{ "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, 2.720000, 2.970000, 3.670000, 6.340000, 6.630000, 10.230000, 10.170000, 10.120000, 10.070000, 10.040000, null, null, null, 9.880000, 1.770000, null, null, null, null, null, null, null, null, null, null, null, null, 0.930000, 0.910000, null, null, null, 1.040000, 1.010000, null, 0.910000, 1.160000, 1.140000, 1.120000, 1.120000, 1.100000, 1.080000, 1.080000, 1.070000, 1.050000, 1.050000, 1.040000, 1.020000, 0.990000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.880000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.860000, 0.840000, 0.870000, 0.870000, 0.880000, 0.870000, 0.860000, 0.860000, 0.860000 ], "valid": [ 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, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 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, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053271, 671524 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 9.817000, -1.051000, -0.777699 ], "estimate": [ 9.817000, -1.051000, -0.777699 ], "true_pose": [ 9.113000, -0.038000, -0.662074 ], "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": [ 2.060000, null, null, null, 2.320000, 1.230000, 1.210000, 1.230000, 3.160000, 3.050000, 2.870000, 2.750000, 2.610000, 2.510000, 2.460000, 2.460000, 2.480000, 2.500000, 2.520000, 2.530000, 2.560000, 1.370000, 1.380000, 1.790000, 1.750000, 1.720000, 1.690000, 1.660000, 1.640000, 1.660000, 1.690000, 1.720000, 1.760000, 1.800000, 1.840000, 1.880000, 1.930000, 1.980000, 2.040000, 2.100000, 2.160000, 2.230000, 2.290000, 2.370000, 2.460000, 2.540000, 2.650000, 2.770000, 2.890000, 8.220000, 8.240000, 8.260000, 7.950000, 6.020000, 5.870000, 3.150000, 3.190000, 15.660000, null, null, 13.270000, 12.620000, 12.050000, 11.530000, 11.090000, 10.630000, 10.230000, 9.860000, 9.530000, 9.220000, 8.950000, 9.010000, 11.930000, null, 11.330000, 11.420000, 11.560000, null, 11.710000, 11.860000, 13.150000, 13.340000, 13.310000, null, null, null, null, 4.070000, 4.210000, 4.140000, null, 4.160000, null, null, null, 7.380000, 7.430000, 7.480000, 1.940000, 1.920000, 1.900000, 1.890000, 1.870000, 1.850000, 1.830000, 1.790000, 1.730000, 1.690000, 1.700000, 1.720000, 1.740000, 1.750000, 1.770000, 1.800000, 9.230000, 9.200000, 5.540000, 7.440000, 9.090000, 9.050000, 5.360000, 5.470000, 2.480000, 8.960000, null, 6.330000, 4.970000, 7.300000, 4.870000, null, 0.900000, 0.890000, 5.220000, 5.320000, 7.450000, 7.330000, 7.230000, 5.330000, 7.030000, 6.980000, 6.870000, 6.790000, 6.700000, 0.930000, 0.950000, 0.920000, 0.950000, null, null, 1.060000, null, null, null, null, null, null, null, 0.870000, 0.860000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.820000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.790000, 0.770000, 0.710000, 0.760000, 0.720000, 0.630000, 0.580000 ], "valid": [ 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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 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, 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, 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 ], "timestamp": [ 976053275, 516620 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 10.459000, -1.754000, -0.982064 ], "estimate": [ 10.459000, -1.754000, -0.982064 ], "true_pose": [ 9.853000, -0.668000, -0.863314 ], "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, 4.100000, 1.610000, 1.450000, 1.400000, 1.400000, 1.400000, 1.410000, 1.420000, 1.430000, 1.430000, 1.450000, 1.460000, 1.470000, 1.480000, 1.480000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.570000, 1.590000, 1.590000, 1.610000, 1.640000, 1.660000, 1.670000, 1.700000, 1.730000, 1.750000, 1.780000, 1.810000, 1.830000, 1.870000, 1.890000, 1.940000, 1.970000, 2.000000, 2.050000, 2.090000, 2.130000, 2.190000, 2.240000, 2.300000, 4.420000, 5.240000, 7.500000, 7.490000, 7.480000, 7.480000, 7.480000, 7.470000, 2.410000, 2.400000, 7.490000, 7.500000, 7.520000, 5.070000, 5.060000, 5.050000, 5.060000, 5.690000, null, null, 16.060000, null, 13.630000, null, 12.020000, 11.400000, 10.830000, 10.350000, 9.890000, 9.470000, 9.120000, 8.750000, 8.450000, 8.130000, 8.040000, 8.110000, 10.980000, null, 10.450000, 10.420000, 10.550000, 10.660000, 10.120000, 10.760000, 11.090000, 12.210000, 12.390000, 12.370000, null, null, null, null, null, 3.120000, 3.260000, 3.160000, 3.210000, null, 3.210000, null, null, null, null, 2.460000, 4.310000, 4.900000, 6.760000, 5.040000, 5.490000, 4.540000, 7.500000, 4.420000, 4.430000, 1.420000, 1.030000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.940000, 0.920000, 0.900000, 0.890000, 0.870000, 0.870000, 0.880000, 0.900000, 0.920000, 0.940000, 0.970000, 0.990000, 1.010000, 1.030000, 1.410000, 5.020000, 1.800000, 4.700000, 6.590000, 6.520000, 4.370000, 6.380000, 4.790000, 6.260000, 6.190000, 6.160000, 6.100000, 6.060000, 6.000000, 3.510000, 5.910000, 5.890000, 5.840000, 5.900000, 5.970000, 5.980000, 2.820000, 3.190000, 4.080000, 5.860000, 5.850000, 5.810000, 5.790000, 5.790000 ], "valid": [ 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, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 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 ], "timestamp": [ 976053278, 503015 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 10.972000, -2.646000, -1.160493 ], "estimate": [ 10.972000, -2.646000, -1.160493 ], "true_pose": [ 10.447000, -1.439000, -1.029243 ], "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, 1.440000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.470000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.510000, 1.520000, 1.530000, 1.530000, 1.540000, 1.550000, 1.570000, 1.580000, 1.590000, 1.610000, 1.620000, 1.630000, 1.650000, 1.650000, 4.660000, 4.560000, 2.140000, 2.140000, 4.530000, 4.610000, 3.960000, 3.940000, 3.920000, 3.880000, 3.850000, 3.750000, 3.740000, 3.710000, 1.600000, 1.600000, 4.140000, 4.400000, 4.730000, 5.080000, 6.750000, 6.730000, 6.710000, 6.690000, 6.680000, 6.670000, 6.650000, 6.650000, 6.660000, 6.660000, 6.660000, 4.210000, 4.180000, 4.160000, 4.140000, 4.140000, 4.520000, 4.850000, 5.470000, 6.310000, 18.370000, 18.430000, null, null, 13.720000, 12.710000, 12.670000, 11.170000, 10.550000, 9.960000, 9.470000, 9.020000, 8.610000, 8.260000, 7.900000, 7.600000, 7.310000, 7.060000, 7.030000, 7.100000, 9.950000, 9.980000, 9.540000, 9.400000, 9.480000, 9.580000, null, 9.790000, 9.750000, 11.020000, 11.180000, 9.890000, 11.420000, 11.230000, 11.100000, null, null, null, null, null, null, null, null, null, 2.140000, 2.300000, null, 2.200000, 2.370000, null, null, null, null, null, null, null, null, null, null, null, null, null, 1.600000, 1.590000, 3.580000, 3.600000, 7.870000, 4.920000, 4.600000, 7.760000, 7.680000, 4.110000, 3.650000, 7.650000, 7.650000, 7.630000, 7.640000, 7.600000, 4.110000, 3.640000, 7.590000, 7.580000, 7.590000, 4.110000, 4.580000, 6.200000, null, null, 3.700000, 4.180000, 5.120000, null, 4.820000, 6.800000, 4.810000, 6.660000, 6.600000, 6.520000, 5.010000, 3.990000, 3.800000, 4.660000, 4.920000, 6.220000, 0.760000, 0.760000, 0.760000, 0.750000, 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, 0, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 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, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053282, 123031 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 11.311000, -3.573000, -1.180383 ], "estimate": [ 11.311000, -3.573000, -1.180383 ], "true_pose": [ 10.961000, -2.302000, -1.064758 ], "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": [ 4.170000, 4.210000, 4.250000, 4.290000, 4.340000, 4.370000, 4.420000, 4.470000, 1.760000, 1.300000, 1.110000, 1.140000, 1.150000, 4.810000, 4.880000, 4.960000, 5.030000, 4.880000, 4.820000, 4.710000, 4.690000, 4.190000, 4.050000, 3.970000, 3.990000, 4.030000, 3.440000, 3.400000, 3.350000, 3.300000, 3.190000, 3.160000, 3.110000, 3.090000, 3.100000, 3.180000, 3.280000, 3.390000, 3.510000, 3.640000, 3.780000, 3.930000, 4.100000, 4.290000, 4.570000, 6.080000, 6.040000, 6.000000, 5.970000, 5.950000, 5.930000, 5.900000, 5.880000, 5.860000, 5.850000, 5.830000, 3.360000, 3.330000, 3.300000, 3.280000, 3.260000, 3.340000, 3.500000, 3.690000, 3.890000, 4.170000, 4.480000, 4.850000, 5.310000, 6.130000, 17.380000, 17.430000, 17.460000, null, null, 14.050000, 12.360000, 11.720000, 11.740000, 9.970000, 9.390000, 8.860000, 8.390000, 7.990000, 7.610000, 7.270000, 6.960000, 6.680000, 6.420000, 6.180000, 6.040000, 6.080000, 6.130000, 8.980000, 8.850000, 8.600000, 8.390000, 8.470000, 8.570000, 8.670000, 8.130000, 8.760000, 8.780000, 10.100000, 10.260000, 10.420000, 10.470000, 10.280000, 10.080000, 9.930000, 9.770000, 9.620000, null, null, null, null, null, null, null, null, null, null, 2.300000, null, null, null, null, null, null, null, null, null, null, null, 1.430000, 1.310000, 1.390000, null, 1.550000, 1.410000, null, null, 1.670000, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, 1.180000, 1.150000, 1.160000, 1.160000, 1.140000, 1.140000, 1.130000, 1.050000, 6.150000, 1.120000, 3.830000, 6.550000, 4.640000, 6.460000, 4.700000 ], "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, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976053286, 532140 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 11.655000, -4.515000, -1.178711 ], "estimate": [ 11.655000, -4.515000, -1.178711 ], "true_pose": [ 11.418000, -3.134000, -1.067774 ], "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": [ 4.640000, 4.680000, 4.720000, 4.760000, 4.800000, 4.850000, 4.730000, 4.580000, 3.980000, 3.690000, 3.170000, 3.090000, 3.030000, 2.830000, 2.760000, 2.700000, 2.680000, 2.690000, 2.740000, 2.770000, 2.830000, 2.880000, 2.930000, 2.980000, 3.040000, 3.110000, 3.180000, 3.230000, 3.320000, 3.390000, 3.470000, 3.560000, 3.640000, 3.750000, 3.850000, 5.580000, 5.520000, 5.470000, 5.440000, 5.380000, 5.350000, 5.300000, 5.260000, 5.230000, 2.590000, 2.560000, 2.530000, 2.500000, 2.470000, 2.450000, 2.480000, 2.550000, 2.620000, 2.710000, 2.800000, 2.900000, 2.990000, 3.100000, 3.220000, 3.360000, 3.500000, 3.690000, 3.900000, 4.150000, 4.450000, 4.800000, 5.280000, 6.040000, 16.420000, 16.430000, 16.470000, 16.470000, 16.510000, null, 13.360000, 12.070000, 11.040000, 10.720000, 9.440000, 8.780000, 8.210000, 7.740000, 7.370000, 6.940000, 6.590000, 6.310000, 6.010000, 5.760000, 5.520000, 5.310000, 5.120000, 5.040000, 5.080000, 5.140000, 7.960000, 7.930000, 7.700000, 7.510000, 7.400000, 7.480000, 7.580000, 7.650000, null, 7.840000, 7.780000, 8.100000, 9.220000, 8.040000, 7.960000, 9.440000, 8.210000, 9.120000, 8.980000, 8.830000, 8.730000, 7.670000, 7.560000, 6.680000, 7.570000, 7.780000, 2.690000, 2.660000, 2.250000, 2.120000, 2.070000, 2.060000, 2.000000, 1.970000, 1.920000, 1.870000, 1.850000, 1.810000, 1.770000, 1.740000, 1.740000, 1.720000, 1.690000, 1.670000, 1.640000, 1.610000, 1.600000, 1.550000, 1.550000, 1.530000, 1.530000, 1.480000, 1.480000, 1.450000, 1.430000, 1.430000, 1.420000, 1.380000, 1.380000, 1.360000, 1.360000, 1.330000, 1.320000, 1.310000, 1.300000, 1.300000, 1.280000, 1.270000, 1.260000, 1.260000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.170000, 1.160000, 1.160000, 1.160000, 1.160000, 1.120000 ], "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, 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, 1, 1, 1, 1 ], "timestamp": [ 976053289, 550194 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.041000, -5.502000, -1.252353 ], "estimate": [ 12.041000, -5.502000, -1.252353 ], "true_pose": [ 11.959000, -4.012000, -1.147666 ], "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": [ 2.590000, 2.610000, 2.630000, 2.650000, 2.670000, 2.690000, 2.710000, 2.740000, 2.770000, 2.790000, 2.820000, 2.860000, 2.880000, 2.920000, 2.960000, 2.990000, 3.030000, 3.080000, 3.120000, 3.160000, 3.200000, 3.250000, 3.310000, 3.350000, 5.410000, 5.330000, 5.250000, 1.960000, 1.920000, 1.860000, 1.820000, 1.770000, 1.780000, 1.800000, 1.820000, 1.850000, 1.880000, 1.910000, 1.940000, 1.970000, 2.010000, 2.050000, 2.080000, 2.120000, 2.160000, 2.210000, 2.230000, 2.290000, 2.350000, 2.420000, 2.470000, 2.520000, 2.600000, 2.680000, 2.760000, 2.850000, 2.940000, 3.050000, 3.160000, 3.280000, 3.410000, 3.580000, 3.770000, 4.000000, 4.270000, 4.600000, 4.990000, 5.560000, 6.450000, 15.460000, 15.470000, 15.490000, 15.490000, 15.510000, 15.540000, 15.570000, 12.720000, 11.330000, 10.220000, 9.750000, 8.550000, 7.910000, 7.360000, 6.880000, 6.490000, 6.110000, 5.790000, 5.500000, 5.260000, 5.010000, 4.780000, 4.580000, 4.410000, 4.230000, 4.110000, 4.020000, 4.050000, 4.100000, 4.130000, 7.010000, 6.810000, 6.630000, 6.460000, 6.400000, 6.480000, 6.570000, 6.660000, 6.280000, 6.130000, 6.800000, 6.850000, 7.190000, 8.330000, 8.480000, 8.630000, 8.480000, 7.020000, 8.220000, 8.100000, 7.990000, 7.890000, 7.780000, 6.910000, 6.730000, 6.650000, 6.070000, 6.780000, 6.970000, 7.200000, 7.180000, 6.850000, 7.040000, 6.990000, 6.930000, 6.860000, 6.810000, 6.750000, 6.710000, 6.650000, 5.960000, 1.910000, 1.910000, 1.890000, 1.890000, 1.870000, 1.850000, 1.840000, 1.820000, 1.860000, 1.540000, 1.430000, 1.430000, 1.420000, 1.410000, 1.400000, 1.380000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.330000, 1.320000, 1.310000, 1.310000, 1.300000, 1.290000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.220000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053293, 230587 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.344000, -6.460000, -1.275368 ], "estimate": [ 12.344000, -6.460000, -1.275368 ], "true_pose": [ 12.322000, -4.998000, -1.167556 ], "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": [ 1.500000, 1.500000, 1.500000, 1.500000, 1.510000, 1.510000, 1.520000, 1.520000, 1.520000, 1.530000, 1.540000, 1.540000, 1.540000, 1.550000, 1.560000, 1.570000, 1.570000, 1.590000, 1.600000, 1.610000, 1.620000, 1.640000, 1.640000, 1.660000, 1.680000, 1.690000, 1.710000, 1.730000, 1.750000, 1.760000, 1.780000, 1.810000, 1.830000, 1.850000, 1.880000, 1.910000, 1.930000, 1.970000, 2.000000, 2.030000, 2.070000, 2.110000, 2.150000, 2.190000, 2.230000, 2.290000, 2.320000, 2.370000, 2.430000, 2.490000, 2.550000, 2.620000, 2.700000, 2.770000, 2.860000, 2.960000, 3.060000, 3.170000, 3.290000, 3.430000, 3.600000, 3.780000, 4.010000, 4.280000, 4.600000, 4.980000, 5.490000, 6.310000, 14.520000, 14.520000, 14.530000, 14.530000, 14.530000, 14.530000, 14.560000, 14.590000, 14.630000, 11.500000, 10.080000, 8.970000, 8.760000, 7.380000, 6.790000, 6.270000, 5.850000, 5.470000, 5.160000, 4.870000, 4.590000, 4.370000, 4.190000, 3.980000, 3.800000, 3.640000, 3.500000, 3.370000, 3.240000, 3.120000, 3.040000, 2.980000, 3.050000, 3.090000, 3.120000, 5.950000, 5.800000, 5.660000, 5.510000, 5.430000, 5.470000, 5.560000, 5.620000, 5.700000, null, 5.110000, 5.090000, 5.900000, null, 7.420000, 7.560000, 7.710000, 6.130000, 7.510000, 7.390000, 7.310000, 7.220000, 7.140000, 7.050000, 6.980000, 6.900000, 6.400000, 5.940000, 5.890000, 5.820000, 5.860000, 5.000000, 6.300000, 6.450000, 6.430000, 6.400000, 6.330000, 6.290000, 6.250000, 6.210000, 6.150000, 6.110000, 6.080000, 6.060000, 6.030000, 6.000000, 5.380000, 5.370000, 5.350000, 5.920000, 4.820000, 4.750000, 5.910000, 5.880000, 3.460000, 3.470000, 3.460000, 3.180000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 3.180000, 3.180000, 3.180000, 3.510000, 3.190000, 2.900000, 2.650000, 2.460000, 1.460000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000 ], "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, 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 ], "timestamp": [ 976053296, 829823 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.614000, -7.425000, -1.350051 ], "estimate": [ 12.614000, -7.425000, -1.350051 ], "true_pose": [ 12.707000, -5.870000, -1.253176 ], "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, 1.520000, 1.520000, 1.530000, 1.530000, 1.530000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.630000, 1.630000, 1.650000, 1.650000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.730000, 1.760000, 1.770000, 1.790000, 1.820000, 1.830000, 1.860000, 1.880000, 1.900000, 1.930000, 1.960000, 1.990000, 2.020000, 2.060000, 2.090000, 2.140000, 2.180000, 2.230000, 2.260000, 2.310000, 2.370000, 2.430000, 2.480000, 2.530000, 2.600000, 2.680000, 2.760000, 2.840000, 2.940000, 3.050000, 3.150000, 3.280000, 3.400000, 3.540000, 3.730000, 3.930000, 4.180000, 4.460000, 4.810000, 5.270000, 5.900000, 16.220000, 13.610000, 13.590000, 13.550000, 13.560000, 13.560000, 13.560000, 13.570000, 13.580000, 13.590000, 13.630000, 10.610000, 9.110000, 7.980000, 7.750000, 6.420000, 5.840000, 5.360000, 4.950000, 4.610000, 4.310000, 4.060000, 3.810000, 3.610000, 3.430000, 3.260000, 3.130000, 2.990000, 2.850000, 2.750000, 2.640000, 2.540000, 2.450000, 2.370000, 2.290000, 2.220000, 2.150000, 2.090000, 2.030000, 2.020000, 2.050000, 2.080000, 2.110000, 2.140000, 2.160000, 4.590000, 4.480000, 4.510000, 4.590000, 4.660000, 4.740000, 4.820000, 4.900000, 5.000000, 4.660000, 4.480000, 5.060000, 6.660000, 6.810000, 6.830000, 6.750000, 5.290000, 6.570000, 5.330000, 6.450000, 6.380000, 6.330000, 6.270000, 6.220000, 6.150000, 6.110000, 6.070000, 5.250000, 5.210000, 5.180000, 5.150000, 5.320000, 5.600000, 4.340000, 5.830000, 5.800000, 5.790000, 5.510000, 5.750000, 5.730000, 5.710000, 5.640000, 5.620000, 5.600000, 5.590000, 5.580000, 5.570000, 5.560000, 5.560000, 4.970000, 4.960000, 4.970000, 5.560000, 5.560000, 5.570000, 4.560000, 5.580000, 4.410000, 5.610000, 5.630000, 5.640000, 3.890000, 3.610000, 3.340000, 3.240000, 3.280000 ], "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": [ 976053300, 295485 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.858000, -8.378000, -1.429107 ], "estimate": [ 12.858000, -8.378000, -1.429107 ], "true_pose": [ 13.011000, -6.835000, -1.307232 ], "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, 1.510000, 1.510000, 1.520000, 1.530000, 1.530000, 1.530000, 1.540000, 1.540000, 1.550000, 1.550000, 1.570000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.630000, 1.630000, 1.650000, 1.660000, 1.680000, 1.700000, 1.700000, 1.720000, 1.730000, 1.750000, 1.770000, 1.790000, 1.820000, 1.840000, 1.860000, 1.890000, 1.920000, 1.940000, 1.970000, 2.000000, 2.030000, 2.070000, 2.090000, 2.140000, 2.180000, 2.220000, 2.270000, 2.310000, 2.370000, 2.430000, 2.490000, 2.540000, 2.610000, 2.690000, 2.770000, 2.850000, 2.950000, 3.060000, 3.170000, 3.280000, 3.410000, 3.560000, 3.750000, 3.960000, 4.210000, 4.500000, 4.850000, 5.330000, 6.020000, 15.310000, 15.270000, 12.640000, 12.620000, 12.600000, 12.600000, 12.590000, 12.580000, 12.580000, 12.590000, 12.600000, 12.610000, 10.810000, 8.900000, 7.490000, 6.740000, 6.760000, 5.180000, 4.710000, 4.300000, 3.960000, 3.660000, 3.430000, 3.250000, 3.030000, 2.860000, 2.710000, 2.570000, 2.450000, 2.340000, 2.250000, 2.160000, 2.070000, 1.990000, 1.920000, 1.850000, 1.800000, 1.730000, 1.680000, 1.620000, 1.580000, 1.540000, 1.500000, 1.460000, 1.420000, 1.390000, 1.350000, 1.330000, 1.290000, 1.270000, 1.260000, 1.230000, 1.200000, 1.180000, 1.160000, 1.150000, 1.120000, 1.120000, 1.110000, 1.100000, 1.150000, 1.180000, 1.210000, 1.240000, 1.260000, 1.300000, 3.520000, 3.490000, 6.070000, 6.000000, 5.950000, 5.880000, 4.600000, 5.800000, 4.960000, 5.720000, 5.670000, 5.650000, 5.610000, 5.570000, 5.540000, 5.510000, 5.480000, 5.450000, 4.710000, 4.690000, 4.680000, 4.650000, 4.630000, 5.320000, 5.340000, 5.400000, 5.390000, 3.910000, 5.090000, 5.370000, 5.370000, 5.370000, 5.320000, 5.300000, 5.310000, 5.310000, 5.310000, 5.320000, 5.330000, 5.340000, 5.350000, 5.080000, 4.820000, 4.820000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053303, 762563 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.986000, -9.341000, -1.465144 ], "estimate": [ 12.986000, -9.341000, -1.465144 ], "true_pose": [ 13.280000, -7.882000, -1.354206 ], "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": [ 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.520000, 1.510000, 1.520000, 1.530000, 1.530000, 1.540000, 1.540000, 1.540000, 1.540000, 1.560000, 1.570000, 1.590000, 1.590000, 1.600000, 1.610000, 1.620000, 1.610000, 1.630000, 1.650000, 1.660000, 1.680000, 1.700000, 1.700000, 1.720000, 1.740000, 1.760000, 1.770000, 1.790000, 1.820000, 1.840000, 1.860000, 1.890000, 1.920000, 1.940000, 1.970000, 2.010000, 2.030000, 2.070000, 2.100000, 2.150000, 2.180000, 2.230000, 2.280000, 2.320000, 2.380000, 2.430000, 2.490000, 2.560000, 2.620000, 2.700000, 2.780000, 2.860000, 2.960000, 3.060000, 3.180000, 3.300000, 3.440000, 3.600000, 3.770000, 4.010000, 4.250000, 4.560000, 4.950000, 5.430000, 6.170000, 14.410000, 14.370000, 14.330000, 11.690000, 11.650000, 11.630000, 11.620000, 11.620000, 11.620000, 11.610000, 11.600000, 11.600000, 11.620000, 11.630000, 8.940000, 7.210000, 6.070000, 5.720000, 4.690000, 4.110000, 3.720000, 3.390000, 3.100000, 2.870000, 2.670000, 2.500000, 2.360000, 2.230000, 2.120000, 2.010000, 1.910000, 1.810000, 1.730000, 1.660000, 1.580000, 1.520000, 1.460000, 1.420000, 1.390000, 1.330000, 1.300000, 1.260000, 1.220000, 1.180000, 1.150000, 1.150000, 1.100000, 1.050000, 1.030000, 1.010000, 0.980000, 0.960000, 0.940000, 0.920000, 0.910000, 0.900000, 0.870000, 0.860000, 0.850000, 0.830000, 0.830000, 0.810000, 0.810000, 0.790000, 0.780000, 0.780000, 0.760000, 0.770000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.720000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.660000 ], "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": [ 976053307, 362187 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.066000, -10.401000, -1.598469 ], "estimate": [ 13.066000, -10.401000, -1.598469 ], "true_pose": [ 13.427000, -8.885000, -1.479719 ], "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": [ 1.480000, 1.480000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.500000, 1.490000, 1.500000, 1.510000, 1.510000, 1.520000, 1.530000, 1.530000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.620000, 1.640000, 1.660000, 1.670000, 1.690000, 1.700000, 1.720000, 1.740000, 1.760000, 1.780000, 1.810000, 1.830000, 1.840000, 1.870000, 1.900000, 1.930000, 1.960000, 1.990000, 2.030000, 2.070000, 2.110000, 2.160000, 2.190000, 2.240000, 2.300000, 2.340000, 2.400000, 2.450000, 2.530000, 2.590000, 2.670000, 2.750000, 2.830000, 2.930000, 3.030000, 3.140000, 3.270000, 3.410000, 3.560000, 3.740000, 3.970000, 4.220000, 4.540000, 4.910000, 5.390000, 6.170000, 8.510000, 13.450000, 13.410000, 13.370000, 10.710000, 10.680000, 10.670000, 10.640000, 10.630000, 10.620000, 10.610000, 10.600000, 10.610000, 10.610000, 10.610000, 10.610000, 7.560000, 6.080000, 5.010000, 4.720000, 4.750000, 3.360000, 3.020000, 2.750000, 2.530000, 2.330000, 2.170000, 2.020000, 1.900000, 1.790000, 1.690000, 1.600000, 1.530000, 1.460000, 1.390000, 1.320000, 1.320000, 1.250000, 1.190000, 1.140000, 1.100000, 1.060000, 1.020000, 0.990000, 0.950000, 0.930000, 0.900000, 0.880000, 0.850000, 0.830000, 0.820000, 0.800000, 0.780000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.690000, 0.690000, 0.680000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.610000, 0.620000, 0.600000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.520000, 0.540000, 0.540000, 0.530000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000 ], "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": [ 976053310, 938187 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.058000, -11.412000, -1.646798 ], "estimate": [ 13.058000, -11.412000, -1.646798 ], "true_pose": [ 13.557000, -9.794000, -1.520236 ], "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, 1.410000, 1.410000, 1.410000, 1.410000, 1.420000, 1.410000, 1.410000, 1.400000, 1.410000, 1.410000, 1.410000, 1.420000, 1.420000, 1.430000, 1.420000, 1.430000, 1.440000, 1.440000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.500000, 1.510000, 1.530000, 1.530000, 1.540000, 1.560000, 1.580000, 1.600000, 1.610000, 1.630000, 1.650000, 1.670000, 1.690000, 1.700000, 1.730000, 1.750000, 1.770000, 1.800000, 1.830000, 1.850000, 1.880000, 1.920000, 1.950000, 1.980000, 2.030000, 2.070000, 2.110000, 2.160000, 2.200000, 2.250000, 2.310000, 2.370000, 2.440000, 2.490000, 2.580000, 2.650000, 2.740000, 2.830000, 2.930000, 3.030000, 3.170000, 3.300000, 3.460000, 3.640000, 3.870000, 4.110000, 4.410000, 4.770000, 5.300000, 5.990000, 7.570000, 12.530000, 12.240000, 12.430000, 12.400000, 9.730000, 9.700000, 9.670000, 9.650000, 9.650000, 9.640000, 9.630000, 9.620000, 9.610000, 9.620000, 9.620000, 9.620000, 9.640000, 6.750000, 5.420000, 4.500000, 3.900000, 3.710000, 3.750000, 3.770000, 2.490000, 2.290000, 2.110000, 1.950000, 1.830000, 1.730000, 1.630000, 1.520000, 1.460000, 1.390000, 1.310000, 1.250000, 1.190000, 1.140000, 1.110000, 1.050000, 1.010000, 0.980000, 0.950000, 0.910000, 0.880000, 0.860000, 0.820000, 0.810000, 0.790000, 0.750000, 0.740000, 0.730000, 0.710000, 0.690000, 0.670000, 0.670000, 0.650000, 0.650000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.530000, 0.510000, 0.520000, 0.500000, 0.530000, 0.570000, 0.570000, 0.550000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.480000, 0.470000, 0.460000, 0.480000, 0.460000, 0.480000, 0.480000, 0.470000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053314, 734920 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.957000, -12.406000, -1.664398 ], "estimate": [ 12.957000, -12.406000, -1.664398 ], "true_pose": [ 13.568000, -10.862000, -1.544086 ], "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": [ 1.300000, 1.300000, 1.310000, 1.320000, 1.330000, 1.320000, 1.310000, 1.300000, 1.310000, 1.320000, 1.320000, 1.330000, 1.330000, 1.340000, 1.350000, 1.350000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.410000, 1.410000, 1.420000, 1.440000, 1.450000, 1.470000, 1.480000, 1.490000, 1.510000, 1.530000, 1.550000, 1.560000, 1.580000, 1.600000, 1.630000, 1.650000, 1.670000, 1.690000, 1.710000, 1.740000, 1.770000, 1.800000, 1.820000, 1.850000, 1.890000, 1.940000, 1.970000, 2.020000, 2.060000, 2.100000, 2.160000, 2.210000, 2.280000, 2.320000, 2.400000, 2.470000, 2.540000, 2.630000, 2.730000, 2.830000, 2.930000, 3.040000, 3.180000, 3.350000, 3.540000, 3.740000, 4.030000, 4.350000, 4.740000, 5.230000, 6.060000, 11.580000, 11.540000, 11.190000, 11.440000, 11.390000, 8.740000, 8.720000, 8.690000, 8.660000, 8.640000, 8.620000, 8.610000, 8.610000, 8.600000, 8.590000, 8.590000, 8.590000, 8.590000, 8.600000, 8.610000, 6.300000, 5.210000, 4.340000, 3.800000, 3.310000, 2.970000, 2.680000, 2.710000, 2.740000, 2.750000, 2.760000, 2.780000, 3.070000, 1.620000, 1.530000, 1.450000, 1.380000, 1.310000, 1.260000, 1.200000, 1.150000, 1.100000, 1.050000, 1.020000, 0.980000, 0.950000, 0.920000, 0.900000, 0.870000, 0.840000, 0.820000, 0.800000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.680000, 0.690000, 0.680000, 0.660000, 0.650000, 0.650000, 0.620000, 0.660000, 0.610000, 0.600000, 0.600000, 0.580000, 0.590000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000 ], "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": [ 976053318, 162384 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.843000, -13.349000, -1.752620 ], "estimate": [ 12.843000, -13.349000, -1.752620 ], "true_pose": [ 13.565000, -11.803000, -1.629183 ], "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": [ 1.240000, 1.230000, 1.230000, 1.240000, 1.240000, 1.240000, 1.230000, 1.230000, 1.240000, 1.240000, 1.230000, 1.230000, 1.240000, 1.250000, 1.250000, 1.250000, 1.260000, 1.260000, 1.270000, 1.270000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.320000, 1.330000, 1.350000, 1.350000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.450000, 1.460000, 1.480000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.610000, 1.630000, 1.660000, 1.680000, 1.700000, 1.740000, 1.770000, 1.810000, 1.830000, 1.880000, 1.930000, 1.960000, 2.010000, 2.060000, 2.100000, 2.160000, 2.230000, 2.300000, 2.380000, 2.450000, 2.530000, 2.610000, 2.720000, 2.830000, 2.950000, 3.090000, 3.240000, 3.430000, 3.630000, 3.880000, 4.170000, 4.550000, 5.080000, 5.650000, 10.690000, 10.640000, 10.580000, 10.520000, 10.490000, 10.430000, 7.770000, 7.730000, 7.710000, 7.690000, 7.680000, 7.660000, 7.650000, 7.640000, 7.620000, 7.610000, 7.610000, 7.610000, 7.600000, 7.610000, 7.620000, 7.630000, 6.840000, 5.410000, 4.600000, 4.010000, 3.540000, 3.190000, 2.910000, 2.630000, 2.430000, 2.260000, 2.110000, 1.980000, 1.860000, 1.790000, 1.800000, 1.820000, 1.830000, 1.840000, 1.850000, 1.860000, 1.880000, 2.190000, 2.200000, 2.240000, 2.250000, 2.280000, 2.300000, 2.320000, 3.970000, 4.010000, 4.060000, 4.160000, 4.220000, 4.290000, 0.880000, 0.800000, 0.800000, 0.780000, 0.750000, 0.750000, 0.750000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.550000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053321, 955098 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.612000, -14.334000, -1.853134 ], "estimate": [ 12.612000, -14.334000, -1.853134 ], "true_pose": [ 13.437000, -12.836000, -1.732822 ], "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, 1.100000, 1.100000, 1.090000, 1.100000, 1.090000, 1.090000, 1.100000, 1.090000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.190000, 1.200000, 1.210000, 1.230000, 1.240000, 1.260000, 1.270000, 1.280000, 1.300000, 1.310000, 1.330000, 1.350000, 1.360000, 1.370000, 1.400000, 1.410000, 1.440000, 1.460000, 1.490000, 1.520000, 1.540000, 1.570000, 1.600000, 1.640000, 1.670000, 1.700000, 1.730000, 1.770000, 1.820000, 1.870000, 1.910000, 1.970000, 2.020000, 2.080000, 2.160000, 2.230000, 2.310000, 2.400000, 2.480000, 2.590000, 2.700000, 2.830000, 2.960000, 3.110000, 3.310000, 3.540000, 3.850000, 4.220000, 4.660000, 5.300000, 9.710000, 9.650000, 9.600000, 9.560000, 9.440000, 9.480000, 9.430000, 6.760000, 6.730000, 6.710000, 6.670000, 6.670000, 6.660000, 6.640000, 6.640000, 6.620000, 6.620000, 6.610000, 6.610000, 6.610000, 6.610000, 6.620000, 6.620000, 6.640000, 6.650000, 6.660000, 5.400000, 4.740000, 4.240000, 3.830000, 3.510000, 3.250000, 3.010000, 2.800000, 2.620000, 2.460000, 2.330000, 2.210000, 2.100000, 2.000000, 1.900000, 1.830000, 1.740000, 1.670000, 1.600000, 1.550000, 1.500000, 1.450000, 1.410000, 1.350000, 1.320000, 1.290000, 1.240000, 1.200000, 1.170000, 1.160000, 1.120000, 1.100000, 1.070000, 1.060000, 1.040000, 1.020000, 1.000000, 0.990000, 1.020000, 1.040000, 1.060000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.370000, 1.680000, 4.310000, 5.660000, 5.820000, 5.990000, 5.930000, 5.860000, 5.810000, 5.750000, 5.700000, 5.650000, 4.400000, 5.570000, 5.520000, 5.490000, 5.450000, 5.410000, 5.380000, 5.350000, 5.310000, 5.280000, 5.250000, 4.620000, 4.420000, 4.390000 ], "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": [ 976053325, 427485 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.346000, -15.293000, -1.815425 ], "estimate": [ 12.346000, -15.293000, -1.815425 ], "true_pose": [ 13.316000, -13.854000, -1.701363 ], "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, 0.980000, 0.990000, 0.980000, 0.970000, 0.970000, 0.970000, 0.980000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 1.200000, 1.220000, 1.240000, 1.270000, 1.280000, 1.290000, 1.320000, 1.340000, 1.370000, 1.400000, 1.400000, 1.440000, 1.470000, 1.500000, 1.530000, 1.560000, 1.610000, 1.650000, 1.690000, 1.730000, 1.770000, 1.830000, 1.890000, 1.950000, 2.020000, 2.070000, 2.160000, 2.230000, 2.320000, 2.410000, 2.530000, 2.660000, 2.820000, 3.000000, 3.220000, 3.480000, 3.690000, 4.150000, 8.810000, 8.760000, 8.700000, 8.660000, 8.600000, 8.560000, 8.160000, 8.470000, 8.430000, 5.760000, 5.740000, 5.710000, 5.700000, 5.680000, 5.670000, 5.650000, 5.640000, 5.640000, 5.630000, 5.620000, 5.620000, 5.620000, 5.620000, 5.620000, 5.620000, 5.620000, 5.640000, 5.650000, 5.660000, 5.670000, 5.690000, 5.770000, 4.850000, 4.310000, 3.960000, 3.690000, 3.450000, 3.230000, 3.040000, 2.870000, 2.730000, 2.600000, 2.490000, 2.370000, 2.280000, 2.190000, 2.110000, 2.020000, 1.950000, 1.890000, 1.830000, 1.760000, 1.710000, 1.660000, 1.610000, 1.570000, 1.530000, 1.500000, 1.450000, 1.420000, 1.390000, 1.360000, 1.310000, 1.300000, 1.280000, 1.270000, 1.230000, 1.200000, 1.180000, 1.170000, 1.150000, 1.130000, 1.100000, 1.090000, 1.080000, 1.060000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.900000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.890000 ], "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": [ 976053328, 988065 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.118000, -16.243000, -1.832607 ], "estimate": [ 12.118000, -16.243000, -1.832607 ], "true_pose": [ 13.183000, -14.846000, -1.696670 ], "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": [ 0.900000, 0.910000, 0.900000, 0.910000, 0.900000, 0.910000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.090000, 1.090000, 1.110000, 1.120000, 1.140000, 1.160000, 1.180000, 1.190000, 1.210000, 1.240000, 1.250000, 1.270000, 1.290000, 1.320000, 1.340000, 1.360000, 1.400000, 1.420000, 1.460000, 1.500000, 1.530000, 1.570000, 1.620000, 1.670000, 1.710000, 1.770000, 1.840000, 1.890000, 1.950000, 2.030000, 2.110000, 2.200000, 2.290000, 2.420000, 2.530000, 2.690000, 2.840000, 3.040000, 3.250000, 7.980000, 7.910000, 7.860000, 7.800000, 7.740000, 7.690000, 7.640000, 7.600000, 7.390000, 7.510000, 7.490000, 7.450000, 4.770000, 4.750000, 4.720000, 4.710000, 4.700000, 4.680000, 4.670000, 4.660000, 4.650000, 4.660000, 4.650000, 4.660000, 4.640000, 4.640000, 4.640000, 4.640000, 4.650000, 4.660000, 4.660000, 4.680000, 4.680000, 4.690000, 4.700000, 4.720000, 4.730000, 4.750000, 4.800000, 4.880000, 4.900000, 3.770000, 3.540000, 3.360000, 3.170000, 3.030000, 2.900000, 2.780000, 2.660000, 2.550000, 2.460000, 2.380000, 2.290000, 2.220000, 2.140000, 2.090000, 2.020000, 1.970000, 1.910000, 1.860000, 1.810000, 1.760000, 1.720000, 1.680000, 1.640000, 1.620000, 1.570000, 1.540000, 1.510000, 1.480000, 1.450000, 1.430000, 1.410000, 1.380000, 1.360000, 1.340000, 1.320000, 1.300000, 1.280000, 1.270000, 1.250000, 1.230000, 1.220000, 1.210000, 1.190000, 1.190000, 1.180000, 1.170000, 1.150000, 1.130000, 1.130000, 1.120000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.060000, 1.060000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053332, 554200 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 11.888000, -17.253000, -1.806458 ], "estimate": [ 11.888000, -17.253000, -1.806458 ], "true_pose": [ 13.084000, -15.737000, -1.676771 ], "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, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.900000, 0.890000, 0.900000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.050000, 1.050000, 1.070000, 1.080000, 1.100000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.210000, 1.230000, 1.260000, 1.270000, 1.290000, 1.310000, 1.350000, 1.380000, 1.400000, 1.420000, 1.460000, 1.500000, 1.540000, 1.570000, 1.620000, 1.660000, 1.700000, 1.770000, 1.820000, 1.870000, 1.950000, 2.020000, 2.100000, 2.190000, 2.290000, 2.380000, 2.500000, 7.260000, 7.190000, 7.120000, 7.050000, 6.980000, 6.920000, 6.870000, 6.800000, 6.770000, 6.720000, 6.680000, 6.630000, 6.580000, 6.110000, 6.520000, 6.480000, 6.460000, 3.740000, 3.730000, 3.710000, 3.700000, 3.680000, 3.670000, 3.650000, 3.660000, 3.660000, 3.660000, 3.640000, 3.640000, 3.650000, 3.640000, 3.660000, 3.640000, 3.640000, 3.650000, 3.650000, 3.650000, 3.650000, 3.650000, 3.660000, 3.670000, 3.680000, 3.690000, 3.690000, 3.710000, 3.730000, 3.750000, 3.770000, 3.780000, 3.810000, 3.930000, 3.960000, 4.000000, 4.130000, 4.160000, 2.940000, 2.830000, 2.710000, 2.610000, 2.530000, 2.460000, 2.370000, 2.300000, 2.240000, 2.180000, 2.110000, 2.050000, 1.990000, 1.950000, 1.910000, 1.880000, 1.820000, 1.780000, 1.740000, 1.710000, 1.670000, 1.660000, 1.620000, 1.590000, 1.570000, 1.530000, 1.520000, 1.500000, 1.460000, 1.450000, 1.430000, 1.420000, 1.400000, 1.380000, 1.370000, 1.370000, 1.330000, 1.330000, 1.330000, 1.310000, 1.300000, 1.290000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.240000, 1.230000, 1.230000, 1.230000, 1.220000, 1.210000, 1.200000, 1.240000, 1.200000 ], "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": [ 976053336, 202491 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 11.668000, -18.191000, -1.854787 ], "estimate": [ 11.668000, -18.191000, -1.854787 ], "true_pose": [ 13.002000, -16.787000, -1.725100 ], "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, 0.920000, 0.920000, 0.920000, 0.920000, 0.930000, 0.920000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.110000, 1.130000, 1.140000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.260000, 1.290000, 1.310000, 1.330000, 1.350000, 1.380000, 1.410000, 1.440000, 1.470000, 1.510000, 1.550000, 1.570000, 1.620000, 3.800000, 3.730000, 3.740000, 3.810000, 3.900000, 4.030000, 4.130000, 4.200000, 4.310000, 6.540000, 6.460000, 6.370000, 6.300000, 6.220000, 6.170000, 6.100000, 6.040000, 5.980000, 5.930000, 5.880000, 5.820000, 5.790000, 5.740000, 5.690000, 5.650000, 5.610000, 5.420000, 5.550000, 5.510000, 2.780000, 2.750000, 2.750000, 2.740000, 2.720000, 2.710000, 2.690000, 2.680000, 2.680000, 2.680000, 2.670000, 2.670000, 2.660000, 2.660000, 2.650000, 2.660000, 2.660000, 2.660000, 2.660000, 2.650000, 2.670000, 2.670000, 2.670000, 2.670000, 2.670000, 2.680000, 2.680000, 2.690000, 2.700000, 2.710000, 2.730000, 2.730000, 2.740000, 2.760000, 2.760000, 2.790000, 2.800000, 2.820000, 2.840000, 2.850000, 2.880000, 2.900000, 2.920000, 2.950000, 3.000000, 3.100000, 3.140000, 3.160000, 3.320000, 3.370000, 3.390000, 3.430000, 3.470000, 3.500000, 5.510000, 2.180000, 2.120000, 2.080000, 2.020000, 1.990000, 1.940000, 1.910000, 1.880000, 1.850000, 1.810000, 1.770000, 1.760000, 1.730000, 1.690000, 1.680000, 1.650000, 1.620000, 1.610000, 1.590000, 1.570000, 1.550000, 1.540000, 1.530000, 1.500000, 1.490000, 1.470000, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.390000, 1.380000, 1.370000, 1.380000, 1.370000 ], "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": [ 976053339, 966498 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 11.381000, -19.166000, -1.896343 ], "estimate": [ 11.381000, -19.166000, -1.896343 ], "true_pose": [ 12.842000, -17.801000, -1.766656 ], "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, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 8.200000, 8.210000, 8.250000, 8.270000, 8.290000, 8.330000, 6.890000, 6.410000, 6.050000, 5.690000, 5.390000, 5.120000, 4.900000, 4.660000, 4.450000, 4.270000, 4.100000, 3.960000, 3.820000, 3.690000, 3.550000, 3.430000, 3.330000, 3.230000, 3.150000, 3.070000, 2.990000, 2.910000, 2.930000, 2.980000, 3.020000, 3.070000, 3.160000, 3.210000, 3.250000, 3.300000, 3.350000, 3.420000, 5.400000, 5.500000, 5.590000, 5.660000, 5.570000, 5.490000, 5.410000, 5.350000, 5.280000, 5.220000, 5.160000, 5.110000, 5.050000, 4.990000, 4.940000, 4.900000, 4.850000, 4.800000, 4.760000, 4.730000, 4.700000, 4.660000, 4.630000, 4.190000, 4.560000, 1.820000, 1.770000, 1.760000, 1.750000, 1.730000, 1.740000, 1.720000, 1.720000, 1.710000, 1.710000, 1.700000, 1.700000, 1.690000, 1.680000, 1.680000, 1.690000, 1.680000, 1.680000, 1.680000, 1.680000, 1.680000, 1.680000, 1.680000, 1.680000, 1.680000, 1.680000, 1.690000, 1.690000, 1.700000, 1.710000, 1.720000, 1.720000, 1.730000, 1.740000, 1.730000, 1.740000, 1.750000, 1.770000, 1.780000, 1.790000, 1.800000, 1.800000, 1.820000, 1.830000, 1.850000, 1.850000, 1.870000, 1.890000, 1.900000, 1.920000, 1.940000, 1.970000, 1.990000, 2.010000, 2.030000, 2.050000, 2.100000, 2.120000, 2.150000, 2.190000, 2.220000, 2.260000, 2.290000, 2.420000, 2.480000, 2.510000, 2.720000, 2.750000, 2.810000, 2.880000, 2.900000, 6.750000, 6.910000, 7.070000, 5.500000, 5.310000, 5.250000, 5.340000, 6.960000, 6.890000, 6.820000, 6.760000, 6.680000, 6.640000, 1.720000, 1.690000, 1.670000, 1.660000, 1.640000, 1.650000, 1.640000, 1.640000, 1.620000, 1.620000, 1.600000 ], "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": [ 976053343, 876649 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 11.167000, -20.025000, -2.325694 ], "estimate": [ 11.167000, -20.025000, -2.325694 ], "true_pose": [ 12.654000, -18.593000, -2.158507 ], "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": [ 1.220000, 2.480000, 2.550000, 2.620000, 2.680000, 2.750000, 2.830000, 2.920000, 3.020000, 3.120000, 3.220000, 3.340000, 3.460000, 3.450000, 3.440000, 3.590000, 3.770000, 3.970000, 4.160000, 4.410000, 4.680000, 4.980000, 5.310000, 5.690000, 6.150000, 6.700000, 6.970000, 6.940000, 6.920000, 8.620000, 9.830000, 11.930000, null, 18.380000, 19.640000, 19.620000, null, 8.220000, 7.910000, 7.910000, 7.920000, 7.930000, 7.940000, 7.960000, 7.970000, 5.880000, 5.300000, 4.810000, 4.420000, 4.060000, 3.750000, 3.500000, 3.310000, 3.100000, 2.930000, 2.770000, 2.630000, 2.520000, 2.410000, 2.310000, 2.360000, 2.370000, 2.400000, 2.420000, 2.440000, 2.510000, 2.550000, 2.560000, 2.590000, 2.620000, 2.650000, 2.670000, 2.720000, 2.740000, 4.940000, 4.830000, 4.730000, 4.670000, 4.730000, 4.800000, 4.890000, 4.980000, 4.880000, 4.800000, 4.740000, 4.660000, 4.590000, 4.530000, 4.470000, 4.410000, 4.350000, 4.300000, 4.240000, 4.200000, 4.150000, 4.100000, 4.060000, 4.030000, 3.980000, 3.950000, 3.910000, 3.870000, 3.850000, 3.820000, 3.660000, 0.980000, 0.940000, 0.940000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.910000, 0.890000, 0.890000, 0.890000, 0.900000, 0.890000, 0.900000, 0.890000, 0.890000, 0.900000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.970000, 0.970000, 0.970000, 0.980000, 0.970000, 0.990000, 0.990000, 1.010000, 1.020000, 1.030000, 1.030000, 1.030000, 1.070000, 1.070000, 1.090000, 1.100000, 1.110000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.210000, 1.240000, 1.260000, 1.290000, 1.320000, 1.340000, 1.360000, 1.390000, 1.420000, 1.460000 ], "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, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053348, 742997 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 11.096000, -19.988000, -2.846188 ], "estimate": [ 11.096000, -19.988000, -2.846188 ], "true_pose": [ 12.554000, -18.575000, -2.689938 ], "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": [ 1.400000, 1.370000, 1.330000, 1.310000, 1.290000, 1.260000, 1.230000, 1.210000, 1.190000, 1.170000, 1.150000, 1.130000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.030000, 1.010000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.970000, 1.000000, 1.050000, 1.070000, 1.120000, 1.170000, 2.450000, 2.510000, 2.590000, 2.640000, 2.720000, 2.800000, 2.890000, 2.980000, 3.070000, 3.180000, 3.310000, 3.400000, 3.400000, 3.400000, 3.570000, 3.740000, 3.930000, 4.150000, 4.380000, 4.660000, 4.960000, 5.310000, 5.710000, 6.180000, 6.740000, 6.930000, 6.910000, 6.900000, 8.580000, 9.780000, 11.890000, 19.370000, 18.350000, 19.600000, 19.570000, 22.000000, 7.940000, 7.880000, 7.890000, 7.900000, 7.900000, 7.920000, 7.940000, 7.950000, 5.840000, 5.280000, 4.790000, 4.430000, 4.080000, 3.790000, 3.540000, 3.330000, 3.160000, 2.970000, 2.810000, 2.690000, 2.570000, 2.460000, 2.370000, 2.310000, 2.350000, 2.370000, 2.390000, 2.410000, 2.440000, 2.510000, 2.530000, 2.560000, 2.600000, 2.620000, 2.650000, 2.680000, 2.720000, 2.730000, 4.840000, 4.750000, 4.670000, 4.700000, 4.780000, 4.850000, 4.940000, 4.900000, 4.820000, 4.750000, 4.680000, 4.610000, 4.540000, 4.490000, 4.430000, 4.370000, 4.320000, 4.260000, 4.230000, 4.180000, 4.130000, 4.080000, 4.050000, 4.000000, 3.970000, 3.930000, 3.890000, 3.880000, 3.850000, 3.330000, 3.800000, 3.760000, 1.020000, 0.970000, 0.980000, 0.970000, 0.960000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.930000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000 ], "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": [ 976053350, 669862 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 10.169000, -19.853000, 3.016498 ], "estimate": [ 10.169000, -19.853000, 3.016498 ], "true_pose": [ 11.527000, -18.584000, -3.099499 ], "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": [ 0.670000, 0.670000, 1.280000, 1.290000, 1.300000, 1.300000, 1.300000, 1.310000, 1.310000, 1.320000, 1.280000, 1.290000, 1.290000, 1.300000, 1.310000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.480000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.540000, 1.550000, 1.570000, 1.590000, 1.600000, 1.620000, 1.640000, 1.650000, 1.680000, 1.690000, 1.720000, 1.740000, 1.770000, 1.790000, 1.820000, 1.840000, 1.880000, 1.900000, 1.920000, 1.960000, 2.000000, 2.030000, 2.070000, 2.120000, 2.150000, 2.200000, 2.250000, 2.300000, 2.360000, 2.410000, 2.480000, 2.540000, 2.540000, 2.520000, 2.530000, 2.580000, 2.710000, 2.810000, 2.900000, 3.020000, 3.130000, 3.260000, 3.390000, 3.540000, 3.700000, 3.890000, 4.100000, 4.350000, 4.630000, 4.940000, 5.270000, 5.670000, 5.990000, 5.970000, 5.950000, 8.180000, 9.170000, 10.580000, 10.310000, null, 17.400000, 17.530000, 18.610000, 18.640000, 21.040000, 7.190000, 6.920000, 6.930000, 6.940000, 6.960000, 6.960000, 6.980000, 7.000000, 7.020000, 5.300000, 4.850000, 4.460000, 4.120000, 3.850000, 3.600000, 3.410000, 3.200000, 3.030000, 2.870000, 2.730000, 2.610000, 2.500000, 2.400000, 2.300000, 2.230000, 2.130000, 2.050000, 1.990000, 1.930000, 1.860000, 1.810000, 1.780000, 1.730000, 1.680000, 1.640000, 1.600000, 1.560000, 1.520000, 1.500000, 1.520000, 1.550000, 1.580000, 1.600000, 1.630000, 1.660000, 1.720000, 1.790000, 1.830000, 1.860000, 1.880000, 1.930000, 1.970000, 2.010000, 2.070000, 4.330000, 4.280000, 4.240000, 4.190000, 4.140000, 4.100000, 4.060000, 4.020000, 3.980000, 3.950000, 3.920000, 3.890000, 3.870000, 3.840000, 3.810000, 3.780000, 3.760000, 3.740000, 3.730000, 3.700000, 3.680000, 3.670000, 3.660000, 3.640000, 3.620000, 3.610000, 3.610000, 3.600000, 3.580000, 3.510000, 3.570000, 3.570000, 3.560000, 3.560000, 3.550000 ], "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, 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": [ 976053357, 570363 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 9.192000, -19.722000, 3.063687 ], "estimate": [ 9.192000, -19.722000, 3.063687 ], "true_pose": [ 10.668000, -18.636000, -3.067935 ], "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, 1.380000, 1.380000, 1.380000, 1.380000, 1.390000, 1.390000, 1.400000, 1.390000, 1.400000, 1.410000, 1.420000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.490000, 1.500000, 1.510000, 1.530000, 1.540000, 1.560000, 1.580000, 1.590000, 1.600000, 1.620000, 1.650000, 1.670000, 1.690000, 1.710000, 1.730000, 1.760000, 1.780000, 1.760000, 1.760000, 1.730000, 1.740000, 1.750000, 1.780000, 1.840000, 1.880000, 1.900000, 1.950000, 1.990000, 2.030000, 2.080000, 2.120000, 2.180000, 2.230000, 2.280000, 2.340000, 2.410000, 2.490000, 2.560000, 2.630000, 2.710000, 2.810000, 2.910000, 3.020000, 3.130000, 3.260000, 3.400000, 3.560000, 3.730000, 3.920000, 4.140000, 4.390000, 4.660000, 4.970000, 5.000000, 4.980000, 4.960000, 5.460000, 7.480000, 8.310000, 9.440000, 9.940000, 9.950000, 17.430000, 16.410000, 17.660000, 17.620000, 20.050000, null, 6.220000, 5.920000, 5.950000, 5.960000, 5.970000, 5.980000, 5.990000, 6.000000, 6.010000, 6.040000, 6.060000, 4.390000, 4.050000, 3.810000, 3.560000, 3.350000, 3.160000, 3.000000, 2.840000, 2.720000, 2.600000, 2.490000, 2.400000, 2.300000, 2.210000, 2.130000, 2.060000, 1.980000, 1.920000, 1.870000, 1.810000, 1.770000, 1.710000, 1.680000, 1.640000, 1.590000, 1.560000, 1.520000, 1.480000, 1.460000, 1.430000, 1.400000, 1.370000, 1.350000, 1.310000, 1.290000, 1.260000, 1.240000, 1.220000, 1.210000, 1.200000, 1.180000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.080000, 1.080000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.010000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.990000, 0.970000, 0.980000, 0.960000, 0.970000, 1.110000, 1.550000, 3.590000, 3.580000, 3.570000, 3.570000, 3.570000, 3.560000, 3.560000, 3.560000, 3.560000 ], "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, 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 ], "timestamp": [ 976053361, 206017 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.176000, -19.646000, 3.132541 ], "estimate": [ 8.176000, -19.646000, 3.132541 ], "true_pose": [ 9.629000, -18.679000, -2.978769 ], "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": [ 1.420000, 1.380000, 1.300000, 1.300000, 1.300000, 1.310000, 1.320000, 1.350000, 1.360000, 1.360000, 1.370000, 1.370000, 1.390000, 1.390000, 1.400000, 1.410000, 1.410000, 1.420000, 1.440000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, 1.610000, 1.640000, 1.660000, 1.680000, 1.710000, 1.730000, 1.760000, 1.790000, 1.820000, 1.860000, 1.890000, 1.920000, 1.950000, 1.990000, 2.030000, 2.080000, 2.120000, 2.180000, 2.230000, 2.270000, 2.330000, 2.390000, 2.460000, 2.540000, 2.600000, 2.690000, 2.790000, 2.880000, 2.960000, 3.080000, 3.200000, 3.320000, 3.460000, 3.610000, 3.790000, 3.990000, 4.070000, 4.050000, 4.020000, 4.010000, 5.390000, 5.810000, 6.280000, 6.820000, 7.490000, 6.850000, 8.960000, 8.960000, null, 16.420000, 15.430000, 16.670000, 16.630000, 19.050000, 19.070000, 6.080000, 4.940000, 4.960000, 4.960000, 4.960000, 4.980000, 4.990000, 5.000000, 5.020000, 5.030000, 5.050000, 5.070000, 5.070000, 5.090000, 3.500000, 3.270000, 3.090000, 2.930000, 2.790000, 2.660000, 2.540000, 2.420000, 2.320000, 2.230000, 2.150000, 2.070000, 1.990000, 1.930000, 1.870000, 1.800000, 1.770000, 1.710000, 1.670000, 1.630000, 1.580000, 1.550000, 1.510000, 1.470000, 1.440000, 1.400000, 1.370000, 1.340000, 1.320000, 1.290000, 1.270000, 1.240000, 1.230000, 1.210000, 1.190000, 1.170000, 1.150000, 1.130000, 1.120000, 1.110000, 1.100000, 1.080000, 1.060000, 1.060000, 1.040000, 1.030000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053364, 867738 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.209000, -19.627000, 3.102650 ], "estimate": [ 7.209000, -19.627000, 3.102650 ], "true_pose": [ 8.610000, -18.821000, -3.014910 ], "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": [ 1.390000, 1.400000, 1.400000, 1.410000, 1.410000, 1.420000, 1.420000, 1.420000, 1.430000, 1.430000, 1.440000, 1.450000, 1.450000, 1.460000, 1.470000, 1.480000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.570000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.680000, 1.700000, 1.720000, 1.740000, 1.770000, 1.800000, 1.820000, 1.860000, 1.890000, 1.910000, 1.950000, 1.990000, 2.020000, 2.040000, 2.090000, 2.130000, 2.180000, 2.230000, 2.280000, 2.330000, 2.390000, 2.440000, 2.500000, 2.580000, 2.660000, 2.720000, 2.810000, 2.900000, 3.000000, 3.110000, 3.180000, 3.150000, 3.120000, 3.110000, 3.080000, 3.080000, 3.610000, 4.360000, 4.610000, 4.900000, 5.200000, 5.560000, 5.960000, 6.430000, 6.990000, 7.700000, 7.230000, 7.980000, 8.500000, 9.830000, 14.580000, 14.440000, 15.670000, 15.640000, 18.050000, null, 4.190000, 3.950000, 3.940000, 3.950000, 3.960000, 3.970000, 3.970000, 3.990000, 3.990000, 4.010000, 4.020000, 4.030000, 4.050000, 4.070000, 4.090000, 4.110000, 4.120000, 4.140000, 2.610000, 2.480000, 2.350000, 2.250000, 2.140000, 2.070000, 1.980000, 1.920000, 1.850000, 1.800000, 1.740000, 1.680000, 1.630000, 1.580000, 1.540000, 1.500000, 1.460000, 1.410000, 1.370000, 1.350000, 1.320000, 1.280000, 1.260000, 1.230000, 1.210000, 1.190000, 1.170000, 1.140000, 1.110000, 1.110000, 1.080000, 1.060000, 1.060000, 1.040000, 1.030000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.900000, 0.940000, 0.960000, 0.890000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.880000, 0.860000, 0.860000, 0.850000, 0.850000, 0.860000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.850000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 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, 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": [ 976053368, 614598 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.206000, -19.588000, 3.123485 ], "estimate": [ 6.206000, -19.588000, 3.123485 ], "true_pose": [ 7.686000, -18.927000, -2.995638 ], "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": [ 1.480000, 1.480000, 1.480000, 1.490000, 1.500000, 1.490000, 1.490000, 1.500000, 1.500000, 1.500000, 1.510000, 1.520000, 1.520000, 1.540000, 1.550000, 1.560000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.620000, 1.640000, 1.660000, 1.670000, 1.690000, 1.710000, 1.730000, 1.740000, 1.770000, 1.790000, 1.810000, 1.840000, 1.870000, 1.890000, 1.920000, 1.950000, 1.990000, 2.020000, 2.050000, 2.090000, 2.120000, 2.160000, 2.210000, 2.250000, 2.300000, 2.360000, 2.350000, 2.320000, 2.280000, 2.270000, 2.240000, 2.220000, 2.210000, 2.890000, 2.970000, 3.070000, 2.770000, 3.280000, 3.400000, 3.520000, 3.660000, 3.820000, 3.990000, 4.180000, 3.890000, 4.640000, 4.910000, 5.210000, 5.550000, 5.200000, 6.400000, 6.240000, 7.050000, 7.030000, 7.310000, 8.180000, 9.320000, 13.770000, 13.450000, 14.690000, 14.670000, 14.640000, 17.070000, 2.970000, 2.950000, 2.960000, 2.960000, 2.970000, 2.980000, 2.980000, 2.990000, 2.990000, 2.990000, 3.010000, 3.020000, 3.020000, 3.040000, 3.050000, 3.070000, 3.080000, 3.100000, 3.110000, 3.130000, 3.150000, 3.170000, 3.190000, 3.210000, 3.230000, 3.260000, 3.290000, 1.710000, 1.640000, 1.580000, 1.540000, 1.480000, 1.440000, 1.390000, 1.360000, 1.310000, 1.280000, 1.250000, 1.210000, 1.200000, 1.170000, 1.150000, 1.110000, 1.100000, 1.080000, 1.060000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.990000, 0.960000, 0.940000, 0.930000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.820000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.770000, 0.770000, 0.770000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000 ], "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": [ 976053371, 972098 ] }