1.310000, 1.300000, 1.290000, 1.280000, 1.270000, 1.270000, 1.260000, 1.260000, 1.250000, 1.250000, 1.240000, 1.240000, 1.230000, 1.230000, 1.220000, 1.210000, 1.210000, 1.200000, 1.200000, 1.200000, 1.190000, 1.200000, 1.200000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053188, 270236 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.758000, 0.119000, 1.541480 ], "estimate": [ -5.758000, 0.119000, 1.541480 ], "true_pose": [ -6.111000, 0.058000, 1.591480 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 15.900000, null, null, null, null, 9.700000, 8.370000, 7.270000, 6.420000, 5.810000, 5.820000, 5.850000, 4.500000, 4.170000, 3.900000, 3.660000, 3.440000, 3.240000, 3.080000, 2.930000, 2.790000, 2.660000, 2.550000, 2.460000, 2.360000, 2.280000, 2.200000, 2.130000, 2.040000, 1.990000, 1.930000, 1.870000, 1.810000, 1.770000, 1.720000, 1.670000, 1.630000, 1.590000, 1.560000, 1.530000, 1.490000, 1.460000, 1.430000, 1.400000, 1.370000, 1.380000, 1.340000, 1.310000, 1.290000, 1.270000, 1.250000, 1.230000, 1.220000, 1.200000, 1.190000, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.120000, 1.100000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.040000, 1.040000, 1.040000, 1.040000, 1.030000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.960000, 2.130000, 2.120000, 4.650000, 4.190000, 4.210000, 5.620000, 5.260000, 5.250000, 5.530000, 4.960000, 5.010000, 5.010000, 5.020000, 5.050000, 4.960000, 4.960000, 5.600000, 5.650000, 5.720000, 5.910000, 6.030000, 6.090000, 6.140000, 6.040000, 5.940000, 5.980000, 6.080000, 6.140000, 6.550000, 4.360000, 6.290000, 6.090000, 6.010000, 4.690000, 2.270000, 2.250000, 2.210000, 2.160000, 2.120000, 2.010000, 1.810000, 1.780000, 1.740000, 1.740000, 1.600000, 1.560000, 1.540000, 1.510000, 1.500000, 1.480000, 1.470000, 1.450000, 1.430000, 1.410000, 1.390000, 1.380000, 1.380000, 1.370000, 1.360000, 1.340000, 1.330000, 1.320000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.270000, 1.270000, 1.280000, 1.270000, 1.260000, 1.250000, 1.250000, 1.250000, 1.250000, 1.240000, 1.240000, 1.240000, 1.240000, 1.230000, 1.230000, 1.230000, 1.230000 ], "valid": [ 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053191, 840121 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.688000, 0.198000, 1.084422 ], "estimate": [ -5.688000, 0.198000, 1.084422 ], "true_pose": [ -6.058000, 0.153000, 1.128172 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.880000, 2.890000, 2.900000, 2.900000, 2.910000, 2.910000, 2.920000, 2.930000, 2.940000, 2.940000, 2.950000, 2.960000, 2.970000, 2.980000, 2.990000, 3.000000, 7.090000, 7.860000, 8.820000, 10.070000, 11.660000, 17.280000, 17.510000, null, null, null, 15.860000, null, null, null, null, 9.690000, 8.240000, 7.060000, 6.170000, 5.740000, 5.770000, 4.600000, 4.220000, 3.910000, 3.650000, 3.400000, 3.190000, 3.020000, 2.850000, 2.710000, 2.590000, 2.490000, 2.340000, 2.290000, 2.190000, 2.110000, 2.020000, 1.950000, 1.890000, 1.820000, 1.760000, 1.700000, 1.660000, 1.620000, 1.570000, 1.530000, 1.480000, 1.450000, 1.410000, 1.380000, 1.360000, 1.320000, 1.300000, 1.280000, 1.270000, 1.230000, 1.210000, 1.200000, 1.170000, 1.160000, 1.130000, 1.120000, 1.110000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.970000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.880000, 0.900000, 4.110000, 5.540000, 5.530000, 5.580000, 5.440000, 4.910000, 4.910000, 4.920000, 4.950000, 4.960000, 4.930000, 4.890000, 4.930000, 5.540000, 5.620000, 5.700000, 5.960000, 6.000000, 6.060000, 6.110000, 5.930000, 5.900000, 5.970000, 6.070000, 6.360000, 6.470000, 4.320000, 6.180000, 6.040000, 5.920000, 4.650000, 4.570000, 4.470000, 2.230000, 2.180000, 2.140000, 2.110000, 2.090000, 2.030000, 1.780000, 1.750000, 1.730000, 1.700000, 1.690000, 1.560000, 1.530000, 1.510000, 1.500000, 1.490000, 1.470000, 1.450000, 1.440000, 1.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053195, 257241 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.642000, 0.169000, 0.583928 ], "estimate": [ -5.642000, 0.169000, 0.583928 ], "true_pose": [ -6.019000, 0.135000, 0.630803 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.310000, 3.270000, 3.230000, 3.200000, 3.180000, 3.150000, 3.120000, 3.090000, 3.060000, 3.050000, 3.020000, 3.010000, 2.980000, 2.970000, 2.950000, 2.940000, 2.930000, 2.920000, 2.910000, 2.900000, 2.890000, 2.880000, 2.870000, 2.870000, 2.860000, 2.850000, 2.850000, 2.850000, 2.850000, 2.850000, 2.850000, 2.860000, 2.860000, 2.860000, 2.870000, 2.870000, 2.880000, 2.890000, 2.900000, 2.910000, 2.920000, 2.940000, 2.950000, 2.960000, 2.970000, 7.430000, 8.290000, 9.410000, 10.870000, 12.730000, 17.270000, null, null, null, 15.710000, null, null, null, null, null, 9.060000, 7.700000, 6.740000, 5.950000, 5.720000, 5.750000, 4.520000, 4.170000, 3.870000, 3.630000, 3.400000, 3.200000, 3.030000, 2.860000, 2.730000, 2.620000, 2.490000, 2.380000, 2.290000, 2.200000, 2.140000, 2.040000, 1.980000, 1.910000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.600000, 1.560000, 1.520000, 1.480000, 1.450000, 1.410000, 1.380000, 1.360000, 1.330000, 1.300000, 1.290000, 1.280000, 1.240000, 1.230000, 1.200000, 1.180000, 1.160000, 1.150000, 1.120000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.950000, 0.940000, 0.950000, 0.950000, 0.940000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.930000, 0.920000, 0.920000, 0.930000, 0.930000, 0.930000, 0.920000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.920000, 0.950000, 5.580000, null, 4.810000, 5.530000, 4.930000, 4.950000, 4.980000, 4.990000, 5.010000, 4.920000, 4.910000, 4.990000, 5.620000, 5.700000, 5.930000, 6.010000, 6.070000, 6.120000, 6.060000, 5.930000, 5.980000, 6.070000, 6.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053197, 903560 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.610000, 0.110000, 0.064579 ], "estimate": [ -5.610000, 0.110000, 0.064579 ], "true_pose": [ -5.997000, 0.013000, 0.114579 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.840000, 6.470000, 6.160000, 3.960000, 3.850000, 3.740000, 3.650000, 3.560000, 3.480000, 3.390000, 3.320000, 3.240000, 3.180000, 3.110000, 3.050000, 2.980000, 2.940000, 2.880000, 2.830000, 2.790000, 2.790000, 2.790000, 2.840000, 2.910000, 2.960000, 3.040000, 3.110000, 3.180000, 3.310000, 3.290000, 3.250000, 3.210000, 3.180000, 3.150000, 3.120000, 3.090000, 3.070000, 3.050000, 3.020000, 2.990000, 2.970000, 2.970000, 2.940000, 2.930000, 2.910000, 2.900000, 2.890000, 2.880000, 2.860000, 2.850000, 2.840000, 2.840000, 2.840000, 2.830000, 2.820000, 2.810000, 2.810000, 2.820000, 2.810000, 2.790000, 2.810000, 2.820000, 2.820000, 2.820000, 2.830000, 2.840000, 2.850000, 2.850000, 2.850000, 2.870000, 2.880000, 2.900000, 2.910000, 2.920000, 2.930000, 2.970000, 8.070000, 9.200000, 10.640000, 12.610000, 17.240000, null, null, null, 15.770000, null, null, null, null, null, 9.090000, 7.810000, 6.860000, 6.060000, 5.710000, 5.740000, 4.650000, 4.280000, 3.980000, 3.730000, 3.520000, 3.310000, 3.120000, 2.950000, 2.820000, 2.700000, 2.580000, 2.480000, 2.380000, 2.280000, 2.200000, 2.140000, 2.050000, 1.980000, 1.930000, 1.860000, 1.810000, 1.760000, 1.710000, 1.660000, 1.630000, 1.580000, 1.550000, 1.500000, 1.480000, 1.450000, 1.410000, 1.380000, 1.360000, 1.340000, 1.320000, 1.290000, 1.280000, 1.250000, 1.250000, 1.220000, 1.200000, 1.190000, 1.170000, 1.150000, 1.140000, 1.130000, 1.120000, 1.100000, 1.090000, 1.070000, 1.080000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053198, 831241 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.668000, 0.081000, -0.039269 ], "estimate": [ -4.668000, 0.081000, -0.039269 ], "true_pose": [ -5.071000, -0.007000, 0.026356 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.000000, 2.860000, 2.750000, 2.640000, 2.560000, 2.540000, 2.510000, 2.520000, 2.540000, 2.570000, 2.600000, 2.620000, 2.650000, 2.680000, 2.720000, 2.750000, 2.800000, 2.840000, 2.870000, 2.820000, 2.760000, 2.710000, 2.660000, 2.620000, 2.580000, 2.530000, 2.490000, 2.460000, 2.420000, 2.390000, 2.360000, 2.320000, 2.300000, 2.280000, 2.260000, 2.230000, 2.210000, 2.190000, 2.170000, 2.150000, 2.140000, 2.110000, 2.100000, 2.090000, 2.070000, 2.070000, 2.050000, 2.040000, 2.030000, 2.020000, 2.010000, 2.000000, 1.970000, 1.980000, 1.970000, 1.970000, 1.960000, 1.960000, 1.960000, 1.960000, 1.960000, 1.960000, 1.970000, 1.960000, 1.960000, 1.960000, 1.960000, 1.960000, 1.960000, 1.960000, 1.970000, 1.970000, 1.970000, 1.980000, 1.990000, 2.000000, 1.970000, 5.270000, 5.700000, 6.200000, 6.820000, 7.600000, 8.550000, 9.770000, 11.360000, 16.290000, 16.780000, null, null, null, 14.810000, null, null, null, null, null, 8.420000, 7.300000, 6.440000, 5.770000, 5.210000, 4.790000, 4.760000, 4.800000, 4.830000, 3.620000, 3.400000, 3.210000, 3.040000, 2.890000, 2.750000, 2.630000, 2.520000, 2.410000, 2.310000, 2.230000, 2.150000, 2.070000, 2.010000, 1.940000, 1.880000, 1.830000, 1.780000, 1.720000, 1.680000, 1.630000, 1.600000, 1.560000, 1.530000, 1.510000, 1.500000, 1.440000, 1.400000, 1.380000, 1.350000, 1.330000, 1.290000, 1.270000, 1.270000, 1.240000, 1.220000, 1.190000, 1.200000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.070000, 1.070000, 1.060000, 1.040000, 1.040000, 1.040000, 1.020000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.970000, 0.960000, 0.960000, 0.960000, 0.970000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053203, 307809 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.638000, 0.115000, -0.001351 ], "estimate": [ -3.638000, 0.115000, -0.001351 ], "true_pose": [ -4.016000, 0.118000, 0.064274 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.230000, 2.150000, 2.080000, 2.020000, 1.960000, 1.900000, 1.860000, 1.800000, 1.760000, 1.730000, 1.690000, 1.660000, 1.630000, 1.590000, 1.550000, 1.520000, 1.490000, 1.480000, 1.450000, 1.420000, 1.400000, 1.370000, 1.360000, 1.340000, 1.330000, 1.300000, 1.290000, 1.270000, 1.250000, 1.240000, 1.230000, 1.210000, 1.200000, 1.190000, 1.170000, 1.160000, 1.150000, 1.150000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.060000, 1.070000, 1.060000, 1.060000, 1.060000, 1.050000, 1.060000, 1.180000, 4.160000, 4.120000, 4.080000, 4.050000, 4.020000, 3.980000, 3.960000, 3.930000, 3.900000, 3.870000, 3.870000, 4.020000, 4.260000, 4.530000, 4.820000, 5.170000, 5.570000, 6.030000, 6.610000, 7.270000, 8.140000, 9.160000, 10.530000, 15.230000, 15.350000, null, null, null, 13.780000, null, null, null, null, null, null, 7.630000, 6.670000, 5.950000, 5.320000, 4.850000, 4.430000, 4.090000, 3.800000, 3.740000, 3.760000, 3.790000, 3.820000, 4.070000, 2.720000, 2.570000, 2.470000, 2.360000, 2.270000, 2.180000, 2.100000, 2.040000, 1.960000, 1.900000, 1.840000, 1.790000, 1.740000, 1.700000, 1.660000, 1.610000, 1.570000, 1.540000, 1.490000, 1.450000, 1.410000, 1.390000, 1.360000, 1.330000, 1.300000, 1.280000, 1.250000, 1.240000, 1.210000, 1.200000, 1.180000, 1.160000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.070000, 1.060000, 1.040000, 1.050000, 1.020000, 1.040000, 1.020000, 1.010000, 1.010000, 0.980000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.930000, 0.960000, 0.950000, 0.930000, 0.900000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053206, 836688 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.636000, 0.156000, -0.018951 ], "estimate": [ -2.636000, 0.156000, -0.018951 ], "true_pose": [ -3.018000, 0.161000, 0.046674 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.650000, 0.660000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 1.360000, 1.380000, 1.390000, 1.410000, 1.420000, 1.470000, 1.490000, 1.510000, 1.540000, 1.420000, 1.510000, 1.590000, 1.580000, 1.590000, 1.600000, 1.620000, 1.640000, 1.670000, 1.670000, 1.690000, 1.680000, 1.620000, 1.610000, 1.630000, 1.660000, 1.670000, 1.710000, 1.730000, 1.760000, 1.780000, 4.000000, 3.930000, 3.860000, 3.790000, 3.730000, 3.660000, 3.600000, 3.540000, 3.500000, 3.450000, 3.400000, 3.350000, 3.310000, 3.260000, 3.220000, 3.190000, 3.160000, 3.120000, 3.080000, 3.050000, 3.020000, 2.980000, 2.960000, 2.950000, 3.010000, 3.140000, 3.240000, 3.380000, 3.530000, 3.690000, 3.880000, 4.080000, 4.320000, 4.580000, 4.870000, 5.200000, 5.590000, 6.020000, 6.570000, 7.170000, 7.930000, 8.850000, 14.310000, 14.210000, 14.310000, null, null, null, 12.670000, 12.770000, null, null, null, null, null, null, 6.730000, 5.920000, 5.300000, 4.770000, 4.340000, 4.000000, 3.680000, 3.410000, 3.200000, 3.000000, 2.840000, 2.730000, 2.740000, 2.770000, 2.790000, 2.810000, 2.850000, 3.080000, 3.110000, 3.130000, 3.160000, 3.180000, 1.730000, 1.680000, 1.640000, 1.580000, 1.540000, 1.500000, 1.460000, 1.420000, 1.390000, 1.360000, 1.320000, 1.290000, 1.260000, 1.240000, 1.210000, 1.180000, 1.170000, 1.140000, 1.130000, 1.110000, 1.090000, 1.060000, 1.050000, 1.050000, 1.030000, 1.020000, 1.000000, 1.000000, 1.000000, 0.970000, 0.980000, 0.970000, 0.940000, 0.950000, 0.940000, 0.930000, 0.940000, 0.930000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053210, 697834 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.618000, 0.245000, 0.000635 ], "estimate": [ -1.618000, 0.245000, 0.000635 ], "true_pose": [ -2.005000, 0.298000, 0.060010 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.440000, 1.440000, 1.450000, 8.850000, 8.810000, 7.790000, 7.540000, 7.560000, 7.590000, 7.620000, 7.070000, 6.560000, 6.130000, 6.140000, 7.640000, 7.690000, 7.730000, 7.780000, 7.840000, 7.880000, 7.940000, 7.630000, 7.350000, 7.080000, 3.510000, 3.400000, 3.310000, 3.200000, 3.120000, 3.030000, 2.960000, 2.880000, 2.810000, 2.740000, 2.680000, 2.620000, 2.560000, 2.510000, 2.460000, 2.410000, 2.370000, 2.320000, 2.270000, 2.240000, 2.200000, 2.170000, 2.140000, 2.140000, 2.180000, 2.240000, 2.280000, 2.340000, 2.400000, 2.460000, 2.530000, 2.590000, 2.660000, 2.750000, 2.830000, 2.930000, 3.020000, 3.130000, 3.230000, 3.360000, 3.480000, 3.630000, 3.810000, 3.980000, 4.190000, 4.420000, 4.670000, 4.960000, 5.280000, 5.640000, 6.060000, 6.540000, 7.110000, 7.800000, 8.630000, 13.320000, 13.200000, 13.320000, null, null, null, null, 11.650000, null, null, null, null, null, null, null, 5.950000, 5.310000, 4.690000, 4.260000, 3.880000, 3.560000, 3.280000, 3.060000, 2.880000, 2.690000, 2.540000, 2.400000, 2.270000, 2.170000, 2.070000, 1.970000, 1.900000, 1.820000, 1.740000, 1.750000, 1.780000, 1.790000, 1.810000, 1.830000, 1.860000, 1.880000, 2.140000, 2.170000, 2.190000, 2.230000, 2.250000, 2.280000, 2.310000, 2.340000, 2.380000, 2.410000, 4.450000, 4.490000, 4.590000, 4.660000, 4.770000, 4.600000, 4.540000, 4.620000, 6.350000, 6.490000, 6.450000, 0.940000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.860000, 0.850000, 0.860000, 0.850000, 0.840000, 0.840000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.760000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.750000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053214, 400437 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.586000, 0.230000, 0.032825 ], "estimate": [ -0.586000, 0.230000, 0.032825 ], "true_pose": [ -0.954000, 0.375000, 0.104700 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.110000, 6.020000, 6.010000, 7.430000, 7.450000, 7.460000, 3.150000, 2.890000, 2.680000, 2.490000, 2.340000, 2.190000, 2.050000, 1.930000, 1.840000, 1.750000, 1.670000, 1.590000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.620000, 1.640000, 1.660000, 1.670000, 1.690000, 1.710000, 1.730000, 1.750000, 1.770000, 1.790000, 1.820000, 1.840000, 1.870000, 1.900000, 1.920000, 1.960000, 1.980000, 2.020000, 2.050000, 2.090000, 2.130000, 2.170000, 2.210000, 2.260000, 2.300000, 2.360000, 2.410000, 2.470000, 2.520000, 2.590000, 2.660000, 2.730000, 2.820000, 2.900000, 2.990000, 3.100000, 3.200000, 3.310000, 3.430000, 3.560000, 3.710000, 3.870000, 4.050000, 4.250000, 4.480000, 4.750000, 5.020000, 5.340000, 5.690000, 6.080000, 6.550000, 7.100000, 7.750000, 12.380000, 12.300000, 12.240000, 12.340000, 13.070000, 11.470000, null, null, 10.630000, null, null, null, null, null, null, null, null, 5.060000, 4.500000, 4.080000, 3.680000, 3.380000, 3.130000, 2.910000, 2.710000, 2.530000, 2.380000, 2.260000, 2.150000, 2.050000, 1.960000, 1.870000, 1.790000, 1.710000, 1.640000, 1.580000, 1.510000, 1.460000, 1.410000, 1.360000, 1.320000, 1.270000, 1.250000, 1.190000, 1.170000, 1.130000, 1.120000, 1.080000, 1.050000, 1.050000, 1.020000, 0.990000, 0.980000, 0.960000, 0.940000, 0.920000, 0.930000, 0.900000, 0.900000, 0.880000, 0.860000, 0.870000, 0.910000, 0.940000, 0.980000, 0.990000, 1.010000, 1.050000, 1.090000, 1.370000, 1.570000, 1.610000, 1.670000, 1.730000, 4.060000, 4.120000, 5.550000, 5.500000, 5.460000, 5.430000, 5.400000, 5.370000, 5.330000, 5.310000, 5.260000, 4.590000, 4.580000, 4.560000, 4.540000, 4.530000, 5.120000, 5.130000, 5.120000, 5.110000, 5.240000, 5.240000, 5.230000, 5.230000, 5.220000, 5.220000, 5.220000, 4.050000, 5.210000, 5.230000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053217, 611979 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.427000, 0.260000, -0.038627 ], "estimate": [ 0.427000, 0.260000, -0.038627 ], "true_pose": [ 0.071000, 0.452000, 0.037935 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.520000, 1.520000, 1.520000, 1.520000, 1.520000, 1.530000, 1.520000, 1.520000, 1.520000, 1.530000, 1.530000, 1.540000, 1.550000, 1.560000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.610000, 1.610000, 1.630000, 1.640000, 1.650000, 1.670000, 1.680000, 1.690000, 1.710000, 1.730000, 1.750000, 1.760000, 1.780000, 1.810000, 1.820000, 1.840000, 1.860000, 1.890000, 1.910000, 1.940000, 1.970000, 2.000000, 2.030000, 2.060000, 2.100000, 2.150000, 2.170000, 2.210000, 2.260000, 2.300000, 2.350000, 2.410000, 2.460000, 2.520000, 2.580000, 2.650000, 2.720000, 2.790000, 2.860000, 2.960000, 3.050000, 3.140000, 3.240000, 3.330000, 3.460000, 3.580000, 3.730000, 3.880000, 4.050000, 4.240000, 4.450000, 4.690000, 4.940000, 5.220000, 5.530000, 5.910000, 6.320000, 6.810000, 18.700000, 11.340000, 11.300000, 11.210000, 11.330000, null, 10.460000, null, null, 9.620000, 9.710000, null, null, null, null, null, null, null, null, null, 4.110000, 3.680000, 3.360000, 3.090000, 2.840000, 2.630000, 2.450000, 2.320000, 2.190000, 2.110000, 1.950000, 1.860000, 1.770000, 1.690000, 1.610000, 1.550000, 1.490000, 1.420000, 1.380000, 1.330000, 1.280000, 1.240000, 1.200000, 1.150000, 1.130000, 1.090000, 1.060000, 1.040000, 1.010000, 0.980000, 0.970000, 0.970000, 0.940000, 0.900000, 0.890000, 0.870000, 0.860000, 0.840000, 0.820000, 0.820000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.730000, 0.730000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.680000, 0.670000, 0.680000, 0.660000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053221, 380877 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.461000, 0.299000, 0.424263 ], "estimate": [ 0.461000, 0.299000, 0.424263 ], "true_pose": [ -0.142000, 0.466000, 0.510200 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.730000, 1.740000, 1.760000, 1.770000, 1.800000, 1.820000, 1.830000, 1.850000, 1.870000, 1.900000, 1.930000, 1.940000, 1.970000, 2.000000, 2.030000, 2.060000, 2.090000, 2.120000, 2.160000, 2.200000, 2.240000, 2.290000, 2.320000, 2.370000, 2.430000, 2.480000, 2.530000, 2.590000, 2.660000, 2.730000, 2.800000, 2.870000, 2.950000, 3.040000, 3.120000, 3.220000, 3.320000, 3.440000, 3.560000, 3.700000, 3.860000, 4.010000, 4.190000, 4.380000, 4.600000, 4.840000, 5.110000, 5.380000, 5.740000, 6.130000, 6.560000, 15.260000, 11.450000, 11.180000, 11.050000, 11.060000, 11.930000, 11.910000, null, null, null, 9.470000, null, null, null, null, null, null, null, null, null, 4.090000, 3.630000, 3.270000, 3.010000, 2.750000, 2.560000, 2.380000, 2.220000, 2.100000, 1.980000, 1.880000, 1.780000, 1.690000, 1.610000, 1.530000, 1.470000, 1.420000, 1.360000, 1.300000, 1.260000, 1.210000, 1.160000, 1.130000, 1.080000, 1.040000, 1.030000, 1.000000, 0.970000, 0.950000, 0.930000, 0.900000, 0.880000, 0.870000, 0.840000, 0.830000, 0.830000, 0.810000, 0.780000, 0.770000, 0.760000, 0.740000, 0.720000, 0.720000, 0.700000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053224, 178089 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.575000, 0.354000, 0.961213 ], "estimate": [ 0.575000, 0.354000, 0.961213 ], "true_pose": [ -0.211000, 0.527000, 1.056525 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.940000, 3.030000, 3.120000, 3.210000, 3.310000, 3.430000, 3.540000, 3.660000, 3.800000, 3.950000, 4.110000, 4.310000, 4.510000, 4.730000, 4.980000, 5.250000, 5.560000, 5.920000, 6.300000, 6.760000, 18.630000, 11.240000, 11.220000, 11.160000, 11.170000, null, null, null, null, 9.500000, 9.560000, null, null, null, null, null, null, null, null, 4.250000, 3.720000, 3.340000, 3.040000, 2.760000, 2.560000, 2.360000, 2.210000, 2.090000, 2.000000, 1.840000, 1.740000, 1.660000, 1.590000, 1.500000, 1.430000, 1.380000, 1.310000, 1.270000, 1.220000, 1.170000, 1.140000, 1.090000, 1.050000, 1.020000, 0.990000, 0.960000, 0.920000, 0.910000, 0.900000, 0.870000, 0.850000, 0.850000, 0.850000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.740000, 0.730000, 0.710000, 0.690000, 0.690000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.560000, 0.550000, 0.560000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.630000, 0.620000, 0.620000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.690000, 0.700000, 0.700000, 0.720000, 0.730000, 0.750000, 0.780000, 0.790000, 4.400000, 4.360000, 4.270000, 4.220000, 2.210000, 2.190000, 2.170000, 2.160000, 2.140000, 2.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053225, 190783 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.523000, 0.328000, 1.497227 ], "estimate": [ 0.523000, 0.328000, 1.497227 ], "true_pose": [ -0.267000, 0.526000, 1.569101 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ null, null, null, null, null, null, null, null, 4.350000, 3.760000, 3.370000, 3.060000, 2.750000, 2.520000, 2.330000, 2.190000, 2.040000, 1.930000, 1.810000, 1.700000, 1.610000, 1.530000, 1.470000, 1.400000, 1.340000, 1.290000, 1.230000, 1.180000, 1.140000, 1.090000, 1.050000, 1.030000, 0.990000, 0.960000, 0.920000, 0.900000, 0.890000, 0.870000, 0.870000, 0.840000, 0.800000, 0.780000, 0.770000, 0.750000, 0.730000, 0.710000, 0.700000, 0.700000, 0.690000, 0.670000, 0.670000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.520000, 0.520000, 0.530000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.540000, 0.550000, 0.540000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.600000, 0.600000, 0.610000, 0.610000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.700000, 0.700000, 0.720000, 4.440000, 4.360000, 4.300000, 4.240000, 4.180000, 2.170000, 2.160000, 2.140000, 2.110000, 2.090000, 2.080000, 2.060000, 2.050000, 2.040000, 2.020000, 2.010000, 2.000000, 1.740000, 1.730000, 1.710000, 1.700000, 1.690000, 1.670000, 1.660000, 1.630000, 1.660000, 1.740000, 1.840000, 1.940000, 2.070000, 2.210000, 2.380000, 2.580000, 2.830000, 3.090000, 3.430000, 3.880000, 4.430000, 5.170000, 6.190000, 7.500000, 7.500000 ], "valid": [ 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053226, 390787 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.461000, 0.327000, 2.031575 ], "estimate": [ 0.461000, 0.327000, 2.031575 ], "true_pose": [ -0.302000, 0.471000, 2.115949 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.020000, 0.980000, 0.950000, 0.930000, 0.930000, 0.910000, 0.870000, 0.840000, 0.820000, 0.820000, 0.790000, 0.760000, 0.750000, 0.750000, 0.730000, 0.710000, 0.700000, 0.690000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.600000, 0.600000, 0.590000, 0.590000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.530000, 0.520000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.640000, 0.630000, 0.650000, 0.660000, 0.670000, 0.670000, 0.690000, 0.720000, 4.630000, 4.550000, 4.480000, 4.410000, 4.340000, 4.280000, 4.200000, 2.150000, 2.120000, 2.110000, 2.090000, 2.060000, 2.050000, 2.040000, 2.020000, 2.010000, 1.990000, 1.970000, 1.960000, 1.710000, 1.690000, 1.690000, 1.670000, 1.660000, 1.650000, 1.630000, 1.590000, 1.580000, 1.670000, 1.760000, 1.850000, 1.970000, 2.110000, 2.240000, 2.410000, 2.600000, 2.840000, 3.110000, 3.420000, 3.860000, 4.400000, 5.100000, 6.090000, 7.470000, 7.470000, 7.450000, 7.460000, 7.440000, 7.440000, 7.450000, 7.450000, 7.460000, 7.490000, 7.490000, 7.500000, 7.510000, 7.530000, 7.560000, 7.580000, 7.590000, 7.630000, 7.660000, 9.870000, 3.260000, 3.210000, 3.150000, 3.130000, 3.180000, 3.240000, 3.310000, 3.380000, 3.440000, 3.530000, 3.600000, 3.650000, 3.600000, 3.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053227, 578245 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.436000, 0.336000, 2.596859 ], "estimate": [ 0.436000, 0.336000, 2.596859 ], "true_pose": [ -0.329000, 0.482000, 2.660921 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.650000, 0.650000, 0.640000, 0.620000, 0.630000, 0.610000, 0.620000, 0.610000, 0.610000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.570000, 0.570000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.570000, 0.570000, 0.560000, 0.560000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.680000, 0.720000, 6.150000, 5.980000, 5.900000, 4.670000, 4.580000, 4.510000, 4.430000, 4.350000, 4.290000, 4.210000, 2.160000, 2.120000, 2.100000, 2.070000, 2.060000, 2.040000, 2.030000, 2.010000, 1.990000, 1.970000, 1.970000, 1.700000, 1.680000, 1.680000, 1.660000, 1.650000, 1.630000, 1.610000, 1.590000, 1.580000, 1.610000, 1.700000, 1.780000, 1.870000, 1.990000, 2.100000, 2.230000, 2.380000, 2.580000, 2.790000, 3.020000, 3.300000, 3.680000, 4.150000, 4.660000, 5.440000, 7.450000, 7.430000, 7.420000, 7.420000, 7.410000, 7.410000, 7.410000, 7.410000, 7.420000, 7.420000, 7.410000, 7.460000, 7.460000, 7.490000, 7.510000, 7.520000, 7.550000, 7.570000, 7.600000, 7.640000, 3.260000, 3.190000, 3.140000, 3.100000, 3.120000, 3.170000, 3.230000, 3.290000, 3.360000, 3.430000, 3.510000, 3.560000, 3.610000, 3.570000, 3.500000, 3.420000, 3.270000, 3.180000, 3.290000, 3.220000, 3.100000, 2.830000, 2.750000, 2.700000, 2.500000, 2.490000, 2.720000, 2.780000, 2.800000, 2.820000, 2.880000, 2.920000, null, null, null, null, null, 3.190000, 3.210000, null, null, null, null, null, null, 3.980000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1 ], "timestamp": [ 976053228, 841004 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.428000, 0.286000, -3.108648 ], "estimate": [ 0.428000, 0.286000, -3.108648 ], "true_pose": [ -0.340000, 0.416000, -3.055523 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.690000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 6.210000, 6.290000, 6.300000, 6.160000, 5.950000, 5.930000, 4.660000, 4.590000, 4.510000, 4.440000, 4.360000, 4.290000, 2.170000, 2.150000, 2.140000, 2.110000, 2.080000, 2.060000, 2.050000, 2.030000, 2.010000, 2.000000, 1.980000, 1.720000, 1.710000, 1.690000, 1.670000, 1.650000, 1.640000, 1.620000, 1.600000, 1.600000, 1.670000, 1.730000, 1.830000, 1.910000, 2.020000, 2.140000, 2.260000, 2.410000, 2.590000, 2.780000, 2.990000, 3.250000, 3.550000, 3.970000, 4.410000, 4.980000, 5.750000, 7.430000, 7.420000, 7.410000, 7.410000, 7.410000, 7.410000, 7.410000, 7.410000, 7.410000, 7.390000, 7.420000, 7.440000, 7.460000, 7.460000, 7.500000, 7.510000, 7.520000, 7.560000, 7.600000, 3.240000, 3.200000, 3.130000, 3.080000, 3.070000, 3.130000, 3.180000, 3.250000, 3.300000, 3.360000, 3.430000, 3.510000, 3.560000, 3.540000, 3.440000, 3.330000, 3.300000, 3.260000, 3.150000, 3.130000, 3.020000, 2.850000, 2.780000, 2.720000, 2.690000, 2.520000, 2.640000, 2.720000, 2.750000, 2.810000, 2.830000, 2.890000, 2.920000, null, null, null, null, null, 3.170000, null, null, null, null, null, null, null, 3.900000, 3.920000, 6.050000, 6.000000, 5.950000, 5.380000, 5.190000, 5.810000, 5.770000, 5.740000, 5.710000, 5.690000, 5.930000, 6.860000, 6.870000, 1.550000, 1.540000, 1.540000, 1.540000, 1.540000, 1.530000, 1.520000, 1.520000, 1.520000, 1.510000, 1.510000, 1.520000, 1.520000, 1.510000, 1.510000, 1.510000, 1.520000, 1.510000, 1.510000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053229, 980744 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.472000, 0.217000, -2.580342 ], "estimate": [ 0.472000, 0.217000, -2.580342 ], "true_pose": [ -0.324000, 0.371000, -2.520967 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.790000, 6.270000, 6.350000, 6.330000, 6.200000, 6.030000, 5.960000, 4.700000, 4.630000, 4.550000, 4.470000, 4.390000, 4.320000, 2.200000, 2.190000, 2.160000, 2.140000, 2.120000, 2.100000, 2.080000, 2.050000, 2.050000, 2.030000, 1.770000, 1.750000, 1.730000, 1.710000, 1.710000, 1.680000, 1.660000, 1.660000, 1.630000, 1.720000, 1.790000, 1.870000, 1.960000, 2.070000, 2.180000, 2.290000, 2.430000, 2.590000, 2.780000, 2.980000, 3.210000, 3.490000, 3.830000, 4.270000, 4.750000, 5.420000, 6.250000, 7.470000, 7.460000, 7.440000, 7.430000, 7.430000, 7.430000, 7.440000, 7.440000, 7.450000, 7.450000, 7.470000, 7.460000, 7.490000, 7.510000, 7.530000, 7.540000, 7.570000, 7.600000, 3.250000, 3.200000, 3.140000, 3.090000, 3.090000, 3.140000, 3.200000, 3.260000, 3.320000, 3.380000, 3.450000, 3.530000, 3.580000, 3.510000, 3.380000, 3.270000, 3.230000, 3.170000, 3.020000, 2.980000, 2.870000, 2.790000, 2.740000, 2.700000, 2.470000, 2.450000, 2.680000, 2.720000, 2.770000, 2.800000, 2.850000, 2.870000, 2.930000, null, null, null, null, null, null, null, null, null, null, null, null, null, 3.890000, 3.900000, 6.040000, 5.990000, 5.940000, 5.890000, 5.840000, 5.470000, 5.740000, 5.740000, 5.700000, 5.690000, 5.840000, 6.860000, 1.540000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.490000, 1.490000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.460000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.500000, 1.510000, 1.510000, 1.520000, 1.530000, 1.540000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.620000, 1.630000, 1.650000, 1.660000, 1.680000, 1.700000, 1.710000, 1.730000, 1.750000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053231, 589537 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.510000, 0.172000, -2.029015 ], "estimate": [ 0.510000, 0.172000, -2.029015 ], "true_pose": [ -0.276000, 0.347000, -1.964953 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.680000, 1.730000, 1.800000, 1.880000, 1.970000, 2.070000, 2.170000, 2.280000, 2.410000, 2.570000, 2.760000, 2.950000, 3.150000, 3.430000, 3.740000, 4.160000, 4.590000, 5.170000, 5.920000, 7.520000, 7.510000, 7.490000, 7.490000, 7.480000, 7.480000, 7.480000, 7.480000, 7.490000, 7.500000, 7.500000, 7.510000, 7.530000, 7.530000, 7.560000, 7.580000, 7.600000, 7.620000, 3.300000, 3.240000, 3.180000, 3.140000, 3.130000, 3.190000, 3.250000, 3.290000, 3.370000, 3.420000, 3.490000, 3.570000, 3.610000, 3.600000, 3.520000, 3.440000, 3.170000, 3.180000, 3.250000, 3.140000, 2.970000, 2.850000, 2.740000, 2.670000, 2.610000, 2.650000, 2.720000, 2.760000, 2.800000, 2.840000, 2.880000, 2.940000, null, null, null, null, null, 3.150000, 3.140000, null, null, null, null, null, null, null, 6.150000, 6.100000, 6.030000, 5.990000, 5.950000, 5.890000, 5.830000, 5.770000, 5.760000, 5.720000, 5.680000, 5.680000, 5.840000, 1.520000, 1.510000, 1.500000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.450000, 1.450000, 1.460000, 1.460000, 1.470000, 1.460000, 1.470000, 1.470000, 1.480000, 1.490000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.540000, 1.560000, 1.570000, 1.580000, 1.600000, 1.620000, 1.630000, 1.640000, 1.660000, 1.670000, 1.690000, 1.700000, 1.720000, 1.740000, 1.770000, 1.790000, 1.810000, 1.830000, 1.850000, 1.890000, 1.920000, 1.940000, 1.980000, 2.010000, 2.050000, 2.080000, 2.120000, 2.160000, 2.210000, 2.260000, 2.300000, 2.360000, 2.420000, 2.470000, 2.540000, 2.610000, 2.670000, 2.750000, 2.840000, 2.920000, 3.010000, 3.110000, 3.210000, 3.330000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053232, 378757 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.605000, 0.144000, -1.494773 ], "estimate": [ 0.605000, 0.144000, -1.494773 ], "true_pose": [ -0.280000, 0.330000, -1.407273 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.580000, 7.590000, 7.620000, 7.630000, 7.660000, 3.340000, 3.290000, 3.240000, 3.180000, 3.180000, 3.230000, 3.290000, 3.340000, 3.400000, 3.470000, 3.540000, 3.610000, 3.640000, 3.620000, 3.600000, 3.530000, 3.320000, 3.390000, 3.370000, 3.240000, 3.140000, 3.080000, 2.710000, 2.520000, 2.510000, 2.730000, 2.760000, 2.810000, 2.850000, 2.880000, 2.930000, 2.960000, null, null, null, null, null, null, null, null, null, null, null, null, null, null, 6.170000, 6.100000, 6.050000, 6.000000, 5.950000, 5.630000, 5.270000, 5.810000, 5.760000, 5.720000, 5.680000, 1.530000, 1.510000, 1.510000, 1.500000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.440000, 1.440000, 1.430000, 1.440000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.440000, 1.440000, 1.440000, 1.450000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.490000, 1.490000, 1.500000, 1.510000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.610000, 1.630000, 1.630000, 1.650000, 1.670000, 1.690000, 1.710000, 1.730000, 1.750000, 1.770000, 1.780000, 1.820000, 1.840000, 1.860000, 1.900000, 1.940000, 1.950000, 1.990000, 2.020000, 2.060000, 2.100000, 2.140000, 2.170000, 2.220000, 2.270000, 2.320000, 2.380000, 2.440000, 2.500000, 2.570000, 2.630000, 2.700000, 2.780000, 2.860000, 2.960000, 3.050000, 3.160000, 3.260000, 3.370000, 3.500000, 3.640000, 3.810000, 3.980000, 4.180000, 4.390000, 4.630000, 4.910000, 5.210000, 5.540000, 5.920000, 6.370000, 14.600000, 11.280000, 11.190000, 11.080000, 11.110000, 11.930000, null, null, 10.460000, null, null, null, null, null, null, null, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ], "timestamp": [ 976053233, 578523 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.637000, 0.172000, -0.958968 ], "estimate": [ 0.637000, 0.172000, -0.958968 ], "true_pose": [ -0.240000, 0.341000, -0.860530 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.820000, 2.850000, 2.890000, 2.950000, 2.990000, 2.970000, null, null, null, null, null, null, null, null, null, null, null, null, null, 3.960000, 3.940000, 6.120000, 6.070000, 6.020000, 5.960000, 5.230000, 5.310000, 5.470000, 5.770000, 5.720000, 1.550000, 1.540000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.480000, 1.480000, 1.470000, 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.470000, 1.480000, 1.480000, 1.500000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.540000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.630000, 1.640000, 1.650000, 1.670000, 1.690000, 1.710000, 1.720000, 1.740000, 1.770000, 1.790000, 1.810000, 1.840000, 1.870000, 1.890000, 1.930000, 1.950000, 1.970000, 2.010000, 2.050000, 2.090000, 2.130000, 2.160000, 2.200000, 2.250000, 2.300000, 2.350000, 2.400000, 2.450000, 2.520000, 2.590000, 2.660000, 2.740000, 2.820000, 2.890000, 2.990000, 3.070000, 3.180000, 3.290000, 3.420000, 3.540000, 3.680000, 3.840000, 4.020000, 4.220000, 4.420000, 4.670000, 4.950000, 5.250000, 5.580000, 5.970000, 6.430000, 18.550000, 11.180000, 11.140000, 11.060000, 11.070000, null, 10.320000, null, null, 9.470000, 9.450000, null, null, null, null, null, null, null, null, null, null, 3.950000, 3.580000, 3.300000, 3.070000, 2.830000, 2.650000, 2.490000, 2.340000, 2.230000, 2.120000, 2.000000, 1.940000, 1.840000, 1.760000, 1.690000, 1.630000, 1.560000, 1.500000, 1.450000, 1.400000, 1.350000, 1.320000, 1.280000, 1.230000, 1.190000, 1.170000, 1.150000, 1.110000, 1.080000 ], "valid": [ 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053234, 779554 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.524000, 0.235000, -0.411285 ], "estimate": [ 0.524000, 0.235000, -0.411285 ], "true_pose": [ -0.215000, 0.386000, -0.319097 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.580000, 1.560000, 1.550000, 1.540000, 1.540000, 1.540000, 1.540000, 1.530000, 1.520000, 1.520000, 1.510000, 1.510000, 1.500000, 1.500000, 1.500000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.490000, 1.490000, 1.500000, 1.510000, 1.510000, 1.510000, 1.520000, 1.530000, 1.540000, 1.540000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.600000, 1.610000, 1.630000, 1.630000, 1.650000, 1.660000, 1.680000, 1.700000, 1.710000, 1.720000, 1.740000, 1.770000, 1.770000, 1.800000, 1.820000, 1.840000, 1.870000, 1.890000, 1.920000, 1.950000, 1.980000, 2.010000, 2.050000, 2.080000, 2.110000, 2.150000, 2.190000, 2.230000, 2.280000, 2.330000, 2.380000, 2.430000, 2.490000, 2.550000, 2.610000, 2.680000, 2.760000, 2.850000, 2.930000, 3.010000, 3.100000, 3.210000, 3.320000, 3.440000, 3.560000, 3.700000, 3.840000, 4.010000, 4.210000, 4.410000, 4.640000, 4.900000, 5.180000, 5.520000, 5.900000, 6.320000, 8.810000, 15.200000, 11.130000, 11.080000, 10.990000, 14.880000, null, null, null, null, 9.430000, 9.530000, null, null, null, null, null, null, null, null, null, 4.200000, 3.760000, 3.410000, 3.150000, 2.910000, 2.700000, 2.520000, 2.370000, 2.240000, 2.120000, 2.020000, 1.950000, 1.840000, 1.740000, 1.680000, 1.590000, 1.540000, 1.490000, 1.430000, 1.380000, 1.330000, 1.290000, 1.250000, 1.210000, 1.170000, 1.140000, 1.100000, 1.070000, 1.050000, 1.030000, 0.990000, 0.980000, 0.960000, 0.940000, 0.930000, 0.910000, 0.900000, 0.880000, 0.860000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.780000, 0.760000, 0.760000, 0.740000, 0.740000, 0.730000, 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053236, 961104 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.429000, 0.260000, -0.013528 ], "estimate": [ 1.429000, 0.260000, -0.013528 ], "true_pose": [ 0.614000, 0.499000, 0.075535 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.550000, 1.550000, 1.560000, 1.560000, 1.560000, 1.550000, 1.550000, 1.560000, 1.560000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.630000, 1.640000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.700000, 1.710000, 1.720000, 1.730000, 1.750000, 1.780000, 1.790000, 1.810000, 1.830000, 1.850000, 1.870000, 1.900000, 1.930000, 1.950000, 1.980000, 2.000000, 2.030000, 2.070000, 2.100000, 2.130000, 2.180000, 2.200000, 2.240000, 2.290000, 2.340000, 2.370000, 2.430000, 2.480000, 2.530000, 2.590000, 2.660000, 2.730000, 2.790000, 2.860000, 2.950000, 3.040000, 3.130000, 3.230000, 3.330000, 3.450000, 3.570000, 3.690000, 3.830000, 3.990000, 4.170000, 4.360000, 4.570000, 4.810000, 5.090000, 5.380000, 5.720000, 14.620000, 13.700000, 10.660000, 10.290000, 10.240000, 10.150000, 10.300000, 11.020000, 9.410000, null, null, null, 8.580000, null, null, null, null, null, null, null, null, null, null, null, 3.440000, 3.120000, 2.860000, 2.650000, 2.460000, 2.290000, 2.180000, 2.040000, 1.920000, 1.830000, 1.730000, 1.650000, 1.570000, 1.500000, 1.430000, 1.390000, 1.330000, 1.280000, 1.240000, 1.190000, 1.180000, 1.140000, 1.140000, 1.140000, 1.040000, 1.000000, 0.970000, 0.950000, 0.930000, 0.910000, 0.880000, 0.870000, 0.850000, 0.830000, 0.810000, 0.800000, 0.790000, 0.770000, 0.780000, 0.760000, 0.750000, 0.730000, 0.730000, 0.720000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.590000, 0.570000, 0.580000, 0.580000, 0.590000, 0.580000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053241, 162258 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.424000, 0.240000, -0.024983 ], "estimate": [ 2.424000, 0.240000, -0.024983 ], "true_pose": [ 1.690000, 0.543000, 0.076580 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.570000, 1.570000, 1.570000, 1.570000, 1.560000, 1.560000, 1.570000, 1.570000, 1.580000, 1.590000, 1.590000, 1.590000, 1.610000, 1.610000, 1.630000, 1.630000, 1.640000, 1.650000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.730000, 1.750000, 1.760000, 1.780000, 1.790000, 1.820000, 1.840000, 1.860000, 1.880000, 1.900000, 1.930000, 1.950000, 1.980000, 2.010000, 2.040000, 2.070000, 2.100000, 2.130000, 2.180000, 2.210000, 2.250000, 2.290000, 2.330000, 2.370000, 2.420000, 2.470000, 2.530000, 2.580000, 2.640000, 2.700000, 2.770000, 2.860000, 2.930000, 3.000000, 3.100000, 3.190000, 3.290000, 3.390000, 3.510000, 3.630000, 3.760000, 3.910000, 4.080000, 4.260000, 4.470000, 4.690000, 7.340000, 6.750000, 13.870000, 13.540000, null, 9.320000, 9.270000, 9.160000, 9.180000, null, 12.230000, null, null, null, null, 7.570000, 7.670000, null, null, null, null, null, null, null, null, null, null, null, null, null, 5.880000, 5.910000, 2.350000, 2.200000, 2.060000, 1.930000, 1.830000, 1.740000, 1.650000, 1.570000, 1.500000, 1.450000, 1.380000, 1.330000, 1.290000, 1.250000, 1.200000, 1.160000, 1.120000, 1.070000, 1.050000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.890000, 0.870000, 0.850000, 0.840000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.740000, 0.720000, 0.720000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053244, 801264 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.424000, 0.197000, -0.047480 ], "estimate": [ 3.424000, 0.197000, -0.047480 ], "true_pose": [ 2.681000, 0.606000, 0.047832 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.550000, 1.550000, 1.550000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.570000, 1.580000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.630000, 1.630000, 1.640000, 1.650000, 1.650000, 1.660000, 1.670000, 1.690000, 1.700000, 1.710000, 1.720000, 1.750000, 1.770000, 1.780000, 1.800000, 1.820000, 1.840000, 1.860000, 1.880000, 1.910000, 1.930000, 1.950000, 1.980000, 2.000000, 2.030000, 2.070000, 2.090000, 2.130000, 2.170000, 2.200000, 2.240000, 2.280000, 2.330000, 2.370000, 2.430000, 2.470000, 2.540000, 2.590000, 2.660000, 2.720000, 2.800000, 2.880000, 2.950000, 3.040000, 3.140000, 3.240000, 3.350000, 3.450000, 3.590000, 3.720000, 3.860000, 5.320000, 6.370000, 5.800000, null, 9.620000, 15.950000, 15.820000, 8.660000, 8.300000, 8.270000, 8.140000, 8.190000, 15.530000, 8.990000, 15.450000, null, null, null, null, 6.550000, 6.670000, null, 6.530000, null, null, null, null, null, 5.710000, null, null, null, null, null, null, null, 4.860000, 4.890000, 4.920000, 4.940000, 4.970000, 5.000000, 5.020000, 4.760000, 4.670000, 4.910000, 1.460000, 1.380000, 1.340000, 1.290000, 1.240000, 1.210000, 1.180000, 1.140000, 1.090000, 1.070000, 1.040000, 0.990000, 0.970000, 0.950000, 0.920000, 0.900000, 0.880000, 0.870000, 0.850000, 0.830000, 0.820000, 0.800000, 0.780000, 0.780000, 0.770000, 0.760000, 0.740000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.590000, 0.580000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053248, 159930 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.408000, 0.115000, -0.120808 ], "estimate": [ 4.408000, 0.115000, -0.120808 ], "true_pose": [ 3.649000, 0.566000, -0.012996 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.490000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.470000, 1.480000, 1.480000, 1.490000, 1.490000, 1.490000, 1.500000, 1.500000, 1.500000, 1.510000, 1.510000, 1.520000, 1.530000, 1.530000, 1.540000, 1.550000, 1.550000, 1.560000, 1.560000, 1.570000, 1.590000, 1.600000, 1.610000, 1.630000, 1.640000, 1.650000, 1.660000, 1.680000, 1.690000, 1.720000, 1.730000, 1.750000, 1.780000, 1.790000, 1.820000, 1.850000, 1.870000, 1.890000, 1.920000, 1.950000, 1.980000, 2.000000, 2.030000, 2.070000, 2.100000, 2.150000, 2.190000, 2.230000, 2.280000, 2.330000, 2.380000, 2.430000, 2.480000, 2.550000, 2.610000, 2.680000, 2.760000, 2.830000, 2.910000, 3.000000, 5.520000, 4.420000, 4.380000, null, 5.400000, 4.800000, 5.070000, null, 8.650000, 15.130000, 11.980000, 11.670000, 7.400000, 7.250000, 7.230000, 7.160000, 7.200000, 14.570000, 10.860000, 7.990000, null, null, null, null, null, 5.530000, 5.630000, null, 5.540000, null, null, null, null, null, null, null, 4.700000, null, null, null, null, null, null, null, null, null, null, 3.930000, 3.960000, 3.970000, 4.000000, 4.030000, 4.060000, 4.100000, 4.130000, 3.900000, 3.780000, 3.990000, 4.030000, 4.000000, 3.920000, 3.810000, 3.710000, 3.620000, 3.650000, 3.700000, 3.740000, 3.770000, 3.370000, 3.390000, 3.440000, 3.500000, 3.930000, 3.930000, 3.970000, 4.040000, 4.110000, 4.230000, 4.430000, 5.550000, 5.670000, 3.910000, 3.880000, 3.960000, 6.190000, 6.130000, 6.070000, 6.000000, 5.950000, 0.710000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.690000, 0.690000, 0.690000, 0.690000, 0.670000, 0.680000, 0.670000, 0.680000, 0.670000, 0.670000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053251, 799214 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.459000, -0.009000, -0.134722 ], "estimate": [ 5.459000, -0.009000, -0.134722 ], "true_pose": [ 4.698000, 0.564000, -0.026910 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.410000, 1.400000, 1.400000, 1.400000, 1.400000, 1.400000, 1.400000, 1.400000, 1.400000, 1.400000, 1.400000, 1.400000, 1.410000, 1.410000, 1.410000, 1.420000, 1.430000, 1.430000, 1.440000, 1.440000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.490000, 1.500000, 1.500000, 1.520000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.600000, 1.630000, 1.650000, 1.650000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.790000, 1.810000, 1.850000, 1.870000, 1.900000, 1.940000, 1.970000, 1.990000, 2.030000, 2.070000, 5.040000, 5.070000, 5.100000, 3.830000, 4.700000, 4.890000, 4.690000, 4.590000, 3.500000, 4.650000, 4.710000, null, 3.890000, 3.870000, 4.100000, 8.270000, null, null, null, 13.560000, 10.740000, 14.070000, 14.010000, 6.460000, 6.260000, 6.230000, 6.150000, 6.150000, 6.220000, 12.000000, 9.820000, 6.950000, 5.330000, null, null, null, null, null, 4.500000, 4.580000, null, null, 4.520000, null, null, null, null, null, null, null, null, null, null, 3.710000, null, null, null, null, null, null, null, null, null, null, null, null, null, 2.960000, 3.010000, 3.040000, 3.060000, 3.090000, 3.130000, 3.170000, 3.180000, 3.220000, 3.260000, 3.140000, 3.070000, 3.000000, 2.980000, 3.210000, 3.270000, 3.190000, 3.120000, 3.080000, 3.020000, 2.960000, 2.920000, 2.900000, 2.930000, 3.000000, 3.050000, 3.110000, 3.070000, 3.040000, 2.720000, 2.730000, 2.810000, 2.880000, 3.320000, 3.430000, 3.530000, 3.690000, 5.320000, 5.600000, 5.750000, 5.710000, 5.660000, 3.480000, 3.490000, 5.540000, 5.510000, 4.880000, 4.850000, 4.850000, 5.010000, 5.360000, 5.220000, 5.300000, 5.280000, 5.210000, 4.200000, 3.930000, 3.910000, 3.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053255, 671849 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.484000, -0.072000, -0.077949 ], "estimate": [ 6.484000, -0.072000, -0.077949 ], "true_pose": [ 5.737000, 0.584000, 0.017363 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.340000, 1.340000, 1.340000, 1.340000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.360000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.410000, 1.420000, 1.430000, 1.450000, 1.440000, 3.860000, 3.840000, 3.820000, 3.810000, 3.800000, 3.780000, 3.770000, 3.760000, 3.750000, 3.750000, 3.750000, 3.730000, 3.730000, 3.270000, 3.730000, 4.330000, 3.920000, 3.060000, 4.320000, 4.330000, 4.330000, 3.970000, 2.590000, 4.030000, 3.790000, 3.750000, 3.780000, 3.800000, 3.830000, 2.990000, 2.980000, 3.550000, null, 3.170000, null, null, null, 7.270000, 7.340000, null, null, null, 6.710000, 11.930000, 12.970000, 13.150000, 5.330000, 5.290000, 5.260000, 5.190000, 5.140000, 5.190000, 5.270000, 10.920000, 12.510000, 5.940000, 8.780000, 12.420000, null, null, null, null, null, 3.480000, null, 3.530000, null, null, null, 3.500000, null, null, null, null, null, null, null, null, null, null, null, null, null, 2.730000, 2.710000, null, null, null, 2.550000, 2.530000, 2.500000, 2.480000, 2.440000, 2.420000, null, 2.350000, 2.350000, 2.320000, 2.300000, 2.280000, 2.260000, 2.260000, 2.220000, 2.200000, 2.190000, 2.180000, 2.140000, 2.190000, 2.220000, 2.260000, 2.290000, 2.310000, 2.360000, 2.400000, 2.460000, 2.490000, 2.540000, null, 2.430000, 2.380000, 2.370000, 2.340000, 2.320000, 2.290000, 2.710000, 2.570000, 2.540000, 2.510000, 2.490000, 2.470000, 2.450000, 2.430000, 2.410000, 2.400000, 2.380000, 2.440000, 2.560000, 2.650000, 2.640000, 2.630000, 2.620000, 2.610000, 2.600000, 2.600000, 2.320000, 2.570000, 5.340000, 5.340000, 5.310000, 5.300000, 5.290000, 3.300000, 3.290000, 3.330000, 5.260000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053259, 175699 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.466000, -0.161000, -0.101696 ], "estimate": [ 7.466000, -0.161000, -0.101696 ], "true_pose": [ 6.707000, 0.574000, 0.018616 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.630000, 3.950000, 3.960000, 3.960000, 4.000000, 3.930000, 3.740000, 3.690000, 3.650000, 3.600000, 3.570000, 3.530000, 3.500000, 3.470000, 3.430000, 3.410000, 3.390000, 3.360000, 3.330000, 3.310000, 3.290000, 3.260000, 3.240000, 2.740000, 3.150000, 3.180000, 2.500000, 2.490000, 3.570000, 1.970000, 3.340000, 3.720000, 3.710000, 3.710000, 3.700000, 3.520000, 3.690000, 3.680000, 3.290000, 3.050000, 3.050000, 2.220000, 2.250000, 3.070000, null, 2.810000, 2.380000, 2.420000, 15.490000, 15.230000, 15.020000, 14.780000, null, null, null, null, null, null, null, 6.420000, 6.460000, null, null, null, 10.420000, 8.860000, 7.900000, 7.800000, 4.410000, 4.360000, 4.340000, 4.310000, 4.190000, 4.210000, 4.250000, 4.380000, 11.710000, 9.950000, 11.590000, 3.470000, 3.400000, 8.320000, null, null, null, null, null, null, null, 2.500000, null, 2.590000, 2.480000, null, null, 2.690000, null, 2.500000, null, null, null, null, null, null, 2.220000, null, null, 2.110000, 2.100000, null, 2.050000, null, 1.970000, 1.960000, 1.940000, 1.920000, 1.910000, 1.890000, 1.870000, 1.860000, 1.830000, 1.820000, 1.790000, 1.790000, 1.770000, 1.760000, 1.750000, 1.730000, 1.720000, 1.710000, 1.690000, 1.680000, 1.670000, 1.670000, 1.660000, 1.650000, 1.640000, 1.640000, 1.630000, 1.620000, 1.610000, 1.610000, 1.610000, 1.590000, 1.580000, 1.570000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.570000, null, null, null, 1.960000, 2.060000, 2.200000, null, null, 2.730000, 2.020000, 2.000000, 2.010000, 2.010000, 2.000000, 2.000000, 1.990000, 1.990000, 2.260000, 2.260000, 2.250000, 2.250000, 2.250000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053262, 930063 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.504000, -0.298000, -0.173149 ], "estimate": [ 8.504000, -0.298000, -0.173149 ], "true_pose": [ 7.713000, 0.559000, -0.051274 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.340000, 1.710000, 1.680000, 3.170000, 3.130000, 2.980000, 2.210000, 2.190000, 2.950000, 2.920000, 2.890000, 2.850000, 2.860000, 2.920000, 3.000000, 3.090000, 3.170000, 2.910000, 3.300000, 1.690000, 1.680000, 3.230000, 3.010000, 3.180000, 3.160000, 2.500000, 2.490000, 2.450000, 1.790000, 2.450000, 2.460000, 2.160000, 3.350000, 12.610000, 12.220000, 11.800000, 4.280000, 11.110000, 10.790000, 10.500000, 10.230000, 10.280000, null, null, 12.880000, null, 13.080000, 13.180000, 14.560000, 14.810000, 14.600000, 14.320000, 14.090000, null, null, null, null, 5.500000, 5.680000, 5.590000, 5.740000, null, null, 8.930000, 6.750000, 7.480000, 3.500000, 3.430000, 3.400000, 3.360000, 3.350000, 3.240000, 3.220000, 3.250000, 3.280000, 3.450000, 4.260000, 7.170000, 3.630000, 10.690000, 2.360000, 10.590000, 10.570000, 10.560000, null, 2.310000, null, null, null, null, null, null, null, null, 1.460000, null, null, 1.570000, 1.450000, 1.660000, null, null, null, 1.650000, null, null, 1.550000, 1.470000, null, null, null, 1.430000, 1.420000, 1.390000, 1.360000, 1.350000, 1.340000, 1.330000, 1.330000, 1.300000, 1.290000, 1.270000, 1.260000, 1.260000, 1.250000, 1.230000, 1.220000, 1.210000, 1.210000, 1.200000, 1.200000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.120000, 1.110000, 1.090000, 1.090000, 1.090000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.080000, 1.090000, 1.110000, 1.100000, 1.100000, 1.090000, 1.110000, 1.100000, 1.100000, 1.090000, 1.080000, 1.090000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.220000, 1.220000, 1.220000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053266, 271021 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 9.063000, -0.448000, -0.562501 ], "estimate": [ 9.063000, -0.448000, -0.562501 ], "true_pose": [ 8.237000, 0.478000, -0.437501 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.880000, 3.850000, 3.880000, null, 1.720000, 1.690000, 4.050000, 4.060000, 3.710000, 3.610000, 3.510000, 3.420000, 3.350000, 2.160000, 2.130000, 2.450000, 3.050000, 2.980000, 2.920000, 2.860000, 2.800000, 2.730000, 1.530000, 1.530000, 2.810000, 2.860000, 2.920000, 2.970000, 2.790000, 3.110000, 3.140000, 1.580000, 1.520000, 3.030000, 2.260000, 2.250000, 2.230000, 2.210000, 2.120000, 1.840000, 2.180000, 2.230000, 2.370000, 2.530000, 2.780000, 2.980000, 3.240000, 3.610000, 6.590000, 6.590000, 13.760000, 13.210000, 3.950000, 12.210000, 11.780000, 11.380000, 10.990000, 10.640000, 10.320000, 10.010000, 9.840000, 9.910000, null, null, null, null, null, 12.810000, 14.010000, null, null, 12.830000, 13.900000, null, null, null, 5.080000, 5.180000, 5.080000, null, null, null, 4.390000, 8.410000, 6.250000, 2.920000, 2.890000, 2.850000, 2.830000, 2.800000, 2.710000, 2.660000, 2.690000, 2.700000, 2.72000