{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.385000, -8.712000, 2.912979 ], "estimate": [ 7.385000, -8.712000, 2.912979 ], "true_pose": [ null, null, null ], "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, 1.510000, 1.500000, 1.500000, 1.500000, 1.510000, 1.500000, 1.500000, 1.510000, 1.510000, 1.510000, 1.520000, 1.510000, 1.510000, 1.520000, 1.520000, 1.530000, 1.540000, 1.540000, 1.560000, 1.560000, 1.570000, 1.570000, 1.590000, 1.590000, 1.590000, 1.610000, 1.620000, 1.640000, 1.660000, 1.670000, 1.680000, 1.700000, 1.710000, 1.730000, 1.730000, 1.680000, 1.640000, 1.600000, 1.560000, 1.520000, 1.510000, 1.620000, 1.930000, 1.960000, 2.000000, 2.020000, 2.050000, 2.090000, 2.130000, 2.170000, 1.950000, 2.240000, 2.280000, 2.330000, 2.390000, 2.430000, 2.490000, 2.560000, 2.610000, 2.670000, 2.750000, 2.820000, 2.910000, 2.990000, 3.100000, 3.180000, 3.290000, 3.260000, 3.520000, 3.660000, 3.800000, 3.970000, 4.140000, 4.350000, 4.080000, 4.840000, 5.110000, 5.420000, 5.380000, 6.120000, 6.090000, 6.060000, 6.310000, 6.940000, 7.700000, 8.640000, 13.480000, 12.490000, 12.490000, 13.720000, 13.680000, 16.080000, 1.970000, 1.950000, 1.970000, 1.970000, 1.980000, 1.980000, 1.980000, 1.980000, 1.990000, 1.990000, 2.000000, 2.010000, 2.020000, 2.020000, 2.030000, 2.040000, 2.050000, 2.060000, 2.070000, 2.080000, 2.090000, 2.110000, 2.120000, 2.130000, 2.160000, 2.170000, 2.190000, 2.210000, 2.230000, 2.250000, 2.270000, 2.290000, 2.310000, 2.330000, 2.360000, 2.390000, 2.420000, 2.450000, 2.480000, 2.510000, 2.540000, 2.580000, 2.620000, 2.660000, 2.690000, 2.740000, 2.790000, 2.840000, 2.890000, 2.950000, 3.000000, 3.070000, 3.140000, 3.210000, 3.270000, 0.880000, 0.880000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.800000, 0.820000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.760000, 0.760000, 0.770000, 0.760000, 0.750000, 0.760000, 0.750000, 0.750000, 0.750000, 0.730000, 0.740000, 0.730000, 0.730000 ], "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": [ 976053375, 741835 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.331000, -8.699000, 2.919124 ], "estimate": [ 7.331000, -8.699000, 2.919124 ], "true_pose": [ null, null, null ], "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, 1.510000, 1.510000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.520000, 1.530000, 1.530000, 1.540000, 1.550000, 1.550000, 1.560000, 1.560000, 1.580000, 1.590000, 1.590000, 1.610000, 1.630000, 1.640000, 1.650000, 1.670000, 1.670000, 1.690000, 1.690000, 1.650000, 1.610000, 1.560000, 1.510000, 1.490000, 1.470000, 1.520000, 1.890000, 1.900000, 1.940000, 1.970000, 2.000000, 2.020000, 2.060000, 2.100000, 2.140000, 1.930000, 2.210000, 2.250000, 2.300000, 2.340000, 2.400000, 2.450000, 2.510000, 2.570000, 2.630000, 2.700000, 2.780000, 2.860000, 2.940000, 3.040000, 3.130000, 3.230000, 3.300000, 3.450000, 3.570000, 3.720000, 3.870000, 4.050000, 4.230000, 4.440000, 4.030000, 4.960000, 5.250000, 5.590000, 5.220000, 6.040000, 6.020000, 6.010000, 6.590000, 7.270000, 8.110000, 9.150000, 12.440000, 12.440000, 13.680000, 13.640000, 13.640000, 2.170000, 1.920000, 1.920000, 1.920000, 1.930000, 1.930000, 1.930000, 1.930000, 1.930000, 1.940000, 1.940000, 1.950000, 1.950000, 1.960000, 1.970000, 1.980000, 1.990000, 2.000000, 2.010000, 2.020000, 2.040000, 2.050000, 2.060000, 2.080000, 2.090000, 2.110000, 2.120000, 2.140000, 2.170000, 2.180000, 2.200000, 2.230000, 2.250000, 2.270000, 2.280000, 2.310000, 2.340000, 2.370000, 2.410000, 2.440000, 2.470000, 2.490000, 2.540000, 2.570000, 2.620000, 2.640000, 2.690000, 2.740000, 2.790000, 2.840000, 2.910000, 2.970000, 3.030000, 3.100000, 3.170000, 3.230000, 3.310000, 3.390000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.780000, 0.770000, 0.770000, 0.780000, 0.760000, 0.770000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000 ], "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": [ 976053375, 743036 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.275000, -8.687000, 2.925270 ], "estimate": [ 7.275000, -8.687000, 2.925270 ], "true_pose": [ null, null, null ], "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, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.490000, 1.490000, 1.490000, 1.500000, 1.500000, 1.500000, 1.500000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.540000, 1.550000, 1.570000, 1.570000, 1.590000, 1.590000, 1.610000, 1.620000, 1.640000, 1.660000, 1.670000, 1.660000, 1.600000, 1.570000, 1.520000, 1.490000, 1.440000, 1.430000, 1.750000, 1.840000, 1.870000, 1.900000, 1.910000, 1.950000, 1.980000, 2.010000, 2.040000, 2.080000, 1.970000, 2.150000, 2.190000, 2.230000, 2.270000, 2.320000, 2.380000, 2.420000, 2.480000, 2.540000, 2.590000, 2.670000, 2.740000, 2.820000, 2.900000, 2.990000, 3.080000, 3.180000, 3.290000, 3.390000, 3.510000, 3.660000, 3.810000, 3.970000, 4.150000, 4.360000, 3.980000, 4.860000, 5.150000, 5.460000, 5.820000, 6.010000, 5.980000, 5.980000, 6.390000, 7.030000, 7.830000, 8.800000, 12.590000, 12.380000, 13.630000, 13.610000, 13.590000, 15.990000, 1.860000, 1.860000, 1.870000, 1.870000, 1.870000, 1.880000, 1.880000, 1.880000, 1.890000, 1.890000, 1.900000, 1.910000, 1.920000, 1.920000, 1.930000, 1.930000, 1.940000, 1.950000, 1.960000, 1.980000, 1.990000, 2.000000, 2.020000, 2.040000, 2.050000, 2.070000, 2.080000, 2.090000, 2.120000, 2.140000, 2.160000, 2.180000, 2.210000, 2.230000, 2.250000, 2.280000, 2.300000, 2.330000, 2.360000, 2.400000, 2.420000, 2.450000, 2.490000, 2.530000, 2.570000, 2.610000, 2.650000, 2.700000, 2.760000, 2.820000, 2.870000, 2.940000, 2.990000, 3.070000, 3.140000, 3.200000, 3.280000, 3.370000, 3.450000, 3.550000, 0.880000, 0.860000, 0.830000, 0.820000, 0.810000, 0.800000, 0.810000, 0.800000, 0.800000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.780000, 0.770000, 0.770000, 0.760000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053375, 983373 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.215000, -8.675000, 2.931416 ], "estimate": [ 7.215000, -8.675000, 2.931416 ], "true_pose": [ null, null, null ], "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, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.500000, 1.490000, 1.500000, 1.500000, 1.500000, 1.500000, 1.510000, 1.510000, 1.520000, 1.530000, 1.540000, 1.540000, 1.550000, 1.560000, 1.580000, 1.590000, 1.590000, 1.610000, 1.620000, 1.640000, 1.630000, 1.580000, 1.530000, 1.470000, 1.440000, 1.400000, 1.390000, 1.760000, 1.800000, 1.820000, 1.850000, 1.870000, 1.900000, 1.920000, 1.950000, 1.990000, 2.020000, 2.050000, 1.870000, 2.130000, 2.160000, 2.190000, 2.240000, 2.280000, 2.340000, 2.390000, 2.440000, 2.500000, 2.550000, 2.620000, 2.690000, 2.770000, 2.840000, 2.940000, 3.020000, 3.120000, 3.060000, 3.330000, 3.440000, 3.570000, 3.710000, 3.870000, 4.050000, 4.240000, 4.110000, 4.720000, 4.980000, 5.270000, 5.270000, 5.960000, 5.940000, 5.920000, 6.100000, 6.690000, 7.390000, 8.260000, 13.330000, 12.320000, 12.330000, 13.560000, 13.530000, 13.560000, 2.070000, 1.800000, 1.800000, 1.820000, 1.820000, 1.820000, 1.830000, 1.830000, 1.830000, 1.840000, 1.840000, 1.850000, 1.850000, 1.860000, 1.860000, 1.870000, 1.880000, 1.890000, 1.910000, 1.920000, 1.930000, 1.940000, 1.950000, 1.970000, 1.980000, 2.000000, 2.020000, 2.030000, 2.050000, 2.070000, 2.080000, 2.110000, 2.130000, 2.160000, 2.160000, 2.200000, 2.220000, 2.250000, 2.280000, 2.310000, 2.340000, 2.370000, 2.410000, 2.440000, 2.480000, 2.530000, 2.550000, 2.610000, 2.650000, 2.700000, 2.760000, 2.820000, 2.880000, 2.950000, 3.010000, 3.090000, 3.160000, 3.230000, 3.330000, 3.410000, 3.510000, 3.610000, 3.720000, 3.810000, 0.870000, 0.830000, 0.820000, 0.820000, 0.810000, 0.800000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.780000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000 ], "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": [ 976053376, 243549 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.156000, -8.662000, 2.937561 ], "estimate": [ 7.156000, -8.662000, 2.937561 ], "true_pose": [ null, null, null ], "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, 1.490000, 1.490000, 1.490000, 1.490000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.490000, 1.500000, 1.500000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.590000, 1.600000, 1.580000, 1.510000, 1.470000, 1.420000, 1.370000, 1.350000, 1.370000, 1.740000, 1.750000, 1.770000, 1.800000, 1.820000, 1.850000, 1.870000, 1.900000, 1.930000, 1.960000, 1.990000, 1.760000, 2.050000, 2.090000, 2.140000, 2.160000, 2.210000, 2.250000, 2.300000, 2.350000, 2.410000, 2.460000, 2.520000, 2.580000, 2.650000, 2.720000, 2.800000, 2.870000, 2.960000, 3.050000, 2.860000, 3.260000, 3.370000, 3.490000, 3.630000, 3.780000, 3.950000, 4.120000, 3.920000, 4.570000, 4.830000, 5.110000, 5.440000, 5.010000, 5.880000, 5.860000, 5.850000, 6.370000, 7.010000, 7.800000, 8.790000, 12.440000, 12.270000, 13.520000, 13.500000, 13.480000, 15.870000, 1.990000, 1.750000, 1.750000, 1.750000, 1.760000, 1.760000, 1.760000, 1.770000, 1.780000, 1.780000, 1.780000, 1.780000, 1.790000, 1.800000, 1.800000, 1.810000, 1.820000, 1.830000, 1.850000, 1.850000, 1.870000, 1.880000, 1.890000, 1.910000, 1.930000, 1.930000, 1.950000, 1.970000, 1.990000, 2.010000, 2.030000, 2.050000, 2.080000, 2.090000, 2.120000, 2.140000, 2.160000, 2.190000, 2.220000, 2.260000, 2.280000, 2.300000, 2.340000, 2.380000, 2.420000, 2.460000, 2.490000, 2.540000, 2.590000, 2.640000, 2.690000, 2.760000, 2.820000, 2.880000, 2.950000, 3.020000, 3.090000, 3.170000, 3.250000, 3.340000, 3.440000, 3.550000, 3.650000, 3.770000, 3.770000, 3.740000, 3.700000, 3.680000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 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": [ 976053376, 272712 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.101000, -8.651000, 2.937561 ], "estimate": [ 7.101000, -8.651000, 2.937561 ], "true_pose": [ null, null, null ], "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, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.530000, 1.540000, 1.550000, 1.570000, 1.580000, 1.560000, 1.490000, 1.450000, 1.390000, 1.340000, 1.320000, 1.340000, 1.690000, 1.710000, 1.730000, 1.750000, 1.770000, 1.800000, 1.820000, 1.840000, 1.870000, 1.900000, 1.920000, 1.730000, 1.990000, 2.020000, 2.050000, 2.090000, 2.130000, 2.160000, 2.210000, 2.250000, 2.300000, 2.350000, 2.410000, 2.460000, 2.510000, 2.590000, 2.650000, 2.730000, 2.810000, 2.880000, 2.970000, 3.060000, 3.100000, 3.270000, 3.380000, 3.500000, 3.650000, 3.800000, 3.960000, 4.150000, 4.360000, 4.620000, 4.870000, 5.150000, 5.490000, 5.840000, 5.820000, 5.810000, 5.900000, 6.460000, 7.130000, 7.950000, 8.980000, 12.210000, 12.210000, 13.450000, 13.420000, 13.410000, 15.800000, 1.930000, 1.690000, 1.700000, 1.700000, 1.700000, 1.710000, 1.710000, 1.710000, 1.720000, 1.720000, 1.730000, 1.730000, 1.740000, 1.750000, 1.760000, 1.760000, 1.770000, 1.780000, 1.790000, 1.800000, 1.820000, 1.830000, 1.840000, 1.850000, 1.870000, 1.880000, 1.900000, 1.920000, 1.930000, 1.950000, 1.970000, 1.990000, 2.020000, 2.040000, 2.060000, 2.070000, 2.100000, 2.130000, 2.160000, 2.190000, 2.220000, 2.250000, 2.280000, 2.310000, 2.360000, 2.400000, 2.430000, 2.470000, 2.530000, 2.570000, 2.630000, 2.690000, 2.750000, 2.810000, 2.870000, 2.950000, 3.010000, 3.090000, 3.180000, 3.260000, 3.360000, 3.470000, 3.570000, 3.680000, 3.770000, 3.740000, 3.700000, 3.680000, 3.650000, 3.620000, 3.600000, 0.830000, 0.790000, 0.800000, 0.800000, 0.800000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.780000 ], "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": [ 976053376, 737586 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.048000, -8.641000, 2.943707 ], "estimate": [ 7.048000, -8.641000, 2.943707 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.480000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.540000, 1.550000, 1.530000, 1.470000, 1.410000, 1.360000, 1.320000, 1.290000, 1.330000, 1.660000, 1.670000, 1.700000, 1.710000, 1.740000, 1.750000, 1.770000, 1.800000, 1.820000, 1.840000, 1.880000, 1.900000, 1.710000, 1.960000, 1.990000, 2.020000, 2.060000, 2.090000, 2.140000, 2.170000, 2.220000, 2.260000, 2.310000, 2.370000, 2.420000, 2.480000, 2.530000, 2.590000, 2.670000, 2.740000, 2.820000, 2.910000, 3.000000, 2.640000, 3.190000, 3.300000, 3.420000, 3.550000, 3.690000, 3.850000, 4.030000, 3.910000, 4.450000, 4.690000, 4.970000, 5.260000, 5.610000, 5.790000, 5.770000, 5.770000, 6.110000, 6.700000, 7.420000, 8.310000, 13.150000, 12.170000, 12.180000, 13.410000, 13.360000, 13.470000, 14.520000, 1.840000, 1.650000, 1.650000, 1.650000, 1.660000, 1.660000, 1.670000, 1.670000, 1.680000, 1.680000, 1.690000, 1.690000, 1.700000, 1.700000, 1.710000, 1.720000, 1.720000, 1.730000, 1.740000, 1.760000, 1.770000, 1.780000, 1.790000, 1.810000, 1.830000, 1.840000, 1.850000, 1.870000, 1.890000, 1.910000, 1.930000, 1.940000, 1.970000, 1.990000, 2.020000, 2.030000, 2.060000, 2.080000, 2.110000, 2.140000, 2.170000, 2.210000, 2.240000, 2.270000, 2.310000, 2.350000, 2.390000, 2.430000, 2.470000, 2.530000, 2.580000, 2.630000, 2.690000, 2.760000, 2.830000, 2.900000, 2.970000, 3.040000, 3.130000, 3.210000, 3.310000, 3.420000, 3.520000, 3.630000, 3.760000, 3.730000, 3.690000, 3.670000, 3.640000, 3.620000, 3.600000, 3.580000, 3.560000, 3.540000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.790000, 0.780000 ], "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": [ 976053376, 738770 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.020000, -8.635000, 2.943707 ], "estimate": [ 7.020000, -8.635000, 2.943707 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.470000, 1.470000, 1.470000, 1.460000, 1.460000, 1.470000, 1.460000, 1.470000, 1.460000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.470000, 1.480000, 1.480000, 1.490000, 1.490000, 1.490000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.500000, 1.440000, 1.370000, 1.320000, 1.280000, 1.270000, 1.590000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.740000, 1.750000, 1.780000, 1.800000, 1.830000, 1.850000, 1.720000, 1.900000, 1.940000, 1.970000, 2.000000, 2.040000, 2.070000, 2.110000, 2.140000, 2.180000, 2.230000, 2.270000, 2.320000, 2.380000, 2.430000, 2.500000, 2.550000, 2.620000, 2.690000, 2.770000, 2.840000, 2.940000, 2.680000, 3.130000, 3.230000, 3.330000, 3.470000, 3.600000, 3.750000, 3.900000, 4.090000, 3.700000, 4.540000, 4.790000, 5.070000, 4.930000, 5.750000, 5.730000, 5.710000, 5.770000, 6.340000, 6.960000, 7.780000, 8.750000, 12.130000, 12.120000, 13.360000, 13.340000, 13.310000, 15.730000, 1.870000, 1.600000, 1.600000, 1.600000, 1.610000, 1.610000, 1.620000, 1.620000, 1.620000, 1.620000, 1.630000, 1.620000, 1.640000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.730000, 1.750000, 1.760000, 1.780000, 1.790000, 1.800000, 1.820000, 1.840000, 1.850000, 1.880000, 1.900000, 1.920000, 1.940000, 1.970000, 1.990000, 2.010000, 2.040000, 2.070000, 2.090000, 2.120000, 2.160000, 2.180000, 2.220000, 2.260000, 2.290000, 2.340000, 2.380000, 2.430000, 2.470000, 2.530000, 2.590000, 2.640000, 2.700000, 2.770000, 2.840000, 2.910000, 2.980000, 3.080000, 3.160000, 3.260000, 3.360000, 3.470000, 3.590000, 3.720000, 3.720000, 3.690000, 3.660000, 3.630000, 3.620000, 3.600000, 3.580000, 3.550000, 3.540000, 3.530000, 3.500000, 3.480000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000 ], "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": [ 976053376, 832913 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.961000, -8.624001, 2.955998 ], "estimate": [ 6.961000, -8.624001, 2.955998 ], "true_pose": [ null, null, null ], "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": [ 1.460000, 1.460000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.500000, 1.430000, 1.360000, 1.300000, 1.250000, 1.240000, 1.530000, 1.590000, 1.610000, 1.630000, 1.640000, 1.660000, 1.670000, 1.690000, 1.710000, 1.730000, 1.750000, 1.770000, 1.790000, 1.820000, 1.830000, 1.880000, 1.900000, 1.930000, 1.960000, 1.990000, 2.020000, 2.050000, 2.100000, 2.130000, 2.170000, 2.220000, 2.260000, 2.310000, 2.370000, 2.420000, 2.480000, 2.530000, 2.600000, 2.670000, 2.750000, 2.820000, 2.830000, 2.970000, 3.110000, 3.200000, 3.310000, 3.430000, 3.570000, 3.720000, 3.870000, 4.070000, 3.630000, 4.490000, 4.750000, 5.030000, 4.840000, 5.680000, 5.670000, 5.660000, 5.680000, 6.240000, 6.890000, 7.640000, 8.590000, 12.190000, 12.080000, 13.300000, 13.290000, 13.270000, 14.380000, 14.310000, 1.750000, 1.540000, 1.550000, 1.550000, 1.550000, 1.560000, 1.560000, 1.570000, 1.570000, 1.580000, 1.580000, 1.590000, 1.600000, 1.600000, 1.610000, 1.620000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.680000, 1.700000, 1.700000, 1.710000, 1.730000, 1.740000, 1.760000, 1.780000, 1.790000, 1.820000, 1.840000, 1.850000, 1.880000, 1.900000, 1.930000, 1.930000, 1.970000, 2.000000, 2.020000, 2.060000, 2.080000, 2.120000, 2.150000, 2.180000, 2.220000, 2.260000, 2.290000, 2.340000, 2.390000, 2.430000, 2.500000, 2.550000, 2.610000, 2.680000, 2.750000, 2.810000, 2.880000, 2.970000, 3.060000, 3.140000, 3.240000, 3.340000, 3.460000, 3.580000, 3.730000, 3.700000, 3.670000, 3.640000, 3.620000, 3.600000, 3.580000, 3.560000, 3.550000, 3.530000, 3.510000, 3.490000, 3.470000, 3.470000, 3.450000, 0.820000, 0.790000, 0.790000, 0.790000, 0.780000 ], "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": [ 976053377, 251634 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.900000, -8.614000, 2.968289 ], "estimate": [ 6.900000, -8.614000, 2.968289 ], "true_pose": [ null, null, null ], "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": [ 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.490000, 1.490000, 1.500000, 1.420000, 1.340000, 1.280000, 1.220000, 1.220000, 1.520000, 1.570000, 1.570000, 1.590000, 1.600000, 1.610000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.780000, 1.590000, 1.830000, 1.860000, 1.890000, 1.910000, 1.950000, 1.980000, 2.020000, 2.050000, 2.080000, 2.120000, 2.150000, 2.200000, 2.250000, 2.290000, 2.350000, 2.410000, 2.460000, 2.510000, 2.590000, 2.660000, 2.730000, 2.800000, 2.540000, 2.980000, 3.070000, 3.170000, 3.290000, 3.400000, 3.530000, 3.680000, 3.830000, 4.000000, 3.580000, 4.420000, 4.670000, 4.950000, 5.240000, 5.570000, 5.640000, 5.610000, 5.600000, 6.100000, 6.690000, 7.420000, 8.290000, 12.990000, 12.000000, 13.260000, 13.230000, 13.200000, 13.320000, 15.620000, 1.730000, 1.490000, 1.500000, 1.500000, 1.500000, 1.510000, 1.510000, 1.510000, 1.510000, 1.520000, 1.520000, 1.520000, 1.530000, 1.540000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.680000, 1.700000, 1.710000, 1.720000, 1.740000, 1.770000, 1.780000, 1.800000, 1.830000, 1.850000, 1.860000, 1.890000, 1.920000, 1.940000, 1.970000, 2.000000, 2.040000, 2.060000, 2.090000, 2.130000, 2.160000, 2.210000, 2.240000, 2.290000, 2.330000, 2.390000, 2.440000, 2.500000, 2.560000, 2.630000, 2.700000, 2.760000, 2.830000, 2.920000, 3.000000, 3.100000, 3.200000, 3.310000, 3.420000, 3.540000, 3.690000, 3.690000, 3.650000, 3.620000, 3.620000, 3.590000, 3.570000, 3.550000, 3.540000, 3.520000, 3.500000, 3.490000, 3.470000, 3.460000, 3.450000, 3.440000, 3.430000, 3.410000, 3.410000, 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": [ 976053377, 252836 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.843000, -8.604000, 2.974435 ], "estimate": [ 6.843000, -8.604000, 2.974435 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.460000, 1.450000, 1.460000, 1.470000, 1.470000, 1.470000, 1.480000, 1.470000, 1.480000, 1.480000, 1.490000, 1.400000, 1.320000, 1.250000, 1.190000, 1.190000, 1.520000, 1.540000, 1.550000, 1.560000, 1.580000, 1.590000, 1.600000, 1.610000, 1.630000, 1.650000, 1.670000, 1.670000, 1.690000, 1.710000, 1.740000, 1.760000, 1.780000, 1.810000, 1.830000, 1.860000, 1.890000, 1.910000, 1.940000, 1.980000, 2.010000, 2.040000, 2.070000, 2.110000, 2.160000, 2.200000, 2.250000, 2.290000, 2.340000, 2.410000, 2.450000, 2.510000, 2.580000, 2.650000, 2.730000, 2.800000, 2.520000, 2.980000, 3.070000, 3.170000, 3.290000, 3.400000, 3.520000, 3.670000, 3.820000, 3.600000, 4.200000, 4.420000, 4.670000, 4.940000, 4.700000, 5.580000, 5.570000, 5.560000, 5.520000, 6.070000, 6.690000, 7.410000, 8.320000, 12.950000, 11.960000, 13.210000, 13.190000, 13.140000, 13.310000, 15.570000, 1.690000, 1.440000, 1.430000, 1.440000, 1.450000, 1.450000, 1.450000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.490000, 1.500000, 1.500000, 1.510000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.580000, 1.590000, 1.610000, 1.620000, 1.630000, 1.650000, 1.670000, 1.690000, 1.700000, 1.720000, 1.740000, 1.760000, 1.780000, 1.800000, 1.830000, 1.840000, 1.880000, 1.900000, 1.930000, 1.960000, 1.990000, 2.020000, 2.050000, 2.090000, 2.130000, 2.170000, 2.210000, 2.260000, 2.310000, 2.360000, 2.420000, 2.470000, 2.530000, 2.610000, 2.670000, 2.740000, 2.820000, 2.910000, 2.990000, 3.090000, 3.200000, 3.320000, 3.430000, 3.550000, 3.690000, 3.660000, 3.630000, 3.610000, 3.590000, 3.570000, 3.550000, 3.540000, 3.520000, 3.500000, 3.480000, 3.470000, 3.460000, 3.450000, 3.440000, 3.430000, 3.420000, 3.410000, 3.410000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053377, 403731 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.789000, -8.596000, 2.986726 ], "estimate": [ 6.789000, -8.596000, 2.986726 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.440000, 1.450000, 1.440000, 1.450000, 1.450000, 1.460000, 1.460000, 1.450000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.470000, 1.490000, 1.410000, 1.320000, 1.230000, 1.180000, 1.170000, 1.500000, 1.520000, 1.530000, 1.540000, 1.540000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.620000, 1.640000, 1.660000, 1.670000, 1.690000, 1.710000, 1.520000, 1.750000, 1.770000, 1.800000, 1.820000, 1.850000, 1.880000, 1.900000, 1.930000, 1.960000, 2.000000, 2.040000, 2.050000, 2.100000, 2.140000, 2.190000, 2.230000, 2.280000, 2.330000, 2.390000, 2.420000, 2.490000, 2.560000, 2.620000, 2.700000, 2.420000, 2.860000, 2.950000, 3.040000, 3.130000, 3.240000, 3.350000, 3.480000, 3.620000, 3.780000, 3.500000, 4.120000, 4.350000, 4.590000, 4.850000, 5.150000, 5.460000, 5.530000, 5.510000, 5.510000, 5.920000, 6.480000, 7.170000, 8.000000, 12.890000, 11.910000, 11.910000, 13.140000, 13.110000, 13.110000, 15.520000, 1.920000, 1.390000, 1.380000, 1.390000, 1.390000, 1.390000, 1.400000, 1.410000, 1.410000, 1.410000, 1.420000, 1.420000, 1.430000, 1.430000, 1.440000, 1.450000, 1.460000, 1.460000, 1.470000, 1.490000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.580000, 1.590000, 1.610000, 1.620000, 1.640000, 1.660000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.770000, 1.800000, 1.830000, 1.860000, 1.890000, 1.920000, 1.940000, 1.970000, 2.010000, 2.050000, 2.090000, 2.120000, 2.170000, 2.220000, 2.260000, 2.310000, 2.370000, 2.430000, 2.500000, 2.560000, 2.620000, 2.700000, 2.780000, 2.870000, 2.960000, 3.060000, 3.170000, 3.290000, 3.410000, 3.530000, 3.670000, 3.630000, 3.620000, 3.600000, 3.570000, 3.560000, 3.540000, 3.530000, 3.510000, 3.490000, 3.480000, 3.470000, 3.450000, 3.450000, 3.430000, 3.420000, 3.420000, 3.410000, 3.400000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053377, 844316 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.734000, -8.588000, 2.992871 ], "estimate": [ 6.734000, -8.588000, 2.992871 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.470000, 1.460000, 1.460000, 1.470000, 1.480000, 1.470000, 1.360000, 1.260000, 1.170000, 1.160000, 1.490000, 1.500000, 1.500000, 1.510000, 1.530000, 1.540000, 1.540000, 1.550000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.640000, 1.650000, 1.670000, 1.580000, 1.530000, 1.730000, 1.750000, 1.760000, 1.790000, 1.820000, 1.840000, 1.860000, 1.890000, 1.920000, 1.950000, 1.990000, 2.020000, 2.050000, 2.080000, 2.130000, 2.170000, 2.220000, 2.250000, 2.310000, 2.360000, 2.420000, 2.470000, 2.530000, 2.600000, 2.670000, 2.600000, 2.820000, 2.910000, 3.000000, 3.100000, 3.200000, 3.310000, 3.430000, 3.560000, 3.710000, 3.880000, 3.970000, 4.280000, 4.500000, 4.750000, 5.040000, 4.580000, 5.500000, 5.470000, 5.460000, 5.740000, 6.270000, 6.920000, 7.690000, 8.650000, 11.860000, 11.860000, 13.100000, 13.080000, 13.050000, 15.480000, null, 1.580000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.360000, 1.360000, 1.370000, 1.380000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.420000, 1.420000, 1.430000, 1.440000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.540000, 1.560000, 1.580000, 1.600000, 1.620000, 1.630000, 1.650000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.780000, 1.810000, 1.840000, 1.870000, 1.900000, 1.930000, 1.970000, 2.010000, 2.040000, 2.070000, 2.120000, 2.170000, 2.220000, 2.270000, 2.330000, 2.390000, 2.450000, 2.530000, 2.580000, 2.670000, 2.750000, 2.830000, 2.920000, 3.020000, 3.130000, 3.240000, 3.360000, 3.490000, 3.650000, 3.620000, 3.610000, 3.590000, 3.570000, 3.550000, 3.540000, 3.520000, 3.500000, 3.480000, 3.470000, 3.460000, 3.450000, 3.440000, 3.430000, 3.420000, 3.410000, 3.410000, 3.400000, 3.390000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053377, 863896 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.705000, -8.583000, 2.992871 ], "estimate": [ 6.705000, -8.583000, 2.992871 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.460000, 1.300000, 1.170000, 1.150000, 1.200000, 1.490000, 1.490000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.530000, 1.540000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.620000, 1.640000, 1.480000, 1.630000, 1.690000, 1.710000, 1.730000, 1.750000, 1.770000, 1.790000, 1.820000, 1.850000, 1.880000, 1.900000, 1.930000, 1.960000, 2.000000, 2.030000, 2.050000, 2.100000, 2.130000, 2.180000, 2.240000, 2.280000, 2.330000, 2.390000, 2.420000, 2.490000, 2.560000, 2.620000, 2.680000, 2.780000, 2.860000, 2.940000, 3.040000, 3.130000, 3.240000, 3.350000, 3.480000, 3.610000, 3.770000, 3.530000, 4.140000, 4.350000, 4.590000, 4.850000, 4.540000, 5.450000, 5.430000, 5.410000, 5.370000, 5.910000, 6.490000, 7.160000, 8.010000, 12.810000, 11.820000, 11.810000, 13.050000, 13.010000, 13.010000, 15.410000, 7.290000, 1.520000, 1.300000, 1.290000, 1.300000, 1.300000, 1.310000, 1.310000, 1.310000, 1.320000, 1.320000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.350000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.440000, 1.450000, 1.470000, 1.480000, 1.500000, 1.510000, 1.520000, 1.540000, 1.560000, 1.580000, 1.600000, 1.620000, 1.630000, 1.660000, 1.690000, 1.700000, 1.720000, 1.760000, 1.780000, 1.810000, 1.830000, 1.870000, 1.910000, 1.940000, 1.980000, 2.020000, 2.050000, 2.100000, 2.150000, 2.210000, 2.260000, 2.310000, 2.390000, 2.450000, 2.510000, 2.590000, 2.680000, 2.750000, 2.840000, 2.950000, 3.050000, 3.170000, 3.290000, 3.410000, 3.570000, 3.620000, 3.610000, 3.580000, 3.560000, 3.550000, 3.530000, 3.510000, 3.490000, 3.480000, 3.470000, 3.460000, 3.450000, 3.430000, 3.430000, 3.420000, 3.410000, 3.410000, 3.400000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053378, 376700 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.643000, -8.574000, 2.986726 ], "estimate": [ 6.643000, -8.574000, 2.986726 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.400000, 1.230000, 1.140000, 1.160000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.530000, 1.540000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.480000, 1.640000, 1.660000, 1.670000, 1.690000, 1.710000, 1.730000, 1.750000, 1.770000, 1.800000, 1.820000, 1.850000, 1.880000, 1.900000, 1.930000, 1.970000, 2.000000, 2.040000, 2.070000, 2.100000, 2.140000, 2.190000, 2.230000, 2.280000, 2.330000, 2.390000, 2.430000, 2.500000, 2.560000, 2.280000, 2.710000, 2.780000, 2.860000, 2.950000, 3.050000, 3.140000, 3.250000, 3.370000, 3.480000, 3.620000, 3.600000, 3.950000, 4.150000, 4.370000, 4.610000, 4.880000, 5.140000, 5.400000, 5.370000, 5.360000, 5.470000, 5.950000, 6.540000, 7.230000, 8.100000, 12.740000, 11.750000, 11.760000, 12.990000, 12.950000, 12.990000, 15.360000, 1.570000, 1.450000, 1.230000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.250000, 1.250000, 1.260000, 1.270000, 1.270000, 1.270000, 1.280000, 1.290000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.400000, 1.420000, 1.430000, 1.440000, 1.460000, 1.480000, 1.500000, 1.510000, 1.530000, 1.540000, 1.570000, 1.600000, 1.620000, 1.640000, 1.660000, 1.690000, 1.710000, 1.740000, 1.770000, 1.800000, 1.830000, 1.860000, 1.900000, 1.940000, 1.970000, 2.020000, 2.060000, 2.120000, 2.170000, 2.230000, 2.280000, 2.350000, 2.410000, 2.490000, 2.570000, 2.640000, 2.730000, 2.820000, 2.940000, 3.040000, 3.160000, 3.290000, 3.430000, 3.610000, 3.590000, 3.580000, 3.560000, 3.550000, 3.530000, 3.510000, 3.490000, 3.480000, 3.470000, 3.460000, 3.450000, 3.430000, 3.430000, 3.420000, 3.410000, 3.410000, 3.400000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053378, 933738 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.586000, -8.566000, 2.980580 ], "estimate": [ 6.586000, -8.566000, 2.980580 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.410000, 1.150000, 1.130000, 1.450000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.490000, 1.500000, 1.510000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.570000, 1.580000, 1.590000, 1.410000, 1.610000, 1.640000, 1.650000, 1.670000, 1.690000, 1.700000, 1.720000, 1.750000, 1.770000, 1.790000, 1.820000, 1.840000, 1.870000, 1.900000, 1.930000, 1.960000, 1.990000, 2.020000, 2.050000, 2.090000, 2.130000, 2.180000, 2.230000, 2.270000, 2.320000, 2.380000, 2.430000, 2.490000, 2.550000, 2.250000, 2.690000, 2.770000, 2.850000, 2.940000, 3.030000, 3.120000, 3.230000, 3.340000, 3.470000, 3.600000, 3.260000, 3.930000, 4.120000, 4.320000, 4.570000, 4.830000, 4.640000, 5.350000, 5.320000, 5.310000, 5.390000, 5.870000, 6.430000, 7.110000, 7.950000, 12.700000, 11.710000, 11.700000, 12.930000, 12.900000, 12.890000, 15.290000, 7.190000, 1.430000, 1.190000, 1.180000, 1.180000, 1.190000, 1.190000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.380000, 1.390000, 1.410000, 1.430000, 1.440000, 1.460000, 1.490000, 1.500000, 1.520000, 1.540000, 1.570000, 1.590000, 1.610000, 1.630000, 1.670000, 1.690000, 1.720000, 1.740000, 1.770000, 1.820000, 1.850000, 1.890000, 1.920000, 1.970000, 2.020000, 2.070000, 2.130000, 2.180000, 2.250000, 2.300000, 2.370000, 2.440000, 2.520000, 2.600000, 2.700000, 2.800000, 2.900000, 3.010000, 3.140000, 3.270000, 3.410000, 3.610000, 3.580000, 3.560000, 3.550000, 3.530000, 3.510000, 3.490000, 3.480000, 3.470000, 3.460000, 3.450000, 3.440000, 3.430000, 3.420000, 3.410000, 3.410000, 3.400000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053378, 934970 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.531000, -8.557000, 2.974435 ], "estimate": [ 6.531000, -8.557000, 2.974435 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.440000, 1.450000, 1.450000, 1.420000, 1.130000, 1.130000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.470000, 1.480000, 1.490000, 1.490000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.530000, 1.540000, 1.550000, 1.570000, 1.440000, 1.590000, 1.600000, 1.620000, 1.640000, 1.650000, 1.670000, 1.680000, 1.710000, 1.720000, 1.750000, 1.760000, 1.790000, 1.820000, 1.840000, 1.870000, 1.900000, 1.930000, 1.960000, 2.000000, 2.020000, 2.050000, 2.090000, 2.130000, 2.180000, 2.230000, 2.270000, 2.320000, 2.380000, 2.430000, 2.500000, 2.540000, 2.610000, 2.690000, 2.770000, 2.850000, 2.940000, 3.030000, 3.120000, 3.230000, 3.340000, 3.470000, 3.600000, 3.700000, 3.920000, 4.120000, 4.320000, 4.560000, 4.830000, 4.360000, 5.300000, 5.270000, 5.250000, 5.400000, 5.880000, 6.440000, 7.110000, 7.940000, 12.650000, 11.660000, 11.650000, 12.890000, 12.860000, 12.850000, 15.260000, 7.120000, 1.380000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.330000, 1.340000, 1.350000, 1.370000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.490000, 1.510000, 1.520000, 1.550000, 1.570000, 1.600000, 1.620000, 1.650000, 1.680000, 1.700000, 1.740000, 1.770000, 1.820000, 1.840000, 1.890000, 1.930000, 1.990000, 2.040000, 2.090000, 2.150000, 2.210000, 2.270000, 2.340000, 2.420000, 2.500000, 2.590000, 2.680000, 2.780000, 2.890000, 3.000000, 3.130000, 3.290000, 3.440000, 3.590000, 3.560000, 3.550000, 3.530000, 3.510000, 3.490000, 3.480000, 3.470000, 3.460000, 3.450000, 3.440000, 3.430000, 3.420000, 3.410000, 3.410000, 3.400000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053378, 935920 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.475000, -8.548000, 2.974435 ], "estimate": [ 6.475000, -8.548000, 2.974435 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.440000, 1.430000, 1.130000, 1.140000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.480000, 1.470000, 1.480000, 1.480000, 1.490000, 1.490000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.530000, 1.550000, 1.560000, 1.570000, 1.590000, 1.600000, 1.610000, 1.630000, 1.650000, 1.660000, 1.670000, 1.700000, 1.720000, 1.740000, 1.750000, 1.780000, 1.810000, 1.830000, 1.860000, 1.890000, 1.910000, 1.950000, 1.980000, 2.020000, 2.040000, 2.080000, 2.120000, 2.160000, 2.210000, 2.250000, 2.300000, 2.360000, 2.420000, 2.470000, 2.330000, 2.590000, 2.670000, 2.740000, 2.810000, 2.910000, 2.990000, 3.100000, 3.190000, 3.320000, 3.420000, 3.560000, 3.460000, 3.870000, 4.060000, 4.250000, 4.480000, 4.750000, 4.390000, 5.250000, 5.230000, 5.210000, 5.260000, 5.710000, 6.250000, 6.890000, 7.670000, 12.590000, 11.630000, 11.610000, 12.840000, 12.830000, 12.800000, 15.210000, null, 1.360000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.320000, 1.340000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.480000, 1.500000, 1.510000, 1.540000, 1.570000, 1.610000, 1.620000, 1.660000, 1.690000, 1.720000, 1.750000, 1.800000, 1.840000, 1.890000, 1.930000, 1.990000, 2.040000, 2.100000, 2.150000, 2.230000, 2.290000, 2.370000, 2.450000, 2.540000, 2.640000, 2.730000, 2.840000, 2.960000, 3.100000, 3.250000, 3.410000, 3.570000, 3.550000, 3.540000, 3.520000, 3.500000, 3.480000, 3.470000, 3.470000, 3.450000, 3.440000, 3.430000, 3.430000, 3.420000, 3.410000, 3.410000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053378, 936841 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.418000, -8.538000, 2.968289 ], "estimate": [ 6.418000, -8.538000, 2.968289 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.120000, 1.130000, 1.440000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.450000, 1.460000, 1.470000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 1.340000, 1.530000, 1.550000, 1.560000, 1.570000, 1.590000, 1.600000, 1.610000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.790000, 1.810000, 1.830000, 1.860000, 1.890000, 1.910000, 1.950000, 1.990000, 2.020000, 2.040000, 2.080000, 2.130000, 2.170000, 2.210000, 2.250000, 2.300000, 2.360000, 2.420000, 2.140000, 2.530000, 2.590000, 2.670000, 2.750000, 2.820000, 2.910000, 3.010000, 3.100000, 3.200000, 3.320000, 3.440000, 3.580000, 3.690000, 3.900000, 4.070000, 4.270000, 4.520000, 4.770000, 4.990000, 5.200000, 5.170000, 5.150000, 5.310000, 5.760000, 6.320000, 6.950000, 7.740000, 12.550000, 11.560000, 11.560000, 12.810000, 12.760000, 12.730000, 15.160000, 13.930000, 1.300000, 1.080000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.070000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.270000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.440000, 1.460000, 1.480000, 1.500000, 1.530000, 1.560000, 1.580000, 1.610000, 1.650000, 1.690000, 1.720000, 1.760000, 1.810000, 1.850000, 1.900000, 1.960000, 2.020000, 2.070000, 2.130000, 2.210000, 2.280000, 2.350000, 2.430000, 2.530000, 2.620000, 2.730000, 2.850000, 2.980000, 3.130000, 3.280000, 3.460000, 3.550000, 3.540000, 3.520000, 3.500000, 3.480000, 3.470000, 3.470000, 3.450000, 3.440000, 3.440000, 3.430000, 3.420000, 3.420000, 3.410000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053378, 937860 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.370000, -8.530000, 2.968289 ], "estimate": [ 6.370000, -8.530000, 2.968289 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.440000, 1.440000, 1.440000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.490000, 1.500000, 1.310000, 1.510000, 1.520000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.630000, 1.640000, 1.660000, 1.670000, 1.690000, 1.710000, 1.740000, 1.750000, 1.780000, 1.810000, 1.830000, 1.860000, 1.880000, 1.910000, 1.950000, 1.980000, 2.010000, 2.050000, 2.080000, 2.120000, 2.160000, 2.210000, 2.250000, 2.290000, 2.350000, 2.410000, 2.470000, 2.520000, 2.590000, 2.670000, 2.740000, 2.810000, 2.900000, 2.990000, 3.090000, 3.200000, 3.300000, 3.420000, 3.090000, 3.700000, 3.870000, 4.050000, 4.240000, 4.480000, 4.740000, 5.010000, 5.140000, 5.120000, 5.110000, 5.250000, 5.700000, 6.220000, 6.870000, 7.620000, 12.500000, 11.510000, 11.500000, 12.740000, 12.720000, 12.700000, 15.110000, null, 1.430000, 1.210000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.350000, 1.350000, 1.380000, 1.410000, 1.430000, 1.450000, 1.490000, 1.510000, 1.530000, 1.570000, 1.600000, 1.640000, 1.670000, 1.710000, 1.750000, 1.800000, 1.850000, 1.900000, 1.970000, 2.010000, 2.080000, 2.150000, 2.230000, 2.310000, 2.400000, 2.490000, 2.580000, 2.700000, 2.810000, 2.950000, 3.110000, 3.270000, 3.460000, 3.550000, 3.520000, 3.500000, 3.490000, 3.470000, 3.470000, 3.460000, 3.450000, 3.440000, 3.430000, 3.420000, 3.410000, 3.410000, 3.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053379, 837540 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.345000, -8.526000, 2.962143 ], "estimate": [ 6.345000, -8.526000, 2.962143 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.450000, 1.450000, 1.450000, 1.460000, 1.450000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.470000, 1.480000, 1.490000, 1.490000, 1.350000, 1.500000, 1.510000, 1.520000, 1.530000, 1.530000, 1.550000, 1.560000, 1.570000, 1.590000, 1.590000, 1.610000, 1.640000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.750000, 1.760000, 1.790000, 1.810000, 1.840000, 1.870000, 1.900000, 1.920000, 1.960000, 1.990000, 2.020000, 2.060000, 2.090000, 2.130000, 2.180000, 2.230000, 2.270000, 2.320000, 2.100000, 2.430000, 2.490000, 2.550000, 2.620000, 2.690000, 2.770000, 2.850000, 2.940000, 3.040000, 3.140000, 3.240000, 3.350000, 3.490000, 3.520000, 3.780000, 3.950000, 4.130000, 4.340000, 4.590000, 4.340000, 5.120000, 5.100000, 5.090000, 5.060000, 5.450000, 5.930000, 6.500000, 7.190000, 8.050000, 12.450000, 11.470000, 12.720000, 12.690000, 12.670000, 12.680000, 15.070000, 6.970000, 1.190000, 1.100000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.080000, 1.080000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.250000, 1.280000, 1.300000, 1.320000, 1.340000, 1.360000, 1.390000, 1.410000, 1.430000, 1.470000, 1.490000, 1.510000, 1.550000, 1.590000, 1.610000, 1.670000, 1.700000, 1.750000, 1.800000, 1.860000, 1.910000, 1.970000, 2.030000, 2.100000, 2.170000, 2.250000, 2.340000, 2.430000, 2.530000, 2.650000, 2.770000, 2.910000, 3.060000, 3.220000, 3.410000, 3.540000, 3.520000, 3.500000, 3.490000, 3.470000, 3.460000, 3.450000, 3.450000, 3.440000, 3.430000, 3.420000, 3.410000, 3.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053379, 509575 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.349000, -8.526000, 2.962143 ], "estimate": [ 6.349000, -8.526000, 2.962143 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.480000, 1.300000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.530000, 1.550000, 1.560000, 1.570000, 1.590000, 1.590000, 1.610000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.750000, 1.760000, 1.790000, 1.810000, 1.840000, 1.870000, 1.900000, 1.920000, 1.960000, 1.990000, 2.030000, 2.060000, 2.090000, 2.140000, 2.180000, 2.230000, 2.270000, 2.320000, 2.280000, 2.440000, 2.490000, 2.560000, 2.620000, 2.700000, 2.770000, 2.860000, 2.950000, 3.040000, 3.150000, 3.250000, 3.360000, 3.050000, 3.640000, 3.800000, 3.980000, 4.160000, 4.380000, 4.630000, 4.160000, 5.100000, 5.090000, 5.060000, 5.040000, 5.520000, 6.010000, 6.600000, 7.310000, 8.200000, 11.720000, 11.460000, 12.710000, 12.680000, 12.650000, 15.060000, 15.060000, 5.010000, 1.180000, 1.020000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.050000, 1.070000, 1.080000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.330000, 1.360000, 1.370000, 1.390000, 1.420000, 1.450000, 1.480000, 1.500000, 1.540000, 1.570000, 1.600000, 1.650000, 1.690000, 1.740000, 1.790000, 1.840000, 1.890000, 1.950000, 2.020000, 2.090000, 2.150000, 2.240000, 2.330000, 2.410000, 2.510000, 2.630000, 2.750000, 2.880000, 3.030000, 3.210000, 3.400000, 3.540000, 3.520000, 3.500000, 3.480000, 3.480000, 3.470000, 3.450000, 3.440000, 3.430000, 3.430000, 3.420000, 3.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053379, 510807 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.356000, -8.528000, 2.962143 ], "estimate": [ 6.356000, -8.528000, 2.962143 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.490000, 1.480000, 1.490000, 1.360000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.580000, 1.590000, 1.600000, 1.610000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.750000, 1.760000, 1.790000, 1.820000, 1.840000, 1.870000, 1.900000, 1.930000, 1.960000, 2.000000, 2.040000, 2.060000, 2.100000, 2.140000, 2.190000, 2.240000, 2.280000, 2.330000, 2.290000, 2.440000, 2.500000, 2.570000, 2.630000, 2.710000, 2.800000, 2.870000, 2.960000, 3.050000, 3.160000, 3.260000, 3.380000, 3.040000, 3.660000, 3.830000, 4.000000, 4.190000, 4.410000, 4.650000, 4.250000, 5.110000, 5.090000, 5.080000, 5.120000, 5.560000, 6.060000, 6.680000, 7.390000, 8.280000, 11.560000, 11.460000, 12.700000, 12.690000, 12.660000, 15.080000, 15.070000, 2.170000, 1.190000, 0.950000, 0.930000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.110000, 1.120000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.250000, 1.280000, 1.300000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.430000, 1.470000, 1.490000, 1.510000, 1.550000, 1.580000, 1.620000, 1.670000, 1.710000, 1.750000, 1.810000, 1.860000, 1.910000, 1.980000, 2.040000, 2.110000, 2.180000, 2.260000, 2.360000, 2.440000, 2.550000, 2.660000, 2.790000, 2.920000, 3.080000, 3.260000, 3.450000, 3.530000, 3.520000, 3.500000, 3.480000, 3.480000, 3.460000, 3.450000, 3.440000, 3.430000, 3.430000, 3.420000, 3.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053379, 733551 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.368000, -8.530000, 2.968289 ], "estimate": [ 6.368000, -8.530000, 2.968289 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.490000, 1.310000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.580000, 1.590000, 1.600000, 1.620000, 1.640000, 1.660000, 1.670000, 1.690000, 1.700000, 1.730000, 1.750000, 1.770000, 1.790000, 1.820000, 1.840000, 1.870000, 1.900000, 1.930000, 1.960000, 2.010000, 2.040000, 2.060000, 2.100000, 2.140000, 2.190000, 2.240000, 2.280000, 2.330000, 2.100000, 2.440000, 2.500000, 2.570000, 2.630000, 2.710000, 2.800000, 2.880000, 2.970000, 3.050000, 3.160000, 3.270000, 3.390000, 3.060000, 3.670000, 3.830000, 4.000000, 4.190000, 4.410000, 4.660000, 4.330000, 5.110000, 5.090000, 5.080000, 5.150000, 5.580000, 6.080000, 6.690000, 7.440000, 8.310000, 11.490000, 11.460000, 12.720000, 12.700000, 12.660000, 15.080000, 15.080000, 2.160000, 1.200000, 0.940000, 0.940000, 0.950000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.030000, 1.040000, 1.040000, 1.050000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.330000, 1.350000, 1.370000, 1.390000, 1.420000, 1.450000, 1.480000, 1.500000, 1.530000, 1.570000, 1.590000, 1.630000, 1.670000, 1.720000, 1.770000, 1.820000, 1.880000, 1.930000, 1.990000, 2.050000, 2.120000, 2.200000, 2.280000, 2.380000, 2.470000, 2.580000, 2.680000, 2.810000, 2.940000, 3.110000, 3.280000, 3.490000, 3.530000, 3.510000, 3.490000, 3.480000, 3.480000, 3.460000, 3.450000, 3.440000, 3.430000, 3.430000, 3.420000, 3.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053380, 219339 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.400000, -8.535000, 2.999017 ], "estimate": [ 6.400000, -8.535000, 2.999017 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.450000, 1.450000, 1.450000, 1.460000, 1.450000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.490000, 1.480000, 1.500000, 1.340000, 1.490000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.590000, 1.610000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.790000, 1.810000, 1.830000, 1.860000, 1.900000, 1.920000, 1.950000, 1.990000, 2.030000, 2.060000, 2.090000, 2.130000, 2.180000, 2.220000, 2.270000, 2.320000, 2.080000, 2.420000, 2.490000, 2.540000, 2.610000, 2.680000, 2.770000, 2.830000, 2.930000, 3.020000, 3.120000, 3.230000, 3.330000, 3.470000, 3.090000, 3.750000, 3.930000, 4.110000, 4.320000, 4.560000, 4.820000, 5.100000, 5.120000, 5.090000, 5.090000, 5.410000, 5.900000, 6.440000, 7.110000, 7.930000, 12.480000, 11.480000, 11.690000, 12.720000, 12.690000, 12.690000, 15.090000, 6.980000, 1.220000, 1.030000, 0.960000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.250000, 1.270000, 1.290000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.430000, 1.460000, 1.490000, 1.500000, 1.540000, 1.580000, 1.610000, 1.650000, 1.680000, 1.730000, 1.780000, 1.830000, 1.880000, 1.940000, 2.000000, 2.050000, 2.130000, 2.200000, 2.280000, 2.380000, 2.460000, 2.570000, 2.670000, 2.810000, 2.930000, 3.090000, 3.270000, 3.450000, 3.540000, 3.510000, 3.490000, 3.490000, 3.480000, 3.470000, 3.460000, 3.440000, 3.430000, 3.430000, 3.420000, 3.410000, 3.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053380, 737720 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.452000, -8.540999, 3.042035 ], "estimate": [ 6.452000, -8.540999, 3.042035 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.490000, 1.500000, 1.500000, 1.500000, 1.510000, 1.410000, 1.530000, 1.540000, 1.550000, 1.550000, 1.570000, 1.580000, 1.590000, 1.600000, 1.620000, 1.640000, 1.650000, 1.670000, 1.690000, 1.710000, 1.730000, 1.750000, 1.770000, 1.790000, 1.820000, 1.840000, 1.870000, 1.900000, 1.930000, 1.960000, 2.000000, 2.030000, 2.050000, 2.090000, 2.140000, 2.190000, 2.230000, 2.270000, 2.320000, 2.380000, 2.130000, 2.490000, 2.550000, 2.620000, 2.700000, 2.770000, 2.860000, 2.950000, 3.030000, 3.140000, 3.240000, 3.340000, 3.490000, 3.530000, 3.780000, 3.960000, 4.130000, 4.340000, 4.580000, 4.850000, 5.140000, 5.160000, 5.140000, 5.130000, 5.430000, 5.910000, 6.470000, 7.160000, 8.000000, 11.910000, 11.530000, 11.520000, 12.770000, 12.720000, 12.720000, 15.140000, 2.230000, 1.250000, 1.000000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.330000, 1.360000, 1.370000, 1.390000, 1.420000, 1.450000, 1.470000, 1.490000, 1.520000, 1.540000, 1.570000, 1.610000, 1.650000, 1.670000, 1.720000, 1.750000, 1.810000, 1.860000, 1.910000, 1.970000, 2.020000, 2.080000, 2.150000, 2.230000, 2.300000, 2.390000, 2.490000, 2.580000, 2.690000, 2.800000, 2.930000, 3.070000, 3.230000, 3.410000, 3.550000, 3.530000, 3.510000, 3.490000, 3.480000, 3.470000, 3.460000, 3.440000, 3.440000, 3.430000, 3.420000, 3.410000, 3.400000, 3.400000, 3.400000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053380, 293910 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.490000, -8.544001, 3.042035 ], "estimate": [ 6.490000, -8.544001, 3.042035 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.450000, 1.450000, 1.460000, 1.460000, 1.470000, 1.470000, 1.470000, 1.470000, 1.480000, 1.490000, 1.490000, 1.490000, 1.500000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.420000, 1.560000, 1.560000, 1.580000, 1.590000, 1.600000, 1.620000, 1.640000, 1.660000, 1.670000, 1.680000, 1.700000, 1.730000, 1.750000, 1.760000, 1.790000, 1.820000, 1.840000, 1.870000, 1.900000, 1.930000, 1.960000, 1.990000, 2.020000, 2.050000, 2.090000, 2.140000, 2.180000, 2.230000, 2.270000, 2.320000, 2.380000, 2.430000, 2.140000, 2.550000, 2.610000, 2.680000, 2.770000, 2.840000, 2.940000, 3.020000, 3.130000, 3.230000, 3.340000, 3.480000, 3.200000, 3.750000, 3.930000, 4.110000, 4.320000, 4.560000, 4.330000, 5.110000, 5.220000, 5.200000, 5.160000, 5.390000, 5.850000, 6.410000, 7.080000, 7.900000, 12.570000, 11.580000, 11.570000, 12.810000, 12.780000, 12.760000, 15.180000, 7.080000, 1.300000, 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.240000, 1.250000, 1.270000, 1.290000, 1.310000, 1.320000, 1.340000, 1.360000, 1.370000, 1.400000, 1.420000, 1.440000, 1.470000, 1.500000, 1.510000, 1.530000, 1.570000, 1.590000, 1.620000, 1.660000, 1.680000, 1.720000, 1.750000, 1.800000, 1.850000, 1.900000, 1.950000, 2.000000, 2.060000, 2.120000, 2.190000, 2.260000, 2.320000, 2.410000, 2.500000, 2.600000, 2.690000, 2.810000, 2.930000, 3.060000, 3.200000, 3.370000, 3.560000, 3.550000, 3.530000, 3.510000, 3.490000, 3.480000, 3.470000, 3.460000, 3.450000, 3.440000, 3.430000, 3.420000, 3.410000, 3.400000, 3.400000, 3.400000, 3.400000, 3.390000, 3.390000 ], "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": [ 976053380, 692008 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.495000, -8.545000, 3.048181 ], "estimate": [ 6.495000, -8.545000, 3.048181 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.460000, 1.460000, 1.470000, 1.460000, 1.470000, 1.480000, 1.480000, 1.490000, 1.490000, 1.500000, 1.510000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.430000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.630000, 1.660000, 1.670000, 1.680000, 1.700000, 1.720000, 1.750000, 1.760000, 1.790000, 1.820000, 1.840000, 1.860000, 1.900000, 1.920000, 1.950000, 1.990000, 2.020000, 2.060000, 2.080000, 2.120000, 2.170000, 2.210000, 2.260000, 2.300000, 2.360000, 2.410000, 2.470000, 2.230000, 2.600000, 2.670000, 2.740000, 2.820000, 2.900000, 3.000000, 3.100000, 3.200000, 3.320000, 3.420000, 3.560000, 3.700000, 3.870000, 4.050000, 4.250000, 4.480000, 4.740000, 4.620000, 5.260000, 5.240000, 5.220000, 5.180000, 5.690000, 6.200000, 6.850000, 7.590000, 12.600000, 11.620000, 11.600000, 12.840000, 12.830000, 12.820000, 15.220000, 13.990000, 1.350000, 1.090000, 1.090000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.320000, 1.340000, 1.360000, 1.370000, 1.390000, 1.410000, 1.430000, 1.460000, 1.480000, 1.510000, 1.520000, 1.540000, 1.570000, 1.610000, 1.630000, 1.660000, 1.690000, 1.730000, 1.760000, 1.800000, 1.840000, 1.890000, 1.930000, 1.990000, 2.050000, 2.100000, 2.160000, 2.230000, 2.290000, 2.380000, 2.440000, 2.530000, 2.630000, 2.730000, 2.850000, 2.960000, 3.100000, 3.250000, 3.410000, 3.570000, 3.550000, 3.540000, 3.520000, 3.500000, 3.480000, 3.480000, 3.460000, 3.450000, 3.440000, 3.430000, 3.420000, 3.410000, 3.410000, 3.400000, 3.400000, 3.400000, 3.390000, 3.390000, 3.390000, 3.390000 ], "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": [ 976053380, 693303 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.498000, -8.545000, 3.048181 ], "estimate": [ 6.498000, -8.545000, 3.048181 ], "true_pose": [ null, null, null ], "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": [ 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.480000, 1.490000, 1.500000, 1.490000, 1.500000, 1.510000, 1.510000, 1.520000, 1.530000, 1.540000, 1.560000, 1.430000, 1.570000, 1.590000, 1.590000, 1.600000, 1.620000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.750000, 1.760000, 1.790000, 1.820000, 1.840000, 1.860000, 1.900000, 1.920000, 1.950000, 1.990000, 2.020000, 2.050000, 2.080000, 2.120000, 2.170000, 2.220000, 2.260000, 2.310000, 2.370000, 2.410000, 2.470000, 2.450000, 2.600000, 2.670000, 2.740000, 2.820000, 2.910000, 3.000000, 3.090000, 3.200000, 3.310000, 3.420000, 3.560000, 3.650000, 3.860000, 4.050000, 4.240000, 4.470000, 4.730000, 4.650000, 5.250000, 5.230000, 5.210000, 5.180000, 5.670000, 6.200000, 6.820000, 7.570000, 8.460000, 11.620000, 11.600000, 12.840000, 12.830000, 12.810000, 15.210000, 15.210000, 1.340000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.220000, 1.240000, 1.250000, 1.260000, 1.280000, 1.300000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.470000, 1.500000, 1.510000, 1.530000, 1.560000, 1.590000, 1.620000, 1.660000, 1.680000, 1.710000, 1.760000, 1.780000, 1.820000, 1.870000, 1.920000, 1.970000, 2.030000, 2.080000, 2.140000, 2.200000, 2.270000, 2.350000, 2.420000, 2.520000, 2.610000, 2.710000, 2.820000, 2.940000, 3.070000, 3.210000, 3.370000, 3.570000, 3.560000, 3.540000, 3.520000, 3.500000, 3.480000, 3.480000, 3.460000, 3.450000, 3.440000, 3.430000, 3.420000, 3.410000, 3.400000, 3.400000, 3.400000, 3.390000, 3.390000, 3.390000, 3.390000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053380, 873219 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.498000, -8.545000, 3.054326 ], "estimate": [ 6.498000, -8.545000, 3.054326 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.470000, 1.480000, 1.480000, 1.490000, 1.500000, 1.510000, 1.500000, 1.500000, 1.510000, 1.520000, 1.520000, 1.540000, 1.550000, 1.350000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.630000, 1.660000, 1.670000, 1.680000, 1.700000, 1.720000, 1.750000, 1.760000, 1.790000, 1.810000, 1.840000, 1.860000, 1.890000, 1.920000, 1.950000, 1.990000, 2.020000, 2.040000, 2.080000, 2.130000, 2.160000, 2.210000, 2.260000, 2.300000, 2.360000, 2.420000, 2.460000, 2.450000, 2.600000, 2.670000, 2.740000, 2.820000, 2.900000, 3.000000, 3.090000, 3.200000, 3.310000, 3.420000, 3.560000, 3.670000, 3.860000, 4.040000, 4.240000, 4.470000, 4.720000, 4.860000, 5.250000, 5.240000, 5.210000, 5.180000, 5.670000, 6.170000, 6.810000, 7.560000, 8.460000, 11.630000, 11.600000, 12.850000, 12.830000, 12.800000, 15.210000, 15.190000, 1.340000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.340000, 1.360000, 1.380000, 1.390000, 1.420000, 1.440000, 1.470000, 1.490000, 1.510000, 1.530000, 1.560000, 1.590000, 1.620000, 1.640000, 1.680000, 1.710000, 1.750000, 1.770000, 1.820000, 1.870000, 1.910000, 1.970000, 2.030000, 2.080000, 2.140000, 2.200000, 2.270000, 2.350000, 2.420000, 2.520000, 2.600000, 2.700000, 2.820000, 2.940000, 3.060000, 3.210000, 3.360000, 3.560000, 3.560000, 3.540000, 3.520000, 3.500000, 3.480000, 3.480000, 3.460000, 3.450000, 3.440000, 3.430000, 3.420000, 3.420000, 3.410000, 3.400000, 3.400000, 3.390000, 3.390000, 3.390000, 3.390000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053381, 304800 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.498000, -8.545000, 3.048181 ], "estimate": [ 6.498000, -8.545000, 3.048181 ], "true_pose": [ null, null, null ], "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": [ 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.490000, 1.480000, 1.490000, 1.500000, 1.500000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.350000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.640000, 1.660000, 1.670000, 1.680000, 1.700000, 1.720000, 1.750000, 1.760000, 1.790000, 1.820000, 1.830000, 1.860000, 1.900000, 1.920000, 1.950000, 1.990000, 2.020000, 2.060000, 2.080000, 2.120000, 2.160000, 2.210000, 2.260000, 2.300000, 2.360000, 2.420000, 2.460000, 2.460000, 2.600000, 2.670000, 2.740000, 2.820000, 2.910000, 2.990000, 3.090000, 3.200000, 3.310000, 3.420000, 3.560000, 3.670000, 3.870000, 4.050000, 4.240000, 4.470000, 4.730000, 4.800000, 5.250000, 5.240000, 5.210000, 5.190000, 5.670000, 6.190000, 6.810000, 7.560000, 8.450000, 11.620000, 11.590000, 12.840000, 12.830000, 12.810000, 15.220000, 15.220000, 1.340000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.190000, 1.200000, 1.210000, 1.230000, 1.240000, 1.240000, 1.270000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.470000, 1.490000, 1.510000, 1.530000, 1.560000, 1.590000, 1.610000, 1.640000, 1.680000, 1.710000, 1.750000, 1.780000, 1.820000, 1.860000, 1.910000, 1.970000, 2.030000, 2.080000, 2.150000, 2.200000, 2.270000, 2.350000, 2.420000, 2.510000, 2.600000, 2.700000, 2.820000, 2.930000, 3.070000, 3.210000, 3.380000, 3.560000, 3.550000, 3.540000, 3.520000, 3.500000, 3.480000, 3.480000, 3.460000, 3.450000, 3.440000, 3.430000, 3.420000, 3.410000, 3.410000, 3.400000, 3.400000, 3.390000, 3.390000, 3.390000, 3.390000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053381, 306077 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.498000, -8.545000, 3.048181 ], "estimate": [ 6.498000, -8.545000, 3.048181 ], "true_pose": [ null, null, null ], "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": [ 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.470000, 1.470000, 1.480000, 1.490000, 1.500000, 1.500000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.350000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.790000, 1.810000, 1.840000, 1.860000, 1.890000, 1.920000, 1.950000, 1.980000, 2.020000, 2.060000, 2.080000, 2.120000, 2.160000, 2.210000, 2.270000, 2.300000, 2.360000, 2.420000, 2.470000, 2.450000, 2.600000, 2.670000, 2.740000, 2.820000, 2.900000, 3.000000, 3.090000, 3.190000, 3.310000, 3.420000, 3.560000, 3.680000, 3.860000, 4.040000, 4.240000, 4.460000, 4.720000, 4.940000, 5.250000, 5.240000, 5.210000, 5.180000, 5.660000, 6.180000, 6.800000, 7.550000, 8.460000, 11.620000, 11.600000, 12.840000, 12.820000, 12.800000, 15.210000, 15.200000, 1.350000, 1.070000, 1.080000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.360000, 1.380000, 1.390000, 1.420000, 1.440000, 1.470000, 1.490000, 1.510000, 1.530000, 1.550000, 1.590000, 1.610000, 1.650000, 1.680000, 1.710000, 1.750000, 1.790000, 1.820000, 1.870000, 1.910000, 1.970000, 2.030000, 2.080000, 2.130000, 2.200000, 2.270000, 2.340000, 2.420000, 2.520000, 2.600000, 2.700000, 2.820000, 2.940000, 3.060000, 3.200000, 3.360000, 3.560000, 3.560000, 3.540000, 3.520000, 3.500000, 3.490000, 3.480000, 3.460000, 3.450000, 3.440000, 3.430000, 3.430000, 3.420000, 3.410000, 3.400000, 3.400000, 3.390000, 3.390000, 3.390000, 3.390000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053381, 523815 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.498000, -8.545000, 3.035890 ], "estimate": [ 6.498000, -8.545000, 3.035890 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.470000, 1.480000, 1.480000, 1.490000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.420000, 1.580000, 1.570000, 1.590000, 1.600000, 1.610000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.750000, 1.760000, 1.780000, 1.810000, 1.840000, 1.860000, 1.890000, 1.920000, 1.950000, 1.980000, 2.010000, 2.050000, 2.090000, 2.120000, 2.160000, 2.210000, 2.260000, 2.290000, 2.350000, 2.410000, 2.460000, 2.220000, 2.590000, 2.660000, 2.740000, 2.810000, 2.900000, 2.980000, 3.070000, 3.190000, 3.300000, 3.410000, 3.540000, 3.440000, 3.850000, 4.020000, 4.230000, 4.440000, 4.700000, 4.980000, 5.250000, 5.240000, 5.220000, 5.210000, 5.630000, 6.140000, 6.750000, 7.480000, 8.390000, 11.720000, 11.600000, 12.850000, 12.820000, 12.800000, 15.210000, 15.200000, 1.380000, 1.090000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.360000, 1.370000, 1.390000, 1.420000, 1.440000, 1.460000, 1.490000, 1.520000, 1.520000, 1.550000, 1.590000, 1.610000, 1.650000, 1.680000, 1.700000, 1.750000, 1.780000, 1.820000, 1.870000, 1.910000, 1.960000, 2.020000, 2.070000, 2.140000, 2.190000, 2.270000, 2.340000, 2.410000, 2.510000, 2.600000, 2.690000, 2.810000, 2.920000, 3.050000, 3.200000, 3.350000, 3.550000, 3.560000, 3.540000, 3.520000, 3.500000, 3.480000, 3.480000, 3.470000, 3.450000, 3.440000, 3.430000, 3.420000, 3.420000, 3.410000, 3.400000, 3.400000, 3.390000, 3.390000, 3.390000, 3.390000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053381, 672683 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.498000, -8.545000, 3.017453 ], "estimate": [ 6.498000, -8.545000, 3.017453 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.470000, 1.480000, 1.490000, 1.490000, 1.500000, 1.500000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.510000, 1.550000, 1.580000, 1.580000, 1.590000, 1.610000, 1.620000, 1.640000, 1.660000, 1.670000, 1.690000, 1.710000, 1.730000, 1.750000, 1.780000, 1.800000, 1.820000, 1.850000, 1.880000, 1.910000, 1.930000, 1.970000, 2.000000, 2.030000, 2.070000, 2.100000, 2.140000, 2.190000, 2.230000, 2.280000, 2.320000, 2.380000, 2.430000, 2.250000, 2.560000, 2.620000, 2.700000, 2.780000, 2.850000, 2.940000, 3.040000, 3.140000, 3.240000, 3.350000, 3.490000, 3.620000, 3.710000, 3.950000, 4.130000, 4.340000, 4.590000, 4.850000, 5.140000, 5.250000, 5.220000, 5.200000, 5.420000, 5.890000, 6.470000, 7.140000, 7.980000, 12.590000, 11.610000, 11.770000, 12.840000, 12.800000, 12.810000, 15.210000, 7.080000, 1.330000, 1.080000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.280000, 1.300000, 1.320000, 1.340000, 1.360000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.480000, 1.500000, 1.510000, 1.540000, 1.570000, 1.610000, 1.630000, 1.660000, 1.690000, 1.730000, 1.760000, 1.800000, 1.840000, 1.900000, 1.940000, 2.000000, 2.050000, 2.110000, 2.170000, 2.240000, 2.310000, 2.380000, 2.460000, 2.560000, 2.660000, 2.750000, 2.860000, 2.990000, 3.140000, 3.290000, 3.450000, 3.560000, 3.550000, 3.530000, 3.510000, 3.490000, 3.480000, 3.470000, 3.460000, 3.450000, 3.440000, 3.430000, 3.420000, 3.410000, 3.410000, 3.400000, 3.400000, 3.390000, 3.390000, 3.390000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053381, 884037 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.498000, -8.545000, 2.968289 ], "estimate": [ 6.498000, -8.545000, 2.968289 ], "true_pose": [ null, null, null ], "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": [ 1.140000, 1.430000, 1.450000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.470000, 1.480000, 1.480000, 1.490000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.510000, 1.520000, 1.530000, 1.550000, 1.400000, 1.560000, 1.580000, 1.590000, 1.600000, 1.610000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.790000, 1.810000, 1.840000, 1.860000, 1.890000, 1.910000, 1.950000, 1.980000, 2.020000, 2.060000, 2.090000, 2.120000, 2.160000, 2.210000, 2.260000, 2.300000, 2.360000, 2.410000, 2.460000, 2.470000, 2.590000, 2.670000, 2.740000, 2.820000, 2.910000, 3.000000, 3.090000, 3.200000, 3.310000, 3.420000, 3.560000, 3.520000, 3.870000, 4.050000, 4.250000, 4.480000, 4.740000, 4.460000, 5.250000, 5.230000, 5.210000, 5.200000, 5.690000, 6.210000, 6.860000, 7.610000, 12.600000, 11.680000, 11.600000, 12.840000, 12.830000, 12.800000, 15.220000, 15.210000, 1.460000, 1.220000, 1.060000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.360000, 1.380000, 1.390000, 1.420000, 1.450000, 1.470000, 1.490000, 1.500000, 1.530000, 1.560000, 1.590000, 1.620000, 1.640000, 1.680000, 1.710000, 1.750000, 1.780000, 1.820000, 1.870000, 1.920000, 1.970000, 2.030000, 2.080000, 2.150000, 2.210000, 2.270000, 2.350000, 2.420000, 2.520000, 2.610000, 2.710000, 2.820000, 2.950000, 3.080000, 3.220000, 3.380000, 3.570000, 3.560000, 3.540000, 3.520000, 3.500000, 3.480000, 3.480000, 3.470000, 3.460000, 3.450000, 3.430000, 3.420000, 3.420000, 3.410000, 3.410000, 3.400000, 3.400000, 3.390000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053382, 733440 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.498000, -8.545000, 2.900688 ], "estimate": [ 6.498000, -8.545000, 2.900688 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.440000, 1.440000, 1.440000, 1.130000, 1.170000, 1.450000, 1.450000, 1.460000, 1.460000, 1.450000, 1.460000, 1.460000, 1.470000, 1.480000, 1.480000, 1.480000, 1.480000, 1.490000, 1.500000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.370000, 1.550000, 1.570000, 1.580000, 1.590000, 1.600000, 1.620000, 1.640000, 1.660000, 1.670000, 1.690000, 1.710000, 1.730000, 1.750000, 1.770000, 1.800000, 1.820000, 1.850000, 1.880000, 1.910000, 1.930000, 1.960000, 2.000000, 2.030000, 2.070000, 2.100000, 2.140000, 2.190000, 2.240000, 2.280000, 2.340000, 2.400000, 2.440000, 2.150000, 2.570000, 2.640000, 2.720000, 2.800000, 2.870000, 2.970000, 3.050000, 3.160000, 3.260000, 3.390000, 3.510000, 3.650000, 3.820000, 3.990000, 4.190000, 4.400000, 4.650000, 4.930000, 5.210000, 5.240000, 5.220000, 5.170000, 5.560000, 6.060000, 6.660000, 7.380000, 8.270000, 12.580000, 11.600000, 12.840000, 12.830000, 12.810000, 15.220000, 15.210000, 7.100000, 1.330000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.170000, 1.170000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.340000, 1.360000, 1.370000, 1.390000, 1.420000, 1.440000, 1.460000, 1.490000, 1.510000, 1.520000, 1.550000, 1.580000, 1.610000, 1.640000, 1.670000, 1.700000, 1.740000, 1.760000, 1.820000, 1.860000, 1.910000, 1.960000, 2.010000, 2.070000, 2.130000, 2.190000, 2.260000, 2.330000, 2.410000, 2.490000, 2.590000, 2.680000, 2.790000, 2.910000, 3.040000, 3.180000, 3.330000, 3.500000, 3.570000, 3.560000, 3.540000, 3.520000, 3.500000, 3.480000, 3.480000, 3.470000, 3.450000, 3.440000, 3.430000, 3.420000, 3.420000, 3.410000, 3.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053382, 363659 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.498000, -8.545000, 2.826942 ], "estimate": [ 6.498000, -8.545000, 2.826942 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.120000, 1.170000, 1.440000, 1.440000, 1.440000, 1.440000, 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 1.520000, 1.420000, 1.550000, 1.560000, 1.570000, 1.590000, 1.590000, 1.610000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.750000, 1.760000, 1.790000, 1.820000, 1.840000, 1.870000, 1.900000, 1.920000, 1.960000, 2.000000, 2.030000, 2.060000, 2.090000, 2.140000, 2.180000, 2.230000, 2.270000, 2.330000, 2.390000, 2.440000, 2.140000, 2.560000, 2.630000, 2.710000, 2.790000, 2.860000, 2.960000, 3.050000, 3.160000, 3.260000, 3.380000, 3.500000, 3.640000, 3.800000, 3.990000, 4.180000, 4.390000, 4.630000, 4.910000, 5.210000, 5.240000, 5.210000, 5.200000, 5.540000, 6.030000, 6.620000, 7.340000, 8.240000, 12.580000, 11.600000, 12.860000, 12.830000, 12.790000, 15.210000, 15.190000, 7.100000, 1.360000, 1.190000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.340000, 1.360000, 1.370000, 1.390000, 1.410000, 1.440000, 1.460000, 1.490000, 1.510000, 1.520000, 1.550000, 1.580000, 1.610000, 1.630000, 1.670000, 1.700000, 1.740000, 1.770000, 1.820000, 1.860000, 1.910000, 1.960000, 2.020000, 2.070000, 2.130000, 2.190000, 2.270000, 2.340000, 2.410000, 2.500000, 2.600000, 2.680000, 2.800000, 2.910000, 3.040000, 3.180000, 3.330000, 3.510000, 3.570000, 3.560000, 3.540000, 3.530000, 3.510000, 3.490000, 3.480000, 3.470000, 3.460000, 3.450000, 3.440000 ], "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": [ 976053382, 610128 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.498000, -8.545000, 2.771632 ], "estimate": [ 6.498000, -8.545000, 2.771632 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.450000, 1.450000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.430000, 1.110000, 1.120000, 1.430000, 1.430000, 1.430000, 1.440000, 1.440000, 1.450000, 1.450000, 1.450000, 1.460000, 1.450000, 1.460000, 1.470000, 1.480000, 1.480000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.560000, 1.580000, 1.580000, 1.600000, 1.600000, 1.620000, 1.640000, 1.660000, 1.670000, 1.680000, 1.710000, 1.730000, 1.750000, 1.780000, 1.800000, 1.820000, 1.860000, 1.890000, 1.910000, 1.950000, 1.980000, 2.020000, 2.050000, 2.090000, 2.140000, 2.160000, 2.220000, 2.260000, 2.310000, 2.370000, 2.420000, 2.270000, 2.530000, 2.610000, 2.680000, 2.760000, 2.840000, 2.940000, 3.030000, 3.130000, 3.230000, 3.340000, 3.480000, 3.620000, 3.610000, 3.950000, 4.130000, 4.340000, 4.590000, 4.860000, 5.160000, 5.250000, 5.220000, 5.200000, 5.450000, 5.940000, 6.520000, 7.240000, 8.100000, 12.580000, 11.600000, 12.850000, 12.830000, 12.810000, 12.880000, 15.210000, 7.130000, 1.830000, 1.330000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.360000, 1.380000, 1.390000, 1.420000, 1.440000, 1.460000, 1.490000, 1.500000, 1.520000, 1.550000, 1.580000, 1.610000, 1.630000, 1.670000, 1.700000, 1.740000, 1.770000, 1.810000, 1.860000, 1.910000, 1.950000, 2.010000, 2.060000, 2.120000, 2.190000, 2.260000, 2.330000, 2.410000, 2.490000, 2.590000, 2.670000, 2.790000, 2.900000, 3.030000, 3.180000, 3.330000, 3.500000, 3.580000, 3.560000, 3.550000, 3.530000, 3.520000, 3.490000, 3.480000 ], "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": [ 976053382, 723971 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.495000, -8.543000, 2.716322 ], "estimate": [ 6.495000, -8.543000, 2.716322 ], "true_pose": [ null, null, null ], "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": [ 1.460000, 1.460000, 1.450000, 1.450000, 1.440000, 1.440000, 1.440000, 1.440000, 1.430000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.110000, 1.130000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.440000, 1.440000, 1.440000, 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.480000, 1.490000, 1.500000, 1.500000, 1.500000, 1.520000, 1.520000, 1.530000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.680000, 1.700000, 1.730000, 1.750000, 1.770000, 1.800000, 1.820000, 1.850000, 1.880000, 1.910000, 1.940000, 1.980000, 2.010000, 2.050000, 2.080000, 2.130000, 2.160000, 2.210000, 2.260000, 2.310000, 2.360000, 2.420000, 2.370000, 2.540000, 2.600000, 2.680000, 2.760000, 2.840000, 2.930000, 3.020000, 3.130000, 3.230000, 3.350000, 3.480000, 3.620000, 3.690000, 3.960000, 4.130000, 4.340000, 4.590000, 4.850000, 5.160000, 5.240000, 5.220000, 5.200000, 5.460000, 5.950000, 6.550000, 7.260000, 8.140000, 12.580000, 11.600000, 12.840000, 12.840000, 12.800000, 12.860000, 15.210000, 7.120000, 2.260000, 1.330000, 1.080000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.310000, 1.330000, 1.350000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.470000, 1.480000, 1.510000, 1.520000, 1.550000, 1.580000, 1.610000, 1.640000, 1.680000, 1.700000, 1.750000, 1.780000, 1.820000, 1.860000, 1.910000, 1.960000, 2.020000, 2.070000, 2.120000, 2.190000, 2.270000, 2.340000, 2.410000, 2.500000, 2.590000, 2.690000, 2.800000, 2.910000, 3.050000, 3.190000, 3.340000, 3.520000, 3.580000, 3.560000, 3.550000, 3.530000 ], "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": [ 976053382, 933398 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.482000, -8.537000, 2.673303 ], "estimate": [ 6.482000, -8.537000, 2.673303 ], "true_pose": [ null, null, null ], "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, 1.470000, 1.460000, 1.460000, 1.450000, 1.450000, 1.440000, 1.440000, 1.440000, 1.430000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.380000, 1.100000, 1.400000, 1.420000, 1.420000, 1.420000, 1.420000, 1.430000, 1.430000, 1.430000, 1.430000, 1.440000, 1.440000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.490000, 1.500000, 1.500000, 1.510000, 1.350000, 1.530000, 1.550000, 1.570000, 1.580000, 1.600000, 1.600000, 1.610000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.750000, 1.770000, 1.800000, 1.820000, 1.850000, 1.880000, 1.910000, 1.940000, 1.970000, 2.010000, 2.050000, 2.090000, 2.130000, 2.170000, 2.210000, 2.260000, 2.310000, 2.370000, 2.420000, 2.150000, 2.540000, 2.610000, 2.680000, 2.770000, 2.850000, 2.940000, 3.040000, 3.140000, 3.250000, 3.360000, 3.500000, 3.640000, 3.790000, 3.970000, 4.160000, 4.380000, 4.630000, 4.470000, 5.200000, 5.230000, 5.210000, 5.200000, 5.530000, 6.050000, 6.670000, 7.400000, 8.320000, 11.880000, 11.590000, 12.820000, 12.820000, 12.780000, 14.130000, 13.900000, 5.550000, 1.910000, 1.330000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.470000, 1.490000, 1.510000, 1.530000, 1.560000, 1.590000, 1.600000, 1.640000, 1.680000, 1.710000, 1.740000, 1.780000, 1.820000, 1.870000, 1.920000, 1.970000, 2.030000, 2.080000, 2.140000, 2.200000, 2.270000, 2.350000, 2.420000, 2.520000, 2.610000, 2.710000, 2.820000, 2.930000, 3.070000, 3.220000, 3.380000, 3.560000, 3.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053383, 725219 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.442000, -8.515000, 2.611848 ], "estimate": [ 6.442000, -8.515000, 2.611848 ], "true_pose": [ null, null, null ], "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, 1.470000, 1.470000, 1.460000, 1.450000, 1.450000, 1.440000, 1.430000, 1.430000, 1.420000, 1.420000, 1.420000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.100000, 1.090000, 1.400000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.420000, 1.420000, 1.430000, 1.430000, 1.430000, 1.450000, 1.440000, 1.450000, 1.460000, 1.470000, 1.480000, 1.480000, 1.500000, 1.500000, 1.310000, 1.520000, 1.530000, 1.550000, 1.560000, 1.580000, 1.590000, 1.600000, 1.600000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.730000, 1.750000, 1.770000, 1.800000, 1.820000, 1.850000, 1.880000, 1.910000, 1.940000, 1.980000, 2.020000, 2.050000, 2.090000, 2.140000, 2.180000, 2.230000, 2.270000, 2.320000, 2.380000, 2.440000, 2.430000, 2.560000, 2.630000, 2.710000, 2.790000, 2.880000, 2.960000, 3.070000, 3.180000, 3.300000, 3.410000, 3.540000, 3.160000, 3.850000, 4.050000, 4.240000, 4.470000, 4.740000, 4.290000, 5.230000, 5.200000, 5.180000, 5.270000, 5.740000, 6.300000, 6.950000, 7.780000, 12.570000, 11.590000, 11.570000, 12.810000, 12.800000, 12.750000, 15.190000, 13.880000, 4.370000, 2.240000, 1.310000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.140000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.240000, 1.250000, 1.270000, 1.290000, 1.300000, 1.320000, 1.340000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.460000, 1.470000, 1.500000, 1.510000, 1.550000, 1.570000, 1.600000, 1.630000, 1.670000, 1.700000, 1.730000, 1.770000, 1.820000, 1.860000, 1.910000, 1.960000, 2.020000, 2.070000, 2.140000, 2.200000, 2.270000, 2.350000, 2.420000, 2.520000, 2.610000, 2.730000, 2.830000, 2.960000, 3.090000, 3.240000 ], "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": [ 976053383, 410853 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.376000, -8.476000, 2.587266 ], "estimate": [ 6.376000, -8.476000, 2.587266 ], "true_pose": [ null, null, null ], "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, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.430000, 1.420000, 1.410000, 1.410000, 1.410000, 1.410000, 1.400000, 1.400000, 1.390000, 1.390000, 1.380000, 1.380000, 1.060000, 1.060000, 1.380000, 1.380000, 1.380000, 1.380000, 1.380000, 1.380000, 1.380000, 1.380000, 1.390000, 1.400000, 1.400000, 1.400000, 1.410000, 1.420000, 1.420000, 1.430000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.450000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.550000, 1.560000, 1.580000, 1.600000, 1.610000, 1.620000, 1.640000, 1.660000, 1.670000, 1.700000, 1.720000, 1.750000, 1.770000, 1.800000, 1.820000, 1.860000, 1.890000, 1.910000, 1.950000, 1.990000, 2.030000, 2.060000, 2.110000, 2.150000, 2.200000, 2.250000, 2.290000, 2.350000, 2.140000, 2.470000, 2.530000, 2.600000, 2.680000, 2.760000, 2.850000, 2.940000, 3.040000, 3.140000, 3.250000, 3.380000, 3.510000, 3.090000, 3.830000, 4.010000, 4.220000, 4.440000, 4.710000, 4.230000, 5.160000, 5.140000, 5.120000, 5.270000, 5.740000, 6.300000, 7.000000, 7.830000, 12.520000, 11.520000, 11.730000, 12.770000, 12.720000, 12.720000, 15.140000, 13.880000, 4.260000, 2.220000, 1.890000, 1.260000, 1.030000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.090000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.250000, 1.270000, 1.290000, 1.310000, 1.330000, 1.350000, 1.360000, 1.390000, 1.410000, 1.420000, 1.450000, 1.480000, 1.510000, 1.520000, 1.560000, 1.590000, 1.620000, 1.660000, 1.690000, 1.740000, 1.780000, 1.820000, 1.880000, 1.930000, 1.990000, 2.050000, 2.110000, 2.180000, 2.260000, 2.330000, 2.410000, 2.510000, 2.610000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053383, 473873 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.311000, -8.437000, 2.605703 ], "estimate": [ 6.311000, -8.437000, 2.605703 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.450000, 1.430000, 1.430000, 1.420000, 1.410000, 1.410000, 1.400000, 1.390000, 1.390000, 1.380000, 1.380000, 1.380000, 1.370000, 1.360000, 1.040000, 1.040000, 1.150000, 1.360000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.360000, 1.360000, 1.360000, 1.360000, 1.380000, 1.380000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.220000, 1.250000, 1.430000, 1.430000, 1.440000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.540000, 1.550000, 1.570000, 1.580000, 1.590000, 1.610000, 1.640000, 1.660000, 1.680000, 1.700000, 1.720000, 1.750000, 1.780000, 1.810000, 1.830000, 1.870000, 1.900000, 1.930000, 1.970000, 2.010000, 2.050000, 2.090000, 2.140000, 2.180000, 2.230000, 2.280000, 2.010000, 2.400000, 2.460000, 2.530000, 2.600000, 2.670000, 2.760000, 2.850000, 2.950000, 3.050000, 3.160000, 3.270000, 3.400000, 3.530000, 3.700000, 3.870000, 4.070000, 4.280000, 4.540000, 4.820000, 5.100000, 5.070000, 5.050000, 5.040000, 5.460000, 5.980000, 6.620000, 7.400000, 8.310000, 11.460000, 11.460000, 12.690000, 12.650000, 12.650000, 15.050000, null, 5.400000, 3.220000, 2.150000, 2.150000, 1.180000, 1.160000, 1.000000, 0.930000, 0.920000, 0.940000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.330000, 1.350000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.500000, 1.530000, 1.570000, 1.610000, 1.660000, 1.690000, 1.740000, 1.790000, 1.840000, 1.900000, 1.950000, 2.020000, 2.080000, 2.160000, 2.240000, 2.310000, 2.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053383, 783725 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.264000, -8.409000, 2.599557 ], "estimate": [ 6.264000, -8.409000, 2.599557 ], "true_pose": [ null, null, null ], "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, 1.400000, 1.390000, 1.380000, 1.380000, 1.370000, 1.360000, 1.360000, 1.360000, 1.350000, 1.010000, 1.030000, 1.160000, 1.330000, 1.340000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.320000, 1.320000, 1.320000, 1.330000, 1.330000, 1.330000, 1.340000, 1.340000, 1.340000, 1.350000, 1.350000, 1.350000, 1.350000, 1.360000, 1.310000, 1.370000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.540000, 1.560000, 1.570000, 1.590000, 1.610000, 1.640000, 1.660000, 1.680000, 1.700000, 1.730000, 1.760000, 1.780000, 1.820000, 1.850000, 1.890000, 1.910000, 1.950000, 2.000000, 2.040000, 2.070000, 2.120000, 2.170000, 2.220000, 1.920000, 2.330000, 2.400000, 2.450000, 2.520000, 2.590000, 2.670000, 2.760000, 2.840000, 2.950000, 3.050000, 3.160000, 3.290000, 3.410000, 3.560000, 3.730000, 3.910000, 4.120000, 4.340000, 4.620000, 4.490000, 5.010000, 4.990000, 4.970000, 5.140000, 5.630000, 6.210000, 6.910000, 7.770000, 12.360000, 11.380000, 12.640000, 12.620000, 12.570000, 12.650000, 14.990000, null, 4.940000, 3.280000, 2.110000, 2.080000, 2.070000, 1.260000, 1.110000, 1.020000, 0.920000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.060000, 1.070000, 1.080000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.180000, 1.210000, 1.230000, 1.240000, 1.270000, 1.290000, 1.310000, 1.340000, 1.360000, 1.390000, 1.420000, 1.450000, 1.480000, 1.510000, 1.550000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.850000, 1.900000, 1.980000, 2.050000, 2.130000, 2.210000, 2.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053383, 882267 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.225000, -8.386000, 2.587266 ], "estimate": [ 6.225000, -8.386000, 2.587266 ], "true_pose": [ null, null, null ], "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, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.350000, 1.010000, 0.990000, 1.060000, 1.170000, 1.320000, 1.330000, 1.320000, 1.320000, 1.320000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.320000, 1.320000, 1.330000, 1.330000, 1.340000, 1.250000, 1.350000, 1.350000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.460000, 1.470000, 1.490000, 1.500000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, 1.620000, 1.640000, 1.670000, 1.680000, 1.710000, 1.740000, 1.760000, 1.800000, 1.830000, 1.860000, 1.900000, 1.930000, 1.970000, 2.020000, 2.060000, 2.100000, 2.140000, 1.870000, 2.250000, 2.310000, 2.370000, 2.430000, 2.500000, 2.570000, 2.650000, 2.740000, 2.820000, 2.930000, 3.040000, 3.140000, 3.260000, 2.920000, 3.550000, 3.710000, 3.900000, 4.090000, 4.330000, 4.610000, 4.900000, 4.970000, 4.950000, 4.920000, 5.130000, 5.620000, 6.210000, 6.920000, 7.820000, 11.620000, 11.340000, 12.590000, 12.570000, 12.530000, 14.960000, 14.950000, 7.830000, 4.940000, 3.380000, 2.510000, 2.050000, 2.050000, 2.030000, 1.110000, 1.090000, 1.010000, 0.900000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.960000, 0.960000, 0.980000, 0.990000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.140000, 1.150000, 1.170000, 1.190000, 1.220000, 1.230000, 1.260000, 1.290000, 1.310000, 1.330000, 1.360000, 1.390000, 1.410000, 1.460000, 1.490000, 1.530000, 1.580000, 1.620000, 1.670000, 1.720000, 1.770000, 1.830000, 1.900000, 1.970000, 2.050000, 2.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053384, 416123 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.178000, -8.357000, 2.593412 ], "estimate": [ 6.178000, -8.357000, 2.593412 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.380000, 1.380000, 1.370000, 1.360000, 1.350000, 1.350000, 1.040000, 1.000000, 1.020000, 1.100000, 1.190000, 1.310000, 1.310000, 1.310000, 1.310000, 1.300000, 1.300000, 1.300000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.300000, 1.300000, 1.300000, 1.300000, 1.310000, 1.310000, 1.140000, 1.320000, 1.330000, 1.330000, 1.340000, 1.350000, 1.350000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.420000, 1.440000, 1.460000, 1.470000, 1.480000, 1.500000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, 1.620000, 1.650000, 1.670000, 1.690000, 1.720000, 1.750000, 1.780000, 1.810000, 1.840000, 1.880000, 1.910000, 1.950000, 1.990000, 2.040000, 2.080000, 2.130000, 1.810000, 2.230000, 2.280000, 2.350000, 2.420000, 2.490000, 2.550000, 2.630000, 2.720000, 2.800000, 2.900000, 3.010000, 3.110000, 3.240000, 3.170000, 3.520000, 3.690000, 3.870000, 4.070000, 4.320000, 4.050000, 4.880000, 4.920000, 4.890000, 4.850000, 5.120000, 5.600000, 6.200000, 6.930000, 7.870000, 11.350000, 11.300000, 12.540000, 12.510000, 12.490000, 14.920000, 14.910000, 7.720000, 4.880000, 3.420000, 2.630000, 2.010000, 2.010000, 1.990000, 2.000000, 1.070000, 1.040000, 0.990000, 0.890000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.230000, 1.250000, 1.280000, 1.300000, 1.330000, 1.360000, 1.380000, 1.420000, 1.460000, 1.500000, 1.550000, 1.590000, 1.640000, 1.690000, 1.750000, 1.810000, 1.880000, 1.960000, 2.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053384, 434092 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.121000, -8.323000, 2.599557 ], "estimate": [ 6.121000, -8.323000, 2.599557 ], "true_pose": [ null, null, null ], "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": [ 1.350000, 1.360000, 1.350000, 0.990000, 0.990000, 1.050000, 1.110000, 1.180000, 1.290000, 1.310000, 1.300000, 1.300000, 1.290000, 1.280000, 1.280000, 1.280000, 1.280000, 1.270000, 1.270000, 1.280000, 1.280000, 1.270000, 1.280000, 1.270000, 1.260000, 1.270000, 1.270000, 1.270000, 1.280000, 1.280000, 1.280000, 1.280000, 1.290000, 1.290000, 1.300000, 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 1.340000, 1.350000, 1.350000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.410000, 1.420000, 1.430000, 1.450000, 1.470000, 1.480000, 1.490000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.600000, 1.630000, 1.660000, 1.670000, 1.700000, 1.730000, 1.760000, 1.800000, 1.830000, 1.870000, 1.910000, 1.940000, 1.980000, 2.030000, 2.060000, 1.780000, 2.160000, 2.220000, 2.280000, 2.340000, 2.410000, 2.470000, 2.540000, 2.620000, 2.720000, 2.800000, 2.910000, 3.000000, 3.120000, 3.250000, 2.820000, 3.550000, 3.710000, 3.900000, 4.110000, 4.370000, 4.650000, 4.880000, 4.860000, 4.840000, 4.830000, 5.230000, 5.750000, 6.420000, 7.200000, 12.230000, 11.250000, 11.240000, 12.500000, 12.440000, 12.460000, 14.860000, null, 6.760000, 4.530000, 3.330000, 2.630000, 1.990000, 1.960000, 1.960000, 1.950000, 1.970000, 1.080000, 1.000000, 0.960000, 0.870000, 0.820000, 0.780000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.910000, 0.910000, 0.930000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.020000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.150000, 1.180000, 1.210000, 1.230000, 1.260000, 1.300000, 1.320000, 1.350000, 1.390000, 1.430000, 1.480000, 1.520000, 1.570000, 1.620000, 1.670000, 1.740000, 1.800000, 1.870000, 1.940000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053384, 523810 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.066000, -8.290000, 2.599557 ], "estimate": [ 6.066000, -8.290000, 2.599557 ], "true_pose": [ null, null, null ], "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": [ 0.990000, 1.030000, 1.080000, 1.140000, 1.200000, 1.280000, 1.300000, 1.290000, 1.280000, 1.280000, 1.270000, 1.270000, 1.270000, 1.260000, 1.250000, 1.250000, 1.260000, 1.260000, 1.250000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.100000, 1.100000, 1.250000, 1.250000, 1.250000, 1.260000, 1.260000, 1.260000, 1.270000, 1.280000, 1.280000, 1.290000, 1.300000, 1.310000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.350000, 1.350000, 1.360000, 1.380000, 1.390000, 1.400000, 1.420000, 1.430000, 1.450000, 1.470000, 1.480000, 1.490000, 1.500000, 1.530000, 1.550000, 1.570000, 1.600000, 1.610000, 1.650000, 1.680000, 1.690000, 1.730000, 1.760000, 1.790000, 1.820000, 1.860000, 1.900000, 1.940000, 1.980000, 1.690000, 2.060000, 2.120000, 2.180000, 2.230000, 2.290000, 2.360000, 2.420000, 2.490000, 2.570000, 2.660000, 2.740000, 2.840000, 2.940000, 3.050000, 3.180000, 2.730000, 3.470000, 3.630000, 3.830000, 4.030000, 4.280000, 3.920000, 4.810000, 4.790000, 4.770000, 4.770000, 5.090000, 5.600000, 6.220000, 7.010000, 7.980000, 11.190000, 11.180000, 12.420000, 12.370000, 12.400000, 14.800000, null, 7.120000, 5.070000, 3.760000, 2.970000, 2.430000, 1.930000, 1.900000, 1.900000, 1.900000, 1.920000, 1.930000, 1.010000, 0.940000, 0.930000, 0.880000, 0.820000, 0.770000, 0.720000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.800000, 0.800000, 0.810000, 0.830000, 0.840000, 0.840000, 0.860000, 0.870000, 0.890000, 0.900000, 0.910000, 0.930000, 0.950000, 0.970000, 0.990000, 1.000000, 1.020000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.160000, 1.180000, 1.210000, 1.240000, 1.270000, 1.310000, 1.350000, 1.390000, 1.440000, 1.490000, 1.530000, 1.590000, 1.650000, 1.710000, 1.780000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053384, 852502 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.017000, -8.261000, 2.599557 ], "estimate": [ 6.017000, -8.261000, 2.599557 ], "true_pose": [ null, null, null ], "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": [ 1.130000, 1.200000, 1.260000, 1.290000, 1.290000, 1.280000, 1.280000, 1.270000, 1.260000, 1.260000, 1.250000, 1.250000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.050000, 1.050000, 1.230000, 1.220000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.260000, 1.260000, 1.280000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.320000, 1.330000, 1.340000, 1.350000, 1.350000, 1.370000, 1.380000, 1.400000, 1.410000, 1.430000, 1.440000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.550000, 1.570000, 1.600000, 1.620000, 1.650000, 1.680000, 1.700000, 1.740000, 1.760000, 1.800000, 1.840000, 1.880000, 1.920000, 1.820000, 1.960000, 2.040000, 2.090000, 2.140000, 2.210000, 2.270000, 2.330000, 2.400000, 2.470000, 2.550000, 2.640000, 2.730000, 2.820000, 2.920000, 3.040000, 2.970000, 3.300000, 3.460000, 3.620000, 3.820000, 4.030000, 4.280000, 4.540000, 4.750000, 4.740000, 4.720000, 4.710000, 5.120000, 5.650000, 6.310000, 7.110000, 12.120000, 11.130000, 11.130000, 12.370000, 12.330000, 12.350000, 14.750000, null, 6.770000, 5.000000, 3.800000, 3.040000, 2.530000, 2.180000, 1.850000, 1.860000, 1.850000, 1.850000, 1.870000, 1.890000, 7.920000, 0.940000, 0.890000, 0.880000, 0.830000, 0.780000, 0.750000, 0.710000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.860000, 0.880000, 0.900000, 0.910000, 0.930000, 0.950000, 0.980000, 1.000000, 1.010000, 1.030000, 1.050000, 1.080000, 1.110000, 1.130000, 1.160000, 1.180000, 1.210000, 1.260000, 1.300000, 1.340000, 1.390000, 1.430000, 1.480000, 1.540000, 1.590000, 1.660000 ], "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, 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": [ 976053384, 933392 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.971000, -8.234000, 2.605703 ], "estimate": [ 5.971000, -8.234000, 2.605703 ], "true_pose": [ null, null, null ], "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": [ 1.290000, 1.280000, 1.280000, 1.270000, 1.260000, 1.260000, 1.250000, 1.240000, 1.240000, 1.240000, 1.240000, 1.230000, 1.230000, 1.220000, 1.220000, 1.220000, 1.210000, 1.210000, 1.210000, 1.210000, 1.080000, 1.200000, 1.200000, 1.200000, 1.210000, 1.200000, 1.200000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.230000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.320000, 1.320000, 1.320000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.410000, 1.420000, 1.440000, 1.450000, 1.470000, 1.490000, 1.500000, 1.530000, 1.550000, 1.570000, 1.600000, 1.620000, 1.660000, 1.680000, 1.710000, 1.750000, 1.780000, 1.820000, 1.850000, 1.890000, 1.570000, 1.990000, 2.020000, 2.070000, 2.120000, 2.180000, 2.240000, 2.300000, 2.370000, 2.440000, 2.520000, 2.600000, 2.690000, 2.790000, 2.890000, 3.010000, 2.600000, 3.270000, 3.420000, 3.590000, 3.780000, 3.990000, 4.240000, 4.010000, 4.700000, 4.670000, 4.650000, 4.660000, 5.080000, 5.600000, 6.280000, 7.100000, 12.060000, 11.070000, 11.160000, 12.320000, 12.270000, 12.290000, 14.690000, null, 6.780000, 5.100000, 3.920000, 3.170000, 2.650000, 2.290000, 1.850000, 1.800000, 1.810000, 1.800000, 1.820000, 1.820000, 1.840000, 5.930000, 7.980000, 0.880000, 0.850000, 0.840000, 0.790000, 0.760000, 0.720000, 0.690000, 0.660000, 0.640000, 0.620000, 0.630000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.810000, 0.830000, 0.840000, 0.850000, 0.870000, 0.890000, 0.910000, 0.930000, 0.950000, 0.980000, 0.990000, 1.020000, 1.040000, 1.070000, 1.100000, 1.120000, 1.160000, 1.200000, 1.240000, 1.280000, 1.340000, 1.370000, 1.430000, 1.470000, 1.540000 ], "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, 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": [ 976053385, 310407 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.922000, -8.205999, 2.617994 ], "estimate": [ 5.922000, -8.205999, 2.617994 ], "true_pose": [ null, null, null ], "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": [ 1.270000, 1.260000, 1.250000, 1.240000, 1.240000, 1.240000, 1.240000, 1.230000, 1.220000, 1.220000, 1.210000, 1.210000, 1.200000, 1.200000, 1.200000, 1.190000, 1.190000, 1.060000, 1.190000, 1.180000, 1.190000, 1.180000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.280000, 1.300000, 1.310000, 1.320000, 1.330000, 1.350000, 1.350000, 1.360000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.460000, 1.470000, 1.490000, 1.510000, 1.540000, 1.570000, 1.590000, 1.610000, 1.650000, 1.670000, 1.700000, 1.740000, 1.760000, 1.810000, 1.840000, 1.530000, 1.920000, 1.970000, 2.020000, 2.060000, 2.120000, 2.180000, 2.240000, 2.300000, 2.370000, 2.440000, 2.520000, 2.610000, 2.700000, 2.800000, 2.900000, 3.030000, 2.580000, 3.290000, 3.460000, 3.620000, 3.820000, 4.040000, 4.310000, 4.560000, 4.640000, 4.620000, 4.610000, 4.740000, 5.210000, 5.800000, 6.520000, 7.440000, 11.100000, 11.030000, 12.270000, 12.230000, 12.250000, 12.390000, 14.660000, null, 6.490000, 4.670000, 3.700000, 3.070000, 2.600000, 2.270000, 2.010000, 1.770000, 1.770000, 1.760000, 1.760000, 1.780000, 1.800000, 5.900000, 7.960000, 5.340000, 0.840000, 0.810000, 0.820000, 0.780000, 0.740000, 0.720000, 0.680000, 0.650000, 0.650000, 0.630000, 0.600000, 0.590000, 0.610000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.730000, 0.740000, 0.760000, 0.770000, 0.780000, 0.790000, 0.810000, 0.840000, 0.850000, 0.870000, 0.890000, 0.910000, 0.930000, 0.950000, 0.980000, 1.000000, 1.030000, 1.060000, 1.090000, 1.120000, 1.160000, 1.210000, 1.250000, 1.290000, 1.340000, 1.390000, 1.450000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053385, 311571 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.868000, -8.175000, 2.624139 ], "estimate": [ 5.868000, -8.175000, 2.624139 ], "true_pose": [ null, null, null ], "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, 1.240000, 1.220000, 1.220000, 1.210000, 1.210000, 1.200000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 0.990000, 1.170000, 1.170000, 1.170000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.160000, 1.170000, 1.170000, 1.170000, 1.180000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.300000, 1.300000, 1.310000, 1.330000, 1.340000, 1.350000, 1.360000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.470000, 1.490000, 1.500000, 1.530000, 1.550000, 1.580000, 1.600000, 1.630000, 1.670000, 1.690000, 1.730000, 1.760000, 1.500000, 1.840000, 1.890000, 1.910000, 1.970000, 2.020000, 2.060000, 2.130000, 2.190000, 2.250000, 2.310000, 2.390000, 2.460000, 2.540000, 2.630000, 2.720000, 2.820000, 2.940000, 3.050000, 3.200000, 3.350000, 3.510000, 3.700000, 3.920000, 4.150000, 3.660000, 4.580000, 4.570000, 4.550000, 4.560000, 4.980000, 5.510000, 6.180000, 7.030000, 11.950000, 10.980000, 11.090000, 12.200000, 12.170000, 12.190000, 14.600000, 13.390000, 7.470000, 5.380000, 4.200000, 3.430000, 2.900000, 2.500000, 2.220000, 1.980000, 1.710000, 1.710000, 1.720000, 1.710000, 1.720000, 1.740000, 1.780000, 5.490000, 5.080000, 5.120000, 4.790000, 0.800000, 0.770000, 0.770000, 0.750000, 0.720000, 0.680000, 0.660000, 0.640000, 0.620000, 0.600000, 0.580000, 0.570000, 0.560000, 0.570000, 0.580000, 0.590000, 0.600000, 0.610000, 0.620000, 0.620000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.710000, 0.730000, 0.740000, 0.760000, 0.770000, 0.790000, 0.810000, 0.830000, 0.850000, 0.860000, 0.900000, 0.920000, 0.940000, 0.970000, 0.990000, 1.020000, 1.070000, 1.110000, 1.150000, 1.190000, 1.240000, 1.290000, 1.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053385, 504042 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.815000, -8.146000, 2.630285 ], "estimate": [ 5.815000, -8.146000, 2.630285 ], "true_pose": [ null, null, null ], "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, 1.210000, 1.200000, 1.190000, 1.190000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.160000, 1.160000, 1.160000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.260000, 1.260000, 1.280000, 1.290000, 1.290000, 1.310000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.400000, 1.420000, 1.430000, 1.450000, 1.470000, 1.490000, 1.510000, 1.540000, 1.560000, 1.600000, 1.620000, 1.650000, 1.680000, 1.710000, 1.750000, 1.790000, 1.820000, 1.870000, 1.910000, 1.950000, 2.000000, 2.050000, 2.110000, 2.170000, 2.240000, 2.290000, 2.380000, 2.440000, 2.530000, 2.620000, 2.730000, 2.820000, 2.940000, 2.860000, 3.210000, 3.360000, 3.530000, 3.720000, 3.950000, 4.210000, 4.440000, 4.520000, 4.510000, 4.500000, 4.610000, 5.070000, 5.650000, 6.370000, 7.290000, 10.970000, 10.920000, 12.190000, 12.120000, 12.140000, 12.210000, 14.530000, null, 6.530000, 5.040000, 4.070000, 3.380000, 2.880000, 2.520000, 2.240000, 2.020000, 1.700000, 1.670000, 1.680000, 1.660000, 1.680000, 1.690000, 1.690000, 5.440000, 5.020000, 5.050000, 4.750000, 5.660000, 5.690000, 4.170000, 0.770000, 0.730000, 0.740000, 0.700000, 0.670000, 0.650000, 0.640000, 0.620000, 0.600000, 0.580000, 0.570000, 0.560000, 0.540000, 0.540000, 0.540000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.610000, 0.630000, 0.640000, 0.650000, 0.670000, 0.680000, 0.690000, 0.710000, 0.730000, 0.750000, 0.770000, 0.780000, 0.800000, 0.830000, 0.850000, 0.870000, 0.900000, 0.920000, 0.960000, 1.000000, 1.040000, 1.090000, 1.120000, 1.180000, 1.220000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053385, 958523 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.764000, -8.118000, 2.642576 ], "estimate": [ 5.764000, -8.118000, 2.642576 ], "true_pose": [ null, null, null ], "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": [ 1.190000, 1.180000, 1.180000, 1.170000, 1.010000, 0.960000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.120000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.320000, 1.340000, 1.350000, 1.370000, 1.380000, 1.400000, 1.410000, 1.440000, 1.460000, 1.490000, 1.500000, 1.530000, 1.560000, 1.590000, 1.610000, 1.650000, 1.410000, 1.710000, 1.750000, 1.790000, 1.820000, 1.870000, 1.900000, 1.950000, 2.010000, 2.060000, 2.130000, 2.190000, 2.250000, 2.310000, 2.390000, 2.470000, 2.560000, 2.650000, 2.750000, 2.860000, 2.410000, 3.120000, 3.280000, 3.430000, 3.620000, 3.820000, 4.080000, 3.510000, 4.470000, 4.450000, 4.430000, 4.440000, 4.850000, 5.380000, 6.060000, 6.890000, 11.810000, 10.850000, 11.030000, 12.080000, 12.070000, 12.090000, 14.480000, null, 7.330000, 5.690000, 4.440000, 3.690000, 3.130000, 2.730000, 2.420000, 2.170000, 1.960000, 1.800000, 1.620000, 1.620000, 1.630000, 1.620000, 1.620000, 1.640000, 1.700000, 4.980000, 4.900000, 5.560000, 5.630000, 4.090000, 5.710000, 5.740000, 8.130000, 0.720000, 0.690000, 0.690000, 0.700000, 0.660000, 0.640000, 0.630000, 0.600000, 0.590000, 0.570000, 0.570000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.490000, 0.500000, 0.540000, 0.550000, 0.560000, 0.570000, 0.580000, 0.590000, 0.600000, 0.620000, 0.630000, 0.650000, 0.660000, 0.680000, 0.690000, 0.710000, 0.740000, 0.750000, 0.770000, 0.800000, 0.830000, 0.850000, 0.890000, 0.930000, 0.970000, 1.010000, 1.060000, 1.100000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053385, 959676 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.713000, -8.091000, 2.654867 ], "estimate": [ 5.713000, -8.091000, 2.654867 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.000000, 0.960000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.150000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.290000, 1.300000, 1.320000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.410000, 1.440000, 1.460000, 1.480000, 1.500000, 1.530000, 1.560000, 1.590000, 1.520000, 1.430000, 1.680000, 1.720000, 1.750000, 1.790000, 1.840000, 1.870000, 1.920000, 1.970000, 2.020000, 2.080000, 2.140000, 2.200000, 2.270000, 2.340000, 2.420000, 2.510000, 2.590000, 2.700000, 2.810000, 2.340000, 3.050000, 3.200000, 3.350000, 3.530000, 3.730000, 3.970000, 4.230000, 4.420000, 4.390000, 4.380000, 4.390000, 4.680000, 5.190000, 5.820000, 6.620000, 7.640000, 10.800000, 10.800000, 12.050000, 12.020000, 12.040000, 14.430000, null, 14.440000, 6.280000, 4.800000, 3.950000, 3.360000, 2.900000, 2.570000, 2.300000, 2.080000, 1.910000, 1.750000, 1.570000, 1.570000, 1.580000, 1.570000, 1.590000, 1.600000, 1.630000, 4.940000, 5.520000, 5.570000, 5.600000, 5.660000, 5.690000, 7.380000, 3.580000, 5.940000, 7.660000, 0.700000, 0.680000, 0.660000, 0.670000, 0.640000, 0.620000, 0.610000, 0.580000, 0.570000, 0.570000, 0.560000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.470000, 0.500000, 0.490000, 0.500000, 0.520000, 0.530000, 0.550000, 0.560000, 0.560000, 0.580000, 0.600000, 0.610000, 0.630000, 0.650000, 0.660000, 0.690000, 0.720000, 0.740000, 0.760000, 0.800000, 0.830000, 0.870000, 0.910000, 0.960000, 1.000000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053386, 838979 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.661000, -8.063000, 2.654867 ], "estimate": [ 5.661000, -8.063000, 2.654867 ], "true_pose": [ null, null, null ], "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": [ 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.120000, 1.120000, 1.120000, 1.120000, 1.110000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.230000, 1.230000, 1.250000, 1.250000, 1.270000, 1.280000, 1.300000, 1.310000, 1.330000, 1.350000, 1.350000, 1.370000, 1.390000, 1.410000, 1.440000, 1.460000, 1.490000, 1.500000, 1.530000, 1.290000, 1.570000, 1.620000, 1.660000, 1.690000, 1.730000, 1.760000, 1.810000, 1.840000, 1.890000, 1.940000, 2.000000, 2.050000, 2.110000, 2.160000, 2.240000, 2.300000, 2.390000, 2.470000, 2.560000, 2.660000, 2.760000, 2.390000, 3.000000, 3.150000, 3.300000, 3.470000, 3.660000, 3.890000, 3.880000, 4.360000, 4.330000, 4.340000, 4.300000, 4.570000, 5.060000, 5.640000, 6.410000, 7.470000, 10.750000, 10.730000, 11.990000, 11.960000, 11.970000, 14.360000, 14.400000, 14.390000, 6.350000, 5.100000, 4.170000, 3.520000, 3.070000, 2.700000, 2.420000, 2.180000, 2.000000, 1.840000, 1.700000, 1.520000, 1.520000, 1.520000, 1.520000, 1.530000, 1.550000, 1.570000, 5.460000, 4.990000, 5.540000, 5.590000, 4.010000, 5.660000, 7.970000, 3.580000, 7.520000, 7.480000, 7.260000, 5.500000, 2.930000, 0.650000, 0.640000, 0.620000, 0.630000, 0.610000, 0.590000, 0.570000, 0.570000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.490000, 0.500000, 0.520000, 0.530000, 0.550000, 0.560000, 0.580000, 0.610000, 0.630000, 0.650000, 0.680000, 0.720000, 0.750000, 0.780000, 0.820000, 0.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053386, 411492 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.611000, -8.038000, 2.667158 ], "estimate": [ 5.611000, -8.038000, 2.667158 ], "true_pose": [ null, null, null ], "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": [ 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.320000, 1.340000, 1.350000, 1.370000, 1.390000, 1.410000, 1.440000, 1.460000, 1.490000, 1.210000, 1.500000, 1.570000, 1.600000, 1.630000, 1.670000, 1.700000, 1.740000, 1.770000, 1.810000, 1.850000, 1.900000, 1.950000, 2.010000, 2.070000, 2.120000, 2.190000, 2.260000, 2.340000, 2.420000, 2.500000, 2.590000, 2.700000, 2.220000, 2.940000, 3.070000, 3.210000, 3.380000, 3.560000, 3.780000, 3.360000, 4.320000, 4.300000, 4.290000, 4.280000, 4.370000, 4.830000, 5.400000, 6.120000, 7.040000, 10.700000, 10.700000, 11.950000, 11.910000, 11.920000, 12.000000, 14.320000, 14.340000, 7.200000, 5.580000, 4.480000, 3.790000, 3.260000, 2.870000, 2.560000, 2.320000, 2.100000, 1.940000, 1.800000, 1.660000, 1.490000, 1.470000, 1.490000, 1.470000, 1.490000, 1.510000, 1.520000, 4.590000, 5.480000, 5.510000, 3.980000, 5.600000, 8.010000, 7.840000, 3.510000, 7.550000, 7.320000, 5.450000, 6.940000, 2.900000, 6.560000, 4.900000, 6.370000, 0.620000, 0.600000, 0.590000, 0.610000, 0.610000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.470000, 0.490000, 0.510000, 0.530000, 0.540000, 0.570000, 0.590000, 0.630000, 0.650000, 0.700000, 0.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053386, 493958 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.556000, -8.010000, 2.667158 ], "estimate": [ 5.556000, -8.010000, 2.667158 ], "true_pose": [ null, null, null ], "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, 1.090000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.310000, 1.330000, 1.340000, 1.350000, 1.370000, 1.390000, 1.420000, 1.440000, 1.300000, 1.490000, 1.510000, 1.550000, 1.580000, 1.600000, 1.640000, 1.680000, 1.710000, 1.750000, 1.790000, 1.830000, 1.880000, 1.920000, 1.980000, 2.040000, 2.100000, 2.150000, 2.230000, 2.300000, 2.390000, 2.460000, 2.570000, 2.400000, 2.580000, 2.900000, 3.040000, 3.170000, 3.330000, 3.510000, 3.730000, 3.280000, 4.250000, 4.240000, 4.220000, 4.220000, 4.270000, 4.740000, 5.290000, 5.990000, 6.900000, 10.680000, 10.620000, 11.890000, 11.840000, 11.860000, 11.900000, 14.270000, 14.270000, 7.140000, 5.920000, 4.700000, 3.940000, 3.400000, 2.990000, 2.680000, 2.410000, 2.190000, 2.020000, 1.870000, 1.730000, 1.620000, 1.450000, 1.420000, 1.430000, 1.430000, 1.420000, 1.440000, 1.460000, 1.490000, 5.460000, 5.500000, 3.940000, 5.590000, 7.930000, 5.800000, 3.480000, 7.370000, 7.160000, 5.360000, 6.800000, 2.870000, 4.810000, 6.280000, 3.140000, 3.120000, 3.160000, 3.170000, 0.600000, 0.580000, 0.570000, 0.560000, 0.580000, 0.570000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.460000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.470000, 0.490000, 0.510000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053386, 945888 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.502000, -7.982000, 2.661012 ], "estimate": [ 5.502000, -7.982000, 2.661012 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.090000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.220000, 1.240000, 1.260000, 1.270000, 1.290000, 1.310000, 1.330000, 1.340000, 1.350000, 1.370000, 1.120000, 1.410000, 1.450000, 1.470000, 1.490000, 1.520000, 1.550000, 1.590000, 1.610000, 1.660000, 1.690000, 1.730000, 1.760000, 1.810000, 1.850000, 1.900000, 1.960000, 2.020000, 2.060000, 2.130000, 2.200000, 2.270000, 2.360000, 2.430000, 2.530000, 2.120000, 2.730000, 2.870000, 3.000000, 3.140000, 3.310000, 3.490000, 3.690000, 3.210000, 4.200000, 4.190000, 4.180000, 4.170000, 4.230000, 4.690000, 5.240000, 5.940000, 6.860000, 10.640000, 10.570000, 11.830000, 11.810000, 11.810000, 11.850000, 14.220000, 14.220000, 14.240000, 6.070000, 4.820000, 4.050000, 3.510000, 3.080000, 2.750000, 2.490000, 2.270000, 2.080000, 1.930000, 1.800000, 1.680000, 1.580000, 1.410000, 1.370000, 1.380000, 1.380000, 1.380000, 1.400000, 1.410000, 1.440000, 5.440000, 3.880000, 5.530000, 7.770000, 7.750000, 3.440000, 7.380000, 7.170000, 5.430000, 6.800000, 2.800000, 6.460000, 4.810000, 6.170000, 3.100000, 3.110000, 3.130000, 3.150000, 3.190000, 3.210000, 3.270000, null, 0.570000, 0.560000, 0.550000, 0.530000, 0.560000, 0.550000, 0.530000, 0.520000, 0.520000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053386, 964329 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.451000, -7.956000, 2.648721 ], "estimate": [ 5.451000, -7.956000, 2.648721 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.260000, 1.270000, 1.290000, 1.310000, 1.320000, 1.090000, 1.340000, 1.380000, 1.400000, 1.430000, 1.450000, 1.480000, 1.500000, 1.530000, 1.570000, 1.600000, 1.640000, 1.680000, 1.710000, 1.750000, 1.790000, 1.830000, 1.880000, 1.930000, 2.000000, 2.050000, 2.110000, 2.180000, 2.250000, 2.330000, 2.410000, 2.510000, 2.070000, 2.730000, 2.840000, 2.970000, 3.120000, 3.270000, 3.460000, 3.670000, 3.190000, 4.150000, 4.120000, 4.110000, 4.100000, 4.190000, 4.650000, 5.210000, 5.920000, 6.850000, 10.540000, 10.510000, 11.780000, 11.750000, 11.740000, 11.790000, 14.170000, 14.170000, 14.190000, 6.030000, 4.900000, 4.120000, 3.570000, 3.130000, 2.810000, 2.540000, 2.320000, 2.140000, 1.970000, 1.840000, 1.720000, 1.610000, 1.530000, 1.370000, 1.330000, 1.320000, 1.340000, 1.330000, 1.350000, 1.370000, 1.380000, 1.430000, 3.850000, 5.520000, 7.760000, 5.740000, 3.400000, 7.180000, 7.010000, 6.800000, 6.640000, 2.790000, 4.780000, 6.160000, 3.100000, 3.040000, 3.070000, 3.110000, 3.130000, 3.150000, 3.170000, null, null, 5.110000, 5.040000, 2.930000, 4.890000, 0.570000, 0.530000, 0.530000, 0.520000, 0.510000, 0.540000, 0.530000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053387, 940289 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.402000, -7.930000, 2.648721 ], "estimate": [ 5.402000, -7.930000, 2.648721 ], "true_pose": [ null, null, null ], "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": [ 1.060000, 1.050000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.020000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.210000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.060000, 1.320000, 1.340000, 1.360000, 1.380000, 1.410000, 1.440000, 1.470000, 1.490000, 1.510000, 1.550000, 1.580000, 1.610000, 1.660000, 1.690000, 1.720000, 1.770000, 1.820000, 1.860000, 1.910000, 1.970000, 2.020000, 2.080000, 2.150000, 2.230000, 2.310000, 2.390000, 2.480000, 2.310000, 2.690000, 2.810000, 2.950000, 3.080000, 3.240000, 3.420000, 3.630000, 3.290000, 4.090000, 4.070000, 4.060000, 4.060000, 4.120000, 4.600000, 5.150000, 5.850000, 6.730000, 10.490000, 10.460000, 11.720000, 11.700000, 11.710000, 11.740000, 14.100000, 14.120000, 14.130000, 6.030000, 5.010000, 4.190000, 3.640000, 3.210000, 2.880000, 2.600000, 2.370000, 2.180000, 2.020000, 1.890000, 1.760000, 1.650000, 1.570000, 1.480000, 1.370000, 1.280000, 1.290000, 1.290000, 1.290000, 1.300000, 1.310000, 1.330000, 1.350000, 5.460000, 7.660000, 5.760000, 3.340000, 7.190000, 7.000000, 5.320000, 6.650000, 6.480000, 2.750000, 4.720000, 6.040000, 3.060000, 3.020000, 3.050000, 3.070000, 3.100000, 3.120000, 3.170000, null, null, 5.050000, 4.970000, 2.920000, 4.830000, 3.960000, 4.710000, 4.660000, 4.610000, 0.530000, 0.510000, 0.510000, 0.500000, 0.490000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.500000, 0.480000, 0.490000, 0.480000 ], "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, 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 ], "timestamp": [ 976053387, 490025 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.353000, -7.903000, 2.642576 ], "estimate": [ 5.353000, -7.903000, 2.642576 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.040000, 1.040000, 1.030000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.190000, 1.210000, 1.220000, 1.230000, 1.000000, 1.280000, 1.290000, 1.310000, 1.320000, 1.340000, 1.360000, 1.390000, 1.410000, 1.440000, 1.470000, 1.490000, 1.520000, 1.560000, 1.600000, 1.630000, 1.670000, 1.700000, 1.740000, 1.790000, 1.830000, 1.890000, 1.940000, 1.990000, 2.050000, 2.120000, 2.190000, 2.270000, 2.350000, 1.970000, 2.520000, 2.650000, 2.760000, 2.890000, 3.030000, 3.170000, 3.350000, 3.550000, 3.050000, 4.040000, 4.020000, 4.010000, 4.000000, 3.980000, 4.460000, 4.990000, 5.670000, 6.530000, 10.630000, 10.400000, 11.660000, 11.630000, 11.650000, 11.660000, 14.070000, 14.060000, 14.080000, 6.920000, 5.280000, 4.410000, 3.800000, 3.350000, 3.000000, 2.710000, 2.470000, 2.270000, 2.100000, 1.950000, 1.830000, 1.710000, 1.620000, 1.530000, 1.450000, 1.380000, 1.260000, 1.240000, 1.240000, 1.250000, 1.240000, 1.260000, 1.280000, 1.300000, 7.760000, 7.630000, 5.650000, 3.330000, 7.050000, 5.230000, 6.690000, 6.530000, 6.370000, 2.720000, 6.080000, 5.950000, 3.020000, 2.990000, 3.010000, 3.040000, 3.080000, 3.100000, 3.140000, null, 3.410000, 5.000000, 4.930000, 2.860000, 4.800000, 3.760000, 4.690000, 4.620000, 4.580000, 4.520000, 4.480000, 4.430000, 4.390000, 4.350000, 4.290000, 0.490000, 0.490000, 0.490000, 0.480000, 0.500000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053387, 491237 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.298000, -7.873000, 2.636431 ], "estimate": [ 5.298000, -7.873000, 2.636431 ], "true_pose": [ null, null, null ], "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": [ 1.030000, 1.030000, 1.020000, 1.020000, 1.010000, 1.010000, 1.010000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.100000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.180000, 0.980000, 1.220000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.320000, 1.350000, 1.360000, 1.390000, 1.410000, 1.440000, 1.470000, 1.490000, 1.530000, 1.570000, 1.600000, 1.640000, 1.680000, 1.700000, 1.740000, 1.800000, 1.850000, 1.900000, 1.960000, 2.020000, 2.070000, 2.140000, 2.230000, 2.300000, 1.930000, 2.470000, 2.580000, 2.690000, 2.820000, 2.950000, 3.100000, 3.260000, 3.470000, 3.290000, 3.950000, 3.970000, 3.960000, 3.950000, 3.950000, 4.260000, 4.760000, 5.390000, 6.190000, 7.210000, 10.360000, 10.340000, 11.590000, 11.600000, 11.610000, 13.990000, null, 14.030000, 6.880000, 5.700000, 4.690000, 4.020000, 3.540000, 3.160000, 2.850000, 2.570000, 2.370000, 2.190000, 2.040000, 1.910000, 1.790000, 1.690000, 1.600000, 1.510000, 1.440000, 1.370000, 1.300000, 1.200000, 1.190000, 1.200000, 1.210000, 1.200000, 1.210000, 1.240000, 1.270000, 5.610000, 7.320000, 3.280000, 6.920000, 5.220000, 6.580000, 6.430000, 6.270000, 2.680000, 5.990000, 5.880000, 3.010000, 2.940000, 2.990000, 3.020000, 3.040000, 3.080000, 3.100000, null, null, 4.970000, 4.890000, 2.850000, 4.770000, 3.920000, 4.650000, 4.610000, 4.550000, 4.500000, 4.460000, 4.400000, 4.380000, 4.330000, 4.300000, 4.260000, 4.220000, 4.190000, 4.170000, 4.140000, 0.510000, 0.480000, 0.480000, 0.480000, 0.480000 ], "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, 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, 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": [ 976053387, 781401 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.243000, -7.843000, 2.624139 ], "estimate": [ 5.243000, -7.843000, 2.624139 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.010000, 1.010000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.980000, 0.990000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.130000, 0.890000, 0.950000, 1.170000, 1.170000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.340000, 1.360000, 1.380000, 1.400000, 1.430000, 1.470000, 1.490000, 1.520000, 1.560000, 1.600000, 1.630000, 1.670000, 1.700000, 1.740000, 1.800000, 1.840000, 1.900000, 1.960000, 2.010000, 2.070000, 2.150000, 2.230000, 2.010000, 2.380000, 2.500000, 2.610000, 2.730000, 2.850000, 2.990000, 3.150000, 3.320000, 3.530000, 2.930000, 3.920000, 3.900000, 3.890000, 3.870000, 4.010000, 4.460000, 5.000000, 5.690000, 6.650000, 10.310000, 10.280000, 11.540000, 11.520000, 11.530000, 11.570000, 13.950000, 13.950000, 13.970000, 6.800000, 5.240000, 4.410000, 3.830000, 3.410000, 3.060000, 2.760000, 2.530000, 2.320000, 2.160000, 2.020000, 1.900000, 1.780000, 1.690000, 1.590000, 1.520000, 1.450000, 1.380000, 1.310000, 1.260000, 1.170000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.190000, 1.200000, 1.230000, 3.220000, 6.850000, 5.180000, 6.520000, 6.370000, 6.220000, 4.630000, 2.610000, 5.840000, 5.740000, 2.940000, 2.950000, 2.970000, 3.000000, 3.040000, 3.050000, 3.120000, null, 4.940000, 4.870000, 4.810000, 4.760000, 3.670000, 4.640000, 4.600000, 4.550000, 4.490000, 4.450000, 4.410000, 4.370000, 4.330000, 4.300000, 4.260000, 4.220000, 4.200000, 4.170000, 4.150000, 4.120000, 4.090000, 4.060000, 4.040000 ], "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, 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": [ 976053388, 121255 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.195000, -7.815000, 2.617994 ], "estimate": [ 5.195000, -7.815000, 2.617994 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.050000, 1.070000, 1.070000, 1.080000, 1.100000, 0.860000, 0.890000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 1.190000, 1.210000, 1.220000, 1.250000, 1.270000, 1.290000, 1.300000, 1.330000, 1.340000, 1.370000, 1.390000, 1.420000, 1.450000, 1.490000, 1.510000, 1.540000, 1.590000, 1.620000, 1.670000, 1.700000, 1.740000, 1.790000, 1.840000, 1.900000, 1.950000, 2.010000, 2.080000, 2.160000, 2.240000, 1.780000, 2.410000, 2.500000, 2.620000, 2.730000, 2.860000, 3.020000, 3.170000, 3.360000, 2.990000, 3.840000, 3.850000, 3.840000, 3.820000, 3.830000, 4.090000, 4.580000, 5.180000, 5.950000, 7.000000, 10.230000, 10.220000, 11.470000, 11.480000, 11.490000, 13.900000, 13.880000, 13.890000, 13.910000, 5.810000, 4.960000, 4.240000, 3.740000, 3.330000, 3.000000, 2.730000, 2.500000, 2.310000, 2.160000, 2.010000, 1.890000, 1.790000, 1.690000, 1.600000, 1.520000, 1.460000, 1.380000, 1.330000, 1.280000, 1.230000, 1.150000, 1.100000, 1.110000, 1.120000, 1.130000, 1.120000, 1.140000, 1.160000, 1.180000, 3.220000, 5.170000, 4.160000, 6.310000, 6.170000, 4.620000, 2.610000, 5.800000, 5.690000, 2.930000, 2.900000, 2.930000, 2.960000, 2.990000, 3.030000, 3.060000, null, 4.930000, 4.860000, 4.810000, 2.820000, 4.680000, 3.570000, 4.590000, 4.550000, 4.490000, 4.450000, 4.400000, 4.370000, 4.330000, 4.300000, 4.260000, 4.220000, 4.200000, 4.170000, 4.150000, 4.120000, 4.090000, 4.070000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053388, 122441 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.148000, -7.788000, 2.599557 ], "estimate": [ 5.148000, -7.788000, 2.599557 ], "true_pose": [ null, null, null ], "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": [ 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 0.940000, 0.830000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.330000, 1.340000, 1.370000, 1.400000, 1.430000, 1.460000, 1.490000, 1.520000, 1.560000, 1.600000, 1.630000, 1.670000, 1.710000, 1.760000, 1.820000, 1.860000, 1.920000, 1.980000, 2.050000, 2.120000, 1.920000, 2.220000, 2.380000, 2.470000, 2.580000, 2.690000, 2.820000, 2.960000, 3.130000, 3.310000, 3.070000, 3.770000, 3.800000, 3.790000, 3.780000, 3.760000, 4.000000, 4.460000, 5.060000, 5.820000, 6.850000, 10.180000, 10.160000, 11.420000, 11.430000, 11.430000, 13.840000, 13.840000, 13.840000, 13.850000, 6.010000, 5.120000, 4.380000, 3.830000, 3.420000, 3.090000, 2.810000, 2.570000, 2.390000, 2.220000, 2.080000, 1.950000, 1.840000, 1.730000, 1.650000, 1.570000, 1.490000, 1.430000, 1.370000, 1.320000, 1.260000, 1.220000, 1.170000, 1.110000, 1.050000, 1.060000, 1.080000, 1.080000, 1.080000, 1.100000, 1.130000, 1.150000, 4.170000, 6.350000, 6.200000, 6.070000, 4.550000, 2.590000, 5.720000, 5.620000, 2.900000, 2.860000, 2.900000, 2.940000, 2.970000, 2.990000, 3.030000, null, 4.880000, 4.820000, 4.770000, 2.810000, 4.650000, 4.610000, 4.550000, 4.510000, 4.460000, 4.430000, 4.390000, 4.340000, 4.310000, 4.280000, 4.240000, 4.210000, 4.190000, 4.170000, 4.140000, 4.110000, 4.080000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053388, 344110 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.098000, -7.758000, 2.587266 ], "estimate": [ 5.098000, -7.758000, 2.587266 ], "true_pose": [ null, null, null ], "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": [ 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.000000, 0.920000, 0.820000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.300000, 1.310000, 1.340000, 1.360000, 1.390000, 1.410000, 1.450000, 1.480000, 1.510000, 1.550000, 1.590000, 1.630000, 1.660000, 1.700000, 1.740000, 1.810000, 1.860000, 1.910000, 1.970000, 2.040000, 2.120000, 1.700000, 2.270000, 2.380000, 2.470000, 2.580000, 2.700000, 2.820000, 2.970000, 3.140000, 3.340000, 2.970000, 3.760000, 3.740000, 3.740000, 3.730000, 3.710000, 4.070000, 4.570000, 5.200000, 6.050000, 10.600000, 10.110000, 10.270000, 11.360000, 11.380000, 11.390000, 13.790000, null, 13.800000, 6.800000, 5.730000, 4.930000, 4.270000, 3.770000, 3.380000, 3.050000, 2.790000, 2.560000, 2.380000, 2.230000, 2.080000, 1.960000, 1.840000, 1.750000, 1.660000, 1.580000, 1.500000, 1.440000, 1.390000, 1.330000, 1.280000, 1.240000, 1.190000, 1.150000, 1.110000, 1.050000, 1.030000, 1.030000, 1.050000, 1.050000, 1.060000, 1.090000, 1.100000, 1.120000, 6.180000, 6.040000, 4.610000, 5.810000, 2.570000, 5.590000, 4.170000, 2.850000, 2.860000, 2.920000, 2.940000, 2.950000, 3.020000, null, null, 4.820000, 4.760000, 4.710000, 2.790000, 3.560000, 4.550000, 4.500000, 4.470000, 4.430000, 4.390000, 4.350000, 4.310000, 4.280000, 4.250000, 4.220000, 4.190000, 4.160000, 4.140000, 4.120000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053388, 632218 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.044000, -7.725000, 2.581121 ], "estimate": [ 5.044000, -7.725000, 2.581121 ], "true_pose": [ null, null, null ], "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": [ 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.780000, 0.820000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.100000, 1.110000, 1.130000, 1.140000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.330000, 1.340000, 1.370000, 1.410000, 1.440000, 1.470000, 1.500000, 1.540000, 1.580000, 1.610000, 1.650000, 1.700000, 1.750000, 1.800000, 1.850000, 1.900000, 1.980000, 2.050000, 1.940000, 2.190000, 2.280000, 2.390000, 2.480000, 2.590000, 2.720000, 2.850000, 3.010000, 3.180000, 3.390000, 3.090000, 3.700000, 3.670000, 3.670000, 3.650000, 3.780000, 4.230000, 4.790000, 5.510000, 6.460000, 10.080000, 10.060000, 11.320000, 11.320000, 11.330000, 13.730000, 13.740000, 13.740000, 13.750000, 6.620000, 5.460000, 4.680000, 4.090000, 3.640000, 3.280000, 2.990000, 2.750000, 2.540000, 2.360000, 2.210000, 2.070000, 1.960000, 1.850000, 1.760000, 1.670000, 1.590000, 1.520000, 1.460000, 1.400000, 1.350000, 1.300000, 1.250000, 1.200000, 1.170000, 1.130000, 1.090000, 1.050000, 1.010000, 0.990000, 1.000000, 1.010000, 1.020000, 1.020000, 1.040000, 1.070000, 1.110000, 4.670000, 5.770000, 2.540000, 5.560000, 4.130000, 2.860000, 2.810000, 2.860000, 2.900000, 2.930000, 2.960000, 3.000000, null, 3.260000, 4.750000, 4.700000, 2.770000, 3.530000, 4.550000, 4.500000, 4.470000, 4.420000, 4.390000, 4.350000, 4.310000, 4.280000, 4.250000, 4.220000, 4.200000, 4.170000, 4.150000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053388, 673270 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.993000, -7.693000, 2.581121 ], "estimate": [ 4.993000, -7.693000, 2.581121 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.890000, 0.900000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.720000, 0.760000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.100000, 1.120000, 1.120000, 1.130000, 1.150000, 1.180000, 1.200000, 1.220000, 1.230000, 1.260000, 1.270000, 1.300000, 1.330000, 1.340000, 1.370000, 1.400000, 1.440000, 1.470000, 1.500000, 1.540000, 1.590000, 1.620000, 1.670000, 1.710000, 1.750000, 1.820000, 1.870000, 1.930000, 2.000000, 1.540000, 2.150000, 2.250000, 2.330000, 2.430000, 2.550000, 2.660000, 2.800000, 2.950000, 3.130000, 3.320000, 2.710000, 3.640000, 3.620000, 3.610000, 3.600000, 3.660000, 4.110000, 4.640000, 5.360000, 6.290000, 10.030000, 10.000000, 11.270000, 11.260000, 11.270000, 13.670000, 13.680000, 13.680000, 13.700000, 6.570000, 5.600000, 4.810000, 4.210000, 3.740000, 3.380000, 3.090000, 2.830000, 2.610000, 2.430000, 2.280000, 2.140000, 2.020000, 1.910000, 1.810000, 1.720000, 1.650000, 1.560000, 1.490000, 1.450000, 1.400000, 1.340000, 1.290000, 1.250000, 1.220000, 1.170000, 1.130000, 1.090000, 1.060000, 1.030000, 1.000000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.030000, 1.050000, 1.050000, 2.530000, 5.480000, 4.110000, 2.840000, 2.780000, 2.840000, 2.870000, 2.900000, 2.940000, 2.990000, null, 4.770000, 4.710000, 4.660000, 2.770000, 3.510000, 4.520000, 4.480000, 4.450000, 4.410000, 4.370000, 4.330000, 4.300000, 4.270000, 4.240000, 4.210000, 4.180000, 4.170000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053389, 182855 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.946000, -7.664000, 2.574975 ], "estimate": [ 4.946000, -7.664000, 2.574975 ], "true_pose": [ null, null, null ], "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": [ 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.890000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.710000, 0.740000, 0.900000, 0.900000, 0.910000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.980000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.320000, 1.340000, 1.370000, 1.400000, 1.440000, 1.480000, 1.500000, 1.550000, 1.590000, 1.630000, 1.670000, 1.720000, 1.770000, 1.830000, 1.890000, 1.950000, 1.750000, 2.110000, 2.190000, 2.280000, 2.380000, 2.480000, 2.590000, 2.720000, 2.870000, 3.040000, 3.230000, 2.590000, 3.600000, 3.580000, 3.560000, 3.550000, 3.540000, 3.930000, 4.430000, 5.110000, 6.000000, 9.990000, 9.940000, 11.210000, 11.210000, 11.210000, 11.220000, 13.630000, null, 13.640000, 13.660000, 5.920000, 5.060000, 4.430000, 3.910000, 3.520000, 3.210000, 2.940000, 2.730000, 2.530000, 2.360000, 2.220000, 2.090000, 1.970000, 1.880000, 1.780000, 1.700000, 1.630000, 1.560000, 1.500000, 1.440000, 1.400000, 1.340000, 1.290000, 1.250000, 1.220000, 1.170000, 1.130000, 1.110000, 1.070000, 1.030000, 1.010000, 0.990000, 0.950000, 0.910000, 0.930000, 0.940000, 0.960000, 0.950000, 0.970000, 1.000000, 1.020000, 1.290000, 4.050000, 2.830000, 2.760000, 2.800000, 2.840000, 2.870000, 2.920000, 2.950000, null, 4.740000, 4.690000, 4.650000, 4.600000, 2.750000, 4.500000, 4.470000, 4.420000, 4.390000, 4.360000, 4.310000, 4.290000, 4.270000, 4.240000, 4.210000, 4.180000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053389, 183961 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.900000, -7.635000, 2.568830 ], "estimate": [ 4.900000, -7.635000, 2.568830 ], "true_pose": [ null, null, null ], "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, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.860000, 0.860000, 0.860000, 0.850000, 0.860000, 0.830000, 0.680000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.970000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.060000, 1.080000, 1.090000, 1.110000, 1.110000, 1.130000, 1.140000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.330000, 1.350000, 1.380000, 1.410000, 1.460000, 1.490000, 1.520000, 1.550000, 1.590000, 1.650000, 1.680000, 1.750000, 1.790000, 1.860000, 1.440000, 1.990000, 2.070000, 2.150000, 2.250000, 2.330000, 2.440000, 2.550000, 2.670000, 2.820000, 2.980000, 3.180000, 2.670000, 3.540000, 3.530000, 3.520000, 3.510000, 3.490000, 3.830000, 4.330000, 4.980000, 5.820000, 10.000000, 9.900000, 9.970000, 11.160000, 11.170000, 11.170000, 13.580000, 12.370000, 13.590000, 13.610000, 6.470000, 5.190000, 4.530000, 4.020000, 3.600000, 3.290000, 3.010000, 2.780000, 2.580000, 2.430000, 2.280000, 2.140000, 2.020000, 1.920000, 1.830000, 1.750000, 1.660000, 1.600000, 1.530000, 1.480000, 1.420000, 1.380000, 1.320000, 1.280000, 1.240000, 1.200000, 1.160000, 1.130000, 1.100000, 1.060000, 1.030000, 1.010000, 0.990000, 0.970000, 0.940000, 0.910000, 0.900000, 0.910000, 0.920000, 0.940000, 0.930000, 0.960000, 1.000000, 1.020000, 2.790000, 2.750000, 2.790000, 2.810000, 2.860000, 2.900000, 2.920000, null, 4.710000, 4.660000, 4.620000, 4.570000, 2.740000, 4.490000, 4.450000, 4.410000, 4.370000, 4.340000, 4.310000, 4.280000, 4.260000, 4.220000, 4.190000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053389, 304105 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.848000, -7.602000, 2.568830 ], "estimate": [ 4.848000, -7.602000, 2.568830 ], "true_pose": [ null, null, null ], "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": [ 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.730000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.080000, 1.100000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.270000, 1.290000, 1.320000, 1.350000, 1.380000, 1.410000, 1.450000, 1.490000, 1.520000, 1.550000, 1.590000, 1.640000, 1.710000, 1.740000, 1.810000, 1.660000, 1.930000, 2.020000, 2.090000, 2.190000, 2.270000, 2.380000, 2.500000, 2.610000, 2.750000, 2.910000, 3.090000, 2.700000, 3.490000, 3.470000, 3.460000, 3.450000, 3.430000, 3.660000, 4.140000, 4.770000, 5.550000, 6.680000, 9.860000, 9.930000, 11.100000, 11.120000, 11.130000, 13.530000, null, 13.540000, 13.550000, 6.410000, 5.420000, 4.720000, 4.170000, 3.750000, 3.410000, 3.130000, 2.880000, 2.680000, 2.510000, 2.350000, 2.210000, 2.100000, 1.980000, 1.890000, 1.810000, 1.720000, 1.650000, 1.590000, 1.520000, 1.460000, 1.410000, 1.370000, 1.320000, 1.270000, 1.250000, 1.210000, 1.170000, 1.130000, 1.100000, 1.070000, 1.040000, 1.020000, 1.000000, 0.980000, 0.950000, 0.930000, 0.920000, 0.890000, 0.860000, 0.880000, 0.900000, 0.910000, 0.910000, 0.930000, 0.970000, 1.010000, 2.770000, 2.800000, 2.840000, 2.880000, 2.920000, null, 3.250000, 4.640000, 4.600000, 4.550000, 2.750000, 4.470000, 4.430000, 4.400000, 4.360000, 4.320000, 4.300000, 4.280000, 4.250000, 4.220000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053389, 773779 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.806000, -7.575000, 2.574975 ], "estimate": [ 4.806000, -7.575000, 2.574975 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.680000, 0.800000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.910000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.170000, 1.200000, 1.220000, 1.240000, 1.260000, 1.290000, 1.320000, 1.340000, 1.380000, 1.420000, 1.450000, 1.490000, 1.520000, 1.560000, 1.610000, 1.660000, 1.700000, 1.770000, 1.330000, 1.900000, 1.970000, 2.040000, 2.130000, 2.220000, 2.310000, 2.420000, 2.540000, 2.680000, 2.830000, 3.010000, 2.420000, 3.430000, 3.420000, 3.410000, 3.400000, 3.370000, 3.500000, 3.950000, 4.530000, 5.270000, 6.320000, 9.800000, 9.810000, 11.050000, 11.060000, 11.070000, 13.470000, 12.260000, 13.480000, 13.510000, 6.410000, 5.590000, 4.940000, 4.360000, 3.900000, 3.540000, 3.250000, 3.000000, 2.770000, 2.600000, 2.430000, 2.290000, 2.170000, 2.060000, 1.960000, 1.860000, 1.780000, 1.710000, 1.640000, 1.580000, 1.510000, 1.460000, 1.410000, 1.380000, 1.320000, 1.280000, 1.240000, 1.210000, 1.170000, 1.140000, 1.110000, 1.080000, 1.050000, 1.020000, 1.010000, 0.990000, 0.970000, 0.940000, 0.930000, 0.910000, 0.900000, 0.860000, 0.840000, 0.850000, 0.850000, 0.890000, 0.890000, 0.900000, 0.940000, 0.990000, 2.820000, 2.870000, 2.890000, null, 4.670000, 4.620000, 4.570000, 4.530000, 2.720000, 4.460000, 4.420000, 4.380000, 4.350000, 4.310000, 4.300000, 4.280000, 4.240000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053389, 774934 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.790000, -7.565000, 2.568830 ], "estimate": [ 4.790000, -7.565000, 2.568830 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.780000, 0.670000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.900000, 0.910000, 0.910000, 0.930000, 0.930000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.180000, 1.200000, 1.220000, 1.250000, 1.270000, 1.300000, 1.340000, 1.360000, 1.390000, 1.430000, 1.470000, 1.500000, 1.540000, 1.590000, 1.650000, 1.690000, 1.380000, 1.800000, 1.870000, 1.950000, 2.020000, 2.110000, 2.200000, 2.290000, 2.400000, 2.520000, 2.660000, 2.810000, 2.990000, 2.390000, 3.400000, 3.380000, 3.370000, 3.350000, 3.320000, 3.490000, 3.950000, 4.530000, 5.340000, 6.410000, 9.760000, 9.800000, 11.010000, 11.020000, 11.000000, 13.420000, null, 13.450000, 13.470000, 6.410000, 5.800000, 4.940000, 4.370000, 3.930000, 3.570000, 3.270000, 3.020000, 2.810000, 2.630000, 2.460000, 2.330000, 2.200000, 2.080000, 1.980000, 1.880000, 1.810000, 1.730000, 1.660000, 1.590000, 1.550000, 1.480000, 1.430000, 1.390000, 1.340000, 1.300000, 1.260000, 1.230000, 1.200000, 1.160000, 1.130000, 1.100000, 1.070000, 1.040000, 1.030000, 1.000000, 0.990000, 0.960000, 0.940000, 0.930000, 0.910000, 0.900000, 0.900000, 0.880000, 0.840000, 0.830000, 0.840000, 0.860000, 0.880000, 0.870000, 0.910000, 0.960000, 2.870000, 2.910000, null, 4.630000, 4.580000, 4.550000, 4.500000, 2.720000, 4.430000, 4.400000, 4.360000, 4.330000, 4.320000, 4.280000 ], "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, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053389, 883993 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.793000, -7.567000, 2.568830 ], "estimate": [ 4.793000, -7.567000, 2.568830 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.840000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.650000, 0.680000, 0.810000, 0.810000, 0.800000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.140000, 1.160000, 1.190000, 1.210000, 1.230000, 1.260000, 1.290000, 1.320000, 1.340000, 1.380000, 1.410000, 1.450000, 1.490000, 1.520000, 1.570000, 1.620000, 1.670000, 1.720000, 1.290000, 1.840000, 1.920000, 1.990000, 2.070000, 2.170000, 2.250000, 2.370000, 2.470000, 2.600000, 2.750000, 2.920000, 3.120000, 2.790000, 3.380000, 3.370000, 3.350000, 3.350000, 3.330000, 3.770000, 4.310000, 5.030000, 5.990000, 9.750000, 9.760000, 11.000000, 11.020000, 11.020000, 13.420000, 13.410000, 13.450000, 13.440000, 12.850000, 6.320000, 5.080000, 4.500000, 4.020000, 3.650000, 3.350000, 3.090000, 2.870000, 2.670000, 2.510000, 2.350000, 2.230000, 2.120000, 2.010000, 1.920000, 1.820000, 1.750000, 1.680000, 1.600000, 1.560000, 1.500000, 1.460000, 1.410000, 1.360000, 1.310000, 1.280000, 1.250000, 1.210000, 1.170000, 1.140000, 1.110000, 1.080000, 1.050000, 1.030000, 1.010000, 0.990000, 0.970000, 0.950000, 0.930000, 0.920000, 0.900000, 0.890000, 0.870000, 0.840000, 0.830000, 0.830000, 0.850000, 0.870000, 0.870000, 0.870000, 0.920000, 0.970000, 2.870000, null, 4.640000, 4.590000, 4.550000, 4.510000, 2.710000, 4.430000, 4.410000, 4.370000, 4.330000, 4.320000, 4.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053390, 273632 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.790000, -7.565000, 2.574975 ], "estimate": [ 4.790000, -7.565000, 2.574975 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.680000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 0.990000, 1.000000, 1.020000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.110000, 1.130000, 1.140000, 1.170000, 1.190000, 1.210000, 1.230000, 1.260000, 1.290000, 1.320000, 1.350000, 1.380000, 1.420000, 1.460000, 1.500000, 1.520000, 1.570000, 1.620000, 1.670000, 1.740000, 1.290000, 1.850000, 1.920000, 2.010000, 2.070000, 2.170000, 2.260000, 2.370000, 2.480000, 2.610000, 2.760000, 2.930000, 3.130000, 2.800000, 3.380000, 3.370000, 3.360000, 3.350000, 3.340000, 3.800000, 4.320000, 5.060000, 6.020000, 9.750000, 9.770000, 11.010000, 11.030000, 11.020000, 13.430000, 12.220000, 13.450000, 13.450000, 12.860000, 6.330000, 5.090000, 4.480000, 4.020000, 3.640000, 3.330000, 3.090000, 2.850000, 2.670000, 2.500000, 2.350000, 2.210000, 2.110000, 2.000000, 1.920000, 1.810000, 1.740000, 1.680000, 1.610000, 1.560000, 1.500000, 1.450000, 1.410000, 1.350000, 1.310000, 1.270000, 1.250000, 1.200000, 1.170000, 1.130000, 1.100000, 1.080000, 1.040000, 1.030000, 1.000000, 0.990000, 0.970000, 0.950000, 0.930000, 0.910000, 0.910000, 0.890000, 0.870000, 0.840000, 0.830000, 0.840000, 0.850000, 0.880000, 0.870000, 0.900000, 0.950000, 0.970000, 2.890000, null, 4.640000, 4.590000, 4.550000, 4.510000, 2.720000, 4.440000, 4.400000, 4.370000, 4.350000, 4.320000, 4.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053390, 514013 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.790000, -7.565000, 2.581121 ], "estimate": [ 4.790000, -7.565000, 2.581121 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.650000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.100000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.210000, 1.240000, 1.260000, 1.300000, 1.330000, 1.350000, 1.390000, 1.420000, 1.460000, 1.500000, 1.530000, 1.580000, 1.640000, 1.680000, 1.740000, 1.470000, 1.860000, 1.940000, 2.010000, 2.090000, 2.180000, 2.270000, 2.390000, 2.500000, 2.640000, 2.790000, 2.950000, 2.430000, 3.400000, 3.380000, 3.370000, 3.360000, 3.330000, 3.410000, 3.860000, 4.410000, 5.170000, 6.180000, 9.760000, 9.770000, 11.010000, 11.020000, 11.030000, 13.430000, null, 13.470000, 13.460000, 6.590000, 6.320000, 4.980000, 4.410000, 3.970000, 3.600000, 3.290000, 3.040000, 2.830000, 2.650000, 2.480000, 2.340000, 2.200000, 2.090000, 1.990000, 1.900000, 1.810000, 1.740000, 1.660000, 1.600000, 1.540000, 1.480000, 1.440000, 1.400000, 1.350000, 1.300000, 1.260000, 1.240000, 1.200000, 1.170000, 1.130000, 1.100000, 1.070000, 1.040000, 1.030000, 1.000000, 0.990000, 0.960000, 0.950000, 0.930000, 0.910000, 0.910000, 0.890000, 0.870000, 0.840000, 0.830000, 0.840000, 0.860000, 0.880000, 0.880000, 0.900000, 0.950000, 0.980000, 2.890000, null, 4.630000, 4.580000, 4.550000, 4.500000, 2.730000, 4.430000, 4.400000, 4.360000, 4.340000, 4.320000, 4.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053390, 843057 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.790000, -7.565000, 2.593412 ], "estimate": [ 4.790000, -7.565000, 2.593412 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.650000, 0.680000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 0.980000, 0.990000, 0.990000, 1.010000, 1.030000, 1.040000, 1.060000, 1.080000, 1.080000, 1.100000, 1.120000, 1.130000, 1.160000, 1.180000, 1.210000, 1.220000, 1.250000, 1.280000, 1.310000, 1.340000, 1.360000, 1.400000, 1.440000, 1.480000, 1.510000, 1.560000, 1.600000, 1.660000, 1.710000, 1.600000, 1.820000, 1.900000, 1.960000, 2.040000, 2.130000, 2.230000, 2.320000, 2.430000, 2.550000, 2.700000, 2.860000, 3.040000, 2.570000, 3.390000, 3.380000, 3.360000, 3.350000, 3.340000, 3.600000, 4.100000, 4.730000, 5.590000, 9.780000, 9.760000, 9.880000, 11.010000, 11.020000, 11.030000, 13.430000, 12.250000, 13.460000, 13.460000, 6.320000, 5.350000, 4.690000, 4.180000, 3.760000, 3.420000, 3.170000, 2.940000, 2.730000, 2.550000, 2.400000, 2.260000, 2.140000, 2.040000, 1.940000, 1.850000, 1.770000, 1.710000, 1.630000, 1.580000, 1.520000, 1.460000, 1.410000, 1.380000, 1.320000, 1.290000, 1.250000, 1.210000, 1.170000, 1.140000, 1.110000, 1.080000, 1.060000, 1.030000, 1.020000, 0.990000, 0.970000, 0.960000, 0.940000, 0.910000, 0.910000, 0.890000, 0.880000, 0.840000, 0.830000, 0.830000, 0.840000, 0.870000, 0.880000, 0.870000, 0.920000, 0.970000, 2.870000, 2.930000, 4.630000, 4.610000, 4.560000, 4.520000, 3.410000, 2.710000, 4.420000, 4.380000, 4.350000, 4.320000, 4.300000, 4.270000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053390, 844218 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.790000, -7.565000, 2.617994 ], "estimate": [ 4.790000, -7.565000, 2.617994 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.650000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.170000, 1.200000, 1.220000, 1.240000, 1.270000, 1.300000, 1.330000, 1.360000, 1.390000, 1.430000, 1.470000, 1.500000, 1.530000, 1.590000, 1.640000, 1.690000, 1.320000, 1.650000, 1.870000, 1.940000, 2.010000, 2.100000, 2.200000, 2.280000, 2.400000, 2.500000, 2.640000, 2.800000, 2.960000, 2.390000, 3.400000, 3.380000, 3.370000, 3.350000, 3.330000, 3.430000, 3.880000, 4.460000, 5.200000, 6.270000, 9.760000, 9.770000, 11.010000, 11.020000, 11.020000, 13.430000, null, 13.460000, 13.450000, 6.360000, 5.630000, 4.930000, 4.360000, 3.910000, 3.540000, 3.260000, 3.010000, 2.800000, 2.610000, 2.450000, 2.310000, 2.180000, 2.080000, 1.970000, 1.890000, 1.790000, 1.730000, 1.660000, 1.590000, 1.530000, 1.470000, 1.430000, 1.390000, 1.350000, 1.290000, 1.250000, 1.220000, 1.190000, 1.150000, 1.130000, 1.100000, 1.060000, 1.030000, 1.020000, 1.000000, 0.980000, 0.960000, 0.940000, 0.920000, 0.900000, 0.900000, 0.880000, 0.850000, 0.840000, 0.830000, 0.840000, 0.860000, 0.880000, 0.870000, 0.910000, 0.950000, 2.850000, 2.880000, null, 4.630000, 4.580000, 4.540000, 4.490000, 3.380000, 4.420000, 4.390000, 4.350000, 4.320000, 4.310000, 4.280000, 4.260000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053390, 923885 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.790000, -7.565000, 2.679449 ], "estimate": [ 4.790000, -7.565000, 2.679449 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.650000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.280000, 1.310000, 1.340000, 1.360000, 1.390000, 1.440000, 1.470000, 1.510000, 1.540000, 1.590000, 1.650000, 1.700000, 1.440000, 1.800000, 1.880000, 1.950000, 2.020000, 2.110000, 2.200000, 2.290000, 2.410000, 2.520000, 2.650000, 2.800000, 2.980000, 2.870000, 3.390000, 3.380000, 3.370000, 3.350000, 3.330000, 3.460000, 3.920000, 4.480000, 5.230000, 6.290000, 9.770000, 9.760000, 11.010000, 11.020000, 11.020000, 13.420000, null, 13.450000, 13.460000, 6.330000, 5.370000, 4.800000, 4.280000, 3.820000, 3.490000, 3.200000, 2.970000, 2.750000, 2.580000, 2.420000, 2.280000, 2.160000, 2.040000, 1.940000, 1.860000, 1.780000, 1.700000, 1.640000, 1.580000, 1.520000, 1.460000, 1.420000, 1.370000, 1.320000, 1.280000, 1.250000, 1.210000, 1.180000, 1.140000, 1.110000, 1.070000, 1.050000, 1.030000, 1.000000, 1.000000, 0.970000, 0.950000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.840000, 0.830000, 0.830000, 0.840000, 0.850000, 0.870000, 0.870000, 0.910000, 0.950000, 2.860000, 2.890000, 3.170000, 4.620000, 4.560000, 4.520000, 3.470000, 3.110000, 4.420000, 4.380000, 4.350000, 4.310000, 4.290000, 4.270000, 4.250000, 4.220000, 4.190000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053391, 319159 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.791000, -7.566000, 2.759341 ], "estimate": [ 4.791000, -7.566000, 2.759341 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.670000, 0.670000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.030000, 1.040000, 1.060000, 1.080000, 1.080000, 1.100000, 1.130000, 1.130000, 1.160000, 1.180000, 1.200000, 1.220000, 1.250000, 1.270000, 1.300000, 1.340000, 1.360000, 1.390000, 1.430000, 1.470000, 1.500000, 1.540000, 1.590000, 1.640000, 1.690000, 1.310000, 1.640000, 1.860000, 1.930000, 2.000000, 2.090000, 2.170000, 2.260000, 2.380000, 2.490000, 2.610000, 2.760000, 2.920000, 2.390000, 2.780000, 3.380000, 3.370000, 3.360000, 3.330000, 3.330000, 3.750000, 4.270000, 4.950000, 5.880000, 9.750000, 9.770000, 11.010000, 11.010000, 11.020000, 11.080000, 13.440000, 13.450000, 13.460000, 6.550000, 6.310000, 4.970000, 4.390000, 3.920000, 3.560000, 3.250000, 3.020000, 2.790000, 2.600000, 2.430000, 2.310000, 2.180000, 2.060000, 1.960000, 1.870000, 1.780000, 1.710000, 1.650000, 1.580000, 1.520000, 1.470000, 1.410000, 1.380000, 1.320000, 1.280000, 1.250000, 1.210000, 1.170000, 1.140000, 1.110000, 1.070000, 1.050000, 1.030000, 1.000000, 0.990000, 0.960000, 0.940000, 0.930000, 0.900000, 0.900000, 0.890000, 0.870000, 0.840000, 0.830000, 0.820000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.940000, 0.940000, 2.870000, null, 4.630000, 4.580000, 4.530000, 4.490000, 2.720000, 4.420000, 4.390000, 4.350000, 4.320000, 4.300000, 4.280000, 4.250000, 4.220000, 4.200000, 4.180000, 4.160000, 4.150000, 4.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053391, 319924 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.788000, -7.565000, 2.876106 ], "estimate": [ 4.788000, -7.565000, 2.876106 ], "true_pose": [ null, null, null ], "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": [ 0.810000, 0.730000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.920000, 0.920000, 0.940000, 0.950000, 0.950000, 0.960000, 0.980000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.150000, 1.160000, 1.190000, 1.210000, 1.240000, 1.260000, 1.300000, 1.330000, 1.350000, 1.390000, 1.420000, 1.460000, 1.500000, 1.520000, 1.560000, 1.610000, 1.660000, 1.400000, 1.310000, 1.820000, 1.900000, 1.960000, 2.040000, 2.130000, 2.210000, 2.310000, 2.410000, 2.540000, 2.670000, 2.820000, 3.000000, 3.190000, 3.390000, 3.380000, 3.360000, 3.350000, 3.350000, 3.480000, 3.920000, 4.470000, 5.200000, 6.210000, 9.760000, 9.760000, 11.000000, 11.020000, 11.030000, 13.430000, 13.450000, 13.450000, 13.450000, 6.330000, 5.340000, 4.680000, 4.150000, 3.730000, 3.400000, 3.130000, 2.890000, 2.680000, 2.520000, 2.350000, 2.220000, 2.100000, 1.990000, 1.900000, 1.810000, 1.730000, 1.650000, 1.580000, 1.530000, 1.480000, 1.420000, 1.380000, 1.330000, 1.280000, 1.260000, 1.220000, 1.190000, 1.150000, 1.110000, 1.080000, 1.050000, 1.020000, 1.000000, 0.980000, 0.960000, 0.950000, 0.930000, 0.910000, 0.890000, 0.890000, 0.870000, 0.850000, 0.820000, 0.810000, 0.800000, 0.820000, 0.850000, 0.850000, 0.850000, 0.900000, 0.940000, 2.840000, 2.870000, 4.620000, 4.600000, 4.560000, 4.500000, 3.420000, 3.390000, 4.410000, 4.360000, 4.330000, 4.310000, 4.270000, 4.250000, 4.230000, 4.200000, 4.190000, 4.170000, 4.150000, 4.120000, 4.110000, 4.100000, 4.080000, 4.070000, 4.070000, 4.060000 ], "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": [ 976053391, 494124 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.783000, -7.564000, 2.992871 ], "estimate": [ 4.783000, -7.564000, 2.992871 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 1.000000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.150000, 1.160000, 1.190000, 1.210000, 1.230000, 1.260000, 1.290000, 1.320000, 1.350000, 1.370000, 1.400000, 1.440000, 1.470000, 1.500000, 1.550000, 1.600000, 1.640000, 1.680000, 1.740000, 1.800000, 1.860000, 1.920000, 2.000000, 2.070000, 2.170000, 2.260000, 2.360000, 2.470000, 2.580000, 2.720000, 2.880000, 2.640000, 2.440000, 3.380000, 3.370000, 3.360000, 3.330000, 3.330000, 3.610000, 4.060000, 4.660000, 5.440000, 6.540000, 9.770000, 9.760000, 11.000000, 11.020000, 11.020000, 13.410000, 13.450000, 13.460000, 13.170000, 6.320000, 5.070000, 4.440000, 3.970000, 3.570000, 3.260000, 3.010000, 2.780000, 2.590000, 2.420000, 2.280000, 2.160000, 2.040000, 1.940000, 1.840000, 1.760000, 1.670000, 1.610000, 1.540000, 1.490000, 1.440000, 1.400000, 1.350000, 1.300000, 1.260000, 1.220000, 1.180000, 1.150000, 1.120000, 1.070000, 1.040000, 1.030000, 1.000000, 0.980000, 0.960000, 0.940000, 0.920000, 0.910000, 0.890000, 0.880000, 0.860000, 0.840000, 0.810000, 0.790000, 0.790000, 0.810000, 0.830000, 0.850000, 0.850000, 0.860000, 0.910000, 0.950000, 2.830000, 2.880000, 4.620000, 4.570000, 4.520000, 4.490000, 2.680000, 2.690000, 4.380000, 4.350000, 4.320000, 4.290000, 4.260000, 4.230000, 4.200000, 4.190000, 4.170000, 4.150000, 4.130000, 4.110000, 4.090000, 4.080000, 4.060000, 4.050000, 4.040000, 4.040000, 4.030000, 4.030000, 4.020000, 4.020000, 4.010000, 4.010000, 4.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053391, 825503 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.768000, -7.562000, 2.999017 ], "estimate": [ 4.768000, -7.562000, 2.999017 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.030000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.180000, 1.200000, 1.220000, 1.250000, 1.270000, 1.310000, 1.330000, 1.350000, 1.390000, 1.410000, 1.450000, 1.490000, 1.520000, 1.560000, 1.590000, 1.650000, 1.700000, 1.340000, 1.810000, 1.870000, 1.940000, 2.020000, 2.090000, 2.180000, 2.270000, 2.370000, 2.480000, 2.600000, 2.740000, 2.890000, 2.420000, 3.240000, 3.390000, 3.370000, 3.360000, 3.350000, 3.330000, 3.640000, 4.080000, 4.660000, 5.450000, 6.500000, 9.750000, 9.740000, 11.000000, 11.020000, 11.020000, 13.420000, 13.430000, 13.450000, 13.450000, 6.330000, 5.350000, 4.690000, 4.170000, 3.720000, 3.390000, 3.110000, 2.860000, 2.650000, 2.480000, 2.330000, 2.190000, 2.070000, 1.960000, 1.860000, 1.790000, 1.700000, 1.630000, 1.560000, 1.500000, 1.440000, 1.390000, 1.350000, 1.300000, 1.260000, 1.220000, 1.180000, 1.150000, 1.110000, 1.070000, 1.040000, 1.020000, 1.000000, 0.970000, 0.950000, 0.930000, 0.910000, 0.900000, 0.890000, 0.870000, 0.860000, 0.840000, 0.800000, 0.780000, 0.780000, 0.790000, 0.810000, 0.830000, 0.830000, 0.850000, 0.890000, 0.930000, 2.820000, 2.860000, null, 4.590000, 4.540000, 4.490000, 4.460000, 2.710000, 4.400000, 4.350000, 4.320000, 4.300000, 4.260000, 4.240000, 4.210000, 4.180000, 4.170000, 4.160000, 4.130000, 4.110000, 4.090000, 4.080000, 4.060000, 4.050000, 4.050000, 4.040000, 4.020000, 4.020000, 4.020000, 4.010000, 4.010000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.010000, 4.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053391, 904127 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.735000, -7.557000, 2.986726 ], "estimate": [ 4.735000, -7.557000, 2.986726 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.040000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.150000, 1.160000, 1.190000, 1.210000, 1.230000, 1.260000, 1.290000, 1.320000, 1.340000, 1.360000, 1.390000, 1.430000, 1.460000, 1.500000, 1.540000, 1.590000, 1.620000, 1.670000, 1.300000, 1.770000, 1.830000, 1.900000, 1.970000, 2.040000, 2.130000, 2.210000, 2.310000, 2.400000, 2.510000, 2.640000, 2.800000, 2.960000, 2.600000, 3.380000, 3.380000, 3.360000, 3.340000, 3.330000, 3.360000, 3.760000, 4.260000, 4.890000, 5.720000, 9.820000, 9.740000, 9.850000, 10.980000, 11.000000, 11.000000, 13.400000, 12.180000, 13.420000, 13.450000, 6.300000, 5.320000, 4.590000, 4.070000, 3.660000, 3.340000, 3.060000, 2.830000, 2.630000, 2.450000, 2.320000, 2.180000, 2.050000, 1.950000, 1.850000, 1.770000, 1.690000, 1.620000, 1.560000, 1.500000, 1.430000, 1.380000, 1.340000, 1.290000, 1.250000, 1.210000, 1.170000, 1.150000, 1.100000, 1.070000, 1.040000, 1.020000, 0.990000, 0.970000, 0.950000, 0.930000, 0.910000, 0.890000, 0.890000, 0.870000, 0.850000, 0.830000, 0.830000, 0.780000, 0.780000, 0.790000, 0.790000, 0.810000, 0.830000, 0.820000, 0.860000, 0.920000, 2.810000, 2.860000, null, 4.580000, 4.540000, 4.490000, 4.460000, 2.630000, 4.390000, 4.350000, 4.320000, 4.290000, 4.260000, 4.230000, 4.200000, 4.190000, 4.170000, 4.150000, 4.130000, 4.110000, 4.090000, 4.080000, 4.060000, 4.050000, 4.040000, 4.030000, 4.020000, 4.020000, 4.010000, 4.010000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.010000, 4.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053392, 361763 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.660000, -7.546000, 2.992871 ], "estimate": [ 4.660000, -7.546000, 2.992871 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.150000, 1.170000, 1.190000, 1.220000, 1.240000, 1.260000, 1.290000, 1.310000, 1.350000, 1.370000, 1.400000, 1.440000, 1.470000, 1.500000, 1.540000, 1.580000, 1.630000, 1.630000, 1.720000, 1.780000, 1.840000, 1.900000, 1.970000, 2.050000, 2.140000, 2.220000, 2.310000, 2.400000, 2.510000, 2.650000, 2.800000, 2.950000, 2.320000, 3.330000, 3.320000, 3.300000, 3.290000, 3.270000, 3.370000, 3.760000, 4.250000, 4.890000, 5.680000, 9.730000, 9.670000, 10.070000, 10.950000, 10.950000, 10.970000, 12.120000, 12.060000, 12.240000, 13.400000, 6.260000, 5.270000, 4.560000, 4.040000, 3.630000, 3.310000, 3.040000, 2.790000, 2.600000, 2.440000, 2.290000, 2.160000, 2.040000, 1.930000, 1.830000, 1.750000, 1.670000, 1.590000, 1.530000, 1.480000, 1.420000, 1.370000, 1.320000, 1.280000, 1.250000, 1.200000, 1.160000, 1.120000, 1.090000, 1.060000, 1.040000, 1.000000, 0.980000, 0.970000, 0.940000, 0.910000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.760000, 0.750000, 0.750000, 0.760000, 0.780000, 0.790000, 0.790000, 0.820000, 0.870000, 0.900000, 3.140000, 4.530000, 4.490000, 4.450000, 3.390000, 2.660000, 4.340000, 4.320000, 4.290000, 4.260000, 4.220000, 4.200000, 4.180000, 4.170000, 4.140000, 4.120000, 4.100000, 4.090000, 4.070000, 4.050000, 4.050000, 4.040000, 4.020000, 4.010000, 4.000000, 4.000000, 4.000000, 4.000000, 3.990000, 3.990000, 3.990000, 3.990000, 3.990000, 4.000000, 4.000000, 4.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053392, 382437 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.577000, -7.534000, 2.992871 ], "estimate": [ 4.577000, -7.534000, 2.992871 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.950000, 0.950000, 0.950000, 0.960000, 0.980000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.220000, 1.240000, 1.260000, 1.290000, 1.320000, 1.350000, 1.360000, 1.400000, 1.430000, 1.460000, 1.500000, 1.540000, 1.210000, 1.600000, 1.670000, 1.710000, 1.760000, 1.830000, 1.890000, 1.960000, 2.030000, 2.110000, 2.180000, 2.280000, 2.370000, 2.480000, 2.600000, 2.740000, 2.560000, 2.580000, 3.270000, 3.250000, 3.240000, 3.220000, 3.210000, 3.180000, 3.590000, 4.040000, 4.560000, 5.290000, 6.230000, 9.610000, 9.610000, 10.850000, 10.870000, 10.880000, 13.280000, 13.310000, 13.300000, 13.300000, 12.900000, 6.170000, 4.890000, 4.290000, 3.820000, 3.440000, 3.160000, 2.910000, 2.690000, 2.510000, 2.350000, 2.200000, 2.070000, 1.970000, 1.870000, 1.780000, 1.690000, 1.610000, 1.560000, 1.490000, 1.430000, 1.380000, 1.330000, 1.290000, 1.240000, 1.200000, 1.160000, 1.130000, 1.080000, 1.050000, 1.030000, 1.000000, 0.980000, 0.950000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.840000, 0.820000, 0.820000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.710000, 0.700000, 0.700000, 0.710000, 0.730000, 0.750000, 0.750000, 0.780000, 0.830000, 4.420000, 4.400000, 3.360000, 2.570000, 4.290000, 4.260000, 4.230000, 4.200000, 4.180000, 4.180000, 4.150000, 4.120000, 4.100000, 4.090000, 4.070000, 4.050000, 4.050000, 4.030000, 4.020000, 4.010000, 4.000000, 3.990000, 3.990000, 3.990000, 3.980000, 3.980000, 3.980000, 3.980000, 3.980000, 3.980000, 3.990000, 3.990000, 4.000000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053392, 473453 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.517000, -7.525000, 2.980580 ], "estimate": [ 4.517000, -7.525000, 2.980580 ], "true_pose": [ null, null, null ], "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": [ 0.880000, 0.880000, 0.890000, 0.890000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.080000, 1.100000, 1.100000, 1.130000, 1.140000, 1.150000, 1.170000, 1.200000, 1.220000, 1.240000, 1.260000, 1.290000, 1.310000, 1.330000, 1.350000, 1.380000, 1.410000, 1.450000, 1.160000, 1.510000, 1.560000, 1.600000, 1.640000, 1.680000, 1.740000, 1.800000, 1.850000, 1.910000, 1.990000, 2.060000, 2.130000, 2.220000, 2.300000, 2.400000, 2.520000, 2.640000, 2.800000, 2.910000, 3.160000, 3.170000, 3.160000, 3.140000, 3.140000, 3.130000, 3.370000, 3.720000, 4.180000, 4.770000, 5.510000, 10.510000, 9.510000, 9.570000, 10.770000, 10.790000, 10.800000, 13.190000, 13.200000, 13.220000, 13.230000, 12.640000, 6.080000, 4.750000, 4.190000, 3.730000, 3.390000, 3.090000, 2.850000, 2.640000, 2.450000, 2.300000, 2.160000, 2.040000, 1.940000, 1.830000, 1.750000, 1.670000, 1.590000, 1.530000, 1.470000, 1.410000, 1.350000, 1.310000, 1.260000, 1.220000, 1.170000, 1.140000, 1.100000, 1.070000, 1.040000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.840000, 0.830000, 0.820000, 0.810000, 0.790000, 0.780000, 0.760000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.710000, 0.690000, 0.690000, 0.660000, 0.650000, 0.650000, 0.660000, 0.690000, 0.700000, 0.700000, 0.730000, 0.810000, 4.220000, 4.190000, 4.180000, 4.150000, 4.130000, 4.120000, 4.100000, 4.080000, 4.060000, 4.050000, 4.040000, 4.020000, 4.010000, 4.000000, 3.990000, 3.980000, 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 3.980000, 3.980000, 3.980000, 3.980000, 3.980000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053392, 924834 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.474000, -7.518000, 2.962143 ], "estimate": [ 4.474000, -7.518000, 2.962143 ], "true_pose": [ null, null, null ], "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": [ 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.940000, 0.940000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 1.000000, 1.000000, 1.020000, 1.020000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.160000, 1.180000, 1.200000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.340000, 1.360000, 1.390000, 1.280000, 1.110000, 1.500000, 1.530000, 1.570000, 1.600000, 1.650000, 1.700000, 1.760000, 1.800000, 1.880000, 1.930000, 2.000000, 2.080000, 2.160000, 2.250000, 2.340000, 2.430000, 2.560000, 2.690000, 2.140000, 2.990000, 3.140000, 3.130000, 3.110000, 3.090000, 3.070000, 3.100000, 3.440000, 3.820000, 4.320000, 4.910000, 5.730000, 9.530000, 9.470000, 9.520000, 10.730000, 10.740000, 10.750000, 13.150000, 13.160000, 13.180000, 13.190000, 6.050000, 5.110000, 4.570000, 4.040000, 3.620000, 3.270000, 3.010000, 2.760000, 2.580000, 2.400000, 2.250000, 2.120000, 2.000000, 1.900000, 1.810000, 1.720000, 1.640000, 1.570000, 1.500000, 1.440000, 1.390000, 1.330000, 1.280000, 1.250000, 1.200000, 1.160000, 1.120000, 1.080000, 1.060000, 1.030000, 1.000000, 0.980000, 0.950000, 0.920000, 0.910000, 0.890000, 0.870000, 0.850000, 0.850000, 0.820000, 0.820000, 0.790000, 0.790000, 0.760000, 0.760000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.660000, 0.640000, 0.630000, 0.630000, 0.650000, 0.660000, 0.690000, 0.690000, 0.700000, 4.160000, 4.140000, 4.120000, 4.110000, 4.090000, 4.070000, 4.050000, 4.050000, 4.030000, 4.020000, 4.010000, 4.000000, 3.980000, 3.980000, 3.970000, 3.970000, 3.960000, 3.970000, 3.970000, 3.970000, 3.970000, 3.980000, 3.980000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053392, 925981 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.430000, -7.510000, 2.968289 ], "estimate": [ 4.430000, -7.510000, 2.968289 ], "true_pose": [ null, null, null ], "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": [ 0.880000, 0.890000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.020000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.270000, 1.290000, 1.310000, 1.340000, 1.360000, 1.080000, 1.090000, 1.450000, 1.490000, 1.520000, 1.560000, 1.590000, 1.640000, 1.690000, 1.740000, 1.800000, 1.860000, 1.920000, 1.980000, 2.060000, 2.130000, 2.220000, 2.300000, 2.390000, 2.520000, 2.640000, 2.100000, 2.940000, 3.100000, 3.090000, 3.070000, 3.060000, 3.050000, 3.050000, 3.330000, 3.690000, 4.130000, 4.690000, 5.400000, 10.430000, 9.420000, 9.440000, 10.690000, 10.710000, 10.710000, 13.120000, 13.120000, 13.130000, 13.150000, 12.570000, 6.000000, 4.710000, 4.160000, 3.700000, 3.360000, 3.070000, 2.840000, 2.610000, 2.440000, 2.280000, 2.140000, 2.020000, 1.910000, 1.820000, 1.730000, 1.660000, 1.580000, 1.510000, 1.450000, 1.400000, 1.350000, 1.290000, 1.250000, 1.200000, 1.160000, 1.120000, 1.090000, 1.050000, 1.030000, 1.010000, 0.980000, 0.950000, 0.920000, 0.910000, 0.890000, 0.880000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.650000, 0.640000, 0.640000, 0.620000, 0.610000, 0.620000, 0.620000, 0.640000, 0.680000, 0.670000, 0.670000, 4.100000, 4.090000, 4.070000, 4.060000, 4.050000, 4.030000, 4.020000, 4.000000, 3.990000, 3.980000, 3.970000, 3.970000, 3.970000, 3.960000, 3.960000, 3.970000, 3.960000, 3.970000, 3.970000, 3.970000, 3.980000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053393, 104096 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.364000, -7.499000, 2.974435 ], "estimate": [ 4.364000, -7.499000, 2.974435 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.020000, 1.020000, 1.030000, 1.050000, 1.060000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.250000, 1.280000, 1.300000, 1.330000, 1.120000, 1.380000, 1.410000, 1.450000, 1.480000, 1.510000, 1.550000, 1.590000, 1.640000, 1.680000, 1.740000, 1.790000, 1.850000, 1.910000, 1.970000, 2.040000, 2.120000, 2.200000, 2.280000, 2.380000, 2.490000, 2.610000, 2.080000, 2.900000, 3.060000, 3.050000, 3.030000, 3.020000, 3.010000, 3.000000, 3.260000, 3.590000, 4.010000, 4.510000, 5.170000, 6.070000, 9.400000, 9.390000, 10.640000, 10.640000, 10.670000, 10.640000, 13.070000, null, 13.090000, 13.110000, 5.970000, 4.960000, 4.330000, 3.850000, 3.440000, 3.140000, 2.890000, 2.670000, 2.490000, 2.330000, 2.180000, 2.060000, 1.940000, 1.840000, 1.750000, 1.670000, 1.600000, 1.530000, 1.470000, 1.410000, 1.360000, 1.300000, 1.250000, 1.210000, 1.170000, 1.140000, 1.100000, 1.060000, 1.040000, 1.010000, 0.980000, 0.960000, 0.930000, 0.910000, 0.890000, 0.870000, 0.850000, 0.840000, 0.820000, 0.820000, 0.800000, 0.780000, 0.760000, 0.760000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.650000, 0.650000, 0.640000, 0.640000, 0.600000, 0.610000, 0.610000, 0.600000, 0.620000, 0.660000, 0.660000, 0.650000, 4.040000, 4.030000, 4.020000, 4.010000, 4.000000, 3.990000, 3.970000, 3.970000, 3.960000, 3.960000, 3.960000, 3.960000, 3.970000, 3.970000, 3.970000, 3.970000, 3.980000, 3.980000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053393, 488785 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.292000, -7.487000, 2.974435 ], "estimate": [ 4.292000, -7.487000, 2.974435 ], "true_pose": [ null, null, null ], "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, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.100000, 1.100000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.220000, 1.230000, 1.260000, 0.990000, 1.000000, 1.320000, 1.350000, 1.380000, 1.410000, 1.430000, 1.470000, 1.500000, 1.540000, 1.580000, 1.620000, 1.670000, 1.710000, 1.770000, 1.820000, 1.880000, 1.930000, 2.010000, 2.080000, 2.160000, 2.250000, 2.330000, 2.430000, 1.980000, 2.610000, 2.820000, 3.000000, 2.980000, 2.960000, 2.950000, 2.940000, 2.930000, 3.090000, 3.390000, 3.750000, 4.190000, 4.760000, 5.490000, 9.770000, 9.300000, 9.310000, 10.560000, 10.590000, 10.590000, 12.990000, 13.010000, null, 13.020000, 12.570000, 5.890000, 4.690000, 4.110000, 3.680000, 3.300000, 3.030000, 2.790000, 2.590000, 2.400000, 2.250000, 2.110000, 1.990000, 1.880000, 1.790000, 1.700000, 1.630000, 1.560000, 1.490000, 1.420000, 1.370000, 1.320000, 1.270000, 1.230000, 1.180000, 1.140000, 1.110000, 1.070000, 1.040000, 1.020000, 0.990000, 0.960000, 0.930000, 0.910000, 0.890000, 0.880000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.700000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.590000, 0.580000, 0.580000, 0.580000, 0.600000, 0.640000, 0.630000, 0.670000, 3.970000, 3.960000, 3.950000, 3.950000, 3.950000, 3.950000, 3.960000, 3.960000, 3.960000, 3.960000, 3.970000, 3.970000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053393, 490062 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.233000, -7.478000, 2.974435 ], "estimate": [ 4.233000, -7.478000, 2.974435 ], "true_pose": [ null, null, null ], "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, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.980000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.100000, 1.120000, 1.140000, 1.150000, 1.170000, 1.180000, 1.210000, 0.980000, 1.190000, 1.260000, 1.290000, 1.320000, 1.350000, 1.360000, 1.390000, 1.420000, 1.450000, 1.490000, 1.520000, 1.560000, 1.590000, 1.650000, 1.690000, 1.740000, 1.790000, 1.850000, 1.900000, 1.960000, 2.040000, 2.120000, 2.190000, 2.270000, 2.380000, 1.920000, 2.590000, 2.720000, 2.880000, 2.920000, 2.900000, 2.900000, 2.880000, 2.870000, 2.910000, 3.190000, 3.510000, 3.880000, 4.350000, 4.940000, 5.730000, 9.280000, 9.250000, 9.320000, 10.510000, 10.520000, 10.530000, 12.950000, 12.950000, 12.970000, 12.960000, 5.870000, 5.220000, 4.490000, 3.960000, 3.530000, 3.210000, 2.930000, 2.720000, 2.510000, 2.340000, 2.200000, 2.070000, 1.950000, 1.840000, 1.750000, 1.660000, 1.590000, 1.510000, 1.460000, 1.400000, 1.340000, 1.290000, 1.250000, 1.200000, 1.170000, 1.130000, 1.090000, 1.050000, 1.040000, 1.000000, 0.970000, 0.950000, 0.920000, 0.890000, 0.880000, 0.860000, 0.850000, 0.820000, 0.820000, 0.800000, 0.780000, 0.770000, 0.760000, 0.760000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.560000, 0.570000, 0.560000, 0.560000, 0.580000, 0.630000, 0.630000, 3.950000, 3.960000, 3.960000, 3.960000, 3.960000, 3.960000, 3.970000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053393, 724138 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.184000, -7.470000, 2.980580 ], "estimate": [ 4.184000, -7.470000, 2.980580 ], "true_pose": [ null, null, null ], "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, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.100000, 1.120000, 1.140000, 1.140000, 1.170000, 0.950000, 1.200000, 1.230000, 1.240000, 1.260000, 1.290000, 1.310000, 1.340000, 1.360000, 1.390000, 1.420000, 1.440000, 1.480000, 1.510000, 1.550000, 1.600000, 1.630000, 1.670000, 1.730000, 1.780000, 1.830000, 1.890000, 1.940000, 2.010000, 2.080000, 2.160000, 2.250000, 2.340000, 2.210000, 2.550000, 2.680000, 2.820000, 2.880000, 2.860000, 2.840000, 2.830000, 2.820000, 2.800000, 3.080000, 3.380000, 3.710000, 4.150000, 4.680000, 5.350000, 10.190000, 9.210000, 9.200000, 10.450000, 10.460000, 10.470000, 10.510000, 12.890000, null, 12.880000, 12.910000, 5.770000, 4.770000, 4.180000, 3.720000, 3.330000, 3.040000, 2.780000, 2.600000, 2.400000, 2.230000, 2.110000, 1.970000, 1.880000, 1.780000, 1.690000, 1.610000, 1.550000, 1.470000, 1.410000, 1.370000, 1.300000, 1.260000, 1.220000, 1.170000, 1.130000, 1.090000, 1.050000, 1.030000, 1.000000, 0.970000, 0.940000, 0.920000, 0.890000, 0.880000, 0.860000, 0.840000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.750000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.580000, 0.590000, 0.580000, 0.560000, 0.550000, 0.560000, 0.560000, 0.570000, 0.620000, 3.940000, 3.960000, 3.970000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053394, 136100 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.133000, -7.462000, 2.968289 ], "estimate": [ 4.133000, -7.462000, 2.968289 ], "true_pose": [ null, null, null ], "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, 0.920000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.030000, 1.030000, 1.040000, 1.060000, 1.070000, 1.080000, 1.100000, 1.110000, 1.110000, 1.130000, 0.910000, 0.910000, 1.170000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.300000, 1.320000, 1.350000, 1.370000, 1.400000, 1.420000, 1.460000, 1.500000, 1.530000, 1.570000, 1.600000, 1.650000, 1.690000, 1.740000, 1.790000, 1.850000, 1.910000, 1.960000, 2.030000, 2.110000, 2.190000, 2.260000, 1.830000, 2.460000, 2.580000, 2.700000, 2.840000, 2.830000, 2.810000, 2.800000, 2.790000, 2.760000, 2.870000, 3.140000, 3.450000, 3.800000, 4.240000, 4.800000, 5.510000, 9.480000, 9.150000, 9.180000, 10.410000, 10.420000, 10.430000, 12.830000, 11.600000, 12.850000, 12.860000, 12.880000, 5.730000, 4.680000, 4.090000, 3.640000, 3.270000, 2.970000, 2.760000, 2.540000, 2.370000, 2.200000, 2.070000, 1.960000, 1.850000, 1.750000, 1.670000, 1.590000, 1.520000, 1.460000, 1.400000, 1.350000, 1.290000, 1.250000, 1.200000, 1.150000, 1.120000, 1.080000, 1.040000, 1.020000, 0.990000, 0.960000, 0.930000, 0.910000, 0.890000, 0.870000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.750000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.690000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.620000, 0.600000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.550000, 0.550000, 0.550000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053394, 154150 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.072000, -7.451000, 2.962143 ], "estimate": [ 4.072000, -7.451000, 2.962143 ], "true_pose": [ null, null, null ], "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, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.080000, 1.090000, 1.100000, 0.860000, 1.120000, 1.140000, 1.150000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.340000, 1.360000, 1.390000, 1.410000, 1.450000, 1.480000, 1.510000, 1.550000, 1.600000, 1.640000, 1.670000, 1.720000, 1.770000, 1.820000, 1.880000, 1.930000, 2.000000, 2.070000, 2.140000, 2.240000, 1.870000, 2.410000, 2.520000, 2.640000, 2.790000, 2.770000, 2.760000, 2.750000, 2.730000, 2.720000, 2.770000, 3.010000, 3.280000, 3.610000, 4.010000, 4.490000, 5.100000, 5.920000, 9.140000, 9.100000, 10.350000, 10.350000, 10.370000, 10.380000, 12.770000, 11.530000, 11.500000, 12.810000, 5.760000, 5.640000, 4.380000, 3.860000, 3.460000, 3.120000, 2.860000, 2.640000, 2.450000, 2.290000, 2.140000, 2.010000, 1.900000, 1.800000, 1.710000, 1.630000, 1.560000, 1.490000, 1.420000, 1.360000, 1.310000, 1.260000, 1.220000, 1.160000, 1.120000, 1.090000, 1.060000, 1.030000, 1.000000, 0.970000, 0.940000, 0.920000, 0.890000, 0.870000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.580000, 0.570000, 0.580000, 0.570000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.570000, 0.570000, 0.580000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053394, 584095 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.009000, -7.440000, 2.962143 ], "estimate": [ 4.009000, -7.440000, 2.962143 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.920000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 0.890000, 0.870000, 1.090000, 1.110000, 1.110000, 1.130000, 1.140000, 1.160000, 1.170000, 1.200000, 1.220000, 1.230000, 1.250000, 1.280000, 1.290000, 1.310000, 1.340000, 1.360000, 1.390000, 1.430000, 1.450000, 1.490000, 1.510000, 1.550000, 1.600000, 1.640000, 1.670000, 1.720000, 1.770000, 1.820000, 1.880000, 1.930000, 2.000000, 2.070000, 2.140000, 1.730000, 2.310000, 2.410000, 2.520000, 2.640000, 2.720000, 2.720000, 2.700000, 2.690000, 2.670000, 2.650000, 2.750000, 2.990000, 3.260000, 3.570000, 3.960000, 4.430000, 5.020000, 5.810000, 9.090000, 9.040000, 10.310000, 10.290000, 10.310000, 10.320000, 12.710000, 11.500000, 12.750000, 12.740000, 5.870000, 5.610000, 4.420000, 3.870000, 3.470000, 3.130000, 2.850000, 2.630000, 2.440000, 2.280000, 2.130000, 2.000000, 1.890000, 1.790000, 1.700000, 1.610000, 1.550000, 1.480000, 1.410000, 1.360000, 1.300000, 1.250000, 1.210000, 1.170000, 1.120000, 1.080000, 1.050000, 1.030000, 1.000000, 0.960000, 0.930000, 0.900000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.800000, 0.790000, 0.770000, 0.750000, 0.750000, 0.730000, 0.710000, 0.710000, 0.710000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053394, 585780 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.950000, -7.430000, 2.974435 ], "estimate": [ 3.950000, -7.430000, 2.974435 ], "true_pose": [ null, null, null ], "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, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.030000, 0.820000, 1.030000, 1.050000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.120000, 1.140000, 1.140000, 1.170000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.270000, 1.300000, 1.330000, 1.350000, 1.370000, 1.400000, 1.430000, 1.460000, 1.490000, 1.520000, 1.560000, 1.600000, 1.640000, 1.670000, 1.720000, 1.770000, 1.820000, 1.890000, 1.930000, 2.000000, 2.070000, 1.690000, 2.050000, 2.320000, 2.410000, 2.520000, 2.650000, 2.670000, 2.650000, 2.640000, 2.630000, 2.610000, 2.600000, 2.740000, 2.970000, 3.240000, 3.550000, 3.910000, 4.370000, 4.940000, 5.680000, 9.020000, 8.980000, 9.310000, 10.230000, 10.250000, 10.230000, 12.650000, 11.460000, 12.670000, 12.670000, 12.350000, 5.550000, 4.450000, 3.910000, 3.480000, 3.130000, 2.850000, 2.630000, 2.450000, 2.280000, 2.130000, 1.990000, 1.880000, 1.780000, 1.680000, 1.600000, 1.530000, 1.460000, 1.400000, 1.350000, 1.290000, 1.250000, 1.200000, 1.150000, 1.110000, 1.070000, 1.040000, 1.010000, 0.980000, 0.960000, 0.920000, 0.900000, 0.880000, 0.860000, 0.840000, 0.810000, 0.800000, 0.780000, 0.760000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.570000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053394, 724235 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.896000, -7.422000, 2.986726 ], "estimate": [ 3.896000, -7.422000, 2.986726 ], "true_pose": [ null, null, null ], "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": [ 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 0.790000, 0.840000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.100000, 1.110000, 1.110000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.260000, 1.280000, 1.310000, 1.330000, 1.350000, 1.380000, 1.400000, 1.430000, 1.470000, 1.500000, 1.530000, 1.570000, 1.600000, 1.650000, 1.680000, 1.730000, 1.780000, 1.830000, 1.890000, 1.940000, 2.010000, 1.910000, 1.700000, 2.240000, 2.330000, 2.420000, 2.520000, 2.630000, 2.620000, 2.610000, 2.580000, 2.580000, 2.550000, 2.550000, 2.750000, 2.980000, 3.230000, 3.550000, 3.910000, 4.360000, 4.910000, 5.640000, 8.980000, 8.930000, 9.080000, 10.170000, 10.200000, 10.200000, 12.610000, 11.390000, 12.640000, 12.640000, 12.650000, 5.490000, 4.500000, 3.910000, 3.500000, 3.120000, 2.850000, 2.620000, 2.430000, 2.270000, 2.120000, 1.970000, 1.860000, 1.770000, 1.670000, 1.590000, 1.510000, 1.450000, 1.390000, 1.330000, 1.280000, 1.240000, 1.190000, 1.130000, 1.100000, 1.060000, 1.020000, 1.000000, 0.970000, 0.940000, 0.910000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 0.750000, 0.750000, 0.750000, 0.730000, 0.720000, 0.710000, 0.690000, 0.690000, 0.680000, 0.660000, 0.660000, 0.660000, 0.650000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053395, 102892 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.840000, -7.414000, 2.999017 ], "estimate": [ 3.840000, -7.414000, 2.999017 ], "true_pose": [ null, null, null ], "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": [ 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 0.830000, 0.780000, 1.010000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.210000, 1.230000, 1.240000, 1.260000, 1.280000, 1.300000, 1.330000, 1.350000, 1.370000, 1.400000, 1.430000, 1.460000, 1.490000, 1.510000, 1.550000, 1.590000, 1.630000, 1.660000, 1.700000, 1.750000, 1.810000, 1.860000, 1.910000, 1.980000, 1.710000, 2.110000, 2.190000, 2.270000, 2.360000, 2.460000, 2.590000, 2.570000, 2.560000, 2.540000, 2.530000, 2.510000, 2.500000, 2.610000, 2.820000, 3.060000, 3.330000, 3.650000, 4.050000, 4.500000, 5.080000, 5.810000, 8.920000, 8.880000, 10.150000, 10.120000, 10.150000, 10.150000, 12.550000, 11.320000, 12.580000, 12.560000, 5.650000, 5.440000, 4.290000, 3.750000, 3.360000, 3.020000, 2.750000, 2.530000, 2.350000, 2.200000, 2.050000, 1.920000, 1.810000, 1.710000, 1.630000, 1.550000, 1.480000, 1.410000, 1.350000, 1.290000, 1.250000, 1.200000, 1.150000, 1.110000, 1.060000, 1.030000, 1.010000, 0.970000, 0.930000, 0.910000, 0.890000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053395, 124227 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.783000, -7.406000, 3.005162 ], "estimate": [ 3.783000, -7.406000, 3.005162 ], "true_pose": [ null, null, null ], "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, 0.980000, 0.980000, 0.990000, 0.990000, 0.780000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.070000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.220000, 1.230000, 1.250000, 1.260000, 1.290000, 1.310000, 1.330000, 1.350000, 1.380000, 1.410000, 1.440000, 1.460000, 1.490000, 1.520000, 1.550000, 1.590000, 1.630000, 1.670000, 1.700000, 1.750000, 1.810000, 1.860000, 1.920000, 1.570000, 1.950000, 2.120000, 2.180000, 2.260000, 2.360000, 2.450000, 2.540000, 2.530000, 2.510000, 2.490000, 2.480000, 2.470000, 2.460000, 2.590000, 2.790000, 3.010000, 3.280000, 3.600000, 3.950000, 4.390000, 4.930000, 5.630000, 8.930000, 8.840000, 8.960000, 10.080000, 10.080000, 10.100000, 12.510000, 11.270000, 11.300000, 11.310000, 12.540000, 5.410000, 4.440000, 3.900000, 3.450000, 3.100000, 2.800000, 2.580000, 2.380000, 2.210000, 2.070000, 1.940000, 1.820000, 1.720000, 1.640000, 1.560000, 1.480000, 1.410000, 1.350000, 1.290000, 1.250000, 1.200000, 1.150000, 1.110000, 1.060000, 1.030000, 0.990000, 0.960000, 0.940000, 0.900000, 0.880000, 0.850000, 0.830000, 0.820000, 0.800000, 0.780000, 0.760000, 0.740000, 0.730000, 0.720000, 0.720000, 0.700000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000, 0.540000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 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": [ 976053395, 274348 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.721000, -7.398000, 3.011308 ], "estimate": [ 3.721000, -7.398000, 3.011308 ], "true_pose": [ null, null, null ], "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": [ 0.820000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.040000, 1.040000, 1.050000, 1.040000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.350000, 1.360000, 1.390000, 1.420000, 1.450000, 1.480000, 1.500000, 1.530000, 1.560000, 1.600000, 1.640000, 1.680000, 1.710000, 1.760000, 1.810000, 1.860000, 1.550000, 1.970000, 2.040000, 2.110000, 2.200000, 2.260000, 2.350000, 2.450000, 2.480000, 2.460000, 2.460000, 2.440000, 2.430000, 2.400000, 2.420000, 2.580000, 2.760000, 2.980000, 3.240000, 3.540000, 3.880000, 4.300000, 4.820000, 5.460000, 9.730000, 8.800000, 8.790000, 10.030000, 10.020000, 10.040000, 10.040000, 12.440000, 11.320000, 12.460000, 12.480000, 5.330000, 4.440000, 3.980000, 3.510000, 3.130000, 2.840000, 2.580000, 2.390000, 2.220000, 2.070000, 1.940000, 1.810000, 1.710000, 1.620000, 1.530000, 1.460000, 1.400000, 1.340000, 1.280000, 1.230000, 1.180000, 1.130000, 1.090000, 1.050000, 1.020000, 0.980000, 0.950000, 0.920000, 0.890000, 0.870000, 0.850000, 0.820000, 0.810000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.690000, 0.700000, 0.690000, 0.680000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.530000, 0.540000, 0.530000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.520000, 0.530000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053395, 614097 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.660000, -7.390000, 3.017453 ], "estimate": [ 3.660000, -7.390000, 3.017453 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.000000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.320000, 1.350000, 1.360000, 1.390000, 1.420000, 1.450000, 1.480000, 1.500000, 1.520000, 1.560000, 1.600000, 1.630000, 1.670000, 1.700000, 1.750000, 1.810000, 1.500000, 1.870000, 1.960000, 2.030000, 2.100000, 2.170000, 2.250000, 2.330000, 2.420000, 2.440000, 2.420000, 2.410000, 2.390000, 2.380000, 2.350000, 2.360000, 2.530000, 2.690000, 2.890000, 3.140000, 3.410000, 3.730000, 4.100000, 4.560000, 5.130000, 9.720000, 8.760000, 8.720000, 9.990000, 9.960000, 9.980000, 9.990000, 12.380000, null, null, 12.420000, 12.430000, 5.280000, 4.270000, 3.710000, 3.300000, 2.950000, 2.670000, 2.460000, 2.270000, 2.120000, 1.970000, 1.850000, 1.730000, 1.640000, 1.560000, 1.470000, 1.410000, 1.340000, 1.280000, 1.230000, 1.180000, 1.130000, 1.090000, 1.050000, 1.020000, 0.980000, 0.950000, 0.920000, 0.890000, 0.860000, 0.830000, 0.800000, 0.800000, 0.780000, 0.760000, 0.740000, 0.730000, 0.710000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.610000, 0.600000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.510000, 0.520000, 0.510000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053395, 684165 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.603000, -7.383000, 3.011308 ], "estimate": [ 3.603000, -7.383000, 3.011308 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.320000, 1.340000, 1.360000, 1.390000, 1.410000, 1.440000, 1.470000, 1.500000, 1.520000, 1.550000, 1.590000, 1.630000, 1.670000, 1.700000, 1.740000, 1.440000, 1.820000, 1.890000, 1.950000, 2.010000, 2.070000, 2.140000, 2.220000, 2.290000, 2.400000, 2.380000, 2.360000, 2.350000, 2.330000, 2.330000, 2.300000, 2.320000, 2.460000, 2.620000, 2.800000, 3.010000, 3.260000, 3.560000, 3.900000, 4.300000, 4.780000, 5.420000, 9.650000, 8.710000, 8.680000, 9.930000, 9.910000, 9.930000, 9.910000, 12.330000, null, 12.360000, 12.370000, 5.270000, 5.190000, 3.970000, 3.510000, 3.120000, 2.800000, 2.550000, 2.350000, 2.180000, 2.030000, 1.890000, 1.760000, 1.660000, 1.580000, 1.490000, 1.410000, 1.350000, 1.290000, 1.240000, 1.190000, 1.140000, 1.090000, 1.050000, 1.010000, 0.980000, 0.950000, 0.910000, 0.890000, 0.850000, 0.840000, 0.800000, 0.800000, 0.770000, 0.750000, 0.740000, 0.710000, 0.700000, 0.690000, 0.670000, 0.670000, 0.650000, 0.650000, 0.640000, 0.630000, 0.610000, 0.610000, 0.600000, 0.600000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.520000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.500000, 0.500000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053396, 687680 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.549000, -7.377000, 3.011308 ], "estimate": [ 3.549000, -7.377000, 3.011308 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.140000, 1.150000, 1.150000, 1.170000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.310000, 1.340000, 1.360000, 1.380000, 1.400000, 1.430000, 1.460000, 1.490000, 1.510000, 1.540000, 1.570000, 1.600000, 1.650000, 1.690000, 1.730000, 1.450000, 1.810000, 1.860000, 1.910000, 1.980000, 2.030000, 2.090000, 2.170000, 2.250000, 2.330000, 2.350000, 2.320000, 2.320000, 2.300000, 2.290000, 2.270000, 2.260000, 2.350000, 2.500000, 2.670000, 2.850000, 3.070000, 3.320000, 3.620000, 3.950000, 4.370000, 4.870000, 5.490000, 9.570000, 8.660000, 8.630000, 9.890000, 9.860000, 9.880000, 9.890000, 12.280000, 11.040000, 11.030000, 12.310000, 5.170000, 4.510000, 3.870000, 3.410000, 3.040000, 2.730000, 2.490000, 2.280000, 2.120000, 1.980000, 1.830000, 1.730000, 1.620000, 1.540000, 1.460000, 1.390000, 1.320000, 1.250000, 1.210000, 1.160000, 1.110000, 1.060000, 1.020000, 0.990000, 0.960000, 0.930000, 0.890000, 0.860000, 0.830000, 0.810000, 0.800000, 0.770000, 0.740000, 0.740000, 0.710000, 0.690000, 0.680000, 0.680000, 0.670000, 0.650000, 0.650000, 0.620000, 0.620000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.520000, 0.530000, 0.520000, 0.520000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 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, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.490000, 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": [ 976053396, 688910 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.493000, -7.370000, 3.017453 ], "estimate": [ 3.493000, -7.370000, 3.017453 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.090000, 1.090000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.190000, 1.210000, 1.230000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.430000, 1.460000, 1.490000, 1.500000, 1.530000, 1.570000, 1.600000, 1.640000, 1.680000, 1.350000, 1.740000, 1.800000, 1.850000, 1.910000, 1.960000, 2.020000, 2.070000, 2.140000, 2.220000, 2.300000, 2.310000, 2.290000, 2.270000, 2.250000, 2.230000, 2.220000, 2.220000, 2.310000, 2.440000, 2.590000, 2.760000, 2.960000, 3.190000, 3.470000, 3.790000, 4.150000, 4.590000, 5.130000, 9.560000, 8.600000, 8.580000, 9.840000, 9.810000, 9.810000, 9.830000, 12.220000, 11.000000, 11.000000, 12.230000, 12.260000, 5.120000, 4.150000, 3.600000, 3.190000, 2.850000, 2.570000, 2.350000, 2.180000, 2.020000, 1.880000, 1.760000, 1.650000, 1.560000, 1.470000, 1.390000, 1.330000, 1.260000, 1.210000, 1.160000, 1.110000, 1.050000, 1.020000, 0.990000, 0.950000, 0.910000, 0.890000, 0.860000, 0.830000, 0.800000, 0.770000, 0.770000, 0.730000, 0.730000, 0.700000, 0.680000, 0.670000, 0.670000, 0.660000, 0.640000, 0.630000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 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": [ 976053396, 689851 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.431000, -7.362000, 3.011308 ], "estimate": [ 3.431000, -7.362000, 3.011308 ], "true_pose": [ null, null, null ], "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": [ 1.050000, 1.060000, 1.060000, 1.060000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.210000, 1.210000, 1.230000, 1.240000, 1.260000, 1.270000, 1.300000, 1.300000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.430000, 1.460000, 1.480000, 1.500000, 1.520000, 1.560000, 1.600000, 1.630000, 1.360000, 1.710000, 1.740000, 1.790000, 1.840000, 1.890000, 1.940000, 2.000000, 2.050000, 2.120000, 2.190000, 2.270000, 2.260000, 2.240000, 2.220000, 2.200000, 2.190000, 2.170000, 2.170000, 2.260000, 2.390000, 2.520000, 2.690000, 2.870000, 3.090000, 3.330000, 3.630000, 3.970000, 4.360000, 4.850000, 5.420000, 9.510000, 8.550000, 8.540000, 9.780000, 9.750000, 9.770000, 9.780000, 12.170000, null, 12.180000, 12.180000, 5.180000, 5.040000, 3.850000, 3.360000, 2.990000, 2.670000, 2.420000, 2.220000, 2.060000, 1.930000, 1.790000, 1.670000, 1.580000, 1.490000, 1.410000, 1.330000, 1.260000, 1.210000, 1.150000, 1.110000, 1.050000, 1.020000, 0.980000, 0.940000, 0.910000, 0.880000, 0.850000, 0.830000, 0.790000, 0.770000, 0.740000, 0.730000, 0.720000, 0.690000, 0.680000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.570000, 0.570000, 0.560000, 0.560000, 0.540000, 0.540000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.470000, 0.470000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053396, 690780 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.371000, -7.354000, 2.992871 ], "estimate": [ 3.371000, -7.354000, 2.992871 ], "true_pose": [ null, null, null ], "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": [ 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.220000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.310000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.450000, 1.480000, 1.500000, 1.520000, 1.550000, 1.300000, 1.600000, 1.660000, 1.690000, 1.740000, 1.780000, 1.820000, 1.870000, 1.910000, 1.980000, 2.030000, 2.090000, 2.150000, 2.230000, 2.210000, 2.190000, 2.170000, 2.150000, 2.130000, 2.120000, 2.110000, 2.210000, 2.320000, 2.440000, 2.590000, 2.760000, 2.950000, 3.160000, 3.420000, 3.720000, 4.080000, 4.470000, 4.970000, 9.470000, 8.720000, 8.490000, 8.480000, 9.730000, 9.690000, 9.720000, 9.720000, 12.130000, null, null, 12.140000, 4.980000, 4.620000, 3.740000, 3.260000, 2.900000, 2.590000, 2.360000, 2.170000, 1.990000, 1.860000, 1.740000, 1.630000, 1.530000, 1.440000, 1.370000, 1.290000, 1.240000, 1.170000, 1.120000, 1.070000, 1.030000, 0.980000, 0.960000, 0.920000, 0.890000, 0.860000, 0.830000, 0.800000, 0.760000, 0.740000, 0.740000, 0.700000, 0.690000, 0.670000, 0.670000, 0.640000, 0.640000, 0.620000, 0.610000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.450000, 0.440000, 0.450000, 0.450000, 0.440000, 0.450000, 0.440000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000 ], "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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053396, 691789 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.315000, -7.345000, 2.949852 ], "estimate": [ 3.315000, -7.345000, 2.949852 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.200000, 1.220000, 1.220000, 1.230000, 1.250000, 1.260000, 1.280000, 1.300000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.400000, 1.430000, 1.460000, 1.480000, 1.510000, 1.520000, 1.310000, 1.590000, 1.620000, 1.660000, 1.700000, 1.740000, 1.780000, 1.820000, 1.870000, 1.910000, 1.970000, 2.030000, 2.090000, 2.150000, 2.180000, 2.150000, 2.130000, 2.120000, 2.100000, 2.090000, 2.070000, 2.110000, 2.200000, 2.300000, 2.430000, 2.560000, 2.740000, 2.910000, 3.130000, 3.370000, 3.670000, 3.990000, 4.380000, 4.850000, 9.420000, 9.400000, 8.440000, 8.440000, 9.680000, 9.640000, 9.650000, 9.650000, 12.060000, 12.070000, null, 12.070000, 12.090000, 4.940000, 3.910000, 3.360000, 2.980000, 2.650000, 2.380000, 2.190000, 2.020000, 1.880000, 1.740000, 1.630000, 1.530000, 1.440000, 1.370000, 1.290000, 1.230000, 1.170000, 1.120000, 1.060000, 1.020000, 0.980000, 0.950000, 0.900000, 0.880000, 0.850000, 0.810000, 0.780000, 0.760000, 0.730000, 0.730000, 0.700000, 0.680000, 0.670000, 0.650000, 0.640000, 0.620000, 0.610000, 0.600000, 0.580000, 0.580000, 0.580000, 0.560000, 0.560000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.440000, 0.440000, 0.430000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.440000, 0.440000, 0.440000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053396, 874171 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.260000, -7.333000, 2.906833 ], "estimate": [ 3.260000, -7.333000, 2.906833 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.310000, 1.320000, 1.340000, 1.350000, 1.370000, 1.390000, 1.410000, 1.440000, 1.460000, 1.490000, 1.250000, 1.540000, 1.560000, 1.600000, 1.630000, 1.670000, 1.700000, 1.750000, 1.780000, 1.820000, 1.870000, 1.920000, 1.980000, 2.040000, 2.100000, 2.140000, 2.110000, 2.090000, 2.080000, 2.060000, 2.040000, 2.030000, 2.030000, 2.110000, 2.210000, 2.310000, 2.440000, 2.570000, 2.730000, 2.910000, 3.130000, 3.370000, 3.650000, 3.990000, 4.380000, 4.820000, 9.370000, 9.350000, 8.400000, 8.370000, 9.620000, 9.600000, 9.600000, 9.600000, 12.000000, 12.000000, null, 12.020000, 12.040000, 4.880000, 3.920000, 3.400000, 2.980000, 2.650000, 2.390000, 2.190000, 2.000000, 1.860000, 1.730000, 1.620000, 1.530000, 1.430000, 1.360000, 1.280000, 1.230000, 1.160000, 1.110000, 1.050000, 1.010000, 0.970000, 0.930000, 0.890000, 0.870000, 0.830000, 0.800000, 0.780000, 0.760000, 0.730000, 0.710000, 0.700000, 0.670000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053397, 252441 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.203000, -7.319000, 2.894542 ], "estimate": [ 3.203000, -7.319000, 2.894542 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.290000, 1.300000, 1.320000, 1.340000, 1.350000, 1.370000, 1.390000, 1.420000, 1.440000, 1.230000, 1.500000, 1.520000, 1.550000, 1.590000, 1.610000, 1.640000, 1.680000, 1.710000, 1.750000, 1.800000, 1.840000, 1.890000, 1.930000, 1.990000, 2.050000, 2.090000, 2.060000, 2.050000, 2.030000, 2.020000, 2.000000, 1.990000, 1.970000, 2.030000, 2.120000, 2.230000, 2.340000, 2.460000, 2.590000, 2.760000, 2.930000, 3.150000, 3.400000, 3.690000, 4.010000, 4.390000, 4.860000, 9.300000, 9.300000, 8.330000, 8.330000, 9.570000, 9.530000, 9.540000, 9.550000, 11.950000, 11.950000, 11.960000, 11.970000, 11.990000, 4.830000, 3.830000, 3.310000, 2.910000, 2.580000, 2.340000, 2.150000, 1.960000, 1.820000, 1.700000, 1.590000, 1.500000, 1.410000, 1.330000, 1.260000, 1.190000, 1.140000, 1.080000, 1.030000, 0.990000, 0.950000, 0.910000, 0.880000, 0.850000, 0.820000, 0.800000, 0.770000, 0.730000, 0.710000, 0.690000, 0.670000, 0.670000, 0.650000, 0.640000, 0.630000, 0.610000, 0.590000, 0.580000, 0.580000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.430000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.430000 ], "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": [ 976053397, 274920 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.143000, -7.305000, 2.906833 ], "estimate": [ 3.143000, -7.305000, 2.906833 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.190000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.360000, 1.380000, 1.190000, 1.290000, 1.450000, 1.470000, 1.510000, 1.520000, 1.550000, 1.590000, 1.620000, 1.640000, 1.680000, 1.710000, 1.750000, 1.800000, 1.840000, 1.890000, 1.930000, 1.990000, 2.040000, 2.020000, 2.010000, 1.980000, 1.970000, 1.950000, 1.940000, 1.920000, 1.960000, 2.040000, 2.120000, 2.230000, 2.330000, 2.450000, 2.570000, 2.740000, 2.920000, 3.130000, 3.360000, 3.630000, 3.970000, 4.330000, 4.760000, 9.250000, 9.230000, 8.270000, 8.250000, 9.520000, 9.470000, 9.480000, 9.490000, 11.900000, 11.900000, null, 11.910000, 11.920000, 4.770000, 3.800000, 3.270000, 2.870000, 2.550000, 2.310000, 2.110000, 1.930000, 1.790000, 1.660000, 1.560000, 1.470000, 1.390000, 1.300000, 1.240000, 1.170000, 1.120000, 1.060000, 1.010000, 0.970000, 0.930000, 0.890000, 0.860000, 0.830000, 0.800000, 0.770000, 0.740000, 0.720000, 0.690000, 0.680000, 0.670000, 0.650000, 0.630000, 0.620000, 0.600000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053397, 474470 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.085000, -7.291000, 2.900688 ], "estimate": [ 3.085000, -7.291000, 2.900688 ], "true_pose": [ null, null, null ], "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": [ 1.100000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.180000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.250000, 1.260000, 1.270000, 1.290000, 1.300000, 1.330000, 1.340000, 1.350000, 1.120000, 1.390000, 1.410000, 1.440000, 1.460000, 1.490000, 1.510000, 1.540000, 1.570000, 1.610000, 1.630000, 1.660000, 1.690000, 1.740000, 1.770000, 1.820000, 1.870000, 1.910000, 1.950000, 2.000000, 1.980000, 1.960000, 1.950000, 1.920000, 1.910000, 1.890000, 1.870000, 1.910000, 1.990000, 2.060000, 2.150000, 2.260000, 2.370000, 2.480000, 2.610000, 2.780000, 2.960000, 3.170000, 3.420000, 3.700000, 4.030000, 4.400000, 4.860000, 9.200000, 9.170000, 8.220000, 8.200000, 9.460000, 9.410000, 9.430000, 9.430000, 11.840000, 11.830000, null, 11.860000, 11.860000, 4.710000, 3.730000, 3.210000, 2.820000, 2.510000, 2.260000, 2.060000, 1.880000, 1.750000, 1.630000, 1.520000, 1.430000, 1.350000, 1.270000, 1.200000, 1.140000, 1.090000, 1.030000, 0.990000, 0.940000, 0.910000, 0.880000, 0.830000, 0.810000, 0.780000, 0.750000, 0.720000, 0.700000, 0.680000, 0.660000, 0.660000, 0.640000, 0.620000, 0.610000, 0.590000, 0.580000, 0.580000, 0.560000, 0.550000, 0.550000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.460000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.410000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.410000, 0.400000, 0.410000, 0.410000, 0.410000, 0.410000, 0.420000, 0.410000, 0.400000, 0.400000, 0.410000, 0.410000, 0.400000, 0.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053397, 840669 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.031000, -7.277000, 2.876106 ], "estimate": [ 3.031000, -7.277000, 2.876106 ], "true_pose": [ null, null, null ], "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": [ 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.170000, 1.100000, 1.360000, 1.370000, 1.400000, 1.410000, 1.440000, 1.470000, 1.490000, 1.510000, 1.540000, 1.570000, 1.610000, 1.640000, 1.670000, 1.690000, 1.730000, 1.770000, 1.820000, 1.860000, 1.910000, 1.960000, 1.940000, 1.920000, 1.900000, 1.890000, 1.870000, 1.850000, 1.820000, 1.830000, 1.890000, 1.970000, 2.040000, 2.130000, 2.240000, 2.340000, 2.450000, 2.590000, 2.740000, 2.910000, 3.110000, 3.340000, 3.610000, 3.910000, 4.260000, 4.680000, 9.150000, 9.130000, 8.150000, 8.150000, 9.410000, 9.390000, 9.360000, 9.380000, 9.380000, 11.790000, 10.530000, 11.790000, 11.800000, 4.670000, 4.070000, 3.410000, 2.970000, 2.630000, 2.340000, 2.130000, 1.950000, 1.790000, 1.660000, 1.550000, 1.450000, 1.370000, 1.290000, 1.220000, 1.150000, 1.090000, 1.030000, 0.990000, 0.950000, 0.910000, 0.880000, 0.830000, 0.800000, 0.770000, 0.740000, 0.720000, 0.700000, 0.680000, 0.660000, 0.640000, 0.630000, 0.620000, 0.590000, 0.580000, 0.580000, 0.560000, 0.550000, 0.530000, 0.530000, 0.530000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.410000, 0.410000, 0.420000, 0.410000, 0.410000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053397, 914334 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.977000, -7.262000, 2.851524 ], "estimate": [ 2.977000, -7.262000, 2.851524 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.160000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.320000, 1.340000, 1.350000, 1.360000, 1.390000, 1.410000, 1.430000, 1.450000, 1.480000, 1.510000, 1.520000, 1.560000, 1.590000, 1.610000, 1.650000, 1.680000, 1.700000, 1.750000, 1.790000, 1.830000, 1.880000, 1.930000, 1.910000, 1.880000, 1.860000, 1.850000, 1.830000, 1.810000, 1.780000, 1.780000, 1.850000, 1.920000, 2.000000, 2.070000, 2.170000, 2.250000, 2.370000, 2.480000, 2.610000, 2.770000, 2.940000, 3.150000, 3.400000, 3.650000, 3.970000, 4.320000, 4.760000, 9.090000, 9.080000, 8.110000, 8.110000, 9.360000, 9.330000, 9.300000, 9.320000, 9.380000, 11.720000, null, 11.740000, 11.740000, 4.620000, 3.730000, 3.290000, 2.860000, 2.550000, 2.270000, 2.070000, 1.900000, 1.740000, 1.620000, 1.500000, 1.410000, 1.340000, 1.250000, 1.190000, 1.120000, 1.060000, 1.010000, 0.960000, 0.920000, 0.890000, 0.850000, 0.810000, 0.780000, 0.750000, 0.730000, 0.710000, 0.690000, 0.660000, 0.650000, 0.630000, 0.610000, 0.600000, 0.570000, 0.580000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.480000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.430000, 0.420000, 0.430000, 0.420000, 0.410000, 0.410000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.400000, 0.390000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053398, 415459 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.920000, -7.245000, 2.826942 ], "estimate": [ 2.920000, -7.245000, 2.826942 ], "true_pose": [ null, null, null ], "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, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.150000, 1.160000, 1.170000, 1.180000, 1.180000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.100000, 1.280000, 1.300000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.390000, 1.420000, 1.440000, 1.470000, 1.500000, 1.510000, 1.540000, 1.570000, 1.610000, 1.630000, 1.670000, 1.690000, 1.730000, 1.760000, 1.810000, 1.850000, 1.870000, 1.850000, 1.830000, 1.810000, 1.780000, 1.780000, 1.760000, 1.720000, 1.760000, 1.820000, 1.890000, 1.950000, 2.030000, 2.120000, 2.210000, 2.300000, 2.410000, 2.530000, 2.680000, 2.830000, 3.010000, 3.230000, 3.470000, 3.750000, 4.080000, 4.460000, 4.910000, 9.040000, 9.010000, 8.060000, 8.040000, 9.290000, 9.270000, 9.260000, 9.260000, 11.680000, 11.670000, 11.690000, 11.670000, 11.700000, 4.540000, 3.580000, 3.140000, 2.750000, 2.450000, 2.190000, 1.990000, 1.830000, 1.680000, 1.560000, 1.460000, 1.380000, 1.290000, 1.220000, 1.160000, 1.080000, 1.030000, 0.990000, 0.940000, 0.890000, 0.870000, 0.830000, 0.790000, 0.760000, 0.740000, 0.710000, 0.690000, 0.670000, 0.650000, 0.640000, 0.620000, 0.600000, 0.580000, 0.580000, 0.570000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.450000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.390000, 0.390000, 0.380000, 0.390000, 0.380000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000 ], "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": [ 976053398, 416664 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.863000, -7.226000, 2.820796 ], "estimate": [ 2.863000, -7.226000, 2.820796 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.200000, 1.200000, 1.220000, 1.230000, 1.050000, 1.090000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.350000, 1.370000, 1.390000, 1.420000, 1.440000, 1.460000, 1.490000, 1.510000, 1.530000, 1.560000, 1.590000, 1.620000, 1.660000, 1.690000, 1.710000, 1.750000, 1.790000, 1.820000, 1.830000, 1.790000, 1.770000, 1.760000, 1.740000, 1.720000, 1.720000, 1.690000, 1.740000, 1.800000, 1.850000, 1.920000, 1.990000, 2.070000, 2.160000, 2.240000, 2.350000, 2.470000, 2.600000, 2.750000, 2.910000, 3.110000, 3.330000, 3.600000, 3.880000, 4.220000, 4.640000, 8.990000, 8.980000, 8.010000, 8.000000, 7.980000, 9.230000, 9.190000, 9.220000, 9.220000, 11.610000, 10.420000, 11.630000, 11.630000, 4.630000, 4.480000, 3.390000, 2.920000, 2.570000, 2.290000, 2.070000, 1.890000, 1.730000, 1.600000, 1.500000, 1.410000, 1.330000, 1.250000, 1.180000, 1.110000, 1.050000, 1.000000, 0.950000, 0.900000, 0.870000, 0.830000, 0.800000, 0.770000, 0.740000, 0.720000, 0.690000, 0.660000, 0.650000, 0.640000, 0.610000, 0.600000, 0.590000, 0.570000, 0.570000, 0.550000, 0.540000, 0.530000, 0.510000, 0.510000, 0.500000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.380000, 0.390000, 0.380000, 0.390000, 0.380000, 0.390000 ], "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": [ 976053398, 504176 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.807000, -7.207000, 2.802360 ], "estimate": [ 2.807000, -7.207000, 2.802360 ], "true_pose": [ null, null, null ], "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": [ 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.210000, 1.210000, 1.060000, 1.230000, 1.230000, 1.240000, 1.260000, 1.270000, 1.270000, 1.290000, 1.300000, 1.320000, 1.340000, 1.350000, 1.360000, 1.390000, 1.400000, 1.420000, 1.450000, 1.470000, 1.500000, 1.510000, 1.550000, 1.580000, 1.600000, 1.630000, 1.670000, 1.690000, 1.720000, 1.760000, 1.800000, 1.770000, 1.750000, 1.720000, 1.700000, 1.690000, 1.680000, 1.640000, 1.640000, 1.690000, 1.740000, 1.810000, 1.870000, 1.940000, 2.010000, 2.090000, 2.180000, 2.270000, 2.380000, 2.480000, 2.620000, 2.770000, 2.940000, 3.140000, 3.360000, 3.630000, 3.930000, 4.250000, 4.670000, 8.940000, 8.920000, 7.950000, 7.940000, 9.200000, 9.180000, 9.140000, 9.150000, 9.160000, 11.560000, 10.340000, 11.560000, 11.560000, 4.530000, 4.420000, 3.340000, 2.870000, 2.520000, 2.250000, 2.040000, 1.850000, 1.710000, 1.580000, 1.460000, 1.390000, 1.300000, 1.230000, 1.150000, 1.090000, 1.030000, 0.970000, 0.920000, 0.890000, 0.850000, 0.820000, 0.780000, 0.750000, 0.730000, 0.690000, 0.670000, 0.660000, 0.640000, 0.620000, 0.600000, 0.580000, 0.580000, 0.550000, 0.550000, 0.540000, 0.520000, 0.520000, 0.510000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.440000, 0.420000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.370000, 0.370000, 0.360000, 0.370000, 0.380000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.380000, 0.370000, 0.380000 ], "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": [ 976053398, 834702 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.754000, -7.188000, 2.790069 ], "estimate": [ 2.754000, -7.188000, 2.790069 ], "true_pose": [ null, null, null ], "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": [ 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.180000, 1.190000, 1.000000, 1.050000, 1.220000, 1.230000, 1.230000, 1.230000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.320000, 1.340000, 1.350000, 1.360000, 1.390000, 1.400000, 1.420000, 1.450000, 1.470000, 1.500000, 1.510000, 1.540000, 1.570000, 1.600000, 1.620000, 1.660000, 1.690000, 1.710000, 1.760000, 1.740000, 1.710000, 1.700000, 1.670000, 1.650000, 1.640000, 1.630000, 1.600000, 1.640000, 1.680000, 1.740000, 1.810000, 1.860000, 1.930000, 2.000000, 2.070000, 2.160000, 2.240000, 2.350000, 2.470000, 2.590000, 2.730000, 2.900000, 3.080000, 3.300000, 3.550000, 3.830000, 4.160000, 4.550000, 8.890000, 8.860000, 7.930000, 7.890000, 7.890000, 9.140000, 9.090000, 9.090000, 9.090000, 11.510000, 11.510000, 10.270000, 11.530000, 11.540000, 4.370000, 3.420000, 2.980000, 2.610000, 2.330000, 2.080000, 1.880000, 1.730000, 1.590000, 1.480000, 1.390000, 1.300000, 1.230000, 1.160000, 1.090000, 1.030000, 0.990000, 0.930000, 0.890000, 0.850000, 0.810000, 0.780000, 0.760000, 0.720000, 0.690000, 0.670000, 0.650000, 0.630000, 0.620000, 0.590000, 0.580000, 0.580000, 0.560000, 0.540000, 0.540000, 0.530000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.360000, 0.360000, 0.350000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.370000, 0.370000, 0.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053398, 875198 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.700000, -7.169000, 2.783923 ], "estimate": [ 2.700000, -7.169000, 2.783923 ], "true_pose": [ null, null, null ], "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": [ 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.030000, 1.160000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.280000, 1.290000, 1.310000, 1.330000, 1.340000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.480000, 1.500000, 1.520000, 1.550000, 1.570000, 1.610000, 1.630000, 1.670000, 1.690000, 1.710000, 1.690000, 1.670000, 1.650000, 1.620000, 1.600000, 1.580000, 1.560000, 1.550000, 1.600000, 1.640000, 1.690000, 1.740000, 1.810000, 1.860000, 1.930000, 2.000000, 2.070000, 2.170000, 2.250000, 2.350000, 2.460000, 2.590000, 2.720000, 2.890000, 3.070000, 3.290000, 3.540000, 3.810000, 4.130000, 4.510000, 8.840000, 8.810000, 7.920000, 7.840000, 7.840000, 9.080000, 9.040000, 9.020000, 9.050000, 11.450000, 11.440000, null, 11.450000, 11.460000, 4.310000, 3.360000, 2.980000, 2.610000, 2.320000, 2.070000, 1.880000, 1.720000, 1.580000, 1.470000, 1.380000, 1.290000, 1.210000, 1.150000, 1.080000, 1.030000, 0.960000, 0.920000, 0.880000, 0.840000, 0.800000, 0.760000, 0.730000, 0.700000, 0.680000, 0.660000, 0.640000, 0.630000, 0.600000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.340000, 0.350000, 0.350000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000 ], "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, 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 ], "timestamp": [ 976053399, 321414 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.643000, -7.147000, 2.777778 ], "estimate": [ 2.643000, -7.147000, 2.777778 ], "true_pose": [ null, null, null ], "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": [ 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.160000, 1.160000, 1.160000, 1.160000, 0.990000, 1.020000, 1.180000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.290000, 1.310000, 1.330000, 1.340000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.470000, 1.500000, 1.510000, 1.540000, 1.570000, 1.600000, 1.630000, 1.660000, 1.690000, 1.650000, 1.620000, 1.620000, 1.590000, 1.570000, 1.540000, 1.540000, 1.510000, 1.540000, 1.590000, 1.640000, 1.670000, 1.730000, 1.790000, 1.850000, 1.910000, 1.990000, 2.050000, 2.140000, 2.230000, 2.320000, 2.440000, 2.560000, 2.680000, 2.840000, 3.010000, 3.210000, 3.450000, 3.720000, 4.020000, 4.370000, 8.800000, 8.770000, 8.760000, 7.790000, 7.790000, 9.040000, 9.010000, 8.980000, 8.990000, 9.000000, 11.400000, null, 11.410000, 11.410000, 4.260000, 4.240000, 3.150000, 2.720000, 2.390000, 2.160000, 1.930000, 1.750000, 1.610000, 1.500000, 1.400000, 1.300000, 1.230000, 1.160000, 1.100000, 1.030000, 0.980000, 0.920000, 0.880000, 0.840000, 0.800000, 0.760000, 0.730000, 0.710000, 0.690000, 0.660000, 0.650000, 0.630000, 0.600000, 0.580000, 0.570000, 0.560000, 0.550000, 0.530000, 0.520000, 0.500000, 0.490000, 0.490000, 0.470000, 0.470000, 0.470000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.390000, 0.390000, 0.380000, 0.380000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000, 0.350000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.350000, 0.350000, 0.350000, 0.340000, 0.350000, 0.360000, 0.350000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053399, 344398 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.586000, -7.126000, 2.765487 ], "estimate": [ 2.586000, -7.126000, 2.765487 ], "true_pose": [ null, null, null ], "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": [ 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.160000, 1.130000, 1.160000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.290000, 1.310000, 1.330000, 1.350000, 1.350000, 1.360000, 1.390000, 1.400000, 1.420000, 1.450000, 1.470000, 1.500000, 1.510000, 1.530000, 1.560000, 1.590000, 1.610000, 1.640000, 1.610000, 1.580000, 1.560000, 1.540000, 1.520000, 1.500000, 1.480000, 1.460000, 1.500000, 1.530000, 1.580000, 1.610000, 1.660000, 1.710000, 1.770000, 1.830000, 1.890000, 1.960000, 2.040000, 2.110000, 2.200000, 2.290000, 2.390000, 2.500000, 2.630000, 2.780000, 2.940000, 3.130000, 3.340000, 3.590000, 3.870000, 4.210000, 4.600000, 8.720000, 8.710000, 7.720000, 7.720000, 7.940000, 8.950000, 8.910000, 8.930000, 8.930000, 11.330000, 11.330000, null, 11.350000, 11.350000, 4.200000, 3.240000, 2.870000, 2.520000, 2.240000, 2.000000, 1.810000, 1.650000, 1.540000, 1.420000, 1.330000, 1.250000, 1.180000, 1.100000, 1.040000, 0.990000, 0.940000, 0.880000, 0.850000, 0.800000, 0.780000, 0.740000, 0.720000, 0.680000, 0.660000, 0.640000, 0.620000, 0.600000, 0.580000, 0.570000, 0.560000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.370000, 0.370000, 0.360000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.340000, 0.350000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.350000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.340000, 0.350000, 0.340000, 0.340000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053399, 543998 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.532000, -7.104000, 2.734759 ], "estimate": [ 2.532000, -7.104000, 2.734759 ], "true_pose": [ null, null, null ], "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": [ 1.150000, 1.150000, 1.150000, 1.020000, 1.160000, 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.290000, 1.290000, 1.300000, 1.320000, 1.340000, 1.350000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.480000, 1.510000, 1.520000, 1.550000, 1.580000, 1.610000, 1.580000, 1.550000, 1.520000, 1.510000, 1.490000, 1.460000, 1.440000, 1.420000, 1.450000, 1.490000, 1.510000, 1.560000, 1.600000, 1.650000, 1.690000, 1.740000, 1.800000, 1.860000, 1.920000, 2.000000, 2.060000, 2.150000, 2.240000, 2.350000, 2.450000, 2.560000, 2.690000, 2.850000, 3.010000, 3.220000, 3.450000, 3.710000, 4.000000, 4.360000, 8.700000, 8.670000, 8.630000, 7.680000, 7.660000, 8.920000, 8.900000, 8.870000, 8.870000, 8.880000, 11.280000, 10.120000, 11.300000, 11.290000, 11.310000, 4.140000, 3.170000, 2.720000, 2.390000, 2.140000, 1.920000, 1.750000, 1.600000, 1.480000, 1.390000, 1.290000, 1.220000, 1.140000, 1.070000, 1.020000, 0.960000, 0.910000, 0.860000, 0.820000, 0.790000, 0.750000, 0.730000, 0.690000, 0.670000, 0.660000, 0.630000, 0.600000, 0.590000, 0.570000, 0.560000, 0.550000, 0.530000, 0.520000, 0.510000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.440000, 0.430000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000, 0.340000, 0.340000, 0.340000, 0.330000, 0.340000, 0.330000, 0.340000, 0.340000, 0.320000, 0.330000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.350000, 0.350000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000 ], "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": [ 976053399, 930415 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.482000, -7.081000, 2.691740 ], "estimate": [ 2.482000, -7.081000, 2.691740 ], "true_pose": [ null, null, null ], "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": [ 1.140000, 1.150000, 0.960000, 1.150000, 1.150000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.280000, 1.300000, 1.310000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.390000, 1.410000, 1.430000, 1.450000, 1.480000, 1.500000, 1.520000, 1.550000, 1.570000, 1.520000, 1.500000, 1.480000, 1.460000, 1.440000, 1.410000, 1.400000, 1.380000, 1.400000, 1.440000, 1.480000, 1.510000, 1.550000, 1.600000, 1.640000, 1.680000, 1.740000, 1.790000, 1.850000, 1.910000, 1.980000, 2.050000, 2.130000, 2.230000, 2.330000, 2.420000, 2.540000, 2.670000, 2.810000, 2.990000, 3.170000, 3.400000, 3.640000, 3.940000, 4.280000, 8.630000, 8.610000, 8.590000, 7.630000, 7.600000, 8.860000, 8.850000, 8.800000, 8.820000, 8.810000, 11.220000, 11.220000, 11.220000, 11.240000, 11.240000, 4.090000, 3.190000, 2.850000, 2.500000, 2.200000, 1.990000, 1.790000, 1.640000, 1.510000, 1.400000, 1.310000, 1.230000, 1.160000, 1.090000, 1.030000, 0.960000, 0.920000, 0.880000, 0.830000, 0.790000, 0.760000, 0.730000, 0.710000, 0.670000, 0.660000, 0.630000, 0.620000, 0.600000, 0.580000, 0.560000, 0.550000, 0.540000, 0.530000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.340000, 0.330000, 0.340000, 0.340000, 0.330000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.330000, 0.330000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.350000, 0.340000, 0.340000, 0.340000, 0.340000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053399, 931584 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.430000, -7.055000, 2.636431 ], "estimate": [ 2.430000, -7.055000, 2.636431 ], "true_pose": [ null, null, null ], "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": [ 1.140000, 1.010000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.160000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.330000, 1.340000, 1.350000, 1.360000, 1.380000, 1.400000, 1.410000, 1.440000, 1.460000, 1.480000, 1.510000, 1.520000, 1.510000, 1.480000, 1.450000, 1.420000, 1.410000, 1.380000, 1.360000, 1.330000, 1.350000, 1.380000, 1.410000, 1.450000, 1.490000, 1.510000, 1.560000, 1.600000, 1.660000, 1.700000, 1.740000, 1.810000, 1.870000, 1.940000, 2.010000, 2.090000, 2.170000, 2.260000, 2.360000, 2.470000, 2.580000, 2.720000, 2.880000, 3.050000, 3.250000, 3.490000, 3.760000, 4.070000, 4.440000, 8.580000, 8.560000, 7.830000, 7.570000, 7.560000, 8.810000, 8.780000, 8.750000, 8.770000, 8.800000, 11.160000, 10.020000, 11.180000, 11.200000, 11.200000, 4.040000, 3.070000, 2.700000, 2.390000, 2.120000, 1.930000, 1.740000, 1.600000, 1.480000, 1.380000, 1.280000, 1.210000, 1.140000, 1.070000, 1.010000, 0.950000, 0.900000, 0.870000, 0.830000, 0.790000, 0.760000, 0.730000, 0.700000, 0.680000, 0.660000, 0.640000, 0.630000, 0.590000, 0.570000, 0.570000, 0.560000, 0.550000, 0.530000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.410000, 0.410000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.340000, 0.330000, 0.330000, 0.340000, 0.340000, 0.340000, 0.350000, 0.340000, 0.350000, 0.340000, 0.340000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000 ], "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": [ 976053400, 124348 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.403000, -7.040000, 2.605703 ], "estimate": [ 2.403000, -7.040000, 2.605703 ], "true_pose": [ null, null, null ], "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": [ 1.140000, 1.040000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.160000, 1.160000, 1.150000, 1.160000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.250000, 1.260000, 1.270000, 1.280000, 1.300000, 1.310000, 1.320000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.410000, 1.440000, 1.460000, 1.480000, 1.460000, 1.430000, 1.400000, 1.370000, 1.350000, 1.340000, 1.310000, 1.280000, 1.290000, 1.320000, 1.350000, 1.370000, 1.410000, 1.450000, 1.490000, 1.510000, 1.560000, 1.600000, 1.660000, 1.700000, 1.750000, 1.810000, 1.880000, 1.940000, 2.010000, 2.100000, 2.170000, 2.260000, 2.380000, 2.490000, 2.600000, 2.740000, 2.900000, 3.080000, 3.300000, 3.540000, 3.800000, 4.150000, 8.530000, 8.500000, 8.480000, 7.500000, 7.500000, 7.700000, 8.740000, 8.700000, 8.700000, 8.700000, 11.110000, 11.100000, 9.980000, 11.100000, 11.130000, 4.170000, 3.980000, 3.020000, 2.650000, 2.360000, 2.110000, 1.930000, 1.730000, 1.600000, 1.480000, 1.390000, 1.280000, 1.210000, 1.140000, 1.080000, 1.020000, 0.970000, 0.920000, 0.880000, 0.850000, 0.810000, 0.770000, 0.740000, 0.720000, 0.690000, 0.670000, 0.640000, 0.630000, 0.610000, 0.590000, 0.570000, 0.560000, 0.550000, 0.530000, 0.530000, 0.510000, 0.500000, 0.490000, 0.490000, 0.470000, 0.470000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000, 0.340000, 0.340000, 0.350000, 0.360000, 0.350000, 0.350000, 0.360000 ], "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": [ 976053400, 427248 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.326000, -6.993000, 2.599557 ], "estimate": [ 2.326000, -6.993000, 2.599557 ], "true_pose": [ null, null, null ], "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": [ 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.160000, 1.150000, 1.150000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.210000, 1.210000, 1.230000, 1.230000, 1.240000, 1.260000, 1.270000, 1.280000, 1.300000, 1.310000, 1.330000, 1.350000, 1.360000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.410000, 1.380000, 1.350000, 1.330000, 1.300000, 1.290000, 1.260000, 1.240000, 1.250000, 1.270000, 1.300000, 1.330000, 1.350000, 1.390000, 1.420000, 1.470000, 1.500000, 1.540000, 1.580000, 1.620000, 1.680000, 1.730000, 1.780000, 1.840000, 1.910000, 1.980000, 2.050000, 2.130000, 2.230000, 2.320000, 2.420000, 2.540000, 2.680000, 2.820000, 2.990000, 3.190000, 3.430000, 3.700000, 4.000000, 4.340000, 8.460000, 8.440000, 7.510000, 7.450000, 7.450000, 8.690000, 8.660000, 8.630000, 8.640000, 8.690000, 11.060000, 11.050000, 11.070000, 11.070000, 11.090000, 3.920000, 3.020000, 2.730000, 2.430000, 2.180000, 1.960000, 1.800000, 1.650000, 1.520000, 1.400000, 1.310000, 1.240000, 1.170000, 1.100000, 1.040000, 0.990000, 0.940000, 0.900000, 0.860000, 0.820000, 0.800000, 0.760000, 0.730000, 0.700000, 0.690000, 0.660000, 0.650000, 0.630000, 0.610000, 0.580000, 0.570000, 0.570000, 0.550000, 0.540000, 0.520000, 0.520000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.460000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.380000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.360000, 0.360000, 0.370000, 0.350000, 0.370000, 0.370000, 0.370000, 0.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053400, 514143 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.302000, -6.979000, 2.599557 ], "estimate": [ 2.302000, -6.979000, 2.599557 ], "true_pose": [ null, null, null ], "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": [ 1.130000, 1.130000, 1.130000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.250000, 1.260000, 1.270000, 1.280000, 1.300000, 1.320000, 1.330000, 1.340000, 1.350000, 1.370000, 1.380000, 1.390000, 1.360000, 1.340000, 1.310000, 1.280000, 1.250000, 1.230000, 1.220000, 1.190000, 1.210000, 1.230000, 1.250000, 1.280000, 1.300000, 1.340000, 1.360000, 1.390000, 1.440000, 1.480000, 1.510000, 1.540000, 1.600000, 1.640000, 1.680000, 1.740000, 1.800000, 1.860000, 1.930000, 2.000000, 2.070000, 2.160000, 2.250000, 2.350000, 2.460000, 2.570000, 2.720000, 2.880000, 3.050000, 3.270000, 3.510000, 3.800000, 4.120000, 8.410000, 8.390000, 8.370000, 7.390000, 7.380000, 8.640000, 8.620000, 8.580000, 8.590000, 8.590000, 11.000000, 10.990000, 9.860000, 11.010000, 11.020000, 4.100000, 3.860000, 2.910000, 2.620000, 2.330000, 2.120000, 1.920000, 1.750000, 1.600000, 1.500000, 1.390000, 1.290000, 1.220000, 1.160000, 1.100000, 1.020000, 0.980000, 0.930000, 0.890000, 0.860000, 0.810000, 0.780000, 0.750000, 0.730000, 0.710000, 0.670000, 0.660000, 0.640000, 0.620000, 0.600000, 0.580000, 0.570000, 0.570000, 0.550000, 0.540000, 0.530000, 0.520000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.360000, 0.370000, 0.370000, 0.370000, 0.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053400, 962309 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.254000, -6.951000, 2.599557 ], "estimate": [ 2.254000, -6.951000, 2.599557 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.320000, 1.340000, 1.360000, 1.370000, 1.360000, 1.320000, 1.290000, 1.260000, 1.230000, 1.210000, 1.180000, 1.160000, 1.160000, 1.170000, 1.190000, 1.220000, 1.240000, 1.270000, 1.300000, 1.320000, 1.360000, 1.390000, 1.420000, 1.470000, 1.510000, 1.530000, 1.580000, 1.620000, 1.680000, 1.720000, 1.780000, 1.840000, 1.910000, 1.980000, 2.060000, 2.140000, 2.240000, 2.340000, 2.440000, 2.560000, 2.700000, 2.860000, 3.030000, 3.240000, 3.480000, 3.760000, 4.080000, 8.370000, 8.340000, 8.330000, 7.340000, 7.320000, 7.310000, 8.580000, 8.520000, 8.530000, 8.540000, 10.940000, 10.940000, 9.790000, 10.950000, 10.970000, 10.980000, 3.820000, 2.940000, 2.670000, 2.380000, 2.150000, 1.950000, 1.790000, 1.650000, 1.510000, 1.400000, 1.320000, 1.250000, 1.170000, 1.110000, 1.060000, 0.990000, 0.940000, 0.900000, 0.860000, 0.820000, 0.790000, 0.760000, 0.740000, 0.720000, 0.690000, 0.670000, 0.660000, 0.640000, 0.610000, 0.600000, 0.580000, 0.570000, 0.560000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.440000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.370000, 0.370000, 0.370000, 0.370000, 0.380000, 0.380000, 0.370000, 0.380000 ], "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": [ 976053400, 963487 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.203000, -6.920000, 2.593412 ], "estimate": [ 2.203000, -6.920000, 2.593412 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.130000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.160000, 1.160000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.310000, 1.330000, 1.340000, 1.310000, 1.270000, 1.240000, 1.220000, 1.190000, 1.160000, 1.140000, 1.120000, 1.130000, 1.140000, 1.160000, 1.180000, 1.210000, 1.230000, 1.250000, 1.280000, 1.310000, 1.340000, 1.360000, 1.400000, 1.440000, 1.480000, 1.510000, 1.550000, 1.600000, 1.650000, 1.700000, 1.740000, 1.810000, 1.880000, 1.940000, 2.010000, 2.100000, 2.180000, 2.270000, 2.380000, 2.500000, 2.630000, 2.770000, 2.940000, 3.140000, 3.360000, 3.620000, 3.920000, 8.310000, 8.310000, 8.260000, 7.350000, 7.290000, 7.280000, 8.520000, 8.510000, 8.470000, 8.490000, 8.510000, 10.890000, 9.740000, null, 10.910000, 10.920000, 3.790000, 3.750000, 2.800000, 2.520000, 2.270000, 2.060000, 1.860000, 1.730000, 1.590000, 1.480000, 1.370000, 1.290000, 1.220000, 1.150000, 1.100000, 1.040000, 0.990000, 0.920000, 0.890000, 0.860000, 0.820000, 0.790000, 0.750000, 0.730000, 0.720000, 0.690000, 0.660000, 0.660000, 0.640000, 0.620000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.380000, 0.380000, 0.380000, 0.380000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053401, 549880 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.152000, -6.889000, 2.587266 ], "estimate": [ 2.152000, -6.889000, 2.587266 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.120000, 1.110000, 1.120000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.180000, 1.200000, 1.200000, 1.210000, 1.230000, 1.240000, 1.240000, 1.250000, 1.270000, 1.290000, 1.300000, 1.290000, 1.250000, 1.220000, 1.180000, 1.150000, 1.130000, 1.110000, 1.070000, 1.080000, 1.100000, 1.120000, 1.140000, 1.140000, 1.170000, 1.190000, 1.220000, 1.230000, 1.260000, 1.290000, 1.320000, 1.360000, 1.380000, 1.420000, 1.460000, 1.500000, 1.530000, 1.580000, 1.620000, 1.680000, 1.720000, 1.780000, 1.850000, 1.920000, 1.990000, 2.060000, 2.150000, 2.240000, 2.340000, 2.460000, 2.580000, 2.720000, 2.880000, 3.070000, 3.290000, 3.550000, 3.820000, 4.150000, 8.240000, 8.230000, 7.680000, 7.230000, 7.240000, 8.470000, 8.450000, 8.430000, 8.430000, 8.440000, 10.840000, 10.830000, 9.650000, 10.850000, 10.870000, 10.320000, 3.710000, 3.040000, 2.640000, 2.350000, 2.130000, 1.940000, 1.780000, 1.650000, 1.520000, 1.410000, 1.330000, 1.260000, 1.190000, 1.130000, 1.050000, 1.010000, 0.970000, 0.910000, 0.880000, 0.840000, 0.800000, 0.780000, 0.760000, 0.730000, 0.710000, 0.680000, 0.660000, 0.640000, 0.630000, 0.600000, 0.590000, 0.580000, 0.580000, 0.550000, 0.550000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.430000, 0.420000, 0.430000, 0.420000, 0.400000, 0.410000, 0.400000, 0.400000, 0.390000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.380000, 0.380000, 0.390000, 0.390000, 0.390000, 0.390000 ], "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": [ 976053401, 524870 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.102000, -6.859000, 2.581121 ], "estimate": [ 2.102000, -6.859000, 2.581121 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.180000, 1.200000, 1.200000, 1.210000, 1.220000, 1.240000, 1.240000, 1.260000, 1.260000, 1.230000, 1.200000, 1.160000, 1.130000, 1.110000, 1.080000, 1.050000, 1.030000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.130000, 1.150000, 1.170000, 1.200000, 1.220000, 1.240000, 1.270000, 1.300000, 1.330000, 1.360000, 1.390000, 1.420000, 1.470000, 1.510000, 1.540000, 1.600000, 1.650000, 1.690000, 1.740000, 1.810000, 1.870000, 1.930000, 2.020000, 2.090000, 2.190000, 2.280000, 2.400000, 2.510000, 2.630000, 2.790000, 2.950000, 3.160000, 3.400000, 3.670000, 3.980000, 8.210000, 8.190000, 8.160000, 7.190000, 7.170000, 7.390000, 8.420000, 8.370000, 8.380000, 8.390000, 10.790000, 10.760000, 10.780000, 10.790000, 10.800000, 10.820000, 3.680000, 3.650000, 2.710000, 2.510000, 2.270000, 2.060000, 1.880000, 1.730000, 1.610000, 1.500000, 1.390000, 1.300000, 1.240000, 1.170000, 1.110000, 1.050000, 1.000000, 0.950000, 0.900000, 0.870000, 0.830000, 0.800000, 0.780000, 0.750000, 0.730000, 0.700000, 0.670000, 0.660000, 0.640000, 0.630000, 0.620000, 0.600000, 0.580000, 0.580000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.400000, 0.400000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.390000, 0.390000, 0.390000 ], "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": [ 976053401, 525990 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.053000, -6.828000, 2.568830 ], "estimate": [ 2.053000, -6.828000, 2.568830 ], "true_pose": [ null, null, null ], "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": [ 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.180000, 1.150000, 1.120000, 1.090000, 1.050000, 1.020000, 1.000000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.080000, 1.100000, 1.110000, 1.130000, 1.150000, 1.170000, 1.200000, 1.220000, 1.240000, 1.260000, 1.300000, 1.330000, 1.360000, 1.390000, 1.430000, 1.470000, 1.510000, 1.550000, 1.600000, 1.650000, 1.700000, 1.740000, 1.820000, 1.890000, 1.940000, 2.030000, 2.110000, 2.200000, 2.300000, 2.400000, 2.540000, 2.670000, 2.830000, 3.020000, 3.230000, 3.470000, 3.760000, 4.060000, 8.140000, 8.130000, 7.480000, 7.120000, 7.110000, 8.370000, 8.350000, 8.310000, 8.330000, 8.340000, 10.730000, 10.740000, 9.600000, 10.750000, 10.760000, 10.750000, 3.610000, 3.590000, 2.650000, 2.430000, 2.200000, 2.010000, 1.850000, 1.690000, 1.590000, 1.490000, 1.400000, 1.300000, 1.240000, 1.170000, 1.110000, 1.040000, 1.000000, 0.950000, 0.920000, 0.880000, 0.850000, 0.820000, 0.790000, 0.750000, 0.730000, 0.710000, 0.680000, 0.660000, 0.660000, 0.640000, 0.610000, 0.600000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.490000, 0.490000, 0.490000, 0.490000, 0.470000, 0.470000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.410000, 0.400000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.400000, 0.390000, 0.390000, 0.400000, 0.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053401, 683977 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.003000, -6.796000, 2.568830 ], "estimate": [ 2.003000, -6.796000, 2.568830 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.080000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.200000, 1.160000, 1.120000, 1.100000, 1.070000, 1.020000, 0.990000, 0.970000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.070000, 1.100000, 1.120000, 1.130000, 1.140000, 1.170000, 1.200000, 1.220000, 1.240000, 1.270000, 1.300000, 1.330000, 1.360000, 1.400000, 1.440000, 1.480000, 1.520000, 1.570000, 1.610000, 1.670000, 1.720000, 1.770000, 1.830000, 1.910000, 1.980000, 2.060000, 2.140000, 2.240000, 2.340000, 2.460000, 2.590000, 2.740000, 2.920000, 3.110000, 3.330000, 3.600000, 3.920000, 8.090000, 8.070000, 8.050000, 7.070000, 7.050000, 7.260000, 8.310000, 8.270000, 8.270000, 8.280000, 10.670000, 10.680000, 9.520000, null, 10.690000, 10.710000, 3.860000, 3.560000, 3.560000, 2.610000, 2.330000, 2.120000, 1.940000, 1.800000, 1.670000, 1.560000, 1.460000, 1.380000, 1.300000, 1.220000, 1.160000, 1.100000, 1.040000, 1.000000, 0.950000, 0.910000, 0.880000, 0.850000, 0.820000, 0.780000, 0.750000, 0.730000, 0.720000, 0.680000, 0.660000, 0.660000, 0.630000, 0.620000, 0.610000, 0.590000, 0.590000, 0.580000, 0.570000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053402, 101289 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.953000, -6.764000, 2.562684 ], "estimate": [ 1.953000, -6.764000, 2.562684 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.140000, 1.090000, 1.060000, 1.020000, 0.990000, 0.960000, 0.920000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.120000, 1.130000, 1.150000, 1.170000, 1.200000, 1.230000, 1.250000, 1.280000, 1.310000, 1.350000, 1.370000, 1.410000, 1.450000, 1.500000, 1.520000, 1.570000, 1.630000, 1.680000, 1.740000, 1.800000, 1.860000, 1.930000, 2.010000, 2.090000, 2.190000, 2.280000, 2.390000, 2.520000, 2.660000, 2.830000, 3.020000, 3.220000, 3.480000, 3.760000, 8.050000, 8.030000, 8.000000, 7.020000, 7.010000, 7.020000, 8.250000, 8.230000, 8.210000, 8.220000, 8.230000, 10.610000, 10.630000, 10.630000, 10.640000, 10.670000, 10.040000, 3.530000, 3.510000, 2.890000, 2.460000, 2.230000, 2.050000, 1.890000, 1.740000, 1.620000, 1.510000, 1.440000, 1.360000, 1.270000, 1.200000, 1.140000, 1.090000, 1.030000, 0.990000, 0.940000, 0.910000, 0.870000, 0.850000, 0.810000, 0.790000, 0.770000, 0.730000, 0.710000, 0.690000, 0.670000, 0.660000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053402, 113839 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.903000, -6.732000, 2.568830 ], "estimate": [ 1.903000, -6.732000, 2.568830 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.090000, 1.050000, 1.010000, 0.980000, 0.950000, 0.910000, 0.880000, 0.890000, 0.900000, 0.920000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.040000, 1.070000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.240000, 1.260000, 1.290000, 1.320000, 1.360000, 1.390000, 1.430000, 1.470000, 1.500000, 1.560000, 1.600000, 1.650000, 1.700000, 1.770000, 1.840000, 1.900000, 1.980000, 2.060000, 2.160000, 2.240000, 2.370000, 2.480000, 2.620000, 2.780000, 2.950000, 3.170000, 3.410000, 3.690000, 7.990000, 7.980000, 7.940000, 7.010000, 6.950000, 6.940000, 8.190000, 8.190000, 8.160000, 8.170000, 8.170000, 10.580000, 10.590000, null, 10.590000, 10.600000, 10.310000, 3.540000, 3.460000, 3.450000, 2.490000, 2.290000, 2.090000, 1.920000, 1.790000, 1.660000, 1.560000, 1.460000, 1.400000, 1.300000, 1.240000, 1.170000, 1.110000, 1.050000, 1.010000, 0.980000, 0.930000, 0.900000, 0.870000, 0.830000, 0.810000, 0.780000, 0.760000, 0.730000, 0.710000, 0.690000, 0.670000, 0.670000, 0.640000, 0.640000, 0.620000, 0.610000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.530000, 0.530000, 0.530000, 0.510000, 0.500000, 0.500000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.460000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053402, 184072 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.879000, -6.717000, 2.574975 ], "estimate": [ 1.879000, -6.717000, 2.574975 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.070000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.070000, 1.030000, 0.980000, 0.940000, 0.910000, 0.880000, 0.850000, 0.850000, 0.860000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.050000, 1.080000, 1.100000, 1.110000, 1.130000, 1.150000, 1.170000, 1.200000, 1.230000, 1.250000, 1.280000, 1.310000, 1.350000, 1.380000, 1.420000, 1.470000, 1.500000, 1.550000, 1.600000, 1.660000, 1.700000, 1.770000, 1.830000, 1.900000, 1.990000, 2.060000, 2.160000, 2.240000, 2.360000, 2.480000, 2.620000, 2.790000, 2.970000, 3.190000, 3.450000, 3.730000, 7.940000, 7.920000, 7.900000, 6.910000, 6.890000, 6.900000, 8.140000, 8.110000, 8.100000, 8.120000, 8.120000, 10.520000, 9.380000, 10.540000, 10.540000, 10.550000, 9.920000, 3.440000, 3.410000, 3.410000, 2.450000, 2.280000, 2.090000, 1.930000, 1.790000, 1.670000, 1.560000, 1.470000, 1.400000, 1.310000, 1.260000, 1.190000, 1.130000, 1.070000, 1.030000, 0.990000, 0.950000, 0.910000, 0.880000, 0.850000, 0.820000, 0.790000, 0.760000, 0.750000, 0.730000, 0.710000, 0.680000, 0.660000, 0.660000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.580000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.440000 ], "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": [ 976053402, 572023 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.831000, -6.686000, 2.581121 ], "estimate": [ 1.831000, -6.686000, 2.581121 ], "true_pose": [ null, null, null ], "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": [ 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.100000, 1.060000, 1.000000, 0.950000, 0.910000, 0.870000, 0.840000, 0.830000, 0.820000, 0.840000, 0.850000, 0.850000, 0.850000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.920000, 0.930000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.020000, 1.030000, 1.060000, 1.070000, 1.090000, 1.120000, 1.130000, 1.150000, 1.170000, 1.200000, 1.230000, 1.250000, 1.280000, 1.320000, 1.360000, 1.380000, 1.420000, 1.470000, 1.500000, 1.550000, 1.600000, 1.650000, 1.710000, 1.770000, 1.830000, 1.910000, 2.000000, 2.070000, 2.170000, 2.270000, 2.390000, 2.520000, 2.660000, 2.820000, 3.030000, 3.250000, 3.530000, 7.910000, 7.880000, 7.860000, 7.820000, 6.850000, 6.840000, 8.100000, 8.090000, 8.050000, 8.070000, 8.050000, 10.460000, 10.470000, 10.480000, 10.480000, 10.500000, 10.510000, 9.880000, 3.380000, 3.360000, 3.360000, 2.390000, 2.220000, 2.050000, 1.910000, 1.760000, 1.650000, 1.560000, 1.460000, 1.400000, 1.310000, 1.250000, 1.190000, 1.130000, 1.060000, 1.030000, 0.980000, 0.950000, 0.920000, 0.890000, 0.850000, 0.820000, 0.800000, 0.770000, 0.740000, 0.730000, 0.710000, 0.680000, 0.670000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000 ], "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": [ 976053402, 573271 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.781000, -6.656000, 2.593412 ], "estimate": [ 1.781000, -6.656000, 2.593412 ], "true_pose": [ null, null, null ], "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": [ 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.040000, 0.960000, 0.910000, 0.860000, 0.830000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.920000, 0.920000, 0.930000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.100000, 1.120000, 1.130000, 1.150000, 1.180000, 1.200000, 1.230000, 1.250000, 1.290000, 1.320000, 1.360000, 1.390000, 1.440000, 1.480000, 1.510000, 1.570000, 1.610000, 1.670000, 1.730000, 1.800000, 1.870000, 1.940000, 2.020000, 2.110000, 2.200000, 2.320000, 2.430000, 2.550000, 2.730000, 2.900000, 3.120000, 3.360000, 3.650000, 7.840000, 7.810000, 7.800000, 6.810000, 6.800000, 6.790000, 8.050000, 8.010000, 7.990000, 8.020000, 8.010000, 10.430000, 10.410000, null, 10.430000, 10.450000, 10.400000, 9.840000, 3.300000, 3.300000, 3.310000, 2.360000, 2.170000, 1.990000, 1.850000, 1.720000, 1.620000, 1.530000, 1.450000, 1.370000, 1.300000, 1.250000, 1.180000, 1.120000, 1.060000, 1.020000, 0.990000, 0.950000, 0.900000, 0.880000, 0.850000, 0.820000, 0.800000, 0.760000, 0.740000, 0.730000, 0.700000, 0.690000, 0.670000, 0.670000, 0.650000, 0.640000, 0.630000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.560000, 0.560000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053402, 734945 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.731000, -6.626000, 2.599557 ], "estimate": [ 1.731000, -6.626000, 2.599557 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.040000, 1.040000, 1.040000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.050000, 1.000000, 0.920000, 0.860000, 0.800000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.960000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.130000, 1.150000, 1.170000, 1.200000, 1.230000, 1.260000, 1.290000, 1.330000, 1.360000, 1.390000, 1.430000, 1.490000, 1.520000, 1.570000, 1.630000, 1.670000, 1.740000, 1.810000, 1.880000, 1.960000, 2.030000, 2.120000, 2.240000, 2.340000, 2.470000, 2.610000, 2.780000, 2.960000, 3.180000, 3.450000, 7.800000, 7.780000, 7.750000, 7.730000, 6.750000, 6.730000, 7.990000, 7.990000, 7.940000, 7.960000, 7.960000, 8.050000, 10.370000, 9.160000, 10.360000, 9.110000, 10.400000, 9.770000, 3.560000, 3.260000, 3.250000, 3.270000, 2.310000, 2.120000, 1.960000, 1.830000, 1.720000, 1.600000, 1.510000, 1.420000, 1.360000, 1.290000, 1.240000, 1.180000, 1.130000, 1.060000, 1.020000, 0.980000, 0.940000, 0.900000, 0.880000, 0.850000, 0.820000, 0.790000, 0.770000, 0.750000, 0.730000, 0.710000, 0.690000, 0.670000, 0.670000, 0.650000, 0.640000, 0.620000, 0.620000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.470000, 0.460000, 0.450000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.460000, 0.450000 ], "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": [ 976053403, 803869 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.678000, -6.595000, 2.605703 ], "estimate": [ 1.678000, -6.595000, 2.605703 ], "true_pose": [ null, null, null ], "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": [ 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 0.950000, 0.860000, 0.780000, 0.760000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.830000, 0.830000, 0.850000, 0.850000, 0.850000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.100000, 1.110000, 1.130000, 1.150000, 1.170000, 1.200000, 1.230000, 1.260000, 1.300000, 1.340000, 1.360000, 1.410000, 1.450000, 1.490000, 1.540000, 1.590000, 1.630000, 1.690000, 1.750000, 1.820000, 1.900000, 1.970000, 2.050000, 2.150000, 2.250000, 2.370000, 2.500000, 2.660000, 2.830000, 3.030000, 3.270000, 3.550000, 7.720000, 7.700000, 7.690000, 6.680000, 6.690000, 6.680000, 7.930000, 7.900000, 7.890000, 7.910000, 7.900000, 10.310000, 10.330000, 9.170000, 10.320000, 10.330000, 10.350000, 9.730000, 3.340000, 3.200000, 3.200000, 3.210000, 2.250000, 2.070000, 1.920000, 1.790000, 1.680000, 1.580000, 1.500000, 1.410000, 1.350000, 1.280000, 1.230000, 1.170000, 1.110000, 1.060000, 1.010000, 0.970000, 0.940000, 0.910000, 0.880000, 0.840000, 0.820000, 0.800000, 0.770000, 0.750000, 0.740000, 0.710000, 0.700000, 0.680000, 0.670000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000 ], "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": [ 976053403, 104513 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.628000, -6.566000, 2.617994 ], "estimate": [ 1.628000, -6.566000, 2.617994 ], "true_pose": [ null, null, null ], "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": [ 1.030000, 1.030000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.030000, 1.030000, 1.020000, 1.000000, 0.870000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.990000, 1.010000, 1.010000, 1.030000, 1.050000, 1.070000, 1.100000, 1.110000, 1.140000, 1.160000, 1.180000, 1.210000, 1.240000, 1.270000, 1.300000, 1.350000, 1.380000, 1.420000, 1.460000, 1.500000, 1.550000, 1.600000, 1.650000, 1.710000, 1.770000, 1.850000, 1.930000, 2.000000, 2.100000, 2.190000, 2.300000, 2.430000, 2.570000, 2.740000, 2.920000, 3.150000, 3.400000, 7.690000, 7.670000, 7.650000, 7.580000, 6.630000, 6.620000, 7.880000, 7.870000, 7.830000, 7.850000, 7.850000, 7.920000, 10.270000, 9.110000, null, 10.280000, 10.290000, 9.660000, 9.690000, 3.160000, 3.150000, 3.150000, 2.660000, 2.160000, 2.010000, 1.850000, 1.740000, 1.640000, 1.540000, 1.460000, 1.400000, 1.330000, 1.260000, 1.200000, 1.140000, 1.110000, 1.050000, 1.010000, 0.970000, 0.930000, 0.900000, 0.880000, 0.850000, 0.820000, 0.800000, 0.760000, 0.740000, 0.740000, 0.710000, 0.690000, 0.680000, 0.670000, 0.660000, 0.640000, 0.640000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053403, 304352 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.603000, -6.552000, 2.624139 ], "estimate": [ 1.603000, -6.552000, 2.624139 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 0.760000, 0.730000, 0.730000, 0.720000, 0.730000, 0.740000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.810000, 0.810000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.070000, 1.090000, 1.100000, 1.130000, 1.140000, 1.160000, 1.200000, 1.230000, 1.260000, 1.300000, 1.330000, 1.360000, 1.410000, 1.450000, 1.500000, 1.540000, 1.590000, 1.650000, 1.700000, 1.770000, 1.840000, 1.910000, 1.980000, 2.080000, 2.180000, 2.280000, 2.410000, 2.550000, 2.710000, 2.900000, 3.130000, 3.380000, 7.630000, 7.610000, 7.590000, 7.560000, 6.590000, 6.570000, 7.840000, 7.830000, 7.780000, 7.800000, 7.790000, 7.830000, 10.200000, 9.010000, null, 10.230000, 10.240000, 9.640000, 9.630000, 3.120000, 3.100000, 3.090000, 3.120000, 2.140000, 2.020000, 1.880000, 1.770000, 1.660000, 1.570000, 1.490000, 1.410000, 1.340000, 1.270000, 1.210000, 1.150000, 1.120000, 1.070000, 1.020000, 0.990000, 0.950000, 0.920000, 0.880000, 0.860000, 0.830000, 0.800000, 0.780000, 0.760000, 0.740000, 0.720000, 0.700000, 0.690000, 0.670000, 0.660000, 0.650000, 0.650000, 0.630000, 0.620000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053403, 752331 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.553000, -6.524000, 2.636431 ], "estimate": [ 1.553000, -6.524000, 2.636431 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.020000, 1.020000, 1.020000, 1.020000, 0.970000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.070000, 1.080000, 1.100000, 1.130000, 1.140000, 1.160000, 1.200000, 1.230000, 1.260000, 1.300000, 1.340000, 1.360000, 1.410000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.700000, 1.770000, 1.830000, 1.910000, 1.990000, 2.080000, 2.180000, 2.290000, 2.410000, 2.550000, 2.720000, 2.910000, 3.130000, 3.390000, 7.580000, 7.560000, 7.540000, 6.730000, 6.540000, 6.530000, 7.790000, 7.770000, 7.730000, 7.750000, 7.750000, 7.830000, 10.150000, 8.950000, 10.150000, 10.180000, 10.190000, 9.570000, 9.590000, 3.110000, 3.050000, 3.050000, 3.070000, 2.110000, 2.030000, 1.880000, 1.770000, 1.650000, 1.570000, 1.480000, 1.410000, 1.340000, 1.270000, 1.220000, 1.170000, 1.110000, 1.060000, 1.030000, 0.980000, 0.950000, 0.910000, 0.890000, 0.860000, 0.830000, 0.800000, 0.780000, 0.760000, 0.730000, 0.720000, 0.700000, 0.690000, 0.670000, 0.670000, 0.650000, 0.650000, 0.640000, 0.620000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.490000, 0.500000, 0.500000, 0.490000, 0.490000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 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": [ 976053403, 753502 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.501000, -6.496000, 2.648721 ], "estimate": [ 1.501000, -6.496000, 2.648721 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.720000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.850000, 0.850000, 0.850000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.020000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.170000, 1.190000, 1.230000, 1.260000, 1.290000, 1.330000, 1.360000, 1.400000, 1.450000, 1.490000, 1.530000, 1.590000, 1.640000, 1.690000, 1.760000, 1.820000, 1.890000, 1.970000, 2.050000, 2.170000, 2.270000, 2.390000, 2.530000, 2.690000, 2.880000, 3.100000, 3.350000, 7.540000, 7.520000, 7.490000, 6.710000, 6.490000, 6.480000, 7.750000, 7.730000, 7.670000, 7.690000, 7.700000, 7.710000, 10.110000, 8.880000, 8.920000, 10.130000, 10.140000, 9.630000, 9.540000, 3.280000, 3.000000, 3.000000, 3.000000, 2.910000, 2.010000, 1.910000, 1.790000, 1.670000, 1.580000, 1.490000, 1.410000, 1.350000, 1.270000, 1.230000, 1.160000, 1.120000, 1.060000, 1.030000, 0.990000, 0.960000, 0.930000, 0.900000, 0.870000, 0.830000, 0.810000, 0.780000, 0.770000, 0.740000, 0.730000, 0.710000, 0.690000, 0.670000, 0.670000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 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": [ 976053403, 894132 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.449000, -6.469000, 2.661012 ], "estimate": [ 1.449000, -6.469000, 2.661012 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.960000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.120000, 1.140000, 1.150000, 1.190000, 1.210000, 1.250000, 1.280000, 1.320000, 1.360000, 1.390000, 1.430000, 1.470000, 1.510000, 1.560000, 1.620000, 1.680000, 1.740000, 1.800000, 1.880000, 1.950000, 2.030000, 2.140000, 2.240000, 2.370000, 2.490000, 2.650000, 2.830000, 3.040000, 3.290000, 7.490000, 7.450000, 7.450000, 7.430000, 6.440000, 6.430000, 6.560000, 7.670000, 7.640000, 7.640000, 7.640000, 7.640000, 10.060000, 8.810000, 8.830000, 10.060000, 10.080000, 10.100000, 9.470000, 9.500000, 2.950000, 2.950000, 2.940000, 2.960000, 2.010000, 1.950000, 1.820000, 1.690000, 1.600000, 1.510000, 1.430000, 1.360000, 1.300000, 1.240000, 1.180000, 1.130000, 1.090000, 1.030000, 1.000000, 0.960000, 0.940000, 0.900000, 0.880000, 0.850000, 0.810000, 0.800000, 0.770000, 0.750000, 0.730000, 0.710000, 0.700000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.610000, 0.610000, 0.600000, 0.600000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.520000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053404, 289214 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.398000, -6.443000, 2.667158 ], "estimate": [ 1.398000, -6.443000, 2.667158 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.830000, 0.830000, 0.850000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.100000, 1.110000, 1.130000, 1.150000, 1.180000, 1.210000, 1.240000, 1.280000, 1.320000, 1.360000, 1.390000, 1.430000, 1.470000, 1.510000, 1.570000, 1.620000, 1.670000, 1.730000, 1.800000, 1.870000, 1.940000, 2.030000, 2.130000, 2.230000, 2.350000, 2.470000, 2.640000, 2.810000, 3.020000, 3.260000, 7.440000, 7.420000, 7.390000, 7.370000, 6.390000, 6.370000, 6.470000, 7.620000, 7.580000, 7.590000, 7.600000, 7.590000, 10.000000, 9.990000, 8.800000, 10.020000, 10.030000, 10.050000, 9.420000, 9.440000, 2.890000, 2.900000, 2.890000, 2.910000, 2.850000, 1.940000, 1.820000, 1.710000, 1.610000, 1.530000, 1.440000, 1.370000, 1.300000, 1.250000, 1.190000, 1.130000, 1.090000, 1.040000, 1.010000, 0.960000, 0.930000, 0.900000, 0.870000, 0.860000, 0.820000, 0.800000, 0.770000, 0.750000, 0.730000, 0.720000, 0.700000, 0.680000, 0.670000, 0.660000, 0.640000, 0.640000, 0.630000, 0.610000, 0.610000, 0.610000, 0.600000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.470000, 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": [ 976053404, 290575 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.343000, -6.415000, 2.667158 ], "estimate": [ 1.343000, -6.415000, 2.667158 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.020000, 1.020000, 1.040000, 1.050000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.220000, 1.250000, 1.280000, 1.320000, 1.360000, 1.390000, 1.430000, 1.470000, 1.510000, 1.570000, 1.620000, 1.680000, 1.740000, 1.800000, 1.880000, 1.960000, 2.030000, 2.140000, 2.230000, 2.360000, 2.490000, 2.650000, 2.820000, 3.040000, 3.250000, 7.390000, 7.360000, 7.330000, 7.320000, 6.340000, 6.320000, 6.590000, 7.570000, 7.530000, 7.540000, 7.530000, 7.530000, 9.950000, 8.760000, 8.740000, 9.960000, 9.970000, 9.990000, 9.370000, 9.380000, 2.970000, 2.850000, 2.830000, 2.860000, 2.810000, 1.890000, 1.830000, 1.700000, 1.600000, 1.510000, 1.440000, 1.370000, 1.290000, 1.240000, 1.180000, 1.130000, 1.080000, 1.030000, 1.000000, 0.960000, 0.940000, 0.900000, 0.880000, 0.840000, 0.820000, 0.800000, 0.770000, 0.750000, 0.730000, 0.720000, 0.690000, 0.680000, 0.680000, 0.660000, 0.650000, 0.640000, 0.620000, 0.610000, 0.600000, 0.610000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.470000, 0.460000, 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": [ 976053404, 463969 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.291000, -6.389000, 2.667158 ], "estimate": [ 1.291000, -6.389000, 2.667158 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 1.010000, 1.040000, 1.060000, 1.080000, 1.110000, 1.120000, 1.140000, 1.160000, 1.190000, 1.230000, 1.250000, 1.290000, 1.330000, 1.360000, 1.400000, 1.430000, 1.490000, 1.520000, 1.580000, 1.630000, 1.690000, 1.740000, 1.810000, 1.890000, 1.970000, 2.050000, 2.160000, 2.250000, 2.380000, 2.520000, 2.690000, 2.870000, 3.080000, 7.350000, 7.330000, 7.300000, 7.280000, 6.350000, 6.270000, 6.270000, 7.520000, 7.510000, 7.470000, 7.490000, 7.480000, 7.500000, 9.900000, 9.910000, 8.670000, 9.910000, 9.930000, 9.940000, 9.310000, 9.340000, 2.840000, 2.790000, 2.790000, 2.810000, 2.760000, 1.840000, 1.790000, 1.670000, 1.590000, 1.510000, 1.410000, 1.350000, 1.280000, 1.230000, 1.170000, 1.130000, 1.070000, 1.020000, 0.990000, 0.950000, 0.930000, 0.900000, 0.870000, 0.840000, 0.810000, 0.800000, 0.770000, 0.740000, 0.730000, 0.710000, 0.690000, 0.670000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.480000, 0.470000, 0.480000, 0.480000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053404, 844388 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.240000, -6.363000, 2.667158 ], "estimate": [ 1.240000, -6.363000, 2.667158 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.970000, 0.990000, 1.000000, 1.020000, 1.020000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.260000, 1.290000, 1.340000, 1.360000, 1.410000, 1.450000, 1.500000, 1.540000, 1.590000, 1.650000, 1.700000, 1.760000, 1.830000, 1.910000, 1.990000, 2.080000, 2.180000, 2.280000, 2.420000, 2.560000, 2.730000, 2.920000, 3.150000, 7.300000, 7.270000, 7.240000, 7.230000, 6.230000, 6.220000, 6.230000, 7.470000, 7.450000, 7.420000, 7.450000, 7.430000, 7.600000, 9.840000, 8.650000, null, 9.860000, 9.870000, 9.350000, 9.270000, 9.290000, 2.770000, 2.740000, 2.740000, 2.760000, 2.700000, 1.800000, 1.750000, 1.650000, 1.570000, 1.480000, 1.410000, 1.330000, 1.260000, 1.200000, 1.150000, 1.110000, 1.060000, 1.020000, 0.980000, 0.950000, 0.910000, 0.880000, 0.860000, 0.840000, 0.800000, 0.790000, 0.770000, 0.730000, 0.720000, 0.710000, 0.680000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.590000, 0.580000, 0.570000, 0.570000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053404, 845567 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.188000, -6.337000, 2.667158 ], "estimate": [ 1.188000, -6.337000, 2.667158 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.080000, 1.090000, 1.110000, 1.130000, 1.150000, 1.170000, 1.210000, 1.240000, 1.270000, 1.310000, 1.350000, 1.380000, 1.420000, 1.470000, 1.500000, 1.550000, 1.600000, 1.660000, 1.730000, 1.780000, 1.850000, 1.930000, 2.020000, 2.110000, 2.210000, 2.320000, 2.450000, 2.600000, 2.780000, 2.960000, 7.330000, 7.240000, 7.220000, 7.200000, 7.160000, 6.190000, 6.170000, 6.180000, 7.420000, 7.390000, 7.370000, 7.390000, 7.390000, 9.790000, 9.810000, 8.600000, null, 9.820000, 9.840000, 9.210000, 9.240000, 9.240000, 2.700000, 2.690000, 2.680000, 2.710000, 2.660000, 1.890000, 1.720000, 1.630000, 1.540000, 1.460000, 1.380000, 1.320000, 1.260000, 1.200000, 1.140000, 1.090000, 1.050000, 1.010000, 0.980000, 0.940000, 0.900000, 0.880000, 0.860000, 0.830000, 0.800000, 0.770000, 0.760000, 0.730000, 0.720000, 0.710000, 0.680000, 0.670000, 0.660000, 0.650000, 0.630000, 0.630000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.530000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.490000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.460000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053405, 502200 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.162000, -6.324000, 2.667158 ], "estimate": [ 1.162000, -6.324000, 2.667158 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.960000, 0.980000, 0.990000, 1.010000, 1.010000, 1.030000, 1.050000, 1.080000, 1.100000, 1.110000, 1.140000, 1.150000, 1.180000, 1.210000, 1.240000, 1.270000, 1.310000, 1.360000, 1.380000, 1.420000, 1.460000, 1.510000, 1.560000, 1.610000, 1.670000, 1.730000, 1.800000, 1.860000, 1.930000, 2.030000, 2.110000, 2.220000, 2.330000, 2.470000, 2.620000, 2.790000, 2.990000, 7.220000, 7.170000, 7.150000, 7.150000, 6.470000, 6.130000, 6.120000, 6.340000, 7.370000, 7.330000, 7.320000, 7.330000, 7.340000, 9.750000, 9.740000, 8.500000, 9.750000, 9.780000, 9.780000, 9.170000, 9.170000, 9.190000, 2.650000, 2.640000, 2.630000, 2.660000, 2.600000, 2.600000, 1.700000, 1.610000, 1.520000, 1.450000, 1.380000, 1.310000, 1.250000, 1.180000, 1.130000, 1.080000, 1.040000, 0.990000, 0.970000, 0.930000, 0.900000, 0.880000, 0.840000, 0.820000, 0.800000, 0.770000, 0.750000, 0.730000, 0.720000, 0.710000, 0.680000, 0.680000, 0.660000, 0.640000, 0.640000, 0.630000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.520000, 0.510000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 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": [ 976053406, 702800 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.110000, -6.297000, 2.667158 ], "estimate": [ 1.110000, -6.297000, 2.667158 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.190000, 1.230000, 1.250000, 1.290000, 1.330000, 1.360000, 1.400000, 1.440000, 1.490000, 1.530000, 1.580000, 1.630000, 1.690000, 1.740000, 1.810000, 1.890000, 1.960000, 2.050000, 2.150000, 2.250000, 2.380000, 2.510000, 2.680000, 2.860000, 10.040000, 7.150000, 7.120000, 7.110000, 7.080000, 6.060000, 6.070000, 6.060000, 7.320000, 7.310000, 7.270000, 7.280000, 7.270000, 7.280000, 9.680000, 8.470000, 8.480000, 9.700000, 9.720000, 9.740000, 9.120000, 9.140000, 9.140000, 2.590000, 2.590000, 2.590000, 2.610000, 2.550000, 2.550000, 1.650000, 1.580000, 1.490000, 1.410000, 1.350000, 1.280000, 1.230000, 1.160000, 1.110000, 1.060000, 1.030000, 0.990000, 0.950000, 0.910000, 0.900000, 0.860000, 0.830000, 0.800000, 0.790000, 0.770000, 0.730000, 0.730000, 0.710000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.620000, 0.620000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053406, 815999 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.057000, -6.270000, 2.667158 ], "estimate": [ 1.057000, -6.270000, 2.667158 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.880000, 0.880000, 0.900000, 0.920000, 0.920000, 0.940000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.020000, 1.050000, 1.070000, 1.080000, 1.100000, 1.130000, 1.140000, 1.170000, 1.200000, 1.230000, 1.260000, 1.300000, 1.340000, 1.370000, 1.400000, 1.450000, 1.500000, 1.530000, 1.590000, 1.650000, 1.710000, 1.760000, 1.820000, 1.900000, 1.990000, 2.080000, 2.170000, 2.280000, 2.410000, 2.540000, 2.720000, 2.910000, 9.980000, 7.090000, 7.070000, 7.040000, 7.030000, 6.030000, 6.010000, 6.000000, 7.260000, 7.240000, 7.220000, 7.240000, 7.220000, 7.310000, 9.630000, 8.410000, 8.420000, 8.450000, 9.680000, 9.690000, 9.060000, 9.070000, 9.110000, 2.540000, 2.530000, 2.530000, 2.560000, 2.500000, 2.510000, 1.590000, 1.560000, 1.470000, 1.400000, 1.340000, 1.260000, 1.210000, 1.160000, 1.100000, 1.050000, 1.020000, 0.980000, 0.940000, 0.900000, 0.890000, 0.850000, 0.830000, 0.800000, 0.780000, 0.750000, 0.740000, 0.720000, 0.690000, 0.690000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.610000, 0.600000, 0.600000, 0.600000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.530000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 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": [ 976053406, 909399 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.006000, -6.244000, 2.661012 ], "estimate": [ 1.006000, -6.244000, 2.661012 ], "true_pose": [ null, null, null ], "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": [ 0.740000, 0.740000, 0.740000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.920000, 0.920000, 0.940000, 0.950000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.040000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.170000, 1.200000, 1.230000, 1.260000, 1.300000, 1.340000, 1.370000, 1.400000, 1.450000, 1.500000, 1.540000, 1.590000, 1.650000, 1.710000, 1.760000, 1.830000, 1.910000, 1.990000, 2.070000, 2.170000, 2.280000, 2.410000, 2.540000, 2.720000, 2.910000, 7.130000, 7.040000, 7.020000, 7.000000, 6.980000, 5.990000, 5.980000, 5.970000, 7.210000, 7.200000, 7.160000, 7.180000, 7.180000, 7.280000, 9.590000, 8.350000, 8.360000, 9.600000, 9.620000, 9.630000, 9.010000, 9.040000, 9.050000, 2.520000, 2.490000, 2.480000, 2.500000, 2.500000, 2.460000, 1.860000, 1.540000, 1.470000, 1.400000, 1.330000, 1.260000, 1.210000, 1.160000, 1.110000, 1.060000, 1.020000, 0.990000, 0.950000, 0.910000, 0.890000, 0.850000, 0.830000, 0.800000, 0.780000, 0.750000, 0.730000, 0.730000, 0.710000, 0.690000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.480000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.470000, 0.450000, 0.460000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053406, 100759 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.955000, -6.217000, 2.648721 ], "estimate": [ 0.955000, -6.217000, 2.648721 ], "true_pose": [ null, null, null ], "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": [ 0.740000, 0.730000, 0.740000, 0.730000, 0.730000, 0.720000, 0.730000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.140000, 1.150000, 1.180000, 1.210000, 1.240000, 1.270000, 1.310000, 1.360000, 1.380000, 1.420000, 1.460000, 1.510000, 1.550000, 1.600000, 1.660000, 1.720000, 1.780000, 1.860000, 1.920000, 2.010000, 2.100000, 2.210000, 2.310000, 2.440000, 2.590000, 2.770000, 9.900000, 7.000000, 6.980000, 6.950000, 6.930000, 6.100000, 5.930000, 5.900000, 5.910000, 7.150000, 7.120000, 7.100000, 7.130000, 7.110000, 9.530000, 9.520000, null, null, 9.550000, 9.570000, 9.560000, 8.950000, 8.980000, 9.060000, 2.430000, 2.430000, 2.420000, 2.440000, 2.450000, 2.390000, 2.390000, 1.490000, 1.450000, 1.380000, 1.310000, 1.260000, 1.200000, 1.140000, 1.090000, 1.040000, 1.000000, 0.970000, 0.940000, 0.900000, 0.880000, 0.840000, 0.820000, 0.800000, 0.780000, 0.750000, 0.730000, 0.720000, 0.700000, 0.680000, 0.680000, 0.660000, 0.640000, 0.630000, 0.630000, 0.620000, 0.600000, 0.600000, 0.580000, 0.580000, 0.580000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053406, 110110 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.901000, -6.188000, 2.636431 ], "estimate": [ 0.901000, -6.188000, 2.636431 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.970000, 0.980000, 1.000000, 1.020000, 1.020000, 1.040000, 1.070000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.260000, 1.290000, 1.330000, 1.370000, 1.390000, 1.440000, 1.490000, 1.520000, 1.580000, 1.640000, 1.690000, 1.750000, 1.830000, 1.900000, 1.970000, 2.060000, 2.160000, 2.260000, 2.380000, 2.530000, 2.700000, 9.850000, 7.020000, 6.930000, 6.910000, 6.880000, 6.870000, 5.860000, 5.850000, 5.850000, 7.090000, 7.080000, 7.050000, 7.070000, 7.070000, 7.090000, 9.470000, 9.470000, 9.490000, 9.500000, 9.500000, 9.520000, 8.900000, 8.910000, 8.920000, 2.640000, 2.370000, 2.370000, 2.370000, 2.400000, 2.350000, 2.350000, 2.350000, 1.430000, 1.410000, 1.340000, 1.270000, 1.230000, 1.170000, 1.130000, 1.070000, 1.030000, 1.000000, 0.960000, 0.920000, 0.890000, 0.850000, 0.830000, 0.800000, 0.790000, 0.760000, 0.740000, 0.730000, 0.710000, 0.690000, 0.680000, 0.680000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.460000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053406, 956060 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.848000, -6.159000, 2.630285 ], "estimate": [ 0.848000, -6.159000, 2.630285 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.140000, 1.150000, 1.180000, 1.220000, 1.240000, 1.270000, 1.320000, 1.350000, 1.390000, 1.420000, 1.460000, 1.500000, 1.550000, 1.600000, 1.670000, 1.730000, 1.790000, 1.860000, 1.940000, 2.030000, 2.120000, 2.220000, 2.340000, 2.470000, 2.620000, 9.810000, 9.770000, 6.890000, 6.860000, 6.830000, 6.800000, 5.810000, 5.810000, 5.800000, 7.050000, 7.040000, 7.000000, 7.010000, 7.010000, 7.010000, 9.410000, 9.410000, null, 9.450000, 9.440000, 9.450000, 8.890000, 8.830000, 8.850000, 9.180000, 2.530000, 2.330000, 2.330000, 2.320000, 2.350000, 2.290000, 2.290000, 2.290000, 1.400000, 1.360000, 1.290000, 1.250000, 1.200000, 1.130000, 1.090000, 1.040000, 1.010000, 0.970000, 0.930000, 0.910000, 0.880000, 0.850000, 0.820000, 0.800000, 0.770000, 0.750000, 0.740000, 0.720000, 0.710000, 0.690000, 0.670000, 0.680000, 0.650000, 0.650000, 0.640000, 0.630000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053406, 585010 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.798000, -6.131000, 2.624139 ], "estimate": [ 0.798000, -6.131000, 2.624139 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.040000, 1.070000, 1.090000, 1.100000, 1.130000, 1.150000, 1.170000, 1.210000, 1.230000, 1.260000, 1.300000, 1.340000, 1.360000, 1.410000, 1.460000, 1.500000, 1.530000, 1.590000, 1.650000, 1.700000, 1.760000, 1.840000, 1.920000, 2.000000, 2.090000, 2.190000, 2.300000, 2.430000, 2.580000, 9.760000, 9.720000, 6.830000, 6.800000, 6.780000, 6.760000, 5.750000, 5.750000, 5.740000, 7.010000, 6.980000, 6.960000, 6.960000, 6.960000, 6.950000, 9.360000, 9.360000, 8.240000, null, 9.380000, 9.400000, 9.410000, 8.790000, 8.800000, 8.820000, 2.550000, 2.280000, 2.270000, 2.260000, 2.280000, 2.290000, 2.240000, 2.240000, 2.240000, 1.340000, 1.310000, 1.260000, 1.200000, 1.150000, 1.100000, 1.050000, 1.020000, 0.990000, 0.950000, 0.920000, 0.890000, 0.860000, 0.830000, 0.810000, 0.790000, 0.760000, 0.740000, 0.730000, 0.710000, 0.690000, 0.680000, 0.680000, 0.660000, 0.650000, 0.650000, 0.630000, 0.610000, 0.610000, 0.610000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053406, 586164 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.749000, -6.103000, 2.617994 ], "estimate": [ 0.749000, -6.103000, 2.617994 ], "true_pose": [ null, null, null ], "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": [ 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.070000, 1.080000, 1.100000, 1.130000, 1.140000, 1.170000, 1.200000, 1.230000, 1.260000, 1.300000, 1.340000, 1.360000, 1.400000, 1.450000, 1.500000, 1.530000, 1.590000, 1.650000, 1.710000, 1.770000, 1.840000, 1.910000, 2.000000, 2.090000, 2.190000, 2.300000, 2.430000, 2.570000, 9.710000, 9.670000, 6.780000, 6.750000, 6.730000, 6.710000, 5.690000, 5.690000, 5.690000, 6.950000, 6.940000, 6.900000, 6.900000, 6.910000, 6.910000, 9.320000, 9.320000, 8.190000, 9.330000, 9.340000, 9.360000, 9.360000, 8.740000, 8.760000, 8.780000, 8.820000, 2.250000, 2.220000, 2.210000, 2.220000, 2.260000, 2.180000, 2.190000, 2.190000, 2.200000, 1.270000, 1.260000, 1.200000, 1.150000, 1.110000, 1.060000, 1.030000, 0.990000, 0.950000, 0.910000, 0.880000, 0.860000, 0.830000, 0.810000, 0.800000, 0.770000, 0.750000, 0.740000, 0.710000, 0.700000, 0.680000, 0.680000, 0.670000, 0.650000, 0.640000, 0.630000, 0.610000, 0.610000, 0.610000, 0.610000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.470000, 0.470000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053406, 724352 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.698000, -6.074000, 2.617994 ], "estimate": [ 0.698000, -6.074000, 2.617994 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.070000, 1.080000, 1.100000, 1.120000, 1.140000, 1.170000, 1.200000, 1.240000, 1.270000, 1.310000, 1.340000, 1.360000, 1.410000, 1.460000, 1.510000, 1.540000, 1.600000, 1.660000, 1.710000, 1.780000, 1.850000, 1.920000, 2.020000, 2.110000, 2.220000, 2.330000, 2.460000, 9.680000, 9.640000, 6.760000, 6.710000, 6.690000, 6.670000, 6.650000, 5.640000, 5.640000, 5.640000, 6.880000, 6.870000, 6.840000, 6.850000, 6.840000, 6.850000, 9.260000, 9.260000, null, 9.280000, 9.280000, 9.300000, 8.790000, 8.680000, 8.710000, 8.770000, 8.780000, 2.240000, 2.160000, 2.170000, 2.160000, 2.190000, 2.130000, 2.140000, 2.130000, 2.140000, 1.400000, 1.230000, 1.200000, 1.140000, 1.090000, 1.050000, 1.020000, 0.990000, 0.940000, 0.910000, 0.880000, 0.850000, 0.830000, 0.800000, 0.790000, 0.760000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.610000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.480000, 0.470000, 0.480000, 0.470000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053407, 229439 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.646000, -6.044000, 2.617994 ], "estimate": [ 0.646000, -6.044000, 2.617994 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.840000, 0.850000, 0.850000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.060000, 1.080000, 1.110000, 1.120000, 1.140000, 1.180000, 1.210000, 1.240000, 1.270000, 1.310000, 1.340000, 1.370000, 1.420000, 1.460000, 1.500000, 1.550000, 1.610000, 1.660000, 1.730000, 1.790000, 1.870000, 1.940000, 2.030000, 2.130000, 2.240000, 2.350000, 2.490000, 9.620000, 9.570000, 6.670000, 6.650000, 6.640000, 6.610000, 5.760000, 5.580000, 5.580000, 5.660000, 6.820000, 6.810000, 6.790000, 6.800000, 6.790000, 6.790000, 9.200000, null, 8.060000, 8.020000, 9.230000, 9.250000, 8.620000, 8.630000, 8.650000, 9.180000, 8.720000, 2.270000, 2.110000, 2.110000, 2.110000, 2.140000, 2.110000, 2.080000, 2.090000, 2.090000, 2.090000, 1.210000, 1.180000, 1.140000, 1.090000, 1.050000, 1.010000, 0.970000, 0.930000, 0.900000, 0.870000, 0.850000, 0.830000, 0.810000, 0.790000, 0.770000, 0.740000, 0.730000, 0.710000, 0.700000, 0.680000, 0.680000, 0.660000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053407, 230676 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.593000, -6.014000, 2.617994 ], "estimate": [ 0.593000, -6.014000, 2.617994 ], "true_pose": [ null, null, null ], "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": [ 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.950000, 0.960000, 0.980000, 0.980000, 1.010000, 1.030000, 1.050000, 1.060000, 1.080000, 1.090000, 1.120000, 1.140000, 1.170000, 1.210000, 1.230000, 1.270000, 1.310000, 1.350000, 1.370000, 1.410000, 1.460000, 1.510000, 1.550000, 1.600000, 1.670000, 1.730000, 1.800000, 1.870000, 1.940000, 2.030000, 2.120000, 2.230000, 2.350000, 9.600000, 9.550000, 9.510000, 6.610000, 6.590000, 6.570000, 6.530000, 5.610000, 5.530000, 5.520000, 5.660000, 6.760000, 6.740000, 6.720000, 6.740000, 6.730000, 6.730000, 9.130000, 9.150000, 7.910000, null, 9.170000, 9.190000, 8.570000, 8.570000, 8.590000, 8.860000, 8.660000, 2.300000, 2.060000, 2.050000, 2.040000, 2.060000, 2.090000, 2.020000, 2.020000, 2.030000, 2.030000, 2.040000, 1.230000, 1.120000, 1.080000, 1.050000, 1.020000, 0.980000, 0.940000, 0.910000, 0.890000, 0.850000, 0.830000, 0.800000, 0.790000, 0.770000, 0.740000, 0.740000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.560000, 0.540000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.520000, 0.530000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053407, 295426 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.544000, -5.986000, 2.611848 ], "estimate": [ 0.544000, -5.986000, 2.611848 ], "true_pose": [ null, null, null ], "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": [ 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.020000, 1.020000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.180000, 1.210000, 1.240000, 1.270000, 1.310000, 1.360000, 1.380000, 1.420000, 1.470000, 1.500000, 1.550000, 1.610000, 1.660000, 1.740000, 1.800000, 1.870000, 1.950000, 2.040000, 2.130000, 2.250000, 2.370000, 9.540000, 9.480000, 9.440000, 6.560000, 6.530000, 6.510000, 6.490000, 5.470000, 5.470000, 5.460000, 6.720000, 6.710000, 6.680000, 6.670000, 6.680000, 6.670000, 6.740000, 9.080000, 9.080000, 7.950000, 9.110000, 9.110000, 9.130000, 8.510000, 8.520000, 8.530000, 9.220000, 8.590000, 2.250000, 2.010000, 1.990000, 2.000000, 2.000000, 2.030000, 1.980000, 1.980000, 1.980000, 1.970000, 1.980000, 1.990000, 1.140000, 1.060000, 1.050000, 1.010000, 0.980000, 0.930000, 0.910000, 0.880000, 0.860000, 0.830000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.710000, 0.700000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000 ], "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": [ 976053407, 745393 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.496000, -5.959000, 2.617994 ], "estimate": [ 0.496000, -5.959000, 2.617994 ], "true_pose": [ null, null, null ], "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": [ 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.910000, 0.940000, 0.950000, 0.970000, 0.990000, 1.000000, 1.010000, 1.020000, 1.040000, 1.060000, 1.100000, 1.100000, 1.130000, 1.150000, 1.190000, 1.220000, 1.250000, 1.280000, 1.320000, 1.350000, 1.380000, 1.430000, 1.470000, 1.510000, 1.560000, 1.620000, 1.670000, 1.740000, 1.810000, 1.900000, 1.970000, 2.060000, 2.160000, 2.280000, 9.510000, 9.450000, 9.420000, 6.520000, 6.490000, 6.470000, 6.440000, 6.420000, 5.430000, 5.410000, 5.410000, 6.660000, 6.640000, 6.620000, 6.630000, 6.620000, 6.610000, 9.030000, 9.030000, 7.890000, 7.830000, 9.050000, 9.060000, 9.080000, 8.460000, 8.460000, 8.490000, 9.140000, 8.550000, 2.190000, 1.960000, 1.950000, 1.950000, 1.950000, 1.980000, 1.980000, 1.920000, 1.930000, 1.930000, 1.930000, 1.940000, 1.950000, 1.080000, 1.020000, 1.010000, 0.960000, 0.930000, 0.900000, 0.870000, 0.850000, 0.820000, 0.800000, 0.780000, 0.770000, 0.740000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 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": [ 976053407, 746620 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.444000, -5.929000, 2.624139 ], "estimate": [ 0.444000, -5.929000, 2.624139 ], "true_pose": [ null, null, null ], "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": [ 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.720000, 0.720000, 0.710000, 0.720000, 0.720000, 0.720000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.850000, 0.850000, 0.860000, 0.880000, 0.880000, 0.900000, 0.920000, 0.930000, 0.940000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.080000, 1.100000, 1.110000, 1.140000, 1.160000, 1.200000, 1.230000, 1.260000, 1.300000, 1.330000, 1.360000, 1.400000, 1.450000, 1.500000, 1.540000, 1.600000, 1.650000, 1.710000, 1.770000, 1.840000, 1.920000, 2.020000, 2.110000, 2.210000, 9.480000, 9.420000, 9.390000, 9.340000, 6.450000, 6.420000, 6.400000, 6.390000, 5.380000, 5.370000, 5.360000, 5.590000, 6.600000, 6.580000, 6.560000, 6.570000, 6.560000, 6.570000, 8.970000, 8.990000, 7.760000, 7.760000, 9.000000, 9.030000, 8.960000, 8.410000, 8.420000, 8.450000, 8.490000, 8.500000, 2.140000, 1.920000, 1.890000, 1.900000, 1.890000, 1.920000, 1.920000, 1.870000, 1.870000, 1.880000, 1.880000, 1.890000, 1.890000, 1.900000, 1.010000, 0.970000, 0.950000, 0.910000, 0.890000, 0.860000, 0.820000, 0.810000, 0.780000, 0.780000, 0.740000, 0.740000, 0.720000, 0.700000, 0.680000, 0.680000, 0.670000, 0.650000, 0.650000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.590000, 0.580000, 0.590000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.480000 ], "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": [ 976053407, 904034 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.390000, -5.899000, 2.636431 ], "estimate": [ 0.390000, -5.899000, 2.636431 ], "true_pose": [ null, null, null ], "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": [ 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.800000, 0.810000, 0.810000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.870000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.960000, 0.980000, 0.980000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.110000, 1.140000, 1.160000, 1.200000, 1.230000, 1.260000, 1.290000, 1.330000, 1.360000, 1.390000, 1.450000, 1.480000, 1.530000, 1.590000, 1.640000, 1.700000, 1.760000, 1.830000, 1.910000, 2.000000, 2.090000, 2.190000, 9.420000, 9.380000, 9.320000, 9.290000, 6.400000, 6.360000, 6.340000, 6.320000, 5.320000, 5.300000, 5.290000, 5.400000, 6.550000, 6.520000, 6.490000, 6.500000, 6.500000, 6.510000, 8.900000, 8.920000, null, null, 8.940000, 8.950000, 8.960000, 8.350000, 8.360000, 8.370000, 8.480000, 8.440000, 2.140000, 2.000000, 1.830000, 1.830000, 1.840000, 1.840000, 1.860000, 1.820000, 1.810000, 1.810000, 1.810000, 1.820000, 1.830000, 1.840000, 1.850000, 1.860000, 0.940000, 0.910000, 0.890000, 0.860000, 0.830000, 0.810000, 0.800000, 0.770000, 0.740000, 0.730000, 0.720000, 0.700000, 0.680000, 0.680000, 0.660000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.560000, 0.560000, 0.560000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.490000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053408, 295071 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.339000, -5.871000, 2.642576 ], "estimate": [ 0.339000, -5.871000, 2.642576 ], "true_pose": [ null, null, null ], "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": [ 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.830000, 0.830000, 0.850000, 0.850000, 0.850000, 0.860000, 0.880000, 0.900000, 0.910000, 0.920000, 0.920000, 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.080000, 1.090000, 1.110000, 1.140000, 1.160000, 1.200000, 1.230000, 1.260000, 1.300000, 1.330000, 1.360000, 1.400000, 1.450000, 1.490000, 1.530000, 1.600000, 1.650000, 1.700000, 1.770000, 1.840000, 1.910000, 2.000000, 2.100000, 2.220000, 9.360000, 9.320000, 9.270000, 6.460000, 6.330000, 6.310000, 6.290000, 6.260000, 5.260000, 5.260000, 5.240000, 5.240000, 6.480000, 6.460000, 6.440000, 6.460000, 6.450000, 6.450000, 8.870000, 8.850000, 7.730000, null, 8.880000, 8.890000, 8.910000, 8.300000, 8.290000, 8.330000, 8.620000, 8.390000, 8.400000, 1.990000, 1.790000, 1.780000, 1.790000, 1.780000, 1.800000, 1.810000, 1.760000, 1.760000, 1.770000, 1.770000, 1.780000, 1.780000, 1.790000, 1.800000, 1.810000, 0.930000, 0.860000, 0.860000, 0.830000, 0.800000, 0.780000, 0.760000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.670000, 0.670000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.520000, 0.510000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053408, 314504 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.289000, -5.844000, 2.648721 ], "estimate": [ 0.289000, -5.844000, 2.648721 ], "true_pose": [ null, null, null ], "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": [ 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.070000, 1.100000, 1.110000, 1.130000, 1.160000, 1.190000, 1.220000, 1.250000, 1.290000, 1.320000, 1.360000, 1.390000, 1.440000, 1.480000, 1.520000, 1.570000, 1.630000, 1.690000, 1.740000, 1.820000, 1.900000, 1.970000, 2.050000, 9.390000, 9.330000, 9.280000, 9.230000, 9.180000, 6.290000, 6.260000, 6.230000, 6.220000, 5.380000, 5.200000, 5.190000, 5.190000, 6.440000, 6.430000, 6.400000, 6.390000, 6.400000, 6.380000, 6.500000, 8.800000, 8.800000, null, 8.830000, 8.840000, 8.850000, 8.240000, 8.230000, 8.260000, 8.400000, 8.320000, 8.330000, 8.350000, 1.910000, 1.720000, 1.720000, 1.730000, 1.720000, 1.760000, 1.750000, 1.710000, 1.710000, 1.710000, 1.720000, 1.720000, 1.730000, 1.730000, 1.740000, 1.760000, 1.770000, 0.990000, 0.830000, 0.810000, 0.800000, 0.760000, 0.750000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.470000, 0.470000, 0.460000, 0.480000, 0.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053408, 495728 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.236000, -5.816000, 2.654867 ], "estimate": [ 0.236000, -5.816000, 2.654867 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.100000, 1.110000, 1.130000, 1.150000, 1.180000, 1.220000, 1.240000, 1.270000, 1.310000, 1.350000, 1.370000, 1.420000, 1.470000, 1.500000, 1.560000, 1.610000, 1.660000, 1.720000, 1.800000, 1.860000, 1.940000, 2.030000, 9.290000, 9.300000, 9.240000, 9.200000, 9.150000, 6.250000, 6.220000, 6.200000, 6.180000, 6.150000, 5.150000, 5.140000, 5.140000, 6.390000, 6.380000, 6.350000, 6.340000, 6.350000, 6.340000, 6.340000, 8.740000, 8.760000, null, null, 8.780000, 8.790000, 8.800000, 8.180000, 8.180000, 8.220000, 8.870000, 8.280000, 8.290000, 1.940000, 1.820000, 1.680000, 1.670000, 1.680000, 1.680000, 1.710000, 1.710000, 1.650000, 1.650000, 1.660000, 1.670000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.730000, 1.090000, 0.780000, 0.770000, 0.770000, 0.740000, 0.710000, 0.700000, 0.680000, 0.680000, 0.660000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.530000, 0.540000, 0.530000, 0.520000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000 ], "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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053408, 846578 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.184000, -5.789000, 2.654867 ], "estimate": [ 0.184000, -5.789000, 2.654867 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.720000, 0.730000, 0.720000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.050000, 1.060000, 1.080000, 1.110000, 1.130000, 1.140000, 1.170000, 1.210000, 1.230000, 1.260000, 1.300000, 1.340000, 1.360000, 1.400000, 1.450000, 1.490000, 1.520000, 1.590000, 1.640000, 1.700000, 1.770000, 1.830000, 1.910000, 1.990000, 9.070000, 9.270000, 9.220000, 9.160000, 9.120000, 9.080000, 6.180000, 6.150000, 6.130000, 6.100000, 5.090000, 5.080000, 5.070000, 5.160000, 6.320000, 6.310000, 6.280000, 6.280000, 6.280000, 6.280000, 8.690000, 8.680000, 7.470000, null, 8.700000, 8.720000, 8.730000, 8.160000, 8.120000, 8.150000, 8.160000, 8.210000, 8.220000, 8.240000, 1.840000, 1.760000, 1.610000, 1.610000, 1.620000, 1.620000, 1.650000, 1.660000, 1.600000, 1.600000, 1.600000, 1.610000, 1.620000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.670000, 1.690000, 1.700000, 0.820000, 0.730000, 0.720000, 0.720000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.630000, 0.610000, 0.620000, 0.610000, 0.600000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053408, 944031 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.133000, -5.763000, 2.654867 ], "estimate": [ 0.133000, -5.763000, 2.654867 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.120000, 1.140000, 1.160000, 1.190000, 1.220000, 1.250000, 1.280000, 1.320000, 1.350000, 1.380000, 1.430000, 1.470000, 1.510000, 1.550000, 1.610000, 1.670000, 1.730000, 1.790000, 1.860000, 1.950000, 8.810000, 9.210000, 9.190000, 9.150000, 9.090000, 9.050000, 6.140000, 6.100000, 6.090000, 6.060000, 6.050000, 5.050000, 5.030000, 5.040000, 6.290000, 6.270000, 6.240000, 6.220000, 6.230000, 6.220000, 6.240000, 8.630000, 8.640000, 7.430000, 7.480000, 7.470000, 8.670000, 8.680000, 8.070000, 8.070000, 8.090000, 8.580000, 8.150000, 8.170000, 8.190000, 1.820000, 1.690000, 1.560000, 1.560000, 1.570000, 1.560000, 1.580000, 1.600000, 1.560000, 1.560000, 1.550000, 1.550000, 1.570000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.630000, 1.640000, 1.650000, 1.650000, 1.660000, 0.700000, 0.690000, 0.670000, 0.690000, 0.660000, 0.650000, 0.630000, 0.620000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.450000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053409, 331851 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.083000, -5.737000, 2.654867 ], "estimate": [ 0.083000, -5.737000, 2.654867 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.880000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.130000, 1.150000, 1.170000, 1.210000, 1.230000, 1.260000, 1.300000, 1.340000, 1.360000, 1.400000, 1.450000, 1.490000, 1.530000, 1.590000, 1.640000, 1.690000, 1.760000, 1.830000, 1.900000, 8.550000, 8.930000, 9.170000, 9.120000, 9.070000, 9.020000, 8.980000, 6.070000, 6.050000, 6.030000, 6.000000, 5.060000, 4.990000, 4.970000, 4.980000, 6.220000, 6.200000, 6.180000, 6.160000, 6.180000, 6.160000, 6.190000, 8.570000, 7.530000, 7.330000, null, 8.610000, 8.620000, 8.640000, 8.010000, 8.030000, 8.040000, 8.710000, 8.100000, 8.130000, 8.150000, 1.740000, 1.660000, 1.510000, 1.510000, 1.520000, 1.510000, 1.520000, 1.540000, 1.540000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.600000, 1.600000, 1.630000, 1.640000, 0.740000, 0.640000, 0.630000, 0.640000, 0.640000, 0.620000, 0.610000, 0.600000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053409, 384495 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.030000, -5.709000, 2.648721 ], "estimate": [ 0.030000, -5.709000, 2.648721 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.210000, 1.240000, 1.270000, 1.310000, 1.340000, 1.360000, 1.400000, 1.450000, 1.490000, 1.530000, 1.590000, 1.650000, 1.700000, 1.760000, 1.830000, 1.900000, 8.520000, 8.910000, 9.120000, 9.070000, 9.020000, 8.980000, 8.930000, 6.020000, 5.990000, 5.980000, 5.950000, 4.950000, 4.940000, 4.930000, 4.920000, 6.170000, 6.150000, 6.130000, 6.120000, 6.130000, 6.130000, 6.140000, 7.470000, 7.690000, 7.290000, 7.440000, 8.550000, 8.570000, 8.580000, 7.980000, 7.980000, 7.990000, 8.670000, 8.060000, 8.070000, 8.110000, 1.770000, 1.660000, 1.490000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.490000, 1.500000, 1.450000, 1.440000, 1.450000, 1.460000, 1.470000, 1.490000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.550000, 1.550000, 1.570000, 1.580000, 1.600000, 1.620000, 1.630000, 0.680000, 0.600000, 0.600000, 0.600000, 0.610000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000 ], "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": [ 976053409, 496155 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.024000, -5.680000, 2.648721 ], "estimate": [ -0.024000, -5.680000, 2.648721 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.970000, 0.970000, 0.990000, 1.000000, 1.010000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.130000, 1.140000, 1.170000, 1.200000, 1.230000, 1.250000, 1.290000, 1.320000, 1.360000, 1.380000, 1.420000, 1.470000, 1.500000, 1.550000, 1.610000, 1.660000, 1.720000, 1.790000, 1.850000, 8.250000, 8.600000, 8.990000, 9.050000, 8.990000, 8.950000, 8.890000, 5.970000, 5.950000, 5.940000, 5.900000, 5.880000, 4.870000, 4.880000, 4.860000, 6.120000, 6.110000, 6.090000, 6.070000, 6.060000, 6.080000, 6.060000, 6.180000, 8.460000, 7.290000, 7.260000, 7.480000, 8.490000, 8.510000, 8.530000, 7.890000, 7.920000, 7.920000, 8.590000, 7.990000, 8.010000, 8.030000, 8.730000, 1.610000, 1.520000, 1.400000, 1.400000, 1.410000, 1.400000, 1.390000, 1.430000, 1.440000, 1.390000, 1.390000, 1.400000, 1.400000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.440000, 1.470000, 1.480000, 1.490000, 1.500000, 1.520000, 1.530000, 1.550000, 1.560000, 1.580000, 1.590000, 1.610000, 1.620000, 0.570000, 0.560000, 0.560000, 0.570000, 0.560000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.440000, 0.440000, 0.440000 ], "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": [ 976053410, 865100 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.075000, -5.653000, 2.642576 ], "estimate": [ -0.075000, -5.653000, 2.642576 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.930000, 0.950000, 0.970000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.120000, 1.140000, 1.170000, 1.200000, 1.230000, 1.270000, 1.300000, 1.330000, 1.370000, 1.390000, 1.440000, 1.480000, 1.510000, 1.570000, 1.630000, 1.670000, 1.740000, 1.790000, 7.930000, 8.270000, 8.630000, 9.030000, 8.990000, 8.930000, 8.890000, 8.850000, 5.940000, 5.900000, 5.860000, 5.850000, 5.830000, 4.830000, 4.810000, 4.800000, 6.070000, 6.050000, 6.030000, 6.010000, 6.000000, 6.020000, 6.000000, 8.420000, 8.420000, 7.220000, 7.200000, 7.310000, 7.150000, 8.460000, 8.470000, 7.850000, 7.860000, 7.880000, 8.550000, 7.940000, 7.960000, 7.990000, 8.680000, 1.590000, 1.500000, 1.360000, 1.350000, 1.350000, 1.350000, 1.360000, 1.360000, 1.390000, 1.390000, 1.340000, 1.340000, 1.350000, 1.350000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.420000, 1.430000, 1.440000, 1.450000, 1.470000, 1.480000, 1.500000, 1.520000, 1.540000, 1.550000, 1.570000, 1.580000, 1.610000, 1.630000, 0.650000, 0.540000, 0.530000, 0.520000, 0.540000, 0.540000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.440000, 0.430000, 0.430000, 0.440000, 0.430000, 0.430000 ], "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": [ 976053410, 985900 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.126000, -5.626000, 2.648721 ], "estimate": [ -0.126000, -5.626000, 2.648721 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.920000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.010000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.160000, 1.190000, 1.220000, 1.250000, 1.280000, 1.310000, 1.360000, 1.380000, 1.410000, 1.460000, 1.500000, 1.540000, 1.600000, 1.650000, 1.700000, 7.440000, 7.730000, 8.040000, 8.390000, 8.760000, 8.970000, 8.900000, 8.860000, 8.800000, 5.930000, 5.840000, 5.840000, 5.810000, 5.780000, 4.760000, 4.770000, 4.750000, 4.750000, 6.000000, 5.990000, 5.970000, 5.940000, 5.960000, 5.940000, 5.950000, 8.350000, 7.340000, 7.130000, 7.090000, 8.380000, 8.390000, 8.410000, 7.830000, 7.790000, 7.810000, 7.820000, 7.900000, 7.880000, 7.900000, 7.930000, 8.650000, 1.530000, 1.440000, 1.320000, 1.290000, 1.290000, 1.300000, 1.300000, 1.300000, 1.320000, 1.330000, 1.320000, 1.280000, 1.280000, 1.290000, 1.290000, 1.310000, 1.320000, 1.330000, 1.330000, 1.340000, 1.360000, 1.380000, 1.380000, 1.400000, 1.400000, 1.420000, 1.430000, 1.440000, 1.460000, 1.480000, 1.500000, 1.530000, 1.540000, 1.550000, 1.580000, 1.600000, 1.630000, 1.650000, 1.680000, 0.500000, 0.490000, 0.490000, 0.480000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.420000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.430000, 0.430000, 0.430000 ], "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": [ 976053410, 957599 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.178000, -5.598000, 2.648721 ], "estimate": [ -0.178000, -5.598000, 2.648721 ], "true_pose": [ null, null, null ], "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": [ 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.130000, 1.140000, 1.160000, 1.190000, 1.220000, 1.240000, 1.280000, 1.310000, 1.350000, 1.380000, 1.410000, 1.450000, 1.500000, 1.530000, 1.580000, 1.640000, 1.690000, 7.310000, 7.580000, 7.900000, 8.230000, 8.600000, 8.940000, 8.870000, 8.820000, 8.780000, 8.730000, 5.820000, 5.790000, 5.760000, 5.740000, 4.820000, 4.700000, 4.700000, 4.710000, 5.960000, 5.950000, 5.930000, 5.890000, 5.890000, 5.900000, 5.890000, 6.060000, 8.300000, null, 7.040000, 7.100000, 8.320000, 8.340000, 8.360000, 7.720000, 7.750000, 7.770000, 8.420000, 7.840000, 7.840000, 7.850000, 8.560000, 8.600000, 1.470000, 1.390000, 1.260000, 1.230000, 1.240000, 1.240000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.230000, 1.240000, 1.240000, 1.240000, 1.260000, 1.260000, 1.270000, 1.280000, 1.280000, 1.300000, 1.310000, 1.330000, 1.340000, 1.350000, 1.370000, 1.380000, 1.400000, 1.410000, 1.430000, 1.440000, 1.460000, 1.480000, 1.500000, 1.530000, 1.550000, 1.570000, 1.590000, 1.620000, 1.650000, 1.680000, 1.710000, 2.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053410, 591339 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.231000, -5.570000, 2.648721 ], "estimate": [ -0.231000, -5.570000, 2.648721 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.780000, 0.780000, 0.770000, 0.780000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.970000, 0.990000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.150000, 1.160000, 1.180000, 1.210000, 1.240000, 1.270000, 1.300000, 1.340000, 1.370000, 1.400000, 1.440000, 1.490000, 1.530000, 1.570000, 1.620000, 6.950000, 7.190000, 7.440000, 7.740000, 8.050000, 8.400000, 8.790000, 8.840000, 8.790000, 8.730000, 8.690000, 5.760000, 5.740000, 5.720000, 5.690000, 5.670000, 4.660000, 4.650000, 4.640000, 5.900000, 5.890000, 5.870000, 5.860000, 5.830000, 5.840000, 5.830000, 5.830000, 8.230000, 8.230000, 8.250000, 6.980000, 8.260000, 8.270000, 8.280000, 7.790000, 7.670000, 7.690000, 7.710000, 7.940000, 7.780000, 7.790000, 7.800000, 8.520000, 8.550000, 1.400000, 1.320000, 1.210000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.190000, 1.200000, 1.220000, 1.180000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.230000, 1.250000, 1.260000, 1.270000, 1.290000, 1.300000, 1.320000, 1.330000, 1.340000, 1.370000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.480000, 1.500000, 1.530000, 1.550000, 1.570000, 1.600000, 1.640000, 1.670000, 1.850000, 2.550000, 2.640000, 2.730000, 2.120000, 2.920000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.420000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053410, 592558 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.281000, -5.543000, 2.642576 ], "estimate": [ -0.281000, -5.543000, 2.642576 ], "true_pose": [ null, null, null ], "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": [ 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.150000, 1.160000, 1.180000, 1.210000, 1.240000, 1.260000, 1.300000, 1.340000, 1.370000, 1.400000, 1.440000, 1.480000, 1.520000, 1.560000, 1.590000, 6.840000, 7.090000, 7.330000, 7.610000, 7.920000, 8.250000, 8.620000, 8.830000, 8.770000, 8.710000, 8.680000, 5.750000, 5.710000, 5.680000, 5.650000, 5.630000, 4.610000, 4.620000, 4.610000, 4.610000, 5.860000, 5.850000, 5.820000, 5.780000, 5.780000, 5.790000, 5.780000, 8.210000, 8.190000, 8.190000, 6.970000, null, 8.230000, 8.230000, 8.250000, 7.640000, 7.630000, 7.660000, 7.940000, 7.740000, 7.720000, 7.740000, 8.130000, 8.480000, 4.910000, 1.350000, 1.270000, 1.150000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.160000, 1.170000, 1.170000, 1.120000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.180000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.230000, 1.250000, 1.260000, 1.270000, 1.290000, 1.300000, 1.320000, 1.340000, 1.370000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.500000, 1.520000, 1.540000, 1.560000, 1.600000, 1.640000, 2.450000, 2.570000, 2.660000, 2.360000, 2.360000, 2.970000, 3.090000, 3.220000, 3.350000, 3.090000, 3.390000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053410, 714470 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.332000, -5.515000, 2.605703 ], "estimate": [ -0.332000, -5.515000, 2.605703 ], "true_pose": [ null, null, null ], "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": [ 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.900000, 0.910000, 0.920000, 0.920000, 0.940000, 0.950000, 0.960000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.060000, 1.090000, 1.100000, 1.120000, 1.150000, 1.150000, 1.180000, 1.210000, 1.240000, 1.260000, 1.300000, 1.340000, 1.370000, 1.390000, 1.440000, 1.470000, 1.510000, 1.550000, 6.570000, 6.780000, 7.020000, 7.260000, 7.530000, 7.830000, 8.170000, 8.510000, 8.780000, 8.720000, 8.670000, 8.620000, 5.790000, 5.650000, 5.620000, 5.600000, 5.580000, 4.580000, 4.560000, 4.540000, 4.550000, 5.800000, 5.790000, 5.760000, 5.740000, 5.720000, 5.730000, 5.730000, 5.830000, 8.120000, 7.040000, 6.990000, 6.900000, 6.950000, 8.180000, 8.180000, 7.580000, 7.570000, 7.580000, 7.600000, 7.840000, 7.670000, 7.680000, 7.700000, 8.430000, 8.460000, 1.380000, 1.280000, 1.210000, 1.110000, 1.060000, 1.070000, 1.060000, 1.070000, 1.060000, 1.080000, 1.100000, 1.110000, 1.120000, 1.090000, 1.070000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.450000, 1.480000, 1.510000, 1.540000, 1.550000, 1.590000, 2.140000, 2.590000, 2.690000, 2.070000, 2.900000, 3.020000, 3.160000, 3.290000, 3.500000, 2.690000, 3.380000, 3.770000, 3.750000, 3.900000, 3.880000, 3.870000, 0.450000, 0.420000, 0.400000, 0.390000, 0.390000, 0.400000, 0.390000, 0.400000, 0.410000, 0.410000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053411, 110949 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.380000, -5.485000, 2.544248 ], "estimate": [ -0.380000, -5.485000, 2.544248 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.780000, 0.790000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.930000, 0.950000, 0.960000, 0.980000, 0.990000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.150000, 1.170000, 1.180000, 1.220000, 1.240000, 1.270000, 1.300000, 1.340000, 1.370000, 1.390000, 1.430000, 1.470000, 1.510000, 6.330000, 6.550000, 6.760000, 6.990000, 7.230000, 7.520000, 7.810000, 8.140000, 8.480000, 8.730000, 8.680000, 8.620000, 8.580000, 8.520000, 5.610000, 5.580000, 5.550000, 5.530000, 4.540000, 4.520000, 4.490000, 4.500000, 5.740000, 5.740000, 5.720000, 5.690000, 5.660000, 5.690000, 5.680000, 5.710000, 8.080000, 8.080000, 8.080000, 6.860000, 6.880000, 8.120000, 8.130000, 8.110000, 7.510000, 7.530000, 7.550000, 8.220000, 7.610000, 7.630000, 7.650000, 8.350000, 8.400000, 4.760000, 1.280000, 1.220000, 1.160000, 1.070000, 1.020000, 1.010000, 1.020000, 1.030000, 1.020000, 1.030000, 1.010000, 1.060000, 1.060000, 1.070000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.100000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.180000, 1.190000, 1.220000, 1.240000, 1.250000, 1.270000, 1.290000, 1.310000, 1.330000, 1.350000, 1.380000, 1.400000, 1.430000, 1.450000, 1.480000, 1.510000, 1.540000, 1.570000, 2.550000, 2.660000, 2.760000, 2.030000, 3.000000, 3.140000, 3.280000, 3.490000, 2.670000, 3.360000, 3.750000, 3.730000, 3.880000, 3.860000, 3.850000, 3.690000, 3.710000, 3.780000, 3.820000, 3.790000, 0.490000, 0.460000, 0.440000, 0.400000, 0.380000, 0.390000, 0.380000, 0.380000, 0.380000 ], "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": [ 976053411, 112233 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.424000, -5.453000, 2.501229 ], "estimate": [ -0.424000, -5.453000, 2.501229 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.050000, 1.060000, 1.090000, 1.100000, 1.110000, 1.140000, 1.150000, 1.180000, 1.200000, 1.230000, 1.260000, 1.290000, 1.320000, 1.360000, 1.380000, 1.420000, 1.450000, 6.100000, 6.280000, 6.480000, 6.690000, 6.920000, 7.150000, 7.420000, 7.710000, 8.030000, 8.370000, 8.700000, 8.630000, 8.580000, 8.520000, 8.480000, 5.550000, 5.520000, 5.500000, 5.470000, 4.600000, 4.460000, 4.440000, 4.430000, 5.700000, 5.690000, 5.670000, 5.640000, 5.610000, 5.620000, 5.630000, 5.630000, 8.030000, 8.010000, 8.040000, 6.790000, 6.880000, 8.060000, 8.060000, 8.090000, 7.460000, 7.480000, 7.490000, 8.080000, 7.550000, 7.570000, 7.580000, 7.890000, 8.330000, 8.370000, 4.610000, 1.270000, 1.180000, 1.120000, 1.060000, 0.990000, 0.960000, 0.960000, 0.970000, 0.980000, 0.970000, 0.980000, 1.000000, 1.020000, 1.020000, 1.030000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.180000, 1.190000, 1.200000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.470000, 1.520000, 1.530000, 2.580000, 2.690000, 2.510000, 2.440000, 3.090000, 3.210000, 3.440000, 3.600000, 3.160000, 3.850000, 3.730000, 3.870000, 3.860000, 3.840000, 3.710000, 3.740000, 3.790000, 3.750000, 3.800000, 3.260000, 3.610000, 3.790000, 3.790000, 3.780000 ], "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": [ 976053411, 295801 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.468000, -5.421000, 2.513520 ], "estimate": [ -0.468000, -5.421000, 2.513520 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.790000, 0.780000, 0.780000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.930000, 0.930000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.240000, 1.260000, 1.290000, 1.320000, 1.360000, 1.390000, 1.420000, 5.940000, 6.120000, 6.280000, 6.490000, 6.710000, 6.940000, 7.170000, 7.440000, 7.740000, 8.050000, 8.390000, 8.620000, 8.560000, 8.500000, 8.470000, 5.530000, 5.490000, 5.460000, 5.440000, 5.420000, 4.380000, 4.400000, 4.400000, 4.390000, 5.640000, 5.640000, 5.620000, 5.580000, 5.550000, 5.580000, 5.580000, 5.590000, 7.970000, 7.970000, 6.720000, 6.760000, 8.000000, 6.730000, 8.020000, 8.040000, 7.420000, 7.430000, 7.450000, 8.120000, 7.510000, 7.520000, 7.530000, 7.870000, 8.280000, 8.320000, 4.530000, 3.840000, 1.150000, 1.100000, 1.040000, 1.000000, 0.930000, 0.920000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.980000, 0.980000, 0.980000, 0.950000, 0.940000, 0.950000, 0.950000, 0.970000, 0.970000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.170000, 1.180000, 1.200000, 1.230000, 1.260000, 1.280000, 1.300000, 1.330000, 1.350000, 1.380000, 1.400000, 1.430000, 1.470000, 1.520000, 1.530000, 2.690000, 2.170000, 2.200000, 3.090000, 3.260000, 3.460000, 2.640000, 3.330000, 3.720000, 3.870000, 3.850000, 3.650000, 3.800000, 3.800000, 3.770000, 3.730000, 3.800000, 3.340000, 3.260000, 3.780000, 3.780000 ], "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": [ 976053411, 690364 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.518000, -5.385000, 2.513520 ], "estimate": [ -0.518000, -5.385000, 2.513520 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.930000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.110000, 1.140000, 1.160000, 1.170000, 1.200000, 1.230000, 1.250000, 1.290000, 1.320000, 1.360000, 1.380000, 5.740000, 5.890000, 6.060000, 6.240000, 6.440000, 6.640000, 6.870000, 7.110000, 7.360000, 7.650000, 7.950000, 8.290000, 8.580000, 8.520000, 8.480000, 8.430000, 5.490000, 5.440000, 5.410000, 5.400000, 5.380000, 4.370000, 4.350000, 4.340000, 4.350000, 5.600000, 5.580000, 5.570000, 5.530000, 5.500000, 5.510000, 5.520000, 5.510000, 7.920000, 7.930000, 6.730000, 6.700000, 6.880000, 7.950000, 7.960000, 7.980000, 7.370000, 7.360000, 7.380000, 7.400000, 7.450000, 7.470000, 7.480000, 7.490000, 8.200000, 8.250000, 4.590000, 3.900000, 3.740000, 1.110000, 1.050000, 1.010000, 0.980000, 0.900000, 0.870000, 0.870000, 0.860000, 0.870000, 0.880000, 0.870000, 0.880000, 0.900000, 0.930000, 0.930000, 0.930000, 0.920000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.060000, 1.090000, 1.100000, 1.120000, 1.140000, 1.170000, 1.180000, 1.210000, 1.230000, 1.260000, 1.280000, 1.310000, 1.340000, 1.370000, 1.400000, 1.430000, 1.470000, 1.510000, 2.750000, 1.980000, 3.050000, 3.200000, 3.400000, 3.460000, 2.630000, 3.720000, 3.800000, 3.830000, 3.840000, 3.830000, 3.650000, 3.710000, 3.730000, 3.790000, 3.770000, 3.250000, 3.570000, 3.780000, 3.780000 ], "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": [ 976053411, 714779 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.568000, -5.349000, 2.507374 ], "estimate": [ -0.568000, -5.349000, 2.507374 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.150000, 1.180000, 1.200000, 1.240000, 1.260000, 1.290000, 1.330000, 1.340000, 5.600000, 5.750000, 5.910000, 6.070000, 6.250000, 6.440000, 6.650000, 6.870000, 7.100000, 7.370000, 7.660000, 7.950000, 8.290000, 8.510000, 8.470000, 8.410000, 8.370000, 5.420000, 5.390000, 5.360000, 5.340000, 5.310000, 4.280000, 4.300000, 4.290000, 4.280000, 5.530000, 5.520000, 5.510000, 5.470000, 5.450000, 5.460000, 5.460000, 5.460000, 7.880000, 7.860000, 7.870000, 6.600000, 6.690000, 7.890000, 7.910000, 7.920000, 7.300000, 7.300000, 7.330000, 7.340000, 7.420000, 7.410000, 7.420000, 7.440000, 8.160000, 8.180000, 4.580000, 3.980000, 3.700000, 3.650000, 1.040000, 1.000000, 0.960000, 0.920000, 0.900000, 0.830000, 0.800000, 0.810000, 0.810000, 0.830000, 0.820000, 0.820000, 0.830000, 0.850000, 0.880000, 0.890000, 0.890000, 0.890000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.900000, 0.910000, 0.940000, 0.940000, 0.950000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.190000, 1.220000, 1.250000, 1.270000, 1.310000, 1.340000, 1.370000, 1.400000, 1.430000, 1.480000, 2.840000, 1.960000, 3.190000, 3.420000, 3.430000, 2.590000, 3.680000, 3.840000, 3.820000, 3.670000, 3.810000, 3.710000, 3.760000, 3.750000, 3.780000, 3.770000, 3.240000, 3.650000, 3.780000 ], "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": [ 976053411, 897436 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.616000, -5.313000, 2.495083 ], "estimate": [ -0.616000, -5.313000, 2.495083 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.020000, 1.020000, 1.040000, 1.060000, 1.080000, 1.090000, 1.100000, 1.120000, 1.150000, 1.160000, 1.190000, 1.210000, 1.240000, 1.260000, 1.270000, 5.620000, 5.560000, 5.630000, 5.780000, 5.930000, 6.110000, 6.280000, 6.480000, 6.690000, 6.920000, 7.160000, 7.420000, 7.710000, 8.020000, 8.360000, 8.440000, 8.390000, 8.340000, 8.290000, 5.340000, 5.310000, 5.290000, 5.270000, 4.490000, 4.220000, 4.230000, 4.210000, 4.440000, 5.470000, 5.460000, 5.440000, 5.400000, 5.390000, 5.410000, 5.410000, 5.410000, 7.780000, 6.750000, 7.800000, 6.550000, 6.550000, 7.840000, 7.840000, 7.860000, 7.240000, 7.240000, 7.260000, 7.290000, 7.340000, 7.340000, 7.360000, 7.390000, 8.090000, 8.130000, 4.510000, 4.150000, 3.680000, 3.590000, 3.610000, 0.990000, 0.950000, 0.910000, 0.870000, 0.840000, 0.810000, 0.770000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.770000, 0.780000, 0.790000, 0.830000, 0.840000, 0.830000, 0.830000, 0.800000, 0.790000, 0.800000, 0.810000, 0.830000, 0.840000, 0.860000, 0.870000, 0.870000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.990000, 1.000000, 1.010000, 1.030000, 1.050000, 1.070000, 1.100000, 1.120000, 1.160000, 1.180000, 1.200000, 1.240000, 1.270000, 1.300000, 1.340000, 1.370000, 1.410000, 1.460000, 2.260000, 1.970000, 3.430000, 3.360000, 2.590000, 3.660000, 3.830000, 3.790000, 3.630000, 3.710000, 3.740000, 3.750000, 3.730000, 3.780000, 3.750000, 3.240000, 3.760000 ], "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": [ 976053412, 350226 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.661000, -5.280000, 2.488938 ], "estimate": [ -0.661000, -5.280000, 2.488938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.020000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.150000, 1.160000, 1.190000, 1.210000, 1.230000, 10.010000, 5.640000, 5.570000, 5.500000, 5.610000, 5.760000, 5.910000, 6.080000, 6.260000, 6.450000, 6.650000, 6.880000, 7.120000, 7.380000, 7.660000, 7.970000, 8.300000, 8.390000, 8.350000, 8.290000, 8.230000, 5.300000, 5.280000, 5.240000, 5.220000, 4.660000, 4.190000, 4.180000, 4.160000, 4.330000, 5.420000, 5.410000, 5.390000, 5.360000, 5.330000, 5.360000, 5.350000, 5.340000, 7.760000, 7.740000, 7.750000, 6.490000, 6.560000, 6.590000, 7.790000, 7.800000, 7.180000, 7.180000, 7.210000, 7.220000, 7.840000, 7.280000, 7.300000, 7.330000, 8.020000, 8.070000, 8.110000, 4.360000, 3.720000, 3.570000, 3.550000, 3.570000, 0.950000, 0.910000, 0.870000, 0.840000, 0.810000, 0.790000, 0.750000, 0.730000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.780000, 0.790000, 0.800000, 0.800000, 0.800000, 0.750000, 0.770000, 0.770000, 0.790000, 0.790000, 0.800000, 0.820000, 0.840000, 0.850000, 0.870000, 0.870000, 0.890000, 0.910000, 0.920000, 0.930000, 0.950000, 0.970000, 0.990000, 1.020000, 1.040000, 1.060000, 1.090000, 1.110000, 1.140000, 1.160000, 1.200000, 1.230000, 1.270000, 1.310000, 1.340000, 1.380000, 1.430000, 1.930000, 3.430000, 3.360000, 3.270000, 2.920000, 3.820000, 3.800000, 3.640000, 3.770000, 3.730000, 3.750000, 3.720000, 3.780000, 3.770000, 3.240000 ], "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": [ 976053412, 351402 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.705000, -5.246000, 2.482792 ], "estimate": [ -0.705000, -5.246000, 2.482792 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 1.000000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.150000, 1.170000, 1.200000, 10.130000, 5.640000, 5.600000, 5.520000, 5.450000, 5.560000, 5.700000, 5.860000, 6.030000, 6.190000, 6.390000, 6.590000, 6.810000, 7.030000, 7.290000, 7.560000, 7.860000, 8.190000, 8.360000, 8.300000, 8.250000, 8.200000, 5.240000, 5.230000, 5.200000, 5.180000, 5.150000, 4.130000, 4.130000, 4.110000, 4.110000, 5.360000, 5.360000, 5.340000, 5.310000, 5.280000, 5.280000, 5.300000, 5.300000, 7.710000, 7.690000, 6.620000, 6.470000, 6.450000, 6.540000, 7.740000, 7.750000, 7.720000, 7.140000, 7.150000, 7.160000, 7.840000, 7.230000, 7.240000, 7.260000, 7.410000, 8.000000, 8.030000, 4.420000, 4.080000, 3.610000, 3.500000, 3.500000, 3.530000, 3.560000, 0.880000, 0.850000, 0.810000, 0.790000, 0.760000, 0.740000, 0.710000, 0.700000, 0.680000, 0.670000, 0.670000, 0.670000, 0.680000, 0.700000, 0.700000, 0.700000, 0.720000, 0.740000, 0.760000, 0.760000, 0.760000, 0.750000, 0.730000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.790000, 0.790000, 0.800000, 0.820000, 0.840000, 0.860000, 0.870000, 0.880000, 0.900000, 0.920000, 0.940000, 0.970000, 0.990000, 1.020000, 1.040000, 1.060000, 1.090000, 1.120000, 1.160000, 1.180000, 1.220000, 1.250000, 1.300000, 1.350000, 1.400000, 1.450000, 3.550000, 3.270000, 2.560000, 3.810000, 3.800000, 3.790000, 3.790000, 3.660000, 3.730000, 3.720000, 3.770000, 3.770000 ], "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": [ 976053412, 495874 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.753000, -5.209000, 2.470501 ], "estimate": [ -0.753000, -5.209000, 2.470501 ], "true_pose": [ null, null, null ], "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": [ 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.020000, 1.020000, 1.040000, 1.060000, 1.080000, 1.100000, 1.110000, 1.130000, 1.150000, 1.170000, null, 10.100000, 9.970000, 5.560000, 5.490000, 5.430000, 5.510000, 5.660000, 5.800000, 5.960000, 6.130000, 6.310000, 6.500000, 6.720000, 6.950000, 7.190000, 7.460000, 7.750000, 8.050000, 8.330000, 8.260000, 8.220000, 8.160000, 5.220000, 5.180000, 5.160000, 5.130000, 5.100000, 4.050000, 4.080000, 4.070000, 4.070000, 5.310000, 5.310000, 5.300000, 5.270000, 5.230000, 5.220000, 5.240000, 5.240000, 5.240000, 7.640000, 7.650000, 7.640000, 6.410000, 6.340000, 7.680000, 7.690000, 7.710000, 7.080000, 7.080000, 7.110000, 7.110000, 7.270000, 7.180000, 7.200000, 7.230000, 7.930000, 7.970000, 8.020000, 4.290000, 3.660000, 3.480000, 3.440000, 3.460000, 3.500000, 3.520000, 3.560000, 0.820000, 0.800000, 0.770000, 0.750000, 0.730000, 0.700000, 0.680000, 0.660000, 0.660000, 0.640000, 0.630000, 0.630000, 0.630000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.690000, 0.700000, 0.710000, 0.720000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.790000, 0.820000, 0.830000, 0.850000, 0.880000, 0.890000, 0.920000, 0.940000, 0.970000, 0.990000, 1.020000, 1.040000, 1.070000, 1.100000, 1.140000, 1.170000, 1.210000, 1.260000, 1.310000, 1.370000, 1.410000, 3.280000, 3.270000, 2.740000, 3.800000, 3.790000, 3.600000, 3.630000, 3.670000, 3.770000, 3.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053412, 919406 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.801000, -5.171000, 2.458210 ], "estimate": [ -0.801000, -5.171000, 2.458210 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.020000, 1.040000, 1.060000, 1.080000, 1.100000, 1.100000, 1.140000, 8.810000, 7.750000, 10.150000, 10.030000, 5.510000, 5.470000, 5.380000, 5.390000, 5.530000, 5.670000, 5.810000, 5.980000, 6.150000, 6.310000, 6.520000, 6.730000, 6.970000, 7.200000, 7.470000, 7.770000, 8.090000, 8.250000, 8.200000, 8.140000, 8.090000, 5.140000, 5.120000, 5.090000, 5.060000, 5.040000, 4.040000, 4.010000, 4.000000, 3.990000, 5.250000, 5.240000, 5.230000, 5.210000, 5.170000, 5.170000, 5.180000, 5.180000, 5.220000, 7.580000, 7.570000, 7.600000, 6.450000, null, 7.610000, 7.630000, 7.640000, 7.000000, 7.030000, 7.030000, 7.060000, 7.620000, 7.130000, 7.130000, 7.150000, 7.870000, 7.910000, 7.940000, 4.280000, 3.970000, 3.490000, 3.390000, 3.400000, 3.420000, 3.460000, 3.480000, 3.430000, 3.320000, 0.780000, 0.750000, 0.730000, 0.710000, 0.680000, 0.670000, 0.660000, 0.630000, 0.630000, 0.610000, 0.610000, 0.590000, 0.600000, 0.580000, 0.600000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.650000, 0.690000, 0.680000, 0.680000, 0.710000, 0.690000, 0.650000, 0.670000, 0.680000, 0.690000, 0.710000, 0.720000, 0.720000, 0.740000, 0.760000, 0.780000, 0.790000, 0.800000, 0.830000, 0.860000, 0.870000, 0.900000, 0.930000, 0.950000, 0.990000, 1.010000, 1.040000, 1.070000, 1.110000, 1.160000, 1.210000, 1.260000, 1.320000, 1.370000, 1.400000, 2.630000, 3.790000, 3.780000, 3.640000, 3.620000, 3.700000 ], "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, 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 ], "timestamp": [ 976053412, 934602 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.847000, -5.134000, 2.452065 ], "estimate": [ -0.847000, -5.134000, 2.452065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.930000, 0.940000, 0.960000, 0.970000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 6.160000, 9.560000, 8.940000, 7.700000, null, 10.010000, 5.470000, 5.430000, 5.350000, 5.340000, 5.470000, 5.600000, 5.750000, 5.890000, 6.060000, 6.240000, 6.430000, 6.640000, 6.870000, 7.110000, 7.350000, 7.650000, 7.950000, 8.220000, 8.160000, 8.100000, 8.060000, 5.100000, 5.060000, 5.030000, 5.020000, 4.990000, 3.940000, 3.960000, 3.960000, 3.950000, 5.200000, 5.190000, 5.180000, 5.160000, 5.130000, 5.100000, 5.130000, 5.130000, 5.130000, 7.530000, 7.510000, null, 6.310000, 6.240000, 6.350000, 7.570000, 7.570000, 7.540000, 6.960000, 6.980000, 7.000000, 7.680000, 7.050000, 7.070000, 7.100000, 7.130000, 7.840000, 7.870000, 7.920000, 4.160000, 3.560000, 3.380000, 3.330000, 3.360000, 3.390000, 3.420000, 3.440000, 3.360000, 3.250000, 3.150000, 0.750000, 0.710000, 0.690000, 0.680000, 0.670000, 0.650000, 0.630000, 0.620000, 0.590000, 0.590000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.560000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.610000, 0.610000, 0.660000, 0.660000, 0.650000, 0.660000, 0.660000, 0.630000, 0.630000, 0.640000, 0.650000, 0.670000, 0.690000, 0.710000, 0.710000, 0.730000, 0.750000, 0.780000, 0.790000, 0.820000, 0.840000, 0.860000, 0.900000, 0.910000, 0.950000, 0.980000, 1.010000, 1.060000, 1.110000, 1.150000, 1.200000, 1.260000, 1.330000, 1.390000, 2.580000, 3.780000, 3.750000, 3.660000 ], "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, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053413, 964609 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.891000, -5.098000, 2.439774 ], "estimate": [ -0.891000, -5.098000, 2.439774 ], "true_pose": [ null, null, null ], "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": [ 0.780000, 0.790000, 0.790000, 0.780000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.920000, 0.930000, 0.930000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.020000, 1.020000, 1.040000, 6.240000, 6.100000, 6.110000, 9.490000, 8.610000, 9.840000, null, 9.980000, 5.430000, 5.390000, 5.310000, 5.280000, 5.420000, 5.550000, 5.680000, 5.840000, 6.000000, 6.180000, 6.350000, 6.550000, 6.770000, 7.000000, 7.240000, 7.530000, 7.820000, 8.140000, 8.120000, 8.060000, 8.010000, 5.080000, 5.020000, 4.990000, 4.960000, 4.930000, 3.910000, 3.920000, 3.900000, 3.880000, 5.030000, 5.140000, 5.120000, 5.120000, 5.080000, 5.060000, 5.070000, 5.060000, 5.070000, 5.260000, 7.460000, 6.400000, null, 6.220000, 6.210000, 7.510000, 7.530000, 7.520000, 6.910000, 6.920000, 6.930000, 6.950000, 7.630000, 7.010000, 7.030000, 7.050000, 7.760000, 7.800000, 7.830000, 4.220000, 4.070000, 3.480000, 3.280000, 3.290000, 3.310000, 3.330000, 3.360000, 3.390000, 3.300000, 3.200000, 3.100000, 3.010000, 2.930000, 0.690000, 0.670000, 0.660000, 0.640000, 0.620000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.540000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.520000, 0.530000, 0.540000, 0.560000, 0.560000, 0.550000, 0.570000, 0.580000, 0.620000, 0.630000, 0.620000, 0.630000, 0.620000, 0.610000, 0.610000, 0.620000, 0.630000, 0.650000, 0.670000, 0.690000, 0.710000, 0.720000, 0.740000, 0.770000, 0.780000, 0.810000, 0.840000, 0.880000, 0.900000, 0.940000, 0.990000, 1.030000, 1.080000, 1.130000, 1.190000, 1.250000, 1.320000, 1.390000, 3.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053413, 491114 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.933000, -5.062000, 2.433628 ], "estimate": [ -0.933000, -5.062000, 2.433628 ], "true_pose": [ null, null, null ], "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": [ 0.780000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.880000, 0.890000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 0.970000, 6.350000, 6.230000, 6.040000, 6.070000, 6.180000, 9.580000, 9.760000, 7.640000, 9.990000, 5.380000, 5.360000, 5.280000, 5.230000, 5.350000, 5.470000, 5.620000, 5.750000, 5.910000, 6.080000, 6.250000, 6.450000, 6.640000, 6.870000, 7.110000, 7.390000, 7.660000, 7.970000, 8.090000, 8.040000, 7.980000, 7.930000, 4.980000, 4.950000, 4.930000, 4.900000, 4.030000, 3.860000, 3.850000, 3.830000, 3.830000, 5.100000, 5.080000, 5.080000, 5.050000, 5.020000, 5.010000, 5.030000, 5.020000, 5.020000, 7.420000, 7.410000, 6.390000, 6.180000, 6.160000, 6.260000, 7.460000, 7.470000, 7.460000, 6.850000, 6.880000, 6.890000, 7.350000, 6.970000, 6.960000, 6.990000, 7.010000, 7.740000, 7.770000, 7.820000, 4.130000, 3.980000, 3.390000, 3.250000, 3.240000, 3.270000, 3.300000, 3.330000, 3.350000, 3.250000, 3.160000, 3.050000, 2.960000, 2.890000, 2.820000, 2.840000, 0.660000, 0.640000, 0.620000, 0.600000, 0.600000, 0.590000, 0.580000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.500000, 0.490000, 0.520000, 0.520000, 0.520000, 0.520000, 0.550000, 0.550000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.580000, 0.590000, 0.600000, 0.620000, 0.640000, 0.650000, 0.670000, 0.700000, 0.710000, 0.740000, 0.770000, 0.790000, 0.830000, 0.870000, 0.920000, 0.960000, 1.010000, 1.060000, 1.120000, 1.190000, 1.260000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053413, 514832 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.977000, -5.024000, 2.427483 ], "estimate": [ -0.977000, -5.024000, 2.427483 ], "true_pose": [ null, null, null ], "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": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.930000, 0.930000, 0.940000, 0.950000, 0.970000, 0.990000, 6.560000, 6.430000, 6.300000, 6.180000, 6.010000, 6.040000, 8.760000, 8.750000, 9.720000, null, 9.940000, 5.340000, 5.300000, 5.220000, 5.190000, 5.320000, 5.440000, 5.580000, 5.720000, 5.880000, 6.040000, 6.210000, 6.400000, 6.600000, 6.820000, 7.050000, 7.310000, 7.590000, 7.900000, 8.050000, 7.990000, 7.930000, 7.890000, 4.930000, 4.890000, 4.860000, 4.840000, 4.000000, 3.810000, 3.790000, 3.780000, 3.790000, 5.050000, 5.030000, 5.020000, 5.000000, 4.960000, 4.950000, 4.960000, 4.960000, 4.960000, 7.370000, 7.360000, 6.640000, 6.150000, 6.170000, 6.170000, 7.380000, 7.420000, 7.430000, 6.800000, 6.810000, 6.840000, 6.850000, 7.000000, 6.920000, 6.930000, 6.950000, 7.650000, 7.700000, 7.750000, 7.780000, 4.000000, 3.450000, 3.290000, 3.190000, 3.200000, 3.220000, 3.260000, 3.280000, 3.280000, 3.170000, 3.090000, 2.990000, 2.910000, 2.830000, 2.770000, 2.800000, 2.780000, 2.800000, 0.630000, 0.610000, 0.600000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.520000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.470000, 0.460000, 0.470000, 0.500000, 0.500000, 0.500000, 0.520000, 0.560000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.560000, 0.570000, 0.590000, 0.610000, 0.640000, 0.660000, 0.680000, 0.720000, 0.750000, 0.790000, 0.820000, 0.880000, 0.930000, 0.970000, 1.040000 ], "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, 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 ], "timestamp": [ 976053413, 695655 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.024000, -4.983000, 2.415191 ], "estimate": [ -1.024000, -4.983000, 2.415191 ], "true_pose": [ null, null, null ], "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": [ 0.780000, 0.770000, 0.780000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.930000, 6.990000, 6.830000, 6.680000, 6.520000, 6.390000, 6.250000, 6.120000, 5.970000, 6.010000, 8.780000, 9.480000, 9.660000, 7.550000, 9.930000, 5.300000, 5.260000, 5.180000, 5.150000, 5.280000, 5.410000, 5.530000, 5.670000, 5.820000, 5.980000, 6.160000, 6.330000, 6.530000, 6.740000, 6.990000, 7.220000, 7.500000, 7.790000, 8.000000, 7.940000, 7.890000, 7.840000, 4.870000, 4.850000, 4.810000, 4.790000, 4.770000, 3.750000, 3.740000, 3.730000, 3.720000, 4.990000, 4.980000, 4.960000, 4.950000, 4.920000, 4.890000, 4.900000, 4.920000, 4.900000, 5.040000, 7.300000, 6.230000, 6.050000, 6.070000, 6.080000, 7.330000, 7.350000, 7.370000, 6.770000, 6.750000, 6.780000, 6.780000, 7.450000, 6.860000, 6.870000, 6.890000, 6.940000, 7.630000, 7.670000, 7.710000, 4.050000, 3.890000, 3.350000, 3.190000, 3.150000, 3.170000, 3.190000, 3.210000, 3.240000, 3.220000, 3.130000, 3.020000, 2.950000, 2.870000, 2.790000, 2.740000, 2.750000, 2.740000, 2.760000, 2.810000, 2.850000, 2.890000, 0.590000, 0.560000, 0.560000, 0.550000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.460000, 0.450000, 0.470000, 0.480000, 0.470000, 0.510000, 0.550000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.560000, 0.580000, 0.600000, 0.630000, 0.650000, 0.690000, 0.730000, 0.760000, 0.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053414, 929110 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.069000, -4.944000, 2.409046 ], "estimate": [ -1.069000, -4.944000, 2.409046 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.780000, 0.770000, 0.770000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.880000, 0.880000, 0.900000, 0.930000, 7.320000, 7.130000, 6.960000, 6.780000, 6.620000, 6.480000, 6.340000, 6.200000, 6.090000, 5.940000, 5.970000, 9.270000, 9.430000, 8.580000, 7.490000, 9.910000, 5.250000, 5.210000, 5.120000, 5.120000, 5.230000, 5.350000, 5.470000, 5.620000, 5.760000, 5.920000, 6.080000, 6.260000, 6.450000, 6.660000, 6.890000, 7.130000, 7.400000, 7.670000, 7.960000, 7.900000, 7.840000, 7.790000, 4.820000, 4.790000, 4.770000, 4.730000, 4.710000, 3.650000, 3.700000, 3.680000, 3.660000, 4.790000, 4.920000, 4.920000, 4.900000, 4.870000, 4.840000, 4.840000, 4.840000, 4.840000, 4.840000, 7.250000, 7.240000, 6.210000, 6.000000, 6.000000, 6.070000, 7.290000, 7.300000, 7.300000, 6.680000, 6.710000, 6.730000, 6.740000, 6.840000, 6.800000, 6.830000, 6.840000, 7.560000, 7.590000, 7.640000, 7.680000, 3.960000, 3.820000, 3.270000, 3.120000, 3.080000, 3.110000, 3.130000, 3.170000, 3.190000, 3.160000, 3.070000, 2.980000, 2.900000, 2.820000, 2.740000, 2.690000, 2.690000, 2.680000, 2.720000, 2.750000, 2.800000, 2.830000, 2.870000, 2.920000, 2.970000, 0.620000, 0.540000, 0.540000, 0.520000, 0.510000, 0.520000, 0.510000, 0.510000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.440000, 0.440000, 0.470000, 0.470000, 0.460000, 0.550000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053414, 966820 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.112000, -4.906000, 2.402900 ], "estimate": [ -1.112000, -4.906000, 2.402900 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.770000, 0.760000, 0.770000, 0.770000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.900000, 3.060000, 3.100000, 3.130000, 7.280000, 7.100000, 6.900000, 6.750000, 6.590000, 6.430000, 6.290000, 6.160000, 6.030000, 5.900000, 5.930000, 9.230000, 9.370000, 8.460000, 7.440000, 9.870000, 5.200000, 5.170000, 5.060000, 5.080000, 5.200000, 5.310000, 5.430000, 5.560000, 5.710000, 5.870000, 6.030000, 6.190000, 6.380000, 6.590000, 6.820000, 7.060000, 7.320000, 7.580000, 7.890000, 7.860000, 7.790000, 7.760000, 4.770000, 4.740000, 4.710000, 4.680000, 4.670000, 3.630000, 3.630000, 3.620000, 3.620000, 3.630000, 4.890000, 4.850000, 4.840000, 4.830000, 4.790000, 4.770000, 4.790000, 4.800000, 4.800000, 7.190000, 7.190000, 6.480000, 5.960000, 5.940000, 6.330000, 5.930000, 7.250000, 7.260000, 6.630000, 6.640000, 6.660000, 6.670000, 7.330000, 6.750000, 6.770000, 6.780000, 6.860000, 7.520000, 7.560000, 7.610000, 7.650000, 3.860000, 3.690000, 3.190000, 3.040000, 3.040000, 3.070000, 3.100000, 3.120000, 3.160000, 3.110000, 3.020000, 2.930000, 2.850000, 2.780000, 2.710000, 2.640000, 2.660000, 2.660000, 2.670000, 2.720000, 2.760000, 2.800000, 2.830000, 2.890000, 2.930000, 2.990000, 3.030000, 3.090000, 3.160000, 0.570000, 0.520000, 0.510000, 0.510000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.460000, 0.470000, 0.460000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.420000, 0.470000, 0.470000, 0.470000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053414, 585548 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.153000, -4.868000, 2.396755 ], "estimate": [ -1.153000, -4.868000, 2.396755 ], "true_pose": [ null, null, null ], "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": [ 0.760000, 0.760000, 0.760000, 0.770000, 0.760000, 0.770000, 0.760000, 0.760000, 0.760000, 0.770000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.840000, 0.880000, 2.970000, 3.000000, 3.030000, 3.050000, 3.090000, 7.430000, 7.210000, 7.030000, 6.850000, 6.670000, 6.520000, 6.370000, 6.230000, 6.110000, 5.970000, 5.850000, 5.890000, 9.170000, 9.320000, 8.530000, 7.410000, 9.830000, 5.130000, 5.110000, 4.990000, 5.050000, 5.160000, 5.270000, 5.410000, 5.530000, 5.670000, 5.830000, 5.990000, 6.160000, 6.330000, 6.540000, 6.760000, 7.000000, 7.240000, 7.510000, 7.810000, 7.800000, 7.760000, 7.700000, 4.720000, 4.680000, 4.660000, 4.630000, 4.610000, 3.590000, 3.580000, 3.560000, 3.550000, 3.670000, 4.810000, 4.810000, 4.790000, 4.770000, 4.730000, 4.720000, 4.740000, 4.740000, 4.730000, 4.940000, 7.140000, 6.070000, 5.900000, 5.890000, 5.920000, 5.960000, 7.190000, 7.200000, 6.910000, 6.580000, 6.610000, 6.620000, 7.210000, 6.680000, 6.700000, 6.720000, 6.740000, 7.450000, 7.500000, 7.530000, 7.580000, 3.880000, 3.750000, 3.210000, 3.090000, 2.990000, 3.000000, 3.040000, 3.060000, 3.080000, 3.120000, 3.040000, 2.950000, 2.880000, 2.790000, 2.720000, 2.650000, 2.600000, 2.620000, 2.610000, 2.640000, 2.660000, 2.710000, 2.740000, 2.800000, 2.840000, 2.900000, 2.950000, 3.000000, 3.060000, 3.130000, 3.190000, 3.260000, 3.330000, 3.420000, 0.510000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.440000, 0.450000, 0.440000, 0.430000, 0.430000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053414, 586743 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.197000, -4.827000, 2.384464 ], "estimate": [ -1.197000, -4.827000, 2.384464 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 2.890000, 2.900000, 2.930000, 2.960000, 2.980000, 3.010000, 3.040000, 3.100000, 7.390000, 7.180000, 6.980000, 6.810000, 6.630000, 6.480000, 6.320000, 6.170000, 6.050000, 5.920000, 5.820000, 5.850000, 9.120000, 9.280000, 8.400000, 7.360000, 9.810000, 5.100000, 5.060000, 4.970000, 5.000000, 5.130000, 5.230000, 5.360000, 5.490000, 5.630000, 5.770000, 5.930000, 6.090000, 6.270000, 6.470000, 6.680000, 6.920000, 7.160000, 7.420000, 7.720000, 7.780000, 7.710000, 7.660000, 4.690000, 4.640000, 4.610000, 4.590000, 4.560000, 3.560000, 3.530000, 3.520000, 3.510000, 3.490000, 4.780000, 4.760000, 4.740000, 4.720000, 4.690000, 4.670000, 4.680000, 4.690000, 4.690000, 4.690000, 7.080000, 7.070000, 7.070000, 5.930000, 5.780000, 5.890000, 7.130000, 7.140000, 7.140000, 6.530000, 6.530000, 6.560000, 6.570000, 7.260000, 6.640000, 6.670000, 6.680000, 7.050000, 7.430000, 7.480000, 7.520000, 7.560000, 3.770000, 3.640000, 3.140000, 3.010000, 2.950000, 2.960000, 2.990000, 3.020000, 3.040000, 3.070000, 2.980000, 2.910000, 2.830000, 2.760000, 2.690000, 2.620000, 2.570000, 2.570000, 2.580000, 2.590000, 2.640000, 2.660000, 2.720000, 2.750000, 2.800000, 2.860000, 2.910000, 2.960000, 3.030000, 3.090000, 3.160000, 3.230000, 3.300000, 3.390000, 3.460000, 3.550000, 3.650000, 4.430000, 4.390000, 0.500000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.430000 ], "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": [ 976053414, 724516 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.241000, -4.787000, 2.372173 ], "estimate": [ -1.241000, -4.787000, 2.372173 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.750000, 0.760000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 2.790000, 2.810000, 2.840000, 2.850000, 2.870000, 2.900000, 2.910000, 2.940000, 2.970000, 2.990000, 3.050000, 7.540000, 7.320000, 7.110000, 6.920000, 6.750000, 6.570000, 6.410000, 6.260000, 6.110000, 5.980000, 5.860000, 5.780000, 5.850000, 9.080000, 9.240000, 8.330000, 7.310000, 9.770000, 5.070000, 4.990000, 4.920000, 4.990000, 5.090000, 5.200000, 5.320000, 5.430000, 5.570000, 5.720000, 5.890000, 6.040000, 6.200000, 6.400000, 6.610000, 6.830000, 7.080000, 7.350000, 7.620000, 7.720000, 7.660000, 7.600000, 4.640000, 4.580000, 4.550000, 4.530000, 4.500000, 3.480000, 3.440000, 3.460000, 3.440000, 3.440000, 4.700000, 4.700000, 4.690000, 4.670000, 4.640000, 4.620000, 4.610000, 4.610000, 4.620000, 4.620000, 7.030000, 7.030000, 5.940000, 5.880000, 5.780000, 5.730000, 7.070000, 7.070000, 7.100000, 6.470000, 6.470000, 6.490000, 6.510000, 7.190000, 6.580000, 6.590000, 6.610000, 6.630000, 7.350000, 7.400000, 7.430000, 7.480000, 3.840000, 3.700000, 3.580000, 3.070000, 2.950000, 2.880000, 2.910000, 2.940000, 2.960000, 3.000000, 3.020000, 2.940000, 2.870000, 2.790000, 2.720000, 2.650000, 2.590000, 2.530000, 2.520000, 2.520000, 2.540000, 2.590000, 2.620000, 2.660000, 2.710000, 2.750000, 2.810000, 2.860000, 2.910000, 2.970000, 3.040000, 3.110000, 3.170000, 3.260000, 3.340000, 3.420000, 3.500000, 3.600000, 4.410000, 4.370000, 4.330000, 4.290000, 4.250000, 4.210000, 4.180000, 4.150000, 4.110000, 0.470000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.440000, 0.430000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000 ], "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": [ 976053415, 748592 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.284000, -4.746000, 2.366027 ], "estimate": [ -1.284000, -4.746000, 2.366027 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.740000, 0.750000, 0.760000, 0.760000, 0.760000, 0.740000, 0.750000, 0.750000, 0.760000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.850000, 2.750000, 2.760000, 2.780000, 2.790000, 2.810000, 2.830000, 2.840000, 2.860000, 2.890000, 2.900000, 2.930000, 2.960000, 2.990000, 7.690000, 7.460000, 7.240000, 7.020000, 6.850000, 6.650000, 6.500000, 6.320000, 6.200000, 6.050000, 5.910000, 5.720000, 5.740000, 5.810000, 9.060000, 9.200000, 9.360000, 9.550000, 5.020000, 5.010000, 4.930000, 4.850000, 4.970000, 5.060000, 5.180000, 5.290000, 5.420000, 5.560000, 5.690000, 5.850000, 6.010000, 6.180000, 6.370000, 6.580000, 6.800000, 7.040000, 7.280000, 7.570000, 7.660000, 7.600000, 7.550000, 4.570000, 4.530000, 4.490000, 4.470000, 4.450000, 3.440000, 3.410000, 3.400000, 3.390000, 3.400000, 4.650000, 4.650000, 4.630000, 4.610000, 4.580000, 4.570000, 4.560000, 4.570000, 4.570000, 4.570000, 6.980000, 6.960000, 5.900000, 6.980000, 5.710000, 5.720000, 5.750000, 7.010000, 7.030000, 6.750000, 6.420000, 6.430000, 6.450000, 6.660000, 6.530000, 6.530000, 6.550000, 6.580000, 7.300000, 7.330000, 7.380000, 7.430000, 7.480000, 3.700000, 3.590000, 3.100000, 2.990000, 2.850000, 2.850000, 2.880000, 2.900000, 2.940000, 2.960000, 2.950000, 2.880000, 2.800000, 2.720000, 2.660000, 2.600000, 2.540000, 2.480000, 2.490000, 2.490000, 2.500000, 2.540000, 2.580000, 2.620000, 2.660000, 2.720000, 2.780000, 2.830000, 2.890000, 2.940000, 3.010000, 3.080000, 3.150000, 3.240000, 3.320000, 3.410000, 3.500000, 3.590000, 4.370000, 4.340000, 4.300000, 4.260000, 4.210000, 4.190000, 4.160000, 4.120000, 4.100000, 4.070000, 4.050000, 4.020000, 3.990000, 3.960000, 0.460000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000 ], "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": [ 976053415, 750231 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.324000, -4.706000, 2.372173 ], "estimate": [ -1.324000, -4.706000, 2.372173 ], "true_pose": [ null, null, null ], "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": [ 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.740000, 0.740000, 0.740000, 0.750000, 0.740000, 0.750000, 0.760000, 0.760000, 0.780000, 2.710000, 2.720000, 2.740000, 2.740000, 2.750000, 2.770000, 2.780000, 2.800000, 2.810000, 2.830000, 2.840000, 2.870000, 2.890000, 2.910000, 2.930000, 2.970000, 7.750000, 7.520000, 7.290000, 7.080000, 6.870000, 6.690000, 6.530000, 6.360000, 6.200000, 6.060000, 5.930000, 5.810000, 5.700000, 5.740000, 8.950000, 9.080000, 9.230000, 9.400000, null, 4.970000, 4.910000, 4.830000, 4.880000, 4.990000, 5.100000, 5.200000, 5.320000, 5.450000, 5.590000, 5.730000, 5.890000, 6.040000, 6.200000, 6.400000, 6.620000, 6.840000, 7.080000, 7.340000, 7.630000, 7.580000, 7.530000, 7.470000, 4.480000, 4.460000, 4.430000, 4.400000, 4.370000, 3.330000, 3.360000, 3.340000, 3.330000, 3.410000, 4.590000, 4.580000, 4.560000, 4.550000, 4.520000, 4.500000, 4.510000, 4.510000, 4.500000, 4.500000, 6.900000, 6.920000, null, 5.750000, 5.730000, 5.620000, 6.950000, 6.950000, 6.970000, 6.380000, 6.370000, 6.390000, 6.390000, 6.750000, 6.470000, 6.490000, 6.500000, 6.520000, 7.240000, 7.280000, 7.330000, 7.370000, 7.410000, 3.670000, 3.550000, 3.450000, 2.960000, 2.850000, 2.800000, 2.810000, 2.840000, 2.870000, 2.900000, 2.930000, 2.870000, 2.790000, 2.720000, 2.650000, 2.590000, 2.530000, 2.480000, 2.450000, 2.450000, 2.460000, 2.480000, 2.510000, 2.560000, 2.600000, 2.650000, 2.700000, 2.760000, 2.810000, 2.870000, 2.930000, 2.990000, 3.070000, 3.150000, 3.240000, 3.320000, 3.410000, 3.500000, 3.610000, 4.340000, 4.300000, 4.250000, 4.210000, 4.190000, 4.150000, 4.130000, 4.100000, 4.070000, 4.050000, 4.020000, 4.000000, 3.970000, 3.950000, 3.940000, 3.920000, 3.910000, 3.900000, 3.880000, 3.870000, 0.440000, 0.440000, 0.430000, 0.430000, 0.440000 ], "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, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053415, 751127 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.367000, -4.665000, 2.378319 ], "estimate": [ -1.367000, -4.665000, 2.378319 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.740000, 0.750000, 0.740000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.760000, 2.660000, 2.660000, 2.670000, 2.670000, 2.690000, 2.700000, 2.720000, 2.730000, 2.740000, 2.750000, 2.770000, 2.800000, 2.800000, 2.810000, 2.840000, 2.860000, 2.880000, 2.900000, 2.920000, 8.020000, 7.770000, 7.510000, 7.290000, 7.060000, 6.860000, 6.670000, 6.490000, 6.320000, 6.170000, 6.030000, 5.890000, 5.750000, 5.670000, 5.710000, 8.880000, 9.010000, 8.240000, 9.310000, null, 4.920000, 4.860000, 4.790000, 4.820000, 4.930000, 5.040000, 5.140000, 5.270000, 5.380000, 5.520000, 5.670000, 5.800000, 5.970000, 6.130000, 6.320000, 6.510000, 6.730000, 6.970000, 7.220000, 7.500000, 7.540000, 7.490000, 7.440000, 4.450000, 4.410000, 4.380000, 4.370000, 4.350000, 3.310000, 3.320000, 3.300000, 3.280000, 3.270000, 4.510000, 4.540000, 4.510000, 4.490000, 4.480000, 4.450000, 4.440000, 4.460000, 4.440000, 4.450000, 4.580000, 6.850000, 6.870000, null, 5.650000, 5.540000, 5.660000, 6.890000, 6.900000, 6.920000, 6.320000, 6.320000, 6.340000, 6.360000, 6.930000, 6.440000, 6.440000, 6.460000, 6.480000, 7.210000, 7.250000, 7.300000, 7.340000, 7.390000, 3.610000, 3.500000, 3.190000, 2.910000, 2.800000, 2.760000, 2.770000, 2.800000, 2.830000, 2.860000, 2.890000, 2.820000, 2.760000, 2.690000, 2.620000, 2.570000, 2.510000, 2.450000, 2.410000, 2.400000, 2.400000, 2.430000, 2.470000, 2.510000, 2.550000, 2.600000, 2.650000, 2.710000, 2.760000, 2.820000, 2.890000, 2.950000, 3.030000, 3.110000, 3.180000, 3.280000, 3.360000, 3.470000, 3.570000, 4.310000, 4.270000, 4.230000, 4.200000, 4.170000, 4.140000, 4.110000, 4.080000, 4.060000, 4.030000, 4.010000, 3.980000, 3.970000, 3.950000, 3.930000, 3.920000, 3.910000, 3.890000, 3.870000, 3.860000, 3.850000, 3.840000, 3.840000, 3.840000, 3.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053415, 751992 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.410000, -4.625000, 2.384464 ], "estimate": [ -1.410000, -4.625000, 2.384464 ], "true_pose": [ null, null, null ], "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": [ 0.740000, 0.750000, 0.740000, 0.750000, 0.790000, 2.630000, 2.630000, 2.630000, 2.640000, 2.650000, 2.660000, 2.670000, 2.670000, 2.680000, 2.700000, 2.710000, 2.730000, 2.740000, 2.750000, 2.770000, 2.790000, 2.800000, 2.810000, 2.830000, 2.850000, 2.880000, 2.890000, 2.920000, 7.950000, 7.690000, 7.440000, 7.210000, 7.000000, 6.790000, 6.600000, 6.440000, 6.260000, 6.100000, 5.970000, 5.830000, 5.680000, 5.620000, 5.700000, 8.840000, 8.390000, 8.370000, 9.270000, null, 4.880000, 4.800000, 4.760000, 4.790000, 4.900000, 5.000000, 5.110000, 5.230000, 5.350000, 5.480000, 5.610000, 5.760000, 5.920000, 6.080000, 6.260000, 6.460000, 6.680000, 6.900000, 7.140000, 7.420000, 7.510000, 7.440000, 7.390000, 4.380000, 4.360000, 4.330000, 4.310000, 4.290000, 3.250000, 3.250000, 3.230000, 3.230000, 3.210000, 4.370000, 4.480000, 4.450000, 4.430000, 4.420000, 4.390000, 4.390000, 4.400000, 4.390000, 4.380000, 4.390000, 6.790000, 6.810000, null, 5.600000, 5.520000, 5.540000, 5.550000, 6.840000, 6.850000, 6.240000, 6.260000, 6.280000, 6.290000, 6.950000, 6.370000, 6.380000, 6.410000, 6.410000, 7.140000, 7.180000, 7.230000, 7.260000, 7.320000, 3.610000, 3.520000, 3.400000, 2.950000, 2.850000, 2.730000, 2.710000, 2.720000, 2.750000, 2.780000, 2.810000, 2.850000, 2.780000, 2.710000, 2.640000, 2.590000, 2.520000, 2.470000, 2.420000, 2.380000, 2.360000, 2.380000, 2.360000, 2.420000, 2.460000, 2.500000, 2.550000, 2.590000, 2.650000, 2.710000, 2.770000, 2.830000, 2.900000, 2.970000, 3.050000, 3.140000, 3.230000, 3.330000, 3.420000, 3.530000, 4.280000, 4.240000, 4.210000, 4.180000, 4.150000, 4.120000, 4.090000, 4.070000, 4.040000, 4.010000, 3.990000, 3.970000, 3.960000, 3.940000, 3.930000, 3.910000, 3.900000, 3.880000, 3.870000, 3.860000, 3.840000, 3.840000, 3.840000, 3.830000, 3.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053415, 753018 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.453000, -4.585000, 2.390610 ], "estimate": [ -1.453000, -4.585000, 2.390610 ], "true_pose": [ null, null, null ], "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": [ 0.960000, 2.640000, 2.630000, 2.630000, 2.630000, 2.630000, 2.630000, 2.640000, 2.640000, 2.650000, 2.660000, 2.670000, 2.670000, 2.690000, 2.700000, 2.720000, 2.730000, 2.740000, 2.760000, 2.780000, 2.790000, 2.800000, 2.820000, 2.840000, 2.870000, 2.900000, 8.210000, 7.920000, 7.650000, 7.410000, 7.160000, 6.950000, 6.750000, 6.550000, 6.380000, 6.220000, 6.070000, 5.910000, 5.790000, 5.570000, 5.590000, 5.670000, 8.790000, 8.350000, 8.230000, 9.220000, 4.870000, 4.830000, 4.740000, 4.710000, 4.760000, 4.870000, 4.970000, 5.080000, 5.190000, 5.310000, 5.430000, 5.560000, 5.710000, 5.870000, 6.020000, 6.200000, 6.390000, 6.610000, 6.830000, 7.070000, 7.330000, 7.460000, 7.410000, 7.350000, 4.340000, 4.310000, 4.280000, 4.260000, 4.240000, 3.210000, 3.190000, 3.180000, 3.170000, 3.170000, 4.240000, 4.420000, 4.410000, 4.390000, 4.380000, 4.350000, 4.330000, 4.340000, 4.350000, 4.330000, 4.340000, 6.730000, 6.740000, 6.050000, 5.510000, 5.560000, 5.550000, 5.570000, 6.790000, 6.810000, 6.740000, 6.210000, 6.220000, 6.240000, 6.240000, 6.940000, 6.310000, 6.350000, 6.360000, 6.430000, 7.110000, 7.160000, 7.200000, 7.240000, 7.300000, 3.530000, 3.440000, 3.340000, 2.870000, 2.780000, 2.650000, 2.660000, 2.690000, 2.700000, 2.740000, 2.770000, 2.810000, 2.730000, 2.650000, 2.600000, 2.550000, 2.490000, 2.440000, 2.390000, 2.340000, 2.320000, 2.350000, 2.330000, 2.370000, 2.410000, 2.470000, 2.490000, 2.550000, 2.600000, 2.660000, 2.720000, 2.790000, 2.870000, 2.930000, 3.020000, 3.110000, 3.200000, 3.280000, 3.390000, 3.500000, 4.260000, 4.220000, 4.200000, 4.160000, 4.140000, 4.110000, 4.070000, 4.060000, 4.020000, 4.000000, 3.970000, 3.970000, 3.940000, 3.920000, 3.910000, 3.910000, 3.890000, 3.880000, 3.860000, 3.850000, 3.850000, 3.840000, 3.840000, 3.830000, 3.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053415, 897070 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.495000, -4.547000, 2.396755 ], "estimate": [ -1.495000, -4.547000, 2.396755 ], "true_pose": [ null, null, null ], "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": [ 2.640000, 2.640000, 2.630000, 2.630000, 2.630000, 2.630000, 2.640000, 2.640000, 2.650000, 2.660000, 2.660000, 2.670000, 2.680000, 2.700000, 2.710000, 2.730000, 2.740000, 2.750000, 2.770000, 2.790000, 2.800000, 2.810000, 2.830000, 2.860000, 8.540000, 8.210000, 7.910000, 7.640000, 7.380000, 7.130000, 6.910000, 6.720000, 6.530000, 6.350000, 6.190000, 6.020000, 5.870000, 5.740000, 5.560000, 5.550000, 5.630000, 8.740000, 8.400000, 8.080000, 9.160000, 4.830000, 4.780000, 4.700000, 4.640000, 4.740000, 4.820000, 4.930000, 5.040000, 5.140000, 5.270000, 5.380000, 5.520000, 5.660000, 5.800000, 5.960000, 6.130000, 6.320000, 6.520000, 6.740000, 6.970000, 7.220000, 7.420000, 7.350000, 7.300000, 4.310000, 4.250000, 4.240000, 4.220000, 4.190000, 3.160000, 3.100000, 3.140000, 3.120000, 3.090000, 4.100000, 4.380000, 4.350000, 4.340000, 4.320000, 4.300000, 4.280000, 4.280000, 4.290000, 4.270000, 4.270000, 4.410000, 6.680000, 5.930000, 5.500000, 5.440000, 5.530000, 5.500000, 5.460000, 6.730000, 6.750000, 6.130000, 6.150000, 6.180000, 6.180000, 6.860000, 6.260000, 6.270000, 6.290000, 6.310000, 7.040000, 7.080000, 7.130000, 7.170000, 7.210000, 7.260000, 3.470000, 3.370000, 3.270000, 2.830000, 2.730000, 2.600000, 2.610000, 2.630000, 2.660000, 2.690000, 2.730000, 2.750000, 2.690000, 2.630000, 2.570000, 2.510000, 2.470000, 2.420000, 2.370000, 2.330000, 2.290000, 2.290000, 2.290000, 2.320000, 2.350000, 2.400000, 2.450000, 2.500000, 2.550000, 2.620000, 2.670000, 2.730000, 2.810000, 2.880000, 2.960000, 3.040000, 3.130000, 3.240000, 3.330000, 3.450000, 4.240000, 4.210000, 4.170000, 4.150000, 4.120000, 4.090000, 4.070000, 4.050000, 4.020000, 3.990000, 3.970000, 3.960000, 3.930000, 3.920000, 3.910000, 3.890000, 3.880000, 3.870000, 3.860000, 3.850000, 3.840000, 3.840000, 3.840000, 3.830000, 3.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053416, 433025 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.538000, -4.508000, 2.409046 ], "estimate": [ -1.538000, -4.508000, 2.409046 ], "true_pose": [ null, null, null ], "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": [ 2.630000, 2.630000, 2.630000, 2.620000, 2.630000, 2.630000, 2.630000, 2.630000, 2.650000, 2.660000, 2.670000, 2.670000, 2.680000, 2.710000, 2.710000, 2.730000, 2.740000, 2.760000, 2.780000, 2.800000, 2.800000, 2.820000, 2.840000, 8.510000, 8.180000, 7.870000, 7.600000, 7.340000, 7.090000, 6.880000, 6.670000, 6.480000, 6.290000, 6.120000, 5.970000, 5.830000, 5.700000, 5.520000, 5.540000, 5.600000, 8.710000, 8.830000, 7.970000, 9.110000, 4.780000, 4.730000, 4.660000, 4.610000, 4.700000, 4.790000, 4.890000, 5.000000, 5.100000, 5.220000, 5.340000, 5.470000, 5.600000, 5.750000, 5.900000, 6.070000, 6.250000, 6.450000, 6.650000, 6.900000, 7.120000, 7.380000, 7.320000, 7.260000, 4.250000, 4.210000, 4.190000, 4.170000, 4.140000, 3.110000, 3.060000, 3.090000, 3.070000, 3.050000, 3.510000, 4.330000, 4.310000, 4.280000, 4.270000, 4.260000, 4.230000, 4.230000, 4.240000, 4.230000, 4.220000, 4.230000, 6.620000, 5.630000, 5.930000, 5.430000, 5.380000, 5.430000, 6.670000, 6.680000, 6.690000, 6.480000, 6.100000, 6.100000, 6.130000, 6.160000, 6.810000, 6.210000, 6.250000, 6.250000, 6.300000, 7.010000, 7.050000, 7.090000, 7.140000, 7.190000, 5.680000, 3.390000, 3.300000, 3.210000, 2.750000, 2.670000, 2.550000, 2.560000, 2.590000, 2.620000, 2.650000, 2.680000, 2.710000, 2.650000, 2.600000, 2.540000, 2.480000, 2.440000, 2.390000, 2.340000, 2.300000, 2.260000, 2.240000, 2.270000, 2.270000, 2.310000, 2.350000, 2.400000, 2.450000, 2.500000, 2.570000, 2.630000, 2.690000, 2.760000, 2.840000, 2.920000, 3.010000, 3.100000, 3.190000, 3.290000, 3.410000, 3.710000, 4.190000, 4.160000, 4.130000, 4.100000, 4.070000, 4.050000, 4.020000, 4.000000, 3.970000, 3.960000, 3.950000, 3.930000, 3.910000, 3.900000, 3.890000, 3.880000, 3.870000, 3.860000, 3.850000, 3.840000, 3.840000, 3.840000, 3.830000, 3.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053416, 434257 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.584000, -4.468000, 2.415191 ], "estimate": [ -1.584000, -4.468000, 2.415191 ], "true_pose": [ null, null, null ], "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": [ 2.630000, 2.630000, 2.630000, 2.630000, 2.630000, 2.640000, 2.630000, 2.650000, 2.660000, 2.670000, 2.670000, 2.680000, 2.700000, 2.710000, 2.730000, 2.740000, 2.750000, 2.770000, 2.790000, 2.800000, 2.830000, 8.800000, 8.440000, 8.120000, 7.810000, 7.530000, 7.280000, 7.030000, 6.810000, 6.610000, 6.410000, 6.220000, 6.060000, 5.920000, 5.760000, 5.620000, 5.480000, 5.500000, 8.530000, 8.670000, 8.780000, 7.960000, 9.080000, 4.740000, 4.680000, 4.580000, 4.590000, 4.670000, 4.770000, 4.870000, 4.970000, 5.070000, 5.180000, 5.310000, 5.430000, 5.560000, 5.710000, 5.860000, 6.020000, 6.190000, 6.390000, 6.600000, 6.820000, 7.060000, 7.320000, 7.270000, 7.210000, 4.190000, 4.160000, 4.130000, 4.100000, 4.090000, 3.050000, 3.000000, 3.020000, 3.020000, 2.990000, 3.370000, 4.260000, 4.260000, 4.230000, 4.210000, 4.200000, 4.170000, 4.150000, 4.180000, 4.180000, 4.150000, 4.160000, 6.570000, 6.560000, 5.540000, 5.380000, 5.310000, 5.290000, 5.340000, 6.610000, 6.620000, 6.620000, 6.030000, 6.050000, 6.070000, 6.080000, 6.710000, 6.150000, 6.170000, 6.200000, 6.210000, 6.930000, 6.980000, 7.020000, 7.070000, 7.110000, 7.170000, 3.400000, 3.310000, 3.220000, 3.140000, 2.700000, 2.620000, 2.490000, 2.520000, 2.540000, 2.560000, 2.590000, 2.630000, 2.660000, 2.610000, 2.550000, 2.500000, 2.450000, 2.410000, 2.350000, 2.320000, 2.270000, 2.240000, 2.200000, 2.220000, 2.220000, 2.250000, 2.300000, 2.340000, 2.380000, 2.440000, 2.490000, 2.570000, 2.630000, 2.700000, 2.780000, 2.860000, 2.940000, 3.030000, 3.140000, 3.250000, 3.360000, 3.500000, 4.160000, 4.140000, 4.110000, 4.080000, 4.060000, 4.030000, 4.000000, 3.980000, 3.970000, 3.950000, 3.940000, 3.920000, 3.910000, 3.890000, 3.880000, 3.870000, 3.860000, 3.850000, 3.840000, 3.840000, 3.840000, 3.840000, 3.830000, 3.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053416, 496592 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.628000, -4.429000, 2.433628 ], "estimate": [ -1.628000, -4.429000, 2.433628 ], "true_pose": [ null, null, null ], "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": [ 2.630000, 2.630000, 2.630000, 2.630000, 2.630000, 2.640000, 2.650000, 2.660000, 2.670000, 2.670000, 2.680000, 2.700000, 2.720000, 2.730000, 2.740000, 2.760000, 2.770000, 2.800000, 2.810000, 9.010000, 8.630000, 8.270000, 7.950000, 7.640000, 7.380000, 7.130000, 6.890000, 6.680000, 6.480000, 6.290000, 6.110000, 5.940000, 5.800000, 5.650000, 5.440000, 5.450000, 5.510000, 8.550000, 8.680000, 8.790000, 8.210000, 4.720000, 4.670000, 4.580000, 4.560000, 4.590000, 4.690000, 4.780000, 4.870000, 4.980000, 5.080000, 5.200000, 5.310000, 5.440000, 5.570000, 5.720000, 5.870000, 6.040000, 6.200000, 6.400000, 6.610000, 6.840000, 7.080000, 7.260000, 7.200000, 7.150000, 4.110000, 4.090000, 4.080000, 4.050000, 4.000000, 2.950000, 2.980000, 2.970000, 2.960000, 2.950000, 3.950000, 4.220000, 4.200000, 4.170000, 4.160000, 4.130000, 4.120000, 4.120000, 4.130000, 4.110000, 4.100000, 4.120000, 6.520000, 5.490000, 5.810000, 5.330000, 5.270000, 5.270000, 5.260000, 6.570000, 6.570000, 6.540000, 5.980000, 5.990000, 6.010000, 6.020000, 6.650000, 6.110000, 6.120000, 6.140000, 6.150000, 6.880000, 6.920000, 6.970000, 7.020000, 7.070000, 7.110000, 5.570000, 3.290000, 3.200000, 3.120000, 2.680000, 2.600000, 2.520000, 2.460000, 2.480000, 2.510000, 2.540000, 2.560000, 2.600000, 2.610000, 2.540000, 2.490000, 2.450000, 2.400000, 2.350000, 2.310000, 2.260000, 2.230000, 2.200000, 2.160000, 2.200000, 2.180000, 2.220000, 2.260000, 2.320000, 2.350000, 2.410000, 2.470000, 2.540000, 2.610000, 2.680000, 2.760000, 2.850000, 2.920000, 3.030000, 3.130000, 3.250000, 3.370000, 4.160000, 4.130000, 4.100000, 4.080000, 4.060000, 4.030000, 4.000000, 3.970000, 3.960000, 3.960000, 3.930000, 3.920000, 3.900000, 3.890000, 3.880000, 3.870000, 3.860000, 3.850000, 3.840000, 3.840000, 3.840000, 3.830000, 3.830000, 3.830000, 3.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053417, 184460 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.672000, -4.392000, 2.439774 ], "estimate": [ -1.672000, -4.392000, 2.439774 ], "true_pose": [ null, null, null ], "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": [ 2.630000, 2.630000, 2.640000, 2.640000, 2.640000, 2.650000, 2.660000, 2.670000, 2.680000, 2.690000, 2.710000, 2.720000, 2.740000, 2.750000, 2.760000, 2.780000, 2.800000, 9.360000, 8.920000, 8.530000, 8.180000, 7.850000, 7.550000, 7.290000, 7.040000, 6.810000, 6.590000, 6.390000, 6.200000, 6.030000, 5.870000, 5.720000, 5.580000, 5.410000, 5.440000, 5.510000, 8.550000, 8.100000, 8.790000, 6.920000, 4.670000, 4.590000, 4.500000, 4.510000, 4.590000, 4.690000, 4.770000, 4.870000, 4.980000, 5.080000, 5.190000, 5.300000, 5.430000, 5.570000, 5.710000, 5.870000, 6.030000, 6.200000, 6.400000, 6.600000, 6.820000, 7.060000, 7.200000, 7.150000, 7.090000, 4.080000, 4.040000, 4.010000, 3.990000, 3.050000, 2.930000, 2.920000, 2.920000, 2.900000, 2.880000, 3.920000, 4.160000, 4.130000, 4.120000, 4.100000, 4.090000, 4.060000, 4.050000, 4.060000, 4.060000, 4.040000, 4.050000, 6.450000, 6.450000, 5.380000, 5.330000, 5.220000, 5.140000, 5.220000, 6.490000, 6.510000, 6.530000, 5.920000, 5.930000, 5.950000, 5.960000, 6.600000, 6.040000, 6.060000, 6.070000, 6.090000, 6.600000, 6.850000, 6.900000, 6.950000, 6.980000, 7.040000, 7.080000, 3.280000, 3.210000, 3.120000, 3.030000, 2.610000, 2.550000, 2.450000, 2.410000, 2.430000, 2.460000, 2.490000, 2.520000, 2.560000, 2.550000, 2.490000, 2.450000, 2.390000, 2.350000, 2.320000, 2.270000, 2.230000, 2.190000, 2.160000, 2.120000, 2.130000, 2.130000, 2.160000, 2.210000, 2.250000, 2.320000, 2.360000, 2.430000, 2.490000, 2.570000, 2.640000, 2.720000, 2.800000, 2.900000, 3.000000, 3.100000, 3.220000, 3.330000, 4.130000, 4.110000, 4.070000, 4.060000, 4.030000, 4.000000, 3.970000, 3.970000, 3.940000, 3.930000, 3.920000, 3.900000, 3.890000, 3.880000, 3.870000, 3.850000, 3.840000, 3.840000, 3.840000, 3.840000, 3.830000, 3.830000, 3.830000, 3.820000, 3.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053417, 196449 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.717000, -4.355000, 2.452065 ], "estimate": [ -1.717000, -4.355000, 2.452065 ], "true_pose": [ null, null, null ], "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": [ 2.640000, 2.640000, 2.640000, 2.650000, 2.650000, 2.660000, 2.670000, 2.680000, 2.690000, 2.710000, 2.720000, 2.740000, 2.750000, 2.760000, 2.780000, 9.790000, 9.290000, 8.840000, 8.480000, 8.110000, 7.780000, 7.480000, 7.230000, 6.980000, 6.730000, 6.530000, 6.320000, 6.130000, 5.970000, 5.810000, 5.650000, 5.500000, 5.390000, 5.410000, 8.410000, 8.530000, 8.640000, 8.780000, 6.890000, 4.620000, 4.540000, 4.470000, 4.510000, 4.580000, 4.660000, 4.770000, 4.850000, 4.960000, 5.060000, 5.170000, 5.280000, 5.420000, 5.540000, 5.690000, 5.820000, 5.990000, 6.170000, 6.360000, 6.570000, 6.790000, 7.020000, 7.160000, 7.100000, 7.040000, 4.010000, 3.990000, 3.960000, 3.930000, 2.890000, 2.880000, 2.870000, 2.860000, 2.850000, 2.830000, 3.860000, 4.110000, 4.100000, 4.070000, 4.050000, 4.030000, 4.020000, 4.000000, 4.010000, 4.010000, 4.000000, 4.000000, 6.400000, 5.310000, 6.420000, 5.320000, 5.270000, 5.140000, 5.170000, 6.440000, 6.460000, 6.470000, 5.870000, 5.880000, 5.890000, 5.920000, 5.930000, 6.050000, 5.990000, 6.020000, 6.030000, 6.070000, 6.790000, 6.830000, 6.880000, 6.930000, 6.970000, 7.030000, 7.100000, 3.200000, 3.120000, 3.040000, 2.780000, 2.540000, 2.470000, 2.350000, 2.380000, 2.390000, 2.410000, 2.450000, 2.480000, 2.520000, 2.490000, 2.450000, 2.400000, 2.350000, 2.320000, 2.270000, 2.240000, 2.200000, 2.160000, 2.120000, 2.100000, 2.080000, 2.100000, 2.110000, 2.160000, 2.200000, 2.260000, 2.330000, 2.390000, 2.460000, 2.510000, 2.590000, 2.680000, 2.760000, 2.860000, 2.960000, 3.070000, 3.190000, 3.310000, 4.110000, 4.080000, 4.060000, 4.030000, 4.000000, 3.980000, 3.970000, 3.940000, 3.930000, 3.920000, 3.900000, 3.890000, 3.880000, 3.860000, 3.850000, 3.850000, 3.850000, 3.840000, 3.830000, 3.830000, 3.830000, 3.820000, 3.820000, 3.820000, 3.820000 ], "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": [ 976053417, 124495 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.764000, -4.317000, 2.464355 ], "estimate": [ -1.764000, -4.317000, 2.464355 ], "true_pose": [ null, null, null ], "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": [ 2.650000, 2.650000, 2.660000, 2.660000, 2.670000, 2.670000, 2.680000, 2.700000, 2.720000, 2.730000, 2.740000, 2.750000, 2.770000, 10.560000, 9.530000, 9.050000, 8.630000, 8.250000, 7.910000, 7.610000, 7.320000, 7.050000, 6.800000, 6.570000, 6.380000, 6.170000, 5.990000, 5.830000, 5.660000, 5.520000, 5.360000, 5.390000, 5.410000, 8.440000, 8.540000, 8.670000, 8.800000, 4.590000, 4.530000, 4.390000, 4.440000, 4.520000, 4.600000, 4.690000, 4.780000, 4.880000, 4.990000, 5.080000, 5.190000, 5.310000, 5.440000, 5.570000, 5.710000, 5.870000, 6.030000, 6.200000, 6.400000, 6.610000, 6.840000, 7.070000, 7.080000, 7.020000, 3.970000, 3.940000, 3.920000, 3.890000, 3.100000, 2.800000, 2.820000, 2.810000, 2.780000, 2.790000, 3.660000, 3.950000, 4.040000, 4.020000, 4.000000, 3.980000, 3.980000, 3.940000, 3.940000, 3.960000, 3.950000, 3.930000, 3.940000, 6.330000, 6.370000, 6.350000, 5.290000, 5.220000, 6.370000, null, 6.390000, 6.390000, 6.410000, 5.820000, 5.820000, 5.820000, 5.850000, 5.950000, 5.960000, 5.940000, 5.960000, 5.970000, 5.990000, 6.730000, 6.780000, 6.820000, 6.870000, 6.910000, 6.980000, 7.020000, 3.160000, 3.080000, 3.000000, 2.930000, 2.510000, 2.450000, 2.360000, 2.300000, 2.330000, 2.350000, 2.390000, 2.420000, 2.450000, 2.490000, 2.440000, 2.390000, 2.350000, 2.300000, 2.260000, 2.220000, 2.190000, 2.140000, 2.110000, 2.080000, 2.050000, 2.040000, 2.060000, 2.080000, 2.120000, 2.180000, 2.230000, 2.290000, 2.350000, 2.410000, 2.500000, 2.570000, 2.650000, 2.750000, 2.830000, 2.940000, 3.060000, 3.190000, 3.320000, 4.070000, 4.050000, 4.020000, 3.990000, 3.980000, 3.960000, 3.930000, 3.910000, 3.910000, 3.890000, 3.880000, 3.870000, 3.850000, 3.850000, 3.840000, 3.840000, 3.830000, 3.820000, 3.820000, 3.820000, 3.820000, 3.820000, 3.820000, 3.820000, 3.820000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053417, 538565 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.811000, -4.280000, 2.464355 ], "estimate": [ -1.811000, -4.280000, 2.464355 ], "true_pose": [ null, null, null ], "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": [ 2.660000, 2.660000, 2.660000, 2.670000, 2.670000, 2.690000, 2.700000, 2.720000, 2.730000, 2.740000, 2.780000, 10.570000, 10.560000, 9.510000, 9.050000, 8.610000, 8.240000, 7.890000, 7.570000, 7.280000, 7.010000, 6.760000, 6.540000, 6.330000, 6.130000, 5.960000, 5.790000, 5.620000, 5.480000, 5.340000, 5.350000, 8.300000, 8.410000, 8.530000, 8.650000, 8.780000, 4.570000, 4.470000, 4.390000, 4.440000, 4.510000, 4.590000, 4.670000, 4.780000, 4.860000, 4.960000, 5.070000, 5.170000, 5.290000, 5.420000, 5.550000, 5.690000, 5.840000, 6.000000, 6.180000, 6.360000, 6.570000, 6.780000, 7.010000, 7.040000, 6.990000, 3.930000, 3.900000, 3.870000, 3.850000, 2.900000, 2.790000, 2.770000, 2.760000, 2.740000, 2.750000, 3.620000, 3.880000, 4.000000, 3.980000, 3.970000, 3.940000, 3.920000, 3.890000, 3.880000, 3.900000, 3.900000, 3.880000, 3.890000, 6.290000, 6.300000, 5.190000, 6.310000, 5.200000, 5.200000, 5.050000, 6.330000, 6.340000, 6.350000, 6.200000, 5.760000, 5.780000, 5.800000, 5.810000, 6.360000, 5.890000, 5.910000, 5.920000, 5.940000, 6.660000, 6.700000, 6.760000, 6.810000, 6.860000, 6.900000, 6.960000, 5.390000, 3.100000, 3.000000, 2.930000, 2.860000, 2.450000, 2.400000, 2.340000, 2.260000, 2.270000, 2.310000, 2.340000, 2.380000, 2.410000, 2.450000, 2.390000, 2.350000, 2.310000, 2.270000, 2.220000, 2.190000, 2.150000, 2.110000, 2.090000, 2.050000, 2.030000, 2.000000, 2.040000, 2.030000, 2.060000, 2.120000, 2.180000, 2.240000, 2.300000, 2.360000, 2.440000, 2.510000, 2.600000, 2.700000, 2.790000, 2.900000, 3.020000, 3.140000, 3.270000, 4.050000, 4.020000, 3.990000, 3.980000, 3.950000, 3.930000, 3.920000, 3.910000, 3.900000, 3.880000, 3.860000, 3.850000, 3.850000, 3.840000, 3.840000, 3.830000, 3.820000, 3.820000, 3.810000, 3.810000, 3.810000, 3.810000, 3.810000, 3.820000, 3.820000 ], "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": [ 976053417, 539823 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.856000, -4.244000, 2.464355 ], "estimate": [ -1.856000, -4.244000, 2.464355 ], "true_pose": [ null, null, null ], "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": [ 2.660000, 2.670000, 2.670000, 2.670000, 2.680000, 2.690000, 2.710000, 2.720000, 2.740000, 2.890000, 4.240000, 10.540000, 10.530000, 9.280000, 8.830000, 8.410000, 8.040000, 7.700000, 7.400000, 7.130000, 6.850000, 6.620000, 6.400000, 6.180000, 6.000000, 5.810000, 5.650000, 5.500000, 5.300000, 5.310000, 5.390000, 8.320000, 8.420000, 8.540000, 8.680000, 4.530000, 4.470000, 4.350000, 4.370000, 4.450000, 4.520000, 4.610000, 4.690000, 4.790000, 4.880000, 4.990000, 5.090000, 5.190000, 5.310000, 5.440000, 5.570000, 5.710000, 5.870000, 6.030000, 6.190000, 6.390000, 6.600000, 6.820000, 7.030000, 6.980000, 3.940000, 3.860000, 3.840000, 3.810000, 3.780000, 2.730000, 2.730000, 2.720000, 2.690000, 2.680000, 2.720000, 3.660000, 3.950000, 3.930000, 3.910000, 3.890000, 3.880000, 3.860000, 3.830000, 3.830000, 3.840000, 3.850000, 3.830000, 3.830000, 6.230000, 5.160000, 5.150000, 5.180000, 5.110000, null, 4.990000, 6.270000, 6.280000, 6.300000, 6.030000, 5.710000, 5.720000, 5.730000, 5.760000, 6.320000, 5.820000, 5.840000, 5.850000, 5.890000, 6.600000, 6.640000, 6.700000, 6.750000, 6.790000, 6.840000, 6.900000, 5.340000, 3.050000, 2.980000, 2.900000, 2.840000, 2.440000, 2.370000, 2.320000, 2.200000, 2.220000, 2.240000, 2.260000, 2.300000, 2.330000, 2.370000, 2.390000, 2.350000, 2.300000, 2.250000, 2.220000, 2.180000, 2.140000, 2.110000, 2.080000, 2.040000, 2.010000, 1.980000, 1.970000, 1.990000, 1.990000, 2.030000, 2.080000, 2.130000, 2.200000, 2.260000, 2.330000, 2.410000, 2.480000, 2.570000, 2.660000, 2.770000, 2.890000, 3.000000, 3.130000, 3.280000, 4.010000, 3.980000, 3.970000, 3.950000, 3.920000, 3.910000, 3.900000, 3.880000, 3.870000, 3.860000, 3.850000, 3.840000, 3.830000, 3.820000, 3.820000, 3.810000, 3.810000, 3.800000, 3.800000, 3.800000, 3.810000, 3.800000, 3.800000, 3.810000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053417, 764286 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.900000, -4.209000, 2.470501 ], "estimate": [ -1.900000, -4.209000, 2.470501 ], "true_pose": [ null, null, null ], "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": [ 2.670000, 2.680000, 2.670000, 2.680000, 2.690000, 2.710000, 2.720000, 2.730000, 2.890000, 3.750000, 10.800000, 10.530000, 9.640000, 9.090000, 8.660000, 8.230000, 7.880000, 7.540000, 7.260000, 6.980000, 6.710000, 6.490000, 6.250000, 6.060000, 5.870000, 5.710000, 5.550000, 5.400000, 5.290000, 5.310000, 8.220000, 8.330000, 8.450000, 8.560000, 4.490000, 4.470000, 4.380000, 4.300000, 4.380000, 4.460000, 4.530000, 4.610000, 4.710000, 4.800000, 4.890000, 5.000000, 5.100000, 5.210000, 5.330000, 5.450000, 5.580000, 5.720000, 5.880000, 6.050000, 6.220000, 6.410000, 6.620000, 6.840000, 6.970000, 6.910000, 3.840000, 3.800000, 3.770000, 3.750000, 2.710000, 2.680000, 2.680000, 2.660000, 2.640000, 2.640000, 3.470000, 3.720000, 3.900000, 3.880000, 3.870000, 3.850000, 3.820000, 3.810000, 3.780000, 3.770000, 3.800000, 3.790000, 3.770000, 3.830000, 6.170000, 5.100000, 5.090000, 5.110000, 5.020000, 4.900000, null, 6.230000, 6.230000, 6.250000, 5.860000, 5.650000, 5.660000, 5.690000, 5.700000, 6.250000, 5.770000, 5.800000, 5.810000, 5.830000, 6.560000, 6.590000, 6.640000, 6.690000, 6.730000, 6.790000, 6.830000, 6.900000, 3.020000, 2.960000, 2.880000, 2.810000, 2.750000, 2.350000, 2.300000, 2.240000, 2.170000, 2.180000, 2.210000, 2.240000, 2.270000, 2.310000, 2.340000, 2.330000, 2.290000, 2.250000, 2.200000, 2.170000, 2.130000, 2.110000, 2.070000, 2.040000, 2.010000, 1.980000, 1.960000, 1.930000, 1.970000, 1.960000, 1.990000, 2.040000, 2.100000, 2.150000, 2.230000, 2.300000, 2.380000, 2.470000, 2.560000, 2.650000, 2.760000, 2.890000, 3.010000, 3.140000, 3.320000, 3.980000, 3.960000, 3.930000, 3.920000, 3.900000, 3.890000, 3.880000, 3.870000, 3.850000, 3.850000, 3.840000, 3.830000, 3.830000, 3.820000, 3.800000, 3.800000, 3.800000, 3.800000, 3.790000, 3.800000, 3.800000, 3.810000, 3.800000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053418, 163357 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.946000, -4.174000, 2.470501 ], "estimate": [ -1.946000, -4.174000, 2.470501 ], "true_pose": [ null, null, null ], "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": [ 2.680000, 2.680000, 2.680000, 2.690000, 2.710000, 2.720000, 2.740000, 3.150000, 4.140000, 13.870000, 10.530000, 9.870000, 9.220000, 8.740000, 8.320000, 7.940000, 7.610000, 7.300000, 7.000000, 6.750000, 6.500000, 6.270000, 6.070000, 5.890000, 5.710000, 5.530000, 5.390000, 5.240000, 5.270000, 8.170000, 8.270000, 8.370000, 8.500000, 4.460000, 4.440000, 4.350000, 4.280000, 4.350000, 4.430000, 4.490000, 4.580000, 4.660000, 4.750000, 4.830000, 4.930000, 5.050000, 5.150000, 5.270000, 5.380000, 5.520000, 5.650000, 5.800000, 5.950000, 6.120000, 6.300000, 6.500000, 6.710000, 6.940000, 6.880000, 3.800000, 3.760000, 3.730000, 3.700000, 2.720000, 2.640000, 2.610000, 2.610000, 2.590000, 2.550000, 3.340000, 3.570000, 3.840000, 3.840000, 3.810000, 3.800000, 3.770000, 3.760000, 3.750000, 3.720000, 3.730000, 3.740000, 3.730000, 3.720000, 6.120000, 5.050000, 5.010000, 6.130000, 4.980000, 4.870000, 4.850000, 6.160000, 6.170000, 6.170000, 6.200000, 5.600000, 5.610000, 5.610000, 5.630000, 5.690000, 6.270000, 5.720000, 5.740000, 5.770000, 5.790000, 6.510000, 6.560000, 6.590000, 6.640000, 6.700000, 6.750000, 6.810000, 5.230000, 2.990000, 2.910000, 2.830000, 2.760000, 2.710000, 2.320000, 2.280000, 2.200000, 2.110000, 2.120000, 2.150000, 2.180000, 2.210000, 2.250000, 2.290000, 2.310000, 2.260000, 2.210000, 2.180000, 2.150000, 2.110000, 2.080000, 2.050000, 2.020000, 1.990000, 1.970000, 1.940000, 1.910000, 1.880000, 1.930000, 1.920000, 1.960000, 2.010000, 2.080000, 2.130000, 2.200000, 2.290000, 2.360000, 2.460000, 2.550000, 2.650000, 2.770000, 2.890000, 3.030000, 3.190000, 3.970000, 3.950000, 3.920000, 3.910000, 3.900000, 3.880000, 3.870000, 3.850000, 3.850000, 3.840000, 3.830000, 3.820000, 3.810000, 3.810000, 3.800000, 3.790000, 3.800000, 3.800000, 3.790000, 3.790000, 3.800000, 3.800000, 3.800000 ], "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": [ 976053418, 164592 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.994000, -4.136000, 2.470501 ], "estimate": [ -1.994000, -4.136000, 2.470501 ], "true_pose": [ null, null, null ], "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": [ 2.680000, 2.680000, 2.690000, 2.700000, 2.710000, 2.730000, 3.130000, 3.740000, null, 10.800000, 10.510000, 9.600000, 9.050000, 8.590000, 8.190000, 7.810000, 7.480000, 7.160000, 6.890000, 6.620000, 6.400000, 6.180000, 5.960000, 5.780000, 5.600000, 5.440000, 5.230000, 5.240000, 5.310000, 8.170000, 8.280000, 8.390000, 8.480000, 4.440000, 4.370000, 4.250000, 4.290000, 4.360000, 4.430000, 4.500000, 4.580000, 4.670000, 4.770000, 4.840000, 4.950000, 5.060000, 5.150000, 5.280000, 5.400000, 5.520000, 5.660000, 5.800000, 5.960000, 6.140000, 6.310000, 6.510000, 6.730000, 6.890000, 6.840000, 3.740000, 3.700000, 3.680000, 3.650000, 2.590000, 2.570000, 2.570000, 2.540000, 2.540000, 2.530000, 3.370000, 3.590000, 3.790000, 3.780000, 3.760000, 3.740000, 3.730000, 3.710000, 3.690000, 3.660000, 3.680000, 3.680000, 3.680000, 3.670000, 6.070000, 6.070000, 5.360000, 4.970000, 4.930000, 4.820000, 4.800000, 4.820000, 6.120000, 6.130000, 6.150000, 5.530000, 5.550000, 5.580000, 5.580000, 5.610000, 6.230000, 5.670000, 5.690000, 5.700000, 5.730000, 6.460000, 6.490000, 6.540000, 6.580000, 6.630000, 6.690000, 6.740000, 5.150000, 5.200000, 2.890000, 2.820000, 2.750000, 2.690000, 2.530000, 2.260000, 2.210000, 2.150000, 2.100000, 2.090000, 2.110000, 2.140000, 2.180000, 2.210000, 2.250000, 2.260000, 2.220000, 2.180000, 2.150000, 2.110000, 2.080000, 2.050000, 2.020000, 1.980000, 1.970000, 1.930000, 1.910000, 1.880000, 1.860000, 1.880000, 1.880000, 1.920000, 1.970000, 2.030000, 2.090000, 2.170000, 2.250000, 2.340000, 2.420000, 2.520000, 2.640000, 2.750000, 2.890000, 3.020000, 3.200000, 3.940000, 3.920000, 3.910000, 3.890000, 3.880000, 3.860000, 3.850000, 3.850000, 3.830000, 3.820000, 3.820000, 3.810000, 3.800000, 3.790000, 3.790000, 3.790000, 3.790000, 3.790000, 3.790000, 3.790000, 3.790000, 3.800000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053418, 296468 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.041000, -4.099000, 2.464355 ], "estimate": [ -2.041000, -4.099000, 2.464355 ], "true_pose": [ null, null, null ], "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": [ 2.680000, 2.680000, 2.690000, 2.700000, 2.720000, 3.090000, 3.530000, 4.610000, null, 10.760000, 10.500000, 9.530000, 8.980000, 8.510000, 8.110000, 7.720000, 7.390000, 7.090000, 6.800000, 6.530000, 6.300000, 6.080000, 5.890000, 5.690000, 5.520000, 5.350000, 5.200000, 5.210000, 5.290000, 8.160000, 8.260000, 8.360000, 4.450000, 4.380000, 4.290000, 4.220000, 4.280000, 4.350000, 4.420000, 4.490000, 4.560000, 4.660000, 4.750000, 4.830000, 4.920000, 5.040000, 5.140000, 5.250000, 5.370000, 5.500000, 5.630000, 5.770000, 5.920000, 6.100000, 6.270000, 6.470000, 6.670000, 6.840000, 6.770000, 3.670000, 3.640000, 3.620000, 2.710000, 2.480000, 2.510000, 2.500000, 2.490000, 2.470000, 2.450000, 3.320000, 3.550000, 3.730000, 3.730000, 3.700000, 3.680000, 3.660000, 3.650000, 3.630000, 3.610000, 3.610000, 3.620000, 3.620000, 3.600000, 6.010000, 6.010000, 4.930000, null, 4.920000, 4.790000, 4.730000, 4.760000, 6.050000, 6.060000, 6.070000, 5.840000, 5.480000, 5.490000, 5.510000, 5.540000, 6.140000, 5.600000, 5.620000, 5.630000, 5.660000, 5.900000, 6.400000, 6.460000, 6.510000, 6.550000, 6.600000, 6.660000, 6.710000, 5.140000, 2.880000, 2.810000, 2.740000, 2.690000, 2.630000, 2.550000, 2.210000, 2.160000, 2.110000, 2.040000, 2.030000, 2.060000, 2.090000, 2.120000, 2.150000, 2.200000, 2.230000, 2.190000, 2.140000, 2.110000, 2.080000, 2.050000, 2.020000, 1.980000, 1.970000, 1.940000, 1.910000, 1.880000, 1.870000, 1.840000, 1.810000, 1.860000, 1.860000, 1.880000, 1.940000, 2.010000, 2.090000, 2.150000, 2.240000, 2.340000, 2.430000, 2.540000, 2.660000, 2.790000, 2.940000, 3.110000, 3.920000, 3.900000, 3.890000, 3.880000, 3.860000, 3.850000, 3.840000, 3.830000, 3.820000, 3.810000, 3.800000, 3.790000, 3.790000, 3.780000, 3.780000, 3.780000, 3.780000, 3.780000, 3.780000, 3.790000, 3.790000 ], "valid": [ 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, 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 ], "timestamp": [ 976053418, 752761 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.084000, -4.065000, 2.458210 ], "estimate": [ -2.084000, -4.065000, 2.458210 ], "true_pose": [ null, null, null ], "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": [ 2.680000, 2.690000, 2.690000, 2.730000, 2.990000, 3.360000, 3.890000, null, null, 10.760000, 10.490000, 9.490000, 8.950000, 8.460000, 8.060000, 7.670000, 7.330000, 7.030000, 6.740000, 6.490000, 6.250000, 6.020000, 5.830000, 5.640000, 5.460000, 5.300000, 5.180000, 5.200000, 8.040000, 8.140000, 8.230000, 8.350000, 4.370000, 4.330000, 4.230000, 4.210000, 4.260000, 4.340000, 4.410000, 4.480000, 4.550000, 4.640000, 4.730000, 4.820000, 4.900000, 5.010000, 5.120000, 5.230000, 5.350000, 5.470000, 5.600000, 5.750000, 5.890000, 6.060000, 6.230000, 6.410000, 6.630000, 6.790000, 3.680000, 3.620000, 3.600000, 3.570000, 2.490000, 2.480000, 2.470000, 2.460000, 2.440000, 2.410000, 2.710000, 3.290000, 3.500000, 3.690000, 3.670000, 3.650000, 3.630000, 3.620000, 3.600000, 3.570000, 3.570000, 3.560000, 3.570000, 3.570000, 3.550000, 3.780000, 5.960000, 5.950000, 4.890000, 4.850000, 4.800000, 4.670000, 4.680000, 4.720000, 6.010000, 6.020000, 5.960000, 5.420000, 5.440000, 5.460000, 5.460000, 5.810000, 5.600000, 5.570000, 5.580000, 5.600000, 5.620000, 6.340000, 6.390000, 6.440000, 6.470000, 6.540000, 6.580000, 6.640000, 6.690000, 5.090000, 2.820000, 2.750000, 2.700000, 2.640000, 2.570000, 2.380000, 2.160000, 2.130000, 2.070000, 1.980000, 2.000000, 2.010000, 2.030000, 2.080000, 2.100000, 2.140000, 2.180000, 2.160000, 2.110000, 2.080000, 2.050000, 2.020000, 1.990000, 1.970000, 1.940000, 1.910000, 1.890000, 1.870000, 1.840000, 1.820000, 1.800000, 1.790000, 1.830000, 1.820000, 1.870000, 1.950000, 2.010000, 2.090000, 2.180000, 2.280000, 2.370000, 2.470000, 2.600000, 2.740000, 2.880000, 3.060000, 3.770000, 3.890000, 3.880000, 3.860000, 3.850000, 3.840000, 3.830000, 3.820000, 3.810000, 3.800000, 3.790000, 3.790000, 3.780000, 3.780000, 3.780000, 3.780000, 3.780000, 3.780000, 3.780000, 3.790000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053418, 754014 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.109000, -4.045000, 2.464355 ], "estimate": [ -2.109000, -4.045000, 2.464355 ], "true_pose": [ null, null, null ], "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": [ 2.680000, 2.690000, 2.700000, 2.830000, 3.140000, 3.510000, 4.100000, null, null, 14.510000, 10.480000, 9.550000, 9.020000, 8.530000, 8.100000, 7.700000, 7.360000, 7.050000, 6.750000, 6.480000, 6.230000, 6.010000, 5.810000, 5.620000, 5.450000, 5.280000, 5.160000, 5.180000, 8.000000, 8.090000, 8.190000, 8.300000, 4.350000, 4.290000, 4.180000, 4.180000, 4.230000, 4.310000, 4.370000, 4.450000, 4.520000, 4.600000, 4.680000, 4.780000, 4.860000, 4.970000, 5.070000, 5.170000, 5.290000, 5.410000, 5.540000, 5.690000, 5.820000, 5.980000, 6.160000, 6.340000, 6.530000, 6.740000, 6.710000, 3.580000, 3.560000, 3.540000, 2.450000, 2.410000, 2.420000, 2.400000, 2.380000, 2.370000, 2.550000, 3.210000, 3.410000, 3.640000, 3.620000, 3.610000, 3.580000, 3.570000, 3.550000, 3.540000, 3.510000, 3.500000, 3.520000, 3.520000, 3.520000, 3.510000, 5.900000, 5.900000, 5.920000, 5.900000, 4.780000, 4.870000, 5.940000, 5.940000, 5.950000, 5.960000, 5.970000, 5.460000, 5.380000, 5.400000, 5.410000, 5.440000, 6.020000, 5.510000, 5.510000, 5.540000, 5.560000, 5.770000, 6.310000, 6.360000, 6.410000, 6.450000, 6.490000, 6.560000, 6.620000, 5.030000, 6.740000, 2.770000, 2.720000, 2.650000, 2.590000, 2.540000, 2.490000, 2.140000, 2.090000, 2.050000, 1.990000, 1.950000, 1.960000, 2.000000, 2.020000, 2.060000, 2.100000, 2.120000, 2.130000, 2.100000, 2.070000, 2.030000, 2.000000, 1.980000, 1.950000, 1.920000, 1.890000, 1.870000, 1.860000, 1.830000, 1.800000, 1.790000, 1.770000, 1.770000, 1.800000, 1.810000, 1.860000, 1.940000, 2.010000, 2.080000, 2.190000, 2.280000, 2.380000, 2.510000, 2.640000, 2.800000, 2.970000, 3.160000, 3.880000, 3.860000, 3.850000, 3.840000, 3.830000, 3.820000, 3.810000, 3.800000, 3.790000, 3.790000, 3.780000, 3.780000, 3.780000, 3.770000, 3.770000, 3.770000, 3.780000, 3.780000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053418, 896857 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.114000, -4.040000, 2.452065 ], "estimate": [ -2.114000, -4.040000, 2.452065 ], "true_pose": [ null, null, null ], "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": [ 2.690000, 2.680000, 2.690000, 2.730000, 3.000000, 3.330000, 3.770000, 4.610000, null, null, 10.720000, 10.480000, 9.410000, 8.850000, 8.390000, 7.970000, 7.600000, 7.250000, 6.940000, 6.650000, 6.400000, 6.160000, 5.940000, 5.720000, 5.550000, 5.370000, 5.140000, 5.160000, 5.220000, 8.010000, 8.100000, 8.210000, 8.310000, 4.300000, 4.240000, 4.150000, 4.180000, 4.250000, 4.320000, 4.380000, 4.460000, 4.520000, 4.610000, 4.700000, 4.790000, 4.880000, 4.990000, 5.090000, 5.190000, 5.320000, 5.430000, 5.580000, 5.710000, 5.860000, 6.010000, 6.190000, 6.360000, 6.570000, 6.730000, 3.570000, 3.550000, 3.530000, 3.510000, 2.420000, 2.410000, 2.400000, 2.380000, 2.370000, 2.330000, 3.060000, 3.240000, 3.450000, 3.620000, 3.600000, 3.570000, 3.560000, 3.550000, 3.540000, 3.510000, 3.490000, 3.480000, 3.500000, 3.500000, 3.500000, 3.530000, 5.880000, 5.880000, 5.880000, 5.880000, 4.770000, 4.840000, 5.910000, 5.920000, 5.920000, 5.940000, 5.950000, 5.360000, 5.360000, 5.370000, 5.400000, 5.410000, 5.990000, 5.490000, 5.490000, 5.520000, 5.540000, 5.940000, 6.300000, 6.330000, 6.390000, 6.440000, 6.480000, 6.540000, 6.590000, 5.020000, 6.720000, 2.770000, 2.700000, 2.640000, 2.590000, 2.520000, 2.490000, 2.140000, 2.090000, 2.040000, 1.990000, 1.920000, 1.940000, 1.970000, 2.000000, 2.030000, 2.060000, 2.100000, 2.130000, 2.100000, 2.060000, 2.030000, 2.000000, 1.980000, 1.950000, 1.920000, 1.890000, 1.870000, 1.850000, 1.820000, 1.800000, 1.790000, 1.770000, 1.750000, 1.790000, 1.790000, 1.820000, 1.900000, 1.970000, 2.050000, 2.140000, 2.250000, 2.340000, 2.460000, 2.600000, 2.750000, 2.920000, 3.120000, 3.880000, 3.860000, 3.850000, 3.840000, 3.830000, 3.820000, 3.810000, 3.800000, 3.790000, 3.780000, 3.780000, 3.780000, 3.780000, 3.770000, 3.770000, 3.780000, 3.780000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053419, 428343 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.111000, -4.043000, 2.458210 ], "estimate": [ -2.111000, -4.043000, 2.458210 ], "true_pose": [ null, null, null ], "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": [ 2.680000, 2.680000, 2.690000, 2.730000, 3.000000, 3.320000, 3.760000, 4.610000, null, null, 10.530000, 10.470000, 9.350000, 8.820000, 8.350000, 7.930000, 7.560000, 7.220000, 6.910000, 6.620000, 6.370000, 6.130000, 5.920000, 5.710000, 5.530000, 5.360000, 5.150000, 5.160000, 5.210000, 8.020000, 8.110000, 8.220000, 8.310000, 4.330000, 4.240000, 4.160000, 4.190000, 4.250000, 4.320000, 4.390000, 4.470000, 4.530000, 4.620000, 4.700000, 4.790000, 4.890000, 5.000000, 5.100000, 5.200000, 5.310000, 5.430000, 5.570000, 5.710000, 5.860000, 6.020000, 6.190000, 6.370000, 6.590000, 6.730000, 3.590000, 3.570000, 3.530000, 3.510000, 2.410000, 2.420000, 2.400000, 2.380000, 2.370000, 2.360000, 3.060000, 3.250000, 3.460000, 3.620000, 3.600000, 3.580000, 3.560000, 3.550000, 3.540000, 3.510000, 3.500000, 3.490000, 3.500000, 3.500000, 3.490000, 3.560000, 5.880000, 5.880000, 5.900000, 5.880000, 4.770000, 4.850000, 4.690000, 5.920000, 5.930000, 5.950000, 5.960000, 5.360000, 5.370000, 5.380000, 5.390000, 5.420000, 5.880000, 5.490000, 5.500000, 5.520000, 5.540000, 6.240000, 6.300000, 6.350000, 6.410000, 6.440000, 6.480000, 6.550000, 6.600000, 5.030000, 6.720000, 2.750000, 2.680000, 2.640000, 2.570000, 2.520000, 2.470000, 2.120000, 2.070000, 2.030000, 1.980000, 1.930000, 1.940000, 1.970000, 2.000000, 2.030000, 2.070000, 2.100000, 2.120000, 2.080000, 2.050000, 2.020000, 1.990000, 1.970000, 1.940000, 1.920000, 1.880000, 1.870000, 1.850000, 1.820000, 1.800000, 1.780000, 1.770000, 1.750000, 1.800000, 1.790000, 1.840000, 1.910000, 1.980000, 2.060000, 2.160000, 2.260000, 2.360000, 2.480000, 2.620000, 2.770000, 2.940000, 3.150000, 3.880000, 3.860000, 3.850000, 3.840000, 3.830000, 3.810000, 3.800000, 3.800000, 3.790000, 3.780000, 3.780000, 3.770000, 3.770000, 3.770000, 3.770000, 3.780000, 3.770000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053419, 429527 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.106000, -4.047000, 2.464355 ], "estimate": [ -2.106000, -4.047000, 2.464355 ], "true_pose": [ null, null, null ], "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": [ 2.680000, 2.680000, 2.690000, 2.730000, 3.010000, 3.340000, 3.780000, 4.600000, null, null, 10.510000, 10.480000, 9.310000, 8.780000, 8.330000, 7.910000, 7.550000, 7.220000, 6.900000, 6.620000, 6.360000, 6.130000, 5.910000, 5.710000, 5.530000, 5.360000, 5.150000, 5.170000, 5.220000, 8.020000, 8.120000, 8.220000, 8.320000, 4.330000, 4.230000, 4.170000, 4.190000, 4.260000, 4.330000, 4.390000, 4.470000, 4.540000, 4.630000, 4.720000, 4.810000, 4.900000, 5.000000, 5.100000, 5.210000, 5.330000, 5.450000, 5.580000, 5.730000, 5.880000, 6.040000, 6.210000, 6.390000, 6.600000, 6.720000, 3.580000, 3.570000, 3.530000, 3.510000, 2.420000, 2.420000, 2.400000, 2.380000, 2.370000, 2.370000, 3.080000, 3.260000, 3.470000, 3.620000, 3.600000, 3.580000, 3.560000, 3.550000, 3.540000, 3.510000, 3.500000, 3.490000, 3.510000, 3.500000, 3.490000, 3.660000, 5.890000, 5.890000, 5.900000, 5.880000, 4.800000, 5.130000, 5.940000, 5.930000, 5.940000, 5.950000, 5.960000, 5.350000, 5.360000, 5.380000, 5.390000, 5.430000, 6.050000, 5.490000, 5.500000, 5.530000, 5.550000, 6.260000, 6.310000, 6.360000, 6.420000, 6.450000, 6.500000, 6.560000, 6.610000, 5.030000, 6.730000, 2.740000, 2.680000, 2.630000, 2.570000, 2.520000, 2.390000, 2.120000, 2.070000, 2.030000, 1.970000, 1.940000, 1.950000, 1.980000, 2.010000, 2.040000, 2.090000, 2.110000, 2.120000, 2.080000, 2.050000, 2.020000, 1.990000, 1.970000, 1.930000, 1.910000, 1.880000, 1.870000, 1.840000, 1.820000, 1.800000, 1.780000, 1.760000, 1.750000, 1.800000, 1.800000, 1.850000, 1.930000, 2.000000, 2.080000, 2.180000, 2.280000, 2.380000, 2.500000, 2.640000, 2.800000, 2.970000, 3.180000, 3.880000, 3.860000, 3.850000, 3.840000, 3.830000, 3.820000, 3.810000, 3.800000, 3.790000, 3.780000, 3.780000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.780000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053419, 498965 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.091000, -4.058000, 2.482792 ], "estimate": [ -2.091000, -4.058000, 2.482792 ], "true_pose": [ null, null, null ], "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": [ 2.680000, 2.690000, 2.700000, 2.820000, 3.100000, 3.470000, 4.030000, null, null, null, 10.480000, 9.630000, 9.060000, 8.560000, 8.130000, 7.740000, 7.380000, 7.060000, 6.780000, 6.500000, 6.250000, 6.030000, 5.820000, 5.630000, 5.460000, 5.280000, 5.140000, 5.180000, 7.980000, 8.070000, 8.160000, 8.280000, 4.360000, 4.290000, 4.190000, 4.170000, 4.230000, 4.290000, 4.360000, 4.440000, 4.510000, 4.590000, 4.670000, 4.770000, 4.850000, 4.940000, 5.040000, 5.150000, 5.280000, 5.390000, 5.510000, 5.660000, 5.800000, 5.950000, 6.120000, 6.310000, 6.500000, 6.710000, 6.720000, 3.600000, 3.560000, 3.540000, 2.460000, 2.420000, 2.410000, 2.390000, 2.380000, 2.360000, 2.360000, 3.170000, 3.350000, 3.610000, 3.610000, 3.600000, 3.580000, 3.560000, 3.560000, 3.540000, 3.510000, 3.500000, 3.510000, 3.510000, 3.510000, 3.500000, 5.900000, 5.890000, 5.900000, 5.900000, 4.790000, 4.800000, 5.920000, 5.940000, 5.940000, 5.950000, 5.970000, 5.700000, 5.360000, 5.380000, 5.400000, 5.420000, 6.040000, 5.500000, 5.500000, 5.530000, 5.550000, 5.590000, 6.300000, 6.340000, 6.390000, 6.430000, 6.480000, 6.540000, 6.590000, 5.030000, 5.040000, 2.770000, 2.710000, 2.640000, 2.590000, 2.540000, 2.490000, 2.140000, 2.080000, 2.040000, 1.990000, 1.940000, 1.950000, 1.990000, 2.010000, 2.050000, 2.090000, 2.110000, 2.140000, 2.100000, 2.070000, 2.040000, 2.000000, 1.980000, 1.960000, 1.920000, 1.890000, 1.870000, 1.850000, 1.830000, 1.810000, 1.790000, 1.770000, 1.760000, 1.800000, 1.800000, 1.850000, 1.910000, 1.990000, 2.070000, 2.160000, 2.260000, 2.360000, 2.480000, 2.610000, 2.770000, 2.930000, 3.120000, 3.880000, 3.870000, 3.850000, 3.850000, 3.830000, 3.820000, 3.810000, 3.800000, 3.800000, 3.790000, 3.780000, 3.780000, 3.780000, 3.770000, 3.770000, 3.770000, 3.770000, 3.780000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053419, 963812 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.063000, -4.079000, 2.531957 ], "estimate": [ -2.063000, -4.079000, 2.531957 ], "true_pose": [ null, null, null ], "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": [ 2.690000, 2.700000, 2.810000, 3.130000, 3.510000, 4.170000, null, null, 10.540000, 10.480000, 9.370000, 8.850000, 8.390000, 7.970000, 7.610000, 7.260000, 6.960000, 6.690000, 6.410000, 6.170000, 5.960000, 5.770000, 5.580000, 5.400000, 5.180000, 5.160000, 5.200000, 8.030000, 8.120000, 8.230000, 8.330000, 4.360000, 4.280000, 4.180000, 4.200000, 4.260000, 4.330000, 4.400000, 4.460000, 4.550000, 4.630000, 4.710000, 4.810000, 4.900000, 5.000000, 5.110000, 5.210000, 5.330000, 5.440000, 5.580000, 5.720000, 5.880000, 6.040000, 6.210000, 6.400000, 6.600000, 6.760000, 3.630000, 3.590000, 3.570000, 3.540000, 2.450000, 2.410000, 2.440000, 2.410000, 2.390000, 2.380000, 3.080000, 3.260000, 3.460000, 3.650000, 3.630000, 3.620000, 3.610000, 3.590000, 3.570000, 3.560000, 3.530000, 3.520000, 3.540000, 3.540000, 3.530000, 3.750000, 5.920000, 5.940000, 5.930000, 5.260000, 4.800000, 4.870000, 4.700000, 5.970000, 5.970000, 5.990000, 5.920000, 5.400000, 5.400000, 5.410000, 5.440000, 5.540000, 5.540000, 5.520000, 5.540000, 5.560000, 5.590000, 6.310000, 6.350000, 6.400000, 6.450000, 6.480000, 6.540000, 6.580000, 6.640000, 5.060000, 2.810000, 2.740000, 2.680000, 2.620000, 2.560000, 2.500000, 2.150000, 2.110000, 2.050000, 2.000000, 1.950000, 1.970000, 2.000000, 2.020000, 2.070000, 2.100000, 2.140000, 2.140000, 2.110000, 2.080000, 2.050000, 2.010000, 1.980000, 1.970000, 1.930000, 1.910000, 1.890000, 1.870000, 1.850000, 1.820000, 1.800000, 1.780000, 1.780000, 1.810000, 1.820000, 1.870000, 1.940000, 2.020000, 2.090000, 2.190000, 2.280000, 2.380000, 2.500000, 2.630000, 2.780000, 2.940000, 3.130000, 3.890000, 3.870000, 3.850000, 3.850000, 3.840000, 3.820000, 3.810000, 3.800000, 3.790000, 3.790000, 3.780000, 3.780000, 3.780000, 3.780000, 3.770000, 3.770000, 3.770000, 3.780000, 3.780000, 3.790000 ], "valid": [ 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053419, 984696 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.056000, -4.084000, 2.574975 ], "estimate": [ -2.056000, -4.084000, 2.574975 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.820000, 3.160000, 3.610000, 4.620000, null, 10.800000, 10.540000, 9.570000, 9.040000, 8.560000, 8.130000, 7.750000, 7.410000, 7.090000, 6.810000, 6.540000, 6.300000, 6.080000, 5.870000, 5.680000, 5.500000, 5.330000, 5.190000, 5.200000, 5.260000, 8.110000, 8.200000, 8.310000, 4.380000, 4.340000, 4.260000, 4.220000, 4.240000, 4.310000, 4.380000, 4.450000, 4.530000, 4.620000, 4.710000, 4.780000, 4.890000, 5.000000, 5.100000, 5.200000, 5.320000, 5.430000, 5.560000, 5.690000, 5.860000, 6.010000, 6.180000, 6.370000, 6.570000, 6.800000, 6.750000, 3.630000, 3.600000, 3.590000, 2.580000, 2.480000, 2.470000, 2.460000, 2.440000, 2.430000, 2.400000, 3.230000, 3.440000, 3.690000, 3.670000, 3.650000, 3.640000, 3.630000, 3.630000, 3.600000, 3.570000, 3.570000, 3.570000, 3.580000, 3.580000, 3.670000, 5.970000, 5.970000, 4.910000, 4.800000, 4.710000, 4.710000, 4.710000, 4.800000, 6.010000, 6.030000, 5.960000, 5.430000, 5.440000, 5.460000, 5.470000, 5.540000, 5.570000, 5.560000, 5.580000, 5.610000, 5.630000, 6.340000, 6.390000, 6.440000, 6.480000, 6.530000, 6.580000, 6.620000, 5.070000, 5.090000, 2.810000, 2.740000, 2.680000, 2.620000, 2.570000, 2.200000, 2.150000, 2.100000, 2.040000, 2.010000, 2.000000, 2.010000, 2.050000, 2.080000, 2.110000, 2.140000, 2.190000, 2.150000, 2.100000, 2.070000, 2.050000, 2.010000, 1.980000, 1.960000, 1.930000, 1.920000, 1.890000, 1.870000, 1.850000, 1.820000, 1.800000, 1.810000, 1.830000, 1.840000, 1.880000, 1.960000, 2.020000, 2.090000, 2.190000, 2.280000, 2.380000, 2.480000, 2.600000, 2.740000, 2.890000, 3.050000, 3.480000, 3.880000, 3.870000, 3.860000, 3.850000, 3.840000, 3.830000, 3.810000, 3.800000, 3.790000, 3.790000, 3.780000, 3.780000, 3.780000, 3.770000, 3.780000, 3.780000, 3.780000, 3.780000, 3.780000, 3.790000, 3.790000, 3.800000, 3.810000 ], "valid": [ 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053420, 966359 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.061000, -4.081000, 2.593412 ], "estimate": [ -2.061000, -4.081000, 2.593412 ], "true_pose": [ null, null, null ], "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": [ 3.990000, null, 14.490000, 10.500000, 10.500000, 9.310000, 8.820000, 8.380000, 7.970000, 7.600000, 7.290000, 6.980000, 6.700000, 6.440000, 6.210000, 5.980000, 5.810000, 5.610000, 5.440000, 5.240000, 5.190000, 5.240000, 8.070000, 8.160000, 8.270000, 8.380000, 4.390000, 4.320000, 4.200000, 4.230000, 4.290000, 4.350000, 4.420000, 4.510000, 4.590000, 4.660000, 4.760000, 4.850000, 4.950000, 5.040000, 5.150000, 5.280000, 5.380000, 5.510000, 5.660000, 5.800000, 5.950000, 6.120000, 6.300000, 6.500000, 6.710000, 6.800000, 3.670000, 3.630000, 3.600000, 3.580000, 2.490000, 2.470000, 2.470000, 2.460000, 2.440000, 2.440000, 3.170000, 3.360000, 3.580000, 3.680000, 3.660000, 3.650000, 3.650000, 3.630000, 3.620000, 3.590000, 3.570000, 3.580000, 3.580000, 3.590000, 3.590000, 5.970000, 5.970000, 4.890000, 5.990000, 4.850000, 4.730000, 4.700000, 4.790000, 6.010000, 6.030000, 6.040000, 5.450000, 5.430000, 5.470000, 5.460000, 5.490000, 6.050000, 5.570000, 5.580000, 5.610000, 5.620000, 5.940000, 6.380000, 6.420000, 6.470000, 6.500000, 6.560000, 6.610000, 6.670000, 5.100000, 2.870000, 2.790000, 2.730000, 2.660000, 2.590000, 2.540000, 2.180000, 2.130000, 2.080000, 2.000000, 1.990000, 2.000000, 2.040000, 2.080000, 2.110000, 2.140000, 2.180000, 2.160000, 2.120000, 2.100000, 2.060000, 2.030000, 2.000000, 1.980000, 1.950000, 1.930000, 1.890000, 1.880000, 1.860000, 1.830000, 1.810000, 1.800000, 1.840000, 1.830000, 1.860000, 1.940000, 2.000000, 2.080000, 2.160000, 2.250000, 2.330000, 2.450000, 2.560000, 2.700000, 2.850000, 3.010000, 3.180000, 3.890000, 3.870000, 3.850000, 3.850000, 3.840000, 3.830000, 3.820000, 3.810000, 3.800000, 3.790000, 3.780000, 3.780000, 3.780000, 3.770000, 3.770000, 3.770000, 3.780000, 3.770000, 3.780000, 3.780000, 3.790000, 3.790000, 3.800000, 3.810000, 3.830000, 3.840000 ], "valid": [ 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053420, 871402 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.075000, -4.072000, 2.624139 ], "estimate": [ -2.075000, -4.072000, 2.624139 ], "true_pose": [ null, null, null ], "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, 10.780000, 10.500000, 9.560000, 8.990000, 8.510000, 8.110000, 7.740000, 7.380000, 7.080000, 6.790000, 6.520000, 6.280000, 6.060000, 5.870000, 5.660000, 5.490000, 5.330000, 5.200000, 5.210000, 8.030000, 8.120000, 8.220000, 8.330000, 4.390000, 4.340000, 4.240000, 4.200000, 4.260000, 4.340000, 4.400000, 4.470000, 4.550000, 4.640000, 4.720000, 4.810000, 4.900000, 5.000000, 5.110000, 5.220000, 5.340000, 5.460000, 5.590000, 5.730000, 5.880000, 6.050000, 6.220000, 6.410000, 6.610000, 6.810000, 3.680000, 3.630000, 3.600000, 3.570000, 2.490000, 2.480000, 2.460000, 2.450000, 2.440000, 2.400000, 2.730000, 3.280000, 3.480000, 3.680000, 3.670000, 3.650000, 3.640000, 3.630000, 3.610000, 3.590000, 3.580000, 3.570000, 3.570000, 3.580000, 3.580000, 3.810000, 5.970000, 4.870000, null, 4.900000, 4.830000, 4.820000, 4.750000, 4.720000, 6.010000, 6.020000, 5.940000, 5.420000, 5.440000, 5.460000, 5.470000, 5.720000, 5.550000, 5.560000, 5.580000, 5.600000, 5.620000, 6.340000, 6.390000, 6.440000, 6.480000, 6.530000, 6.570000, 6.630000, 6.690000, 5.090000, 2.800000, 2.750000, 2.680000, 2.610000, 2.560000, 2.190000, 2.150000, 2.100000, 2.050000, 1.990000, 1.990000, 2.010000, 2.040000, 2.070000, 2.110000, 2.140000, 2.170000, 2.130000, 2.110000, 2.070000, 2.040000, 2.000000, 1.980000, 1.950000, 1.920000, 1.910000, 1.880000, 1.860000, 1.840000, 1.810000, 1.790000, 1.800000, 1.820000, 1.830000, 1.870000, 1.950000, 2.010000, 2.090000, 2.180000, 2.280000, 2.370000, 2.470000, 2.600000, 2.730000, 2.880000, 3.040000, 3.540000, 3.870000, 3.870000, 3.850000, 3.840000, 3.830000, 3.820000, 3.810000, 3.800000, 3.790000, 3.780000, 3.780000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.780000, 3.780000, 3.790000, 3.800000, 3.800000, 3.820000, 3.830000, 3.840000, 3.850000 ], "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, 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": [ 976053421, 374300 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.088000, -4.065000, 2.642576 ], "estimate": [ -2.088000, -4.065000, 2.642576 ], "true_pose": [ null, null, null ], "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": [ 10.500000, 9.500000, 8.970000, 8.480000, 8.070000, 7.690000, 7.360000, 7.060000, 6.760000, 6.500000, 6.250000, 6.040000, 5.830000, 5.640000, 5.470000, 5.300000, 5.190000, 5.210000, 8.030000, 8.130000, 8.230000, 8.340000, 4.380000, 4.310000, 4.210000, 4.210000, 4.270000, 4.340000, 4.400000, 4.480000, 4.560000, 4.660000, 4.730000, 4.820000, 4.900000, 5.010000, 5.120000, 5.220000, 5.350000, 5.460000, 5.590000, 5.730000, 5.900000, 6.060000, 6.220000, 6.410000, 6.610000, 6.790000, 3.640000, 3.610000, 3.590000, 3.560000, 2.470000, 2.430000, 2.440000, 2.430000, 2.410000, 2.420000, 3.110000, 3.290000, 3.500000, 3.670000, 3.640000, 3.630000, 3.620000, 3.610000, 3.590000, 3.570000, 3.560000, 3.540000, 3.550000, 3.560000, 3.550000, 5.950000, 5.950000, 5.950000, 5.940000, 5.240000, 4.830000, 4.930000, 4.730000, 5.980000, 6.000000, 6.000000, 5.920000, 5.410000, 5.410000, 5.430000, 5.450000, 5.690000, 5.540000, 5.540000, 5.560000, 5.580000, 5.610000, 6.320000, 6.370000, 6.410000, 6.460000, 6.510000, 6.560000, 6.600000, 6.670000, 5.070000, 2.790000, 2.730000, 2.660000, 2.600000, 2.540000, 2.200000, 2.130000, 2.080000, 2.040000, 1.950000, 1.970000, 1.990000, 2.010000, 2.060000, 2.090000, 2.120000, 2.160000, 2.120000, 2.100000, 2.050000, 2.030000, 2.000000, 1.980000, 1.950000, 1.930000, 1.900000, 1.880000, 1.860000, 1.830000, 1.810000, 1.790000, 1.780000, 1.820000, 1.810000, 1.840000, 1.910000, 1.970000, 2.040000, 2.130000, 2.230000, 2.330000, 2.440000, 2.540000, 2.670000, 2.830000, 2.990000, 3.180000, 3.870000, 3.860000, 3.850000, 3.840000, 3.830000, 3.820000, 3.800000, 3.790000, 3.780000, 3.770000, 3.770000, 3.770000, 3.760000, 3.760000, 3.760000, 3.760000, 3.770000, 3.760000, 3.770000, 3.770000, 3.780000, 3.790000, 3.790000, 3.810000, 3.820000, 3.840000, 3.850000, 3.850000, 3.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053421, 386469 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.088000, -4.065000, 2.636431 ], "estimate": [ -2.088000, -4.065000, 2.636431 ], "true_pose": [ null, null, null ], "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": [ 10.500000, 9.320000, 8.820000, 8.350000, 7.950000, 7.580000, 7.240000, 6.950000, 6.670000, 6.420000, 6.190000, 5.970000, 5.780000, 5.590000, 5.410000, 5.180000, 5.200000, 5.260000, 8.070000, 8.170000, 8.270000, 8.380000, 4.360000, 4.290000, 4.200000, 4.230000, 4.300000, 4.360000, 4.440000, 4.520000, 4.590000, 4.670000, 4.770000, 4.860000, 4.950000, 5.050000, 5.170000, 5.270000, 5.400000, 5.520000, 5.670000, 5.800000, 5.950000, 6.120000, 6.310000, 6.490000, 6.700000, 6.770000, 3.630000, 3.600000, 3.580000, 2.650000, 2.430000, 2.440000, 2.440000, 2.430000, 2.420000, 2.380000, 3.180000, 3.390000, 3.640000, 3.660000, 3.640000, 3.620000, 3.620000, 3.590000, 3.580000, 3.570000, 3.540000, 3.540000, 3.550000, 3.550000, 3.560000, 5.940000, 5.940000, 5.950000, 5.940000, 4.830000, 4.870000, 5.970000, 5.980000, 5.980000, 5.990000, 6.000000, 5.740000, 5.400000, 5.410000, 5.440000, 5.450000, 6.080000, 5.530000, 5.540000, 5.560000, 5.580000, 5.730000, 6.330000, 6.380000, 6.420000, 6.470000, 6.510000, 6.580000, 6.620000, 5.050000, 6.750000, 2.780000, 2.700000, 2.640000, 2.590000, 2.530000, 2.170000, 2.120000, 2.070000, 2.010000, 1.980000, 1.960000, 1.990000, 2.010000, 2.050000, 2.080000, 2.120000, 2.160000, 2.110000, 2.090000, 2.050000, 2.020000, 2.000000, 1.970000, 1.940000, 1.920000, 1.890000, 1.880000, 1.850000, 1.830000, 1.810000, 1.790000, 1.770000, 1.820000, 1.810000, 1.850000, 1.920000, 1.980000, 2.060000, 2.150000, 2.240000, 2.340000, 2.460000, 2.560000, 2.700000, 2.860000, 3.020000, 3.350000, 3.870000, 3.850000, 3.850000, 3.830000, 3.820000, 3.810000, 3.790000, 3.790000, 3.780000, 3.770000, 3.770000, 3.760000, 3.760000, 3.760000, 3.760000, 3.760000, 3.760000, 3.770000, 3.770000, 3.780000, 3.780000, 3.790000, 3.800000, 3.810000, 3.820000, 3.840000, 3.850000, 3.850000, 3.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053421, 395830 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.088000, -4.065000, 2.624139 ], "estimate": [ -2.088000, -4.065000, 2.624139 ], "true_pose": [ null, null, null ], "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": [ 10.500000, 9.530000, 8.980000, 8.500000, 8.100000, 7.710000, 7.380000, 7.060000, 6.760000, 6.510000, 6.270000, 6.050000, 5.840000, 5.650000, 5.480000, 5.310000, 5.190000, 5.210000, 8.040000, 8.140000, 8.230000, 8.340000, 4.380000, 4.300000, 4.210000, 4.210000, 4.280000, 4.330000, 4.400000, 4.490000, 4.560000, 4.640000, 4.730000, 4.820000, 4.900000, 5.010000, 5.120000, 5.230000, 5.360000, 5.460000, 5.600000, 5.740000, 5.900000, 6.060000, 6.220000, 6.410000, 6.620000, 6.790000, 3.640000, 3.610000, 3.580000, 3.560000, 2.460000, 2.460000, 2.440000, 2.430000, 2.420000, 2.410000, 3.120000, 3.310000, 3.500000, 3.660000, 3.640000, 3.620000, 3.620000, 3.620000, 3.580000, 3.570000, 3.560000, 3.540000, 3.540000, 3.560000, 3.550000, 5.940000, 5.930000, 5.950000, 5.940000, 5.300000, 4.810000, 4.900000, 4.710000, 5.980000, 5.980000, 6.000000, 5.960000, 5.400000, 5.400000, 5.420000, 5.440000, 5.710000, 5.640000, 5.540000, 5.550000, 5.570000, 5.600000, 6.320000, 6.360000, 6.390000, 6.460000, 6.490000, 6.540000, 6.600000, 6.660000, 5.060000, 2.800000, 2.740000, 2.660000, 2.600000, 2.550000, 2.380000, 2.140000, 2.100000, 2.050000, 1.950000, 1.960000, 1.980000, 2.000000, 2.050000, 2.080000, 2.110000, 2.140000, 2.120000, 2.100000, 2.070000, 2.030000, 2.010000, 1.980000, 1.960000, 1.930000, 1.900000, 1.880000, 1.860000, 1.830000, 1.810000, 1.800000, 1.780000, 1.800000, 1.810000, 1.830000, 1.890000, 1.960000, 2.040000, 2.110000, 2.210000, 2.300000, 2.410000, 2.530000, 2.650000, 2.810000, 2.970000, 3.140000, 3.870000, 3.850000, 3.850000, 3.840000, 3.830000, 3.810000, 3.800000, 3.790000, 3.780000, 3.770000, 3.770000, 3.760000, 3.760000, 3.760000, 3.760000, 3.760000, 3.760000, 3.770000, 3.760000, 3.770000, 3.780000, 3.790000, 3.790000, 3.800000, 3.810000, 3.830000, 3.850000, 3.850000, 3.650000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053421, 104774 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.088000, -4.065000, 2.599557 ], "estimate": [ -2.088000, -4.065000, 2.599557 ], "true_pose": [ null, null, null ], "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": [ 10.510000, 10.490000, 9.350000, 8.830000, 8.380000, 7.960000, 7.610000, 7.270000, 6.970000, 6.670000, 6.430000, 6.190000, 5.970000, 5.790000, 5.590000, 5.410000, 5.190000, 5.190000, 5.260000, 8.070000, 8.160000, 8.270000, 8.380000, 4.360000, 4.280000, 4.200000, 4.230000, 4.300000, 4.350000, 4.430000, 4.510000, 4.590000, 4.660000, 4.760000, 4.850000, 4.940000, 5.050000, 5.160000, 5.270000, 5.390000, 5.510000, 5.660000, 5.790000, 5.950000, 6.110000, 6.290000, 6.490000, 6.700000, 6.770000, 3.640000, 3.600000, 3.570000, 2.960000, 2.430000, 2.450000, 2.440000, 2.420000, 2.400000, 2.380000, 3.170000, 3.370000, 3.630000, 3.640000, 3.630000, 3.620000, 3.610000, 3.600000, 3.580000, 3.570000, 3.540000, 3.540000, 3.550000, 3.550000, 3.550000, 5.930000, 5.940000, null, 5.940000, 4.850000, 4.850000, 4.810000, 5.980000, 5.970000, 5.980000, 6.000000, 5.830000, 5.390000, 5.410000, 5.430000, 5.450000, 6.100000, 5.520000, 5.540000, 5.560000, 5.580000, 5.690000, 6.330000, 6.380000, 6.420000, 6.460000, 6.510000, 6.570000, 6.600000, 5.070000, 6.750000, 2.780000, 2.710000, 2.650000, 2.590000, 2.530000, 2.190000, 2.120000, 2.060000, 2.020000, 1.950000, 1.960000, 1.990000, 2.010000, 2.060000, 2.090000, 2.120000, 2.160000, 2.120000, 2.100000, 2.060000, 2.030000, 2.000000, 1.970000, 1.950000, 1.920000, 1.890000, 1.880000, 1.850000, 1.830000, 1.810000, 1.790000, 1.780000, 1.820000, 1.810000, 1.850000, 1.910000, 1.980000, 2.060000, 2.150000, 2.240000, 2.340000, 2.450000, 2.570000, 2.700000, 2.860000, 3.010000, 3.330000, 3.860000, 3.860000, 3.850000, 3.840000, 3.820000, 3.810000, 3.800000, 3.790000, 3.780000, 3.780000, 3.770000, 3.760000, 3.760000, 3.760000, 3.760000, 3.760000, 3.760000, 3.760000, 3.770000, 3.780000, 3.780000, 3.790000, 3.800000, 3.810000, 3.820000, 3.840000, 3.850000, 3.850000 ], "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, 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 ], "timestamp": [ 976053421, 524909 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.088000, -4.065000, 2.556539 ], "estimate": [ -2.088000, -4.065000, 2.556539 ], "true_pose": [ null, null, null ], "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, 14.490000, 10.490000, 10.500000, 9.290000, 8.770000, 8.340000, 7.930000, 7.560000, 7.230000, 6.920000, 6.640000, 6.400000, 6.170000, 5.950000, 5.740000, 5.580000, 5.390000, 5.180000, 5.190000, 5.260000, 8.080000, 8.180000, 8.290000, 8.400000, 4.370000, 4.260000, 4.190000, 4.240000, 4.310000, 4.370000, 4.440000, 4.520000, 4.600000, 4.680000, 4.770000, 4.870000, 4.970000, 5.070000, 5.180000, 5.290000, 5.410000, 5.540000, 5.690000, 5.820000, 5.980000, 6.150000, 6.320000, 6.520000, 6.740000, 6.760000, 3.630000, 3.600000, 3.570000, 2.810000, 2.420000, 2.450000, 2.440000, 2.420000, 2.400000, 2.390000, 3.200000, 3.390000, 3.650000, 3.650000, 3.630000, 3.620000, 3.620000, 3.590000, 3.580000, 3.570000, 3.530000, 3.540000, 3.550000, 3.550000, 3.550000, 5.930000, 5.930000, null, 5.950000, 4.840000, 4.850000, 4.750000, 4.710000, 5.980000, 5.990000, 6.010000, 5.740000, 5.400000, 5.420000, 5.440000, 5.460000, 6.090000, 5.530000, 5.550000, 5.570000, 5.580000, 5.930000, 6.340000, 6.390000, 6.440000, 6.470000, 6.520000, 6.570000, 6.630000, 5.080000, 6.750000, 2.770000, 2.730000, 2.650000, 2.580000, 2.530000, 2.170000, 2.130000, 2.070000, 2.030000, 1.960000, 1.960000, 2.000000, 2.020000, 2.060000, 2.100000, 2.120000, 2.170000, 2.120000, 2.100000, 2.060000, 2.030000, 2.000000, 1.980000, 1.950000, 1.930000, 1.890000, 1.880000, 1.850000, 1.830000, 1.810000, 1.790000, 1.780000, 1.820000, 1.810000, 1.850000, 1.930000, 2.000000, 2.080000, 2.170000, 2.260000, 2.350000, 2.470000, 2.590000, 2.720000, 2.880000, 3.060000, 3.890000, 3.870000, 3.850000, 3.850000, 3.840000, 3.830000, 3.810000, 3.800000, 3.790000, 3.780000, 3.780000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.780000, 3.780000, 3.790000, 3.800000, 3.820000, 3.830000, 3.840000 ], "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, 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": [ 976053421, 526103 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.089000, -4.064000, 2.501229 ], "estimate": [ -2.089000, -4.064000, 2.501229 ], "true_pose": [ null, null, null ], "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": [ 3.290000, 3.800000, 4.610000, null, 14.430000, 10.490000, 10.480000, 9.250000, 8.740000, 8.290000, 7.890000, 7.530000, 7.200000, 6.900000, 6.620000, 6.380000, 6.140000, 5.930000, 5.730000, 5.550000, 5.380000, 5.190000, 5.190000, 5.260000, 8.090000, 8.190000, 8.300000, 8.400000, 4.350000, 4.260000, 4.150000, 4.240000, 4.310000, 4.380000, 4.440000, 4.520000, 4.600000, 4.690000, 4.770000, 4.870000, 4.980000, 5.070000, 5.180000, 5.290000, 5.410000, 5.540000, 5.690000, 5.820000, 5.980000, 6.160000, 6.330000, 6.540000, 6.740000, 6.750000, 3.620000, 3.590000, 3.560000, 2.770000, 2.420000, 2.440000, 2.430000, 2.410000, 2.400000, 2.410000, 3.200000, 3.400000, 3.650000, 3.650000, 3.630000, 3.620000, 3.610000, 3.590000, 3.570000, 3.560000, 3.530000, 3.530000, 3.560000, 3.550000, 3.550000, 5.930000, 5.930000, 4.840000, 5.960000, 4.820000, 4.870000, 4.720000, 4.700000, 5.980000, 5.990000, 6.010000, 5.770000, 5.400000, 5.420000, 5.440000, 5.460000, 6.070000, 5.530000, 5.540000, 5.560000, 5.590000, 5.960000, 6.340000, 6.390000, 6.440000, 6.480000, 6.520000, 6.580000, 6.630000, 5.060000, 6.760000, 2.790000, 2.710000, 2.650000, 2.600000, 2.540000, 2.200000, 2.130000, 2.080000, 2.040000, 1.950000, 1.970000, 2.000000, 2.010000, 2.060000, 2.100000, 2.130000, 2.170000, 2.120000, 2.100000, 2.060000, 2.030000, 2.010000, 1.980000, 1.960000, 1.920000, 1.900000, 1.880000, 1.860000, 1.830000, 1.810000, 1.800000, 1.780000, 1.820000, 1.810000, 1.850000, 1.930000, 2.000000, 2.080000, 2.170000, 2.260000, 2.350000, 2.470000, 2.590000, 2.730000, 2.890000, 3.060000, 3.890000, 3.870000, 3.860000, 3.850000, 3.840000, 3.830000, 3.820000, 3.800000, 3.790000, 3.790000, 3.780000, 3.780000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.780000, 3.780000, 3.790000, 3.800000, 3.810000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053421, 696830 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.089000, -4.064000, 2.445919 ], "estimate": [ -2.089000, -4.064000, 2.445919 ], "true_pose": [ null, null, null ], "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": [ 2.700000, 2.730000, 3.000000, 3.350000, 3.860000, null, null, 14.530000, 10.500000, 10.490000, 9.200000, 8.680000, 8.260000, 7.840000, 7.480000, 7.160000, 6.870000, 6.590000, 6.340000, 6.090000, 5.900000, 5.700000, 5.530000, 5.350000, 5.170000, 5.190000, 8.000000, 8.100000, 8.200000, 8.300000, 8.400000, 4.360000, 4.260000, 4.190000, 4.240000, 4.310000, 4.380000, 4.450000, 4.520000, 4.610000, 4.700000, 4.790000, 4.880000, 4.980000, 5.080000, 5.190000, 5.300000, 5.410000, 5.550000, 5.700000, 5.830000, 5.990000, 6.170000, 6.350000, 6.550000, 6.760000, 6.740000, 3.610000, 3.600000, 3.570000, 2.790000, 2.420000, 2.450000, 2.430000, 2.410000, 2.400000, 2.400000, 3.210000, 3.400000, 3.660000, 3.640000, 3.620000, 3.620000, 3.610000, 3.600000, 3.570000, 3.560000, 3.530000, 3.550000, 3.550000, 3.550000, 3.550000, 5.930000, 5.940000, 4.840000, 5.950000, 4.830000, 4.860000, 4.730000, 4.700000, 5.970000, 5.990000, 6.010000, 5.610000, 5.400000, 5.420000, 5.430000, 5.460000, 6.070000, 5.530000, 5.550000, 5.570000, 5.590000, 6.290000, 6.340000, 6.400000, 6.440000, 6.480000, 6.530000, 6.580000, 6.620000, 5.070000, 6.760000, 2.780000, 2.720000, 2.640000, 2.600000, 2.550000, 2.210000, 2.130000, 2.090000, 2.050000, 1.950000, 1.970000, 2.010000, 2.030000, 2.060000, 2.100000, 2.130000, 2.170000, 2.130000, 2.110000, 2.060000, 2.040000, 2.010000, 1.980000, 1.960000, 1.930000, 1.900000, 1.880000, 1.860000, 1.840000, 1.810000, 1.800000, 1.780000, 1.830000, 1.820000, 1.860000, 1.930000, 2.000000, 2.090000, 2.180000, 2.270000, 2.370000, 2.480000, 2.610000, 2.750000, 2.910000, 3.080000, 3.900000, 3.880000, 3.860000, 3.860000, 3.850000, 3.830000, 3.820000, 3.810000, 3.800000, 3.790000, 3.780000, 3.780000, 3.780000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.780000, 3.780000, 3.790000 ], "valid": [ 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053422, 221606 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.089000, -4.064000, 2.402900 ], "estimate": [ -2.089000, -4.064000, 2.402900 ], "true_pose": [ null, null, null ], "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": [ 2.690000, 2.690000, 2.690000, 2.700000, 2.730000, 2.960000, 3.310000, 3.820000, 4.640000, null, 14.600000, 10.490000, 10.480000, 9.180000, 8.680000, 8.240000, 7.840000, 7.470000, 7.150000, 6.850000, 6.590000, 6.330000, 6.100000, 5.900000, 5.700000, 5.530000, 5.360000, 5.160000, 5.190000, 5.270000, 8.090000, 8.190000, 8.300000, 7.450000, 4.350000, 4.260000, 4.180000, 4.240000, 4.300000, 4.370000, 4.450000, 4.530000, 4.590000, 4.680000, 4.780000, 4.870000, 4.970000, 5.060000, 5.170000, 5.290000, 5.410000, 5.530000, 5.680000, 5.820000, 5.980000, 6.150000, 6.330000, 6.530000, 6.740000, 6.740000, 3.610000, 3.600000, 3.560000, 2.530000, 2.440000, 2.450000, 2.430000, 2.420000, 2.400000, 2.370000, 3.180000, 3.390000, 3.640000, 3.650000, 3.630000, 3.610000, 3.610000, 3.590000, 3.570000, 3.550000, 3.540000, 3.550000, 3.550000, 3.550000, 3.550000, 5.930000, 5.930000, 4.860000, 4.810000, 4.830000, 4.850000, 4.720000, 4.710000, 5.980000, 5.990000, 6.000000, 5.730000, 5.400000, 5.420000, 5.430000, 5.470000, 6.070000, 5.540000, 5.550000, 5.560000, 5.590000, 5.900000, 6.340000, 6.380000, 6.430000, 6.480000, 6.530000, 6.580000, 6.630000, 5.080000, 6.770000, 2.790000, 2.720000, 2.660000, 2.600000, 2.560000, 2.240000, 2.150000, 2.090000, 2.050000, 1.960000, 1.970000, 2.010000, 2.030000, 2.070000, 2.110000, 2.130000, 2.170000, 2.140000, 2.110000, 2.070000, 2.040000, 2.020000, 1.980000, 1.970000, 1.940000, 1.910000, 1.890000, 1.870000, 1.840000, 1.820000, 1.810000, 1.790000, 1.830000, 1.820000, 1.860000, 1.930000, 2.000000, 2.090000, 2.180000, 2.270000, 2.360000, 2.490000, 2.610000, 2.750000, 2.910000, 3.080000, 3.900000, 3.890000, 3.870000, 3.860000, 3.850000, 3.840000, 3.830000, 3.820000, 3.800000, 3.800000, 3.790000, 3.780000, 3.780000, 3.780000, 3.780000, 3.780000, 3.780000, 3.780000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053422, 222754 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.091000, -4.063000, 2.353736 ], "estimate": [ -2.091000, -4.063000, 2.353736 ], "true_pose": [ null, null, null ], "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": [ 2.680000, 2.680000, 2.690000, 2.680000, 2.680000, 2.700000, 2.710000, 2.950000, 3.290000, 3.790000, 4.610000, null, 14.320000, 10.480000, 10.480000, 9.190000, 8.700000, 8.250000, 7.860000, 7.480000, 7.160000, 6.860000, 6.600000, 6.350000, 6.100000, 5.910000, 5.720000, 5.520000, 5.360000, 5.170000, 5.180000, 5.260000, 8.080000, 8.180000, 8.290000, 8.390000, 4.350000, 4.260000, 4.160000, 4.230000, 4.290000, 4.370000, 4.440000, 4.510000, 4.590000, 4.670000, 4.770000, 4.840000, 4.950000, 5.060000, 5.160000, 5.290000, 5.390000, 5.530000, 5.670000, 5.810000, 5.960000, 6.140000, 6.310000, 6.510000, 6.730000, 6.740000, 3.610000, 3.590000, 3.560000, 3.540000, 2.460000, 2.440000, 2.420000, 2.410000, 2.400000, 2.390000, 3.170000, 3.360000, 3.610000, 3.640000, 3.620000, 3.620000, 3.600000, 3.580000, 3.570000, 3.550000, 3.530000, 3.550000, 3.550000, 3.550000, 3.550000, 5.930000, 5.930000, null, 5.950000, 4.880000, 4.850000, 5.970000, 4.720000, 5.970000, 5.990000, 6.010000, 5.840000, 5.400000, 5.410000, 5.440000, 5.460000, 6.090000, 5.530000, 5.540000, 5.560000, 5.580000, 5.760000, 6.330000, 6.380000, 6.430000, 6.470000, 6.520000, 6.580000, 6.630000, 5.090000, 6.760000, 2.800000, 2.730000, 2.680000, 2.630000, 2.570000, 2.480000, 2.160000, 2.110000, 2.050000, 1.990000, 1.970000, 2.000000, 2.020000, 2.060000, 2.090000, 2.120000, 2.160000, 2.140000, 2.120000, 2.080000, 2.050000, 2.020000, 1.990000, 1.970000, 1.930000, 1.920000, 1.880000, 1.870000, 1.850000, 1.820000, 1.810000, 1.790000, 1.820000, 1.820000, 1.850000, 1.920000, 1.990000, 2.070000, 2.160000, 2.260000, 2.350000, 2.470000, 2.590000, 2.730000, 2.890000, 3.070000, 3.900000, 3.890000, 3.870000, 3.860000, 3.850000, 3.840000, 3.830000, 3.820000, 3.810000, 3.800000, 3.790000, 3.790000, 3.780000, 3.780000, 3.780000, 3.780000 ], "valid": [ 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053422, 404641 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.093000, -4.060000, 2.273844 ], "estimate": [ -2.093000, -4.060000, 2.273844 ], "true_pose": [ null, null, null ], "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": [ 2.680000, 2.680000, 2.680000, 2.680000, 2.670000, 2.680000, 2.680000, 2.680000, 2.690000, 2.700000, 2.800000, 3.090000, 3.490000, 4.150000, null, null, null, 10.470000, 9.610000, 9.030000, 8.550000, 8.110000, 7.730000, 7.380000, 7.080000, 6.770000, 6.520000, 6.270000, 6.040000, 5.830000, 5.650000, 5.480000, 5.320000, 5.160000, 5.180000, 8.020000, 8.110000, 8.210000, 8.320000, 4.350000, 4.320000, 4.220000, 4.190000, 4.240000, 4.310000, 4.380000, 4.460000, 4.520000, 4.610000, 4.700000, 4.790000, 4.880000, 4.990000, 5.100000, 5.200000, 5.320000, 5.440000, 5.580000, 5.710000, 5.860000, 6.020000, 6.190000, 6.370000, 6.580000, 6.790000, 6.720000, 3.610000, 3.590000, 3.550000, 2.930000, 2.410000, 2.430000, 2.420000, 2.400000, 2.390000, 2.390000, 3.210000, 3.420000, 3.650000, 3.630000, 3.620000, 3.610000, 3.590000, 3.570000, 3.560000, 3.540000, 3.520000, 3.540000, 3.550000, 3.540000, 3.540000, 5.920000, 5.920000, null, 5.940000, 4.810000, 4.860000, 4.730000, 4.690000, 5.970000, 5.990000, 6.000000, 5.620000, 5.400000, 5.410000, 5.440000, 5.460000, 6.050000, 5.520000, 5.540000, 5.570000, 5.590000, 6.300000, 6.340000, 6.390000, 6.440000, 6.490000, 6.540000, 6.580000, 6.640000, 5.060000, 6.780000, 2.800000, 2.740000, 2.670000, 2.610000, 2.560000, 2.450000, 2.150000, 2.100000, 2.050000, 1.990000, 1.970000, 2.010000, 2.030000, 2.070000, 2.110000, 2.130000, 2.170000, 2.140000, 2.120000, 2.080000, 2.050000, 2.020000, 1.990000, 1.970000, 1.940000, 1.920000, 1.890000, 1.880000, 1.850000, 1.830000, 1.810000, 1.800000, 1.840000, 1.830000, 1.860000, 1.950000, 2.010000, 2.100000, 2.190000, 2.280000, 2.380000, 2.490000, 2.630000, 2.770000, 2.940000, 3.120000, 3.910000, 3.890000, 3.880000, 3.860000, 3.860000, 3.840000, 3.830000, 3.820000, 3.810000, 3.800000, 3.790000, 3.790000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053422, 769603 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.094000, -4.059000, 2.193953 ], "estimate": [ -2.094000, -4.059000, 2.193953 ], "true_pose": [ null, null, null ], "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": [ 2.680000, 2.670000, 2.670000, 2.670000, 2.660000, 2.670000, 2.670000, 2.680000, 2.680000, 2.660000, 2.670000, 2.670000, 2.680000, 2.680000, 2.690000, 2.860000, 3.170000, 3.590000, 4.390000, null, null, 10.730000, 10.500000, 9.530000, 8.930000, 8.450000, 8.030000, 7.660000, 7.310000, 7.000000, 6.730000, 6.470000, 6.220000, 5.990000, 5.810000, 5.610000, 5.440000, 5.280000, 5.160000, 5.200000, 8.030000, 8.120000, 8.220000, 8.330000, 4.360000, 4.280000, 4.200000, 4.190000, 4.240000, 4.320000, 4.380000, 4.460000, 4.530000, 4.620000, 4.700000, 4.790000, 4.890000, 5.000000, 5.100000, 5.200000, 5.320000, 5.440000, 5.590000, 5.730000, 5.880000, 6.030000, 6.210000, 6.400000, 6.600000, 6.780000, 6.720000, 3.600000, 3.580000, 3.550000, 2.460000, 2.410000, 2.420000, 2.410000, 2.400000, 2.380000, 2.390000, 3.220000, 3.420000, 3.640000, 3.620000, 3.620000, 3.600000, 3.590000, 3.570000, 3.560000, 3.530000, 3.520000, 3.540000, 3.540000, 3.550000, 3.520000, 5.910000, 5.930000, 5.920000, 5.920000, 4.810000, 4.850000, 4.750000, 5.970000, 5.970000, 5.990000, 6.000000, 5.450000, 5.400000, 5.410000, 5.440000, 5.460000, 6.030000, 5.520000, 5.550000, 5.570000, 5.580000, 6.310000, 6.340000, 6.400000, 6.440000, 6.490000, 6.550000, 6.590000, 6.650000, 5.060000, 6.780000, 2.800000, 2.750000, 2.680000, 2.610000, 2.560000, 2.500000, 2.160000, 2.110000, 2.060000, 2.010000, 1.970000, 2.010000, 2.040000, 2.070000, 2.100000, 2.140000, 2.180000, 2.150000, 2.120000, 2.090000, 2.050000, 2.030000, 1.990000, 1.980000, 1.940000, 1.920000, 1.900000, 1.880000, 1.860000, 1.840000, 1.820000, 1.800000, 1.850000, 1.830000, 1.870000, 1.950000, 2.020000, 2.100000, 2.200000, 2.290000, 2.390000, 2.500000, 2.640000, 2.790000, 2.950000, 3.130000, 3.920000, 3.900000, 3.880000, 3.870000, 3.860000, 3.850000, 3.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053422, 770815 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.094000, -4.059000, 2.144789 ], "estimate": [ -2.094000, -4.059000, 2.144789 ], "true_pose": [ null, null, null ], "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": [ 2.700000, 2.690000, 2.680000, 2.680000, 2.680000, 2.670000, 2.660000, 2.660000, 2.660000, 2.670000, 2.670000, 2.670000, 2.670000, 2.660000, 2.660000, 2.670000, 2.680000, 2.680000, 2.690000, 2.820000, 3.130000, 3.550000, 4.290000, null, null, 10.680000, 10.450000, 9.430000, 8.900000, 8.400000, 8.000000, 7.630000, 7.290000, 6.980000, 6.700000, 6.430000, 6.210000, 5.980000, 5.790000, 5.600000, 5.420000, 5.260000, 5.150000, 5.180000, 8.010000, 8.100000, 8.200000, 8.310000, 4.350000, 4.280000, 4.190000, 4.180000, 4.230000, 4.300000, 4.370000, 4.450000, 4.530000, 4.600000, 4.690000, 4.790000, 4.880000, 4.980000, 5.090000, 5.190000, 5.310000, 5.430000, 5.570000, 5.710000, 5.860000, 6.020000, 6.190000, 6.370000, 6.580000, 6.770000, 6.720000, 3.600000, 3.570000, 3.540000, 3.510000, 2.410000, 2.430000, 2.410000, 2.400000, 2.380000, 2.370000, 3.190000, 3.380000, 3.630000, 3.620000, 3.620000, 3.600000, 3.590000, 3.570000, 3.550000, 3.540000, 3.530000, 3.550000, 3.540000, 3.540000, 3.530000, 5.920000, 5.920000, 5.920000, 5.930000, 4.810000, 4.870000, 4.730000, 4.760000, 5.970000, 5.990000, 6.010000, 5.420000, 5.400000, 5.400000, 5.440000, 5.460000, 6.030000, 5.520000, 5.550000, 5.570000, 5.600000, 6.320000, 6.350000, 6.400000, 6.440000, 6.500000, 6.540000, 6.590000, 6.640000, 5.080000, 6.780000, 2.800000, 2.740000, 2.670000, 2.620000, 2.570000, 2.470000, 2.170000, 2.110000, 2.060000, 2.010000, 1.970000, 2.010000, 2.030000, 2.070000, 2.100000, 2.140000, 2.180000, 2.160000, 2.120000, 2.090000, 2.050000, 2.030000, 2.000000, 1.980000, 1.950000, 1.930000, 1.890000, 1.880000, 1.870000, 1.830000, 1.820000, 1.810000, 1.850000, 1.840000, 1.870000, 1.950000, 2.020000, 2.100000, 2.200000, 2.290000, 2.390000, 2.510000, 2.650000, 2.790000, 2.950000, 3.140000, 3.910000, 3.900000, 3.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053422, 904543 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.094000, -4.059000, 2.095624 ], "estimate": [ -2.094000, -4.059000, 2.095624 ], "true_pose": [ null, null, null ], "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": [ 2.720000, 2.710000, 2.700000, 2.690000, 2.680000, 2.680000, 2.680000, 2.670000, 2.660000, 2.650000, 2.660000, 2.660000, 2.670000, 2.670000, 2.660000, 2.650000, 2.660000, 2.660000, 2.670000, 2.680000, 2.680000, 2.700000, 3.050000, 3.440000, 4.020000, null, null, null, 10.450000, 9.540000, 8.980000, 8.520000, 8.090000, 7.700000, 7.350000, 7.050000, 6.750000, 6.490000, 6.260000, 6.030000, 5.830000, 5.640000, 5.470000, 5.300000, 5.140000, 5.170000, 7.990000, 8.080000, 8.170000, 8.290000, 4.380000, 4.310000, 4.210000, 4.150000, 4.220000, 4.280000, 4.350000, 4.420000, 4.510000, 4.590000, 4.670000, 4.760000, 4.850000, 4.950000, 5.060000, 5.160000, 5.280000, 5.390000, 5.530000, 5.670000, 5.820000, 5.980000, 6.140000, 6.320000, 6.520000, 6.740000, 6.730000, 3.610000, 3.590000, 3.560000, 3.530000, 2.440000, 2.430000, 2.420000, 2.400000, 2.380000, 2.370000, 3.130000, 3.330000, 3.570000, 3.630000, 3.620000, 3.600000, 3.590000, 3.580000, 3.570000, 3.540000, 3.520000, 3.540000, 3.540000, 3.540000, 3.530000, 5.920000, 5.920000, null, 5.940000, 4.880000, 4.860000, 5.970000, 4.740000, 5.970000, 5.980000, 6.000000, 5.850000, 5.390000, 5.410000, 5.440000, 5.460000, 6.090000, 5.530000, 5.540000, 5.570000, 5.580000, 5.800000, 6.350000, 6.390000, 6.430000, 6.480000, 6.530000, 6.580000, 6.640000, 5.090000, 6.770000, 2.830000, 2.760000, 2.700000, 2.640000, 2.570000, 2.530000, 2.190000, 2.130000, 2.080000, 2.030000, 1.980000, 2.010000, 2.030000, 2.060000, 2.100000, 2.140000, 2.170000, 2.170000, 2.130000, 2.100000, 2.070000, 2.040000, 2.010000, 1.980000, 1.960000, 1.940000, 1.910000, 1.890000, 1.880000, 1.850000, 1.830000, 1.810000, 1.830000, 1.840000, 1.860000, 1.930000, 2.000000, 2.080000, 2.170000, 2.270000, 2.370000, 2.490000, 2.610000, 2.770000, 2.920000, 3.100000, 3.920000 ], "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, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053423, 362720 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.094000, -4.060000, 2.040314 ], "estimate": [ -2.094000, -4.060000, 2.040314 ], "true_pose": [ null, null, null ], "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": [ 2.760000, 2.750000, 2.740000, 2.730000, 2.710000, 2.700000, 2.690000, 2.680000, 2.680000, 2.680000, 2.670000, 2.660000, 2.650000, 2.650000, 2.660000, 2.660000, 2.670000, 2.650000, 2.650000, 2.640000, 2.650000, 2.670000, 2.670000, 2.680000, 2.700000, 3.000000, 3.370000, 3.920000, null, null, 14.430000, 10.450000, 9.650000, 9.080000, 8.600000, 8.160000, 7.770000, 7.420000, 7.110000, 6.820000, 6.540000, 6.290000, 6.080000, 5.870000, 5.670000, 5.490000, 5.340000, 5.140000, 5.160000, 5.230000, 8.080000, 8.160000, 8.260000, 8.380000, 4.320000, 4.230000, 4.150000, 4.210000, 4.270000, 4.340000, 4.410000, 4.490000, 4.570000, 4.650000, 4.740000, 4.830000, 4.920000, 5.030000, 5.150000, 5.260000, 5.380000, 5.510000, 5.640000, 5.800000, 5.940000, 6.110000, 6.300000, 6.490000, 6.700000, 6.750000, 3.600000, 3.590000, 3.560000, 3.540000, 2.500000, 2.410000, 2.430000, 2.410000, 2.390000, 2.380000, 3.030000, 3.280000, 3.510000, 3.640000, 3.630000, 3.620000, 3.600000, 3.580000, 3.570000, 3.550000, 3.520000, 3.540000, 3.550000, 3.550000, 3.530000, 5.930000, 5.930000, 4.870000, 5.940000, 4.910000, 4.800000, 5.960000, 4.730000, 5.970000, 5.990000, 6.000000, 5.920000, 5.410000, 5.410000, 5.440000, 5.460000, 6.140000, 5.590000, 5.550000, 5.570000, 5.600000, 5.610000, 6.330000, 6.390000, 6.440000, 6.480000, 6.530000, 6.580000, 6.640000, 6.700000, 5.110000, 2.840000, 2.780000, 2.720000, 2.640000, 2.590000, 2.550000, 2.190000, 2.150000, 2.100000, 2.050000, 1.980000, 2.000000, 2.020000, 2.060000, 2.110000, 2.130000, 2.170000, 2.180000, 2.140000, 2.110000, 2.080000, 2.050000, 2.020000, 1.990000, 1.970000, 1.940000, 1.930000, 1.890000, 1.880000, 1.860000, 1.840000, 1.810000, 1.830000, 1.850000, 1.870000, 1.920000, 1.990000, 2.080000, 2.160000, 2.260000, 2.360000, 2.480000, 2.600000, 2.740000 ], "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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053423, 363960 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.094000, -4.060000, 1.966568 ], "estimate": [ -2.094000, -4.060000, 1.966568 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.820000, 2.800000, 2.780000, 2.760000, 2.760000, 2.740000, 2.730000, 2.720000, 2.700000, 2.690000, 2.680000, 2.680000, 2.680000, 2.670000, 2.660000, 2.650000, 2.640000, 2.640000, 2.650000, 2.660000, 2.660000, 2.640000, 2.640000, 2.640000, 2.650000, 2.660000, 2.670000, 2.680000, 2.800000, 3.140000, 3.540000, 4.340000, null, null, 10.670000, 10.480000, 9.420000, 8.860000, 8.420000, 8.000000, 7.640000, 7.290000, 6.990000, 6.710000, 6.460000, 6.210000, 6.000000, 5.790000, 5.610000, 5.430000, 5.270000, 5.140000, 5.180000, 8.010000, 8.110000, 8.190000, 8.300000, 4.330000, 4.290000, 4.200000, 4.160000, 4.230000, 4.290000, 4.360000, 4.440000, 4.520000, 4.590000, 4.680000, 4.780000, 4.870000, 4.970000, 5.080000, 5.170000, 5.290000, 5.420000, 5.560000, 5.700000, 5.840000, 6.010000, 6.190000, 6.360000, 6.570000, 6.780000, 6.730000, 3.610000, 3.580000, 3.560000, 3.530000, 2.440000, 2.430000, 2.420000, 2.400000, 2.390000, 2.380000, 3.160000, 3.350000, 3.620000, 3.640000, 3.620000, 3.610000, 3.590000, 3.570000, 3.570000, 3.540000, 3.530000, 3.550000, 3.540000, 3.550000, 3.530000, 5.930000, 5.930000, 4.850000, 5.930000, 4.850000, 4.870000, 5.960000, 4.720000, 5.980000, 6.000000, 6.010000, 5.780000, 5.410000, 5.430000, 5.450000, 5.460000, 6.070000, 5.530000, 5.550000, 5.580000, 5.600000, 6.320000, 6.360000, 6.400000, 6.460000, 6.490000, 6.550000, 6.610000, 6.670000, 5.090000, 6.790000, 2.830000, 2.760000, 2.710000, 2.640000, 2.580000, 2.530000, 2.190000, 2.140000, 2.090000, 2.040000, 1.990000, 2.010000, 2.040000, 2.080000, 2.110000, 2.140000, 2.200000, 2.180000, 2.140000, 2.110000, 2.070000, 2.040000, 2.010000, 1.990000, 1.970000, 1.950000, 1.910000, 1.890000, 1.880000, 1.860000, 1.830000, 1.810000, 1.870000, 1.850000, 1.890000, 1.960000, 2.030000, 2.110000, 2.200000, 2.310000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053423, 497401 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.094000, -4.059000, 1.923550 ], "estimate": [ -2.094000, -4.059000, 1.923550 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.880000, 2.860000, 2.840000, 2.830000, 2.810000, 2.790000, 2.770000, 2.760000, 2.750000, 2.740000, 2.720000, 2.710000, 2.700000, 2.690000, 2.680000, 2.680000, 2.670000, 2.660000, 2.650000, 2.640000, 2.630000, 2.630000, 2.650000, 2.650000, 2.650000, 2.640000, 2.630000, 2.640000, 2.650000, 2.660000, 2.670000, 2.680000, 2.830000, 3.160000, 3.590000, 4.550000, null, 14.450000, 10.440000, 10.430000, 9.280000, 8.760000, 8.310000, 7.920000, 7.540000, 7.210000, 6.930000, 6.640000, 6.400000, 6.160000, 5.950000, 5.750000, 5.560000, 5.390000, 5.230000, 5.130000, 5.200000, 8.020000, 8.110000, 8.210000, 8.310000, 4.330000, 4.270000, 4.170000, 4.170000, 4.240000, 4.290000, 4.370000, 4.440000, 4.520000, 4.590000, 4.680000, 4.790000, 4.880000, 4.970000, 5.080000, 5.190000, 5.310000, 5.430000, 5.570000, 5.710000, 5.870000, 6.020000, 6.190000, 6.380000, 6.600000, 6.770000, 6.710000, 3.610000, 3.580000, 3.550000, 3.530000, 2.440000, 2.430000, 2.420000, 2.400000, 2.380000, 2.360000, 3.160000, 3.370000, 3.640000, 3.640000, 3.620000, 3.610000, 3.600000, 3.580000, 3.560000, 3.530000, 3.530000, 3.550000, 3.540000, 3.540000, 3.530000, 5.930000, 5.940000, 5.940000, 5.940000, 4.810000, 4.870000, 4.740000, 4.730000, 5.990000, 6.010000, 6.020000, 5.410000, 5.410000, 5.430000, 5.460000, 5.480000, 5.990000, 5.540000, 5.550000, 5.580000, 5.610000, 6.330000, 6.380000, 6.420000, 6.470000, 6.510000, 6.570000, 6.610000, 6.680000, 5.090000, 6.810000, 2.820000, 2.750000, 2.680000, 2.640000, 2.580000, 2.460000, 2.180000, 2.140000, 2.080000, 2.020000, 2.000000, 2.030000, 2.060000, 2.090000, 2.120000, 2.160000, 2.200000, 2.180000, 2.130000, 2.100000, 2.070000, 2.050000, 2.010000, 1.990000, 1.970000, 1.940000, 1.920000, 1.890000, 1.880000, 1.850000, 1.830000, 1.820000, 1.870000, 1.870000, 1.900000, 1.980000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053423, 847993 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.095000, -4.057000, 1.880531 ], "estimate": [ -2.095000, -4.057000, 1.880531 ], "true_pose": [ null, null, null ], "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": [ 2.930000, 2.900000, 2.880000, 2.860000, 2.830000, 2.830000, 2.810000, 2.790000, 2.770000, 2.760000, 2.750000, 2.740000, 2.720000, 2.710000, 2.690000, 2.680000, 2.680000, 2.680000, 2.670000, 2.650000, 2.640000, 2.640000, 2.630000, 2.630000, 2.640000, 2.640000, 2.650000, 2.630000, 2.630000, 2.640000, 2.640000, 2.650000, 2.660000, 2.680000, 2.840000, 3.180000, 3.630000, 4.570000, null, 14.360000, 10.440000, 10.440000, 9.210000, 8.710000, 8.270000, 7.860000, 7.510000, 7.180000, 6.890000, 6.600000, 6.360000, 6.130000, 5.920000, 5.730000, 5.550000, 5.370000, 5.180000, 5.130000, 5.200000, 8.020000, 8.120000, 8.230000, 8.320000, 4.330000, 4.270000, 4.160000, 4.170000, 4.240000, 4.290000, 4.370000, 4.440000, 4.530000, 4.600000, 4.690000, 4.790000, 4.880000, 4.980000, 5.090000, 5.190000, 5.320000, 5.440000, 5.580000, 5.720000, 5.880000, 6.040000, 6.210000, 6.390000, 6.610000, 6.760000, 6.700000, 3.600000, 3.570000, 3.550000, 3.520000, 2.440000, 2.430000, 2.420000, 2.400000, 2.390000, 2.360000, 3.170000, 3.390000, 3.630000, 3.630000, 3.620000, 3.610000, 3.600000, 3.580000, 3.560000, 3.540000, 3.520000, 3.550000, 3.540000, 3.540000, 3.530000, 5.940000, 5.930000, 5.930000, 5.940000, 4.810000, 4.880000, 4.730000, 4.700000, 5.990000, 6.010000, 6.020000, 5.410000, 5.410000, 5.440000, 5.460000, 5.520000, 6.090000, 5.550000, 5.570000, 5.590000, 5.610000, 6.330000, 6.380000, 6.420000, 6.470000, 6.530000, 6.580000, 6.620000, 6.700000, 5.090000, 6.800000, 2.810000, 2.760000, 2.690000, 2.640000, 2.570000, 2.360000, 2.190000, 2.130000, 2.090000, 2.000000, 2.000000, 2.020000, 2.070000, 2.100000, 2.140000, 2.160000, 2.200000, 2.170000, 2.130000, 2.100000, 2.070000, 2.050000, 2.010000, 1.990000, 1.970000, 1.940000, 1.920000, 1.900000, 1.880000, 1.860000, 1.840000, 1.830000, 1.870000, 1.870000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053423, 914396 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.100000, -4.040000, 1.812930 ], "estimate": [ -2.100000, -4.040000, 1.812930 ], "true_pose": [ null, null, null ], "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": [ 2.970000, 2.950000, 2.930000, 2.900000, 2.880000, 2.860000, 2.830000, 2.820000, 2.800000, 2.780000, 2.770000, 2.750000, 2.740000, 2.730000, 2.720000, 2.710000, 2.700000, 2.680000, 2.680000, 2.670000, 2.660000, 2.650000, 2.640000, 2.630000, 2.630000, 2.620000, 2.630000, 2.640000, 2.640000, 2.630000, 2.620000, 2.630000, 2.630000, 2.640000, 2.650000, 2.660000, 2.680000, 2.990000, 3.350000, 3.920000, null, null, 14.300000, 10.430000, 9.590000, 9.050000, 8.580000, 8.140000, 7.750000, 7.400000, 7.080000, 6.790000, 6.520000, 6.280000, 6.060000, 5.850000, 5.660000, 5.480000, 5.320000, 5.130000, 5.150000, 5.210000, 8.060000, 8.160000, 8.250000, 8.360000, 4.310000, 4.230000, 4.130000, 4.190000, 4.250000, 4.320000, 4.380000, 4.460000, 4.540000, 4.620000, 4.710000, 4.810000, 4.910000, 5.010000, 5.120000, 5.230000, 5.360000, 5.480000, 5.620000, 5.760000, 5.920000, 6.080000, 6.270000, 6.460000, 6.660000, 6.750000, 6.680000, 3.600000, 3.560000, 3.540000, 3.510000, 2.430000, 2.420000, 2.410000, 2.390000, 2.390000, 2.370000, 3.220000, 3.430000, 3.640000, 3.620000, 3.610000, 3.600000, 3.580000, 3.570000, 3.550000, 3.530000, 3.540000, 3.550000, 3.550000, 3.530000, 3.620000, 5.930000, 4.910000, null, 5.940000, 4.800000, 5.980000, 4.730000, 5.990000, 5.990000, 6.010000, 5.980000, 5.400000, 5.410000, 5.450000, 5.460000, 6.150000, 5.980000, 5.560000, 5.570000, 5.590000, 5.620000, 6.340000, 6.390000, 6.440000, 6.480000, 6.530000, 6.590000, 6.650000, 6.690000, 5.090000, 6.830000, 2.810000, 2.740000, 2.680000, 2.630000, 2.570000, 2.350000, 2.180000, 2.130000, 2.080000, 2.000000, 2.000000, 2.040000, 2.070000, 2.100000, 2.130000, 2.180000, 2.220000, 2.170000, 2.140000, 2.110000, 2.070000, 2.050000, 2.020000, 1.990000, 1.980000, 1.950000, 1.930000, 1.900000, 1.880000, 1.860000, 1.840000 ], "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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053424, 412976 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.108000, -3.996000, 1.714602 ], "estimate": [ -2.108000, -3.996000, 1.714602 ], "true_pose": [ null, null, null ], "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": [ 3.100000, 3.060000, 3.040000, 3.000000, 2.970000, 2.940000, 2.920000, 2.900000, 2.880000, 2.850000, 2.840000, 2.820000, 2.800000, 2.780000, 2.760000, 2.750000, 2.740000, 2.720000, 2.700000, 2.690000, 2.680000, 2.680000, 2.670000, 2.660000, 2.650000, 2.640000, 2.630000, 2.620000, 2.610000, 2.610000, 2.610000, 2.620000, 2.620000, 2.620000, 2.610000, 2.610000, 2.610000, 2.620000, 2.620000, 2.630000, 2.650000, 2.820000, 3.140000, 3.550000, 4.380000, null, null, 10.690000, 10.420000, 9.510000, 8.910000, 8.450000, 8.010000, 7.640000, 7.300000, 6.990000, 6.710000, 6.450000, 6.210000, 5.990000, 5.800000, 5.600000, 5.420000, 5.260000, 5.090000, 5.120000, 7.970000, 8.060000, 8.160000, 8.250000, 8.370000, 4.280000, 4.190000, 4.110000, 4.180000, 4.250000, 4.300000, 4.370000, 4.460000, 4.530000, 4.630000, 4.710000, 4.810000, 4.910000, 5.010000, 5.120000, 5.240000, 5.350000, 5.480000, 5.620000, 5.770000, 5.920000, 6.100000, 6.280000, 6.480000, 6.690000, 6.710000, 6.650000, 3.570000, 3.540000, 3.510000, 3.480000, 2.410000, 2.400000, 2.380000, 2.380000, 2.370000, 2.340000, 3.190000, 3.420000, 3.610000, 3.610000, 3.590000, 3.580000, 3.570000, 3.550000, 3.530000, 3.510000, 3.520000, 3.530000, 3.530000, 3.510000, 3.610000, 5.910000, 4.840000, 4.820000, 4.780000, 4.790000, 4.660000, 4.650000, 5.960000, 5.980000, 6.000000, 5.990000, 5.390000, 5.400000, 5.420000, 5.450000, 6.130000, 5.940000, 5.540000, 5.560000, 5.580000, 5.600000, 6.340000, 6.390000, 6.430000, 6.470000, 6.520000, 6.580000, 6.640000, 6.690000, 5.080000, 6.830000, 2.830000, 2.760000, 2.700000, 2.640000, 2.590000, 2.540000, 2.190000, 2.150000, 2.100000, 2.050000, 2.000000, 2.010000, 2.050000, 2.090000, 2.120000, 2.160000, 2.200000, 2.200000, 2.160000, 2.120000, 2.100000, 2.070000, 2.050000, 2.020000, 1.990000, 1.970000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053424, 414190 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.116000, -3.925000, 1.653147 ], "estimate": [ -2.116000, -3.925000, 1.653147 ], "true_pose": [ null, null, null ], "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": [ 3.250000, 3.210000, 3.170000, 3.150000, 3.100000, 3.060000, 3.040000, 3.000000, 2.970000, 2.940000, 2.920000, 2.890000, 2.860000, 2.830000, 2.810000, 2.810000, 2.780000, 2.760000, 2.740000, 2.730000, 2.700000, 2.690000, 2.670000, 2.660000, 2.650000, 2.640000, 2.630000, 2.630000, 2.610000, 2.610000, 2.600000, 2.590000, 2.590000, 2.570000, 2.570000, 2.560000, 2.570000, 2.570000, 2.580000, 2.570000, 2.560000, 2.570000, 2.570000, 2.580000, 2.580000, 2.610000, 2.840000, 3.150000, 3.540000, 4.280000, null, null, 13.950000, 10.350000, 9.490000, 8.940000, 8.450000, 8.020000, 7.650000, 7.290000, 6.980000, 6.690000, 6.420000, 6.180000, 5.960000, 5.750000, 5.560000, 5.390000, 5.220000, 5.040000, 5.060000, 5.140000, 7.960000, 8.060000, 8.150000, 8.250000, 4.230000, 4.160000, 4.020000, 4.080000, 4.150000, 4.220000, 4.280000, 4.360000, 4.440000, 4.520000, 4.600000, 4.700000, 4.790000, 4.900000, 5.000000, 5.100000, 5.220000, 5.340000, 5.480000, 5.620000, 5.760000, 5.920000, 6.100000, 6.280000, 6.490000, 6.690000, 6.630000, 3.520000, 3.500000, 3.470000, 3.450000, 3.420000, 2.350000, 2.350000, 2.340000, 2.320000, 2.300000, 2.300000, 3.130000, 3.370000, 3.560000, 3.550000, 3.540000, 3.530000, 3.510000, 3.500000, 3.470000, 3.460000, 3.490000, 3.480000, 3.460000, 3.480000, 3.480000, 5.880000, 4.790000, null, 5.870000, 4.750000, 4.630000, 4.580000, 4.650000, 5.950000, 5.970000, 5.910000, 5.350000, 5.370000, 5.390000, 5.410000, 6.100000, 5.830000, 5.490000, 5.530000, 5.550000, 5.570000, 6.320000, 6.360000, 6.420000, 6.460000, 6.510000, 6.570000, 6.610000, 6.690000, 5.060000, 6.810000, 6.890000, 2.770000, 2.730000, 2.670000, 2.620000, 2.560000, 2.520000, 2.190000, 2.140000, 2.100000, 2.050000, 1.990000, 2.010000, 2.040000, 2.080000, 2.110000, 2.160000, 2.200000, 2.200000, 2.170000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053424, 544404 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.122000, -3.849000, 1.616273 ], "estimate": [ -2.122000, -3.849000, 1.616273 ], "true_pose": [ null, null, null ], "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": [ 3.300000, 3.250000, 3.200000, 3.150000, 3.120000, 3.090000, 3.040000, 3.020000, 2.980000, 2.950000, 2.920000, 2.890000, 2.860000, 2.830000, 2.810000, 2.790000, 2.760000, 2.740000, 2.730000, 2.710000, 2.690000, 2.670000, 2.660000, 2.640000, 2.630000, 2.620000, 2.600000, 2.600000, 2.590000, 2.580000, 2.570000, 2.560000, 2.550000, 2.540000, 2.530000, 2.530000, 2.530000, 2.520000, 2.520000, 2.520000, 2.530000, 2.530000, 2.520000, 2.520000, 2.530000, 2.530000, 2.560000, 2.700000, 2.940000, 3.260000, 3.680000, 4.440000, null, null, 14.320000, 10.290000, 9.390000, 8.830000, 8.370000, 7.930000, 7.540000, 7.190000, 6.880000, 6.590000, 6.330000, 6.090000, 5.870000, 5.660000, 5.470000, 5.300000, 5.140000, 4.970000, 4.990000, 5.040000, 7.870000, 7.970000, 8.060000, 8.160000, 4.150000, 4.090000, 3.970000, 3.980000, 4.060000, 4.120000, 4.190000, 4.270000, 4.350000, 4.420000, 4.510000, 4.600000, 4.690000, 4.790000, 4.890000, 5.000000, 5.100000, 5.230000, 5.360000, 5.480000, 5.640000, 5.790000, 5.940000, 6.130000, 6.330000, 6.540000, 6.580000, 6.520000, 3.450000, 3.420000, 3.390000, 3.370000, 3.330000, 2.290000, 2.270000, 2.260000, 2.250000, 2.230000, 2.230000, 3.090000, 3.330000, 3.500000, 3.480000, 3.480000, 3.460000, 3.450000, 3.420000, 3.410000, 3.420000, 3.420000, 3.420000, 3.420000, 3.420000, 3.430000, 5.820000, 4.740000, null, 4.770000, 4.710000, 4.730000, 4.620000, 5.890000, 5.900000, 5.920000, 5.790000, 5.310000, 5.330000, 5.350000, 5.370000, 6.020000, 5.520000, 5.470000, 5.490000, 5.530000, 5.550000, 6.290000, 6.330000, 6.370000, 6.440000, 6.490000, 6.550000, 6.600000, 6.670000, 5.040000, 6.810000, 6.880000, 2.800000, 2.740000, 2.680000, 2.640000, 2.580000, 2.530000, 2.490000, 2.190000, 2.140000, 2.100000, 2.050000, 1.990000, 2.000000, 2.030000, 2.070000, 2.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053425, 411389 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.124000, -3.791000, 1.579400 ], "estimate": [ -2.124000, -3.791000, 1.579400 ], "true_pose": [ null, null, null ], "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, 3.290000, 3.250000, 3.190000, 3.150000, 3.110000, 3.060000, 3.030000, 2.990000, 2.950000, 2.920000, 2.900000, 2.870000, 2.840000, 2.810000, 2.790000, 2.750000, 2.740000, 2.710000, 2.690000, 2.660000, 2.650000, 2.640000, 2.620000, 2.610000, 2.600000, 2.580000, 2.560000, 2.550000, 2.540000, 2.530000, 2.520000, 2.520000, 2.510000, 2.510000, 2.490000, 2.480000, 2.480000, 2.480000, 2.470000, 2.460000, 2.480000, 2.470000, 2.470000, 2.470000, 2.460000, 2.470000, 2.480000, 2.550000, 2.780000, 3.030000, 3.340000, 3.780000, 4.410000, null, null, 14.220000, 10.230000, 10.180000, 8.910000, 8.380000, 7.960000, 7.560000, 7.200000, 6.890000, 6.590000, 6.320000, 6.070000, 5.840000, 5.630000, 5.460000, 5.270000, 5.110000, 4.890000, 4.910000, 4.950000, 7.770000, 7.860000, 7.960000, 8.060000, 4.090000, 4.040000, 3.950000, 3.900000, 3.960000, 4.020000, 4.080000, 4.160000, 4.230000, 4.310000, 4.390000, 4.480000, 4.570000, 4.660000, 4.760000, 4.860000, 4.970000, 5.080000, 5.210000, 5.340000, 5.470000, 5.610000, 5.780000, 5.950000, 6.120000, 6.330000, 6.540000, 6.490000, 6.430000, 3.370000, 3.350000, 3.320000, 3.300000, 3.280000, 2.240000, 2.180000, 2.210000, 2.200000, 2.180000, 2.180000, 2.150000, 3.220000, 3.450000, 3.430000, 3.420000, 3.390000, 3.380000, 3.360000, 3.360000, 3.390000, 3.380000, 3.360000, 3.370000, 3.380000, 3.380000, 5.770000, 5.770000, 5.790000, 5.790000, 4.650000, 4.720000, 4.600000, 5.840000, 5.870000, 5.890000, 5.790000, 5.270000, 5.290000, 5.300000, 5.330000, 5.980000, 5.700000, 5.440000, 5.460000, 5.480000, 5.520000, 6.260000, 6.310000, 6.360000, 6.410000, 6.460000, 6.530000, 6.580000, 6.650000, 5.030000, 6.790000, 6.860000, 6.940000, 2.760000, 2.740000, 2.690000, 2.630000, 2.580000, 2.540000, 2.500000, 2.320000, 2.160000, 2.110000, 2.080000, 2.040000 ], "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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053425, 422960 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.124000, -3.744000, 1.558505 ], "estimate": [ -2.124000, -3.744000, 1.558505 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.830000, 3.380000, 3.340000, 3.290000, 3.240000, 3.190000, 3.150000, 3.110000, 3.050000, 3.020000, 2.970000, 2.940000, 2.910000, 2.880000, 2.850000, 2.810000, 2.800000, 2.760000, 2.740000, 2.710000, 2.680000, 2.660000, 2.650000, 2.630000, 2.610000, 2.600000, 2.590000, 2.570000, 2.550000, 2.530000, 2.520000, 2.510000, 2.510000, 2.500000, 2.490000, 2.480000, 2.470000, 2.460000, 2.460000, 2.450000, 2.440000, 2.440000, 2.430000, 2.430000, 2.430000, 2.440000, 2.430000, 2.430000, 2.430000, 2.440000, 2.470000, 2.680000, 2.910000, 3.190000, 3.550000, 4.100000, 5.380000, null, null, 10.480000, 10.190000, 9.220000, 8.650000, 8.150000, 7.750000, 7.370000, 7.010000, 6.710000, 6.430000, 6.180000, 5.930000, 5.720000, 5.510000, 5.330000, 5.180000, 5.010000, 4.840000, 4.870000, 4.920000, 7.750000, 7.840000, 7.940000, 8.040000, 4.050000, 3.980000, 3.870000, 3.860000, 3.930000, 3.980000, 4.060000, 4.120000, 4.200000, 4.270000, 4.360000, 4.450000, 4.530000, 4.630000, 4.730000, 4.830000, 4.940000, 5.050000, 5.170000, 5.300000, 5.430000, 5.580000, 5.740000, 5.910000, 6.100000, 6.300000, 6.500000, 6.430000, 6.380000, 3.330000, 3.310000, 3.290000, 3.260000, 3.240000, 2.230000, 2.140000, 2.180000, 2.170000, 2.150000, 2.150000, 2.140000, 3.120000, 3.410000, 3.410000, 3.380000, 3.360000, 3.330000, 3.340000, 3.340000, 3.350000, 3.340000, 3.340000, 3.350000, 3.350000, 3.340000, 3.350000, 4.660000, 4.700000, 4.670000, 4.640000, 4.520000, 4.480000, 4.530000, 5.840000, 5.860000, 5.760000, 5.250000, 5.270000, 5.290000, 5.310000, 5.480000, 5.720000, 5.410000, 5.440000, 5.460000, 5.490000, 6.240000, 6.290000, 6.350000, 6.390000, 6.450000, 6.510000, 6.580000, 6.630000, 5.020000, 6.780000, 6.860000, 6.920000, 6.810000, 2.760000, 2.710000, 2.660000, 2.620000, 2.570000, 2.530000, 2.490000, 2.190000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053425, 144534 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.123000, -3.696000, 1.564651 ], "estimate": [ -2.123000, -3.696000, 1.564651 ], "true_pose": [ null, null, null ], "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": [ 3.380000, 3.320000, 3.280000, 3.230000, 3.170000, 3.130000, 3.080000, 3.050000, 3.000000, 2.970000, 2.920000, 2.890000, 2.850000, 2.830000, 2.800000, 2.770000, 2.740000, 2.720000, 2.690000, 2.660000, 2.650000, 2.620000, 2.600000, 2.590000, 2.580000, 2.560000, 2.540000, 2.520000, 2.510000, 2.500000, 2.490000, 2.480000, 2.480000, 2.460000, 2.450000, 2.440000, 2.430000, 2.430000, 2.420000, 2.410000, 2.410000, 2.400000, 2.390000, 2.400000, 2.400000, 2.410000, 2.410000, 2.400000, 2.390000, 2.430000, 2.600000, 2.810000, 3.060000, 3.380000, 3.800000, 4.450000, null, null, 14.170000, 10.150000, 10.100000, 8.820000, 8.340000, 7.870000, 7.480000, 7.120000, 6.800000, 6.510000, 6.230000, 5.990000, 5.760000, 5.560000, 5.370000, 5.190000, 5.030000, 4.820000, 4.820000, 4.830000, 7.650000, 7.730000, 7.820000, 7.920000, 4.000000, 3.980000, 3.880000, 3.820000, 3.850000, 3.900000, 3.960000, 4.020000, 4.090000, 4.170000, 4.240000, 4.330000, 4.420000, 4.510000, 4.600000, 4.700000, 4.810000, 4.910000, 5.030000, 5.150000, 5.280000, 5.410000, 5.560000, 5.730000, 5.900000, 6.080000, 6.290000, 6.430000, 6.380000, 6.320000, 3.290000, 3.260000, 3.240000, 3.220000, 3.200000, 2.230000, 2.120000, 2.130000, 2.120000, 2.120000, 2.110000, 2.100000, 2.100000, 3.350000, 3.360000, 3.340000, 3.320000, 3.310000, 3.300000, 3.310000, 3.310000, 3.310000, 3.310000, 3.320000, 3.310000, 3.310000, 3.330000, 4.660000, 5.730000, 4.650000, 4.600000, 4.480000, 4.440000, 4.510000, 5.810000, 5.830000, 5.700000, 5.230000, 5.250000, 5.260000, 5.280000, 5.310000, 5.650000, 5.400000, 5.420000, 5.450000, 5.470000, 6.220000, 6.270000, 6.310000, 6.370000, 6.430000, 6.490000, 6.560000, 6.610000, 5.000000, 5.030000, 6.830000, 6.900000, 6.790000, 2.760000, 2.720000, 2.690000, 2.640000, 2.580000, 2.560000, 2.520000, 2.470000 ], "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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053425, 586032 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.123000, -3.634000, 1.570796 ], "estimate": [ -2.123000, -3.634000, 1.570796 ], "true_pose": [ null, null, null ], "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": [ 3.300000, 3.240000, 3.190000, 3.150000, 3.090000, 3.050000, 3.010000, 2.970000, 2.930000, 2.900000, 2.860000, 2.820000, 2.810000, 2.770000, 2.740000, 2.710000, 2.680000, 2.660000, 2.640000, 2.610000, 2.590000, 2.580000, 2.550000, 2.540000, 2.520000, 2.510000, 2.500000, 2.480000, 2.470000, 2.460000, 2.450000, 2.430000, 2.430000, 2.420000, 2.410000, 2.400000, 2.390000, 2.380000, 2.380000, 2.380000, 2.380000, 2.370000, 2.360000, 2.380000, 2.370000, 2.370000, 2.370000, 2.380000, 2.470000, 2.640000, 2.850000, 3.110000, 3.430000, 3.890000, 4.620000, null, null, null, 10.100000, 10.100000, 8.870000, 8.350000, 7.910000, 7.500000, 7.130000, 6.810000, 6.510000, 6.220000, 5.990000, 5.750000, 5.550000, 5.340000, 5.180000, 5.010000, 4.860000, 4.770000, 4.790000, 7.580000, 7.670000, 7.760000, 7.850000, 7.960000, 3.930000, 3.850000, 3.760000, 3.780000, 3.850000, 3.900000, 3.970000, 4.030000, 4.100000, 4.180000, 4.260000, 4.350000, 4.430000, 4.530000, 4.620000, 4.720000, 4.820000, 4.940000, 5.050000, 5.180000, 5.320000, 5.470000, 5.620000, 5.780000, 5.980000, 6.170000, 6.380000, 6.360000, 6.300000, 3.280000, 3.230000, 3.210000, 3.190000, 3.170000, 3.160000, 2.170000, 2.080000, 2.090000, 2.080000, 2.080000, 2.080000, 2.060000, 2.050000, 3.330000, 3.310000, 3.280000, 3.270000, 3.260000, 3.270000, 3.280000, 3.290000, 3.270000, 3.280000, 3.280000, 3.280000, 3.280000, 3.260000, 4.600000, 4.580000, 4.850000, 4.570000, 4.460000, 4.420000, 4.500000, 5.790000, 5.810000, 5.580000, 5.210000, 5.220000, 5.250000, 5.280000, 5.550000, 5.450000, 5.370000, 5.400000, 5.440000, 5.470000, 6.220000, 6.270000, 6.330000, 6.380000, 6.440000, 6.500000, 6.570000, 6.630000, 4.990000, 6.770000, 6.850000, 6.930000, 6.760000, 6.530000, 2.750000, 2.690000, 2.650000, 2.610000, 2.570000, 2.520000, 2.500000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053425, 587174 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.123000, -3.564000, 1.570796 ], "estimate": [ -2.123000, -3.564000, 1.570796 ], "true_pose": [ null, null, null ], "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": [ 3.200000, 3.150000, 3.100000, 3.050000, 3.000000, 2.960000, 2.920000, 2.890000, 2.850000, 2.820000, 2.790000, 2.750000, 2.730000, 2.690000, 2.660000, 2.650000, 2.620000, 2.590000, 2.570000, 2.540000, 2.520000, 2.500000, 2.510000, 2.490000, 2.470000, 2.450000, 2.430000, 2.420000, 2.410000, 2.390000, 2.380000, 2.380000, 2.380000, 2.370000, 2.360000, 2.350000, 2.340000, 2.330000, 2.330000, 2.330000, 2.320000, 2.310000, 2.320000, 2.320000, 2.320000, 2.320000, 2.340000, 2.480000, 2.650000, 2.860000, 3.120000, 3.420000, 3.830000, 4.490000, null, null, null, 10.340000, 10.050000, 9.060000, 8.490000, 7.980000, 7.560000, 7.170000, 6.850000, 6.530000, 6.250000, 6.000000, 5.770000, 5.540000, 5.340000, 5.170000, 5.000000, 4.860000, 4.700000, 4.710000, 4.760000, 7.560000, 7.650000, 7.730000, 7.830000, 3.880000, 3.820000, 3.740000, 3.690000, 3.740000, 3.800000, 3.860000, 3.920000, 3.980000, 4.060000, 4.130000, 4.220000, 4.300000, 4.380000, 4.480000, 4.570000, 4.680000, 4.780000, 4.900000, 5.020000, 5.140000, 5.280000, 5.430000, 5.580000, 5.750000, 5.930000, 6.140000, 6.330000, 6.280000, 6.240000, 3.200000, 3.170000, 3.150000, 3.130000, 3.110000, 3.090000, 3.080000, 2.030000, 2.020000, 2.030000, 2.020000, 2.010000, 2.000000, 1.990000, 2.000000, 3.260000, 3.240000, 3.220000, 3.230000, 3.230000, 3.240000, 3.230000, 3.220000, 3.220000, 3.220000, 3.220000, 3.240000, 3.220000, 4.550000, 4.610000, 4.480000, 4.510000, 4.400000, 4.370000, 4.450000, 5.750000, 5.770000, 5.640000, 5.170000, 5.180000, 5.210000, 5.220000, 5.250000, 5.590000, 5.340000, 5.360000, 5.410000, 5.430000, 6.180000, 6.250000, 6.290000, 6.350000, 6.410000, 6.450000, 6.540000, 6.590000, 4.940000, 4.990000, 6.830000, 6.900000, 6.780000, 6.620000, 6.480000, 2.750000, 2.700000, 2.650000, 2.610000, 2.580000, 2.530000 ], "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, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053425, 696704 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.122000, -3.505000, 1.564651 ], "estimate": [ -2.122000, -3.505000, 1.564651 ], "true_pose": [ null, null, null ], "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": [ 3.150000, 3.090000, 3.050000, 3.000000, 2.950000, 2.910000, 2.870000, 2.830000, 2.800000, 2.770000, 2.740000, 2.710000, 2.670000, 2.650000, 2.620000, 2.590000, 2.580000, 2.550000, 2.520000, 2.500000, 2.490000, 2.480000, 2.460000, 2.440000, 2.420000, 2.410000, 2.390000, 2.370000, 2.370000, 2.360000, 2.350000, 2.340000, 2.340000, 2.330000, 2.320000, 2.310000, 2.290000, 2.290000, 2.280000, 2.290000, 2.270000, 2.270000, 2.270000, 2.280000, 2.290000, 2.290000, 2.430000, 2.580000, 2.760000, 2.990000, 3.250000, 3.600000, 4.110000, 4.930000, null, null, null, 10.140000, 10.000000, 8.910000, 8.340000, 7.860000, 7.440000, 7.070000, 6.730000, 6.440000, 6.150000, 5.900000, 5.670000, 5.460000, 5.250000, 5.080000, 4.920000, 4.760000, 4.630000, 4.650000, 4.690000, 7.510000, 7.600000, 7.680000, 7.790000, 3.820000, 3.760000, 3.660000, 3.640000, 3.680000, 3.740000, 3.800000, 3.850000, 3.920000, 3.990000, 4.080000, 4.150000, 4.240000, 4.330000, 4.420000, 4.520000, 4.610000, 4.720000, 4.820000, 4.940000, 5.080000, 5.210000, 5.350000, 5.500000, 5.670000, 5.850000, 6.050000, 6.260000, 6.240000, 6.200000, 6.140000, 3.120000, 3.110000, 3.080000, 3.080000, 3.050000, 3.040000, 3.010000, 1.990000, 1.950000, 1.980000, 1.980000, 1.960000, 1.950000, 1.930000, 3.220000, 3.200000, 3.180000, 3.190000, 3.200000, 3.180000, 3.190000, 3.190000, 3.190000, 3.190000, 3.180000, 3.190000, 3.200000, 3.180000, 4.510000, 4.490000, 4.530000, 4.500000, 4.390000, 4.350000, 4.400000, 5.720000, 5.750000, 5.420000, 5.140000, 5.160000, 5.190000, 5.210000, 5.770000, 5.340000, 5.310000, 5.350000, 5.390000, 5.420000, 6.190000, 6.240000, 6.300000, 6.350000, 6.410000, 6.480000, 6.560000, 6.610000, 4.980000, 6.780000, 6.850000, 6.840000, 6.690000, 6.510000, 6.410000, 2.740000, 2.700000, 2.660000, 2.620000, 2.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053426, 154008 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.122000, -3.453000, 1.564651 ], "estimate": [ -2.122000, -3.453000, 1.564651 ], "true_pose": [ null, null, null ], "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": [ 3.100000, 3.050000, 3.000000, 2.950000, 2.910000, 2.870000, 2.830000, 2.810000, 2.760000, 2.730000, 2.690000, 2.660000, 2.640000, 2.610000, 2.580000, 2.550000, 2.530000, 2.500000, 2.490000, 2.470000, 2.450000, 2.430000, 2.420000, 2.400000, 2.380000, 2.370000, 2.360000, 2.340000, 2.340000, 2.320000, 2.310000, 2.290000, 2.290000, 2.280000, 2.270000, 2.260000, 2.260000, 2.240000, 2.240000, 2.240000, 2.240000, 2.240000, 2.230000, 2.250000, 2.260000, 2.340000, 2.480000, 2.630000, 2.820000, 3.050000, 3.310000, 3.680000, 4.090000, 5.040000, null, null, null, 10.210000, 9.960000, 8.880000, 8.320000, 7.830000, 7.410000, 7.020000, 6.710000, 6.390000, 6.100000, 5.850000, 5.620000, 5.410000, 5.210000, 5.050000, 4.880000, 4.720000, 4.580000, 4.600000, 4.650000, 7.450000, 7.530000, 7.610000, 7.700000, 3.770000, 3.710000, 3.620000, 3.560000, 3.610000, 3.670000, 3.730000, 3.790000, 3.850000, 3.910000, 3.990000, 4.080000, 4.150000, 4.240000, 4.330000, 4.420000, 4.520000, 4.620000, 4.730000, 4.840000, 4.970000, 5.090000, 5.250000, 5.390000, 5.550000, 5.710000, 5.900000, 6.110000, 6.210000, 6.160000, 6.110000, 3.150000, 3.070000, 3.050000, 3.030000, 3.020000, 3.000000, 2.980000, 2.970000, 1.940000, 1.920000, 1.930000, 1.930000, 1.910000, 1.890000, 1.880000, 1.870000, 3.150000, 3.150000, 3.160000, 3.140000, 3.160000, 3.140000, 3.140000, 3.150000, 3.140000, 3.160000, 3.150000, 3.140000, 3.140000, 4.480000, 4.460000, 4.440000, 4.470000, 4.350000, 4.330000, 4.380000, 5.700000, 5.660000, 5.270000, 5.130000, 5.140000, 5.170000, 5.200000, 5.670000, 5.290000, 5.310000, 5.330000, 5.370000, 5.420000, 6.180000, 6.230000, 6.300000, 6.350000, 6.420000, 6.480000, 6.570000, 6.630000, 4.960000, 6.790000, 6.870000, 6.800000, 6.650000, 6.490000, 6.360000, 2.740000, 2.720000, 2.680000, 2.640000 ], "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, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053426, 155792 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.121000, -3.401000, 1.564651 ], "estimate": [ -2.121000, -3.401000, 1.564651 ], "true_pose": [ null, null, null ], "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": [ 3.050000, 3.010000, 2.960000, 2.910000, 2.870000, 2.820000, 2.800000, 2.750000, 2.730000, 2.690000, 2.660000, 2.630000, 2.600000, 2.570000, 2.540000, 2.520000, 2.500000, 2.480000, 2.450000, 2.430000, 2.410000, 2.400000, 2.370000, 2.370000, 2.360000, 2.340000, 2.330000, 2.310000, 2.300000, 2.280000, 2.270000, 2.270000, 2.260000, 2.250000, 2.240000, 2.230000, 2.230000, 2.230000, 2.210000, 2.220000, 2.200000, 2.200000, 2.190000, 2.230000, 2.270000, 2.390000, 2.530000, 2.690000, 2.880000, 3.110000, 3.390000, 3.750000, 4.240000, 5.100000, null, null, null, 10.120000, 9.910000, 8.810000, 8.250000, 7.770000, 7.360000, 6.970000, 6.630000, 6.320000, 6.050000, 5.800000, 5.570000, 5.350000, 5.170000, 4.990000, 4.820000, 4.670000, 4.530000, 4.560000, 4.610000, 7.390000, 7.470000, 7.570000, 7.650000, 3.720000, 3.670000, 3.570000, 3.530000, 3.560000, 3.620000, 3.670000, 3.740000, 3.800000, 3.860000, 3.940000, 4.010000, 4.090000, 4.180000, 4.260000, 4.360000, 4.450000, 4.550000, 4.670000, 4.780000, 4.890000, 5.020000, 5.160000, 5.300000, 5.460000, 5.630000, 5.810000, 6.010000, 6.190000, 6.130000, 6.090000, 6.040000, 3.040000, 3.020000, 3.000000, 2.980000, 2.970000, 2.950000, 2.940000, 2.320000, 1.890000, 1.880000, 1.890000, 1.880000, 1.870000, 1.860000, 1.840000, 1.840000, 3.100000, 3.130000, 3.130000, 3.130000, 3.110000, 3.100000, 3.120000, 3.110000, 3.110000, 3.130000, 3.100000, 3.100000, 3.130000, 4.440000, 4.410000, 4.420000, 4.310000, 4.280000, 4.310000, 4.360000, 5.690000, 5.450000, 5.090000, 5.120000, 5.140000, 5.170000, 5.200000, 5.460000, 5.280000, 5.310000, 5.350000, 5.370000, 6.150000, 6.200000, 6.260000, 6.320000, 6.380000, 6.450000, 6.520000, 6.570000, 4.930000, 4.950000, 6.820000, 6.860000, 6.710000, 6.530000, 6.420000, 6.300000, 2.740000, 2.730000, 2.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053426, 374524 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.121000, -3.341000, 1.570796 ], "estimate": [ -2.121000, -3.341000, 1.570796 ], "true_pose": [ null, null, null ], "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": [ 2.990000, 2.940000, 2.900000, 2.850000, 2.820000, 2.780000, 2.740000, 2.700000, 2.670000, 2.640000, 2.610000, 2.580000, 2.550000, 2.520000, 2.500000, 2.470000, 2.450000, 2.430000, 2.410000, 2.380000, 2.380000, 2.360000, 2.340000, 2.330000, 2.310000, 2.300000, 2.280000, 2.270000, 2.260000, 2.250000, 2.230000, 2.240000, 2.230000, 2.220000, 2.210000, 2.200000, 2.190000, 2.180000, 2.170000, 2.170000, 2.160000, 2.160000, 2.190000, 2.250000, 2.350000, 2.490000, 2.640000, 2.810000, 3.030000, 3.290000, 3.600000, 4.030000, 4.670000, null, null, null, null, 9.860000, 9.830000, 8.540000, 8.020000, 7.550000, 7.150000, 6.780000, 6.470000, 6.170000, 5.900000, 5.650000, 5.420000, 5.230000, 5.050000, 4.880000, 4.710000, 4.540000, 4.490000, 4.510000, 7.290000, 7.370000, 7.460000, 7.550000, 7.620000, 3.660000, 3.590000, 3.500000, 3.480000, 3.530000, 3.590000, 3.640000, 3.700000, 3.770000, 3.830000, 3.900000, 3.980000, 4.060000, 4.140000, 4.230000, 4.320000, 4.420000, 4.520000, 4.630000, 4.740000, 4.860000, 5.000000, 5.130000, 5.270000, 5.430000, 5.590000, 5.790000, 5.980000, 6.130000, 6.090000, 6.040000, 6.000000, 2.990000, 2.980000, 2.960000, 2.950000, 2.930000, 2.920000, 2.900000, 2.890000, 1.860000, 1.840000, 1.850000, 1.850000, 1.840000, 1.810000, 1.800000, 1.800000, 2.120000, 3.090000, 3.090000, 3.080000, 3.080000, 3.070000, 3.080000, 3.080000, 3.080000, 3.080000, 3.070000, 3.070000, 3.080000, 4.710000, 4.390000, 4.350000, 4.340000, 4.310000, 4.260000, 4.320000, 5.670000, 5.500000, 5.070000, 5.080000, 5.120000, 5.140000, 5.170000, 5.510000, 5.270000, 5.290000, 5.320000, 5.350000, 5.630000, 6.180000, 6.230000, 6.290000, 6.350000, 6.420000, 6.480000, 6.570000, 4.900000, 4.910000, null, 6.880000, 6.740000, 6.580000, 6.440000, 6.320000, 6.160000, 2.770000, 2.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053426, 711683 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.121000, -3.309000, 1.564651 ], "estimate": [ -2.121000, -3.309000, 1.564651 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.940000, 2.910000, 2.850000, 2.810000, 2.770000, 2.730000, 2.690000, 2.660000, 2.620000, 2.590000, 2.560000, 2.530000, 2.500000, 2.480000, 2.450000, 2.430000, 2.410000, 2.380000, 2.370000, 2.350000, 2.330000, 2.320000, 2.300000, 2.280000, 2.260000, 2.250000, 2.240000, 2.220000, 2.220000, 2.210000, 2.200000, 2.190000, 2.180000, 2.170000, 2.160000, 2.150000, 2.140000, 2.130000, 2.130000, 2.140000, 2.130000, 2.150000, 2.220000, 2.310000, 2.420000, 2.560000, 2.720000, 2.910000, 3.140000, 3.410000, 3.760000, 4.230000, 4.920000, null, null, null, null, 9.820000, 9.000000, 8.420000, 7.890000, 7.430000, 7.040000, 6.680000, 6.370000, 6.080000, 5.810000, 5.570000, 5.330000, 5.140000, 4.970000, 4.790000, 4.650000, 4.430000, 4.440000, 4.460000, 7.250000, 7.320000, 7.400000, 7.490000, 7.570000, 3.610000, 3.530000, 3.440000, 3.430000, 3.480000, 3.540000, 3.590000, 3.650000, 3.710000, 3.770000, 3.840000, 3.910000, 3.990000, 4.080000, 4.170000, 4.260000, 4.360000, 4.450000, 4.560000, 4.670000, 4.780000, 4.910000, 5.040000, 5.190000, 5.350000, 5.500000, 5.690000, 5.890000, 6.090000, 6.040000, 5.990000, 5.950000, 5.920000, 2.940000, 2.930000, 2.910000, 2.890000, 2.870000, 2.860000, 2.840000, 2.830000, 1.810000, 1.790000, 1.810000, 1.790000, 1.770000, 1.760000, 1.770000, 1.780000, 1.800000, 3.050000, 3.050000, 3.030000, 3.030000, 3.040000, 3.030000, 3.050000, 3.050000, 3.030000, 3.030000, 3.050000, 3.070000, 4.380000, 4.350000, 4.370000, 4.290000, 4.240000, 4.240000, 4.290000, 5.630000, 5.320000, 5.060000, 5.060000, 5.100000, 5.120000, 5.170000, 5.360000, 5.240000, 5.280000, 5.320000, 5.350000, 6.130000, 6.180000, 6.250000, 6.320000, 6.370000, 6.430000, 6.510000, 6.590000, 4.910000, 4.940000, 6.850000, 6.810000, 6.670000, 6.480000, 6.400000, 6.280000, 5.070000, 2.770000 ], "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, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053426, 734570 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.120000, -3.245000, 1.570796 ], "estimate": [ -2.120000, -3.245000, 1.570796 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.880000, 2.830000, 2.790000, 2.740000, 2.710000, 2.660000, 2.630000, 2.600000, 2.570000, 2.530000, 2.500000, 2.480000, 2.450000, 2.430000, 2.400000, 2.370000, 2.360000, 2.350000, 2.320000, 2.300000, 2.290000, 2.260000, 2.240000, 2.240000, 2.220000, 2.220000, 2.200000, 2.180000, 2.170000, 2.150000, 2.150000, 2.140000, 2.130000, 2.130000, 2.120000, 2.120000, 2.110000, 2.100000, 2.080000, 2.090000, 2.120000, 2.200000, 2.300000, 2.410000, 2.530000, 2.680000, 2.850000, 3.050000, 3.320000, 3.620000, 3.910000, 4.580000, 23.460000, null, 17.300000, null, 10.110000, 9.770000, 8.740000, 8.130000, 7.650000, 7.220000, 6.820000, 6.500000, 6.190000, 5.910000, 5.650000, 5.410000, 5.210000, 5.010000, 4.840000, 4.670000, 4.520000, 4.370000, 4.400000, 4.450000, 7.210000, 7.280000, 7.370000, 7.460000, 3.550000, 3.520000, 3.450000, 3.360000, 3.380000, 3.440000, 3.490000, 3.540000, 3.600000, 3.660000, 3.720000, 3.790000, 3.860000, 3.940000, 4.020000, 4.110000, 4.200000, 4.310000, 4.390000, 4.510000, 4.610000, 4.730000, 4.860000, 4.990000, 5.130000, 5.290000, 5.450000, 5.640000, 5.820000, 6.040000, 5.990000, 5.950000, 5.910000, 5.870000, 2.890000, 2.870000, 2.850000, 2.840000, 2.830000, 2.810000, 2.800000, 2.790000, 2.780000, 1.750000, 1.740000, 1.750000, 1.730000, 1.710000, 1.720000, 1.740000, 1.740000, 1.740000, 2.990000, 2.990000, 2.990000, 3.000000, 2.990000, 3.010000, 3.000000, 2.990000, 2.980000, 3.010000, 3.040000, 3.050000, 4.310000, 4.320000, 4.330000, 4.230000, 4.180000, 4.270000, 5.610000, 5.430000, 5.030000, 5.020000, 5.060000, 5.100000, 5.130000, 5.460000, 5.220000, 5.240000, 5.280000, 5.310000, 5.540000, 6.150000, 6.210000, 6.260000, 6.330000, 6.400000, 6.470000, 6.560000, 4.900000, 4.880000, 6.840000, 6.840000, 6.690000, 6.550000, 6.440000, 6.320000, 6.170000, 5.020000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053426, 874966 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.120000, -3.190000, 1.567109 ], "estimate": [ -2.120000, -3.190000, 1.567109 ], "true_pose": [ null, null, null ], "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": [ 2.810000, 2.760000, 2.720000, 2.670000, 2.640000, 2.600000, 2.570000, 2.530000, 2.500000, 2.480000, 2.450000, 2.420000, 2.390000, 2.360000, 2.350000, 2.330000, 2.320000, 2.280000, 2.260000, 2.240000, 2.240000, 2.220000, 2.210000, 2.190000, 2.180000, 2.160000, 2.150000, 2.130000, 2.120000, 2.120000, 2.120000, 2.110000, 2.090000, 2.080000, 2.080000, 2.070000, 2.060000, 2.060000, 2.080000, 2.140000, 2.220000, 2.310000, 2.420000, 2.530000, 2.680000, 2.850000, 3.050000, 3.300000, 3.590000, 3.880000, 4.480000, 5.320000, 23.500000, null, null, null, 9.730000, 8.860000, 8.280000, 7.760000, 7.290000, 6.890000, 6.530000, 6.220000, 5.940000, 5.680000, 5.430000, 5.230000, 5.030000, 4.830000, 4.670000, 4.510000, 4.320000, 4.340000, 4.360000, 7.130000, 7.200000, 7.270000, 7.370000, 7.460000, 3.510000, 3.430000, 3.340000, 3.310000, 3.360000, 3.410000, 3.460000, 3.520000, 3.580000, 3.640000, 3.710000, 3.770000, 3.850000, 3.920000, 4.010000, 4.100000, 4.190000, 4.290000, 4.390000, 4.490000, 4.600000, 4.730000, 4.850000, 4.990000, 5.140000, 5.290000, 5.450000, 5.650000, 5.840000, 5.970000, 5.930000, 5.890000, 5.840000, 5.810000, 2.840000, 2.830000, 2.810000, 2.790000, 2.780000, 2.770000, 2.760000, 2.750000, 2.740000, 1.860000, 1.690000, 1.700000, 1.680000, 1.690000, 1.700000, 1.700000, 1.700000, 1.680000, 2.050000, 2.960000, 2.970000, 2.960000, 2.950000, 2.970000, 2.960000, 2.950000, 2.960000, 2.970000, 3.010000, 3.020000, 4.290000, 4.270000, 4.310000, 4.200000, 4.160000, 4.250000, 5.580000, 5.380000, 5.000000, 5.010000, 5.040000, 5.070000, 5.100000, 5.430000, 5.210000, 5.220000, 5.270000, 5.290000, 5.480000, 6.130000, 6.190000, 6.250000, 6.320000, 6.380000, 6.460000, 6.540000, 4.890000, 4.890000, 4.950000, 6.830000, 6.690000, 6.550000, 6.430000, 6.310000, 6.160000, 5.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053427, 221619 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.121000, -3.137000, 1.573254 ], "estimate": [ -2.121000, -3.137000, 1.573254 ], "true_pose": [ null, null, null ], "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": [ 2.740000, 2.700000, 2.670000, 2.620000, 2.590000, 2.550000, 2.510000, 2.490000, 2.460000, 2.430000, 2.400000, 2.370000, 2.360000, 2.330000, 2.310000, 2.280000, 2.260000, 2.240000, 2.220000, 2.210000, 2.200000, 2.180000, 2.160000, 2.150000, 2.130000, 2.130000, 2.110000, 2.100000, 2.090000, 2.090000, 2.070000, 2.060000, 2.060000, 2.050000, 2.040000, 2.040000, 2.030000, 2.050000, 2.130000, 2.210000, 2.290000, 2.410000, 2.520000, 2.660000, 2.820000, 3.000000, 3.230000, 3.490000, 3.850000, 4.290000, 4.830000, 23.400000, null, null, null, 9.900000, 9.700000, 8.530000, 7.960000, 7.470000, 7.040000, 6.670000, 6.330000, 6.020000, 5.750000, 5.500000, 5.270000, 5.060000, 4.890000, 4.710000, 4.550000, 4.400000, 4.280000, 4.310000, 4.360000, 7.110000, 7.190000, 7.270000, 7.350000, 3.480000, 3.430000, 3.340000, 3.260000, 3.290000, 3.340000, 3.390000, 3.450000, 3.490000, 3.550000, 3.610000, 3.680000, 3.750000, 3.830000, 3.900000, 3.990000, 4.080000, 4.170000, 4.270000, 4.370000, 4.470000, 4.590000, 4.720000, 4.830000, 4.980000, 5.120000, 5.280000, 5.450000, 5.650000, 5.850000, 5.930000, 5.880000, 5.830000, 5.800000, 5.750000, 2.810000, 2.780000, 2.760000, 2.760000, 2.740000, 2.730000, 2.720000, 2.710000, 2.700000, 2.690000, 1.650000, 1.650000, 1.660000, 1.640000, 1.670000, 1.670000, 1.660000, 1.660000, 1.680000, 2.920000, 2.930000, 2.930000, 2.930000, 2.930000, 2.920000, 2.920000, 2.930000, 2.950000, 2.970000, 2.980000, 3.020000, 4.300000, 4.280000, 4.160000, 4.140000, 4.210000, 4.240000, 5.390000, 5.070000, 4.980000, 5.010000, 5.050000, 5.070000, 5.440000, 5.170000, 5.200000, 5.250000, 5.280000, 5.320000, 6.120000, 6.180000, 6.240000, 6.310000, 6.380000, 6.460000, 6.540000, 6.610000, 4.880000, 4.920000, 6.830000, 6.690000, 6.550000, 6.440000, 6.310000, 6.200000, 5.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053427, 222825 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.122000, -3.079000, 1.579400 ], "estimate": [ -2.122000, -3.079000, 1.579400 ], "true_pose": [ null, null, null ], "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": [ 2.680000, 2.650000, 2.610000, 2.570000, 2.540000, 2.500000, 2.470000, 2.440000, 2.400000, 2.370000, 2.360000, 2.330000, 2.300000, 2.280000, 2.260000, 2.240000, 2.220000, 2.200000, 2.190000, 2.170000, 2.150000, 2.130000, 2.130000, 2.110000, 2.100000, 2.080000, 2.070000, 2.060000, 2.050000, 2.040000, 2.040000, 2.030000, 2.020000, 2.010000, 2.000000, 2.020000, 2.050000, 2.130000, 2.200000, 2.300000, 2.390000, 2.500000, 2.630000, 2.790000, 2.950000, 3.170000, 3.430000, 3.730000, 4.110000, 4.710000, 23.360000, 23.340000, null, null, null, 9.650000, 8.810000, 8.210000, 7.670000, 7.220000, 6.820000, 6.450000, 6.130000, 5.840000, 5.580000, 5.340000, 5.120000, 4.920000, 4.740000, 4.580000, 4.410000, 4.230000, 4.250000, 4.260000, 7.030000, 7.100000, 7.170000, 7.260000, 7.340000, 3.410000, 3.340000, 3.250000, 3.210000, 3.260000, 3.310000, 3.360000, 3.410000, 3.460000, 3.530000, 3.590000, 3.660000, 3.720000, 3.790000, 3.870000, 3.960000, 4.050000, 4.140000, 4.250000, 4.350000, 4.450000, 4.550000, 4.690000, 4.810000, 4.960000, 5.100000, 5.260000, 5.430000, 5.620000, 5.820000, 5.880000, 5.830000, 5.790000, 5.740000, 5.720000, 2.760000, 2.750000, 2.730000, 2.710000, 2.700000, 2.690000, 2.690000, 2.670000, 2.660000, 2.650000, 2.650000, 1.610000, 1.630000, 1.620000, 1.630000, 1.630000, 1.620000, 1.630000, 1.630000, 1.630000, 2.890000, 2.890000, 2.900000, 2.910000, 2.890000, 2.890000, 2.900000, 2.920000, 2.940000, 2.950000, 2.950000, 4.230000, 4.240000, 4.160000, 4.130000, 4.110000, 4.170000, 5.400000, 5.110000, 4.960000, 5.000000, 5.020000, 5.050000, 5.330000, 5.180000, 5.180000, 5.220000, 5.270000, 5.290000, 6.090000, 6.150000, 6.230000, 6.290000, 6.360000, 6.440000, 6.520000, 6.590000, 4.860000, 4.870000, 6.870000, 6.690000, 6.570000, 6.450000, 6.330000, 6.230000, 5.070000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053427, 424713 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.122000, -3.019000, 1.567109 ], "estimate": [ -2.122000, -3.019000, 1.567109 ], "true_pose": [ null, null, null ], "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": [ 2.660000, 2.610000, 2.570000, 2.530000, 2.510000, 2.460000, 2.430000, 2.400000, 2.370000, 2.350000, 2.320000, 2.300000, 2.260000, 2.240000, 2.220000, 2.210000, 2.190000, 2.160000, 2.150000, 2.130000, 2.120000, 2.110000, 2.090000, 2.070000, 2.060000, 2.050000, 2.040000, 2.020000, 2.010000, 2.000000, 2.000000, 2.000000, 1.990000, 1.990000, 1.980000, 2.020000, 2.080000, 2.160000, 2.250000, 2.340000, 2.430000, 2.550000, 2.680000, 2.830000, 3.020000, 3.230000, 3.490000, 3.780000, 4.210000, 4.710000, 23.320000, 23.270000, null, null, null, 9.600000, 8.940000, 8.210000, 7.670000, 7.200000, 6.780000, 6.420000, 6.100000, 5.810000, 5.540000, 5.310000, 5.080000, 4.890000, 4.690000, 4.530000, 4.380000, 4.180000, 4.190000, 4.200000, 6.960000, 7.040000, 7.110000, 7.200000, 7.270000, 3.360000, 3.300000, 3.210000, 3.170000, 3.200000, 3.250000, 3.300000, 3.350000, 3.400000, 3.450000, 3.520000, 3.590000, 3.650000, 3.720000, 3.800000, 3.870000, 3.970000, 4.060000, 4.150000, 4.250000, 4.360000, 4.470000, 4.590000, 4.710000, 4.840000, 5.000000, 5.160000, 5.310000, 5.490000, 5.680000, 5.840000, 5.800000, 5.750000, 5.710000, 5.690000, 5.650000, 2.700000, 2.690000, 2.680000, 2.670000, 2.660000, 2.640000, 2.630000, 2.620000, 2.610000, 2.610000, 2.600000, 1.570000, 1.580000, 1.590000, 1.590000, 1.590000, 1.600000, 1.590000, 1.600000, 1.600000, 1.710000, 2.850000, 2.870000, 2.870000, 2.840000, 2.850000, 2.870000, 2.890000, 2.910000, 2.910000, 2.930000, 4.190000, 4.230000, 4.120000, 4.080000, 4.100000, 4.160000, 5.320000, 5.020000, 4.940000, 4.970000, 5.010000, 5.030000, 5.400000, 5.150000, 5.170000, 5.220000, 5.240000, 5.280000, 6.100000, 6.160000, 6.230000, 6.300000, 6.370000, 6.450000, 6.530000, 6.600000, 4.870000, 4.910000, 6.790000, 6.670000, 6.550000, 6.420000, 6.300000, 6.200000 ], "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, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053427, 761932 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.122000, -2.989000, 1.567109 ], "estimate": [ -2.122000, -2.989000, 1.567109 ], "true_pose": [ null, null, null ], "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": [ 2.630000, 2.590000, 2.540000, 2.510000, 2.470000, 2.440000, 2.400000, 2.370000, 2.350000, 2.320000, 2.290000, 2.260000, 2.240000, 2.220000, 2.200000, 2.170000, 2.150000, 2.120000, 2.120000, 2.110000, 2.090000, 2.070000, 2.050000, 2.040000, 2.030000, 2.010000, 2.000000, 1.990000, 1.990000, 1.980000, 1.980000, 1.960000, 1.950000, 1.950000, 1.960000, 2.020000, 2.090000, 2.160000, 2.250000, 2.330000, 2.430000, 2.540000, 2.660000, 2.810000, 2.970000, 3.190000, 3.430000, 3.700000, 4.060000, 4.560000, 5.450000, 23.250000, 23.350000, null, null, null, 9.550000, 8.470000, 7.880000, 7.370000, 6.940000, 6.530000, 6.200000, 5.870000, 5.600000, 5.370000, 5.130000, 4.920000, 4.740000, 4.560000, 4.410000, 4.250000, 4.120000, 4.150000, 4.210000, 6.940000, 7.020000, 7.090000, 7.180000, 3.360000, 3.270000, 3.210000, 3.130000, 3.110000, 3.160000, 3.210000, 3.260000, 3.320000, 3.370000, 3.420000, 3.480000, 3.550000, 3.610000, 3.680000, 3.760000, 3.840000, 3.930000, 4.020000, 4.110000, 4.220000, 4.320000, 4.440000, 4.550000, 4.680000, 4.800000, 4.970000, 5.120000, 5.290000, 5.460000, 5.670000, 5.790000, 5.740000, 5.700000, 5.680000, 5.630000, 5.600000, 2.670000, 2.650000, 2.630000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.560000, 2.560000, 2.550000, 1.540000, 1.550000, 1.560000, 1.550000, 1.550000, 1.560000, 1.550000, 1.540000, 1.540000, 1.580000, 2.830000, 2.830000, 2.820000, 2.820000, 2.840000, 2.850000, 2.870000, 2.880000, 2.890000, 2.900000, 4.210000, 4.220000, 4.100000, 4.080000, 4.120000, 5.340000, 5.070000, 4.910000, 4.930000, 4.980000, 5.010000, 5.120000, 5.170000, 5.140000, 5.180000, 5.230000, 5.260000, 6.080000, 6.150000, 6.200000, 6.270000, 6.350000, 6.430000, 6.510000, 6.590000, 4.860000, 4.860000, 6.820000, 6.690000, 6.560000, 6.450000, 6.320000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053427, 814702 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.122000, -2.928000, 1.570796 ], "estimate": [ -2.122000, -2.928000, 1.570796 ], "true_pose": [ null, null, null ], "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, 2.540000, 2.510000, 2.460000, 2.430000, 2.390000, 2.360000, 2.330000, 2.300000, 2.270000, 2.240000, 2.220000, 2.210000, 2.170000, 2.150000, 2.130000, 2.120000, 2.090000, 2.070000, 2.050000, 2.040000, 2.030000, 2.010000, 2.000000, 1.990000, 1.980000, 1.970000, 1.950000, 1.940000, 1.930000, 1.930000, 1.920000, 1.910000, 1.940000, 2.000000, 2.060000, 2.130000, 2.210000, 2.290000, 2.370000, 2.470000, 2.580000, 2.710000, 2.860000, 3.030000, 3.230000, 3.480000, 3.690000, 4.140000, 4.600000, 23.910000, 23.210000, 23.220000, null, null, null, 9.520000, 8.420000, 7.820000, 7.300000, 6.890000, 6.490000, 6.140000, 5.820000, 5.550000, 5.310000, 5.070000, 4.870000, 4.670000, 4.500000, 4.340000, 4.190000, 4.090000, 4.100000, 4.150000, 6.890000, 6.950000, 7.030000, 7.100000, 7.180000, 3.220000, 3.160000, 3.080000, 3.050000, 3.110000, 3.160000, 3.200000, 3.250000, 3.300000, 3.360000, 3.410000, 3.470000, 3.540000, 3.600000, 3.670000, 3.760000, 3.850000, 3.930000, 4.020000, 4.130000, 4.240000, 4.330000, 4.450000, 4.590000, 4.710000, 4.850000, 4.990000, 5.160000, 5.340000, 5.520000, 5.740000, 5.710000, 5.670000, 5.640000, 5.600000, 5.570000, 5.530000, 2.610000, 2.600000, 2.580000, 2.580000, 2.560000, 2.550000, 2.540000, 2.530000, 2.530000, 2.520000, 2.520000, 2.510000, 1.740000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.520000, 1.530000, 1.740000, 2.790000, 2.780000, 2.790000, 2.820000, 2.830000, 2.840000, 2.840000, 2.860000, 2.880000, 4.140000, 4.110000, 4.070000, 4.050000, 4.100000, 5.250000, 4.980000, 4.890000, 4.920000, 4.980000, 5.000000, 5.350000, 5.110000, 5.140000, 5.180000, 5.230000, 5.260000, 6.080000, 6.150000, 6.220000, 6.280000, 6.370000, 6.450000, 6.520000, 6.610000, 4.850000, 4.860000, 6.840000, 6.630000, 6.470000, 6.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053427, 957218 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.122000, -2.873000, 1.564651 ], "estimate": [ -2.122000, -2.873000, 1.564651 ], "true_pose": [ null, null, null ], "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": [ 2.520000, 2.490000, 2.440000, 2.410000, 2.380000, 2.340000, 2.310000, 2.280000, 2.250000, 2.220000, 2.200000, 2.170000, 2.150000, 2.120000, 2.110000, 2.090000, 2.070000, 2.050000, 2.030000, 2.020000, 2.000000, 1.990000, 1.980000, 1.970000, 1.950000, 1.940000, 1.920000, 1.910000, 1.900000, 1.890000, 1.890000, 1.890000, 1.940000, 1.990000, 2.060000, 2.120000, 2.190000, 2.280000, 2.360000, 2.450000, 2.550000, 2.660000, 2.810000, 2.950000, 3.150000, 3.380000, 3.660000, 3.970000, 4.370000, 5.050000, 23.860000, 23.140000, null, 17.030000, null, 9.460000, 9.480000, 8.120000, 7.580000, 7.090000, 6.680000, 6.290000, 5.980000, 5.670000, 5.400000, 5.160000, 4.940000, 4.730000, 4.550000, 4.390000, 4.240000, 4.050000, 4.030000, 4.050000, 4.130000, 6.860000, 6.930000, 7.000000, 7.080000, 3.210000, 3.160000, 3.080000, 2.990000, 3.020000, 3.070000, 3.120000, 3.160000, 3.200000, 3.260000, 3.320000, 3.370000, 3.440000, 3.500000, 3.570000, 3.640000, 3.720000, 3.800000, 3.890000, 3.990000, 4.090000, 4.190000, 4.290000, 4.400000, 4.530000, 4.660000, 4.800000, 4.950000, 5.120000, 5.290000, 5.480000, 5.690000, 5.670000, 5.630000, 5.590000, 5.560000, 5.520000, 5.490000, 2.580000, 2.550000, 2.540000, 2.530000, 2.520000, 2.520000, 2.510000, 2.500000, 2.490000, 2.490000, 2.480000, 2.470000, 2.470000, 1.900000, 1.470000, 1.460000, 1.480000, 1.490000, 1.470000, 1.480000, 1.480000, 1.480000, 1.480000, 1.470000, 2.740000, 2.760000, 2.780000, 2.810000, 2.810000, 2.810000, 2.830000, 2.840000, 2.880000, 4.110000, 4.070000, 4.050000, 4.090000, 4.110000, 5.040000, 4.880000, 4.890000, 4.950000, 4.960000, 5.000000, 5.170000, 5.120000, 5.150000, 5.200000, 5.230000, 6.040000, 6.110000, 6.170000, 6.260000, 6.330000, 6.420000, 6.500000, 6.590000, 4.840000, 4.850000, 6.820000, 6.670000, 6.550000, 6.430000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 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 ], "timestamp": [ 976053428, 301506 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.121000, -2.820000, 1.564651 ], "estimate": [ -2.121000, -2.820000, 1.564651 ], "true_pose": [ null, null, null ], "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": [ 2.480000, 2.430000, 2.390000, 2.370000, 2.330000, 2.290000, 2.260000, 2.230000, 2.220000, 2.180000, 2.160000, 2.130000, 2.120000, 2.090000, 2.060000, 2.040000, 2.030000, 2.010000, 2.000000, 1.990000, 1.970000, 1.950000, 1.940000, 1.920000, 1.910000, 1.890000, 1.880000, 1.880000, 1.870000, 1.870000, 1.890000, 1.930000, 1.970000, 2.030000, 2.100000, 2.170000, 2.250000, 2.330000, 2.420000, 2.520000, 2.620000, 2.740000, 2.890000, 3.050000, 3.260000, 3.500000, 3.760000, 4.130000, 4.530000, 5.410000, 23.810000, 23.110000, null, null, null, 9.440000, 8.550000, 7.930000, 7.410000, 6.920000, 6.520000, 6.160000, 5.830000, 5.540000, 5.290000, 5.050000, 4.840000, 4.640000, 4.470000, 4.300000, 4.150000, 3.990000, 3.990000, 4.020000, 6.750000, 6.830000, 6.890000, 6.960000, 7.050000, 3.160000, 3.100000, 3.030000, 2.960000, 2.980000, 3.030000, 3.070000, 3.120000, 3.160000, 3.220000, 3.280000, 3.320000, 3.390000, 3.450000, 3.530000, 3.590000, 3.660000, 3.750000, 3.850000, 3.930000, 4.030000, 4.140000, 4.240000, 4.350000, 4.480000, 4.610000, 4.750000, 4.890000, 5.070000, 5.230000, 5.410000, 5.630000, 5.630000, 5.600000, 5.550000, 5.520000, 5.480000, 5.460000, 2.600000, 2.520000, 2.510000, 2.500000, 2.490000, 2.480000, 2.470000, 2.460000, 2.450000, 2.450000, 2.440000, 2.440000, 2.440000, 2.440000, 2.420000, 1.430000, 1.440000, 1.450000, 1.440000, 1.440000, 1.440000, 1.440000, 1.430000, 1.430000, 1.440000, 2.720000, 2.740000, 2.760000, 2.780000, 2.790000, 2.790000, 2.790000, 2.820000, 4.040000, 4.020000, 4.160000, 5.400000, 4.070000, 5.130000, 4.860000, 4.860000, 4.890000, 4.930000, 4.970000, 5.260000, 5.100000, 5.120000, 5.140000, 5.200000, 5.440000, 6.080000, 6.130000, 6.110000, 6.310000, 6.370000, 6.460000, 6.570000, 6.640000, 4.830000, 4.890000, null, 6.590000, 6.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053428, 325065 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.121000, -2.760000, 1.558505 ], "estimate": [ -2.121000, -2.760000, 1.558505 ], "true_pose": [ null, null, null ], "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": [ 2.430000, 2.390000, 2.360000, 2.330000, 2.280000, 2.250000, 2.220000, 2.200000, 2.170000, 2.140000, 2.120000, 2.100000, 2.070000, 2.050000, 2.020000, 2.000000, 1.990000, 1.980000, 1.970000, 1.950000, 1.930000, 1.910000, 1.900000, 1.880000, 1.880000, 1.860000, 1.850000, 1.840000, 1.840000, 1.850000, 1.910000, 1.960000, 2.010000, 2.080000, 2.150000, 2.200000, 2.290000, 2.360000, 2.460000, 2.550000, 2.650000, 2.800000, 2.950000, 3.110000, 3.320000, 3.590000, 3.850000, 4.210000, 4.690000, 5.520000, 23.810000, 23.060000, null, 16.940000, null, 9.390000, 8.520000, 7.910000, 7.380000, 6.880000, 6.480000, 6.100000, 5.790000, 5.480000, 5.240000, 5.000000, 4.790000, 4.580000, 4.410000, 4.250000, 4.100000, 3.930000, 3.940000, 3.980000, 6.690000, 6.770000, 6.840000, 6.910000, 6.990000, 3.110000, 3.050000, 2.970000, 2.890000, 2.930000, 2.970000, 3.010000, 3.070000, 3.100000, 3.160000, 3.210000, 3.270000, 3.320000, 3.390000, 3.450000, 3.520000, 3.590000, 3.670000, 3.760000, 3.850000, 3.950000, 4.050000, 4.160000, 4.260000, 4.370000, 4.500000, 4.640000, 4.780000, 4.950000, 5.110000, 5.290000, 5.490000, 5.600000, 5.560000, 5.520000, 5.480000, 5.450000, 5.430000, 5.400000, 2.530000, 2.470000, 2.460000, 2.450000, 2.440000, 2.440000, 2.430000, 2.420000, 2.410000, 2.410000, 2.400000, 2.400000, 2.390000, 2.390000, 2.390000, 1.520000, 1.390000, 1.400000, 1.410000, 1.400000, 1.400000, 1.390000, 1.400000, 1.400000, 1.410000, 1.410000, 2.710000, 2.730000, 2.740000, 2.760000, 2.770000, 2.780000, 2.790000, 2.920000, 4.010000, 4.300000, 4.000000, 4.020000, 5.040000, 4.830000, 4.850000, 4.900000, 4.930000, 4.960000, 5.190000, 5.080000, 5.110000, 5.160000, 5.210000, 6.020000, 6.090000, 6.160000, 6.230000, 6.310000, 6.400000, 6.500000, 6.570000, 6.690000, 4.840000, 4.910000, 6.660000, 6.550000 ], "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, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053428, 564852 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.120000, -2.699000, 1.552360 ], "estimate": [ -2.120000, -2.699000, 1.552360 ], "true_pose": [ null, null, null ], "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": [ 2.380000, 2.350000, 2.300000, 2.270000, 2.230000, 2.210000, 2.180000, 2.150000, 2.120000, 2.100000, 2.070000, 2.040000, 2.020000, 2.000000, 1.980000, 1.970000, 1.950000, 1.930000, 1.920000, 1.900000, 1.890000, 1.870000, 1.870000, 1.840000, 1.830000, 1.810000, 1.800000, 1.810000, 1.840000, 1.890000, 1.950000, 2.000000, 2.050000, 2.110000, 2.180000, 2.250000, 2.320000, 2.410000, 2.500000, 2.600000, 2.720000, 2.850000, 3.020000, 3.190000, 3.390000, 3.650000, 3.940000, 4.310000, 4.910000, 22.570000, 23.770000, 23.030000, null, 16.870000, null, 9.340000, 8.430000, 7.810000, 7.260000, 6.780000, 6.380000, 6.020000, 5.700000, 5.400000, 5.160000, 4.910000, 4.710000, 4.520000, 4.330000, 4.170000, 4.020000, 3.880000, 3.890000, 3.930000, 6.640000, 6.700000, 6.780000, 6.860000, 6.920000, 3.050000, 2.990000, 2.920000, 2.840000, 2.870000, 2.910000, 2.950000, 3.000000, 3.050000, 3.090000, 3.150000, 3.200000, 3.260000, 3.310000, 3.380000, 3.450000, 3.520000, 3.590000, 3.680000, 3.770000, 3.860000, 3.960000, 4.070000, 4.170000, 4.290000, 4.410000, 4.540000, 4.680000, 4.830000, 5.000000, 5.170000, 5.370000, 5.560000, 5.520000, 5.480000, 5.450000, 5.410000, 5.390000, 5.370000, 5.330000, 2.440000, 2.420000, 2.410000, 2.400000, 2.390000, 2.390000, 2.380000, 2.380000, 2.370000, 2.370000, 2.370000, 2.360000, 2.360000, 2.360000, 2.360000, 2.360000, 1.360000, 1.350000, 1.380000, 1.360000, 1.340000, 1.360000, 1.370000, 1.370000, 1.390000, 1.400000, 1.390000, 2.700000, 2.720000, 2.720000, 2.730000, 2.760000, 2.770000, 2.850000, 4.020000, 4.060000, 5.380000, 4.010000, 4.960000, 4.820000, 4.850000, 4.880000, 4.910000, 4.960000, 5.120000, 5.070000, 5.110000, 5.150000, 5.200000, 6.050000, 6.120000, 6.150000, 6.260000, 6.340000, 6.430000, 6.530000, 6.610000, 6.720000, 4.840000, 4.900000, 6.620000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 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 ], "timestamp": [ 976053428, 851974 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.118000, -2.641000, 1.552360 ], "estimate": [ -2.118000, -2.641000, 1.552360 ], "true_pose": [ null, null, null ], "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": [ 2.330000, 2.290000, 2.260000, 2.220000, 2.200000, 2.160000, 2.130000, 2.110000, 2.080000, 2.050000, 2.030000, 2.000000, 1.980000, 1.970000, 1.950000, 1.920000, 1.910000, 1.890000, 1.880000, 1.870000, 1.840000, 1.830000, 1.820000, 1.800000, 1.800000, 1.790000, 1.800000, 1.850000, 1.890000, 1.940000, 1.980000, 2.030000, 2.090000, 2.160000, 2.230000, 2.300000, 2.370000, 2.460000, 2.570000, 2.660000, 2.780000, 2.920000, 3.080000, 3.270000, 3.510000, 3.740000, 4.060000, 4.410000, 5.050000, 22.520000, 23.720000, 22.990000, null, 16.850000, null, 9.310000, 8.340000, 7.690000, 7.160000, 6.690000, 6.280000, 5.920000, 5.600000, 5.330000, 5.070000, 4.840000, 4.640000, 4.450000, 4.260000, 4.120000, 3.970000, 3.830000, 3.850000, 3.900000, 6.590000, 6.660000, 6.730000, 6.800000, 6.890000, 2.980000, 2.930000, 2.860000, 2.790000, 2.820000, 2.860000, 2.900000, 2.940000, 2.990000, 3.040000, 3.080000, 3.150000, 3.200000, 3.250000, 3.320000, 3.380000, 3.460000, 3.530000, 3.610000, 3.690000, 3.790000, 3.880000, 3.990000, 4.080000, 4.210000, 4.320000, 4.450000, 4.590000, 4.750000, 4.900000, 5.080000, 5.260000, 5.480000, 5.480000, 5.460000, 5.420000, 5.380000, 5.360000, 5.320000, 5.290000, 5.280000, 2.390000, 2.380000, 2.370000, 2.360000, 2.350000, 2.350000, 2.340000, 2.340000, 2.330000, 2.330000, 2.320000, 2.320000, 2.320000, 2.320000, 2.320000, 2.330000, 1.600000, 1.320000, 1.330000, 1.310000, 1.310000, 1.320000, 1.340000, 1.350000, 1.360000, 1.350000, 1.360000, 1.370000, 2.690000, 2.700000, 2.710000, 2.740000, 2.750000, 2.810000, 3.980000, 4.020000, 4.110000, 5.100000, 4.880000, 4.810000, 4.840000, 4.890000, 4.920000, 5.230000, 5.070000, 5.080000, 5.130000, 5.170000, 5.210000, 6.060000, 6.140000, 6.220000, 6.300000, 6.380000, 6.470000, 6.580000, 6.670000, 4.840000, 4.870000, 6.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053428, 877508 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.117000, -2.585000, 1.546214 ], "estimate": [ -2.117000, -2.585000, 1.546214 ], "true_pose": [ null, null, null ], "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": [ 2.280000, 2.240000, 2.220000, 2.180000, 2.140000, 2.120000, 2.090000, 2.060000, 2.030000, 2.010000, 1.980000, 1.970000, 1.950000, 1.920000, 1.900000, 1.880000, 1.870000, 1.860000, 1.830000, 1.810000, 1.800000, 1.790000, 1.770000, 1.760000, 1.770000, 1.770000, 1.820000, 1.860000, 1.910000, 1.960000, 2.010000, 2.070000, 2.120000, 2.190000, 2.260000, 2.330000, 2.420000, 2.510000, 2.600000, 2.700000, 2.830000, 2.970000, 3.130000, 3.320000, 3.520000, 3.800000, 4.140000, 4.540000, 5.180000, 22.660000, 23.680000, 22.950000, null, 16.800000, null, 9.260000, 8.310000, 7.620000, 7.090000, 6.620000, 6.210000, 5.860000, 5.540000, 5.250000, 5.010000, 4.790000, 4.570000, 4.380000, 4.200000, 4.040000, 3.890000, 3.780000, 3.800000, 3.850000, 6.550000, 6.610000, 6.670000, 6.740000, 6.820000, 2.940000, 2.880000, 2.810000, 2.730000, 2.750000, 2.800000, 2.830000, 2.880000, 2.930000, 2.980000, 3.030000, 3.070000, 3.130000, 3.190000, 3.260000, 3.310000, 3.390000, 3.460000, 3.540000, 3.630000, 3.710000, 3.810000, 3.900000, 3.990000, 4.120000, 4.230000, 4.360000, 4.500000, 4.650000, 4.790000, 4.970000, 5.140000, 5.340000, 5.450000, 5.420000, 5.380000, 5.350000, 5.320000, 5.290000, 5.260000, 5.240000, 2.390000, 2.340000, 2.340000, 2.330000, 2.320000, 2.310000, 2.310000, 2.290000, 2.290000, 2.290000, 2.280000, 2.280000, 2.280000, 2.280000, 2.280000, 2.280000, 2.290000, 1.900000, 1.400000, 1.290000, 1.300000, 1.280000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 2.680000, 2.690000, 2.700000, 2.720000, 2.740000, 3.950000, 3.910000, 4.000000, 5.000000, 4.790000, 4.790000, 4.850000, 4.880000, 4.920000, 5.160000, 5.040000, 5.060000, 5.130000, 5.170000, 6.010000, 6.080000, 6.160000, 6.250000, 6.320000, 6.410000, 6.510000, 6.600000, 6.710000, 4.850000, 4.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053429, 349943 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.115000, -2.527000, 1.546214 ], "estimate": [ -2.115000, -2.527000, 1.546214 ], "true_pose": [ null, null, null ], "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": [ 2.240000, 2.220000, 2.170000, 2.140000, 2.110000, 2.080000, 2.050000, 2.020000, 1.990000, 1.970000, 1.940000, 1.930000, 1.900000, 1.880000, 1.870000, 1.850000, 1.830000, 1.810000, 1.790000, 1.780000, 1.760000, 1.750000, 1.730000, 1.740000, 1.770000, 1.790000, 1.840000, 1.880000, 1.940000, 1.980000, 2.040000, 2.080000, 2.160000, 2.210000, 2.290000, 2.360000, 2.450000, 2.530000, 2.640000, 2.730000, 2.850000, 3.000000, 3.170000, 3.340000, 3.570000, 3.830000, 4.160000, 4.580000, 5.260000, 22.690000, 23.630000, 22.950000, 22.920000, null, null, 9.220000, 8.280000, 7.640000, 7.070000, 6.610000, 6.180000, 5.820000, 5.500000, 5.220000, 4.970000, 4.740000, 4.530000, 4.340000, 4.160000, 4.000000, 3.860000, 3.740000, 3.750000, 3.780000, 6.480000, 6.550000, 6.620000, 6.680000, 6.760000, 2.890000, 2.840000, 2.770000, 2.700000, 2.690000, 2.740000, 2.780000, 2.820000, 2.860000, 2.920000, 2.960000, 3.010000, 3.060000, 3.120000, 3.180000, 3.250000, 3.310000, 3.390000, 3.460000, 3.540000, 3.620000, 3.720000, 3.820000, 3.910000, 4.010000, 4.130000, 4.250000, 4.380000, 4.530000, 4.670000, 4.830000, 5.010000, 5.200000, 5.420000, 5.390000, 5.360000, 5.330000, 5.290000, 5.260000, 5.230000, 5.220000, 5.190000, 2.370000, 2.300000, 2.290000, 2.280000, 2.270000, 2.270000, 2.260000, 2.260000, 2.250000, 2.250000, 2.250000, 2.240000, 2.240000, 2.240000, 2.240000, 2.240000, 2.240000, 2.140000, 1.630000, 1.340000, 1.250000, 1.250000, 1.260000, 1.270000, 1.270000, 1.290000, 1.290000, 1.290000, 1.300000, 1.300000, 1.300000, 2.670000, 2.670000, 2.700000, 2.700000, 3.930000, 5.330000, 3.990000, 4.930000, 4.760000, 4.790000, 4.840000, 4.880000, 4.910000, 5.110000, 5.040000, 5.070000, 5.120000, 5.160000, 6.020000, 6.100000, 6.160000, 6.250000, 6.340000, 6.440000, 6.530000, 6.630000, 6.730000, 4.840000 ], "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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053429, 351220 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.114000, -2.498000, 1.540069 ], "estimate": [ -2.114000, -2.498000, 1.540069 ], "true_pose": [ null, null, null ], "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": [ 2.200000, 2.160000, 2.120000, 2.090000, 2.060000, 2.030000, 2.000000, 1.970000, 1.960000, 1.930000, 1.900000, 1.870000, 1.860000, 1.840000, 1.820000, 1.800000, 1.790000, 1.770000, 1.750000, 1.730000, 1.720000, 1.730000, 1.730000, 1.770000, 1.800000, 1.830000, 1.870000, 1.920000, 1.960000, 2.020000, 2.080000, 2.130000, 2.180000, 2.260000, 2.330000, 2.410000, 2.480000, 2.590000, 2.680000, 2.790000, 2.920000, 3.060000, 3.230000, 3.430000, 3.660000, 3.930000, 4.260000, 4.760000, 5.430000, 22.610000, 23.600000, 22.900000, 22.930000, null, null, 9.170000, 8.230000, 7.490000, 6.960000, 6.490000, 6.080000, 5.710000, 5.410000, 5.140000, 4.880000, 4.650000, 4.440000, 4.250000, 4.090000, 3.930000, 3.770000, 3.680000, 3.700000, 3.750000, 6.440000, 6.500000, 6.570000, 6.650000, 6.710000, 2.830000, 2.780000, 2.710000, 2.630000, 2.660000, 2.690000, 2.730000, 2.770000, 2.810000, 2.860000, 2.910000, 2.950000, 3.010000, 3.050000, 3.130000, 3.180000, 3.250000, 3.320000, 3.400000, 3.480000, 3.560000, 3.640000, 3.740000, 3.840000, 3.940000, 4.060000, 4.170000, 4.300000, 4.440000, 4.580000, 4.740000, 4.910000, 5.100000, 5.310000, 5.360000, 5.320000, 5.290000, 5.260000, 5.220000, 5.200000, 5.180000, 5.160000, 5.130000, 2.310000, 2.250000, 2.240000, 2.240000, 2.240000, 2.230000, 2.230000, 2.220000, 2.220000, 2.220000, 2.210000, 2.210000, 2.210000, 2.210000, 2.210000, 2.220000, 2.220000, 2.180000, 1.740000, 1.470000, 1.280000, 1.210000, 1.210000, 1.220000, 1.250000, 1.250000, 1.260000, 1.270000, 1.270000, 1.280000, 1.290000, 1.290000, 2.650000, 2.670000, 2.670000, 4.040000, 5.260000, 3.980000, 4.850000, 4.740000, 4.780000, 4.840000, 4.880000, 4.980000, 5.030000, 5.030000, 5.080000, 5.140000, 5.180000, 6.050000, 6.130000, 6.200000, 6.300000, 6.380000, 6.480000, 6.570000, 6.680000, 6.800000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053429, 437137 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.112000, -2.440000, 1.540069 ], "estimate": [ -2.112000, -2.440000, 1.540069 ], "true_pose": [ null, null, null ], "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": [ 2.150000, 2.120000, 2.080000, 2.050000, 2.020000, 1.990000, 1.970000, 1.950000, 1.920000, 1.880000, 1.870000, 1.840000, 1.830000, 1.790000, 1.790000, 1.770000, 1.750000, 1.730000, 1.720000, 1.710000, 1.710000, 1.700000, 1.740000, 1.780000, 1.820000, 1.860000, 1.890000, 1.940000, 1.990000, 2.040000, 2.090000, 2.160000, 2.210000, 2.280000, 2.340000, 2.430000, 2.520000, 2.610000, 2.710000, 2.820000, 2.950000, 3.090000, 3.250000, 3.450000, 3.690000, 3.960000, 4.260000, 4.730000, 5.440000, 23.520000, 22.160000, 22.860000, 22.860000, 16.700000, null, 9.130000, 8.180000, 7.520000, 6.970000, 6.490000, 6.080000, 5.710000, 5.390000, 5.100000, 4.860000, 4.620000, 4.410000, 4.210000, 4.040000, 3.890000, 3.740000, 3.630000, 3.650000, 3.690000, 6.370000, 6.440000, 6.500000, 6.570000, 6.640000, 2.800000, 2.740000, 2.680000, 2.610000, 2.600000, 2.630000, 2.670000, 2.710000, 2.750000, 2.800000, 2.840000, 2.890000, 2.940000, 2.990000, 3.050000, 3.110000, 3.170000, 3.250000, 3.310000, 3.390000, 3.460000, 3.550000, 3.640000, 3.740000, 3.840000, 3.940000, 4.070000, 4.190000, 4.310000, 4.460000, 4.620000, 4.770000, 4.950000, 5.130000, 5.330000, 5.290000, 5.260000, 5.220000, 5.190000, 5.190000, 5.160000, 5.130000, 5.100000, 5.090000, 2.280000, 2.210000, 2.210000, 2.200000, 2.190000, 2.180000, 2.180000, 2.180000, 2.170000, 2.170000, 2.170000, 2.170000, 2.170000, 2.170000, 2.170000, 2.180000, 2.180000, 2.200000, 1.920000, 1.640000, 1.420000, 1.290000, 1.200000, 1.180000, 1.190000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.260000, 1.270000, 1.380000, 2.670000, 2.680000, 3.950000, 3.950000, 4.830000, 4.740000, 4.770000, 4.840000, 4.860000, 5.080000, 5.020000, 5.030000, 5.080000, 5.140000, 5.170000, 6.060000, 6.140000, 6.230000, 6.310000, 6.400000, 6.490000, 6.590000, 6.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053429, 895179 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.110000, -2.384000, 1.540069 ], "estimate": [ -2.110000, -2.384000, 1.540069 ], "true_pose": [ null, null, null ], "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": [ 2.100000, 2.060000, 2.030000, 2.000000, 1.980000, 1.940000, 1.910000, 1.890000, 1.860000, 1.840000, 1.820000, 1.800000, 1.780000, 1.760000, 1.740000, 1.720000, 1.710000, 1.690000, 1.690000, 1.700000, 1.710000, 1.750000, 1.780000, 1.820000, 1.860000, 1.900000, 1.940000, 1.980000, 2.030000, 2.090000, 2.150000, 2.200000, 2.260000, 2.330000, 2.400000, 2.490000, 2.570000, 2.670000, 2.770000, 2.890000, 3.040000, 3.190000, 3.350000, 3.570000, 3.820000, 4.110000, 4.510000, 5.020000, 5.900000, 22.870000, 22.140000, 22.820000, 22.830000, null, null, 9.080000, 7.890000, 7.240000, 6.730000, 6.260000, 5.870000, 5.520000, 5.210000, 4.950000, 4.700000, 4.480000, 4.270000, 4.100000, 3.930000, 3.770000, 3.580000, 3.590000, 3.610000, 3.730000, 6.340000, 6.400000, 6.470000, 6.550000, 6.610000, 2.730000, 2.660000, 2.600000, 2.530000, 2.550000, 2.590000, 2.620000, 2.670000, 2.710000, 2.750000, 2.800000, 2.840000, 2.900000, 2.950000, 2.990000, 3.060000, 3.130000, 3.190000, 3.260000, 3.340000, 3.420000, 3.500000, 3.590000, 3.680000, 3.780000, 3.880000, 4.010000, 4.120000, 4.250000, 4.400000, 4.550000, 4.710000, 4.880000, 5.070000, 5.290000, 5.250000, 5.210000, 5.180000, 5.160000, 5.140000, 5.110000, 5.090000, 5.070000, 5.040000, 5.020000, 2.170000, 2.160000, 2.160000, 2.150000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.160000, 1.890000, 1.660000, 1.480000, 1.340000, 1.230000, 1.170000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.390000, 5.270000, 5.060000, 3.940000, 4.730000, 4.740000, 4.770000, 4.840000, 4.880000, 5.050000, 5.000000, 5.050000, 5.100000, 5.150000, 6.030000, 6.080000, 6.080000, 6.270000, 6.370000, 6.460000, 6.570000, 6.670000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053429, 896396 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.108000, -2.327000, 1.540069 ], "estimate": [ -2.108000, -2.327000, 1.540069 ], "true_pose": [ null, null, null ], "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": [ 2.040000, 2.000000, 1.980000, 1.940000, 1.910000, 1.880000, 1.860000, 1.850000, 1.810000, 1.790000, 1.770000, 1.750000, 1.720000, 1.710000, 1.700000, 1.680000, 1.670000, 1.680000, 1.710000, 1.730000, 1.760000, 1.790000, 1.830000, 1.870000, 1.910000, 1.960000, 1.990000, 2.030000, 2.090000, 2.150000, 2.200000, 2.270000, 2.330000, 2.410000, 2.490000, 2.570000, 2.670000, 2.770000, 2.880000, 3.020000, 3.170000, 3.340000, 3.540000, 3.780000, 4.040000, 4.400000, 4.880000, 5.600000, 18.890000, 22.590000, 23.210000, 22.780000, 16.630000, null, 9.050000, 8.110000, 7.440000, 6.880000, 6.390000, 5.970000, 5.600000, 5.270000, 4.990000, 4.730000, 4.510000, 4.310000, 4.120000, 3.940000, 3.780000, 3.610000, 3.540000, 3.560000, 3.590000, 6.260000, 6.330000, 6.390000, 6.460000, 6.530000, 2.700000, 2.650000, 2.590000, 2.520000, 2.490000, 2.520000, 2.560000, 2.600000, 2.640000, 2.680000, 2.730000, 2.760000, 2.810000, 2.870000, 2.930000, 2.970000, 3.040000, 3.100000, 3.160000, 3.240000, 3.310000, 3.390000, 3.470000, 3.560000, 3.660000, 3.760000, 3.860000, 3.980000, 4.100000, 4.240000, 4.380000, 4.540000, 4.710000, 4.880000, 5.080000, 5.240000, 5.200000, 5.170000, 5.150000, 5.120000, 5.090000, 5.060000, 5.040000, 5.020000, 5.010000, 4.990000, 2.180000, 2.130000, 2.130000, 2.120000, 2.120000, 2.110000, 2.110000, 2.110000, 2.100000, 2.100000, 2.100000, 2.100000, 2.100000, 2.100000, 2.100000, 2.110000, 2.120000, 2.120000, 2.090000, 1.830000, 1.620000, 1.460000, 1.340000, 1.240000, 1.170000, 1.130000, 1.160000, 1.170000, 1.180000, 1.170000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 5.080000, 3.920000, 4.720000, 4.730000, 4.760000, 4.810000, 4.860000, 5.070000, 5.000000, 5.040000, 5.080000, 5.140000, 6.020000, 6.100000, 6.120000, 6.270000, 6.370000, 6.450000, 6.570000, 6.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053430, 497300 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.107000, -2.266000, 1.546214 ], "estimate": [ -2.107000, -2.266000, 1.546214 ], "true_pose": [ null, null, null ], "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": [ 1.970000, 1.940000, 1.910000, 1.880000, 1.860000, 1.830000, 1.800000, 1.780000, 1.760000, 1.740000, 1.720000, 1.710000, 1.680000, 1.660000, 1.670000, 1.670000, 1.690000, 1.710000, 1.750000, 1.770000, 1.800000, 1.850000, 1.880000, 1.920000, 1.960000, 2.000000, 2.050000, 2.100000, 2.160000, 2.210000, 2.270000, 2.340000, 2.420000, 2.480000, 2.570000, 2.670000, 2.760000, 2.880000, 3.000000, 3.140000, 3.300000, 3.490000, 3.700000, 3.970000, 4.300000, 4.720000, 5.310000, 18.850000, 22.650000, 22.040000, 22.740000, 22.740000, null, 9.290000, 9.000000, 7.720000, 7.080000, 6.540000, 6.090000, 5.700000, 5.350000, 5.040000, 4.790000, 4.540000, 4.320000, 4.140000, 3.960000, 3.780000, 3.630000, 3.480000, 3.490000, 3.510000, 3.570000, 6.250000, 6.300000, 6.370000, 6.440000, 6.510000, 2.640000, 2.560000, 2.500000, 2.420000, 2.450000, 2.490000, 2.520000, 2.560000, 2.600000, 2.640000, 2.680000, 2.730000, 2.770000, 2.820000, 2.880000, 2.930000, 2.990000, 3.050000, 3.130000, 3.200000, 3.280000, 3.360000, 3.430000, 3.520000, 3.620000, 3.730000, 3.830000, 3.950000, 4.070000, 4.200000, 4.350000, 4.500000, 4.670000, 4.850000, 5.050000, 5.180000, 5.150000, 5.120000, 5.100000, 5.070000, 5.040000, 5.020000, 5.000000, 4.980000, 4.950000, 4.930000, 2.140000, 2.090000, 2.080000, 2.080000, 2.070000, 2.070000, 2.060000, 2.060000, 2.060000, 2.060000, 2.060000, 2.060000, 2.060000, 2.060000, 2.060000, 2.070000, 2.070000, 2.080000, 2.090000, 2.010000, 1.800000, 1.630000, 1.500000, 1.380000, 1.280000, 1.200000, 1.130000, 1.120000, 1.120000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.230000, 1.220000, 4.690000, 4.740000, 4.790000, 4.840000, 5.100000, 4.990000, 5.010000, 5.060000, 5.120000, 5.390000, 6.080000, 6.120000, 6.250000, 6.350000, 6.450000, 6.550000, 6.670000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053430, 454460 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.105000, -2.206000, 1.546214 ], "estimate": [ -2.105000, -2.206000, 1.546214 ], "true_pose": [ null, null, null ], "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": [ 1.920000, 1.890000, 1.870000, 1.830000, 1.800000, 1.780000, 1.760000, 1.730000, 1.720000, 1.690000, 1.680000, 1.660000, 1.650000, 1.650000, 1.670000, 1.700000, 1.710000, 1.750000, 1.780000, 1.800000, 1.840000, 1.870000, 1.910000, 1.960000, 2.000000, 2.030000, 2.090000, 2.140000, 2.190000, 2.250000, 2.320000, 2.390000, 2.450000, 2.540000, 2.620000, 2.720000, 2.820000, 2.940000, 3.070000, 3.230000, 3.370000, 3.570000, 3.810000, 4.060000, 4.430000, 4.870000, 5.510000, 18.800000, 22.420000, 22.000000, 22.700000, 22.680000, 16.520000, 9.210000, 8.970000, 7.580000, 6.960000, 6.430000, 5.980000, 5.590000, 5.260000, 4.960000, 4.690000, 4.440000, 4.240000, 4.050000, 3.870000, 3.710000, 3.550000, 3.430000, 3.440000, 3.490000, 6.140000, 6.200000, 6.250000, 6.320000, 6.380000, 2.620000, 2.570000, 2.500000, 2.440000, 2.380000, 2.400000, 2.430000, 2.470000, 2.510000, 2.540000, 2.580000, 2.630000, 2.670000, 2.720000, 2.760000, 2.810000, 2.860000, 2.920000, 2.980000, 3.050000, 3.130000, 3.200000, 3.280000, 3.360000, 3.440000, 3.540000, 3.630000, 3.730000, 3.850000, 3.970000, 4.110000, 4.240000, 4.390000, 4.560000, 4.740000, 4.930000, 5.140000, 5.120000, 5.090000, 5.060000, 5.020000, 5.000000, 4.980000, 4.960000, 4.940000, 4.920000, 4.910000, 4.890000, 2.100000, 2.050000, 2.030000, 2.030000, 2.030000, 2.030000, 2.020000, 2.020000, 2.020000, 2.020000, 2.020000, 2.020000, 2.020000, 2.030000, 2.030000, 2.040000, 2.040000, 2.040000, 2.050000, 2.090000, 1.870000, 1.710000, 1.580000, 1.460000, 1.360000, 1.280000, 1.210000, 1.150000, 1.100000, 1.090000, 1.100000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.210000, 4.730000, 4.790000, 4.840000, 5.060000, 4.980000, 5.020000, 5.080000, 5.120000, 6.020000, 6.100000, 6.190000, 6.280000, 6.380000, 6.490000, 6.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053430, 455760 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.104000, -2.177000, 1.540069 ], "estimate": [ -2.104000, -2.177000, 1.540069 ], "true_pose": [ null, null, null ], "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": [ 1.880000, 1.860000, 1.820000, 1.790000, 1.770000, 1.740000, 1.720000, 1.700000, 1.680000, 1.660000, 1.640000, 1.640000, 1.640000, 1.660000, 1.680000, 1.710000, 1.740000, 1.770000, 1.790000, 1.830000, 1.850000, 1.890000, 1.930000, 1.960000, 2.010000, 2.050000, 2.100000, 2.160000, 2.210000, 2.270000, 2.330000, 2.400000, 2.470000, 2.550000, 2.640000, 2.730000, 2.840000, 2.940000, 3.080000, 3.210000, 3.370000, 3.560000, 3.790000, 4.030000, 4.390000, 4.810000, 5.400000, 18.760000, 18.760000, 21.950000, 23.300000, 22.630000, 16.490000, 16.500000, 8.900000, 7.770000, 7.080000, 6.510000, 6.040000, 5.630000, 5.270000, 4.950000, 4.690000, 4.450000, 4.240000, 4.030000, 3.860000, 3.690000, 3.530000, 3.380000, 3.390000, 3.400000, 3.470000, 6.130000, 6.180000, 6.240000, 6.300000, 6.370000, 2.520000, 2.470000, 2.400000, 2.350000, 2.340000, 2.370000, 2.400000, 2.430000, 2.470000, 2.510000, 2.550000, 2.600000, 2.640000, 2.680000, 2.730000, 2.790000, 2.830000, 2.900000, 2.950000, 3.030000, 3.090000, 3.170000, 3.250000, 3.340000, 3.420000, 3.520000, 3.610000, 3.720000, 3.840000, 3.960000, 4.080000, 4.230000, 4.380000, 4.560000, 4.740000, 4.930000, 5.090000, 5.060000, 5.030000, 5.010000, 4.980000, 4.950000, 4.920000, 4.910000, 4.890000, 4.880000, 4.860000, 4.840000, 4.830000, 2.050000, 2.000000, 2.000000, 2.000000, 2.000000, 1.990000, 1.990000, 2.000000, 1.990000, 1.990000, 1.990000, 2.000000, 2.000000, 2.000000, 2.000000, 2.000000, 2.010000, 2.010000, 2.020000, 2.000000, 1.840000, 1.690000, 1.570000, 1.470000, 1.380000, 1.290000, 1.240000, 1.170000, 1.130000, 1.060000, 1.070000, 1.080000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 4.820000, 5.060000, 4.970000, 5.000000, 5.070000, 5.110000, 6.020000, 6.100000, 6.180000, 6.280000, 6.380000, 6.480000 ], "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": [ 976053430, 654451 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.102000, -2.120000, 1.533923 ], "estimate": [ -2.102000, -2.120000, 1.533923 ], "true_pose": [ null, null, null ], "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": [ 1.850000, 1.820000, 1.800000, 1.760000, 1.740000, 1.720000, 1.690000, 1.670000, 1.650000, 1.630000, 1.630000, 1.620000, 1.640000, 1.670000, 1.700000, 1.720000, 1.750000, 1.780000, 1.800000, 1.840000, 1.870000, 1.900000, 1.940000, 1.970000, 2.020000, 2.060000, 2.100000, 2.160000, 2.210000, 2.270000, 2.340000, 2.390000, 2.470000, 2.550000, 2.620000, 2.710000, 2.830000, 2.930000, 3.050000, 3.170000, 3.340000, 3.510000, 3.720000, 3.960000, 4.270000, 4.660000, 5.140000, 5.910000, 18.710000, 22.300000, 21.950000, 22.620000, 22.590000, 16.440000, 8.880000, 8.170000, 7.340000, 6.730000, 6.220000, 5.770000, 5.400000, 5.060000, 4.770000, 4.510000, 4.270000, 4.060000, 3.890000, 3.710000, 3.550000, 3.350000, 3.340000, 3.340000, 3.390000, 6.040000, 6.100000, 6.150000, 6.220000, 6.280000, 2.500000, 2.450000, 2.400000, 2.320000, 2.270000, 2.300000, 2.330000, 2.360000, 2.390000, 2.430000, 2.470000, 2.520000, 2.560000, 2.600000, 2.640000, 2.690000, 2.740000, 2.810000, 2.850000, 2.920000, 2.980000, 3.060000, 3.130000, 3.210000, 3.300000, 3.380000, 3.470000, 3.570000, 3.680000, 3.800000, 3.910000, 4.050000, 4.190000, 4.340000, 4.500000, 4.690000, 4.880000, 5.050000, 5.030000, 4.990000, 4.960000, 4.930000, 4.910000, 4.890000, 4.880000, 4.850000, 4.840000, 4.820000, 4.810000, 4.800000, 2.050000, 1.980000, 1.960000, 1.960000, 1.960000, 1.960000, 1.950000, 1.950000, 1.960000, 1.950000, 1.960000, 1.960000, 1.960000, 1.970000, 1.970000, 1.980000, 1.980000, 1.990000, 2.000000, 2.000000, 1.980000, 1.830000, 1.690000, 1.580000, 1.490000, 1.400000, 1.330000, 1.260000, 1.210000, 1.160000, 1.110000, 1.060000, 1.050000, 1.060000, 1.080000, 1.100000, 1.110000, 1.130000, 1.140000, 1.140000, 1.160000, 1.180000, 1.190000, 4.960000, 4.980000, 5.030000, 5.090000, 5.250000, 6.080000, 6.170000, 6.260000, 6.370000 ], "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": [ 976053430, 932296 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.100000, -2.063000, 1.521632 ], "estimate": [ -2.100000, -2.063000, 1.521632 ], "true_pose": [ null, null, null ], "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": [ 1.810000, 1.770000, 1.740000, 1.730000, 1.700000, 1.670000, 1.650000, 1.630000, 1.620000, 1.610000, 1.620000, 1.640000, 1.660000, 1.680000, 1.710000, 1.730000, 1.770000, 1.790000, 1.820000, 1.860000, 1.880000, 1.910000, 1.960000, 1.990000, 2.030000, 2.070000, 2.120000, 2.180000, 2.230000, 2.290000, 2.340000, 2.410000, 2.480000, 2.550000, 2.640000, 2.740000, 2.840000, 2.940000, 3.060000, 3.180000, 3.350000, 3.530000, 3.730000, 3.960000, 4.270000, 4.650000, 5.110000, 5.850000, 18.670000, 22.260000, 22.330000, 22.810000, 22.560000, 16.400000, 9.070000, 8.840000, 7.390000, 6.730000, 6.220000, 5.770000, 5.380000, 5.040000, 4.740000, 4.480000, 4.230000, 4.040000, 3.850000, 3.670000, 3.510000, 3.290000, 3.290000, 3.300000, 3.320000, 5.980000, 6.040000, 6.100000, 6.140000, 6.210000, 2.460000, 2.420000, 2.350000, 2.290000, 2.230000, 2.240000, 2.270000, 2.310000, 2.340000, 2.370000, 2.400000, 2.440000, 2.490000, 2.530000, 2.570000, 2.620000, 2.670000, 2.730000, 2.780000, 2.830000, 2.900000, 2.960000, 3.040000, 3.120000, 3.200000, 3.290000, 3.370000, 3.460000, 3.560000, 3.670000, 3.800000, 3.920000, 4.050000, 4.200000, 4.360000, 4.530000, 4.720000, 4.920000, 5.000000, 4.960000, 4.930000, 4.900000, 4.880000, 4.860000, 4.840000, 4.820000, 4.810000, 4.790000, 4.780000, 4.770000, 4.750000, 4.740000, 1.990000, 1.920000, 1.920000, 1.920000, 1.910000, 1.920000, 1.910000, 1.920000, 1.920000, 1.920000, 1.920000, 1.920000, 1.930000, 1.930000, 1.940000, 1.950000, 1.950000, 1.960000, 1.970000, 1.980000, 1.900000, 1.770000, 1.660000, 1.550000, 1.470000, 1.400000, 1.320000, 1.280000, 1.220000, 1.170000, 1.130000, 1.080000, 1.030000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 5.040000, 5.090000, 5.360000, 6.090000, 6.180000, 6.280000 ], "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": [ 976053430, 959637 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.096000, -2.006000, 1.509341 ], "estimate": [ -2.096000, -2.006000, 1.509341 ], "true_pose": [ null, null, null ], "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": [ 1.780000, 1.730000, 1.720000, 1.690000, 1.670000, 1.640000, 1.620000, 1.600000, 1.610000, 1.620000, 1.630000, 1.650000, 1.670000, 1.700000, 1.710000, 1.750000, 1.780000, 1.800000, 1.830000, 1.860000, 1.890000, 1.940000, 1.960000, 2.000000, 2.040000, 2.090000, 2.130000, 2.190000, 2.230000, 2.290000, 2.350000, 2.420000, 2.480000, 2.560000, 2.640000, 2.730000, 2.840000, 2.940000, 3.080000, 3.170000, 3.320000, 3.500000, 3.680000, 3.910000, 4.200000, 4.560000, 4.930000, 5.620000, 6.780000, 18.640000, 22.380000, 23.240000, 22.520000, null, 16.350000, 8.780000, 7.640000, 6.910000, 6.350000, 5.850000, 5.450000, 5.080000, 4.790000, 4.510000, 4.260000, 4.040000, 3.850000, 3.670000, 3.510000, 3.350000, 3.240000, 3.240000, 3.280000, 3.330000, 5.960000, 6.020000, 6.080000, 6.140000, 6.200000, 2.370000, 2.320000, 2.260000, 2.200000, 2.180000, 2.210000, 2.240000, 2.280000, 2.300000, 2.330000, 2.370000, 2.410000, 2.450000, 2.500000, 2.530000, 2.590000, 2.640000, 2.680000, 2.740000, 2.800000, 2.860000, 2.930000, 3.000000, 3.080000, 3.160000, 3.240000, 3.330000, 3.430000, 3.530000, 3.640000, 3.760000, 3.880000, 4.030000, 4.170000, 4.340000, 4.510000, 4.710000, 4.930000, 4.940000, 4.910000, 4.880000, 4.860000, 4.840000, 4.820000, 4.800000, 4.790000, 4.770000, 4.750000, 4.730000, 4.720000, 4.710000, 4.700000, 1.960000, 1.890000, 1.890000, 1.890000, 1.880000, 1.890000, 1.880000, 1.890000, 1.890000, 1.890000, 1.890000, 1.890000, 1.890000, 1.900000, 1.900000, 1.910000, 1.910000, 1.920000, 1.930000, 1.940000, 2.000000, 1.860000, 1.750000, 1.650000, 1.570000, 1.480000, 1.410000, 1.360000, 1.300000, 1.260000, 1.200000, 1.160000, 1.100000, 1.070000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.090000, 1.110000, 1.120000, 1.140000, 1.150000, 1.170000, 1.180000, 5.140000, 6.090000, 6.180000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053431, 433148 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.092000, -1.947000, 1.497050 ], "estimate": [ -2.092000, -1.947000, 1.497050 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.720000, 1.690000, 1.660000, 1.650000, 1.620000, 1.600000, 1.590000, 1.600000, 1.620000, 1.640000, 1.650000, 1.670000, 1.700000, 1.720000, 1.740000, 1.770000, 1.790000, 1.830000, 1.860000, 1.880000, 1.920000, 1.960000, 1.980000, 2.020000, 2.070000, 2.100000, 2.150000, 2.200000, 2.260000, 2.320000, 2.380000, 2.440000, 2.510000, 2.590000, 2.670000, 2.770000, 2.860000, 2.970000, 3.070000, 3.200000, 3.350000, 3.510000, 3.720000, 3.940000, 4.240000, 4.590000, 5.020000, 5.620000, 6.740000, 18.600000, 22.270000, 21.790000, 22.490000, 22.490000, 16.310000, 8.740000, 7.690000, 6.900000, 6.330000, 5.820000, 5.410000, 5.050000, 4.730000, 4.460000, 4.210000, 4.000000, 3.790000, 3.610000, 3.460000, 3.300000, 3.190000, 3.190000, 3.220000, 3.290000, 5.900000, 5.960000, 6.010000, 6.080000, 6.140000, 2.320000, 2.270000, 2.220000, 2.150000, 2.120000, 2.140000, 2.180000, 2.210000, 2.240000, 2.270000, 2.310000, 2.350000, 2.390000, 2.430000, 2.460000, 2.510000, 2.560000, 2.610000, 2.670000, 2.710000, 2.780000, 2.840000, 2.920000, 2.980000, 3.060000, 3.160000, 3.230000, 3.320000, 3.430000, 3.520000, 3.640000, 3.760000, 3.900000, 4.050000, 4.200000, 4.360000, 4.550000, 4.740000, 4.910000, 4.880000, 4.850000, 4.830000, 4.810000, 4.790000, 4.770000, 4.750000, 4.730000, 4.710000, 4.700000, 4.690000, 4.680000, 4.680000, 4.670000, 4.660000, 1.900000, 1.850000, 1.850000, 1.840000, 1.840000, 1.850000, 1.850000, 1.850000, 1.850000, 1.850000, 1.860000, 1.870000, 1.870000, 1.880000, 1.880000, 1.890000, 1.890000, 1.900000, 1.910000, 1.920000, 1.930000, 1.830000, 1.720000, 1.630000, 1.550000, 1.470000, 1.420000, 1.360000, 1.310000, 1.270000, 1.220000, 1.170000, 1.130000, 1.090000, 1.060000, 1.020000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.120000, 1.140000, 1.150000, 1.170000, 1.190000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053431, 434327 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.088000, -1.888000, 1.490904 ], "estimate": [ -2.088000, -1.888000, 1.490904 ], "true_pose": [ null, null, null ], "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": [ 1.670000, 1.640000, 1.630000, 1.590000, 1.590000, 1.590000, 1.610000, 1.620000, 1.650000, 1.660000, 1.680000, 1.690000, 1.720000, 1.740000, 1.760000, 1.790000, 1.810000, 1.850000, 1.870000, 1.910000, 1.950000, 1.970000, 2.000000, 2.040000, 2.100000, 2.130000, 2.190000, 2.230000, 2.290000, 2.350000, 2.400000, 2.470000, 2.540000, 2.620000, 2.700000, 2.790000, 2.880000, 3.030000, 3.090000, 3.240000, 3.390000, 3.550000, 3.750000, 3.990000, 4.270000, 4.630000, 5.070000, 5.730000, 6.720000, 18.560000, 22.310000, 21.870000, 22.470000, 22.450000, 16.270000, 8.700000, 7.670000, 6.850000, 6.280000, 5.760000, 5.350000, 4.980000, 4.670000, 4.390000, 4.150000, 3.930000, 3.730000, 3.550000, 3.390000, 3.230000, 3.130000, 3.140000, 3.170000, 3.250000, 5.840000, 5.890000, 5.960000, 6.010000, 6.070000, 2.260000, 2.220000, 2.160000, 2.110000, 2.070000, 2.090000, 2.130000, 2.150000, 2.180000, 2.220000, 2.240000, 2.280000, 2.320000, 2.360000, 2.400000, 2.440000, 2.490000, 2.530000, 2.600000, 2.650000, 2.700000, 2.760000, 2.830000, 2.900000, 2.970000, 3.060000, 3.150000, 3.220000, 3.310000, 3.420000, 3.530000, 3.650000, 3.770000, 3.910000, 4.060000, 4.220000, 4.390000, 4.580000, 4.800000, 4.850000, 4.820000, 4.810000, 4.780000, 4.760000, 4.740000, 4.710000, 4.700000, 4.680000, 4.670000, 4.660000, 4.650000, 4.630000, 4.620000, 4.610000, 4.610000, 1.880000, 1.820000, 1.810000, 1.820000, 1.810000, 1.810000, 1.820000, 1.820000, 1.820000, 1.820000, 1.820000, 1.830000, 1.830000, 1.840000, 1.840000, 1.860000, 1.860000, 1.880000, 1.890000, 1.890000, 1.900000, 1.870000, 1.770000, 1.680000, 1.600000, 1.530000, 1.460000, 1.420000, 1.360000, 1.320000, 1.280000, 1.220000, 1.180000, 1.150000, 1.110000, 1.080000, 1.050000, 1.010000, 1.010000, 1.020000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053431, 554651 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.083000, -1.830000, 1.484759 ], "estimate": [ -2.083000, -1.830000, 1.484759 ], "true_pose": [ null, null, null ], "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": [ 1.620000, 1.590000, 1.580000, 1.590000, 1.590000, 1.610000, 1.630000, 1.650000, 1.650000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.790000, 1.810000, 1.840000, 1.860000, 1.900000, 1.930000, 1.970000, 1.990000, 2.030000, 2.080000, 2.110000, 2.160000, 2.200000, 2.260000, 2.320000, 2.380000, 2.430000, 2.500000, 2.570000, 2.650000, 2.740000, 2.830000, 2.920000, 3.030000, 3.140000, 3.280000, 3.440000, 3.600000, 3.800000, 4.050000, 4.340000, 4.710000, 5.180000, 5.750000, 18.510000, 18.500000, 22.110000, 21.840000, 22.430000, 22.400000, 16.220000, 8.650000, 7.470000, 6.750000, 6.160000, 5.640000, 5.250000, 4.880000, 4.560000, 4.290000, 4.050000, 3.840000, 3.640000, 3.470000, 3.310000, 3.110000, 3.080000, 3.090000, 3.130000, 5.750000, 5.790000, 5.840000, 5.900000, 5.960000, 6.010000, 2.210000, 2.160000, 2.110000, 2.040000, 2.010000, 2.030000, 2.060000, 2.100000, 2.130000, 2.160000, 2.180000, 2.230000, 2.260000, 2.300000, 2.340000, 2.390000, 2.420000, 2.470000, 2.520000, 2.580000, 2.630000, 2.680000, 2.750000, 2.820000, 2.900000, 2.970000, 3.060000, 3.140000, 3.230000, 3.320000, 3.430000, 3.540000, 3.660000, 3.800000, 3.940000, 4.090000, 4.260000, 4.450000, 4.660000, 4.810000, 4.790000, 4.770000, 4.750000, 4.720000, 4.700000, 4.680000, 4.670000, 4.650000, 4.630000, 4.620000, 4.610000, 4.600000, 4.590000, 4.580000, 4.570000, 4.570000, 1.840000, 1.790000, 1.770000, 1.780000, 1.780000, 1.770000, 1.780000, 1.780000, 1.790000, 1.790000, 1.800000, 1.800000, 1.800000, 1.810000, 1.820000, 1.820000, 1.830000, 1.840000, 1.850000, 1.860000, 1.880000, 1.910000, 1.820000, 1.730000, 1.650000, 1.580000, 1.520000, 1.470000, 1.420000, 1.360000, 1.320000, 1.280000, 1.240000, 1.200000, 1.160000, 1.120000, 1.090000, 1.070000, 1.050000, 1.020000, 1.000000, 1.000000, 1.040000, 1.050000, 1.070000 ], "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": [ 976053431, 896767 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.078000, -1.774000, 1.478613 ], "estimate": [ -2.078000, -1.774000, 1.478613 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.640000, 1.660000, 1.670000, 1.680000, 1.700000, 1.720000, 1.730000, 1.760000, 1.790000, 1.800000, 1.830000, 1.860000, 1.890000, 1.930000, 1.960000, 1.990000, 2.030000, 2.060000, 2.100000, 2.140000, 2.190000, 2.230000, 2.290000, 2.340000, 2.400000, 2.460000, 2.540000, 2.610000, 2.690000, 2.770000, 2.870000, 2.970000, 3.060000, 3.190000, 3.320000, 3.470000, 3.640000, 3.810000, 4.100000, 4.390000, 4.720000, 5.210000, 5.860000, 18.450000, 18.460000, 18.490000, 22.300000, 22.950000, 22.340000, 16.150000, 8.600000, 7.520000, 6.710000, 6.100000, 5.600000, 5.190000, 4.820000, 4.510000, 4.240000, 3.990000, 3.780000, 3.570000, 3.400000, 3.240000, 3.040000, 3.020000, 3.030000, 3.080000, 5.680000, 5.740000, 5.780000, 5.840000, 5.890000, 5.950000, 2.140000, 2.110000, 2.060000, 1.990000, 1.950000, 1.980000, 2.000000, 2.030000, 2.060000, 2.090000, 2.130000, 2.140000, 2.190000, 2.230000, 2.260000, 2.310000, 2.350000, 2.380000, 2.440000, 2.490000, 2.540000, 2.590000, 2.660000, 2.720000, 2.800000, 2.870000, 2.940000, 3.040000, 3.120000, 3.210000, 3.300000, 3.420000, 3.530000, 3.650000, 3.790000, 3.940000, 4.100000, 4.270000, 4.470000, 4.680000, 4.770000, 4.740000, 4.710000, 4.690000, 4.670000, 4.650000, 4.620000, 4.610000, 4.600000, 4.590000, 4.570000, 4.560000, 4.540000, 4.540000, 4.540000, 4.530000, 4.530000, 4.530000, 1.790000, 1.740000, 1.740000, 1.740000, 1.740000, 1.740000, 1.750000, 1.750000, 1.750000, 1.750000, 1.760000, 1.770000, 1.770000, 1.780000, 1.790000, 1.800000, 1.810000, 1.820000, 1.830000, 1.840000, 1.850000, 1.890000, 1.800000, 1.720000, 1.650000, 1.590000, 1.530000, 1.480000, 1.430000, 1.380000, 1.330000, 1.300000, 1.270000, 1.210000, 1.190000, 1.160000, 1.120000, 1.090000, 1.060000, 1.040000, 1.030000, 1.000000, 1.000000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053431, 964472 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.072000, -1.715000, 1.478613 ], "estimate": [ -2.072000, -1.715000, 1.478613 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.580000, 1.600000, 1.620000, 1.630000, 1.640000, 1.660000, 1.670000, 1.690000, 1.700000, 1.720000, 1.730000, 1.750000, 1.780000, 1.800000, 1.820000, 1.860000, 1.880000, 1.910000, 1.950000, 1.980000, 2.010000, 2.040000, 2.080000, 2.120000, 2.170000, 2.200000, 2.250000, 2.310000, 2.360000, 2.430000, 2.480000, 2.560000, 2.630000, 2.700000, 2.790000, 2.900000, 2.980000, 3.100000, 3.210000, 3.350000, 3.500000, 3.660000, 3.890000, 4.130000, 4.430000, 4.800000, 5.270000, 5.920000, 18.410000, 18.430000, 18.430000, 21.610000, 23.020000, 22.310000, 16.120000, 8.560000, 7.480000, 6.660000, 6.040000, 5.520000, 5.110000, 4.750000, 4.430000, 4.150000, 3.920000, 3.700000, 3.510000, 3.330000, 3.180000, 2.980000, 2.970000, 2.970000, 3.020000, 5.630000, 5.680000, 5.730000, 5.780000, 5.830000, 5.880000, 2.090000, 2.060000, 2.010000, 1.940000, 1.910000, 1.920000, 1.940000, 1.970000, 2.000000, 2.030000, 2.060000, 2.090000, 2.120000, 2.150000, 2.200000, 2.230000, 2.270000, 2.320000, 2.370000, 2.420000, 2.470000, 2.510000, 2.570000, 2.640000, 2.700000, 2.770000, 2.850000, 2.930000, 3.010000, 3.100000, 3.190000, 3.300000, 3.410000, 3.520000, 3.660000, 3.810000, 3.960000, 4.130000, 4.320000, 4.500000, 4.730000, 4.700000, 4.680000, 4.660000, 4.640000, 4.610000, 4.600000, 4.580000, 4.560000, 4.550000, 4.540000, 4.530000, 4.520000, 4.510000, 4.500000, 4.490000, 4.490000, 4.490000, 4.480000, 1.850000, 1.760000, 1.700000, 1.710000, 1.710000, 1.710000, 1.710000, 1.720000, 1.720000, 1.730000, 1.740000, 1.740000, 1.750000, 1.750000, 1.750000, 1.770000, 1.780000, 1.790000, 1.800000, 1.820000, 1.820000, 1.840000, 1.850000, 1.770000, 1.690000, 1.630000, 1.590000, 1.540000, 1.480000, 1.430000, 1.380000, 1.340000, 1.310000, 1.270000, 1.240000, 1.200000, 1.170000, 1.150000, 1.120000, 1.090000, 1.070000, 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": [ 976053432, 419484 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.068000, -1.669000, 1.484759 ], "estimate": [ -2.068000, -1.669000, 1.484759 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.610000, 1.620000, 1.640000, 1.660000, 1.660000, 1.680000, 1.690000, 1.720000, 1.730000, 1.740000, 1.770000, 1.790000, 1.800000, 1.830000, 1.860000, 1.880000, 1.910000, 1.940000, 1.970000, 2.000000, 2.040000, 2.070000, 2.110000, 2.160000, 2.200000, 2.250000, 2.290000, 2.350000, 2.410000, 2.470000, 2.530000, 2.600000, 2.680000, 2.750000, 2.840000, 2.930000, 3.030000, 3.150000, 3.290000, 3.410000, 3.560000, 3.750000, 3.990000, 4.240000, 4.520000, 4.940000, 5.410000, 6.150000, 18.370000, 18.380000, 18.400000, 21.570000, 22.970000, 22.270000, 16.070000, 8.520000, 7.230000, 6.470000, 5.890000, 5.380000, 4.980000, 4.610000, 4.310000, 4.050000, 3.790000, 3.610000, 3.410000, 3.230000, 3.080000, 2.920000, 2.930000, 2.920000, 2.970000, 5.580000, 5.630000, 5.670000, 5.730000, 5.780000, 5.840000, 2.030000, 2.000000, 1.940000, 1.880000, 1.850000, 1.870000, 1.890000, 1.910000, 1.940000, 1.980000, 2.010000, 2.030000, 2.050000, 2.100000, 2.130000, 2.170000, 2.220000, 2.250000, 2.300000, 2.350000, 2.390000, 2.450000, 2.500000, 2.560000, 2.620000, 2.690000, 2.760000, 2.850000, 2.920000, 3.020000, 3.110000, 3.200000, 3.310000, 3.430000, 3.560000, 3.690000, 3.840000, 4.010000, 4.180000, 4.370000, 4.600000, 4.670000, 4.640000, 4.620000, 4.600000, 4.580000, 4.550000, 4.540000, 4.530000, 4.510000, 4.500000, 4.490000, 4.480000, 4.470000, 4.460000, 4.460000, 4.460000, 4.460000, 4.460000, 4.450000, 2.280000, 1.740000, 1.680000, 1.670000, 1.670000, 1.680000, 1.680000, 1.680000, 1.690000, 1.700000, 1.700000, 1.710000, 1.720000, 1.720000, 1.730000, 1.740000, 1.750000, 1.750000, 1.770000, 1.780000, 1.800000, 1.810000, 1.820000, 1.820000, 1.740000, 1.690000, 1.630000, 1.570000, 1.520000, 1.470000, 1.440000, 1.400000, 1.350000, 1.320000, 1.280000, 1.240000, 1.210000, 1.180000, 1.170000, 1.140000, 1.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053432, 420642 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.066000, -1.648000, 1.490904 ], "estimate": [ -2.066000, -1.648000, 1.490904 ], "true_pose": [ null, null, null ], "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": [ 1.620000, 1.630000, 1.650000, 1.670000, 1.680000, 1.690000, 1.710000, 1.720000, 1.730000, 1.750000, 1.770000, 1.790000, 1.810000, 1.840000, 1.860000, 1.890000, 1.920000, 1.950000, 1.980000, 2.010000, 2.040000, 2.080000, 2.110000, 2.160000, 2.200000, 2.250000, 2.290000, 2.350000, 2.410000, 2.480000, 2.540000, 2.600000, 2.680000, 2.760000, 2.860000, 2.930000, 3.020000, 3.140000, 3.280000, 3.390000, 3.540000, 3.730000, 3.940000, 4.180000, 4.470000, 4.870000, 5.320000, 6.000000, 7.420000, 18.350000, 18.350000, 21.940000, 22.930000, 22.220000, null, 8.470000, 7.530000, 6.640000, 6.020000, 5.490000, 5.050000, 4.670000, 4.360000, 4.070000, 3.830000, 3.620000, 3.420000, 3.230000, 3.080000, 2.900000, 2.880000, 2.880000, 2.930000, 5.530000, 5.580000, 5.630000, 5.670000, 5.730000, 5.780000, 2.020000, 1.980000, 1.930000, 1.880000, 1.820000, 1.810000, 1.840000, 1.870000, 1.890000, 1.920000, 1.950000, 1.990000, 2.010000, 2.040000, 2.080000, 2.120000, 2.150000, 2.210000, 2.240000, 2.280000, 2.330000, 2.380000, 2.430000, 2.490000, 2.550000, 2.610000, 2.690000, 2.760000, 2.840000, 2.920000, 3.010000, 3.110000, 3.210000, 3.320000, 3.430000, 3.570000, 3.710000, 3.860000, 4.050000, 4.210000, 4.420000, 4.660000, 4.630000, 4.610000, 4.590000, 4.560000, 4.540000, 4.530000, 4.510000, 4.500000, 4.480000, 4.470000, 4.460000, 4.460000, 4.450000, 4.440000, 4.440000, 4.430000, 4.430000, 4.440000, 4.430000, 2.410000, 1.730000, 1.700000, 1.650000, 1.650000, 1.660000, 1.670000, 1.670000, 1.670000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.730000, 1.740000, 1.750000, 1.750000, 1.760000, 1.780000, 1.790000, 1.810000, 1.840000, 1.770000, 1.710000, 1.650000, 1.600000, 1.550000, 1.500000, 1.450000, 1.420000, 1.370000, 1.340000, 1.310000, 1.280000, 1.240000, 1.210000, 1.180000, 1.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053432, 517547 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.066000, -1.651000, 1.490904 ], "estimate": [ -2.066000, -1.651000, 1.490904 ], "true_pose": [ null, null, null ], "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": [ 1.620000, 1.630000, 1.650000, 1.670000, 1.670000, 1.680000, 1.700000, 1.720000, 1.730000, 1.750000, 1.770000, 1.800000, 1.810000, 1.840000, 1.860000, 1.890000, 1.910000, 1.950000, 1.970000, 2.000000, 2.040000, 2.080000, 2.100000, 2.150000, 2.200000, 2.240000, 2.290000, 2.340000, 2.390000, 2.450000, 2.520000, 2.590000, 2.660000, 2.740000, 2.820000, 2.910000, 3.000000, 3.120000, 3.270000, 3.370000, 3.520000, 3.720000, 3.910000, 4.130000, 4.420000, 4.800000, 5.230000, 5.830000, 18.340000, 18.340000, 18.340000, 21.970000, 21.560000, 22.230000, 22.220000, 8.470000, 7.550000, 6.720000, 6.080000, 5.530000, 5.090000, 4.700000, 4.380000, 4.100000, 3.850000, 3.630000, 3.430000, 3.250000, 3.090000, 2.900000, 2.870000, 2.890000, 2.930000, 5.510000, 5.560000, 5.610000, 5.650000, 5.710000, 5.770000, 2.020000, 1.970000, 1.930000, 1.880000, 1.820000, 1.810000, 1.830000, 1.860000, 1.890000, 1.910000, 1.940000, 1.980000, 2.010000, 2.030000, 2.070000, 2.100000, 2.130000, 2.180000, 2.230000, 2.260000, 2.310000, 2.370000, 2.410000, 2.470000, 2.520000, 2.590000, 2.660000, 2.730000, 2.810000, 2.900000, 2.980000, 3.070000, 3.170000, 3.290000, 3.410000, 3.530000, 3.670000, 3.830000, 3.990000, 4.170000, 4.360000, 4.600000, 4.630000, 4.610000, 4.590000, 4.560000, 4.540000, 4.530000, 4.510000, 4.500000, 4.480000, 4.470000, 4.460000, 4.460000, 4.450000, 4.440000, 4.430000, 4.430000, 4.430000, 4.420000, 4.430000, 2.540000, 1.760000, 1.700000, 1.650000, 1.650000, 1.660000, 1.660000, 1.660000, 1.670000, 1.670000, 1.680000, 1.690000, 1.690000, 1.700000, 1.710000, 1.720000, 1.730000, 1.740000, 1.750000, 1.750000, 1.770000, 1.790000, 1.800000, 1.810000, 1.790000, 1.720000, 1.670000, 1.610000, 1.570000, 1.510000, 1.460000, 1.420000, 1.380000, 1.350000, 1.310000, 1.280000, 1.250000, 1.210000, 1.190000, 1.170000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053432, 946740 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.067000, -1.653000, 1.490904 ], "estimate": [ -2.067000, -1.653000, 1.490904 ], "true_pose": [ null, null, null ], "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": [ 1.620000, 1.630000, 1.650000, 1.670000, 1.670000, 1.680000, 1.700000, 1.720000, 1.730000, 1.740000, 1.770000, 1.790000, 1.800000, 1.830000, 1.860000, 1.880000, 1.910000, 1.950000, 1.980000, 2.000000, 2.030000, 2.070000, 2.100000, 2.150000, 2.200000, 2.240000, 2.290000, 2.340000, 2.390000, 2.460000, 2.520000, 2.590000, 2.650000, 2.740000, 2.820000, 2.910000, 3.000000, 3.120000, 3.250000, 3.370000, 3.510000, 3.730000, 3.910000, 4.140000, 4.420000, 4.790000, 5.230000, 5.830000, 18.350000, 18.330000, 18.360000, 21.990000, 21.540000, 22.230000, 22.220000, 8.470000, 7.550000, 6.740000, 6.080000, 5.540000, 5.100000, 4.710000, 4.390000, 4.100000, 3.850000, 3.640000, 3.440000, 3.260000, 3.110000, 2.910000, 2.880000, 2.890000, 2.940000, 5.520000, 5.560000, 5.620000, 5.660000, 5.720000, 5.770000, 2.020000, 1.980000, 1.930000, 1.880000, 1.830000, 1.810000, 1.830000, 1.870000, 1.890000, 1.920000, 1.950000, 1.990000, 2.010000, 2.030000, 2.070000, 2.120000, 2.150000, 2.190000, 2.230000, 2.270000, 2.320000, 2.380000, 2.430000, 2.480000, 2.540000, 2.610000, 2.670000, 2.740000, 2.830000, 2.910000, 2.990000, 3.080000, 3.180000, 3.300000, 3.430000, 3.550000, 3.690000, 3.830000, 4.010000, 4.200000, 4.390000, 4.630000, 4.640000, 4.610000, 4.590000, 4.570000, 4.540000, 4.530000, 4.510000, 4.500000, 4.480000, 4.470000, 4.460000, 4.460000, 4.450000, 4.450000, 4.440000, 4.440000, 4.430000, 4.440000, 4.430000, 2.450000, 1.730000, 1.710000, 1.650000, 1.650000, 1.660000, 1.660000, 1.670000, 1.670000, 1.670000, 1.680000, 1.690000, 1.690000, 1.700000, 1.710000, 1.720000, 1.730000, 1.740000, 1.750000, 1.760000, 1.770000, 1.790000, 1.800000, 1.820000, 1.780000, 1.720000, 1.650000, 1.600000, 1.550000, 1.510000, 1.450000, 1.420000, 1.380000, 1.340000, 1.310000, 1.270000, 1.240000, 1.210000, 1.190000, 1.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053432, 964944 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.067000, -1.659000, 1.497050 ], "estimate": [ -2.067000, -1.659000, 1.497050 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.610000, 1.630000, 1.650000, 1.660000, 1.670000, 1.680000, 1.700000, 1.720000, 1.730000, 1.750000, 1.770000, 1.800000, 1.800000, 1.830000, 1.860000, 1.880000, 1.910000, 1.940000, 1.970000, 2.000000, 2.030000, 2.070000, 2.100000, 2.150000, 2.200000, 2.240000, 2.290000, 2.340000, 2.390000, 2.460000, 2.510000, 2.590000, 2.660000, 2.740000, 2.820000, 2.900000, 3.010000, 3.120000, 3.250000, 3.370000, 3.510000, 3.730000, 3.900000, 4.140000, 4.410000, 4.780000, 5.200000, 5.820000, 18.340000, 18.340000, 18.360000, 21.960000, 21.550000, 22.250000, 22.230000, 8.470000, 7.550000, 6.750000, 6.100000, 5.560000, 5.100000, 4.720000, 4.390000, 4.110000, 3.860000, 3.640000, 3.440000, 3.260000, 3.110000, 2.910000, 2.880000, 2.890000, 2.940000, 2.970000, 5.560000, 5.610000, 5.660000, 5.720000, 5.770000, 2.020000, 1.990000, 1.930000, 1.880000, 1.830000, 1.810000, 1.840000, 1.870000, 1.890000, 1.920000, 1.950000, 1.990000, 2.010000, 2.030000, 2.070000, 2.110000, 2.150000, 2.200000, 2.230000, 2.260000, 2.320000, 2.380000, 2.430000, 2.480000, 2.540000, 2.600000, 2.660000, 2.740000, 2.830000, 2.910000, 2.990000, 3.090000, 3.180000, 3.300000, 3.420000, 3.550000, 3.690000, 3.830000, 4.010000, 4.190000, 4.380000, 4.620000, 4.640000, 4.610000, 4.590000, 4.570000, 4.540000, 4.530000, 4.510000, 4.500000, 4.490000, 4.470000, 4.460000, 4.460000, 4.450000, 4.440000, 4.440000, 4.440000, 4.430000, 4.430000, 4.430000, 2.480000, 1.740000, 1.710000, 1.650000, 1.650000, 1.660000, 1.660000, 1.670000, 1.670000, 1.670000, 1.680000, 1.690000, 1.700000, 1.700000, 1.710000, 1.720000, 1.730000, 1.750000, 1.750000, 1.760000, 1.780000, 1.790000, 1.810000, 1.810000, 1.780000, 1.700000, 1.660000, 1.590000, 1.550000, 1.510000, 1.460000, 1.420000, 1.370000, 1.340000, 1.300000, 1.280000, 1.250000, 1.210000, 1.180000, 1.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053433, 117514 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.069000, -1.681000, 1.509341 ], "estimate": [ -2.069000, -1.681000, 1.509341 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.610000, 1.630000, 1.640000, 1.660000, 1.660000, 1.680000, 1.700000, 1.720000, 1.730000, 1.750000, 1.770000, 1.790000, 1.800000, 1.830000, 1.860000, 1.880000, 1.910000, 1.950000, 1.980000, 2.010000, 2.040000, 2.070000, 2.110000, 2.160000, 2.200000, 2.240000, 2.290000, 2.350000, 2.400000, 2.470000, 2.510000, 2.580000, 2.670000, 2.740000, 2.830000, 2.910000, 3.010000, 3.130000, 3.270000, 3.380000, 3.520000, 3.740000, 3.930000, 4.150000, 4.450000, 4.840000, 5.270000, 5.950000, 7.400000, 18.370000, 18.370000, 21.960000, 22.950000, 22.240000, null, 8.490000, 7.510000, 6.620000, 6.000000, 5.460000, 5.060000, 4.670000, 4.340000, 4.070000, 3.840000, 3.620000, 3.430000, 3.240000, 3.090000, 2.900000, 2.900000, 2.900000, 2.940000, 5.540000, 5.580000, 5.630000, 5.690000, 5.740000, 5.790000, 2.020000, 1.990000, 1.930000, 1.880000, 1.830000, 1.820000, 1.850000, 1.880000, 1.900000, 1.940000, 1.970000, 2.000000, 2.020000, 2.050000, 2.090000, 2.130000, 2.170000, 2.220000, 2.250000, 2.300000, 2.350000, 2.390000, 2.440000, 2.500000, 2.570000, 2.630000, 2.700000, 2.780000, 2.860000, 2.930000, 3.030000, 3.130000, 3.230000, 3.340000, 3.460000, 3.590000, 3.740000, 3.890000, 4.060000, 4.250000, 4.460000, 4.670000, 4.640000, 4.610000, 4.600000, 4.570000, 4.550000, 4.540000, 4.520000, 4.510000, 4.490000, 4.480000, 4.470000, 4.460000, 4.460000, 4.460000, 4.450000, 4.440000, 4.440000, 4.440000, 4.440000, 1.990000, 1.720000, 1.670000, 1.660000, 1.670000, 1.670000, 1.670000, 1.670000, 1.680000, 1.680000, 1.690000, 1.700000, 1.700000, 1.720000, 1.720000, 1.730000, 1.740000, 1.750000, 1.760000, 1.770000, 1.790000, 1.800000, 1.810000, 1.790000, 1.750000, 1.680000, 1.610000, 1.570000, 1.520000, 1.470000, 1.430000, 1.390000, 1.350000, 1.310000, 1.280000, 1.250000, 1.220000, 1.190000, 1.160000, 1.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053433, 508561 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.070000, -1.718000, 1.540069 ], "estimate": [ -2.070000, -1.718000, 1.540069 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.610000, 1.630000, 1.650000, 1.660000, 1.670000, 1.680000, 1.700000, 1.720000, 1.730000, 1.750000, 1.770000, 1.790000, 1.810000, 1.840000, 1.860000, 1.890000, 1.930000, 1.960000, 1.990000, 2.030000, 2.060000, 2.090000, 2.130000, 2.180000, 2.220000, 2.280000, 2.320000, 2.370000, 2.440000, 2.500000, 2.580000, 2.630000, 2.720000, 2.810000, 2.900000, 2.990000, 3.090000, 3.220000, 3.350000, 3.500000, 3.670000, 3.880000, 4.140000, 4.420000, 4.740000, 5.190000, 5.800000, 18.380000, 18.370000, 18.390000, 21.870000, 22.960000, 22.260000, null, 8.520000, 7.570000, 6.700000, 6.060000, 5.540000, 5.100000, 4.730000, 4.400000, 4.130000, 3.870000, 3.660000, 3.470000, 3.300000, 3.150000, 2.940000, 2.930000, 2.950000, 2.970000, 5.570000, 5.620000, 5.660000, 5.720000, 5.770000, 5.830000, 2.070000, 2.020000, 1.980000, 1.920000, 1.870000, 1.860000, 1.890000, 1.910000, 1.950000, 1.980000, 2.010000, 2.030000, 2.050000, 2.090000, 2.130000, 2.170000, 2.220000, 2.250000, 2.300000, 2.340000, 2.380000, 2.450000, 2.500000, 2.550000, 2.610000, 2.680000, 2.750000, 2.830000, 2.920000, 3.010000, 3.090000, 3.190000, 3.300000, 3.410000, 3.530000, 3.660000, 3.820000, 3.960000, 4.140000, 4.330000, 4.550000, 4.680000, 4.660000, 4.640000, 4.610000, 4.600000, 4.570000, 4.550000, 4.540000, 4.530000, 4.520000, 4.500000, 4.510000, 4.490000, 4.480000, 4.480000, 4.470000, 4.470000, 4.470000, 4.470000, 2.080000, 1.740000, 1.680000, 1.670000, 1.680000, 1.680000, 1.690000, 1.690000, 1.700000, 1.700000, 1.710000, 1.710000, 1.720000, 1.730000, 1.740000, 1.750000, 1.750000, 1.760000, 1.780000, 1.790000, 1.800000, 1.820000, 1.830000, 1.810000, 1.740000, 1.670000, 1.620000, 1.550000, 1.510000, 1.450000, 1.420000, 1.370000, 1.330000, 1.300000, 1.260000, 1.230000, 1.190000, 1.170000, 1.150000, 1.130000, 1.100000, 1.080000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053433, 517830 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.071000, -1.741000, 1.570796 ], "estimate": [ -2.071000, -1.741000, 1.570796 ], "true_pose": [ null, null, null ], "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": [ 1.640000, 1.650000, 1.670000, 1.670000, 1.690000, 1.720000, 1.740000, 1.740000, 1.770000, 1.800000, 1.810000, 1.840000, 1.860000, 1.890000, 1.920000, 1.960000, 1.980000, 2.020000, 2.060000, 2.090000, 2.130000, 2.180000, 2.220000, 2.270000, 2.320000, 2.370000, 2.440000, 2.500000, 2.570000, 2.640000, 2.710000, 2.810000, 2.930000, 2.990000, 3.100000, 3.230000, 3.360000, 3.520000, 3.690000, 3.910000, 4.170000, 4.470000, 4.810000, 5.300000, 6.000000, 18.420000, 18.420000, 18.440000, 22.320000, 22.600000, 22.300000, 16.110000, 8.560000, 7.210000, 6.490000, 5.910000, 5.420000, 5.010000, 4.660000, 4.340000, 4.080000, 3.840000, 3.630000, 3.440000, 3.290000, 3.140000, 2.960000, 2.960000, 2.960000, 3.010000, 5.620000, 5.660000, 5.720000, 5.770000, 5.830000, 5.880000, 2.090000, 2.030000, 1.990000, 1.930000, 1.890000, 1.910000, 1.930000, 1.970000, 2.000000, 2.020000, 2.050000, 2.080000, 2.130000, 2.150000, 2.190000, 2.230000, 2.270000, 2.320000, 2.360000, 2.400000, 2.460000, 2.510000, 2.560000, 2.630000, 2.690000, 2.770000, 2.840000, 2.930000, 3.010000, 3.100000, 3.190000, 3.300000, 3.410000, 3.530000, 3.650000, 3.800000, 3.950000, 4.120000, 4.290000, 4.500000, 4.720000, 4.690000, 4.680000, 4.650000, 4.620000, 4.610000, 4.590000, 4.570000, 4.550000, 4.540000, 4.530000, 4.530000, 4.510000, 4.510000, 4.510000, 4.500000, 4.490000, 4.490000, 4.490000, 1.780000, 1.750000, 1.700000, 1.690000, 1.700000, 1.700000, 1.700000, 1.710000, 1.710000, 1.720000, 1.730000, 1.740000, 1.740000, 1.750000, 1.750000, 1.760000, 1.770000, 1.780000, 1.790000, 1.800000, 1.820000, 1.830000, 1.850000, 1.760000, 1.690000, 1.630000, 1.570000, 1.530000, 1.460000, 1.420000, 1.370000, 1.330000, 1.300000, 1.260000, 1.230000, 1.200000, 1.160000, 1.150000, 1.120000, 1.080000, 1.070000, 1.050000, 1.020000, 1.010000, 0.980000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053433, 912912 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.071000, -1.735000, 1.570796 ], "estimate": [ -2.071000, -1.735000, 1.570796 ], "true_pose": [ null, null, null ], "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": [ 1.660000, 1.670000, 1.690000, 1.710000, 1.730000, 1.740000, 1.760000, 1.780000, 1.800000, 1.830000, 1.860000, 1.870000, 1.910000, 1.940000, 1.980000, 2.010000, 2.040000, 2.090000, 2.120000, 2.160000, 2.200000, 2.260000, 2.300000, 2.360000, 2.420000, 2.480000, 2.550000, 2.620000, 2.690000, 2.780000, 2.870000, 2.950000, 3.070000, 3.190000, 3.330000, 3.480000, 3.650000, 3.860000, 4.110000, 4.380000, 4.680000, 5.170000, 5.750000, 18.420000, 18.410000, 18.440000, 22.210000, 23.020000, 22.310000, null, 8.540000, 7.640000, 6.860000, 6.200000, 5.670000, 5.230000, 4.850000, 4.510000, 4.220000, 3.970000, 3.740000, 3.550000, 3.370000, 3.210000, 3.030000, 2.980000, 2.980000, 3.020000, 5.620000, 5.670000, 5.720000, 5.770000, 5.830000, 5.870000, 2.120000, 2.080000, 2.020000, 1.960000, 1.910000, 1.920000, 1.940000, 1.970000, 2.000000, 2.030000, 2.060000, 2.090000, 2.130000, 2.150000, 2.190000, 2.230000, 2.270000, 2.320000, 2.360000, 2.410000, 2.460000, 2.510000, 2.560000, 2.620000, 2.690000, 2.760000, 2.840000, 2.930000, 3.010000, 3.100000, 3.180000, 3.290000, 3.390000, 3.520000, 3.650000, 3.780000, 3.930000, 4.090000, 4.270000, 4.480000, 4.720000, 4.710000, 4.680000, 4.670000, 4.640000, 4.610000, 4.600000, 4.590000, 4.570000, 4.550000, 4.540000, 4.540000, 4.520000, 4.520000, 4.510000, 4.510000, 4.500000, 4.500000, 4.500000, 2.010000, 1.750000, 1.700000, 1.700000, 1.710000, 1.710000, 1.710000, 1.720000, 1.720000, 1.730000, 1.730000, 1.740000, 1.750000, 1.750000, 1.750000, 1.760000, 1.770000, 1.780000, 1.800000, 1.810000, 1.820000, 1.830000, 1.870000, 1.790000, 1.720000, 1.660000, 1.600000, 1.540000, 1.480000, 1.430000, 1.390000, 1.350000, 1.310000, 1.270000, 1.240000, 1.190000, 1.170000, 1.150000, 1.120000, 1.090000, 1.070000, 1.040000, 1.030000, 1.010000, 1.010000, 0.990000, 1.040000 ], "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, 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 ], "timestamp": [ 976053433, 974645 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.071000, -1.730000, 1.567109 ], "estimate": [ -2.071000, -1.730000, 1.567109 ], "true_pose": [ null, null, null ], "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": [ 1.660000, 1.680000, 1.690000, 1.710000, 1.730000, 1.740000, 1.760000, 1.780000, 1.800000, 1.830000, 1.850000, 1.870000, 1.910000, 1.940000, 1.980000, 2.010000, 2.040000, 2.090000, 2.110000, 2.160000, 2.200000, 2.250000, 2.300000, 2.350000, 2.410000, 2.470000, 2.540000, 2.620000, 2.690000, 2.770000, 2.860000, 2.940000, 3.060000, 3.170000, 3.330000, 3.460000, 3.620000, 3.810000, 4.070000, 4.340000, 4.660000, 5.110000, 5.630000, 6.570000, 18.430000, 18.430000, 22.210000, 21.610000, 22.300000, 22.290000, 8.620000, 7.730000, 6.910000, 6.240000, 5.700000, 5.250000, 4.870000, 4.530000, 4.240000, 3.970000, 3.750000, 3.550000, 3.380000, 3.210000, 3.070000, 2.960000, 2.970000, 3.010000, 3.040000, 5.640000, 5.700000, 5.750000, 5.800000, 5.870000, 2.120000, 2.070000, 2.010000, 1.960000, 1.900000, 1.910000, 1.930000, 1.960000, 1.990000, 2.010000, 2.040000, 2.080000, 2.110000, 2.130000, 2.170000, 2.220000, 2.250000, 2.300000, 2.340000, 2.390000, 2.440000, 2.500000, 2.540000, 2.610000, 2.660000, 2.740000, 2.810000, 2.900000, 2.970000, 3.070000, 3.150000, 3.260000, 3.360000, 3.490000, 3.600000, 3.740000, 3.880000, 4.050000, 4.220000, 4.410000, 4.630000, 4.710000, 4.680000, 4.660000, 4.640000, 4.610000, 4.600000, 4.580000, 4.560000, 4.540000, 4.540000, 4.530000, 4.530000, 4.520000, 4.510000, 4.500000, 4.500000, 4.490000, 4.480000, 2.920000, 1.750000, 1.700000, 1.700000, 1.700000, 1.700000, 1.700000, 1.710000, 1.710000, 1.720000, 1.730000, 1.730000, 1.740000, 1.750000, 1.750000, 1.750000, 1.760000, 1.780000, 1.790000, 1.800000, 1.810000, 1.820000, 1.840000, 1.820000, 1.740000, 1.680000, 1.610000, 1.550000, 1.500000, 1.450000, 1.400000, 1.360000, 1.320000, 1.280000, 1.250000, 1.210000, 1.180000, 1.160000, 1.140000, 1.110000, 1.070000, 1.050000, 1.030000, 1.010000, 1.000000, 1.000000, 1.040000 ], "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": [ 976053434, 117542 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.071000, -1.730000, 1.564651 ], "estimate": [ -2.071000, -1.730000, 1.564651 ], "true_pose": [ null, null, null ], "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": [ 1.660000, 1.680000, 1.690000, 1.710000, 1.720000, 1.740000, 1.760000, 1.780000, 1.800000, 1.830000, 1.850000, 1.870000, 1.900000, 1.940000, 1.970000, 2.000000, 2.040000, 2.080000, 2.110000, 2.150000, 2.200000, 2.250000, 2.290000, 2.350000, 2.410000, 2.470000, 2.540000, 2.610000, 2.690000, 2.770000, 2.850000, 2.930000, 3.050000, 3.170000, 3.310000, 3.440000, 3.600000, 3.770000, 4.050000, 4.320000, 4.630000, 5.070000, 5.620000, 6.560000, 18.410000, 18.440000, 22.200000, 21.610000, 22.300000, 22.300000, 8.830000, 7.900000, 6.990000, 6.310000, 5.760000, 5.280000, 4.910000, 4.550000, 4.250000, 3.990000, 3.780000, 3.570000, 3.400000, 3.230000, 3.090000, 2.970000, 2.960000, 2.980000, 3.040000, 5.640000, 5.700000, 5.750000, 5.800000, 5.860000, 2.110000, 2.080000, 2.020000, 1.970000, 1.910000, 1.890000, 1.930000, 1.960000, 1.990000, 2.010000, 2.040000, 2.070000, 2.110000, 2.130000, 2.170000, 2.220000, 2.250000, 2.300000, 2.340000, 2.380000, 2.430000, 2.490000, 2.550000, 2.600000, 2.660000, 2.730000, 2.810000, 2.890000, 2.970000, 3.060000, 3.150000, 3.250000, 3.350000, 3.470000, 3.590000, 3.730000, 3.880000, 4.040000, 4.200000, 4.400000, 4.610000, 4.710000, 4.680000, 4.670000, 4.640000, 4.620000, 4.600000, 4.570000, 4.560000, 4.540000, 4.540000, 4.530000, 4.520000, 4.510000, 4.510000, 4.500000, 4.500000, 4.490000, 4.480000, 4.480000, 1.760000, 1.710000, 1.700000, 1.700000, 1.700000, 1.700000, 1.710000, 1.710000, 1.720000, 1.730000, 1.730000, 1.740000, 1.750000, 1.750000, 1.750000, 1.760000, 1.770000, 1.780000, 1.800000, 1.810000, 1.820000, 1.830000, 1.830000, 1.760000, 1.690000, 1.620000, 1.560000, 1.500000, 1.450000, 1.410000, 1.360000, 1.320000, 1.290000, 1.250000, 1.220000, 1.190000, 1.160000, 1.130000, 1.110000, 1.070000, 1.070000, 1.030000, 1.010000, 1.010000, 0.990000, 1.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053434, 460986 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.071000, -1.730000, 1.552360 ], "estimate": [ -2.071000, -1.730000, 1.552360 ], "true_pose": [ null, null, null ], "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": [ 1.660000, 1.670000, 1.690000, 1.690000, 1.720000, 1.740000, 1.760000, 1.770000, 1.800000, 1.820000, 1.850000, 1.860000, 1.900000, 1.930000, 1.960000, 1.990000, 2.030000, 2.070000, 2.100000, 2.140000, 2.190000, 2.240000, 2.290000, 2.340000, 2.390000, 2.460000, 2.520000, 2.590000, 2.660000, 2.740000, 2.830000, 2.930000, 3.010000, 3.130000, 3.260000, 3.390000, 3.560000, 3.780000, 3.980000, 4.210000, 4.540000, 4.940000, 5.430000, 6.230000, 18.420000, 18.430000, 22.210000, 22.250000, 22.690000, 22.300000, 16.120000, 8.550000, 7.210000, 6.490000, 5.900000, 5.430000, 5.020000, 4.660000, 4.350000, 4.090000, 3.850000, 3.640000, 3.450000, 3.280000, 3.140000, 2.960000, 2.980000, 2.970000, 3.020000, 5.630000, 5.690000, 5.740000, 5.780000, 5.840000, 5.890000, 2.090000, 2.040000, 1.990000, 1.930000, 1.890000, 1.920000, 1.950000, 1.980000, 2.010000, 2.030000, 2.060000, 2.100000, 2.130000, 2.160000, 2.210000, 2.240000, 2.280000, 2.330000, 2.370000, 2.420000, 2.470000, 2.520000, 2.580000, 2.650000, 2.710000, 2.790000, 2.860000, 2.940000, 3.040000, 3.130000, 3.220000, 3.320000, 3.430000, 3.560000, 3.700000, 3.840000, 3.990000, 4.160000, 4.340000, 4.540000, 4.720000, 4.690000, 4.670000, 4.650000, 4.620000, 4.610000, 4.590000, 4.570000, 4.550000, 4.540000, 4.540000, 4.530000, 4.520000, 4.510000, 4.510000, 4.500000, 4.490000, 4.480000, 4.490000, 1.770000, 1.750000, 1.690000, 1.700000, 1.700000, 1.700000, 1.700000, 1.710000, 1.720000, 1.730000, 1.730000, 1.730000, 1.740000, 1.750000, 1.750000, 1.760000, 1.770000, 1.780000, 1.800000, 1.810000, 1.820000, 1.830000, 1.850000, 1.770000, 1.700000, 1.640000, 1.580000, 1.520000, 1.470000, 1.420000, 1.370000, 1.340000, 1.300000, 1.260000, 1.230000, 1.200000, 1.170000, 1.140000, 1.120000, 1.080000, 1.070000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053434, 534764 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.071000, -1.731000, 1.527778 ], "estimate": [ -2.071000, -1.731000, 1.527778 ], "true_pose": [ null, null, null ], "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": [ 1.640000, 1.650000, 1.670000, 1.680000, 1.690000, 1.720000, 1.740000, 1.750000, 1.770000, 1.800000, 1.820000, 1.840000, 1.860000, 1.890000, 1.920000, 1.960000, 1.990000, 2.020000, 2.060000, 2.100000, 2.130000, 2.190000, 2.230000, 2.280000, 2.330000, 2.380000, 2.450000, 2.510000, 2.580000, 2.650000, 2.720000, 2.820000, 2.930000, 3.000000, 3.120000, 3.240000, 3.380000, 3.540000, 3.720000, 3.950000, 4.200000, 4.510000, 4.890000, 5.380000, 6.120000, 18.410000, 18.420000, 22.030000, 21.610000, 22.970000, 22.290000, 16.110000, 8.560000, 7.350000, 6.610000, 5.990000, 5.480000, 5.060000, 4.700000, 4.390000, 4.120000, 3.870000, 3.680000, 3.480000, 3.320000, 3.160000, 2.960000, 2.970000, 2.970000, 3.010000, 5.630000, 5.680000, 5.730000, 5.780000, 5.840000, 5.890000, 2.090000, 2.050000, 2.000000, 1.930000, 1.900000, 1.910000, 1.940000, 1.970000, 2.010000, 2.030000, 2.060000, 2.090000, 2.130000, 2.150000, 2.200000, 2.230000, 2.280000, 2.330000, 2.360000, 2.410000, 2.470000, 2.520000, 2.590000, 2.640000, 2.700000, 2.780000, 2.850000, 2.930000, 3.030000, 3.110000, 3.210000, 3.310000, 3.430000, 3.550000, 3.670000, 3.820000, 3.960000, 4.130000, 4.320000, 4.530000, 4.720000, 4.700000, 4.680000, 4.660000, 4.630000, 4.610000, 4.590000, 4.580000, 4.560000, 4.540000, 4.540000, 4.530000, 4.520000, 4.510000, 4.510000, 4.490000, 4.490000, 4.490000, 4.490000, 1.850000, 1.760000, 1.700000, 1.700000, 1.700000, 1.700000, 1.710000, 1.710000, 1.720000, 1.730000, 1.730000, 1.740000, 1.740000, 1.750000, 1.750000, 1.760000, 1.770000, 1.780000, 1.800000, 1.810000, 1.820000, 1.830000, 1.870000, 1.790000, 1.710000, 1.660000, 1.590000, 1.540000, 1.480000, 1.430000, 1.390000, 1.350000, 1.310000, 1.270000, 1.240000, 1.200000, 1.170000, 1.160000, 1.120000, 1.090000, 1.070000, 1.050000, 1.020000, 1.010000, 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": [ 976053434, 867398 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.071000, -1.731000, 1.490904 ], "estimate": [ -2.071000, -1.731000, 1.490904 ], "true_pose": [ null, null, null ], "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": [ 1.600000, 1.610000, 1.640000, 1.660000, 1.660000, 1.680000, 1.700000, 1.720000, 1.730000, 1.750000, 1.780000, 1.790000, 1.810000, 1.850000, 1.860000, 1.900000, 1.930000, 1.970000, 1.990000, 2.030000, 2.070000, 2.100000, 2.140000, 2.200000, 2.240000, 2.280000, 2.340000, 2.400000, 2.460000, 2.520000, 2.600000, 2.680000, 2.760000, 2.850000, 2.910000, 3.030000, 3.160000, 3.280000, 3.420000, 3.590000, 3.780000, 4.020000, 4.290000, 4.600000, 5.010000, 5.570000, 6.520000, 18.410000, 18.420000, 22.180000, 21.630000, 22.330000, 22.290000, 16.110000, 8.560000, 7.120000, 6.420000, 5.840000, 5.370000, 4.980000, 4.620000, 4.320000, 4.060000, 3.820000, 3.630000, 3.440000, 3.270000, 3.130000, 2.960000, 2.980000, 2.980000, 3.040000, 5.640000, 5.690000, 5.750000, 5.790000, 5.850000, 2.140000, 2.090000, 2.030000, 1.980000, 1.920000, 1.900000, 1.920000, 1.950000, 1.980000, 2.010000, 2.030000, 2.070000, 2.100000, 2.130000, 2.160000, 2.210000, 2.250000, 2.290000, 2.340000, 2.380000, 2.420000, 2.480000, 2.530000, 2.590000, 2.660000, 2.730000, 2.800000, 2.880000, 2.960000, 3.050000, 3.140000, 3.240000, 3.330000, 3.460000, 3.580000, 3.710000, 3.850000, 4.010000, 4.190000, 4.380000, 4.600000, 4.720000, 4.690000, 4.680000, 4.650000, 4.620000, 4.610000, 4.590000, 4.570000, 4.550000, 4.540000, 4.530000, 4.520000, 4.520000, 4.510000, 4.500000, 4.490000, 4.500000, 4.490000, 4.490000, 1.770000, 1.750000, 1.700000, 1.700000, 1.710000, 1.710000, 1.710000, 1.720000, 1.730000, 1.730000, 1.730000, 1.740000, 1.750000, 1.750000, 1.760000, 1.770000, 1.780000, 1.790000, 1.810000, 1.820000, 1.820000, 1.840000, 1.850000, 1.770000, 1.710000, 1.640000, 1.580000, 1.530000, 1.460000, 1.420000, 1.370000, 1.340000, 1.310000, 1.260000, 1.230000, 1.190000, 1.170000, 1.150000, 1.120000, 1.080000, 1.070000, 1.050000, 1.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053434, 954650 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.071000, -1.731000, 1.447886 ], "estimate": [ -2.071000, -1.731000, 1.447886 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.580000, 1.590000, 1.600000, 1.620000, 1.640000, 1.650000, 1.660000, 1.680000, 1.700000, 1.710000, 1.730000, 1.750000, 1.770000, 1.790000, 1.810000, 1.840000, 1.860000, 1.890000, 1.930000, 1.960000, 1.990000, 2.030000, 2.070000, 2.100000, 2.140000, 2.200000, 2.240000, 2.280000, 2.340000, 2.390000, 2.470000, 2.520000, 2.590000, 2.670000, 2.750000, 2.850000, 2.920000, 3.020000, 3.150000, 3.270000, 3.420000, 3.580000, 3.780000, 4.020000, 4.290000, 4.590000, 5.010000, 5.570000, 6.520000, 18.400000, 18.420000, 22.160000, 21.610000, 22.320000, 22.270000, 16.110000, 8.560000, 7.130000, 6.420000, 5.840000, 5.370000, 4.980000, 4.630000, 4.330000, 4.070000, 3.840000, 3.620000, 3.440000, 3.280000, 3.120000, 2.960000, 2.970000, 2.970000, 3.020000, 5.630000, 5.690000, 5.740000, 5.790000, 5.850000, 5.910000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.910000, 1.940000, 1.980000, 2.010000, 2.030000, 2.060000, 2.100000, 2.130000, 2.160000, 2.210000, 2.240000, 2.290000, 2.320000, 2.370000, 2.420000, 2.480000, 2.520000, 2.590000, 2.650000, 2.720000, 2.800000, 2.870000, 2.950000, 3.050000, 3.130000, 3.230000, 3.330000, 3.450000, 3.570000, 3.710000, 3.840000, 4.010000, 4.180000, 4.370000, 4.590000, 4.720000, 4.690000, 4.680000, 4.650000, 4.630000, 4.610000, 4.600000, 4.570000, 4.560000, 4.550000, 4.540000, 4.520000, 4.520000, 4.510000, 4.500000, 4.510000, 4.500000, 4.490000, 4.490000, 1.790000, 1.760000, 1.700000, 1.700000, 1.710000, 1.710000, 1.720000, 1.720000, 1.720000, 1.730000, 1.740000, 1.740000, 1.750000, 1.750000, 1.760000, 1.770000, 1.780000, 1.800000, 1.810000, 1.820000, 1.820000, 1.840000, 1.860000, 1.780000, 1.710000, 1.640000, 1.590000, 1.530000, 1.470000, 1.430000, 1.380000, 1.340000, 1.310000, 1.270000, 1.240000, 1.200000, 1.170000, 1.160000, 1.120000, 1.080000, 1.070000 ], "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": [ 976053435, 154793 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.071000, -1.732000, 1.380285 ], "estimate": [ -2.071000, -1.732000, 1.380285 ], "true_pose": [ null, null, null ], "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": [ 1.600000, 1.570000, 1.580000, 1.580000, 1.590000, 1.600000, 1.620000, 1.630000, 1.650000, 1.670000, 1.680000, 1.690000, 1.710000, 1.720000, 1.740000, 1.770000, 1.790000, 1.810000, 1.850000, 1.860000, 1.900000, 1.930000, 1.970000, 2.000000, 2.030000, 2.070000, 2.100000, 2.150000, 2.200000, 2.250000, 2.290000, 2.350000, 2.410000, 2.480000, 2.540000, 2.610000, 2.690000, 2.780000, 2.860000, 2.940000, 3.060000, 3.180000, 3.330000, 3.450000, 3.620000, 3.830000, 4.080000, 4.370000, 4.650000, 5.140000, 5.670000, null, 18.400000, 18.420000, 22.110000, 23.010000, 22.290000, null, 8.810000, 8.110000, 7.010000, 6.330000, 5.780000, 5.310000, 4.920000, 4.590000, 4.280000, 4.030000, 3.790000, 3.600000, 3.410000, 3.250000, 3.120000, 2.960000, 2.970000, 2.980000, 3.010000, 5.640000, 5.710000, 5.750000, 5.790000, 5.870000, 5.930000, 2.080000, 2.030000, 1.990000, 1.930000, 1.900000, 1.920000, 1.950000, 1.980000, 2.010000, 2.030000, 2.060000, 2.100000, 2.130000, 2.170000, 2.210000, 2.250000, 2.300000, 2.330000, 2.380000, 2.430000, 2.490000, 2.530000, 2.600000, 2.660000, 2.730000, 2.810000, 2.890000, 2.970000, 3.050000, 3.150000, 3.240000, 3.350000, 3.480000, 3.600000, 3.730000, 3.870000, 4.050000, 4.220000, 4.420000, 4.640000, 4.720000, 4.700000, 4.680000, 4.650000, 4.630000, 4.610000, 4.590000, 4.580000, 4.560000, 4.550000, 4.540000, 4.530000, 4.520000, 4.510000, 4.510000, 4.510000, 4.500000, 4.500000, 4.500000, 1.790000, 1.760000, 1.710000, 1.710000, 1.710000, 1.720000, 1.720000, 1.720000, 1.730000, 1.740000, 1.740000, 1.750000, 1.750000, 1.750000, 1.770000, 1.780000, 1.790000, 1.800000, 1.810000, 1.820000, 1.830000, 1.840000, 1.860000, 1.780000, 1.710000, 1.650000, 1.590000, 1.530000, 1.480000, 1.440000, 1.380000, 1.340000, 1.310000, 1.270000, 1.240000, 1.200000, 1.180000, 1.170000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053435, 540285 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.070000, -1.729000, 1.275811 ], "estimate": [ -2.070000, -1.729000, 1.275811 ], "true_pose": [ null, null, null ], "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": [ 1.790000, 1.740000, 1.700000, 1.660000, 1.630000, 1.590000, 1.570000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.690000, 1.710000, 1.730000, 1.730000, 1.760000, 1.790000, 1.810000, 1.840000, 1.860000, 1.890000, 1.930000, 1.970000, 1.990000, 2.020000, 2.060000, 2.100000, 2.150000, 2.200000, 2.240000, 2.300000, 2.350000, 2.410000, 2.480000, 2.540000, 2.610000, 2.690000, 2.780000, 2.870000, 2.950000, 3.070000, 3.180000, 3.310000, 3.460000, 3.640000, 3.830000, 4.100000, 4.380000, 4.700000, 5.170000, 5.820000, null, 18.390000, 18.410000, 21.990000, 22.990000, 22.280000, null, 16.080000, 8.540000, 7.070000, 6.380000, 5.810000, 5.340000, 4.960000, 4.610000, 4.320000, 4.070000, 3.820000, 3.630000, 3.440000, 3.270000, 3.140000, 2.960000, 2.970000, 2.970000, 3.000000, 5.640000, 5.700000, 5.750000, 5.800000, 5.860000, 5.920000, 2.090000, 2.050000, 2.000000, 1.930000, 1.890000, 1.910000, 1.940000, 1.970000, 2.000000, 2.030000, 2.060000, 2.090000, 2.120000, 2.160000, 2.210000, 2.240000, 2.280000, 2.320000, 2.380000, 2.420000, 2.470000, 2.520000, 2.590000, 2.660000, 2.730000, 2.810000, 2.880000, 2.950000, 3.050000, 3.150000, 3.240000, 3.350000, 3.470000, 3.600000, 3.730000, 3.880000, 4.050000, 4.220000, 4.420000, 4.650000, 4.730000, 4.700000, 4.680000, 4.660000, 4.640000, 4.610000, 4.610000, 4.590000, 4.570000, 4.550000, 4.540000, 4.530000, 4.520000, 4.520000, 4.510000, 4.500000, 4.510000, 4.500000, 4.500000, 2.070000, 1.760000, 1.710000, 1.710000, 1.720000, 1.720000, 1.730000, 1.730000, 1.730000, 1.740000, 1.750000, 1.750000, 1.750000, 1.760000, 1.770000, 1.780000, 1.800000, 1.800000, 1.820000, 1.820000, 1.830000, 1.860000, 1.880000, 1.810000, 1.740000, 1.670000, 1.610000, 1.550000, 1.500000, 1.450000, 1.410000, 1.360000, 1.320000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053435, 541491 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.071000, -1.729000, 1.146755 ], "estimate": [ -2.071000, -1.729000, 1.146755 ], "true_pose": [ null, null, null ], "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": [ 2.190000, 2.110000, 2.040000, 1.980000, 1.940000, 1.870000, 1.830000, 1.780000, 1.730000, 1.700000, 1.650000, 1.630000, 1.590000, 1.550000, 1.560000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.640000, 1.660000, 1.670000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.790000, 1.810000, 1.850000, 1.870000, 1.900000, 1.930000, 1.970000, 2.000000, 2.040000, 2.080000, 2.120000, 2.170000, 2.220000, 2.260000, 2.320000, 2.370000, 2.430000, 2.480000, 2.570000, 2.650000, 2.720000, 2.810000, 2.900000, 3.010000, 3.120000, 3.250000, 3.380000, 3.540000, 3.760000, 3.970000, 4.230000, 4.560000, 4.980000, 5.510000, 6.500000, 18.390000, 18.400000, 19.570000, 21.590000, 22.960000, 22.270000, 16.090000, 8.540000, 7.490000, 6.660000, 6.060000, 5.550000, 5.130000, 4.780000, 4.460000, 4.180000, 3.950000, 3.740000, 3.530000, 3.360000, 3.220000, 3.070000, 2.950000, 2.960000, 2.990000, 5.620000, 5.660000, 5.720000, 5.760000, 5.830000, 5.890000, 5.950000, 2.080000, 2.030000, 1.980000, 1.920000, 1.880000, 1.910000, 1.940000, 1.970000, 2.000000, 2.030000, 2.050000, 2.100000, 2.130000, 2.170000, 2.210000, 2.240000, 2.290000, 2.340000, 2.390000, 2.430000, 2.490000, 2.550000, 2.610000, 2.680000, 2.750000, 2.830000, 2.920000, 2.990000, 3.080000, 3.180000, 3.290000, 3.410000, 3.520000, 3.650000, 3.800000, 3.950000, 4.120000, 4.320000, 4.530000, 4.750000, 4.720000, 4.700000, 4.680000, 4.650000, 4.630000, 4.610000, 4.590000, 4.580000, 4.570000, 4.550000, 4.540000, 4.530000, 4.530000, 4.530000, 4.520000, 4.520000, 4.510000, 4.510000, 4.510000, 1.810000, 1.780000, 1.720000, 1.730000, 1.730000, 1.730000, 1.740000, 1.740000, 1.740000, 1.750000, 1.750000, 1.760000, 1.770000, 1.780000, 1.790000, 1.800000, 1.810000, 1.820000, 1.820000, 1.840000, 1.850000, 1.870000, 1.870000, 1.790000, 1.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053435, 718361 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.070000, -1.729000, 1.103737 ], "estimate": [ -2.070000, -1.729000, 1.103737 ], "true_pose": [ null, null, null ], "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": [ 2.650000, 2.560000, 2.460000, 2.360000, 2.280000, 2.200000, 2.130000, 2.060000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.750000, 1.710000, 1.660000, 1.630000, 1.600000, 1.550000, 1.540000, 1.540000, 1.550000, 1.570000, 1.560000, 1.570000, 1.590000, 1.610000, 1.630000, 1.650000, 1.660000, 1.680000, 1.700000, 1.710000, 1.730000, 1.760000, 1.790000, 1.800000, 1.840000, 1.870000, 1.890000, 1.930000, 1.970000, 1.990000, 2.040000, 2.080000, 2.120000, 2.170000, 2.210000, 2.250000, 2.320000, 2.370000, 2.430000, 2.490000, 2.570000, 2.650000, 2.720000, 2.810000, 2.890000, 3.010000, 3.130000, 3.270000, 3.400000, 3.550000, 3.730000, 4.010000, 4.290000, 4.610000, 5.060000, 5.590000, 6.540000, 18.380000, 18.400000, 21.940000, 22.960000, 22.250000, null, 8.610000, 7.780000, 6.950000, 6.280000, 5.760000, 5.290000, 4.920000, 4.590000, 4.300000, 4.040000, 3.820000, 3.620000, 3.440000, 3.280000, 3.130000, 2.960000, 2.950000, 2.960000, 2.990000, 5.620000, 5.670000, 5.730000, 5.770000, 5.840000, 5.890000, 2.100000, 2.060000, 2.010000, 1.950000, 1.900000, 1.890000, 1.920000, 1.940000, 1.980000, 2.000000, 2.020000, 2.060000, 2.090000, 2.130000, 2.170000, 2.210000, 2.250000, 2.300000, 2.340000, 2.380000, 2.440000, 2.500000, 2.560000, 2.630000, 2.690000, 2.770000, 2.850000, 2.920000, 3.010000, 3.110000, 3.200000, 3.310000, 3.420000, 3.550000, 3.690000, 3.840000, 3.990000, 4.180000, 4.360000, 4.590000, 4.740000, 4.710000, 4.690000, 4.670000, 4.640000, 4.620000, 4.610000, 4.590000, 4.580000, 4.560000, 4.550000, 4.540000, 4.540000, 4.530000, 4.530000, 4.520000, 4.520000, 4.520000, 4.520000, 2.280000, 1.780000, 1.730000, 1.730000, 1.730000, 1.740000, 1.740000, 1.740000, 1.750000, 1.750000, 1.750000, 1.760000, 1.770000, 1.780000, 1.790000, 1.800000, 1.800000, 1.820000, 1.830000, 1.840000 ], "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, 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 ], "timestamp": [ 976053436, 114774 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.070000, -1.729000, 1.091445 ], "estimate": [ -2.070000, -1.729000, 1.091445 ], "true_pose": [ null, null, null ], "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": [ 2.690000, 2.580000, 2.480000, 2.380000, 2.310000, 2.220000, 2.150000, 2.090000, 2.010000, 1.960000, 1.900000, 1.850000, 1.800000, 1.750000, 1.710000, 1.680000, 1.640000, 1.610000, 1.570000, 1.550000, 1.540000, 1.540000, 1.560000, 1.560000, 1.570000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.670000, 1.690000, 1.710000, 1.720000, 1.750000, 1.780000, 1.790000, 1.830000, 1.860000, 1.880000, 1.920000, 1.950000, 1.980000, 2.020000, 2.060000, 2.110000, 2.150000, 2.200000, 2.230000, 2.300000, 2.350000, 2.410000, 2.470000, 2.540000, 2.620000, 2.700000, 2.790000, 2.890000, 2.980000, 3.090000, 3.210000, 3.350000, 3.500000, 3.680000, 3.910000, 4.160000, 4.500000, 4.900000, 5.400000, 6.280000, 18.370000, 18.400000, 19.550000, 21.600000, 22.270000, 22.250000, 16.080000, 8.520000, 7.180000, 6.470000, 5.900000, 5.420000, 5.040000, 4.680000, 4.380000, 4.130000, 3.890000, 3.690000, 3.500000, 3.330000, 3.190000, 2.960000, 2.940000, 2.960000, 2.990000, 3.060000, 5.650000, 5.710000, 5.760000, 5.820000, 5.870000, 2.120000, 2.080000, 2.020000, 1.970000, 1.920000, 1.890000, 1.900000, 1.930000, 1.970000, 1.990000, 2.010000, 2.050000, 2.080000, 2.120000, 2.150000, 2.190000, 2.230000, 2.280000, 2.320000, 2.370000, 2.420000, 2.480000, 2.540000, 2.600000, 2.670000, 2.740000, 2.820000, 2.900000, 2.980000, 3.070000, 3.160000, 3.280000, 3.390000, 3.510000, 3.650000, 3.790000, 3.950000, 4.110000, 4.310000, 4.520000, 4.750000, 4.720000, 4.690000, 4.670000, 4.650000, 4.630000, 4.610000, 4.600000, 4.580000, 4.570000, 4.560000, 4.540000, 4.540000, 4.530000, 4.530000, 4.530000, 4.520000, 4.520000, 4.520000, 2.750000, 1.790000, 1.750000, 1.730000, 1.740000, 1.740000, 1.740000, 1.750000, 1.750000, 1.750000, 1.750000, 1.760000, 1.770000, 1.780000, 1.790000, 1.800000, 1.810000, 1.820000, 1.820000, 1.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053436, 117887 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.070000, -1.729000, 1.048427 ], "estimate": [ -2.070000, -1.729000, 1.048427 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.920000, 2.780000, 2.670000, 2.560000, 2.470000, 2.370000, 2.290000, 2.200000, 2.140000, 2.070000, 2.010000, 1.950000, 1.880000, 1.850000, 1.780000, 1.750000, 1.710000, 1.660000, 1.630000, 1.590000, 1.550000, 1.530000, 1.540000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.670000, 1.700000, 1.710000, 1.730000, 1.750000, 1.780000, 1.800000, 1.830000, 1.860000, 1.890000, 1.920000, 1.960000, 1.990000, 2.020000, 2.060000, 2.110000, 2.140000, 2.210000, 2.240000, 2.300000, 2.370000, 2.420000, 2.480000, 2.550000, 2.630000, 2.710000, 2.800000, 2.890000, 2.990000, 3.110000, 3.240000, 3.370000, 3.530000, 3.750000, 3.970000, 4.240000, 4.550000, 4.990000, 5.550000, 6.520000, 18.370000, 18.410000, 21.970000, 22.970000, 22.260000, 22.250000, 16.080000, 8.520000, 7.130000, 6.430000, 5.870000, 5.400000, 5.010000, 4.670000, 4.370000, 4.100000, 3.880000, 3.660000, 3.480000, 3.330000, 3.180000, 2.970000, 2.950000, 2.960000, 2.980000, 5.610000, 5.660000, 5.720000, 5.770000, 5.830000, 5.890000, 2.110000, 2.070000, 2.020000, 1.970000, 1.910000, 1.880000, 1.900000, 1.940000, 1.970000, 1.990000, 2.020000, 2.050000, 2.090000, 2.130000, 2.150000, 2.200000, 2.240000, 2.290000, 2.340000, 2.380000, 2.430000, 2.500000, 2.550000, 2.610000, 2.680000, 2.750000, 2.830000, 2.910000, 3.000000, 3.100000, 3.180000, 3.310000, 3.420000, 3.540000, 3.670000, 3.820000, 3.980000, 4.150000, 4.340000, 4.560000, 4.750000, 4.720000, 4.690000, 4.680000, 4.660000, 4.630000, 4.610000, 4.600000, 4.590000, 4.570000, 4.550000, 4.540000, 4.540000, 4.530000, 4.530000, 4.530000, 4.530000, 4.520000, 4.520000, 2.610000, 1.800000, 1.740000, 1.730000, 1.740000, 1.740000, 1.740000, 1.750000, 1.750000, 1.750000, 1.760000, 1.760000, 1.770000, 1.780000, 1.790000, 1.800000, 1.810000, 1.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053436, 567204 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.069000, -1.727000, 1.017699 ], "estimate": [ -2.069000, -1.727000, 1.017699 ], "true_pose": [ null, null, null ], "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": [ 3.210000, 3.050000, 2.910000, 2.780000, 2.650000, 2.550000, 2.450000, 2.350000, 2.280000, 2.190000, 2.120000, 2.070000, 2.000000, 1.940000, 1.880000, 1.840000, 1.780000, 1.730000, 1.700000, 1.660000, 1.620000, 1.590000, 1.550000, 1.530000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.670000, 1.690000, 1.720000, 1.730000, 1.760000, 1.770000, 1.800000, 1.820000, 1.860000, 1.890000, 1.910000, 1.950000, 1.990000, 2.020000, 2.060000, 2.110000, 2.150000, 2.200000, 2.240000, 2.300000, 2.360000, 2.410000, 2.480000, 2.550000, 2.630000, 2.710000, 2.790000, 2.880000, 3.000000, 3.110000, 3.240000, 3.370000, 3.530000, 3.740000, 3.970000, 4.240000, 4.570000, 4.990000, 5.560000, 6.510000, 18.380000, 18.400000, 21.960000, 22.980000, 22.260000, null, 16.090000, 8.520000, 7.040000, 6.360000, 5.830000, 5.360000, 4.980000, 4.650000, 4.350000, 4.080000, 3.860000, 3.650000, 3.480000, 3.310000, 3.170000, 2.980000, 2.950000, 2.960000, 2.990000, 5.620000, 5.660000, 5.720000, 5.770000, 5.830000, 5.880000, 2.110000, 2.080000, 2.020000, 1.970000, 1.910000, 1.890000, 1.910000, 1.940000, 1.960000, 1.990000, 2.020000, 2.050000, 2.090000, 2.130000, 2.160000, 2.200000, 2.240000, 2.290000, 2.340000, 2.380000, 2.440000, 2.490000, 2.550000, 2.610000, 2.680000, 2.750000, 2.830000, 2.920000, 3.000000, 3.100000, 3.190000, 3.310000, 3.420000, 3.550000, 3.660000, 3.820000, 3.970000, 4.150000, 4.350000, 4.570000, 4.750000, 4.720000, 4.690000, 4.680000, 4.650000, 4.630000, 4.610000, 4.600000, 4.580000, 4.570000, 4.550000, 4.540000, 4.540000, 4.540000, 4.540000, 4.530000, 4.530000, 4.530000, 4.520000, 2.400000, 1.800000, 1.750000, 1.730000, 1.740000, 1.750000, 1.750000, 1.750000, 1.750000, 1.750000, 1.760000, 1.770000, 1.780000, 1.780000, 1.790000, 1.800000 ], "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, 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 ], "timestamp": [ 976053436, 568459 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.063000, -1.717000, 0.999262 ], "estimate": [ -2.063000, -1.717000, 0.999262 ], "true_pose": [ null, null, null ], "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": [ 3.450000, 3.240000, 3.070000, 2.920000, 2.790000, 2.670000, 2.560000, 2.460000, 2.370000, 2.280000, 2.200000, 2.130000, 2.070000, 2.010000, 1.950000, 1.890000, 1.840000, 1.780000, 1.740000, 1.700000, 1.660000, 1.620000, 1.590000, 1.550000, 1.530000, 1.530000, 1.540000, 1.550000, 1.560000, 1.560000, 1.580000, 1.590000, 1.610000, 1.630000, 1.650000, 1.660000, 1.680000, 1.700000, 1.730000, 1.740000, 1.770000, 1.790000, 1.810000, 1.850000, 1.870000, 1.910000, 1.940000, 1.980000, 2.000000, 2.050000, 2.090000, 2.140000, 2.180000, 2.220000, 2.280000, 2.340000, 2.390000, 2.460000, 2.520000, 2.600000, 2.680000, 2.770000, 2.870000, 2.950000, 3.070000, 3.190000, 3.320000, 3.480000, 3.660000, 3.890000, 4.140000, 4.460000, 4.860000, 5.360000, 6.160000, 18.380000, 18.380000, 21.950000, 21.610000, 22.280000, 22.250000, 16.080000, 8.510000, 7.260000, 6.540000, 5.960000, 5.480000, 5.090000, 4.730000, 4.420000, 4.150000, 3.920000, 3.710000, 3.510000, 3.340000, 3.200000, 3.060000, 2.940000, 2.940000, 2.960000, 3.000000, 5.640000, 5.700000, 5.760000, 5.800000, 5.860000, 5.920000, 2.070000, 2.040000, 1.990000, 1.930000, 1.880000, 1.890000, 1.920000, 1.940000, 1.980000, 2.000000, 2.040000, 2.080000, 2.110000, 2.140000, 2.180000, 2.230000, 2.260000, 2.320000, 2.360000, 2.410000, 2.470000, 2.520000, 2.590000, 2.660000, 2.730000, 2.810000, 2.880000, 2.970000, 3.060000, 3.150000, 3.260000, 3.370000, 3.500000, 3.630000, 3.760000, 3.920000, 4.090000, 4.280000, 4.490000, 4.750000, 4.730000, 4.700000, 4.680000, 4.660000, 4.640000, 4.620000, 4.610000, 4.590000, 4.570000, 4.560000, 4.550000, 4.540000, 4.540000, 4.540000, 4.530000, 4.530000, 4.530000, 4.530000, 3.150000, 1.830000, 1.790000, 1.740000, 1.740000, 1.740000, 1.750000, 1.750000, 1.750000, 1.750000, 1.760000, 1.770000, 1.770000, 1.780000, 1.790000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053436, 717815 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.041000, -1.685000, 0.962389 ], "estimate": [ -2.041000, -1.685000, 0.962389 ], "true_pose": [ null, null, null ], "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": [ 3.730000, 3.490000, 3.290000, 3.100000, 2.950000, 2.800000, 2.680000, 2.570000, 2.460000, 2.370000, 2.280000, 2.200000, 2.130000, 2.060000, 1.990000, 1.940000, 1.880000, 1.830000, 1.770000, 1.730000, 1.680000, 1.650000, 1.610000, 1.570000, 1.540000, 1.510000, 1.520000, 1.520000, 1.540000, 1.550000, 1.570000, 1.560000, 1.590000, 1.600000, 1.610000, 1.630000, 1.660000, 1.670000, 1.690000, 1.710000, 1.730000, 1.750000, 1.770000, 1.790000, 1.820000, 1.850000, 1.880000, 1.910000, 1.960000, 1.990000, 2.020000, 2.070000, 2.110000, 2.160000, 2.210000, 2.240000, 2.300000, 2.370000, 2.420000, 2.480000, 2.560000, 2.640000, 2.710000, 2.810000, 2.890000, 3.000000, 3.120000, 3.280000, 3.400000, 3.550000, 3.750000, 4.020000, 4.300000, 4.600000, 5.090000, 5.640000, 18.350000, 18.350000, 18.370000, 21.830000, 22.960000, 22.230000, null, 8.560000, 7.770000, 6.910000, 6.300000, 5.760000, 5.300000, 4.910000, 4.600000, 4.290000, 4.040000, 3.820000, 3.620000, 3.450000, 3.280000, 3.150000, 2.940000, 2.930000, 2.940000, 2.960000, 5.600000, 5.640000, 5.710000, 5.760000, 5.820000, 5.870000, 5.940000, 2.050000, 2.020000, 1.960000, 1.910000, 1.860000, 1.880000, 1.900000, 1.930000, 1.970000, 2.000000, 2.030000, 2.060000, 2.110000, 2.130000, 2.180000, 2.220000, 2.260000, 2.310000, 2.350000, 2.410000, 2.470000, 2.520000, 2.590000, 2.660000, 2.740000, 2.800000, 2.890000, 2.980000, 3.060000, 3.160000, 3.280000, 3.390000, 3.500000, 3.640000, 3.790000, 3.940000, 4.130000, 4.320000, 4.550000, 4.740000, 4.710000, 4.690000, 4.670000, 4.650000, 4.630000, 4.610000, 4.600000, 4.580000, 4.560000, 4.550000, 4.540000, 4.540000, 4.540000, 4.540000, 4.530000, 4.520000, 4.520000, 4.520000, 3.050000, 1.900000, 1.790000, 1.740000, 1.740000, 1.740000, 1.740000, 1.750000, 1.750000, 1.750000, 1.760000, 1.770000, 1.770000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053437, 611940 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.997000, -1.623000, 0.943953 ], "estimate": [ -1.997000, -1.623000, 0.943953 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.220000, 5.240000, 3.600000, 3.360000, 3.160000, 2.970000, 2.830000, 2.680000, 2.560000, 2.440000, 2.340000, 2.250000, 2.180000, 2.090000, 2.020000, 1.950000, 1.900000, 1.840000, 1.780000, 1.730000, 1.680000, 1.630000, 1.590000, 1.550000, 1.520000, 1.480000, 1.480000, 1.480000, 1.490000, 1.510000, 1.520000, 1.530000, 1.540000, 1.560000, 1.570000, 1.580000, 1.600000, 1.620000, 1.630000, 1.650000, 1.660000, 1.680000, 1.710000, 1.730000, 1.750000, 1.770000, 1.790000, 1.820000, 1.860000, 1.880000, 1.920000, 1.960000, 1.990000, 2.030000, 2.080000, 2.120000, 2.170000, 2.210000, 2.260000, 2.320000, 2.370000, 2.440000, 2.500000, 2.580000, 2.660000, 2.740000, 2.830000, 2.930000, 3.050000, 3.180000, 3.310000, 3.450000, 3.660000, 3.870000, 4.100000, 4.430000, 4.830000, 5.340000, 6.180000, 18.280000, 18.310000, 22.250000, 21.530000, 22.210000, 22.180000, 15.980000, 8.430000, 7.230000, 6.500000, 5.920000, 5.450000, 5.040000, 4.690000, 4.380000, 4.130000, 3.880000, 3.670000, 3.490000, 3.320000, 3.180000, 3.040000, 2.860000, 2.860000, 2.860000, 2.920000, 5.560000, 5.600000, 5.650000, 5.710000, 5.770000, 5.820000, 5.880000, 2.000000, 1.960000, 1.920000, 1.880000, 1.820000, 1.810000, 1.840000, 1.870000, 1.900000, 1.930000, 1.970000, 1.990000, 2.030000, 2.060000, 2.110000, 2.150000, 2.200000, 2.230000, 2.280000, 2.340000, 2.390000, 2.460000, 2.510000, 2.590000, 2.660000, 2.730000, 2.810000, 2.900000, 2.980000, 3.090000, 3.190000, 3.300000, 3.420000, 3.570000, 3.710000, 3.870000, 4.040000, 4.250000, 4.470000, 4.710000, 4.690000, 4.670000, 4.650000, 4.620000, 4.610000, 4.590000, 4.570000, 4.560000, 4.540000, 4.540000, 4.540000, 4.530000, 4.530000, 4.520000, 4.510000, 4.510000, 4.510000, 4.510000, 4.510000, 2.670000, 2.050000, 1.800000, 1.770000, 1.730000, 1.740000, 1.740000, 1.740000, 1.750000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053437, 134610 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.950000, -1.556000, 0.962389 ], "estimate": [ -1.950000, -1.556000, 0.962389 ], "true_pose": [ null, null, null ], "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": [ 3.730000, 3.440000, 3.210000, 3.000000, 2.820000, 2.660000, 2.530000, 2.410000, 2.310000, 2.200000, 2.120000, 2.030000, 1.960000, 1.890000, 1.830000, 1.760000, 1.710000, 1.660000, 1.620000, 1.560000, 1.520000, 1.490000, 1.460000, 1.450000, 1.450000, 1.460000, 1.460000, 1.470000, 1.480000, 1.490000, 1.510000, 1.520000, 1.530000, 1.550000, 1.570000, 1.570000, 1.590000, 1.600000, 1.620000, 1.640000, 1.650000, 1.680000, 1.700000, 1.730000, 1.730000, 1.760000, 1.790000, 1.810000, 1.850000, 1.870000, 1.910000, 1.950000, 1.980000, 2.020000, 2.060000, 2.110000, 2.150000, 2.200000, 2.250000, 2.320000, 2.370000, 2.440000, 2.500000, 2.580000, 2.660000, 2.730000, 2.840000, 2.940000, 3.050000, 3.170000, 3.320000, 3.460000, 3.660000, 3.910000, 4.170000, 4.470000, 4.930000, 5.430000, 6.370000, 18.210000, 18.220000, 21.850000, 22.810000, 22.100000, 22.090000, 8.570000, 8.300000, 6.860000, 6.200000, 5.680000, 5.220000, 4.850000, 4.520000, 4.230000, 3.990000, 3.750000, 3.560000, 3.390000, 3.230000, 3.080000, 2.950000, 2.780000, 2.780000, 2.790000, 2.840000, 5.470000, 5.520000, 5.570000, 5.630000, 5.690000, 5.750000, 5.810000, 1.940000, 1.930000, 1.880000, 1.840000, 1.780000, 1.750000, 1.750000, 1.770000, 1.800000, 1.820000, 1.860000, 1.890000, 1.930000, 1.960000, 1.990000, 2.040000, 2.080000, 2.110000, 2.170000, 2.210000, 2.270000, 2.330000, 2.390000, 2.450000, 2.510000, 2.590000, 2.660000, 2.750000, 2.840000, 2.930000, 3.040000, 3.140000, 3.270000, 3.400000, 3.530000, 3.690000, 3.860000, 4.050000, 4.260000, 4.520000, 4.670000, 4.650000, 4.620000, 4.600000, 4.580000, 4.570000, 4.550000, 4.540000, 4.530000, 4.520000, 4.510000, 4.510000, 4.510000, 4.500000, 4.500000, 4.500000, 4.500000, 4.490000, 4.500000, 4.500000, 2.860000, 2.390000, 2.010000, 1.790000, 1.780000, 1.730000, 1.730000, 1.740000 ], "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": [ 976053437, 533025 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.917000, -1.509000, 0.968535 ], "estimate": [ -1.917000, -1.509000, 0.968535 ], "true_pose": [ null, null, null ], "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": [ 3.350000, 3.080000, 2.880000, 2.700000, 2.540000, 2.400000, 2.290000, 2.180000, 2.080000, 2.000000, 1.920000, 1.850000, 1.770000, 1.710000, 1.660000, 1.600000, 1.540000, 1.510000, 1.460000, 1.430000, 1.430000, 1.430000, 1.430000, 1.440000, 1.450000, 1.450000, 1.450000, 1.460000, 1.470000, 1.480000, 1.500000, 1.510000, 1.520000, 1.540000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.630000, 1.650000, 1.670000, 1.690000, 1.710000, 1.720000, 1.760000, 1.790000, 1.810000, 1.850000, 1.870000, 1.910000, 1.950000, 1.980000, 2.020000, 2.070000, 2.100000, 2.150000, 2.200000, 2.260000, 2.320000, 2.370000, 2.440000, 2.500000, 2.590000, 2.650000, 2.760000, 2.860000, 2.960000, 3.080000, 3.200000, 3.340000, 3.500000, 3.730000, 3.940000, 4.260000, 4.620000, 5.070000, 5.760000, 7.240000, 18.130000, 18.170000, 21.430000, 22.720000, 22.000000, null, 8.280000, 7.510000, 6.720000, 6.080000, 5.560000, 5.130000, 4.760000, 4.440000, 4.150000, 3.900000, 3.700000, 3.490000, 3.320000, 3.170000, 3.040000, 2.910000, 2.730000, 2.710000, 2.710000, 2.740000, 2.750000, 5.450000, 5.500000, 5.550000, 5.610000, 5.680000, 5.730000, 5.790000, 1.880000, 1.850000, 1.800000, 1.760000, 1.720000, 1.680000, 1.660000, 1.700000, 1.730000, 1.760000, 1.790000, 1.820000, 1.860000, 1.880000, 1.930000, 1.980000, 2.000000, 2.050000, 2.100000, 2.150000, 2.210000, 2.260000, 2.330000, 2.390000, 2.460000, 2.530000, 2.610000, 2.700000, 2.790000, 2.890000, 3.000000, 3.110000, 3.240000, 3.360000, 3.530000, 3.690000, 3.880000, 4.080000, 4.310000, 4.590000, 4.630000, 4.610000, 4.590000, 4.570000, 4.550000, 4.540000, 4.520000, 4.510000, 4.510000, 4.510000, 4.500000, 4.490000, 4.480000, 4.480000, 4.480000, 4.480000, 4.480000, 4.480000, 4.490000, 4.490000, 3.030000, 2.610000, 2.310000, 2.030000, 1.830000, 1.780000, 1.730000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053437, 534235 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.891000, -1.472000, 0.943953 ], "estimate": [ -1.891000, -1.472000, 0.943953 ], "true_pose": [ null, null, null ], "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": [ 3.350000, 3.080000, 2.870000, 2.670000, 2.510000, 2.380000, 2.250000, 2.130000, 2.050000, 1.950000, 1.870000, 1.800000, 1.730000, 1.670000, 1.610000, 1.560000, 1.510000, 1.460000, 1.410000, 1.410000, 1.400000, 1.410000, 1.420000, 1.430000, 1.430000, 1.450000, 1.450000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.510000, 1.520000, 1.540000, 1.550000, 1.570000, 1.580000, 1.590000, 1.610000, 1.630000, 1.650000, 1.670000, 1.690000, 1.710000, 1.720000, 1.750000, 1.780000, 1.810000, 1.850000, 1.870000, 1.910000, 1.950000, 1.980000, 2.020000, 2.070000, 2.110000, 2.160000, 2.200000, 2.260000, 2.320000, 2.390000, 2.450000, 2.520000, 2.620000, 2.680000, 2.770000, 2.880000, 2.980000, 3.100000, 3.230000, 3.370000, 3.560000, 3.780000, 4.030000, 4.320000, 4.720000, 5.220000, 6.000000, 18.100000, 18.110000, 19.280000, 21.720000, 22.620000, 21.970000, 15.790000, 8.250000, 7.270000, 6.460000, 5.880000, 5.380000, 4.970000, 4.630000, 4.320000, 4.060000, 3.820000, 3.620000, 3.420000, 3.260000, 3.120000, 2.980000, 2.850000, 2.700000, 2.670000, 2.690000, 2.720000, 2.720000, 5.410000, 5.470000, 5.520000, 5.580000, 5.640000, 5.710000, 5.770000, 1.840000, 1.820000, 1.780000, 1.750000, 1.700000, 1.670000, 1.640000, 1.650000, 1.690000, 1.720000, 1.740000, 1.770000, 1.800000, 1.840000, 1.870000, 1.920000, 1.960000, 2.000000, 2.050000, 2.100000, 2.160000, 2.210000, 2.270000, 2.350000, 2.410000, 2.480000, 2.550000, 2.640000, 2.730000, 2.830000, 2.940000, 3.040000, 3.180000, 3.300000, 3.460000, 3.620000, 3.810000, 4.030000, 4.250000, 4.540000, 4.610000, 4.600000, 4.570000, 4.550000, 4.540000, 4.530000, 4.520000, 4.510000, 4.510000, 4.490000, 4.480000, 4.480000, 4.480000, 4.470000, 4.470000, 4.480000, 4.480000, 4.480000, 4.480000, 4.490000, 3.480000, 2.770000, 2.490000, 2.210000, 1.970000, 1.810000 ], "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": [ 976053437, 724637 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.864000, -1.435000, 0.956244 ], "estimate": [ -1.864000, -1.435000, 0.956244 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.880000, 2.670000, 2.500000, 2.360000, 2.230000, 2.110000, 2.010000, 1.920000, 1.840000, 1.760000, 1.690000, 1.630000, 1.570000, 1.520000, 1.470000, 1.420000, 1.400000, 1.390000, 1.400000, 1.400000, 1.410000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.450000, 1.460000, 1.460000, 1.480000, 1.490000, 1.500000, 1.520000, 1.530000, 1.550000, 1.570000, 1.570000, 1.580000, 1.600000, 1.630000, 1.650000, 1.670000, 1.680000, 1.710000, 1.720000, 1.750000, 1.780000, 1.800000, 1.840000, 1.870000, 1.910000, 1.950000, 1.990000, 2.030000, 2.060000, 2.110000, 2.160000, 2.210000, 2.260000, 2.330000, 2.390000, 2.460000, 2.520000, 2.600000, 2.690000, 2.780000, 2.890000, 3.000000, 3.110000, 3.250000, 3.430000, 3.580000, 3.800000, 4.060000, 4.310000, 4.780000, 5.250000, 6.180000, 18.050000, 18.060000, 19.230000, 21.550000, 21.990000, 21.940000, 15.770000, 8.200000, 7.000000, 6.300000, 5.730000, 5.260000, 4.890000, 4.540000, 4.240000, 3.990000, 3.750000, 3.550000, 3.360000, 3.210000, 3.060000, 2.930000, 2.810000, 2.650000, 2.640000, 2.640000, 2.670000, 2.750000, 5.380000, 5.430000, 5.490000, 5.550000, 5.610000, 5.670000, 5.740000, 5.800000, 1.790000, 1.760000, 1.720000, 1.680000, 1.640000, 1.620000, 1.620000, 1.630000, 1.670000, 1.690000, 1.730000, 1.750000, 1.790000, 1.830000, 1.870000, 1.900000, 1.950000, 1.990000, 2.040000, 2.100000, 2.150000, 2.210000, 2.270000, 2.350000, 2.400000, 2.490000, 2.570000, 2.650000, 2.750000, 2.860000, 2.960000, 3.090000, 3.220000, 3.350000, 3.530000, 3.710000, 3.920000, 4.150000, 4.410000, 4.600000, 4.580000, 4.560000, 4.540000, 4.530000, 4.520000, 4.500000, 4.500000, 4.490000, 4.480000, 4.480000, 4.480000, 4.480000, 4.470000, 4.470000, 4.480000, 4.480000, 4.480000, 4.480000, 4.480000, 4.490000, 3.000000, 2.680000, 2.410000, 2.180000, 1.970000, 1.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053438, 122853 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.826000, -1.381000, 0.962389 ], "estimate": [ -1.826000, -1.381000, 0.962389 ], "true_pose": [ null, null, null ], "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": [ 2.540000, 2.370000, 2.230000, 2.110000, 2.000000, 1.910000, 1.810000, 1.730000, 1.660000, 1.590000, 1.520000, 1.470000, 1.430000, 1.400000, 1.380000, 1.380000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.450000, 1.450000, 1.470000, 1.480000, 1.490000, 1.510000, 1.520000, 1.540000, 1.550000, 1.570000, 1.570000, 1.590000, 1.610000, 1.630000, 1.650000, 1.670000, 1.700000, 1.710000, 1.730000, 1.770000, 1.790000, 1.820000, 1.860000, 1.890000, 1.930000, 1.970000, 2.000000, 2.030000, 2.090000, 2.130000, 2.190000, 2.240000, 2.300000, 2.350000, 2.420000, 2.490000, 2.560000, 2.650000, 2.740000, 2.850000, 2.950000, 3.070000, 3.190000, 3.360000, 3.510000, 3.740000, 3.980000, 4.260000, 4.660000, 5.120000, 5.870000, 18.000000, 18.010000, 18.070000, 21.230000, 22.610000, 21.890000, 15.730000, 8.150000, 7.210000, 6.520000, 5.910000, 5.410000, 4.980000, 4.640000, 4.320000, 4.060000, 3.810000, 3.600000, 3.420000, 3.260000, 3.090000, 2.960000, 2.830000, 2.710000, 2.580000, 2.590000, 2.590000, 2.630000, 5.310000, 5.360000, 5.410000, 5.470000, 5.530000, 5.590000, 5.640000, 5.720000, 5.780000, 1.760000, 1.710000, 1.680000, 1.650000, 1.610000, 1.580000, 1.550000, 1.580000, 1.610000, 1.650000, 1.680000, 1.700000, 1.730000, 1.780000, 1.810000, 1.850000, 1.890000, 1.940000, 1.990000, 2.040000, 2.100000, 2.160000, 2.220000, 2.280000, 2.360000, 2.440000, 2.500000, 2.600000, 2.710000, 2.800000, 2.910000, 3.030000, 3.180000, 3.320000, 3.490000, 3.700000, 3.910000, 4.150000, 4.420000, 4.580000, 4.560000, 4.540000, 4.530000, 4.510000, 4.500000, 4.480000, 4.470000, 4.470000, 4.460000, 4.460000, 4.470000, 4.470000, 4.470000, 4.460000, 4.470000, 4.470000, 4.470000, 4.470000, 4.470000, 4.480000, 3.270000, 2.810000, 2.540000, 2.330000, 2.130000, 1.960000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053438, 145231 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.784000, -1.321000, 0.962389 ], "estimate": [ -1.784000, -1.321000, 0.962389 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.220000, 2.070000, 1.960000, 1.840000, 1.750000, 1.660000, 1.590000, 1.520000, 1.460000, 1.400000, 1.370000, 1.350000, 1.350000, 1.360000, 1.370000, 1.370000, 1.370000, 1.380000, 1.380000, 1.390000, 1.400000, 1.400000, 1.420000, 1.420000, 1.430000, 1.440000, 1.440000, 1.440000, 1.460000, 1.470000, 1.490000, 1.500000, 1.510000, 1.530000, 1.530000, 1.550000, 1.560000, 1.580000, 1.600000, 1.620000, 1.650000, 1.660000, 1.680000, 1.710000, 1.720000, 1.760000, 1.790000, 1.810000, 1.860000, 1.890000, 1.930000, 1.960000, 1.990000, 2.040000, 2.090000, 2.130000, 2.190000, 2.240000, 2.300000, 2.360000, 2.430000, 2.480000, 2.570000, 2.650000, 2.750000, 2.850000, 2.950000, 3.080000, 3.200000, 3.360000, 3.540000, 3.750000, 4.010000, 4.330000, 4.720000, 5.170000, 6.070000, 17.930000, 17.940000, 17.970000, 21.200000, 22.500000, 21.820000, 15.620000, 8.070000, 7.110000, 6.350000, 5.770000, 5.280000, 4.880000, 4.540000, 4.230000, 3.970000, 3.740000, 3.530000, 3.350000, 3.190000, 3.040000, 2.900000, 2.780000, 2.660000, 2.520000, 2.520000, 2.530000, 2.530000, 2.630000, 5.270000, 5.330000, 5.390000, 5.440000, 5.500000, 5.560000, 5.620000, 5.700000, 5.770000, 1.690000, 1.650000, 1.610000, 1.590000, 1.550000, 1.520000, 1.490000, 1.510000, 1.540000, 1.560000, 1.590000, 1.630000, 1.660000, 1.700000, 1.720000, 1.770000, 1.810000, 1.860000, 1.910000, 1.970000, 2.030000, 2.090000, 2.140000, 2.200000, 2.290000, 2.350000, 2.440000, 2.540000, 2.630000, 2.740000, 2.860000, 2.980000, 3.160000, 3.300000, 3.470000, 3.680000, 3.900000, 4.160000, 4.440000, 4.540000, 4.530000, 4.510000, 4.490000, 4.470000, 4.470000, 4.460000, 4.460000, 4.460000, 4.450000, 4.450000, 4.440000, 4.440000, 4.450000, 4.440000, 4.450000, 4.450000, 4.450000, 4.470000, 4.470000, 4.480000, 4.480000, 2.930000, 2.700000, 2.470000, 2.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053438, 384701 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.749000, -1.271000, 0.962389 ], "estimate": [ -1.749000, -1.271000, 0.962389 ], "true_pose": [ null, null, null ], "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": [ 1.930000, 1.800000, 1.710000, 1.610000, 1.530000, 1.460000, 1.400000, 1.360000, 1.340000, 1.330000, 1.340000, 1.350000, 1.350000, 1.360000, 1.360000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.430000, 1.440000, 1.440000, 1.450000, 1.470000, 1.480000, 1.500000, 1.500000, 1.520000, 1.530000, 1.560000, 1.560000, 1.580000, 1.600000, 1.630000, 1.650000, 1.660000, 1.680000, 1.710000, 1.730000, 1.770000, 1.790000, 1.820000, 1.860000, 1.900000, 1.930000, 1.980000, 2.000000, 2.050000, 2.100000, 2.140000, 2.210000, 2.250000, 2.320000, 2.370000, 2.440000, 2.520000, 2.600000, 2.690000, 2.780000, 2.880000, 3.000000, 3.110000, 3.270000, 3.420000, 3.620000, 3.850000, 4.110000, 4.490000, 4.910000, 5.540000, 6.860000, 17.880000, 17.890000, 19.090000, 21.130000, 21.770000, 21.760000, 15.580000, 8.010000, 6.700000, 6.060000, 5.520000, 5.060000, 4.680000, 4.360000, 4.080000, 3.830000, 3.620000, 3.430000, 3.240000, 3.090000, 2.950000, 2.820000, 2.700000, 2.590000, 2.450000, 2.450000, 2.460000, 2.480000, 2.560000, 5.220000, 5.280000, 5.330000, 5.390000, 5.450000, 5.520000, 5.580000, 5.650000, 5.730000, 1.640000, 1.610000, 1.580000, 1.550000, 1.520000, 1.480000, 1.460000, 1.450000, 1.460000, 1.480000, 1.510000, 1.540000, 1.570000, 1.610000, 1.650000, 1.680000, 1.720000, 1.770000, 1.820000, 1.870000, 1.920000, 1.980000, 2.030000, 2.110000, 2.180000, 2.240000, 2.330000, 2.420000, 2.510000, 2.620000, 2.730000, 2.860000, 2.990000, 3.180000, 3.350000, 3.540000, 3.770000, 4.020000, 4.310000, 4.520000, 4.500000, 4.480000, 4.470000, 4.470000, 4.460000, 4.450000, 4.440000, 4.440000, 4.430000, 4.430000, 4.430000, 4.430000, 4.430000, 4.430000, 4.430000, 4.440000, 4.440000, 4.450000, 4.460000, 4.470000, 4.480000, 3.260000, 2.910000, 2.700000, 2.500000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053438, 716488 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.721000, -1.232000, 0.962389 ], "estimate": [ -1.721000, -1.232000, 0.962389 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.730000, 1.620000, 1.530000, 1.440000, 1.370000, 1.350000, 1.340000, 1.330000, 1.330000, 1.330000, 1.330000, 1.340000, 1.350000, 1.350000, 1.360000, 1.360000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.430000, 1.430000, 1.440000, 1.440000, 1.450000, 1.460000, 1.480000, 1.490000, 1.510000, 1.510000, 1.530000, 1.550000, 1.560000, 1.580000, 1.600000, 1.620000, 1.650000, 1.650000, 1.680000, 1.710000, 1.720000, 1.760000, 1.790000, 1.820000, 1.860000, 1.890000, 1.930000, 1.960000, 2.010000, 2.040000, 2.100000, 2.140000, 2.200000, 2.250000, 2.320000, 2.380000, 2.440000, 2.520000, 2.600000, 2.690000, 2.790000, 2.890000, 3.000000, 3.120000, 3.240000, 3.430000, 3.640000, 3.870000, 4.090000, 4.520000, 4.930000, 5.560000, 6.910000, 17.820000, 17.840000, 21.400000, 21.050000, 21.710000, 21.700000, 15.530000, 7.960000, 6.640000, 5.990000, 5.450000, 5.030000, 4.640000, 4.320000, 4.040000, 3.790000, 3.580000, 3.390000, 3.220000, 3.060000, 2.910000, 2.790000, 2.680000, 2.560000, 2.430000, 2.400000, 2.420000, 2.420000, 2.430000, 5.170000, 5.210000, 5.270000, 5.330000, 5.390000, 5.450000, 5.510000, 5.590000, 5.660000, 5.750000, 1.600000, 1.580000, 1.530000, 1.510000, 1.470000, 1.460000, 1.420000, 1.400000, 1.390000, 1.430000, 1.460000, 1.490000, 1.530000, 1.560000, 1.590000, 1.640000, 1.670000, 1.720000, 1.770000, 1.830000, 1.880000, 1.940000, 1.990000, 2.070000, 2.140000, 2.210000, 2.300000, 2.380000, 2.480000, 2.590000, 2.700000, 2.840000, 2.980000, 3.200000, 3.390000, 3.590000, 3.820000, 4.090000, 4.400000, 4.490000, 4.470000, 4.470000, 4.450000, 4.440000, 4.430000, 4.430000, 4.420000, 4.420000, 4.420000, 4.410000, 4.410000, 4.410000, 4.420000, 4.420000, 4.420000, 4.430000, 4.440000, 4.450000, 4.460000, 4.470000, 4.480000, 3.180000, 2.920000, 2.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053438, 735069 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.693000, -1.191000, 0.962389 ], "estimate": [ -1.693000, -1.191000, 0.962389 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.570000, 1.460000, 1.380000, 1.340000, 1.330000, 1.340000, 1.340000, 1.320000, 1.320000, 1.320000, 1.330000, 1.330000, 1.340000, 1.350000, 1.350000, 1.350000, 1.360000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.420000, 1.420000, 1.430000, 1.440000, 1.440000, 1.460000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.540000, 1.560000, 1.570000, 1.600000, 1.620000, 1.640000, 1.660000, 1.680000, 1.710000, 1.730000, 1.760000, 1.790000, 1.820000, 1.860000, 1.890000, 1.930000, 1.970000, 2.000000, 2.040000, 2.100000, 2.140000, 2.200000, 2.260000, 2.320000, 2.370000, 2.440000, 2.520000, 2.600000, 2.700000, 2.780000, 2.880000, 3.010000, 3.150000, 3.270000, 3.450000, 3.660000, 3.900000, 4.190000, 4.540000, 4.970000, 5.720000, 17.780000, 17.790000, 17.790000, 21.390000, 22.360000, 21.660000, 21.670000, 15.480000, 7.910000, 6.530000, 5.880000, 5.370000, 4.950000, 4.570000, 4.260000, 3.990000, 3.760000, 3.520000, 3.340000, 3.180000, 3.030000, 2.880000, 2.740000, 2.640000, 2.530000, 2.400000, 2.360000, 2.380000, 2.380000, 2.420000, 5.130000, 5.180000, 5.230000, 5.290000, 5.340000, 5.410000, 5.480000, 5.550000, 5.620000, 5.700000, 4.900000, 1.560000, 1.540000, 1.480000, 1.460000, 1.440000, 1.410000, 1.380000, 1.360000, 1.380000, 1.410000, 1.430000, 1.460000, 1.500000, 1.530000, 1.560000, 1.610000, 1.650000, 1.700000, 1.750000, 1.800000, 1.860000, 1.920000, 1.990000, 2.060000, 2.130000, 2.210000, 2.290000, 2.390000, 2.490000, 2.600000, 2.730000, 2.870000, 3.090000, 3.260000, 3.460000, 3.700000, 3.960000, 4.260000, 4.480000, 4.470000, 4.460000, 4.440000, 4.430000, 4.420000, 4.420000, 4.410000, 4.410000, 4.410000, 4.410000, 4.400000, 4.400000, 4.410000, 4.410000, 4.410000, 4.430000, 4.430000, 4.440000, 4.450000, 4.470000, 4.480000, 4.490000, 3.090000, 2.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053438, 917888 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.659000, -1.142000, 0.956244 ], "estimate": [ -1.659000, -1.142000, 0.956244 ], "true_pose": [ null, null, null ], "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": [ 1.330000, 1.340000, 1.320000, 1.330000, 1.330000, 1.330000, 1.330000, 1.320000, 1.320000, 1.320000, 1.320000, 1.330000, 1.340000, 1.340000, 1.350000, 1.340000, 1.350000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.440000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.530000, 1.540000, 1.560000, 1.570000, 1.590000, 1.610000, 1.640000, 1.650000, 1.670000, 1.700000, 1.720000, 1.760000, 1.790000, 1.820000, 1.860000, 1.890000, 1.930000, 1.970000, 2.010000, 2.040000, 2.090000, 2.140000, 2.200000, 2.250000, 2.310000, 2.370000, 2.450000, 2.530000, 2.600000, 2.700000, 2.790000, 2.890000, 3.000000, 3.120000, 3.290000, 3.470000, 3.670000, 3.910000, 4.230000, 4.600000, 5.050000, 5.860000, 17.730000, 17.730000, 17.740000, 21.330000, 22.300000, 21.600000, 21.600000, 7.990000, 7.810000, 6.400000, 5.800000, 5.290000, 4.870000, 4.490000, 4.200000, 3.920000, 3.680000, 3.480000, 3.290000, 3.130000, 2.970000, 2.830000, 2.710000, 2.600000, 2.490000, 2.400000, 2.300000, 2.320000, 2.320000, 2.370000, 2.360000, 5.120000, 5.170000, 5.220000, 5.290000, 5.350000, 5.410000, 5.490000, 5.550000, 5.630000, 4.680000, 3.710000, 1.500000, 1.490000, 1.460000, 1.420000, 1.390000, 1.370000, 1.330000, 1.330000, 1.330000, 1.360000, 1.380000, 1.410000, 1.440000, 1.480000, 1.520000, 1.550000, 1.600000, 1.650000, 1.710000, 1.750000, 1.800000, 1.860000, 1.940000, 2.000000, 2.080000, 2.170000, 2.250000, 2.340000, 2.450000, 2.580000, 2.700000, 2.840000, 3.090000, 3.290000, 3.500000, 3.750000, 4.040000, 4.370000, 4.460000, 4.440000, 4.430000, 4.410000, 4.410000, 4.410000, 4.400000, 4.390000, 4.390000, 4.390000, 4.390000, 4.390000, 4.390000, 4.390000, 4.400000, 4.410000, 4.420000, 4.430000, 4.440000, 4.450000, 4.470000, 4.480000, 4.490000, 3.100000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053439, 312844 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.620000, -1.087000, 0.962389 ], "estimate": [ -1.620000, -1.087000, 0.962389 ], "true_pose": [ null, null, null ], "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": [ 1.310000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000, 1.310000, 1.320000, 1.330000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.350000, 1.360000, 1.370000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.470000, 1.480000, 1.500000, 1.510000, 1.520000, 1.540000, 1.560000, 1.570000, 1.590000, 1.610000, 1.640000, 1.650000, 1.670000, 1.710000, 1.730000, 1.760000, 1.790000, 1.820000, 1.860000, 1.890000, 1.930000, 1.980000, 2.000000, 2.050000, 2.100000, 2.150000, 2.210000, 2.260000, 2.320000, 2.390000, 2.460000, 2.530000, 2.620000, 2.700000, 2.810000, 2.910000, 3.060000, 3.160000, 3.340000, 3.520000, 3.730000, 3.990000, 4.330000, 4.710000, 5.270000, 6.160000, 17.670000, 17.670000, 17.870000, 20.890000, 22.250000, 21.530000, 15.410000, 7.810000, 6.840000, 6.160000, 5.580000, 5.090000, 4.690000, 4.350000, 4.060000, 3.790000, 3.580000, 3.370000, 3.210000, 3.050000, 2.890000, 2.770000, 2.630000, 2.540000, 2.430000, 2.350000, 2.250000, 2.260000, 2.260000, 2.270000, 2.330000, 5.060000, 5.110000, 5.170000, 5.220000, 5.290000, 5.360000, 5.420000, 5.490000, 5.570000, 4.630000, 3.670000, 5.820000, 1.450000, 1.440000, 1.390000, 1.360000, 1.340000, 1.320000, 1.300000, 1.290000, 1.280000, 1.290000, 1.310000, 1.350000, 1.390000, 1.420000, 1.450000, 1.500000, 1.550000, 1.590000, 1.650000, 1.690000, 1.750000, 1.810000, 1.870000, 1.960000, 2.030000, 2.110000, 2.200000, 2.310000, 2.410000, 2.550000, 2.680000, 2.830000, 3.110000, 3.320000, 3.560000, 3.830000, 4.160000, 4.430000, 4.420000, 4.400000, 4.390000, 4.390000, 4.390000, 4.390000, 4.380000, 4.390000, 4.380000, 4.380000, 4.380000, 4.390000, 4.390000, 4.390000, 4.390000, 4.400000, 4.420000, 4.430000, 4.440000, 4.450000, 4.470000, 4.480000, 4.490000 ], "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": [ 976053439, 318313 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.584000, -1.035000, 0.962389 ], "estimate": [ -1.584000, -1.035000, 0.962389 ], "true_pose": [ null, null, null ], "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": [ 1.310000, 1.310000, 1.310000, 1.320000, 1.310000, 1.310000, 1.310000, 1.320000, 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 1.330000, 1.330000, 1.340000, 1.350000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.390000, 1.400000, 1.400000, 1.420000, 1.420000, 1.440000, 1.440000, 1.450000, 1.470000, 1.480000, 1.500000, 1.510000, 1.530000, 1.550000, 1.560000, 1.580000, 1.600000, 1.620000, 1.650000, 1.670000, 1.690000, 1.720000, 1.750000, 1.780000, 1.810000, 1.850000, 1.870000, 1.920000, 1.960000, 1.990000, 2.030000, 2.080000, 2.130000, 2.180000, 2.230000, 2.300000, 2.370000, 2.440000, 2.520000, 2.600000, 2.700000, 2.790000, 2.880000, 3.010000, 3.140000, 3.290000, 3.480000, 3.680000, 3.940000, 4.270000, 4.640000, 5.150000, 5.930000, 17.620000, 17.600000, 17.620000, 21.220000, 22.170000, 21.470000, 21.480000, 7.730000, 6.960000, 6.220000, 5.610000, 5.130000, 4.710000, 4.370000, 4.080000, 3.800000, 3.570000, 3.380000, 3.200000, 3.040000, 2.890000, 2.750000, 2.630000, 2.520000, 2.410000, 2.340000, 2.200000, 2.180000, 2.190000, 2.180000, 2.230000, 2.240000, 5.030000, 5.070000, 5.130000, 5.190000, 5.250000, 5.330000, 5.390000, 5.460000, 5.540000, 4.760000, 3.590000, 5.780000, 1.410000, 1.370000, 1.360000, 1.330000, 1.300000, 1.290000, 1.270000, 1.250000, 1.230000, 1.220000, 1.230000, 1.260000, 1.290000, 1.310000, 1.360000, 1.400000, 1.440000, 1.490000, 1.540000, 1.580000, 1.640000, 1.700000, 1.760000, 1.840000, 1.920000, 2.000000, 2.080000, 2.180000, 2.300000, 2.420000, 2.560000, 2.710000, 2.910000, 3.210000, 3.460000, 3.740000, 4.080000, 4.400000, 4.390000, 4.380000, 4.390000, 4.380000, 4.380000, 4.370000, 4.360000, 4.360000, 4.370000, 4.370000, 4.370000, 4.370000, 4.380000, 4.380000, 4.390000, 4.390000, 4.410000, 4.410000, 4.430000, 4.440000, 4.460000, 4.470000, 4.490000 ], "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": [ 976053439, 836179 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.554000, -0.992000, 0.968535 ], "estimate": [ -1.554000, -0.992000, 0.968535 ], "true_pose": [ null, null, null ], "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": [ 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.310000, 1.320000, 1.310000, 1.310000, 1.320000, 1.320000, 1.330000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.360000, 1.370000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.410000, 1.430000, 1.440000, 1.440000, 1.460000, 1.480000, 1.480000, 1.500000, 1.520000, 1.530000, 1.560000, 1.570000, 1.590000, 1.600000, 1.630000, 1.650000, 1.670000, 1.700000, 1.730000, 1.760000, 1.790000, 1.820000, 1.860000, 1.890000, 1.940000, 1.980000, 2.020000, 2.050000, 2.100000, 2.150000, 2.200000, 2.270000, 2.340000, 2.390000, 2.480000, 2.550000, 2.640000, 2.720000, 2.830000, 2.960000, 3.060000, 3.210000, 3.380000, 3.570000, 3.830000, 4.100000, 4.440000, 4.860000, 5.500000, 6.670000, 17.540000, 17.560000, 18.710000, 21.150000, 22.090000, 21.420000, 15.250000, 7.690000, 6.590000, 5.880000, 5.330000, 4.900000, 4.520000, 4.190000, 3.900000, 3.660000, 3.450000, 3.250000, 3.080000, 2.940000, 2.800000, 2.660000, 2.550000, 2.440000, 2.360000, 2.280000, 2.160000, 2.130000, 2.150000, 2.140000, 2.190000, 2.240000, 4.990000, 5.040000, 5.100000, 5.160000, 5.220000, 5.290000, 5.370000, 5.430000, 5.510000, 4.560000, 3.550000, 5.770000, 4.230000, 1.330000, 1.340000, 1.310000, 1.290000, 1.260000, 1.240000, 1.220000, 1.210000, 1.210000, 1.200000, 1.190000, 1.210000, 1.250000, 1.280000, 1.320000, 1.370000, 1.410000, 1.450000, 1.500000, 1.550000, 1.620000, 1.670000, 1.750000, 1.820000, 1.890000, 1.990000, 2.080000, 2.190000, 2.310000, 2.450000, 2.600000, 2.800000, 3.110000, 3.360000, 3.650000, 3.990000, 4.380000, 4.380000, 4.380000, 4.370000, 4.360000, 4.360000, 4.350000, 4.350000, 4.350000, 4.350000, 4.350000, 4.360000, 4.360000, 4.370000, 4.370000, 4.380000, 4.390000, 4.390000, 4.410000, 4.420000, 4.440000, 4.450000, 4.470000, 4.470000 ], "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": [ 976053439, 845057 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.524000, -0.949000, 0.968535 ], "estimate": [ -1.524000, -0.949000, 0.968535 ], "true_pose": [ null, null, null ], "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": [ 1.310000, 1.310000, 1.300000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.330000, 1.320000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.420000, 1.440000, 1.440000, 1.460000, 1.470000, 1.480000, 1.490000, 1.510000, 1.530000, 1.550000, 1.560000, 1.580000, 1.600000, 1.620000, 1.650000, 1.670000, 1.700000, 1.720000, 1.750000, 1.790000, 1.810000, 1.860000, 1.890000, 1.930000, 1.970000, 2.000000, 2.040000, 2.100000, 2.150000, 2.200000, 2.260000, 2.320000, 2.390000, 2.470000, 2.540000, 2.630000, 2.710000, 2.820000, 2.910000, 3.050000, 3.190000, 3.360000, 3.540000, 3.790000, 4.070000, 4.420000, 4.810000, 5.440000, 6.590000, 17.510000, 17.510000, 17.730000, 20.710000, 22.070000, 21.380000, 15.210000, 7.640000, 6.670000, 5.930000, 5.370000, 4.900000, 4.530000, 4.190000, 3.910000, 3.650000, 3.440000, 3.240000, 3.070000, 2.920000, 2.790000, 2.650000, 2.540000, 2.430000, 2.340000, 2.250000, 2.170000, 2.070000, 2.080000, 2.080000, 2.100000, 2.140000, 4.920000, 4.980000, 5.040000, 5.080000, 5.150000, 5.210000, 5.290000, 5.360000, 5.430000, 4.500000, 5.600000, 3.510000, 4.160000, null, 1.320000, 1.290000, 1.290000, 1.240000, 1.230000, 1.220000, 1.200000, 1.200000, 1.170000, 1.150000, 1.150000, 1.150000, 1.180000, 1.210000, 1.260000, 1.290000, 1.340000, 1.390000, 1.420000, 1.490000, 1.540000, 1.600000, 1.670000, 1.750000, 1.830000, 1.920000, 2.010000, 2.120000, 2.240000, 2.390000, 2.550000, 2.740000, 3.070000, 3.340000, 3.650000, 4.040000, 4.380000, 4.370000, 4.360000, 4.350000, 4.340000, 4.340000, 4.330000, 4.340000, 4.340000, 4.340000, 4.340000, 4.340000, 4.350000, 4.350000, 4.360000, 4.370000, 4.390000, 4.390000, 4.400000, 4.420000, 4.430000, 4.450000, 4.470000, 4.480000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053439, 918004 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.491000, -0.900000, 0.968535 ], "estimate": [ -1.491000, -0.900000, 0.968535 ], "true_pose": [ null, null, null ], "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, 1.300000, 1.300000, 1.300000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.320000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.440000, 1.460000, 1.470000, 1.490000, 1.510000, 1.520000, 1.540000, 1.560000, 1.570000, 1.590000, 1.620000, 1.640000, 1.660000, 1.690000, 1.720000, 1.740000, 1.770000, 1.800000, 1.840000, 1.870000, 1.910000, 1.950000, 1.980000, 2.030000, 2.080000, 2.130000, 2.180000, 2.240000, 2.300000, 2.370000, 2.450000, 2.520000, 2.600000, 2.690000, 2.780000, 2.880000, 3.010000, 3.150000, 3.310000, 3.490000, 3.740000, 3.990000, 4.310000, 4.640000, 5.270000, 17.460000, 17.450000, 17.460000, 17.460000, 21.080000, 22.040000, 21.330000, 21.330000, 7.550000, 6.750000, 6.040000, 5.450000, 4.970000, 4.570000, 4.240000, 3.960000, 3.690000, 3.460000, 3.260000, 3.070000, 2.930000, 2.790000, 2.660000, 2.530000, 2.420000, 2.330000, 2.250000, 2.160000, 2.070000, 2.020000, 2.040000, 2.040000, 2.090000, 2.130000, 4.890000, 4.950000, 5.010000, 5.060000, 5.130000, 5.210000, 5.270000, 5.340000, 5.410000, 4.640000, 3.490000, 5.670000, null, null, 5.880000, 1.260000, 1.250000, 1.210000, 1.200000, 1.190000, 1.180000, 1.160000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.130000, 1.170000, 1.210000, 1.270000, 1.310000, 1.350000, 1.410000, 1.450000, 1.530000, 1.580000, 1.660000, 1.740000, 1.820000, 1.920000, 2.030000, 2.150000, 2.300000, 2.470000, 2.650000, 3.010000, 3.280000, 3.610000, 4.020000, 4.360000, 4.350000, 4.340000, 4.330000, 4.330000, 4.320000, 4.320000, 4.320000, 4.320000, 4.320000, 4.330000, 4.330000, 4.340000, 4.340000, 4.350000, 4.360000, 4.370000, 4.390000, 4.400000, 4.410000, 4.430000, 4.450000, 4.470000, 4.480000 ], "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, 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 ], "timestamp": [ 976053440, 367218 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.455000, -0.848000, 0.974680 ], "estimate": [ -1.455000, -0.848000, 0.974680 ], "true_pose": [ null, null, null ], "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, 1.300000, 1.300000, 1.310000, 1.300000, 1.310000, 1.310000, 1.320000, 1.320000, 1.320000, 1.320000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.370000, 1.390000, 1.390000, 1.400000, 1.400000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.540000, 1.550000, 1.570000, 1.590000, 1.610000, 1.640000, 1.660000, 1.680000, 1.710000, 1.740000, 1.770000, 1.800000, 1.840000, 1.870000, 1.910000, 1.950000, 1.990000, 2.020000, 2.080000, 2.130000, 2.180000, 2.230000, 2.300000, 2.360000, 2.440000, 2.520000, 2.590000, 2.680000, 2.800000, 2.880000, 3.000000, 3.150000, 3.300000, 3.480000, 3.690000, 3.990000, 4.300000, 4.680000, 5.230000, 6.260000, 17.390000, 17.380000, 17.380000, 20.970000, 20.600000, 21.260000, 21.270000, 7.570000, 6.880000, 6.020000, 5.440000, 4.950000, 4.560000, 4.200000, 3.920000, 3.650000, 3.430000, 3.230000, 3.050000, 2.890000, 2.750000, 2.630000, 2.500000, 2.390000, 2.300000, 2.210000, 2.140000, 2.060000, 1.960000, 1.970000, 1.980000, 1.990000, 2.020000, 2.070000, 4.860000, 4.930000, 4.990000, 5.050000, 5.110000, 5.190000, 5.250000, 5.320000, 5.400000, 4.520000, 3.440000, 5.650000, null, 5.880000, 5.770000, 1.210000, 1.210000, 1.190000, 1.170000, 1.150000, 1.130000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.060000, 1.070000, 1.080000, 1.110000, 1.160000, 1.200000, 1.250000, 1.300000, 1.350000, 1.410000, 1.470000, 1.530000, 1.620000, 1.710000, 1.800000, 1.900000, 2.030000, 2.170000, 2.350000, 2.540000, 2.910000, 3.210000, 3.540000, 3.970000, 4.330000, 4.320000, 4.310000, 4.310000, 4.310000, 4.300000, 4.300000, 4.300000, 4.300000, 4.310000, 4.310000, 4.320000, 4.320000, 4.330000, 4.340000, 4.350000, 4.370000, 4.380000, 4.390000, 4.410000, 4.420000, 4.440000, 4.470000, 4.470000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053440, 368458 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.421000, -0.799000, 0.974680 ], "estimate": [ -1.421000, -0.799000, 0.974680 ], "true_pose": [ null, null, null ], "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, 1.300000, 1.300000, 1.300000, 1.310000, 1.310000, 1.310000, 1.320000, 1.320000, 1.320000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.360000, 1.380000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.420000, 1.440000, 1.440000, 1.450000, 1.470000, 1.480000, 1.490000, 1.510000, 1.530000, 1.540000, 1.550000, 1.580000, 1.610000, 1.630000, 1.650000, 1.680000, 1.700000, 1.720000, 1.760000, 1.790000, 1.830000, 1.860000, 1.900000, 1.940000, 1.970000, 2.010000, 2.060000, 2.110000, 2.170000, 2.220000, 2.280000, 2.350000, 2.420000, 2.480000, 2.560000, 2.650000, 2.770000, 2.850000, 2.970000, 3.100000, 3.250000, 3.430000, 3.640000, 3.900000, 4.200000, 4.520000, 5.060000, 5.820000, 17.330000, 17.340000, 17.340000, 18.510000, 20.970000, 21.890000, 21.200000, 15.020000, 7.460000, 6.230000, 5.580000, 5.060000, 4.640000, 4.270000, 3.980000, 3.690000, 3.460000, 3.250000, 3.070000, 2.900000, 2.760000, 2.630000, 2.510000, 2.400000, 2.310000, 2.220000, 2.120000, 2.060000, 1.990000, 1.910000, 1.910000, 1.910000, 1.930000, 1.980000, 4.780000, 4.830000, 4.900000, 4.950000, 5.010000, 5.080000, 5.160000, 5.220000, 5.310000, 4.330000, 5.470000, 3.380000, 4.020000, null, 5.790000, 5.700000, 5.610000, 1.160000, 1.150000, 1.140000, 1.120000, 1.120000, 1.100000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.050000, 1.100000, 1.140000, 1.190000, 1.250000, 1.300000, 1.360000, 1.420000, 1.500000, 1.580000, 1.660000, 1.770000, 1.890000, 2.030000, 2.220000, 2.410000, 2.640000, 3.070000, 3.430000, 3.880000, 4.300000, 4.300000, 4.290000, 4.290000, 4.290000, 4.280000, 4.280000, 4.280000, 4.280000, 4.290000, 4.300000, 4.310000, 4.310000, 4.320000, 4.330000, 4.340000, 4.350000, 4.370000, 4.390000, 4.390000, 4.410000, 4.430000, 4.460000, 4.470000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053440, 584633 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.390000, -0.753000, 0.974680 ], "estimate": [ -1.390000, -0.753000, 0.974680 ], "true_pose": [ null, null, null ], "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, 1.300000, 1.300000, 1.300000, 1.310000, 1.310000, 1.310000, 1.320000, 1.320000, 1.320000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.480000, 1.500000, 1.510000, 1.530000, 1.540000, 1.550000, 1.570000, 1.600000, 1.630000, 1.650000, 1.670000, 1.700000, 1.720000, 1.750000, 1.790000, 1.810000, 1.860000, 1.890000, 1.930000, 1.960000, 2.000000, 2.050000, 2.110000, 2.150000, 2.200000, 2.260000, 2.330000, 2.390000, 2.480000, 2.550000, 2.640000, 2.710000, 2.830000, 2.940000, 3.080000, 3.220000, 3.390000, 3.570000, 3.840000, 4.130000, 4.460000, 4.960000, 5.600000, 17.290000, 17.280000, 17.290000, 17.330000, 20.530000, 21.860000, 21.150000, null, 7.400000, 6.430000, 5.680000, 5.110000, 4.680000, 4.290000, 3.990000, 3.710000, 3.470000, 3.260000, 3.070000, 2.910000, 2.760000, 2.620000, 2.500000, 2.390000, 2.290000, 2.200000, 2.120000, 2.040000, 1.970000, 1.870000, 1.840000, 1.870000, 1.870000, 1.890000, 1.930000, 4.750000, 4.810000, 4.860000, 4.920000, 4.990000, 5.050000, 5.130000, 5.210000, 5.280000, 4.420000, 5.450000, 3.310000, null, null, 5.700000, 5.620000, 5.550000, 5.460000, 1.130000, 1.100000, 1.100000, 1.090000, 1.070000, 1.050000, 1.040000, 1.040000, 1.030000, 1.020000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 1.020000, 1.080000, 1.120000, 1.180000, 1.240000, 1.300000, 1.360000, 1.440000, 1.520000, 1.630000, 1.750000, 1.890000, 2.070000, 2.270000, 2.490000, 2.930000, 3.310000, 3.820000, 4.280000, 4.280000, 4.280000, 4.280000, 4.270000, 4.270000, 4.280000, 4.280000, 4.280000, 4.280000, 4.280000, 4.290000, 4.300000, 4.310000, 4.320000, 4.330000, 4.340000, 4.360000, 4.380000, 4.380000, 4.410000, 4.420000, 4.450000, 4.470000 ], "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, 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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053441, 582399 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.359000, -0.708000, 0.974680 ], "estimate": [ -1.359000, -0.708000, 0.974680 ], "true_pose": [ null, null, null ], "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, 1.300000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.420000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.530000, 1.550000, 1.570000, 1.590000, 1.610000, 1.640000, 1.670000, 1.700000, 1.720000, 1.750000, 1.780000, 1.800000, 1.840000, 1.890000, 1.900000, 1.950000, 1.980000, 2.030000, 2.090000, 2.130000, 2.200000, 2.250000, 2.310000, 2.370000, 2.440000, 2.520000, 2.600000, 2.690000, 2.790000, 2.910000, 3.040000, 3.170000, 3.330000, 3.540000, 3.760000, 4.030000, 4.360000, 4.800000, 5.360000, 6.330000, 17.230000, 17.230000, 17.250000, 20.830000, 20.450000, 21.160000, 21.110000, 7.400000, 6.640000, 5.870000, 5.260000, 4.790000, 4.380000, 4.040000, 3.750000, 3.500000, 3.300000, 3.090000, 2.920000, 2.770000, 2.630000, 2.510000, 2.390000, 2.300000, 2.200000, 2.120000, 2.040000, 1.970000, 1.890000, 1.810000, 1.810000, 1.830000, 1.820000, 1.870000, 1.900000, 4.730000, 4.780000, 4.840000, 4.900000, 4.970000, 5.050000, 5.110000, 5.190000, 5.260000, 4.230000, 5.440000, 3.300000, 3.930000, null, 5.630000, 5.560000, 5.480000, 5.410000, 2.910000, 1.070000, 1.070000, 1.070000, 1.040000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.970000, 1.010000, 1.070000, 1.130000, 1.190000, 1.250000, 1.330000, 1.400000, 1.500000, 1.620000, 1.770000, 1.930000, 2.130000, 2.380000, 2.670000, 3.210000, 3.720000, 4.270000, 4.260000, 4.260000, 4.250000, 4.260000, 4.250000, 4.260000, 4.260000, 4.260000, 4.270000, 4.280000, 4.280000, 4.280000, 4.300000, 4.310000, 4.320000, 4.340000, 4.360000, 4.370000, 4.380000, 4.400000, 4.430000, 4.450000, 4.470000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053441, 594550 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.326000, -0.660000, 0.974680 ], "estimate": [ -1.326000, -0.660000, 0.974680 ], "true_pose": [ null, null, null ], "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, 1.300000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.420000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.480000, 1.500000, 1.520000, 1.540000, 1.550000, 1.570000, 1.580000, 1.610000, 1.640000, 1.660000, 1.690000, 1.710000, 1.740000, 1.770000, 1.800000, 1.830000, 1.870000, 1.890000, 1.940000, 1.980000, 2.020000, 2.080000, 2.120000, 2.180000, 2.230000, 2.290000, 2.360000, 2.430000, 2.490000, 2.570000, 2.660000, 2.770000, 2.880000, 3.000000, 3.130000, 3.280000, 3.500000, 3.690000, 3.920000, 4.240000, 4.660000, 5.160000, 6.060000, 17.200000, 17.190000, 17.190000, 20.930000, 20.380000, 21.770000, 21.050000, 14.850000, 7.290000, 6.080000, 5.400000, 4.890000, 4.460000, 4.110000, 3.810000, 3.560000, 3.320000, 3.120000, 2.940000, 2.780000, 2.640000, 2.510000, 2.390000, 2.280000, 2.190000, 2.110000, 2.030000, 1.950000, 1.880000, 1.820000, 1.740000, 1.750000, 1.760000, 1.760000, 1.810000, 1.880000, 4.700000, 4.750000, 4.820000, 4.870000, 4.940000, 5.010000, 5.080000, 5.160000, 4.220000, 5.310000, 3.230000, 5.490000, null, 4.000000, 5.580000, 5.490000, 5.410000, 5.350000, 2.810000, 5.210000, 1.040000, 1.010000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.960000, 0.960000, 0.950000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.980000, 1.030000, 1.100000, 1.160000, 1.230000, 1.330000, 1.430000, 1.570000, 1.740000, 1.920000, 2.170000, 2.440000, 2.980000, 3.470000, 4.190000, 4.240000, 4.240000, 4.230000, 4.230000, 4.230000, 4.230000, 4.240000, 4.250000, 4.250000, 4.270000, 4.270000, 4.280000, 4.280000, 4.300000, 4.310000, 4.330000, 4.340000, 4.360000, 4.380000, 4.380000, 4.410000, 4.440000, 4.470000 ], "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, 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 ], "timestamp": [ 976053441, 134860 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.292000, -0.610000, 0.974680 ], "estimate": [ -1.292000, -0.610000, 0.974680 ], "true_pose": [ null, null, null ], "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": [ 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.420000, 1.430000, 1.440000, 1.460000, 1.460000, 1.480000, 1.500000, 1.510000, 1.520000, 1.550000, 1.550000, 1.570000, 1.600000, 1.620000, 1.650000, 1.670000, 1.700000, 1.720000, 1.750000, 1.790000, 1.820000, 1.850000, 1.880000, 1.920000, 1.960000, 2.000000, 2.040000, 2.100000, 2.150000, 2.200000, 2.260000, 2.320000, 2.390000, 2.450000, 2.530000, 2.610000, 2.710000, 2.820000, 2.930000, 3.070000, 3.200000, 3.360000, 3.560000, 3.800000, 4.080000, 4.370000, 4.860000, 5.490000, 17.150000, 17.130000, 17.130000, 17.150000, 18.320000, 20.390000, 21.350000, 21.000000, 7.310000, 6.440000, 5.750000, 5.140000, 4.670000, 4.260000, 3.950000, 3.650000, 3.420000, 3.190000, 3.000000, 2.820000, 2.680000, 2.540000, 2.430000, 2.310000, 2.220000, 2.120000, 2.050000, 1.950000, 1.890000, 1.830000, 1.770000, 1.690000, 1.700000, 1.710000, 1.710000, 1.760000, 1.780000, 4.640000, 4.710000, 4.770000, 4.820000, 4.880000, 4.950000, 5.040000, 5.110000, 4.230000, 4.530000, 5.370000, 3.190000, 3.820000, null, 5.520000, 5.440000, 5.370000, 5.300000, 2.810000, 5.180000, 5.110000, 4.050000, 0.970000, 0.960000, 0.970000, 0.980000, 0.960000, 0.950000, 0.940000, 0.930000, 0.930000, 0.920000, 0.910000, 0.900000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.920000, 0.980000, 1.050000, 1.110000, 1.210000, 1.350000, 1.490000, 1.660000, 1.880000, 2.140000, 2.460000, 3.150000, 3.840000, 4.220000, 4.220000, 4.210000, 4.210000, 4.210000, 4.220000, 4.220000, 4.230000, 4.240000, 4.250000, 4.260000, 4.260000, 4.280000, 4.280000, 4.300000, 4.310000, 4.330000, 4.350000, 4.370000, 4.390000, 4.400000, 4.430000, 4.450000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053441, 590554 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.257000, -0.559000, 0.974680 ], "estimate": [ -1.257000, -0.559000, 0.974680 ], "true_pose": [ null, null, null ], "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, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.320000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.420000, 1.430000, 1.450000, 1.450000, 1.470000, 1.480000, 1.490000, 1.510000, 1.520000, 1.540000, 1.560000, 1.570000, 1.590000, 1.620000, 1.640000, 1.660000, 1.690000, 1.710000, 1.740000, 1.780000, 1.800000, 1.830000, 1.870000, 1.900000, 1.950000, 1.980000, 2.020000, 2.070000, 2.120000, 2.190000, 2.240000, 2.290000, 2.360000, 2.420000, 2.500000, 2.570000, 2.660000, 2.770000, 2.880000, 3.010000, 3.140000, 3.280000, 3.470000, 3.690000, 3.960000, 4.240000, 4.650000, 5.200000, 6.110000, 17.080000, 17.080000, 17.070000, 17.140000, 20.450000, 21.650000, 20.930000, null, 7.190000, 6.060000, 5.350000, 4.830000, 4.390000, 4.030000, 3.730000, 3.470000, 3.230000, 3.040000, 2.860000, 2.700000, 2.560000, 2.440000, 2.330000, 2.220000, 2.120000, 2.040000, 1.970000, 1.900000, 1.820000, 1.760000, 1.700000, 1.620000, 1.640000, 1.650000, 1.650000, 1.670000, 1.710000, 4.590000, 4.660000, 4.710000, 4.780000, 4.830000, 4.910000, 4.990000, 5.060000, 4.160000, 5.210000, 5.330000, 3.100000, 3.760000, null, 5.460000, 5.380000, 5.310000, 5.250000, 5.190000, 2.750000, 5.060000, 4.050000, 4.950000, 4.900000, 0.930000, 0.910000, 0.910000, 0.930000, 0.920000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.860000, 0.850000, 0.850000, 0.870000, 0.950000, 1.070000, 1.180000, 1.330000, 1.540000, 1.750000, 2.050000, 2.460000, 3.300000, 4.200000, 4.200000, 4.200000, 4.190000, 4.200000, 4.200000, 4.200000, 4.210000, 4.220000, 4.230000, 4.240000, 4.250000, 4.260000, 4.280000, 4.280000, 4.290000, 4.320000, 4.330000, 4.360000, 4.370000, 4.390000, 4.410000, 4.440000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053441, 591776 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.226000, -0.513000, 0.986971 ], "estimate": [ -1.226000, -0.513000, 0.986971 ], "true_pose": [ null, null, null ], "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": [ 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.320000, 1.330000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.390000, 1.400000, 1.420000, 1.420000, 1.430000, 1.440000, 1.450000, 1.450000, 1.470000, 1.480000, 1.500000, 1.520000, 1.530000, 1.550000, 1.560000, 1.580000, 1.610000, 1.630000, 1.650000, 1.670000, 1.700000, 1.730000, 1.760000, 1.790000, 1.820000, 1.860000, 1.890000, 1.940000, 1.970000, 2.000000, 2.050000, 2.110000, 2.160000, 2.220000, 2.260000, 2.330000, 2.390000, 2.490000, 2.540000, 2.630000, 2.720000, 2.840000, 2.950000, 3.080000, 3.220000, 3.390000, 3.590000, 3.830000, 4.110000, 4.460000, 4.920000, 5.550000, 7.020000, 17.040000, 17.030000, 17.040000, 18.170000, 20.660000, 21.540000, 20.900000, 7.190000, 6.310000, 5.610000, 5.030000, 4.560000, 4.150000, 3.820000, 3.550000, 3.300000, 3.090000, 2.890000, 2.730000, 2.590000, 2.460000, 2.340000, 2.240000, 2.120000, 2.050000, 1.970000, 1.890000, 1.830000, 1.760000, 1.700000, 1.650000, 1.570000, 1.590000, 1.600000, 1.600000, 1.620000, 1.640000, 4.560000, 4.610000, 4.680000, 4.740000, 4.810000, 4.870000, 4.950000, 5.030000, 4.030000, 5.190000, 5.290000, 3.060000, 3.710000, null, 5.410000, 5.350000, 5.270000, 5.210000, 5.140000, 2.710000, 5.030000, 4.220000, 4.910000, 4.860000, 4.800000, 4.750000, 0.890000, 0.880000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.850000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.920000, 1.050000, 1.210000, 1.410000, 1.670000, 2.050000, 2.620000, 3.940000, 4.170000, 4.170000, 4.180000, 4.180000, 4.180000, 4.180000, 4.190000, 4.200000, 4.210000, 4.220000, 4.230000, 4.250000, 4.260000, 4.280000, 4.290000, 4.310000, 4.320000, 4.340000, 4.370000, 4.380000, 4.400000, 4.440000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053441, 718410 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.196000, -0.468000, 0.993117 ], "estimate": [ -1.196000, -0.468000, 0.993117 ], "true_pose": [ null, null, null ], "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": [ 1.310000, 1.310000, 1.320000, 1.320000, 1.330000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.480000, 1.480000, 1.500000, 1.520000, 1.530000, 1.550000, 1.560000, 1.580000, 1.610000, 1.630000, 1.650000, 1.680000, 1.720000, 1.730000, 1.760000, 1.790000, 1.820000, 1.860000, 1.890000, 1.930000, 1.970000, 2.000000, 2.050000, 2.100000, 2.150000, 2.210000, 2.260000, 2.320000, 2.380000, 2.460000, 2.550000, 2.620000, 2.720000, 2.840000, 2.940000, 3.070000, 3.200000, 3.360000, 3.570000, 3.800000, 4.070000, 4.420000, 4.860000, 5.470000, 16.980000, 16.990000, 16.970000, 16.990000, 20.670000, 20.160000, 21.560000, 20.830000, 14.630000, 7.070000, 5.680000, 5.060000, 4.570000, 4.140000, 3.810000, 3.520000, 3.280000, 3.060000, 2.870000, 2.710000, 2.560000, 2.430000, 2.310000, 2.210000, 2.120000, 2.010000, 1.930000, 1.870000, 1.790000, 1.730000, 1.680000, 1.620000, 1.550000, 1.530000, 1.540000, 1.550000, 1.550000, 1.590000, 1.610000, 4.530000, 4.590000, 4.660000, 4.720000, 4.790000, 4.860000, 4.940000, 5.020000, 4.160000, 5.190000, 3.040000, 3.100000, null, 5.400000, 5.330000, 5.270000, 5.200000, 5.130000, 5.070000, 2.670000, 4.960000, 3.900000, 4.840000, 4.800000, 4.760000, 4.720000, 4.680000, 0.870000, 0.850000, 0.840000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.820000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.850000, 1.050000, 1.290000, 1.640000, 2.260000, 3.800000, 4.150000, 4.150000, 4.160000, 4.160000, 4.170000, 4.170000, 4.180000, 4.180000, 4.200000, 4.210000, 4.220000, 4.230000, 4.250000, 4.270000, 4.280000, 4.300000, 4.310000, 4.350000, 4.360000, 4.380000, 4.400000, 4.440000 ], "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, 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 ], "timestamp": [ 976053442, 112815 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.164000, -0.418000, 0.999262 ], "estimate": [ -1.164000, -0.418000, 0.999262 ], "true_pose": [ null, null, null ], "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": [ 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 1.340000, 1.350000, 1.350000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.430000, 1.440000, 1.450000, 1.460000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.540000, 1.560000, 1.580000, 1.600000, 1.620000, 1.650000, 1.670000, 1.690000, 1.720000, 1.740000, 1.780000, 1.810000, 1.850000, 1.870000, 1.910000, 1.960000, 1.990000, 2.030000, 2.080000, 2.120000, 2.190000, 2.240000, 2.290000, 2.360000, 2.420000, 2.500000, 2.590000, 2.690000, 2.780000, 2.890000, 3.010000, 3.130000, 3.280000, 3.480000, 3.670000, 3.930000, 4.230000, 4.610000, 5.050000, 5.970000, 12.010000, 16.930000, 16.930000, 16.940000, 20.490000, 20.190000, 21.350000, 20.800000, 7.030000, 6.080000, 5.360000, 4.790000, 4.340000, 3.960000, 3.640000, 3.380000, 3.150000, 2.940000, 2.750000, 2.590000, 2.460000, 2.340000, 2.230000, 2.120000, 2.030000, 1.950000, 1.880000, 1.800000, 1.740000, 1.670000, 1.620000, 1.560000, 1.490000, 1.470000, 1.480000, 1.500000, 1.490000, 1.540000, 1.560000, 4.490000, 4.550000, 4.620000, 4.680000, 4.750000, 4.820000, 4.890000, 4.980000, 3.930000, 5.150000, 5.240000, 2.970000, null, 3.750000, 5.290000, 5.210000, 5.160000, 5.090000, 5.030000, 2.600000, 4.920000, 3.880000, 4.810000, 4.770000, 4.720000, 4.680000, 4.640000, 4.600000, 3.750000, 0.820000, 0.810000, 0.810000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.760000, 1.310000, 2.310000, 4.130000, 4.130000, 4.130000, 4.140000, 4.140000, 4.150000, 4.160000, 4.170000, 4.180000, 4.190000, 4.210000, 4.220000, 4.230000, 4.250000, 4.270000, 4.280000, 4.310000, 4.330000, 4.340000, 4.370000, 4.400000, 4.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976053442, 118785 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.129000, -0.365000, 0.999262 ], "estimate": [ -1.129000, -0.365000, 0.999262 ], "true_pose": [ null, null, null ], "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": [ 1.320000, 1.320000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.350000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.450000, 1.470000, 1.480000, 1.490000, 1.510000, 1.530000, 1.540000, 1.550000, 1.560000, 1.590000, 1.610000, 1.650000, 1.650000, 1.680000, 1.710000, 1.730000, 1.760000, 1.800000, 1.820000, 1.860000, 1.890000, 1.930000, 1.970000, 2.000000, 2.050000, 2.100000, 2.150000, 2.210000, 2.250000, 2.320000, 2.390000, 2.460000, 2.540000, 2.620000, 2.720000, 2.810000, 2.930000, 3.050000, 3.210000, 3.350000, 3.530000, 3.770000, 4.030000, 4.370000, 4.780000, 5.320000, 6.270000, 16.860000, 16.860000, 16.860000, 16.870000, 20.440000, 20.160000, 20.800000, 20.720000, 6.970000, 5.900000, 5.130000, 4.600000, 4.170000, 3.790000, 3.510000, 3.250000, 3.040000, 2.840000, 2.660000, 2.500000, 2.380000, 2.260000, 2.150000, 2.060000, 1.970000, 1.890000, 1.810000, 1.750000, 1.680000, 1.620000, 1.560000, 1.510000, 1.460000, 1.410000, 1.420000, 1.430000, 1.430000, 1.450000, 1.480000, 1.470000, 4.480000, 4.540000, 4.610000, 4.680000, 4.740000, 4.820000, 4.900000, 3.860000, 5.070000, 5.170000, 2.920000, 3.570000, null, 5.250000, 5.180000, 5.120000, 5.060000, 5.000000, 4.940000, 2.540000, 3.830000, 4.780000, 4.740000, 4.690000, 4.650000, 4.610000, 4.560000, 4.530000, 3.580000, 4.470000, 2.840000, 0.980000, 0.770000, 0.760000, 0.760000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.750000, 0.740000, 0.750000, 0.770000, 4.120000, 4.120000, 4.120000, 4.130000, 4.140000, 4.160000, 4.170000, 4.180000, 4.200000, 4.210000, 4.230000, 4.250000, 4.270000, 4.280000, 4.300000, 4.320000, 4.350000, 4.380000, 4.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053442, 590348 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.096000, -0.313000, 0.993117 ], "estimate": [ -1.096000, -0.313000, 0.993117 ], "true_pose": [ null, null, null ], "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": [ 1.320000, 1.320000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.360000, 1.370000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.430000, 1.430000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.490000, 1.500000, 1.510000, 1.520000, 1.540000, 1.560000, 1.570000, 1.590000, 1.610000, 1.640000, 1.650000, 1.680000, 1.710000, 1.730000, 1.770000, 1.800000, 1.820000, 1.860000, 1.890000, 1.930000, 1.970000, 2.000000, 2.040000, 2.100000, 2.150000, 2.210000, 2.240000, 2.310000, 2.380000, 2.450000, 2.540000, 2.620000, 2.730000, 2.810000, 2.920000, 3.030000, 3.170000, 3.330000, 3.520000, 3.740000, 3.980000, 4.330000, 4.730000, 5.230000, 6.000000, 11.900000, 16.820000, 16.820000, 16.830000, 17.960000, 20.400000, 21.380000, 20.660000, 6.930000, 5.950000, 5.220000, 4.650000, 4.200000, 3.820000, 3.520000, 3.240000, 3.020000, 2.820000, 2.630000, 2.490000, 2.370000, 2.240000, 2.130000, 2.020000, 1.940000, 1.860000, 1.790000, 1.710000, 1.650000, 1.600000, 1.540000, 1.490000, 1.440000, 1.390000, 1.350000, 1.350000, 1.380000, 1.380000, 1.390000, 1.430000, 1.470000, 4.460000, 4.510000, 4.580000, 4.660000, 4.720000, 4.800000, 4.880000, 3.830000, 5.050000, 5.150000, 2.890000, 3.520000, null, 5.180000, 5.120000, 5.050000, 4.990000, 4.930000, 4.880000, 2.500000, 3.770000, 4.730000, 4.690000, 4.650000, 4.600000, 4.560000, 4.520000, 4.490000, 3.570000, 2.890000, 2.820000, null, 4.340000, 0.940000, 0.810000, 0.740000, 0.740000, 0.740000, 0.750000, 0.740000, 0.750000, 0.740000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.740000, 4.120000, 4.130000, 4.140000, 4.160000, 4.170000, 4.180000, 4.200000, 4.220000, 4.240000, 4.270000, 4.280000, 4.300000, 4.330000, 4.350000, 4.370000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053442, 591518 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.066000, -0.268000, 0.980826 ], "estimate": [ -1.066000, -0.268000, 0.980826 ], "true_pose": [ null, null, null ], "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": [ 1.320000, 1.320000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.450000, 1.460000, 1.470000, 1.490000, 1.500000, 1.510000, 1.520000, 1.540000, 1.560000, 1.590000, 1.580000, 1.600000, 1.640000, 1.650000, 1.670000, 1.700000, 1.720000, 1.760000, 1.790000, 1.810000, 1.860000, 1.890000, 1.920000, 1.970000, 2.000000, 2.040000, 2.090000, 2.130000, 2.190000, 2.250000, 2.300000, 2.370000, 2.440000, 2.520000, 2.600000, 2.700000, 2.790000, 2.890000, 3.010000, 3.140000, 3.290000, 3.470000, 3.670000, 3.920000, 4.230000, 4.610000, 5.070000, 5.840000, 11.760000, 16.770000, 16.770000, 16.760000, 17.060000, 20.020000, 21.340000, 20.610000, 7.080000, 6.160000, 5.390000, 4.750000, 4.270000, 3.870000, 3.540000, 3.260000, 3.040000, 2.830000, 2.640000, 2.490000, 2.350000, 2.240000, 2.130000, 2.020000, 1.930000, 1.850000, 1.770000, 1.700000, 1.630000, 1.570000, 1.520000, 1.460000, 1.420000, 1.370000, 1.340000, 1.300000, 1.300000, 1.310000, 1.310000, 1.320000, 1.370000, 1.390000, 4.420000, 4.480000, 4.550000, 4.620000, 4.700000, 4.770000, 4.850000, 3.760000, 5.030000, 5.130000, 2.830000, null, null, 5.130000, 5.060000, 5.000000, 4.940000, 4.890000, 4.830000, 2.480000, 3.720000, 4.690000, 4.640000, 4.600000, 4.550000, 4.510000, 4.470000, 4.450000, 3.500000, 4.390000, 2.770000, null, 4.300000, 4.270000, 4.260000, 4.240000, 0.900000, 0.780000, 0.710000, 0.710000, 0.700000, 0.720000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.710000, 4.150000, 4.170000, 4.190000, 4.210000, 4.230000, 4.250000, 4.280000, 4.290000, 4.320000, 4.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053442, 718731 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.036000, -0.224000, 0.980826 ], "estimate": [ -1.036000, -0.224000, 0.980826 ], "true_pose": [ null, null, null ], "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": [ 1.320000, 1.330000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.420000, 1.420000, 1.430000, 1.450000, 1.450000, 1.450000, 1.460000, 1.480000, 1.490000, 1.510000, 1.510000, 1.530000, 1.540000, 1.560000, 1.570000, 1.590000, 1.610000, 1.640000, 1.660000, 1.690000, 1.710000, 1.730000, 1.770000, 1.800000, 1.830000, 1.860000, 1.890000, 1.930000, 1.970000, 2.010000, 2.050000, 2.100000, 2.140000, 2.200000, 2.250000, 2.320000, 2.390000, 2.460000, 2.530000, 2.620000, 2.700000, 2.810000, 2.910000, 3.060000, 3.170000, 3.320000, 3.510000, 3.720000, 3.940000, 4.290000, 4.680000, 5.170000, 5.860000, 11.720000, 16.720000, 16.710000, 16.700000, 17.720000, 19.900000, 21.280000, 20.570000, 6.810000, 5.880000, 5.240000, 4.620000, 4.150000, 3.760000, 3.460000, 3.190000, 2.960000, 2.740000, 2.570000, 2.420000, 2.300000, 2.180000, 2.070000, 1.970000, 1.890000, 1.800000, 1.730000, 1.650000, 1.600000, 1.540000, 1.480000, 1.430000, 1.390000, 1.340000, 1.300000, 1.240000, 1.240000, 1.260000, 1.270000, 1.270000, 1.290000, 1.320000, 4.360000, 4.420000, 4.480000, 4.560000, 4.630000, 4.700000, 4.790000, 3.740000, 4.970000, 5.060000, 2.810000, null, null, 3.570000, 5.030000, 4.980000, 4.920000, 4.860000, 4.800000, 4.760000, 2.420000, 3.690000, 4.620000, 4.570000, 4.540000, 4.490000, 4.470000, 4.430000, 3.520000, 4.360000, 2.790000, 2.720000, null, 4.250000, 4.230000, 4.220000, 4.200000, 4.180000, 0.880000, 0.880000, 0.780000, 0.670000, 0.680000, 0.670000, 0.670000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.700000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.700000, 0.710000, 0.710000, 0.700000, 0.700000, 0.710000, 4.180000, 4.210000, 4.230000, 4.250000, 4.280000, 4.300000, 4.330000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 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 ], "timestamp": [ 976053443, 227463 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.003000, -0.175000, 0.974680 ], "estimate": [ -1.003000, -0.175000, 0.974680 ], "true_pose": [ null, null, null ], "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": [ 1.330000, 1.330000, 1.330000, 1.340000, 1.340000, 1.340000, 1.360000, 1.360000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.430000, 1.430000, 1.440000, 1.450000, 1.450000, 1.460000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.550000, 1.550000, 1.570000, 1.580000, 1.600000, 1.620000, 1.650000, 1.670000, 1.690000, 1.720000, 1.740000, 1.770000, 1.800000, 1.840000, 1.870000, 1.910000, 1.950000, 1.990000, 2.030000, 2.070000, 2.110000, 2.160000, 2.210000, 2.260000, 2.330000, 2.390000, 2.480000, 2.560000, 2.640000, 2.730000, 2.830000, 2.930000, 3.060000, 3.200000, 3.360000, 3.550000, 3.750000, 4.030000, 4.330000, 4.750000, 5.270000, 6.140000, 11.670000, 16.650000, 16.660000, 16.670000, 17.650000, 19.860000, 21.230000, 20.530000, 6.750000, 5.810000, 5.100000, 4.520000, 4.050000, 3.660000, 3.360000, 3.100000, 2.870000, 2.680000, 2.500000, 2.360000, 2.230000, 2.110000, 2.010000, 1.910000, 1.830000, 1.760000, 1.670000, 1.600000, 1.550000, 1.490000, 1.450000, 1.390000, 1.340000, 1.300000, 1.260000, 1.220000, 1.190000, 1.190000, 1.200000, 1.210000, 1.210000, 1.260000, 1.280000, 4.350000, 4.410000, 4.480000, 4.560000, 4.630000, 4.700000, 4.030000, 3.920000, 4.970000, 5.070000, 2.760000, null, 3.520000, 5.010000, 4.950000, 4.890000, 4.830000, 4.780000, 4.730000, 4.690000, 2.390000, 4.600000, 4.550000, 4.510000, 4.470000, 4.440000, 4.400000, 4.380000, 3.410000, 4.310000, 2.740000, 2.680000, null, 4.210000, 4.200000, 4.180000, 4.160000, 4.140000, 4.120000, 2.770000, 0.860000, 0.840000, 0.840000, 0.790000, 0.660000, 0.660000, 0.650000, 0.650000, 0.670000, 0.660000, 0.670000, 0.660000, 0.670000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.720000, 4.270000, 4.310000 ], "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, 0, 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 ], "timestamp": [ 976053443, 228518 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.967000, -0.123000, 0.968535 ], "estimate": [ -0.967000, -0.123000, 0.968535 ], "true_pose": [ null, null, null ], "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": [ 1.330000, 1.340000, 1.330000, 1.340000, 1.340000, 1.350000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.450000, 1.460000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.520000, 1.540000, 1.560000, 1.570000, 1.590000, 1.600000, 1.630000, 1.650000, 1.670000, 1.700000, 1.720000, 1.750000, 1.780000, 1.800000, 1.850000, 1.870000, 1.910000, 1.950000, 1.990000, 2.030000, 2.060000, 2.110000, 2.170000, 2.210000, 2.270000, 2.340000, 2.400000, 2.480000, 2.570000, 2.640000, 2.730000, 2.840000, 2.970000, 3.070000, 3.210000, 3.380000, 3.550000, 3.750000, 4.040000, 4.340000, 4.730000, 5.280000, 6.160000, 11.620000, 16.610000, 16.610000, 16.600000, 16.920000, 19.940000, 21.180000, 20.470000, 6.690000, 5.750000, 5.070000, 4.470000, 3.990000, 3.620000, 3.320000, 3.060000, 2.830000, 2.630000, 2.460000, 2.310000, 2.200000, 2.080000, 1.960000, 1.880000, 1.790000, 1.710000, 1.630000, 1.580000, 1.520000, 1.460000, 1.410000, 1.350000, 1.310000, 1.270000, 1.230000, 1.190000, 1.150000, 1.130000, 1.130000, 1.150000, 1.150000, 1.160000, 1.200000, 1.220000, 4.330000, 4.400000, 4.480000, 4.550000, 4.620000, 4.700000, 3.740000, 4.880000, 4.980000, 5.080000, 2.670000, null, 4.990000, 4.930000, 4.880000, 4.830000, 4.770000, 4.720000, 4.680000, 4.630000, 2.320000, 4.540000, 4.490000, 4.470000, 4.430000, 4.390000, 4.360000, 4.330000, 3.660000, 4.270000, 2.740000, 2.650000, null, 4.180000, 4.160000, 4.140000, 4.120000, 4.110000, 4.110000, 2.730000, 4.070000, 4.060000, 4.050000, 0.830000, 0.820000, 0.810000, 0.770000, 0.670000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.660000, 0.660000, 0.670000, 0.680000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.690000, 0.700000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 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": [ 976053443, 344715 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.933000, -0.073000, 0.968535 ], "estimate": [ -0.933000, -0.073000, 0.968535 ], "true_pose": [ null, null, null ], "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, 1.350000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.430000, 1.430000, 1.440000, 1.460000, 1.450000, 1.460000, 1.470000, 1.490000, 1.500000, 1.510000, 1.510000, 1.530000, 1.550000, 1.570000, 1.580000, 1.590000, 1.620000, 1.640000, 1.660000, 1.680000, 1.710000, 1.730000, 1.760000, 1.800000, 1.820000, 1.860000, 1.890000, 1.920000, 1.970000, 1.990000, 2.040000, 2.100000, 2.130000, 2.190000, 2.230000, 2.310000, 2.370000, 2.440000, 2.510000, 2.580000, 2.680000, 2.770000, 2.870000, 2.990000, 3.110000, 3.260000, 3.420000, 3.600000, 3.830000, 4.140000, 4.470000, 4.900000, 5.470000, 6.550000, 11.630000, 16.560000, 16.540000, 16.540000, 20.200000, 19.770000, 21.120000, 20.400000, 6.640000, 5.640000, 4.830000, 4.270000, 3.820000, 3.470000, 3.190000, 2.930000, 2.710000, 2.520000, 2.370000, 2.230000, 2.100000, 1.990000, 1.890000, 1.800000, 1.730000, 1.640000, 1.570000, 1.520000, 1.460000, 1.400000, 1.350000, 1.310000, 1.260000, 1.220000, 1.180000, 1.150000, 1.110000, 1.070000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.130000, 1.150000, 4.330000, 4.400000, 4.470000, 4.550000, 4.620000, 3.710000, 4.790000, 4.880000, 5.000000, 2.670000, null, null, 4.910000, 4.840000, 4.790000, 4.750000, 4.690000, 4.650000, 4.600000, 4.550000, 2.270000, 4.460000, 4.430000, 4.400000, 4.360000, 4.330000, 4.300000, 4.270000, 3.350000, 4.220000, 2.680000, 2.600000, null, 4.130000, 4.120000, 4.110000, 4.090000, 4.070000, 4.060000, 2.690000, 4.030000, 4.030000, 4.020000, 4.010000, 4.010000, 4.010000, 0.770000, 0.800000, 0.790000, 0.790000, 0.740000, 0.680000, 0.640000, 0.620000, 0.620000, 0.620000, 0.610000, 0.650000, 0.640000, 0.650000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.670000, 0.670000, 0.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 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 ], "timestamp": [ 976053443, 808233 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.900000, -0.026000, 0.962389 ], "estimate": [ -0.900000, -0.026000, 0.962389 ], "true_pose": [ null, null, null ], "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, 1.350000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.420000, 1.440000, 1.450000, 1.460000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.530000, 1.550000, 1.570000, 1.580000, 1.610000, 1.630000, 1.650000, 1.660000, 1.690000, 1.720000, 1.740000, 1.770000, 1.800000, 1.820000, 1.860000, 1.890000, 1.930000, 1.970000, 2.000000, 2.040000, 2.090000, 2.140000, 2.200000, 2.250000, 2.310000, 2.370000, 2.450000, 2.520000, 2.600000, 2.690000, 2.780000, 2.880000, 2.990000, 3.120000, 3.290000, 3.440000, 3.620000, 3.860000, 4.150000, 4.490000, 4.930000, 5.540000, 6.520000, 11.560000, 16.500000, 16.490000, 16.490000, 17.430000, 19.730000, 21.060000, 20.350000, 6.590000, 5.580000, 4.800000, 4.220000, 3.780000, 3.420000, 3.130000, 2.880000, 2.670000, 2.480000, 2.310000, 2.180000, 2.060000, 1.950000, 1.850000, 1.770000, 1.700000, 1.610000, 1.550000, 1.470000, 1.420000, 1.370000, 1.320000, 1.270000, 1.230000, 1.190000, 1.160000, 1.130000, 1.080000, 1.060000, 1.020000, 1.010000, 1.010000, 1.030000, 1.030000, 1.050000, 1.080000, 1.090000, 4.310000, 4.390000, 4.470000, 4.540000, 4.620000, 3.660000, 4.810000, 4.900000, 5.010000, 2.570000, null, 4.880000, 4.830000, 4.780000, 4.720000, 4.690000, 4.630000, 4.580000, 4.540000, 3.530000, 2.240000, 4.420000, 4.390000, 4.350000, 4.310000, 4.280000, 4.260000, 4.230000, 3.390000, 4.190000, 4.150000, 2.570000, null, 4.100000, 4.090000, 4.070000, 4.060000, 4.040000, 4.020000, 2.690000, 3.990000, 4.010000, 4.000000, 4.000000, 3.990000, 3.990000, 3.990000, 3.990000, 3.990000, 0.780000, 0.770000, 0.770000, 0.770000, 0.780000, 0.660000, 0.650000, 0.620000, 0.600000, 0.600000, 0.610000, 0.600000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 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, 0, 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 ], "timestamp": [ 976053443, 809416 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.870000, 0.018000, 0.962389 ], "estimate": [ -0.870000, 0.018000, 0.962389 ], "true_pose": [ null, null, null ], "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, 1.350000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.460000, 1.480000, 1.490000, 1.500000, 1.520000, 1.520000, 1.540000, 1.560000, 1.570000, 1.590000, 1.610000, 1.630000, 1.650000, 1.670000, 1.700000, 1.720000, 1.740000, 1.770000, 1.800000, 1.830000, 1.870000, 1.890000, 1.930000, 1.970000, 2.000000, 2.040000, 2.090000, 2.140000, 2.200000, 2.250000, 2.310000, 2.370000, 2.450000, 2.520000, 2.600000, 2.690000, 2.780000, 2.890000, 3.000000, 3.130000, 3.270000, 3.430000, 3.620000, 3.860000, 4.130000, 4.470000, 4.910000, 5.520000, 6.460000, 11.490000, 16.460000, 16.450000, 16.450000, 16.630000, 20.000000, 20.990000, 20.280000, 6.530000, 5.530000, 4.760000, 4.180000, 3.740000, 3.370000, 3.080000, 2.830000, 2.630000, 2.430000, 2.280000, 2.130000, 2.010000, 1.910000, 1.810000, 1.720000, 1.650000, 1.570000, 1.500000, 1.450000, 1.380000, 1.330000, 1.290000, 1.240000, 1.200000, 1.160000, 1.120000, 1.090000, 1.060000, 1.020000, 1.010000, 0.960000, 0.960000, 0.950000, 0.970000, 0.980000, 0.980000, 0.990000, 1.040000, 1.060000, 4.380000, 4.460000, 4.530000, 4.620000, 3.460000, 4.810000, 4.900000, 5.010000, 2.530000, null, 3.310000, 4.770000, 4.700000, 4.670000, 4.610000, 4.570000, 4.520000, 4.480000, 3.480000, 2.210000, 4.370000, 4.330000, 4.300000, 4.270000, 4.250000, 4.210000, 4.150000, 3.480000, 4.140000, 4.120000, 2.580000, 2.570000, 4.050000, 4.050000, 4.040000, 4.020000, 4.010000, 4.010000, 4.000000, 2.650000, 3.990000, 3.980000, 3.980000, 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 3.380000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.650000, 0.650000, 0.610000, 0.600000, 0.590000, 0.590000, 0.600000, 0.620000, 0.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053443, 944962 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.836000, 0.065000, 0.950098 ], "estimate": [ -0.836000, 0.065000, 0.950098 ], "true_pose": [ null, null, null ], "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": [ 1.350000, 1.350000, 1.350000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.440000, 1.460000, 1.460000, 1.470000, 1.470000, 1.490000, 1.500000, 1.520000, 1.530000, 1.540000, 1.560000, 1.570000, 1.580000, 1.610000, 1.630000, 1.640000, 1.670000, 1.690000, 1.710000, 1.730000, 1.760000, 1.790000, 1.820000, 1.860000, 1.880000, 1.920000, 1.960000, 2.000000, 2.030000, 2.080000, 2.130000, 2.200000, 2.230000, 2.300000, 2.360000, 2.420000, 2.500000, 2.570000, 2.650000, 2.770000, 2.850000, 2.970000, 3.100000, 3.220000, 3.380000, 3.550000, 3.790000, 4.050000, 4.370000, 4.760000, 5.280000, 6.100000, 11.380000, 16.410000, 16.400000, 16.390000, 16.390000, 19.950000, 19.860000, 20.960000, 20.240000, 5.730000, 4.950000, 4.300000, 3.840000, 3.430000, 3.130000, 2.860000, 2.630000, 2.440000, 2.280000, 2.140000, 2.020000, 1.900000, 1.810000, 1.700000, 1.630000, 1.560000, 1.490000, 1.430000, 1.370000, 1.320000, 1.270000, 1.220000, 1.180000, 1.150000, 1.110000, 1.080000, 1.050000, 1.010000, 0.980000, 0.950000, 0.920000, 0.900000, 0.910000, 0.920000, 0.930000, 0.930000, 0.950000, 0.980000, 1.000000, 4.350000, 4.430000, 4.500000, 3.460000, 3.550000, 4.790000, 4.880000, 4.990000, 2.500000, null, 3.260000, 4.710000, 4.680000, 4.620000, 4.560000, 4.520000, 4.480000, 4.440000, 3.420000, 4.340000, 2.160000, 4.300000, 4.270000, 4.240000, 4.210000, 4.180000, 4.160000, 3.250000, 4.120000, 4.100000, 2.560000, 2.520000, 4.020000, 4.020000, 4.010000, 4.010000, 3.990000, 3.980000, 3.970000, 2.620000, 3.970000, 3.960000, 3.960000, 3.950000, 3.950000, 3.950000, 3.950000, 3.950000, 3.950000, 3.960000, 3.550000, 3.030000, 1.470000, 1.020000, 0.760000, 0.750000, 0.740000, 0.750000, 0.750000, 0.750000, 0.670000, 0.660000, 0.650000, 0.610000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053444, 276409 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.800000, 0.116000, 0.956244 ], "estimate": [ -0.800000, 0.116000, 0.956244 ], "true_pose": [ null, null, null ], "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": [ 1.350000, 1.350000, 1.350000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.410000, 1.420000, 1.440000, 1.440000, 1.450000, 1.460000, 1.460000, 1.460000, 1.480000, 1.490000, 1.500000, 1.520000, 1.530000, 1.540000, 1.560000, 1.570000, 1.590000, 1.610000, 1.640000, 1.650000, 1.670000, 1.690000, 1.720000, 1.730000, 1.770000, 1.800000, 1.820000, 1.860000, 1.890000, 1.920000, 1.960000, 2.010000, 2.040000, 2.090000, 2.140000, 2.200000, 2.250000, 2.310000, 2.360000, 2.440000, 2.510000, 2.580000, 2.670000, 2.770000, 2.870000, 2.990000, 3.130000, 3.250000, 3.390000, 3.590000, 3.820000, 4.100000, 4.400000, 4.830000, 5.390000, 6.280000, 11.330000, 16.360000, 16.340000, 16.330000, 16.340000, 19.890000, 19.830000, 20.890000, 6.550000, 5.520000, 4.790000, 4.170000, 3.710000, 3.330000, 3.040000, 2.770000, 2.550000, 2.370000, 2.210000, 2.070000, 1.950000, 1.840000, 1.750000, 1.660000, 1.590000, 1.520000, 1.450000, 1.390000, 1.330000, 1.270000, 1.230000, 1.180000, 1.140000, 1.100000, 1.080000, 1.040000, 1.000000, 0.970000, 0.950000, 0.930000, 0.900000, 0.870000, 0.840000, 0.850000, 0.850000, 0.860000, 0.890000, 0.880000, 0.890000, 0.930000, 0.940000, 4.410000, 4.490000, 3.360000, 4.690000, 4.780000, 4.890000, 3.100000, 2.460000, null, 4.690000, 4.650000, 4.600000, 4.540000, 4.500000, 4.460000, 4.410000, 4.390000, 3.660000, 4.310000, 2.150000, 4.250000, 4.210000, 4.190000, 4.160000, 4.130000, 4.110000, 3.210000, 4.080000, 4.060000, 2.530000, 2.490000, null, 4.000000, 3.980000, 3.970000, 3.960000, 3.960000, 3.940000, 2.600000, 3.920000, 3.940000, 3.930000, 3.930000, 3.930000, 3.930000, 3.930000, 3.930000, 3.940000, 3.940000, 3.530000, 3.090000, 2.710000, 1.620000, 1.310000, 1.090000, 0.940000, 0.820000, 0.740000, 0.750000, 0.760000, 0.750000, 0.760000, 0.750000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053444, 335173 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.765000, 0.165000, 0.956244 ], "estimate": [ -0.765000, 0.165000, 0.956244 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.360000, 1.350000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.520000, 1.530000, 1.550000, 1.560000, 1.570000, 1.580000, 1.610000, 1.620000, 1.640000, 1.660000, 1.680000, 1.710000, 1.730000, 1.760000, 1.780000, 1.810000, 1.840000, 1.870000, 1.920000, 1.950000, 1.990000, 2.030000, 2.070000, 2.120000, 2.180000, 2.220000, 2.280000, 2.350000, 2.400000, 2.480000, 2.560000, 2.630000, 2.710000, 2.820000, 2.920000, 3.040000, 3.180000, 3.320000, 3.500000, 3.690000, 3.940000, 4.240000, 4.600000, 5.060000, 5.710000, 11.240000, 11.360000, 16.300000, 16.280000, 16.280000, 16.440000, 19.900000, 19.680000, 20.150000, 6.380000, 5.290000, 4.470000, 3.920000, 3.480000, 3.130000, 2.860000, 2.630000, 2.420000, 2.240000, 2.110000, 1.970000, 1.850000, 1.760000, 1.660000, 1.590000, 1.520000, 1.450000, 1.380000, 1.320000, 1.270000, 1.220000, 1.170000, 1.130000, 1.090000, 1.050000, 1.020000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.860000, 0.840000, 0.810000, 0.790000, 0.800000, 0.800000, 0.810000, 0.830000, 0.820000, 0.840000, 0.880000, 0.890000, 4.440000, 3.310000, 4.630000, 4.730000, 4.840000, 4.860000, 3.040000, 2.450000, 3.160000, 4.610000, 4.560000, 4.510000, 4.460000, 4.430000, 4.380000, 4.360000, 3.360000, 4.280000, 4.220000, 2.110000, 4.190000, 4.160000, 4.140000, 4.120000, 4.100000, 3.180000, 4.050000, 4.030000, 4.010000, 2.500000, 2.460000, 3.960000, 3.960000, 3.940000, 3.940000, 3.930000, 3.920000, 3.920000, 2.570000, 3.920000, 3.920000, 3.920000, 3.910000, 3.910000, 3.920000, 3.920000, 3.920000, 3.920000, 3.800000, 3.340000, 2.950000, 2.640000, 2.410000, 1.510000, 1.320000, 1.140000, 1.010000, 0.920000, 0.850000, 0.780000, 0.740000, 0.750000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053444, 545164 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.733000, 0.210000, 0.962389 ], "estimate": [ -0.733000, 0.210000, 0.962389 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.360000, 1.360000, 1.370000, 1.380000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.460000, 1.470000, 1.490000, 1.500000, 1.500000, 1.520000, 1.530000, 1.540000, 1.560000, 1.570000, 1.580000, 1.600000, 1.620000, 1.630000, 1.650000, 1.670000, 1.700000, 1.720000, 1.750000, 1.770000, 1.800000, 1.830000, 1.880000, 1.900000, 1.940000, 1.980000, 2.020000, 2.060000, 2.110000, 2.150000, 2.220000, 2.260000, 2.320000, 2.380000, 2.450000, 2.520000, 2.590000, 2.680000, 2.780000, 2.900000, 3.000000, 3.120000, 3.270000, 3.400000, 3.600000, 3.830000, 4.110000, 4.390000, 4.830000, 5.340000, 6.250000, 11.230000, 16.250000, 16.240000, 16.230000, 16.230000, 17.420000, 19.560000, 20.770000, 20.070000, 5.430000, 4.700000, 4.080000, 3.610000, 3.220000, 2.910000, 2.640000, 2.440000, 2.260000, 2.110000, 1.970000, 1.850000, 1.760000, 1.660000, 1.570000, 1.500000, 1.430000, 1.370000, 1.310000, 1.250000, 1.190000, 1.160000, 1.110000, 1.070000, 1.030000, 1.000000, 0.970000, 0.940000, 0.910000, 0.890000, 0.860000, 0.830000, 0.820000, 0.800000, 0.780000, 0.750000, 0.730000, 0.740000, 0.740000, 0.760000, 0.760000, 0.770000, 0.770000, 0.790000, 0.830000, 0.870000, 3.290000, 4.680000, 4.790000, 4.760000, 3.000000, 2.390000, 4.600000, 4.570000, 4.520000, 4.470000, 4.430000, 4.390000, 4.360000, 4.310000, 4.270000, 3.330000, 4.220000, 2.090000, 2.090000, 4.130000, 4.120000, 4.090000, 4.070000, 4.030000, 3.150000, 4.010000, 3.990000, 3.970000, 2.460000, 2.430000, 3.920000, 3.920000, 3.920000, 3.920000, 3.910000, 3.900000, 3.900000, 2.560000, 3.890000, 3.890000, 3.890000, 3.890000, 3.890000, 3.900000, 3.900000, 3.910000, 3.920000, 3.560000, 3.180000, 2.850000, 2.600000, 2.380000, 1.790000, 1.460000, 1.310000, 1.180000, 1.090000, 1.010000, 0.960000, 0.900000 ], "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": [ 976053444, 937543 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.708000, 0.246000, 0.968535 ], "estimate": [ -0.708000, 0.246000, 0.968535 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.360000, 1.370000, 1.380000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.440000, 1.460000, 1.460000, 1.470000, 1.480000, 1.480000, 1.500000, 1.510000, 1.530000, 1.540000, 1.550000, 1.570000, 1.570000, 1.600000, 1.610000, 1.640000, 1.660000, 1.670000, 1.690000, 1.720000, 1.740000, 1.760000, 1.790000, 1.820000, 1.850000, 1.890000, 1.930000, 1.970000, 2.000000, 2.040000, 2.090000, 2.130000, 2.190000, 2.240000, 2.300000, 2.370000, 2.420000, 2.490000, 2.570000, 2.650000, 2.750000, 2.850000, 2.950000, 3.070000, 3.200000, 3.340000, 3.520000, 3.730000, 3.990000, 4.270000, 4.660000, 5.100000, 5.800000, 11.150000, 11.250000, 16.190000, 16.180000, 16.190000, 16.200000, 19.740000, 19.410000, 20.470000, 6.280000, 5.100000, 4.320000, 3.770000, 3.340000, 3.020000, 2.730000, 2.500000, 2.300000, 2.140000, 1.990000, 1.870000, 1.760000, 1.670000, 1.580000, 1.500000, 1.430000, 1.370000, 1.300000, 1.240000, 1.200000, 1.150000, 1.090000, 1.060000, 1.020000, 0.990000, 0.960000, 0.940000, 0.900000, 0.870000, 0.840000, 0.830000, 0.810000, 0.790000, 0.770000, 0.750000, 0.740000, 0.720000, 0.700000, 0.700000, 0.710000, 0.710000, 0.730000, 0.740000, 0.740000, 0.750000, 0.790000, 0.820000, 4.660000, 4.760000, 4.740000, 2.960000, 2.320000, 3.080000, 4.530000, 4.480000, 4.440000, 4.400000, 4.370000, 4.320000, 4.280000, 4.260000, 3.290000, 4.190000, 4.160000, 2.030000, 4.110000, 4.090000, 4.070000, 4.040000, 4.010000, 3.150000, 3.980000, 3.970000, 3.950000, 2.470000, 2.410000, null, 3.910000, 3.900000, 3.890000, 3.890000, 3.890000, 3.890000, 3.860000, 2.540000, 3.880000, 3.890000, 3.890000, 3.890000, 3.890000, 3.890000, 3.900000, 3.910000, 3.670000, 3.300000, 2.980000, 2.730000, 2.520000, 2.320000, 2.150000, 1.500000, 1.360000, 1.260000, 1.170000, 1.100000, 1.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053444, 938742 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.698000, 0.261000, 0.962389 ], "estimate": [ -0.698000, 0.261000, 0.962389 ], "true_pose": [ null, null, null ], "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": [ 1.370000, 1.370000, 1.370000, 1.380000, 1.390000, 1.390000, 1.400000, 1.400000, 1.420000, 1.430000, 1.440000, 1.440000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.610000, 1.630000, 1.640000, 1.660000, 1.690000, 1.710000, 1.730000, 1.760000, 1.780000, 1.830000, 1.850000, 1.880000, 1.920000, 1.960000, 1.990000, 2.030000, 2.090000, 2.130000, 2.170000, 2.220000, 2.280000, 2.350000, 2.400000, 2.470000, 2.540000, 2.620000, 2.710000, 2.810000, 2.920000, 3.030000, 3.150000, 3.290000, 3.460000, 3.660000, 3.890000, 4.180000, 4.530000, 4.940000, 5.530000, 10.310000, 11.160000, 16.180000, 16.170000, 16.150000, 16.150000, 17.300000, 19.370000, 20.730000, 19.990000, 5.350000, 4.600000, 3.980000, 3.490000, 3.120000, 2.830000, 2.560000, 2.360000, 2.180000, 2.030000, 1.890000, 1.770000, 1.690000, 1.590000, 1.510000, 1.450000, 1.370000, 1.320000, 1.250000, 1.190000, 1.150000, 1.090000, 1.060000, 1.020000, 0.990000, 0.950000, 0.930000, 0.900000, 0.870000, 0.830000, 0.830000, 0.800000, 0.780000, 0.760000, 0.750000, 0.730000, 0.710000, 0.700000, 0.670000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.770000, 0.770000, 4.770000, 4.680000, 2.940000, 2.300000, 3.120000, 4.500000, 4.460000, 4.400000, 4.380000, 4.340000, 4.300000, 4.270000, 4.230000, 3.260000, 4.170000, 4.140000, 2.010000, 4.090000, 4.070000, 4.050000, 4.020000, 3.990000, 3.120000, 3.970000, 3.950000, 3.930000, 2.460000, 2.420000, 2.440000, 3.890000, 3.890000, 3.890000, 3.880000, 3.880000, 3.880000, 3.880000, 2.530000, 3.880000, 3.880000, 3.880000, 3.880000, 3.890000, 3.890000, 3.890000, 3.900000, 3.690000, 3.330000, 3.040000, 2.780000, 2.560000, 2.370000, 2.230000, 1.640000, 1.450000, 1.350000, 1.260000, 1.180000 ], "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": [ 976053445, 118571 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.698000, 0.261000, 0.962389 ], "estimate": [ -0.698000, 0.261000, 0.962389 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.390000, 1.390000, 1.400000, 1.400000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.610000, 1.630000, 1.650000, 1.670000, 1.690000, 1.710000, 1.730000, 1.760000, 1.790000, 1.830000, 1.860000, 1.880000, 1.920000, 1.960000, 1.990000, 2.030000, 2.080000, 2.130000, 2.180000, 2.230000, 2.290000, 2.350000, 2.410000, 2.490000, 2.580000, 2.640000, 2.730000, 2.830000, 2.930000, 3.050000, 3.190000, 3.320000, 3.490000, 3.700000, 3.940000, 4.230000, 4.600000, 5.040000, 5.690000, 11.080000, 11.160000, 16.170000, 16.160000, 16.150000, 16.160000, 19.710000, 19.740000, 20.720000, 6.250000, 5.260000, 4.400000, 3.820000, 3.370000, 3.020000, 2.740000, 2.500000, 2.300000, 2.130000, 1.980000, 1.860000, 1.750000, 1.660000, 1.570000, 1.490000, 1.410000, 1.350000, 1.300000, 1.230000, 1.180000, 1.140000, 1.090000, 1.050000, 1.010000, 0.990000, 0.950000, 0.920000, 0.890000, 0.860000, 0.840000, 0.820000, 0.790000, 0.780000, 0.760000, 0.740000, 0.710000, 0.710000, 0.690000, 0.670000, 0.660000, 0.670000, 0.670000, 0.690000, 0.700000, 0.710000, 0.710000, 0.730000, 0.760000, 0.760000, 4.740000, 4.720000, 2.930000, 2.320000, 4.530000, 4.480000, 4.440000, 4.390000, 4.370000, 4.320000, 4.290000, 4.250000, 4.200000, 3.270000, 4.150000, 4.120000, 1.980000, 4.090000, 4.060000, 4.040000, 4.010000, 4.000000, 3.100000, 3.960000, 3.940000, 3.930000, 2.450000, 2.380000, 3.900000, 3.890000, 3.890000, 3.890000, 3.880000, 3.880000, 3.880000, 3.860000, 2.520000, 3.870000, 3.870000, 3.880000, 3.880000, 3.890000, 3.890000, 3.890000, 3.900000, 3.580000, 3.240000, 2.960000, 2.720000, 2.510000, 2.320000, 2.180000, 1.560000, 1.420000, 1.320000, 1.240000 ], "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": [ 976053445, 465088 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.697000, 0.261000, 0.956244 ], "estimate": [ -0.697000, 0.261000, 0.956244 ], "true_pose": [ null, null, null ], "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": [ 1.370000, 1.370000, 1.370000, 1.380000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.460000, 1.470000, 1.480000, 1.490000, 1.490000, 1.510000, 1.520000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.610000, 1.630000, 1.650000, 1.660000, 1.690000, 1.710000, 1.730000, 1.760000, 1.790000, 1.830000, 1.850000, 1.880000, 1.920000, 1.960000, 2.000000, 2.040000, 2.080000, 2.120000, 2.180000, 2.230000, 2.290000, 2.350000, 2.410000, 2.480000, 2.560000, 2.640000, 2.720000, 2.820000, 2.920000, 3.050000, 3.180000, 3.310000, 3.490000, 3.700000, 3.930000, 4.220000, 4.570000, 5.020000, 5.630000, 10.450000, 11.160000, 16.160000, 16.170000, 16.150000, 16.160000, 17.330000, 19.350000, 20.720000, 6.240000, 5.290000, 4.460000, 3.880000, 3.420000, 3.070000, 2.780000, 2.530000, 2.330000, 2.160000, 2.000000, 1.880000, 1.770000, 1.670000, 1.570000, 1.500000, 1.420000, 1.360000, 1.300000, 1.250000, 1.190000, 1.140000, 1.090000, 1.060000, 1.020000, 0.990000, 0.950000, 0.920000, 0.890000, 0.860000, 0.840000, 0.820000, 0.790000, 0.780000, 0.760000, 0.750000, 0.720000, 0.710000, 0.690000, 0.670000, 0.670000, 0.670000, 0.670000, 0.690000, 0.710000, 0.710000, 0.710000, 0.730000, 0.770000, 0.760000, 4.750000, 3.050000, 2.940000, 2.310000, 4.540000, 4.490000, 4.450000, 4.390000, 4.370000, 4.330000, 4.290000, 4.260000, 4.220000, 3.250000, 4.160000, 4.130000, 2.000000, 4.090000, 4.070000, 4.040000, 4.010000, 4.000000, 3.110000, 3.970000, 3.950000, 3.930000, 2.440000, 2.390000, null, 3.890000, 3.890000, 3.890000, 3.890000, 3.880000, 3.880000, 3.870000, 2.540000, 3.880000, 3.880000, 3.880000, 3.880000, 3.890000, 3.890000, 3.900000, 3.900000, 3.600000, 3.260000, 2.980000, 2.720000, 2.510000, 2.330000, 2.190000, 1.560000, 1.430000, 1.330000, 1.240000 ], "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, 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 ], "timestamp": [ 976053445, 584923 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.697000, 0.261000, 0.937807 ], "estimate": [ -0.697000, 0.261000, 0.937807 ], "true_pose": [ null, null, null ], "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": [ 1.370000, 1.360000, 1.370000, 1.370000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.490000, 1.500000, 1.520000, 1.530000, 1.550000, 1.560000, 1.580000, 1.590000, 1.610000, 1.630000, 1.650000, 1.660000, 1.680000, 1.710000, 1.730000, 1.750000, 1.790000, 1.840000, 1.840000, 1.880000, 1.910000, 1.950000, 2.000000, 2.030000, 2.070000, 2.120000, 2.180000, 2.220000, 2.280000, 2.340000, 2.390000, 2.470000, 2.540000, 2.620000, 2.720000, 2.810000, 2.910000, 3.020000, 3.150000, 3.280000, 3.460000, 3.650000, 3.880000, 4.170000, 4.520000, 4.940000, 5.500000, 10.300000, 11.160000, 16.170000, 16.170000, 16.160000, 16.160000, 17.290000, 19.370000, 20.720000, 6.390000, 5.330000, 4.590000, 3.960000, 3.490000, 3.110000, 2.820000, 2.570000, 2.360000, 2.170000, 2.030000, 1.900000, 1.780000, 1.690000, 1.590000, 1.510000, 1.440000, 1.370000, 1.320000, 1.260000, 1.190000, 1.150000, 1.100000, 1.060000, 1.020000, 0.990000, 0.960000, 0.930000, 0.900000, 0.860000, 0.840000, 0.830000, 0.800000, 0.770000, 0.760000, 0.750000, 0.730000, 0.710000, 0.710000, 0.680000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.730000, 0.770000, 0.790000, 4.760000, 4.680000, 2.940000, 2.280000, 4.530000, 4.500000, 4.460000, 4.400000, 4.380000, 4.330000, 4.290000, 4.270000, 4.230000, 3.260000, 4.160000, 4.130000, 2.020000, 4.070000, 4.070000, 4.050000, 4.020000, 4.000000, 3.160000, 3.970000, 3.950000, 3.930000, 2.460000, 2.420000, 2.430000, 3.900000, 3.900000, 3.890000, 3.890000, 3.880000, 3.880000, 3.880000, 2.530000, 3.880000, 3.880000, 3.880000, 3.880000, 3.890000, 3.890000, 3.900000, 3.900000, 3.680000, 3.310000, 3.000000, 2.760000, 2.550000, 2.360000, 2.210000, 1.620000, 1.450000, 1.340000, 1.250000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053446, 167700 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.696000, 0.263000, 0.907080 ], "estimate": [ -0.696000, 0.263000, 0.907080 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.360000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.390000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.440000, 1.460000, 1.470000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.540000, 1.550000, 1.560000, 1.580000, 1.590000, 1.610000, 1.640000, 1.660000, 1.660000, 1.690000, 1.710000, 1.730000, 1.760000, 1.790000, 1.830000, 1.860000, 1.880000, 1.920000, 1.970000, 2.000000, 2.050000, 2.090000, 2.130000, 2.190000, 2.240000, 2.300000, 2.360000, 2.420000, 2.490000, 2.580000, 2.650000, 2.750000, 2.850000, 2.950000, 3.070000, 3.190000, 3.330000, 3.520000, 3.730000, 3.980000, 4.260000, 4.640000, 5.100000, 5.760000, 11.110000, 11.190000, 16.170000, 16.170000, 16.160000, 16.170000, 19.710000, 19.320000, 20.710000, 6.250000, 5.230000, 4.370000, 3.820000, 3.380000, 3.040000, 2.740000, 2.510000, 2.310000, 2.140000, 1.990000, 1.870000, 1.760000, 1.660000, 1.570000, 1.500000, 1.420000, 1.360000, 1.300000, 1.250000, 1.180000, 1.160000, 1.090000, 1.060000, 1.020000, 0.990000, 0.950000, 0.930000, 0.900000, 0.870000, 0.850000, 0.820000, 0.800000, 0.780000, 0.760000, 0.750000, 0.710000, 0.710000, 0.700000, 0.670000, 0.670000, 0.670000, 0.670000, 0.700000, 0.710000, 0.710000, 0.720000, 0.740000, 0.780000, 0.820000, 4.750000, 2.950000, 2.940000, 2.320000, 3.060000, 4.490000, 4.440000, 4.400000, 4.370000, 4.320000, 4.280000, 4.260000, 3.790000, 3.830000, 4.150000, 4.120000, 2.020000, 4.090000, 4.070000, 4.030000, 4.010000, 4.000000, 3.110000, 3.970000, 3.950000, 3.930000, 2.440000, 2.400000, 3.900000, 3.900000, 3.900000, 3.890000, 3.890000, 3.880000, 3.880000, 3.830000, 2.570000, 3.880000, 3.880000, 3.880000, 3.890000, 3.890000, 3.900000, 3.900000, 3.910000, 3.560000, 3.240000, 2.930000, 2.700000, 2.500000, 2.310000, 2.170000, 1.540000, 1.410000, 1.320000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053446, 290300 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.696000, 0.263000, 0.870206 ], "estimate": [ -0.696000, 0.263000, 0.870206 ], "true_pose": [ null, null, null ], "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": [ 1.350000, 1.350000, 1.360000, 1.360000, 1.360000, 1.370000, 1.370000, 1.390000, 1.390000, 1.400000, 1.400000, 1.420000, 1.430000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.470000, 1.470000, 1.490000, 1.500000, 1.520000, 1.530000, 1.540000, 1.550000, 1.580000, 1.580000, 1.600000, 1.620000, 1.650000, 1.650000, 1.670000, 1.700000, 1.720000, 1.750000, 1.780000, 1.820000, 1.840000, 1.870000, 1.910000, 1.950000, 1.990000, 2.030000, 2.070000, 2.120000, 2.170000, 2.220000, 2.270000, 2.330000, 2.390000, 2.460000, 2.530000, 2.610000, 2.710000, 2.800000, 2.910000, 3.010000, 3.130000, 3.270000, 3.440000, 3.650000, 3.850000, 4.150000, 4.490000, 4.910000, 5.460000, 10.320000, 11.150000, 16.180000, 16.170000, 16.160000, 16.160000, 17.290000, 19.320000, 20.710000, 19.980000, 5.580000, 4.710000, 4.050000, 3.560000, 3.170000, 2.870000, 2.630000, 2.410000, 2.220000, 2.070000, 1.930000, 1.810000, 1.700000, 1.620000, 1.540000, 1.460000, 1.390000, 1.340000, 1.270000, 1.210000, 1.170000, 1.120000, 1.070000, 1.040000, 1.000000, 0.960000, 0.940000, 0.920000, 0.880000, 0.850000, 0.840000, 0.810000, 0.790000, 0.770000, 0.750000, 0.730000, 0.720000, 0.710000, 0.690000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.720000, 0.700000, 0.730000, 0.760000, 0.770000, 4.760000, 4.710000, 2.930000, 2.310000, 3.070000, 4.510000, 4.470000, 4.420000, 4.390000, 4.340000, 4.300000, 4.270000, 4.240000, 3.270000, 4.170000, 4.140000, 2.030000, 4.080000, 4.080000, 4.060000, 4.030000, 4.010000, 3.100000, 3.980000, 3.960000, 3.940000, 3.930000, 2.440000, 2.420000, 3.900000, 3.900000, 3.900000, 3.890000, 3.890000, 3.880000, 3.880000, 2.530000, 3.880000, 3.880000, 3.880000, 3.890000, 3.890000, 3.900000, 3.900000, 3.900000, 3.740000, 3.360000, 3.050000, 2.800000, 2.580000, 2.390000, 2.230000, 1.680000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053446, 118705 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.696000, 0.264000, 0.821042 ], "estimate": [ -0.696000, 0.264000, 0.821042 ], "true_pose": [ null, null, null ], "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": [ 1.370000, 1.360000, 1.350000, 1.350000, 1.350000, 1.350000, 1.360000, 1.360000, 1.370000, 1.380000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.500000, 1.520000, 1.530000, 1.540000, 1.560000, 1.570000, 1.580000, 1.600000, 1.630000, 1.650000, 1.660000, 1.680000, 1.700000, 1.730000, 1.750000, 1.780000, 1.830000, 1.840000, 1.880000, 1.910000, 1.950000, 1.990000, 2.020000, 2.080000, 2.120000, 2.170000, 2.220000, 2.290000, 2.350000, 2.400000, 2.480000, 2.560000, 2.630000, 2.730000, 2.820000, 2.940000, 3.060000, 3.190000, 3.310000, 3.500000, 3.690000, 3.940000, 4.240000, 4.610000, 5.070000, 5.710000, 11.100000, 11.180000, 16.170000, 16.160000, 16.150000, 16.150000, 19.730000, 19.350000, 20.710000, 6.250000, 5.290000, 4.560000, 3.940000, 3.470000, 3.110000, 2.820000, 2.580000, 2.380000, 2.200000, 2.040000, 1.910000, 1.790000, 1.700000, 1.600000, 1.530000, 1.460000, 1.390000, 1.330000, 1.270000, 1.210000, 1.170000, 1.120000, 1.080000, 1.030000, 0.990000, 0.970000, 0.940000, 0.920000, 0.880000, 0.850000, 0.840000, 0.820000, 0.780000, 0.780000, 0.760000, 0.740000, 0.730000, 0.710000, 0.690000, 0.670000, 0.670000, 0.680000, 0.690000, 0.710000, 0.720000, 0.720000, 0.740000, 0.770000, 0.790000, 4.760000, 4.700000, 2.940000, 2.290000, 4.540000, 4.500000, 4.460000, 4.400000, 4.380000, 4.340000, 4.300000, 4.270000, 4.230000, 3.420000, 4.170000, 4.140000, 2.020000, 4.100000, 4.080000, 4.050000, 4.030000, 4.010000, 3.110000, 3.970000, 3.960000, 3.940000, 2.450000, 2.400000, null, 3.900000, 3.900000, 3.900000, 3.900000, 3.890000, 3.890000, 3.880000, 2.550000, 3.880000, 3.890000, 3.890000, 3.890000, 3.900000, 3.900000, 3.900000, 3.910000, 3.620000, 3.260000, 2.980000, 2.740000, 2.520000, 2.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053446, 574681 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.695000, 0.264000, 0.765733 ], "estimate": [ -0.695000, 0.264000, 0.765733 ], "true_pose": [ null, null, null ], "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": [ 1.350000, 1.350000, 1.370000, 1.360000, 1.350000, 1.340000, 1.350000, 1.350000, 1.350000, 1.360000, 1.360000, 1.360000, 1.390000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.430000, 1.440000, 1.450000, 1.460000, 1.460000, 1.470000, 1.490000, 1.490000, 1.510000, 1.530000, 1.530000, 1.550000, 1.570000, 1.580000, 1.600000, 1.620000, 1.650000, 1.660000, 1.690000, 1.710000, 1.730000, 1.750000, 1.780000, 1.820000, 1.840000, 1.880000, 1.910000, 1.960000, 2.000000, 2.030000, 2.080000, 2.120000, 2.180000, 2.230000, 2.290000, 2.350000, 2.410000, 2.480000, 2.570000, 2.640000, 2.740000, 2.840000, 2.950000, 3.070000, 3.190000, 3.340000, 3.520000, 3.740000, 3.990000, 4.280000, 4.670000, 5.140000, 5.840000, 11.110000, 11.250000, 16.160000, 16.160000, 16.140000, 16.190000, 19.710000, 19.390000, 20.670000, 6.250000, 5.270000, 4.450000, 3.870000, 3.440000, 3.080000, 2.800000, 2.560000, 2.360000, 2.180000, 2.030000, 1.900000, 1.790000, 1.690000, 1.600000, 1.520000, 1.450000, 1.380000, 1.330000, 1.270000, 1.210000, 1.170000, 1.120000, 1.080000, 1.030000, 1.010000, 0.970000, 0.950000, 0.920000, 0.890000, 0.850000, 0.840000, 0.820000, 0.800000, 0.770000, 0.760000, 0.750000, 0.730000, 0.710000, 0.690000, 0.680000, 0.680000, 0.690000, 0.690000, 0.710000, 0.730000, 0.720000, 0.740000, 0.780000, 0.810000, 4.760000, 4.710000, 2.950000, 2.290000, 3.090000, 4.490000, 4.460000, 4.400000, 4.370000, 4.340000, 4.300000, 4.270000, 4.210000, 4.190000, 4.160000, 4.130000, 2.000000, 4.100000, 4.070000, 4.050000, 4.020000, 4.010000, 3.500000, 3.980000, 3.960000, 3.940000, 2.450000, 2.400000, 3.930000, 3.910000, 3.900000, 3.900000, 3.900000, 3.890000, 3.890000, 3.870000, 3.870000, 3.890000, 3.890000, 3.890000, 3.900000, 3.900000, 3.900000, 3.910000, 3.920000, 3.560000, 3.230000, 2.940000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053446, 627516 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.694000, 0.266000, 0.704277 ], "estimate": [ -0.694000, 0.266000, 0.704277 ], "true_pose": [ null, null, null ], "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, 1.350000, 1.340000, 1.340000, 1.340000, 1.360000, 1.360000, 1.360000, 1.340000, 1.340000, 1.340000, 1.340000, 1.350000, 1.350000, 1.360000, 1.360000, 1.380000, 1.380000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.450000, 1.460000, 1.470000, 1.490000, 1.500000, 1.510000, 1.530000, 1.550000, 1.570000, 1.580000, 1.580000, 1.600000, 1.630000, 1.650000, 1.670000, 1.690000, 1.710000, 1.730000, 1.750000, 1.780000, 1.810000, 1.850000, 1.880000, 1.920000, 1.970000, 2.000000, 2.050000, 2.090000, 2.140000, 2.200000, 2.240000, 2.310000, 2.380000, 2.440000, 2.500000, 2.590000, 2.670000, 2.780000, 2.880000, 2.990000, 3.120000, 3.250000, 3.430000, 3.590000, 3.820000, 4.100000, 4.410000, 4.840000, 5.370000, 6.190000, 11.140000, 16.170000, 16.160000, 16.150000, 16.150000, 17.310000, 19.590000, 20.710000, 19.990000, 6.240000, 4.950000, 4.230000, 3.710000, 3.310000, 2.970000, 2.720000, 2.490000, 2.300000, 2.140000, 2.000000, 1.880000, 1.770000, 1.670000, 1.580000, 1.510000, 1.450000, 1.370000, 1.320000, 1.260000, 1.210000, 1.160000, 1.110000, 1.080000, 1.030000, 1.000000, 0.970000, 0.940000, 0.910000, 0.880000, 0.870000, 0.850000, 0.820000, 0.790000, 0.780000, 0.760000, 0.750000, 0.730000, 0.710000, 0.710000, 0.690000, 0.680000, 0.690000, 0.700000, 0.720000, 0.730000, 0.720000, 0.740000, 0.780000, 0.810000, 4.740000, 2.960000, 2.950000, 2.300000, 4.530000, 4.480000, 4.440000, 4.400000, 4.360000, 4.320000, 4.280000, 4.260000, 3.280000, 4.190000, 4.160000, 4.130000, 2.020000, 4.100000, 4.070000, 4.050000, 4.020000, 3.120000, 3.990000, 3.980000, 3.960000, 3.950000, 2.470000, 2.410000, 3.920000, 3.910000, 3.900000, 3.900000, 3.900000, 3.900000, 3.900000, 2.550000, 3.900000, 3.900000, 3.900000, 3.900000, 3.900000, 3.900000, 3.910000, 3.920000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053446, 718853 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.692000, 0.267000, 0.667404 ], "estimate": [ -0.692000, 0.267000, 0.667404 ], "true_pose": [ null, null, null ], "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": [ 1.350000, 1.350000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.360000, 1.350000, 1.350000, 1.340000, 1.330000, 1.330000, 1.340000, 1.340000, 1.340000, 1.350000, 1.360000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.430000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.490000, 1.510000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, 1.610000, 1.620000, 1.650000, 1.660000, 1.680000, 1.710000, 1.730000, 1.750000, 1.780000, 1.810000, 1.850000, 1.880000, 1.920000, 1.970000, 2.000000, 2.050000, 2.100000, 2.140000, 2.210000, 2.240000, 2.310000, 2.380000, 2.440000, 2.500000, 2.590000, 2.680000, 2.790000, 2.890000, 3.000000, 3.120000, 3.260000, 3.410000, 3.620000, 3.830000, 4.130000, 4.460000, 4.890000, 5.460000, 10.380000, 11.160000, 16.160000, 16.140000, 16.150000, 16.150000, 17.310000, 19.370000, 20.660000, 19.990000, 5.860000, 4.770000, 4.100000, 3.630000, 3.240000, 2.940000, 2.680000, 2.460000, 2.280000, 2.120000, 1.980000, 1.860000, 1.750000, 1.660000, 1.570000, 1.500000, 1.440000, 1.370000, 1.320000, 1.260000, 1.200000, 1.170000, 1.110000, 1.070000, 1.030000, 1.000000, 0.970000, 0.950000, 0.920000, 0.890000, 0.860000, 0.840000, 0.830000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.710000, 0.690000, 0.680000, 0.690000, 0.700000, 0.720000, 0.730000, 0.730000, 0.740000, 0.780000, 0.810000, 4.730000, 2.950000, null, 2.340000, 4.520000, 4.470000, 4.430000, 4.380000, 4.360000, 4.320000, 4.280000, 4.250000, 3.300000, 4.190000, 4.160000, 4.120000, 2.050000, 4.090000, 4.070000, 4.050000, 4.010000, 3.120000, 3.990000, 3.980000, 3.960000, 3.950000, 2.460000, 2.420000, 3.900000, 3.910000, 3.910000, 3.900000, 3.900000, 3.900000, 3.900000, 2.550000, 3.900000, 3.900000, 3.900000, 3.900000, 3.900000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053447, 168362 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.686000, 0.271000, 0.648968 ], "estimate": [ -0.686000, 0.271000, 0.648968 ], "true_pose": [ null, null, null ], "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": [ 1.350000, 1.350000, 1.350000, 1.340000, 1.340000, 1.340000, 1.330000, 1.340000, 1.330000, 1.350000, 1.350000, 1.350000, 1.340000, 1.330000, 1.330000, 1.330000, 1.340000, 1.340000, 1.340000, 1.350000, 1.360000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.500000, 1.520000, 1.530000, 1.550000, 1.570000, 1.590000, 1.590000, 1.620000, 1.630000, 1.660000, 1.670000, 1.700000, 1.720000, 1.730000, 1.760000, 1.810000, 1.830000, 1.870000, 1.900000, 1.940000, 1.990000, 2.020000, 2.070000, 2.130000, 2.170000, 2.220000, 2.280000, 2.340000, 2.400000, 2.470000, 2.560000, 2.650000, 2.730000, 2.840000, 2.950000, 3.070000, 3.190000, 3.320000, 3.530000, 3.750000, 3.990000, 4.300000, 4.690000, 5.220000, 5.940000, 11.120000, 16.170000, 16.160000, 16.140000, 16.150000, 16.460000, 19.710000, 20.640000, 20.010000, 6.240000, 5.080000, 4.320000, 3.770000, 3.370000, 3.040000, 2.770000, 2.530000, 2.340000, 2.170000, 2.030000, 1.900000, 1.790000, 1.700000, 1.610000, 1.540000, 1.470000, 1.400000, 1.340000, 1.280000, 1.230000, 1.180000, 1.140000, 1.090000, 1.050000, 1.020000, 0.990000, 0.960000, 0.930000, 0.910000, 0.870000, 0.850000, 0.840000, 0.820000, 0.800000, 0.770000, 0.770000, 0.750000, 0.730000, 0.720000, 0.700000, 0.680000, 0.690000, 0.690000, 0.710000, 0.730000, 0.730000, 0.730000, 0.740000, 0.790000, 0.820000, 2.960000, 2.960000, 2.310000, 3.090000, 4.490000, 4.460000, 4.410000, 4.370000, 4.330000, 4.290000, 4.270000, 3.330000, 4.200000, 4.170000, 4.130000, 2.020000, 4.090000, 4.070000, 4.050000, 4.030000, 3.510000, 3.960000, 3.980000, 3.970000, 3.960000, 2.470000, 2.420000, 3.900000, 3.920000, 3.910000, 3.900000, 3.900000, 3.900000, 3.900000, 2.560000, 3.900000, 3.900000, 3.900000, 3.900000 ], "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": [ 976053447, 169613 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.666000, 0.285000, 0.605949 ], "estimate": [ -0.666000, 0.285000, 0.605949 ], "true_pose": [ null, null, null ], "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": [ 1.350000, 1.340000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.350000, 1.330000, 1.330000, 1.330000, 1.330000, 1.320000, 1.330000, 1.330000, 1.350000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.460000, 1.460000, 1.480000, 1.490000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, 1.600000, 1.620000, 1.640000, 1.660000, 1.680000, 1.710000, 1.740000, 1.760000, 1.800000, 1.810000, 1.850000, 1.880000, 1.920000, 1.960000, 2.000000, 2.040000, 2.090000, 2.150000, 2.200000, 2.240000, 2.310000, 2.370000, 2.440000, 2.520000, 2.600000, 2.690000, 2.800000, 2.910000, 3.020000, 3.140000, 3.270000, 3.460000, 3.660000, 3.900000, 4.180000, 4.540000, 5.000000, 5.670000, 11.090000, 11.160000, 16.160000, 16.140000, 16.140000, 16.150000, 19.680000, 19.300000, 20.700000, 6.290000, 5.300000, 4.570000, 3.990000, 3.520000, 3.150000, 2.860000, 2.640000, 2.420000, 2.250000, 2.100000, 1.950000, 1.840000, 1.740000, 1.650000, 1.560000, 1.490000, 1.420000, 1.370000, 1.310000, 1.250000, 1.190000, 1.160000, 1.110000, 1.070000, 1.040000, 1.000000, 0.970000, 0.940000, 0.910000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.710000, 0.700000, 0.680000, 0.680000, 0.700000, 0.690000, 0.710000, 0.730000, 0.720000, 0.730000, 0.780000, 0.810000, 2.960000, null, 2.320000, 4.510000, 4.470000, 4.430000, 4.390000, 4.350000, 4.310000, 4.280000, 4.250000, 3.290000, 4.180000, 4.150000, 4.130000, 2.040000, 4.080000, 4.060000, 4.030000, 4.000000, 3.220000, 3.990000, 3.970000, 3.960000, 3.950000, 2.450000, 2.430000, 3.890000, 3.900000, 3.900000, 3.890000, 3.890000, 3.890000, 3.890000, 2.540000, 3.900000, 3.900000 ], "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, 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 ], "timestamp": [ 976053447, 319216 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.614000, 0.320000, 0.569076 ], "estimate": [ -0.614000, 0.320000, 0.569076 ], "true_pose": [ null, null, null ], "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": [ 1.350000, 1.350000, 1.340000, 1.330000, 1.330000, 1.320000, 1.320000, 1.320000, 1.310000, 1.320000, 1.320000, 1.320000, 1.320000, 1.330000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000, 1.310000, 1.310000, 1.310000, 1.330000, 1.310000, 1.320000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.480000, 1.490000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, 1.600000, 1.620000, 1.650000, 1.670000, 1.690000, 1.720000, 1.750000, 1.770000, 1.800000, 1.830000, 1.870000, 1.900000, 1.940000, 1.980000, 2.020000, 2.070000, 2.120000, 2.180000, 2.220000, 2.280000, 2.350000, 2.420000, 2.500000, 2.580000, 2.660000, 2.770000, 2.870000, 2.990000, 3.120000, 3.250000, 3.410000, 3.620000, 3.850000, 4.140000, 4.490000, 4.930000, 5.580000, 11.000000, 11.100000, 16.110000, 16.100000, 16.090000, 16.090000, 19.830000, 19.370000, 20.660000, 19.920000, 5.480000, 4.670000, 4.020000, 3.590000, 3.220000, 2.910000, 2.660000, 2.460000, 2.280000, 2.120000, 1.980000, 1.870000, 1.760000, 1.660000, 1.580000, 1.500000, 1.440000, 1.370000, 1.320000, 1.270000, 1.210000, 1.170000, 1.120000, 1.080000, 1.040000, 1.010000, 0.990000, 0.950000, 0.920000, 0.890000, 0.880000, 0.850000, 0.830000, 0.820000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.660000, 0.650000, 0.670000, 0.670000, 0.670000, 0.680000, 0.700000, 0.700000, 0.720000, 0.760000, 0.810000, 2.270000, 4.470000, 4.440000, 4.390000, 4.360000, 4.310000, 4.280000, 4.250000, 4.210000, 3.270000, 4.150000, 4.130000, 4.110000, 2.020000, 4.060000, 4.040000, 4.010000, 4.000000, 3.100000, 3.980000, 3.960000, 3.940000, 3.930000, 2.450000, 2.420000, 3.900000, 3.900000, 3.900000, 3.900000, 3.900000, 3.900000 ], "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": [ 976053447, 663362 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.544000, 0.366000, 0.599803 ], "estimate": [ -0.544000, 0.366000, 0.599803 ], "true_pose": [ null, null, null ], "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": [ 1.330000, 1.320000, 1.320000, 1.310000, 1.300000, 1.300000, 1.310000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.310000, 1.300000, 1.300000, 1.290000, 1.300000, 1.300000, 1.300000, 1.300000, 1.290000, 1.290000, 1.300000, 1.300000, 1.300000, 1.310000, 1.320000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.460000, 1.470000, 1.480000, 1.500000, 1.510000, 1.530000, 1.540000, 1.560000, 1.580000, 1.600000, 1.620000, 1.650000, 1.660000, 1.690000, 1.710000, 1.740000, 1.780000, 1.800000, 1.850000, 1.870000, 1.910000, 1.960000, 1.990000, 2.040000, 2.100000, 2.150000, 2.200000, 2.260000, 2.320000, 2.390000, 2.470000, 2.560000, 2.650000, 2.740000, 2.840000, 2.960000, 3.090000, 3.220000, 3.380000, 3.590000, 3.830000, 4.120000, 4.470000, 4.920000, 5.580000, 10.980000, 11.030000, 16.020000, 16.020000, 16.020000, 16.020000, 19.740000, 19.230000, 20.000000, 6.110000, 5.140000, 4.410000, 3.850000, 3.430000, 3.080000, 2.810000, 2.580000, 2.390000, 2.210000, 2.070000, 1.940000, 1.830000, 1.730000, 1.630000, 1.550000, 1.470000, 1.420000, 1.350000, 1.300000, 1.250000, 1.190000, 1.160000, 1.100000, 1.070000, 1.030000, 1.000000, 0.970000, 0.940000, 0.930000, 0.890000, 0.860000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.630000, 0.640000, 0.650000, 0.670000, 0.650000, 0.680000, 0.750000, 4.340000, 4.300000, 4.270000, 4.240000, 4.200000, 4.160000, 3.250000, 4.120000, 4.100000, 4.070000, 4.050000, 2.000000, 4.010000, 4.000000, 3.980000, 3.570000, 3.960000, 3.940000, 3.930000, 3.920000, 2.450000, 2.410000, 3.870000, 3.890000, 3.900000, 3.900000, 3.900000 ], "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": [ 976053447, 734933 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.489000, 0.405000, 0.618240 ], "estimate": [ -0.489000, 0.405000, 0.618240 ], "true_pose": [ null, null, null ], "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, 1.290000, 1.290000, 1.290000, 1.290000, 1.280000, 1.280000, 1.280000, 1.280000, 1.280000, 1.280000, 1.280000, 1.270000, 1.300000, 1.270000, 1.270000, 1.280000, 1.270000, 1.280000, 1.280000, 1.290000, 1.290000, 1.300000, 1.300000, 1.300000, 1.310000, 1.320000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.410000, 1.420000, 1.430000, 1.440000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, 1.610000, 1.630000, 1.660000, 1.690000, 1.710000, 1.740000, 1.770000, 1.800000, 1.850000, 1.880000, 1.920000, 1.970000, 2.000000, 2.040000, 2.100000, 2.150000, 2.210000, 2.260000, 2.360000, 2.410000, 2.500000, 2.580000, 2.670000, 2.780000, 2.880000, 3.000000, 3.110000, 3.280000, 3.470000, 3.690000, 3.950000, 4.280000, 4.680000, 5.220000, 5.970000, 10.930000, 15.950000, 15.930000, 15.920000, 15.930000, 17.090000, 19.130000, 20.490000, 19.760000, 6.020000, 4.920000, 4.190000, 3.700000, 3.300000, 2.970000, 2.710000, 2.500000, 2.320000, 2.150000, 2.030000, 1.900000, 1.780000, 1.690000, 1.600000, 1.510000, 1.460000, 1.390000, 1.340000, 1.270000, 1.230000, 1.180000, 1.140000, 1.090000, 1.060000, 1.020000, 0.980000, 0.960000, 0.930000, 0.910000, 0.870000, 0.860000, 0.840000, 0.810000, 0.800000, 0.780000, 0.780000, 0.760000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.640000, 0.640000, 0.630000, 0.610000, 0.610000, 0.610000, 0.580000, 0.570000, 0.570000, 0.570000, 0.580000, 0.620000, 0.630000, 0.630000, 0.650000, 0.720000, 4.120000, 3.200000, 4.090000, 4.070000, 4.040000, 4.020000, 4.000000, 1.980000, 3.980000, 3.970000, 3.080000, 3.940000, 3.920000, 3.920000, 3.920000, 3.900000, 2.430000, 2.410000, 3.870000, 3.890000, 3.900000, 3.900000, 3.900000 ], "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": [ 976053448, 143856 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.452000, 0.430000, 0.587512 ], "estimate": [ -0.452000, 0.430000, 0.587512 ], "true_pose": [ null, null, null ], "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": [ 1.290000, 1.290000, 1.290000, 1.280000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.260000, 1.260000, 1.260000, 1.270000, 1.260000, 1.270000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.270000, 1.270000, 1.280000, 1.280000, 1.290000, 1.290000, 1.300000, 1.300000, 1.310000, 1.320000, 1.320000, 1.330000, 1.350000, 1.350000, 1.370000, 1.380000, 1.390000, 1.400000, 1.420000, 1.430000, 1.440000, 1.460000, 1.470000, 1.480000, 1.500000, 1.520000, 1.540000, 1.560000, 1.570000, 1.590000, 1.620000, 1.640000, 1.670000, 1.700000, 1.720000, 1.750000, 1.780000, 1.810000, 1.860000, 1.900000, 1.940000, 1.980000, 2.020000, 2.070000, 2.120000, 2.180000, 2.230000, 2.310000, 2.380000, 2.450000, 2.530000, 2.630000, 2.720000, 2.820000, 2.930000, 3.060000, 3.200000, 3.380000, 3.590000, 3.840000, 4.140000, 4.530000, 4.960000, 5.750000, 10.860000, 11.010000, 15.910000, 15.890000, 15.900000, 16.040000, 19.450000, 19.120000, 20.240000, 6.010000, 5.130000, 4.460000, 3.890000, 3.440000, 3.120000, 2.830000, 2.590000, 2.400000, 2.230000, 2.080000, 1.940000, 1.840000, 1.710000, 1.630000, 1.560000, 1.480000, 1.410000, 1.350000, 1.300000, 1.240000, 1.190000, 1.160000, 1.110000, 1.070000, 1.040000, 1.000000, 0.970000, 0.940000, 0.920000, 0.890000, 0.870000, 0.840000, 0.830000, 0.810000, 0.790000, 0.780000, 0.760000, 0.750000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.560000, 0.550000, 0.560000, 0.540000, 0.570000, 0.590000, 0.600000, 0.610000, 0.620000, 4.080000, 4.050000, 4.020000, 4.000000, 4.000000, 1.950000, 3.950000, 3.960000, 3.060000, 3.930000, 3.920000, 3.920000, 3.900000, 3.900000, 2.590000, 2.420000, 3.900000, 3.900000, 3.900000 ], "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": [ 976053448, 165274 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.417000, 0.454000, 0.599803 ], "estimate": [ -0.417000, 0.454000, 0.599803 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.280000, 1.280000, 1.270000, 1.270000, 1.260000, 1.260000, 1.260000, 1.250000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.250000, 1.260000, 1.250000, 1.250000, 1.250000, 1.260000, 1.260000, 1.260000, 1.260000, 1.270000, 1.280000, 1.280000, 1.290000, 1.300000, 1.300000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.400000, 1.410000, 1.430000, 1.440000, 1.450000, 1.460000, 1.480000, 1.500000, 1.520000, 1.540000, 1.560000, 1.570000, 1.590000, 1.620000, 1.650000, 1.670000, 1.700000, 1.730000, 1.760000, 1.790000, 1.820000, 1.870000, 1.900000, 1.950000, 1.990000, 2.020000, 2.080000, 2.120000, 2.190000, 2.250000, 2.320000, 2.390000, 2.480000, 2.570000, 2.650000, 2.760000, 2.860000, 2.980000, 3.140000, 3.280000, 3.480000, 3.690000, 3.960000, 4.310000, 4.730000, 5.340000, 10.110000, 10.840000, 15.860000, 15.860000, 15.850000, 15.850000, 16.990000, 19.030000, 20.420000, 19.680000, 5.940000, 4.660000, 4.010000, 3.560000, 3.190000, 2.890000, 2.640000, 2.450000, 2.270000, 2.120000, 1.980000, 1.870000, 1.760000, 1.660000, 1.570000, 1.500000, 1.420000, 1.370000, 1.310000, 1.260000, 1.210000, 1.170000, 1.120000, 1.080000, 1.050000, 1.010000, 0.970000, 0.950000, 0.920000, 0.890000, 0.860000, 0.840000, 0.840000, 0.810000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.720000, 0.710000, 0.710000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.600000, 0.590000, 0.580000, 0.590000, 0.560000, 0.540000, 0.530000, 0.540000, 0.530000, 0.550000, 0.570000, 0.600000, 0.590000, 0.610000, 4.000000, 3.990000, 3.970000, 1.970000, 3.950000, 3.060000, 3.900000, 3.920000, 3.910000, 3.900000, 3.890000, 2.670000, 2.420000, 2.430000, 3.900000, 3.900000 ], "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": [ 976053448, 364971 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.367000, 0.488000, 0.605949 ], "estimate": [ -0.367000, 0.488000, 0.605949 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.260000, 1.260000, 1.250000, 1.250000, 1.250000, 1.240000, 1.250000, 1.250000, 1.240000, 1.250000, 1.250000, 1.250000, 1.240000, 1.240000, 1.240000, 1.250000, 1.240000, 1.240000, 1.240000, 1.250000, 1.260000, 1.260000, 1.270000, 1.280000, 1.290000, 1.290000, 1.290000, 1.300000, 1.310000, 1.310000, 1.330000, 1.340000, 1.340000, 1.350000, 1.370000, 1.380000, 1.390000, 1.400000, 1.420000, 1.430000, 1.450000, 1.460000, 1.470000, 1.490000, 1.510000, 1.530000, 1.540000, 1.570000, 1.580000, 1.610000, 1.650000, 1.660000, 1.690000, 1.720000, 1.750000, 1.780000, 1.820000, 1.860000, 1.900000, 1.940000, 1.980000, 2.020000, 2.080000, 2.130000, 2.190000, 2.250000, 2.320000, 2.390000, 2.480000, 2.580000, 2.660000, 2.760000, 2.870000, 2.990000, 3.120000, 3.300000, 3.490000, 3.730000, 3.970000, 4.360000, 4.790000, 5.430000, 10.740000, 10.810000, 15.810000, 15.810000, 15.800000, 15.800000, 16.930000, 19.410000, 20.360000, 19.640000, 5.890000, 4.610000, 3.990000, 3.540000, 3.160000, 2.870000, 2.640000, 2.420000, 2.250000, 2.100000, 1.970000, 1.840000, 1.750000, 1.640000, 1.560000, 1.480000, 1.420000, 1.350000, 1.290000, 1.250000, 1.200000, 1.160000, 1.110000, 1.070000, 1.030000, 1.010000, 0.970000, 0.950000, 0.920000, 0.870000, 0.850000, 0.840000, 0.830000, 0.810000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.530000, 0.520000, 0.520000, 0.530000, 0.520000, 0.520000, 0.570000, 0.590000, 0.580000, 1.960000, 3.930000, 3.050000, 3.910000, 3.900000, 3.900000, 3.890000, 3.890000, 3.890000, 2.420000, 2.420000, 3.900000, 3.900000 ], "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": [ 976053448, 724449 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.306000, 0.530000, 0.618240 ], "estimate": [ -0.306000, 0.530000, 0.618240 ], "true_pose": [ null, null, null ], "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, 1.220000, 1.220000, 1.220000, 1.230000, 1.240000, 1.230000, 1.240000, 1.230000, 1.230000, 1.220000, 1.230000, 1.220000, 1.220000, 1.230000, 1.230000, 1.240000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.280000, 1.290000, 1.300000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.370000, 1.380000, 1.390000, 1.410000, 1.420000, 1.430000, 1.450000, 1.460000, 1.480000, 1.500000, 1.510000, 1.540000, 1.560000, 1.580000, 1.610000, 1.630000, 1.660000, 1.690000, 1.720000, 1.750000, 1.780000, 1.820000, 1.860000, 1.890000, 1.940000, 1.980000, 2.020000, 2.070000, 2.120000, 2.200000, 2.260000, 2.340000, 2.410000, 2.500000, 2.580000, 2.670000, 2.790000, 2.900000, 3.010000, 3.170000, 3.360000, 3.570000, 3.810000, 4.130000, 4.520000, 5.030000, 5.770000, 10.700000, 15.750000, 15.730000, 15.740000, 15.730000, 15.820000, 19.300000, 18.990000, 19.660000, 5.810000, 4.910000, 4.290000, 3.750000, 3.350000, 3.020000, 2.740000, 2.520000, 2.330000, 2.170000, 2.030000, 1.890000, 1.780000, 1.700000, 1.600000, 1.520000, 1.450000, 1.380000, 1.320000, 1.270000, 1.210000, 1.170000, 1.130000, 1.080000, 1.050000, 1.010000, 0.970000, 0.960000, 0.930000, 0.900000, 0.870000, 0.840000, 0.830000, 0.820000, 0.790000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.720000, 0.700000, 0.700000, 0.680000, 0.680000, 0.660000, 0.660000, 0.660000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.550000, 0.540000, 0.530000, 0.540000, 0.530000, 0.530000, 0.530000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.560000, 0.580000, 0.600000, 3.890000, 3.890000, 3.900000, 2.400000, 2.400000, 3.900000 ], "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": [ 976053448, 815688 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.255000, 0.567000, 0.612094 ], "estimate": [ -0.255000, 0.567000, 0.612094 ], "true_pose": [ null, null, null ], "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, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.220000, 1.230000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.210000, 1.220000, 1.210000, 1.210000, 1.220000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.280000, 1.290000, 1.300000, 1.310000, 1.310000, 1.330000, 1.330000, 1.340000, 1.360000, 1.370000, 1.390000, 1.400000, 1.420000, 1.430000, 1.450000, 1.460000, 1.480000, 1.490000, 1.520000, 1.540000, 1.570000, 1.580000, 1.620000, 1.650000, 1.660000, 1.690000, 1.720000, 1.750000, 1.790000, 1.820000, 1.870000, 1.900000, 1.950000, 1.990000, 2.040000, 2.100000, 2.150000, 2.210000, 2.290000, 2.370000, 2.450000, 2.530000, 2.630000, 2.710000, 2.830000, 2.940000, 3.090000, 3.260000, 3.460000, 3.680000, 3.970000, 4.320000, 4.730000, 5.400000, 10.620000, 10.680000, 15.670000, 15.670000, 15.660000, 15.660000, 16.840000, 18.960000, 20.210000, 19.490000, 5.750000, 4.670000, 3.990000, 3.540000, 3.160000, 2.860000, 2.610000, 2.410000, 2.230000, 2.090000, 1.950000, 1.840000, 1.740000, 1.630000, 1.550000, 1.470000, 1.410000, 1.340000, 1.290000, 1.230000, 1.180000, 1.140000, 1.090000, 1.060000, 1.030000, 1.000000, 0.960000, 0.930000, 0.910000, 0.880000, 0.860000, 0.830000, 0.820000, 0.800000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.720000, 0.700000, 0.690000, 0.680000, 0.680000, 0.660000, 0.660000, 0.660000, 0.640000, 0.640000, 0.620000, 0.630000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.570000, 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": [ 976053448, 921398 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.213000, 0.596000, 0.612094 ], "estimate": [ -0.213000, 0.596000, 0.612094 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.210000, 1.200000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.200000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.360000, 1.370000, 1.380000, 1.400000, 1.420000, 1.430000, 1.450000, 1.470000, 1.480000, 1.500000, 1.530000, 1.550000, 1.580000, 1.590000, 1.630000, 1.660000, 1.670000, 1.710000, 1.730000, 1.770000, 1.810000, 1.850000, 1.870000, 1.930000, 1.980000, 2.020000, 2.070000, 2.130000, 2.200000, 2.260000, 2.340000, 2.420000, 2.500000, 2.590000, 2.690000, 2.790000, 2.910000, 3.060000, 3.210000, 3.410000, 3.630000, 3.910000, 4.250000, 4.670000, 5.280000, 10.540000, 10.600000, 15.620000, 15.610000, 15.590000, 15.600000, 16.770000, 18.780000, 20.130000, 19.440000, 5.700000, 4.730000, 4.080000, 3.590000, 3.220000, 2.910000, 2.640000, 2.430000, 2.260000, 2.110000, 1.970000, 1.860000, 1.750000, 1.650000, 1.570000, 1.480000, 1.410000, 1.350000, 1.290000, 1.240000, 1.180000, 1.150000, 1.090000, 1.060000, 1.020000, 0.990000, 0.960000, 0.930000, 0.900000, 0.880000, 0.850000, 0.840000, 0.820000, 0.800000, 0.770000, 0.760000, 0.740000, 0.730000, 0.710000, 0.710000, 0.690000, 0.690000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.600000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.560000, 0.540000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.520000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.500000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053449, 425096 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.175000, 0.623000, 0.605949 ], "estimate": [ -0.175000, 0.623000, 0.605949 ], "true_pose": [ null, null, null ], "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": [ 1.200000, 1.210000, 1.210000, 1.200000, 1.200000, 1.210000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.220000, 1.200000, 1.210000, 1.200000, 1.210000, 1.200000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.300000, 1.310000, 1.320000, 1.330000, 1.350000, 1.370000, 1.380000, 1.390000, 1.420000, 1.430000, 1.450000, 1.460000, 1.470000, 1.500000, 1.520000, 1.540000, 1.570000, 1.590000, 1.620000, 1.650000, 1.670000, 1.700000, 1.730000, 1.760000, 1.800000, 1.840000, 1.870000, 1.910000, 1.970000, 2.020000, 2.070000, 2.120000, 2.190000, 2.250000, 2.330000, 2.410000, 2.500000, 2.580000, 2.680000, 2.780000, 2.900000, 3.050000, 3.200000, 3.400000, 3.620000, 3.920000, 4.250000, 4.640000, 5.290000, 10.500000, 10.570000, 15.580000, 15.570000, 15.560000, 15.550000, 19.190000, 18.730000, 20.110000, 19.410000, 5.650000, 4.680000, 4.060000, 3.580000, 3.210000, 2.890000, 2.640000, 2.420000, 2.250000, 2.110000, 1.960000, 1.850000, 1.730000, 1.640000, 1.550000, 1.470000, 1.400000, 1.340000, 1.280000, 1.240000, 1.180000, 1.140000, 1.090000, 1.060000, 1.020000, 0.980000, 0.960000, 0.930000, 0.900000, 0.870000, 0.850000, 0.830000, 0.810000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.520000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053449, 485234 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.126000, 0.657000, 0.599803 ], "estimate": [ -0.126000, 0.657000, 0.599803 ], "true_pose": [ null, null, null ], "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": [ 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.200000, 1.200000, 1.190000, 1.190000, 1.190000, 1.200000, 1.190000, 1.190000, 1.200000, 1.190000, 1.200000, 1.190000, 1.190000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.300000, 1.310000, 1.330000, 1.340000, 1.360000, 1.370000, 1.390000, 1.400000, 1.420000, 1.440000, 1.460000, 1.470000, 1.490000, 1.510000, 1.530000, 1.570000, 1.580000, 1.600000, 1.640000, 1.660000, 1.690000, 1.730000, 1.750000, 1.800000, 1.820000, 1.870000, 1.910000, 1.970000, 2.010000, 2.070000, 2.110000, 2.190000, 2.250000, 2.330000, 2.410000, 2.500000, 2.580000, 2.670000, 2.810000, 2.900000, 3.060000, 3.220000, 3.410000, 3.630000, 3.930000, 4.290000, 4.700000, 5.370000, 10.460000, 10.520000, 15.520000, 15.510000, 15.510000, 15.510000, 19.140000, 18.720000, 20.080000, 19.350000, 5.600000, 4.640000, 4.000000, 3.530000, 3.170000, 2.860000, 2.600000, 2.400000, 2.220000, 2.080000, 1.940000, 1.830000, 1.710000, 1.630000, 1.550000, 1.470000, 1.390000, 1.330000, 1.270000, 1.220000, 1.180000, 1.130000, 1.080000, 1.040000, 1.000000, 0.970000, 0.950000, 0.930000, 0.890000, 0.860000, 0.850000, 0.820000, 0.790000, 0.770000, 0.770000, 0.750000, 0.730000, 0.710000, 0.710000, 0.710000, 0.690000, 0.680000, 0.660000, 0.650000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.510000, 0.510000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053449, 518977 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.070000, 0.695000, 0.599803 ], "estimate": [ -0.070000, 0.695000, 0.599803 ], "true_pose": [ null, null, null ], "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": [ 1.180000, 1.190000, 1.180000, 1.180000, 1.190000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.300000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.390000, 1.420000, 1.430000, 1.460000, 1.460000, 1.480000, 1.500000, 1.530000, 1.550000, 1.580000, 1.610000, 1.630000, 1.650000, 1.670000, 1.710000, 1.740000, 1.800000, 1.820000, 1.860000, 1.910000, 1.950000, 1.990000, 2.060000, 2.110000, 2.180000, 2.240000, 2.320000, 2.400000, 2.480000, 2.570000, 2.670000, 2.780000, 2.910000, 3.060000, 3.220000, 3.430000, 3.610000, 3.960000, 4.300000, 4.780000, 5.480000, 10.410000, 10.470000, 15.470000, 15.460000, 15.450000, 15.460000, 16.580000, 18.680000, 19.990000, 19.280000, 5.530000, 4.570000, 3.920000, 3.470000, 3.100000, 2.810000, 2.560000, 2.360000, 2.190000, 2.040000, 1.910000, 1.800000, 1.700000, 1.610000, 1.540000, 1.450000, 1.370000, 1.310000, 1.260000, 1.200000, 1.170000, 1.110000, 1.070000, 1.030000, 1.000000, 0.960000, 0.940000, 0.910000, 0.870000, 0.860000, 0.830000, 0.810000, 0.800000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.690000, 0.670000, 0.670000, 0.670000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.590000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.520000, 0.510000, 0.510000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053450, 252099 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.016000, 0.732000, 0.599803 ], "estimate": [ -0.016000, 0.732000, 0.599803 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.170000, 1.180000, 1.170000, 1.160000, 1.170000, 1.160000, 1.160000, 1.170000, 1.160000, 1.170000, 1.170000, 1.170000, 1.170000, 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.270000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.340000, 1.360000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.450000, 1.470000, 1.490000, 1.520000, 1.540000, 1.570000, 1.590000, 1.620000, 1.650000, 1.670000, 1.710000, 1.740000, 1.780000, 1.800000, 1.860000, 1.900000, 1.950000, 2.000000, 2.040000, 2.110000, 2.180000, 2.240000, 2.330000, 2.410000, 2.480000, 2.580000, 2.680000, 2.790000, 2.920000, 3.100000, 3.260000, 3.450000, 3.710000, 4.020000, 4.390000, 4.930000, 10.320000, 10.330000, 10.480000, 15.380000, 15.380000, 15.370000, 15.370000, 18.920000, 18.900000, 19.950000, 19.220000, 5.460000, 4.440000, 3.790000, 3.360000, 3.020000, 2.740000, 2.500000, 2.310000, 2.140000, 2.010000, 1.880000, 1.780000, 1.670000, 1.580000, 1.500000, 1.420000, 1.360000, 1.300000, 1.230000, 1.190000, 1.140000, 1.080000, 1.060000, 1.010000, 0.980000, 0.960000, 0.930000, 0.890000, 0.860000, 0.840000, 0.820000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.710000, 0.710000, 0.690000, 0.680000, 0.680000, 0.670000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053450, 262959 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.026000, 0.761000, 0.593658 ], "estimate": [ 0.026000, 0.761000, 0.593658 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.160000, 1.160000, 1.160000, 1.150000, 1.150000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.150000, 1.150000, 1.150000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.180000, 1.190000, 1.200000, 1.200000, 1.210000, 1.230000, 1.230000, 1.240000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.330000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.430000, 1.450000, 1.460000, 1.480000, 1.500000, 1.530000, 1.560000, 1.580000, 1.610000, 1.630000, 1.660000, 1.690000, 1.730000, 1.760000, 1.810000, 1.840000, 1.880000, 1.940000, 1.990000, 2.040000, 2.090000, 2.160000, 2.220000, 2.300000, 2.380000, 2.460000, 2.560000, 2.650000, 2.770000, 2.890000, 3.050000, 3.210000, 3.410000, 3.660000, 3.970000, 4.320000, 4.840000, 9.530000, 10.290000, 10.390000, 15.350000, 15.330000, 15.330000, 15.330000, 16.450000, 18.570000, 19.890000, 19.180000, 5.410000, 4.430000, 3.860000, 3.410000, 3.050000, 2.770000, 2.520000, 2.320000, 2.150000, 2.020000, 1.890000, 1.780000, 1.680000, 1.590000, 1.510000, 1.430000, 1.360000, 1.300000, 1.240000, 1.190000, 1.150000, 1.090000, 1.060000, 1.020000, 0.980000, 0.960000, 0.920000, 0.890000, 0.860000, 0.850000, 0.830000, 0.790000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.600000, 0.600000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.510000, 0.500000, 0.490000, 0.500000, 0.510000, 0.510000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053450, 118986 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.067000, 0.788000, 0.593658 ], "estimate": [ 0.067000, 0.788000, 0.593658 ], "true_pose": [ null, null, null ], "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": [ 1.150000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.140000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.250000, 1.260000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.350000, 1.370000, 1.390000, 1.400000, 1.420000, 1.440000, 1.460000, 1.470000, 1.490000, 1.520000, 1.550000, 1.580000, 1.600000, 1.620000, 1.650000, 1.690000, 1.720000, 1.760000, 1.800000, 1.830000, 1.870000, 1.920000, 1.980000, 2.020000, 2.080000, 2.150000, 2.210000, 2.290000, 2.380000, 2.450000, 2.540000, 2.640000, 2.760000, 2.880000, 3.030000, 3.210000, 3.390000, 3.650000, 3.950000, 4.300000, 4.830000, 9.710000, 10.240000, 10.360000, 15.280000, 15.280000, 15.270000, 15.280000, 16.400000, 18.530000, 19.830000, 19.130000, 5.360000, 4.380000, 3.840000, 3.400000, 3.050000, 2.750000, 2.510000, 2.310000, 2.140000, 2.000000, 1.880000, 1.780000, 1.660000, 1.580000, 1.490000, 1.430000, 1.350000, 1.290000, 1.230000, 1.180000, 1.130000, 1.080000, 1.060000, 1.010000, 0.980000, 0.950000, 0.920000, 0.890000, 0.870000, 0.850000, 0.820000, 0.800000, 0.780000, 0.760000, 0.740000, 0.730000, 0.710000, 0.710000, 0.680000, 0.680000, 0.670000, 0.660000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.510000, 0.500000, 0.500000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053450, 590677 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.118000, 0.823000, 0.599803 ], "estimate": [ 0.118000, 0.823000, 0.599803 ], "true_pose": [ null, null, null ], "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": [ 1.140000, 1.140000, 1.140000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.130000, 1.140000, 1.140000, 1.140000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.330000, 1.350000, 1.370000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.470000, 1.490000, 1.520000, 1.540000, 1.570000, 1.590000, 1.620000, 1.650000, 1.680000, 1.730000, 1.750000, 1.790000, 1.830000, 1.880000, 1.920000, 1.990000, 2.030000, 2.110000, 2.160000, 2.220000, 2.300000, 2.380000, 2.460000, 2.560000, 2.660000, 2.780000, 2.920000, 3.070000, 3.250000, 3.450000, 3.730000, 4.040000, 4.420000, 5.000000, 9.400000, 10.220000, 15.250000, 15.230000, 15.220000, 15.220000, 15.230000, 18.780000, 18.470000, 19.760000, 19.060000, 5.300000, 4.310000, 3.700000, 3.280000, 2.950000, 2.680000, 2.450000, 2.250000, 2.100000, 1.960000, 1.840000, 1.730000, 1.630000, 1.550000, 1.470000, 1.400000, 1.340000, 1.280000, 1.210000, 1.180000, 1.120000, 1.080000, 1.030000, 1.000000, 0.960000, 0.940000, 0.910000, 0.870000, 0.850000, 0.840000, 0.810000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.700000, 0.690000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.530000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.510000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053450, 591935 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.173000, 0.861000, 0.593658 ], "estimate": [ 0.173000, 0.861000, 0.593658 ], "true_pose": [ null, null, null ], "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": [ 1.130000, 1.130000, 1.120000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.120000, 1.130000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.120000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.290000, 1.300000, 1.310000, 1.320000, 1.340000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.440000, 1.460000, 1.480000, 1.510000, 1.530000, 1.570000, 1.580000, 1.610000, 1.640000, 1.680000, 1.710000, 1.750000, 1.780000, 1.830000, 1.870000, 1.920000, 1.980000, 2.020000, 2.090000, 2.150000, 2.210000, 2.300000, 2.380000, 2.470000, 2.550000, 2.660000, 2.790000, 2.910000, 3.080000, 3.260000, 3.480000, 3.760000, 4.090000, 4.510000, 5.120000, 9.370000, 10.150000, 15.190000, 15.170000, 15.160000, 15.160000, 15.280000, 18.710000, 18.340000, 19.630000, 19.010000, 5.240000, 4.230000, 3.630000, 3.230000, 2.900000, 2.630000, 2.420000, 2.230000, 2.070000, 1.930000, 1.820000, 1.710000, 1.620000, 1.540000, 1.460000, 1.380000, 1.320000, 1.260000, 1.210000, 1.150000, 1.110000, 1.070000, 1.020000, 0.990000, 0.960000, 0.930000, 0.890000, 0.860000, 0.840000, 0.830000, 0.800000, 0.780000, 0.770000, 0.750000, 0.730000, 0.710000, 0.710000, 0.700000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.500000, 0.490000, 0.500000, 0.510000, 0.500000, 0.500000, 0.500000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053450, 719262 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.221000, 0.892000, 0.587512 ], "estimate": [ 0.221000, 0.892000, 0.587512 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.120000, 1.120000, 1.120000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.120000, 1.120000, 1.110000, 1.120000, 1.120000, 1.120000, 1.120000, 1.140000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.450000, 1.470000, 1.490000, 1.520000, 1.540000, 1.570000, 1.590000, 1.630000, 1.660000, 1.700000, 1.730000, 1.770000, 1.820000, 1.860000, 1.900000, 1.960000, 2.000000, 2.070000, 2.130000, 2.200000, 2.270000, 2.360000, 2.430000, 2.540000, 2.640000, 2.760000, 2.890000, 3.030000, 3.210000, 3.440000, 3.710000, 4.030000, 4.420000, 4.980000, 9.260000, 10.090000, 15.130000, 15.120000, 15.100000, 15.090000, 15.100000, 18.630000, 18.590000, 19.670000, 18.930000, 5.180000, 4.210000, 3.700000, 3.280000, 2.950000, 2.660000, 2.430000, 2.250000, 2.090000, 1.940000, 1.820000, 1.720000, 1.620000, 1.530000, 1.460000, 1.390000, 1.320000, 1.270000, 1.200000, 1.160000, 1.100000, 1.060000, 1.020000, 0.990000, 0.950000, 0.920000, 0.890000, 0.860000, 0.850000, 0.820000, 0.800000, 0.780000, 0.760000, 0.750000, 0.730000, 0.710000, 0.700000, 0.700000, 0.670000, 0.670000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 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": [ 976053451, 215867 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.265000, 0.922000, 0.587512 ], "estimate": [ 0.265000, 0.922000, 0.587512 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.110000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.250000, 1.260000, 1.280000, 1.290000, 1.300000, 1.310000, 1.330000, 1.350000, 1.370000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.480000, 1.500000, 1.530000, 1.560000, 1.590000, 1.610000, 1.650000, 1.680000, 1.720000, 1.760000, 1.800000, 1.840000, 1.880000, 1.950000, 1.980000, 2.040000, 2.110000, 2.180000, 2.240000, 2.330000, 2.410000, 2.510000, 2.610000, 2.730000, 2.860000, 3.000000, 3.170000, 3.400000, 3.650000, 3.970000, 4.340000, 4.890000, 9.450000, 10.020000, 15.080000, 15.060000, 15.050000, 15.050000, 15.050000, 16.190000, 18.380000, 19.600000, 18.890000, 5.130000, 4.240000, 3.750000, 3.310000, 2.960000, 2.690000, 2.460000, 2.270000, 2.090000, 1.940000, 1.830000, 1.710000, 1.620000, 1.540000, 1.460000, 1.390000, 1.320000, 1.270000, 1.210000, 1.160000, 1.100000, 1.070000, 1.020000, 0.990000, 0.960000, 0.920000, 0.880000, 0.870000, 0.850000, 0.820000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.710000, 0.710000, 0.690000, 0.680000, 0.670000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.610000, 0.610000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.540000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.480000, 0.490000, 0.490000, 0.490000, 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": [ 976053451, 217005 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.312000, 0.953000, 0.587512 ], "estimate": [ 0.312000, 0.953000, 0.587512 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.090000, 1.090000, 1.100000, 1.090000, 1.100000, 1.090000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.480000, 1.500000, 1.520000, 1.560000, 1.570000, 1.610000, 1.650000, 1.680000, 1.720000, 1.760000, 1.800000, 1.840000, 1.880000, 1.930000, 1.980000, 2.040000, 2.110000, 2.180000, 2.250000, 2.330000, 2.430000, 2.510000, 2.630000, 2.750000, 2.880000, 3.020000, 3.210000, 3.450000, 3.720000, 4.030000, 4.470000, 5.040000, 9.210000, 9.990000, 15.030000, 15.010000, 15.000000, 14.990000, 15.000000, 18.540000, 18.280000, 19.560000, 18.840000, 5.090000, 4.120000, 3.620000, 3.210000, 2.880000, 2.630000, 2.400000, 2.220000, 2.060000, 1.910000, 1.800000, 1.690000, 1.600000, 1.510000, 1.430000, 1.370000, 1.310000, 1.240000, 1.190000, 1.150000, 1.090000, 1.050000, 1.010000, 0.980000, 0.950000, 0.910000, 0.890000, 0.860000, 0.840000, 0.810000, 0.790000, 0.770000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.680000, 0.680000, 0.660000, 0.660000, 0.640000, 0.640000, 0.620000, 0.620000, 0.620000, 0.600000, 0.600000, 0.590000, 0.580000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053451, 344943 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.364000, 0.987000, 0.587512 ], "estimate": [ 0.364000, 0.987000, 0.587512 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.090000, 1.090000, 1.090000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.080000, 1.080000, 1.090000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.250000, 1.260000, 1.280000, 1.300000, 1.300000, 1.320000, 1.330000, 1.360000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.470000, 1.500000, 1.530000, 1.560000, 1.570000, 1.610000, 1.650000, 1.680000, 1.720000, 1.760000, 1.790000, 1.850000, 1.890000, 1.940000, 1.990000, 2.050000, 2.120000, 2.200000, 2.260000, 2.360000, 2.440000, 2.550000, 2.650000, 2.770000, 2.900000, 3.070000, 3.260000, 3.510000, 3.800000, 4.140000, 4.600000, 9.080000, 9.900000, 9.950000, 14.970000, 14.950000, 14.960000, 14.950000, 15.260000, 18.530000, 18.190000, 19.150000, 18.770000, 5.020000, 4.030000, 3.490000, 3.110000, 2.790000, 2.550000, 2.340000, 2.160000, 2.000000, 1.880000, 1.760000, 1.660000, 1.570000, 1.490000, 1.420000, 1.340000, 1.290000, 1.220000, 1.170000, 1.130000, 1.070000, 1.030000, 1.000000, 0.960000, 0.940000, 0.910000, 0.870000, 0.840000, 0.830000, 0.800000, 0.770000, 0.760000, 0.740000, 0.730000, 0.710000, 0.710000, 0.690000, 0.680000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.500000, 0.490000, 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": [ 976053451, 704494 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.390000, 1.004000, 0.581367 ], "estimate": [ 0.390000, 1.004000, 0.581367 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.100000, 1.110000, 1.090000, 1.080000, 1.090000, 1.090000, 1.080000, 1.080000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.190000, 1.200000, 1.210000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.420000, 1.450000, 1.460000, 1.490000, 1.520000, 1.550000, 1.570000, 1.600000, 1.640000, 1.670000, 1.720000, 1.760000, 1.790000, 1.850000, 1.880000, 1.940000, 1.990000, 2.060000, 2.110000, 2.190000, 2.260000, 2.360000, 2.440000, 2.540000, 2.660000, 2.770000, 2.910000, 3.080000, 3.290000, 3.530000, 3.820000, 4.180000, 4.670000, 9.040000, 9.850000, 9.910000, 14.910000, 14.910000, 14.890000, 14.890000, 15.790000, 18.460000, 18.300000, 18.900000, 18.730000, 4.970000, 3.970000, 3.450000, 3.070000, 2.770000, 2.530000, 2.310000, 2.150000, 1.990000, 1.860000, 1.740000, 1.640000, 1.560000, 1.480000, 1.410000, 1.350000, 1.280000, 1.220000, 1.180000, 1.110000, 1.080000, 1.040000, 0.990000, 0.960000, 0.930000, 0.890000, 0.870000, 0.850000, 0.820000, 0.800000, 0.780000, 0.770000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.560000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.480000, 0.480000, 0.490000, 0.480000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 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": [ 976053451, 788053 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.438000, 1.036000, 0.581367 ], "estimate": [ 0.438000, 1.036000, 0.581367 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.070000, 1.070000, 1.070000, 1.100000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.160000, 1.180000, 1.190000, 1.200000, 1.210000, 1.210000, 1.230000, 1.240000, 1.260000, 1.280000, 1.280000, 1.300000, 1.310000, 1.320000, 1.340000, 1.360000, 1.370000, 1.390000, 1.420000, 1.440000, 1.460000, 1.480000, 1.500000, 1.540000, 1.570000, 1.600000, 1.640000, 1.670000, 1.710000, 1.750000, 1.800000, 1.850000, 1.880000, 1.940000, 1.990000, 2.050000, 2.110000, 2.190000, 2.260000, 2.350000, 2.440000, 2.550000, 2.650000, 2.770000, 2.910000, 3.090000, 3.300000, 3.550000, 3.840000, 4.230000, 4.730000, 9.760000, 9.800000, 9.910000, 14.860000, 14.850000, 14.840000, 14.840000, 18.470000, 18.380000, 19.360000, 18.730000, 18.690000, 4.920000, 3.930000, 3.410000, 3.030000, 2.730000, 2.500000, 2.280000, 2.120000, 1.970000, 1.840000, 1.730000, 1.630000, 1.550000, 1.480000, 1.400000, 1.340000, 1.270000, 1.210000, 1.160000, 1.110000, 1.060000, 1.030000, 0.980000, 0.950000, 0.920000, 0.880000, 0.860000, 0.840000, 0.810000, 0.790000, 0.780000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.680000, 0.670000, 0.660000, 0.650000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.590000, 0.580000, 0.580000, 0.580000, 0.590000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.480000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000 ], "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": [ 976053451, 859629 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.484000, 1.066000, 0.581367 ], "estimate": [ 0.484000, 1.066000, 0.581367 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.070000, 1.070000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.320000, 1.330000, 1.350000, 1.360000, 1.390000, 1.410000, 1.440000, 1.460000, 1.470000, 1.500000, 1.530000, 1.570000, 1.600000, 1.640000, 1.660000, 1.710000, 1.750000, 1.800000, 1.840000, 1.880000, 1.940000, 2.000000, 2.040000, 2.140000, 2.190000, 2.260000, 2.350000, 2.450000, 2.550000, 2.660000, 2.780000, 2.930000, 3.110000, 3.320000, 3.580000, 3.870000, 4.280000, 4.810000, 9.670000, 9.760000, 9.900000, 14.820000, 14.810000, 14.790000, 14.790000, 18.420000, 18.010000, 19.340000, 18.650000, 5.140000, 4.880000, 3.850000, 3.330000, 2.960000, 2.680000, 2.450000, 2.250000, 2.100000, 1.940000, 1.800000, 1.710000, 1.610000, 1.530000, 1.450000, 1.370000, 1.310000, 1.260000, 1.200000, 1.150000, 1.090000, 1.050000, 1.000000, 0.980000, 0.950000, 0.910000, 0.880000, 0.860000, 0.830000, 0.800000, 0.780000, 0.770000, 0.750000, 0.720000, 0.720000, 0.700000, 0.690000, 0.680000, 0.660000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.580000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000 ], "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": [ 976053452, 386472 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.532000, 1.097000, 0.587512 ], "estimate": [ 0.532000, 1.097000, 0.587512 ], "true_pose": [ null, null, null ], "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": [ 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.060000, 1.070000, 1.070000, 1.060000, 1.070000, 1.060000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.210000, 1.230000, 1.240000, 1.250000, 1.270000, 1.290000, 1.310000, 1.320000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.440000, 1.460000, 1.480000, 1.500000, 1.540000, 1.570000, 1.600000, 1.640000, 1.680000, 1.720000, 1.760000, 1.800000, 1.840000, 1.880000, 1.950000, 2.000000, 2.090000, 2.120000, 2.210000, 2.280000, 2.380000, 2.480000, 2.580000, 2.680000, 2.840000, 2.980000, 3.180000, 3.420000, 3.700000, 4.020000, 4.470000, 9.650000, 9.680000, 9.730000, 14.760000, 14.760000, 14.750000, 14.740000, 14.750000, 18.280000, 18.350000, 19.310000, 18.590000, 4.830000, 4.340000, 3.590000, 3.160000, 2.840000, 2.570000, 2.360000, 2.170000, 2.020000, 1.880000, 1.760000, 1.650000, 1.560000, 1.480000, 1.410000, 1.350000, 1.290000, 1.220000, 1.180000, 1.110000, 1.080000, 1.030000, 0.990000, 0.950000, 0.930000, 0.890000, 0.870000, 0.840000, 0.810000, 0.780000, 0.770000, 0.750000, 0.720000, 0.710000, 0.710000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.630000, 0.630000, 0.620000, 0.610000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.490000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 0.470000, 0.480000 ], "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": [ 976053452, 387632 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.582000, 1.131000, 0.593658 ], "estimate": [ 0.582000, 1.131000, 0.593658 ], "true_pose": [ null, null, null ], "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": [ 1.060000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.320000, 1.340000, 1.370000, 1.380000, 1.410000, 1.430000, 1.450000, 1.470000, 1.490000, 1.520000, 1.560000, 1.580000, 1.620000, 1.660000, 1.700000, 1.740000, 1.790000, 1.820000, 1.870000, 1.930000, 1.980000, 2.030000, 2.100000, 2.180000, 2.260000, 2.350000, 2.450000, 2.550000, 2.660000, 2.780000, 2.930000, 3.120000, 3.340000, 3.610000, 3.920000, 4.300000, 4.890000, 8.830000, 9.660000, 14.720000, 14.700000, 14.700000, 14.690000, 14.690000, 18.560000, 17.850000, 19.240000, 18.540000, 5.020000, 4.770000, 3.770000, 3.280000, 2.910000, 2.630000, 2.410000, 2.210000, 2.050000, 1.900000, 1.790000, 1.670000, 1.570000, 1.500000, 1.420000, 1.360000, 1.290000, 1.230000, 1.180000, 1.120000, 1.080000, 1.030000, 0.990000, 0.960000, 0.930000, 0.890000, 0.870000, 0.840000, 0.810000, 0.790000, 0.770000, 0.750000, 0.730000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.530000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 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": [ 976053452, 435122 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.632000, 1.164000, 0.599803 ], "estimate": [ 0.632000, 1.164000, 0.599803 ], "true_pose": [ null, null, null ], "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": [ 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.290000, 1.300000, 1.310000, 1.330000, 1.340000, 1.370000, 1.380000, 1.410000, 1.430000, 1.460000, 1.470000, 1.500000, 1.530000, 1.570000, 1.600000, 1.630000, 1.670000, 1.710000, 1.750000, 1.800000, 1.840000, 1.890000, 1.940000, 1.990000, 2.070000, 2.130000, 2.210000, 2.300000, 2.400000, 2.480000, 2.590000, 2.700000, 2.850000, 3.020000, 3.220000, 3.470000, 3.750000, 4.110000, 4.580000, 8.760000, 9.590000, 9.640000, 14.660000, 14.650000, 14.640000, 14.630000, 14.680000, 18.190000, 17.920000, 19.200000, 18.490000, 4.730000, 4.010000, 3.460000, 3.060000, 2.740000, 2.500000, 2.300000, 2.120000, 1.950000, 1.830000, 1.710000, 1.600000, 1.530000, 1.450000, 1.370000, 1.310000, 1.250000, 1.200000, 1.150000, 1.090000, 1.050000, 1.000000, 0.960000, 0.930000, 0.900000, 0.870000, 0.850000, 0.820000, 0.790000, 0.770000, 0.750000, 0.730000, 0.720000, 0.700000, 0.690000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 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, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.470000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 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": [ 976053452, 960801 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.680000, 1.197000, 0.605949 ], "estimate": [ 0.680000, 1.197000, 0.605949 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 1.190000, 1.210000, 1.210000, 1.220000, 1.250000, 1.250000, 1.270000, 1.290000, 1.310000, 1.320000, 1.340000, 1.350000, 1.370000, 1.400000, 1.420000, 1.450000, 1.470000, 1.490000, 1.520000, 1.560000, 1.580000, 1.620000, 1.660000, 1.700000, 1.740000, 1.790000, 1.820000, 1.870000, 1.940000, 1.990000, 2.050000, 2.120000, 2.200000, 2.270000, 2.360000, 2.470000, 2.560000, 2.680000, 2.820000, 2.980000, 3.180000, 3.410000, 3.680000, 4.020000, 4.470000, 8.910000, 9.530000, 9.580000, 14.620000, 14.600000, 14.590000, 14.580000, 14.590000, 15.720000, 17.970000, 19.140000, 18.420000, 4.680000, 4.650000, 3.560000, 3.120000, 2.780000, 2.510000, 2.310000, 2.130000, 1.970000, 1.830000, 1.710000, 1.610000, 1.520000, 1.450000, 1.370000, 1.310000, 1.240000, 1.200000, 1.140000, 1.090000, 1.040000, 1.000000, 0.960000, 0.920000, 0.900000, 0.870000, 0.850000, 0.810000, 0.790000, 0.770000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.670000, 0.650000, 0.650000, 0.640000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053452, 961951 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.728000, 1.231000, 0.612094 ], "estimate": [ 0.728000, 1.231000, 0.612094 ], "true_pose": [ null, null, null ], "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": [ 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.040000, 1.050000, 1.060000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.100000, 1.100000, 1.100000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.300000, 1.310000, 1.330000, 1.350000, 1.370000, 1.380000, 1.410000, 1.430000, 1.450000, 1.470000, 1.510000, 1.540000, 1.570000, 1.600000, 1.640000, 1.670000, 1.710000, 1.750000, 1.800000, 1.850000, 1.900000, 1.950000, 2.000000, 2.080000, 2.150000, 2.220000, 2.300000, 2.400000, 2.490000, 2.600000, 2.750000, 2.870000, 3.060000, 3.270000, 3.510000, 3.810000, 4.200000, 4.750000, 9.410000, 9.500000, 9.570000, 14.550000, 14.540000, 14.530000, 14.530000, 14.650000, 18.070000, 17.680000, 19.070000, 18.350000, 4.610000, 3.740000, 3.340000, 2.950000, 2.650000, 2.400000, 2.210000, 2.040000, 1.890000, 1.770000, 1.650000, 1.560000, 1.480000, 1.400000, 1.330000, 1.260000, 1.200000, 1.160000, 1.090000, 1.050000, 1.000000, 0.960000, 0.930000, 0.890000, 0.860000, 0.840000, 0.820000, 0.790000, 0.770000, 0.740000, 0.720000, 0.700000, 0.690000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.570000, 0.560000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.500000, 0.510000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053452, 979390 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.776000, 1.264000, 0.618240 ], "estimate": [ 0.776000, 1.264000, 0.618240 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.050000, 1.050000, 1.040000, 1.050000, 1.040000, 1.050000, 1.050000, 1.050000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.320000, 1.340000, 1.360000, 1.380000, 1.390000, 1.420000, 1.450000, 1.470000, 1.490000, 1.520000, 1.560000, 1.580000, 1.620000, 1.660000, 1.700000, 1.740000, 1.770000, 1.820000, 1.870000, 1.940000, 1.990000, 2.050000, 2.130000, 2.210000, 2.280000, 2.370000, 2.470000, 2.570000, 2.690000, 2.850000, 3.010000, 3.230000, 3.460000, 3.760000, 4.110000, 4.530000, 8.640000, 9.440000, 9.480000, 14.500000, 14.490000, 14.480000, 14.470000, 14.470000, 18.020000, 17.670000, 19.010000, 18.300000, 4.570000, 4.530000, 3.430000, 3.020000, 2.680000, 2.420000, 2.230000, 2.050000, 1.910000, 1.770000, 1.660000, 1.570000, 1.480000, 1.400000, 1.330000, 1.260000, 1.200000, 1.150000, 1.090000, 1.050000, 1.000000, 0.960000, 0.930000, 0.890000, 0.860000, 0.840000, 0.810000, 0.790000, 0.760000, 0.740000, 0.710000, 0.700000, 0.690000, 0.670000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.510000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000 ], "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": [ 976053453, 431794 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.799000, 1.281000, 0.618240 ], "estimate": [ 0.799000, 1.281000, 0.618240 ], "true_pose": [ null, null, null ], "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": [ 1.050000, 1.040000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.270000, 1.280000, 1.300000, 1.310000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.450000, 1.450000, 1.480000, 1.510000, 1.540000, 1.570000, 1.610000, 1.650000, 1.680000, 1.730000, 1.770000, 1.810000, 1.870000, 1.920000, 1.980000, 2.030000, 2.110000, 2.180000, 2.270000, 2.350000, 2.450000, 2.550000, 2.660000, 2.810000, 2.960000, 3.160000, 3.380000, 3.680000, 4.010000, 4.430000, 8.930000, 8.850000, 9.420000, 14.460000, 14.440000, 14.440000, 14.430000, 14.430000, 15.570000, 17.640000, 18.960000, 18.250000, 4.780000, 4.500000, 3.540000, 3.110000, 2.760000, 2.490000, 2.260000, 2.080000, 1.920000, 1.780000, 1.670000, 1.570000, 1.470000, 1.400000, 1.340000, 1.270000, 1.210000, 1.140000, 1.090000, 1.050000, 1.000000, 0.960000, 0.920000, 0.880000, 0.860000, 0.830000, 0.800000, 0.780000, 0.760000, 0.730000, 0.720000, 0.700000, 0.690000, 0.660000, 0.660000, 0.640000, 0.630000, 0.610000, 0.600000, 0.590000, 0.590000, 0.570000, 0.560000, 0.560000, 0.560000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.440000, 0.430000, 0.430000, 0.440000, 0.450000, 0.440000, 0.440000, 0.450000, 0.440000, 0.450000 ], "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": [ 976053453, 455265 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.846000, 1.315000, 0.624385 ], "estimate": [ 0.846000, 1.315000, 0.624385 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.210000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.320000, 1.340000, 1.360000, 1.370000, 1.410000, 1.430000, 1.450000, 1.460000, 1.490000, 1.520000, 1.560000, 1.580000, 1.620000, 1.660000, 1.700000, 1.740000, 1.790000, 1.840000, 1.880000, 1.940000, 2.000000, 2.070000, 2.130000, 2.210000, 2.290000, 2.390000, 2.480000, 2.600000, 2.730000, 2.880000, 3.050000, 3.270000, 3.490000, 3.810000, 4.190000, 9.270000, 8.990000, 9.340000, 9.390000, 14.410000, 14.390000, 14.370000, 14.370000, 14.370000, 17.920000, 17.910000, 18.920000, 18.200000, 4.450000, 4.430000, 3.330000, 2.910000, 2.600000, 2.350000, 2.160000, 1.990000, 1.830000, 1.710000, 1.610000, 1.510000, 1.430000, 1.360000, 1.280000, 1.210000, 1.170000, 1.100000, 1.050000, 1.000000, 0.960000, 0.930000, 0.890000, 0.850000, 0.830000, 0.800000, 0.780000, 0.760000, 0.730000, 0.710000, 0.690000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.610000, 0.600000, 0.590000, 0.580000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.440000, 0.430000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.430000, 0.440000, 0.440000, 0.440000, 0.440000 ], "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": [ 976053453, 647742 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.893000, 1.348000, 0.618240 ], "estimate": [ 0.893000, 1.348000, 0.618240 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.040000, 1.040000, 1.040000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.210000, 1.230000, 1.230000, 1.260000, 1.280000, 1.290000, 1.310000, 1.320000, 1.350000, 1.360000, 1.380000, 1.410000, 1.430000, 1.450000, 1.470000, 1.500000, 1.530000, 1.560000, 1.590000, 1.630000, 1.660000, 1.720000, 1.750000, 1.800000, 1.850000, 1.890000, 1.960000, 2.010000, 2.080000, 2.160000, 2.230000, 2.320000, 2.410000, 2.540000, 2.620000, 2.760000, 2.920000, 3.110000, 3.320000, 3.590000, 3.900000, 4.320000, 9.230000, 8.430000, 9.310000, 9.450000, 14.340000, 14.340000, 14.310000, 14.320000, 14.460000, 17.870000, 17.450000, 18.870000, 18.150000, 4.390000, 3.670000, 3.170000, 2.800000, 2.510000, 2.280000, 2.090000, 1.920000, 1.770000, 1.660000, 1.560000, 1.460000, 1.380000, 1.310000, 1.250000, 1.190000, 1.120000, 1.080000, 1.020000, 0.980000, 0.940000, 0.900000, 0.870000, 0.850000, 0.810000, 0.780000, 0.750000, 0.730000, 0.710000, 0.690000, 0.670000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.440000, 0.430000, 0.430000, 0.440000, 0.430000, 0.420000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.430000 ], "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": [ 976053454, 449790 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.941000, 1.382000, 0.618240 ], "estimate": [ 0.941000, 1.382000, 0.618240 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.040000, 1.050000, 1.030000, 1.030000, 1.040000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.190000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.300000, 1.310000, 1.330000, 1.340000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.470000, 1.510000, 1.540000, 1.570000, 1.600000, 1.640000, 1.680000, 1.720000, 1.760000, 1.810000, 1.870000, 1.920000, 1.980000, 2.040000, 2.110000, 2.180000, 2.270000, 2.360000, 2.440000, 2.550000, 2.680000, 2.820000, 2.990000, 3.180000, 3.390000, 3.710000, 4.060000, 4.640000, 8.470000, 9.200000, 9.270000, 14.300000, 14.280000, 14.280000, 14.270000, 14.270000, 15.410000, 17.810000, 17.820000, 18.340000, 18.110000, 4.340000, 3.380000, 3.010000, 2.660000, 2.390000, 2.180000, 2.010000, 1.850000, 1.720000, 1.610000, 1.510000, 1.430000, 1.340000, 1.270000, 1.200000, 1.140000, 1.090000, 1.030000, 1.000000, 0.950000, 0.910000, 0.880000, 0.850000, 0.820000, 0.780000, 0.770000, 0.740000, 0.710000, 0.700000, 0.680000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.590000, 0.580000, 0.560000, 0.560000, 0.560000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.430000, 0.430000, 0.420000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.430000 ], "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": [ 976053454, 460890 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.989000, 1.416000, 0.618240 ], "estimate": [ 0.989000, 1.416000, 0.618240 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.040000, 1.030000, 1.040000, 1.030000, 1.040000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.210000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.310000, 1.330000, 1.350000, 1.380000, 1.400000, 1.430000, 1.450000, 1.460000, 1.490000, 1.520000, 1.560000, 1.580000, 1.640000, 1.660000, 1.710000, 1.750000, 1.790000, 1.840000, 1.890000, 1.950000, 2.020000, 2.080000, 2.140000, 2.220000, 2.300000, 2.400000, 2.490000, 2.610000, 2.760000, 2.900000, 3.100000, 3.300000, 3.570000, 3.890000, 4.230000, 9.130000, 8.450000, 9.190000, 9.290000, 14.260000, 14.220000, 14.220000, 14.220000, 14.220000, 17.760000, 17.690000, 18.770000, 18.050000, 4.290000, 4.270000, 3.190000, 2.790000, 2.490000, 2.250000, 2.050000, 1.890000, 1.760000, 1.630000, 1.530000, 1.440000, 1.360000, 1.280000, 1.200000, 1.150000, 1.090000, 1.050000, 1.000000, 0.960000, 0.910000, 0.870000, 0.850000, 0.820000, 0.780000, 0.750000, 0.730000, 0.710000, 0.700000, 0.670000, 0.660000, 0.630000, 0.630000, 0.610000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.530000, 0.520000, 0.520000, 0.500000, 0.500000, 0.490000, 0.470000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.420000, 0.410000, 0.410000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.410000, 0.410000, 0.420000, 0.410000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053454, 115059 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.037000, 1.450000, 0.618240 ], "estimate": [ 1.037000, 1.450000, 0.618240 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.040000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.300000, 1.330000, 1.340000, 1.370000, 1.380000, 1.410000, 1.430000, 1.450000, 1.470000, 1.500000, 1.530000, 1.570000, 1.600000, 1.650000, 1.680000, 1.730000, 1.760000, 1.810000, 1.870000, 1.930000, 1.980000, 2.040000, 2.110000, 2.180000, 2.260000, 2.350000, 2.440000, 2.550000, 2.680000, 2.810000, 2.990000, 3.180000, 3.420000, 3.710000, 4.050000, 4.720000, 8.460000, 9.080000, 9.160000, 14.210000, 14.190000, 14.170000, 14.160000, 14.160000, 15.010000, 17.740000, 17.340000, 18.660000, 17.990000, 4.230000, 3.300000, 2.970000, 2.620000, 2.330000, 2.130000, 1.950000, 1.790000, 1.670000, 1.550000, 1.460000, 1.380000, 1.300000, 1.220000, 1.170000, 1.100000, 1.050000, 1.000000, 0.960000, 0.920000, 0.880000, 0.850000, 0.810000, 0.780000, 0.760000, 0.730000, 0.710000, 0.690000, 0.670000, 0.650000, 0.640000, 0.620000, 0.610000, 0.590000, 0.580000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.410000, 0.400000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053454, 583587 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.059000, 1.466000, 0.618240 ], "estimate": [ 1.059000, 1.466000, 0.618240 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.170000, 1.190000, 1.200000, 1.210000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.310000, 1.330000, 1.350000, 1.370000, 1.400000, 1.420000, 1.440000, 1.460000, 1.490000, 1.520000, 1.560000, 1.590000, 1.630000, 1.660000, 1.710000, 1.740000, 1.790000, 1.840000, 1.900000, 1.940000, 2.010000, 2.080000, 2.150000, 2.220000, 2.300000, 2.400000, 2.490000, 2.610000, 2.750000, 2.890000, 3.080000, 3.300000, 3.560000, 3.880000, 4.280000, 9.020000, 9.010000, 9.080000, 9.130000, 14.150000, 14.130000, 14.120000, 14.110000, 14.120000, 15.240000, 17.240000, 18.660000, 17.970000, 4.200000, 4.180000, 3.180000, 2.770000, 2.460000, 2.220000, 2.000000, 1.850000, 1.710000, 1.590000, 1.470000, 1.400000, 1.310000, 1.240000, 1.180000, 1.110000, 1.060000, 1.000000, 0.960000, 0.930000, 0.880000, 0.850000, 0.810000, 0.770000, 0.750000, 0.730000, 0.700000, 0.690000, 0.670000, 0.640000, 0.630000, 0.620000, 0.600000, 0.580000, 0.570000, 0.560000, 0.540000, 0.540000, 0.540000, 0.520000, 0.520000, 0.510000, 0.490000, 0.500000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.400000, 0.400000, 0.390000, 0.390000, 0.400000, 0.390000, 0.390000, 0.400000, 0.390000, 0.400000, 0.390000, 0.390000, 0.400000, 0.390000, 0.390000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.390000 ], "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": [ 976053454, 584378 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.106000, 1.499000, 0.618240 ], "estimate": [ 1.106000, 1.499000, 0.618240 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.060000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.140000, 1.140000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.300000, 1.320000, 1.340000, 1.360000, 1.380000, 1.410000, 1.430000, 1.450000, 1.470000, 1.520000, 1.540000, 1.570000, 1.610000, 1.650000, 1.690000, 1.730000, 1.770000, 1.810000, 1.860000, 1.930000, 1.980000, 2.040000, 2.100000, 2.180000, 2.260000, 2.350000, 2.450000, 2.550000, 2.680000, 2.830000, 2.990000, 3.200000, 3.450000, 3.720000, 4.050000, 4.790000, 8.400000, 8.920000, 9.060000, 14.100000, 14.080000, 14.070000, 14.060000, 14.050000, 14.210000, 17.610000, 17.280000, 18.610000, 17.890000, 4.130000, 3.290000, 2.930000, 2.570000, 2.290000, 2.080000, 1.900000, 1.750000, 1.610000, 1.510000, 1.410000, 1.340000, 1.260000, 1.190000, 1.120000, 1.050000, 1.000000, 0.960000, 0.920000, 0.880000, 0.850000, 0.800000, 0.770000, 0.750000, 0.720000, 0.700000, 0.670000, 0.650000, 0.640000, 0.630000, 0.610000, 0.600000, 0.580000, 0.570000, 0.540000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.490000, 0.490000, 0.490000, 0.470000, 0.470000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.430000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.390000, 0.380000, 0.390000, 0.390000, 0.380000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.380000, 0.380000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.390000, 0.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053454, 664934 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.154000, 1.533000, 0.624385 ], "estimate": [ 1.154000, 1.533000, 0.624385 ], "true_pose": [ null, null, null ], "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": [ 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.190000, 1.200000, 1.200000, 1.210000, 1.230000, 1.250000, 1.280000, 1.290000, 1.300000, 1.320000, 1.330000, 1.350000, 1.380000, 1.400000, 1.420000, 1.440000, 1.490000, 1.500000, 1.530000, 1.560000, 1.590000, 1.640000, 1.670000, 1.720000, 1.750000, 1.800000, 1.840000, 1.900000, 1.960000, 2.010000, 2.090000, 2.150000, 2.230000, 2.320000, 2.410000, 2.520000, 2.630000, 2.770000, 2.930000, 3.150000, 3.350000, 3.580000, 3.910000, 4.500000, 8.910000, 8.140000, 8.990000, 9.050000, 14.040000, 14.030000, 14.020000, 14.010000, 14.010000, 15.140000, 17.150000, 18.560000, 17.870000, 4.090000, 4.070000, 3.080000, 2.670000, 2.370000, 2.140000, 1.930000, 1.770000, 1.630000, 1.520000, 1.430000, 1.330000, 1.260000, 1.200000, 1.130000, 1.060000, 1.000000, 0.960000, 0.920000, 0.870000, 0.840000, 0.810000, 0.770000, 0.750000, 0.710000, 0.700000, 0.670000, 0.640000, 0.630000, 0.620000, 0.600000, 0.580000, 0.570000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.430000, 0.420000, 0.410000, 0.410000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.400000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.380000, 0.380000, 0.370000, 0.380000, 0.370000, 0.380000, 0.370000, 0.360000, 0.370000, 0.370000, 0.370000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.380000, 0.370000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053455, 235358 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.203000, 1.568000, 0.618240 ], "estimate": [ 1.203000, 1.568000, 0.618240 ], "true_pose": [ null, null, null ], "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": [ 1.050000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.310000, 1.330000, 1.350000, 1.380000, 1.400000, 1.420000, 1.450000, 1.460000, 1.490000, 1.520000, 1.560000, 1.590000, 1.630000, 1.670000, 1.710000, 1.750000, 1.800000, 1.850000, 1.890000, 1.960000, 2.010000, 2.080000, 2.140000, 2.230000, 2.310000, 2.390000, 2.500000, 2.630000, 2.750000, 2.900000, 3.100000, 3.310000, 3.540000, 3.870000, 4.390000, 8.860000, 8.560000, 8.930000, 8.970000, 14.000000, 13.980000, 13.980000, 13.950000, 13.960000, 15.070000, 17.520000, 17.180000, 18.460000, 17.790000, 4.020000, 3.050000, 2.720000, 2.400000, 2.140000, 1.940000, 1.780000, 1.630000, 1.520000, 1.420000, 1.340000, 1.260000, 1.190000, 1.110000, 1.060000, 0.990000, 0.940000, 0.900000, 0.860000, 0.830000, 0.790000, 0.760000, 0.730000, 0.700000, 0.680000, 0.660000, 0.640000, 0.620000, 0.600000, 0.590000, 0.570000, 0.560000, 0.540000, 0.540000, 0.520000, 0.520000, 0.500000, 0.490000, 0.480000, 0.490000, 0.470000, 0.470000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.390000, 0.390000, 0.390000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.370000, 0.370000, 0.370000, 0.360000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.370000, 0.360000, 0.350000, 0.360000, 0.360000 ], "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": [ 976053455, 236507 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.251000, 1.602000, 0.618240 ], "estimate": [ 1.251000, 1.602000, 0.618240 ], "true_pose": [ null, null, null ], "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": [ 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.190000, 1.200000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.300000, 1.320000, 1.340000, 1.370000, 1.390000, 1.420000, 1.430000, 1.460000, 1.490000, 1.520000, 1.550000, 1.590000, 1.620000, 1.660000, 1.700000, 1.740000, 1.790000, 1.840000, 1.880000, 1.940000, 1.990000, 2.060000, 2.120000, 2.210000, 2.290000, 2.380000, 2.480000, 2.590000, 2.730000, 2.880000, 3.050000, 3.270000, 3.480000, 3.810000, 4.280000, 8.820000, 8.050000, 8.860000, 8.910000, 13.940000, 13.930000, 13.920000, 13.910000, 13.910000, 13.980000, 17.430000, 17.230000, 18.430000, 17.720000, 3.970000, 3.080000, 2.760000, 2.420000, 2.160000, 1.940000, 1.770000, 1.630000, 1.520000, 1.410000, 1.330000, 1.240000, 1.180000, 1.100000, 1.050000, 0.980000, 0.940000, 0.890000, 0.850000, 0.800000, 0.770000, 0.750000, 0.710000, 0.690000, 0.660000, 0.640000, 0.620000, 0.620000, 0.600000, 0.580000, 0.560000, 0.550000, 0.540000, 0.530000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.360000, 0.350000, 0.340000, 0.340000, 0.350000, 0.350000, 0.350000, 0.340000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053455, 237483 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.298000, 1.636000, 0.624385 ], "estimate": [ 1.298000, 1.636000, 0.624385 ], "true_pose": [ null, null, null ], "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": [ 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.050000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.310000, 1.320000, 1.350000, 1.390000, 1.390000, 1.420000, 1.440000, 1.460000, 1.490000, 1.530000, 1.570000, 1.590000, 1.640000, 1.670000, 1.710000, 1.750000, 1.800000, 1.850000, 1.900000, 1.950000, 2.010000, 2.080000, 2.150000, 2.220000, 2.320000, 2.400000, 2.510000, 2.620000, 2.750000, 2.910000, 3.100000, 3.310000, 3.590000, 3.860000, 4.480000, 8.750000, 8.520000, 8.820000, 8.860000, 13.890000, 13.870000, 13.860000, 13.840000, 13.850000, 14.720000, 17.390000, 16.980000, 18.400000, 17.680000, 3.910000, 2.960000, 2.640000, 2.330000, 2.070000, 1.880000, 1.700000, 1.580000, 1.470000, 1.360000, 1.280000, 1.200000, 1.130000, 1.060000, 1.000000, 0.960000, 0.910000, 0.860000, 0.820000, 0.780000, 0.740000, 0.710000, 0.690000, 0.670000, 0.650000, 0.620000, 0.620000, 0.600000, 0.570000, 0.550000, 0.540000, 0.540000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.330000, 0.330000, 0.330000, 0.340000, 0.330000, 0.340000, 0.340000, 0.330000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.330000, 0.340000, 0.340000, 0.340000, 0.330000, 0.340000 ], "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": [ 976053455, 435227 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.344000, 1.669000, 0.624385 ], "estimate": [ 1.344000, 1.669000, 0.624385 ], "true_pose": [ null, null, null ], "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": [ 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.200000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.300000, 1.310000, 1.350000, 1.360000, 1.380000, 1.400000, 1.420000, 1.450000, 1.480000, 1.510000, 1.540000, 1.570000, 1.610000, 1.650000, 1.670000, 1.730000, 1.760000, 1.810000, 1.870000, 1.910000, 1.980000, 2.030000, 2.100000, 2.170000, 2.250000, 2.350000, 2.440000, 2.550000, 2.680000, 2.810000, 2.960000, 3.170000, 3.380000, 3.680000, 4.070000, 4.870000, 8.720000, 7.950000, 8.790000, 8.900000, 13.840000, 13.810000, 13.800000, 13.800000, 13.800000, 14.960000, 17.360000, 17.180000, 18.260000, 3.890000, 3.860000, 2.900000, 2.510000, 2.210000, 1.970000, 1.790000, 1.630000, 1.510000, 1.410000, 1.310000, 1.230000, 1.160000, 1.090000, 1.020000, 0.960000, 0.910000, 0.860000, 0.830000, 0.780000, 0.750000, 0.720000, 0.700000, 0.670000, 0.640000, 0.620000, 0.600000, 0.580000, 0.580000, 0.550000, 0.530000, 0.530000, 0.520000, 0.510000, 0.490000, 0.480000, 0.480000, 0.470000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.400000, 0.410000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.340000, 0.330000, 0.340000, 0.330000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.330000, 0.320000, 0.320000, 0.320000, 0.330000, 0.320000, 0.330000, 0.320000, 0.310000, 0.330000, 0.320000, 0.320000, 0.330000, 0.320000, 0.320000, 0.320000, 0.320000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053455, 824993 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.392000, 1.703000, 0.618240 ], "estimate": [ 1.392000, 1.703000, 0.618240 ], "true_pose": [ null, null, null ], "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": [ 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.310000, 1.320000, 1.340000, 1.370000, 1.390000, 1.420000, 1.440000, 1.450000, 1.480000, 1.510000, 1.550000, 1.580000, 1.610000, 1.660000, 1.700000, 1.740000, 1.790000, 1.820000, 1.870000, 1.930000, 1.990000, 2.030000, 2.110000, 2.200000, 2.270000, 2.370000, 2.470000, 2.570000, 2.690000, 2.830000, 3.000000, 3.210000, 3.450000, 3.720000, 4.200000, 8.660000, 8.680000, 8.290000, 8.750000, 8.880000, 13.780000, 13.770000, 13.740000, 13.750000, 13.750000, 14.900000, 17.300000, 17.310000, 18.130000, 3.820000, 3.800000, 2.810000, 2.420000, 2.140000, 1.910000, 1.740000, 1.600000, 1.470000, 1.360000, 1.270000, 1.200000, 1.110000, 1.050000, 0.990000, 0.940000, 0.890000, 0.850000, 0.810000, 0.770000, 0.730000, 0.700000, 0.670000, 0.650000, 0.630000, 0.610000, 0.590000, 0.570000, 0.550000, 0.530000, 0.530000, 0.520000, 0.510000, 0.490000, 0.480000, 0.470000, 0.460000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.300000, 0.310000, 0.310000, 0.310000, 0.320000, 0.310000, 0.310000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000 ], "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": [ 976053455, 826148 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.439000, 1.736000, 0.587512 ], "estimate": [ 1.439000, 1.736000, 0.587512 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.200000, 1.210000, 1.230000, 1.240000, 1.260000, 1.290000, 1.300000, 1.310000, 1.330000, 1.350000, 1.380000, 1.400000, 1.410000, 1.440000, 1.460000, 1.490000, 1.520000, 1.560000, 1.590000, 1.630000, 1.670000, 1.710000, 1.750000, 1.790000, 1.840000, 1.890000, 1.940000, 2.010000, 2.060000, 2.140000, 2.220000, 2.300000, 2.390000, 2.490000, 2.620000, 2.740000, 2.880000, 3.070000, 3.270000, 3.540000, 3.810000, 4.440000, 8.600000, 7.860000, 8.640000, 8.710000, 13.740000, 13.730000, 13.710000, 13.700000, 13.700000, 13.710000, 14.860000, 17.040000, 18.220000, 17.770000, 3.760000, 3.730000, 2.740000, 2.360000, 2.080000, 1.870000, 1.700000, 1.550000, 1.420000, 1.340000, 1.240000, 1.170000, 1.090000, 1.020000, 0.960000, 0.910000, 0.870000, 0.820000, 0.780000, 0.740000, 0.700000, 0.690000, 0.650000, 0.630000, 0.620000, 0.590000, 0.570000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.490000, 0.480000, 0.470000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000, 0.340000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.310000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.290000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.310000, 0.310000, 0.320000, 0.300000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053456, 539100 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.463000, 1.751000, 0.556785 ], "estimate": [ 1.463000, 1.751000, 0.556785 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.040000, 1.050000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.040000, 1.050000, 1.040000, 1.060000, 1.050000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.250000, 1.250000, 1.280000, 1.300000, 1.310000, 1.320000, 1.340000, 1.360000, 1.390000, 1.410000, 1.430000, 1.450000, 1.480000, 1.510000, 1.540000, 1.570000, 1.610000, 1.650000, 1.690000, 1.730000, 1.770000, 1.810000, 1.870000, 1.920000, 1.980000, 2.040000, 2.100000, 2.190000, 2.270000, 2.370000, 2.460000, 2.570000, 2.690000, 2.820000, 2.980000, 3.180000, 3.420000, 3.690000, 4.210000, 8.550000, 8.570000, 8.180000, 8.640000, 8.730000, 13.680000, 13.670000, 13.650000, 13.640000, 13.640000, 14.620000, 17.180000, 16.790000, 18.170000, 17.470000, 3.710000, 2.800000, 2.510000, 2.200000, 1.940000, 1.750000, 1.600000, 1.460000, 1.360000, 1.270000, 1.190000, 1.100000, 1.040000, 0.970000, 0.920000, 0.870000, 0.830000, 0.780000, 0.750000, 0.710000, 0.690000, 0.660000, 0.630000, 0.620000, 0.580000, 0.580000, 0.550000, 0.540000, 0.530000, 0.520000, 0.500000, 0.490000, 0.470000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.340000, 0.350000, 0.340000, 0.340000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.310000, 0.320000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.290000, 0.300000, 0.290000, 0.290000, 0.290000, 0.300000, 0.300000, 0.310000, 0.300000, 0.290000, 0.300000, 0.300000, 0.300000, 0.310000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.310000 ], "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": [ 976053456, 399621 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.513000, 1.780000, 0.501475 ], "estimate": [ 1.513000, 1.780000, 0.501475 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.210000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.320000, 1.330000, 1.350000, 1.380000, 1.400000, 1.420000, 1.450000, 1.470000, 1.500000, 1.530000, 1.570000, 1.600000, 1.640000, 1.660000, 1.710000, 1.750000, 1.800000, 1.860000, 1.910000, 1.970000, 2.030000, 2.100000, 2.180000, 2.260000, 2.350000, 2.440000, 2.550000, 2.670000, 2.800000, 2.970000, 3.180000, 3.390000, 3.650000, 4.180000, 8.500000, 8.520000, 7.890000, 8.590000, 8.650000, 13.640000, 13.620000, 13.600000, 13.600000, 13.580000, 14.380000, 17.140000, 16.770000, 18.130000, 17.420000, 3.650000, 3.160000, 2.560000, 2.220000, 1.970000, 1.760000, 1.620000, 1.460000, 1.360000, 1.270000, 1.180000, 1.110000, 1.040000, 0.970000, 0.930000, 0.870000, 0.840000, 0.790000, 0.750000, 0.710000, 0.690000, 0.650000, 0.630000, 0.610000, 0.600000, 0.570000, 0.550000, 0.530000, 0.530000, 0.520000, 0.500000, 0.490000, 0.470000, 0.460000, 0.460000, 0.450000, 0.440000, 0.430000, 0.420000, 0.420000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.330000, 0.340000, 0.330000, 0.320000, 0.330000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.290000, 0.300000, 0.300000, 0.300000, 0.300000, 0.310000, 0.310000, 0.300000, 0.310000, 0.300000, 0.300000, 0.300000, 0.310000, 0.300000, 0.310000, 0.300000, 0.310000, 0.300000, 0.310000, 0.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053456, 400794 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.566000, 1.807000, 0.446165 ], "estimate": [ 1.566000, 1.807000, 0.446165 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.020000, 1.010000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.020000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.310000, 1.340000, 1.360000, 1.380000, 1.400000, 1.430000, 1.460000, 1.480000, 1.510000, 1.550000, 1.580000, 1.620000, 1.650000, 1.690000, 1.730000, 1.780000, 1.830000, 1.880000, 1.950000, 2.010000, 2.070000, 2.150000, 2.230000, 2.320000, 2.420000, 2.520000, 2.630000, 2.760000, 2.930000, 3.150000, 3.340000, 3.600000, 4.100000, 4.980000, 8.470000, 7.660000, 8.530000, 8.560000, 13.570000, 13.560000, 13.540000, 13.530000, 13.530000, 13.590000, 17.210000, 16.690000, 18.090000, 17.380000, 3.600000, 3.590000, 2.620000, 2.280000, 2.020000, 1.810000, 1.640000, 1.520000, 1.380000, 1.290000, 1.200000, 1.130000, 1.070000, 0.990000, 0.940000, 0.880000, 0.840000, 0.800000, 0.760000, 0.730000, 0.690000, 0.660000, 0.640000, 0.620000, 0.610000, 0.570000, 0.570000, 0.540000, 0.530000, 0.530000, 0.500000, 0.500000, 0.480000, 0.470000, 0.460000, 0.450000, 0.440000, 0.430000, 0.420000, 0.410000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.380000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.290000, 0.300000, 0.300000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.320000, 0.310000, 0.320000, 0.320000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053456, 575160 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.620000, 1.832000, 0.421583 ], "estimate": [ 1.620000, 1.832000, 0.421583 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.000000, 1.010000, 1.010000, 1.000000, 1.000000, 1.000000, 1.000000, 1.010000, 1.020000, 1.010000, 1.010000, 1.010000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.210000, 1.220000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.310000, 1.330000, 1.360000, 1.380000, 1.400000, 1.440000, 1.460000, 1.480000, 1.520000, 1.550000, 1.580000, 1.610000, 1.660000, 1.690000, 1.740000, 1.810000, 1.830000, 1.890000, 1.960000, 2.020000, 2.090000, 2.170000, 2.250000, 2.360000, 2.460000, 2.560000, 2.670000, 2.820000, 3.000000, 3.200000, 3.440000, 3.830000, 4.430000, 8.390000, 7.600000, 8.460000, 8.490000, 13.530000, 13.520000, 13.510000, 13.490000, 13.490000, 13.480000, 14.620000, 17.030000, 16.880000, 18.000000, 17.310000, 3.540000, 2.770000, 2.430000, 2.140000, 1.910000, 1.720000, 1.570000, 1.460000, 1.340000, 1.250000, 1.170000, 1.090000, 1.040000, 0.960000, 0.920000, 0.860000, 0.830000, 0.770000, 0.760000, 0.720000, 0.690000, 0.660000, 0.640000, 0.620000, 0.600000, 0.590000, 0.560000, 0.540000, 0.540000, 0.530000, 0.510000, 0.490000, 0.480000, 0.470000, 0.460000, 0.460000, 0.440000, 0.430000, 0.430000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.400000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.330000, 0.320000, 0.320000, 0.320000, 0.310000, 0.320000, 0.310000, 0.310000, 0.300000, 0.310000, 0.300000, 0.290000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.320000, 0.320000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053457, 150410 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.674000, 1.856000, 0.427729 ], "estimate": [ 1.674000, 1.856000, 0.427729 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 0.980000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.310000, 1.330000, 1.350000, 1.370000, 1.400000, 1.420000, 1.460000, 1.480000, 1.510000, 1.550000, 1.580000, 1.620000, 1.670000, 1.690000, 1.770000, 1.800000, 1.840000, 1.900000, 1.970000, 2.030000, 2.100000, 2.190000, 2.270000, 2.370000, 2.470000, 2.610000, 2.700000, 2.870000, 3.030000, 3.260000, 3.500000, 3.980000, 4.790000, 8.350000, 7.660000, 8.410000, 8.460000, 13.480000, 13.460000, 13.440000, 13.430000, 13.420000, 13.420000, 14.570000, 16.590000, 17.980000, 17.260000, 3.510000, 3.490000, 2.530000, 2.310000, 2.050000, 1.830000, 1.660000, 1.520000, 1.400000, 1.310000, 1.220000, 1.160000, 1.090000, 1.010000, 0.960000, 0.890000, 0.850000, 0.820000, 0.770000, 0.740000, 0.700000, 0.690000, 0.660000, 0.640000, 0.620000, 0.590000, 0.580000, 0.560000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.470000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.340000, 0.340000, 0.340000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.320000, 0.320000, 0.310000, 0.320000, 0.320000, 0.320000, 0.320000, 0.310000, 0.320000, 0.310000 ], "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": [ 976053457, 152029 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.724000, 1.879000, 0.433874 ], "estimate": [ 1.724000, 1.879000, 0.433874 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.000000, 0.990000, 0.990000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.060000, 1.080000, 1.080000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.180000, 1.200000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.320000, 1.350000, 1.360000, 1.390000, 1.410000, 1.440000, 1.460000, 1.500000, 1.530000, 1.570000, 1.610000, 1.640000, 1.680000, 1.730000, 1.780000, 1.830000, 1.880000, 1.950000, 2.010000, 2.080000, 2.170000, 2.240000, 2.340000, 2.440000, 2.550000, 2.670000, 2.820000, 2.990000, 3.210000, 3.430000, 3.930000, 4.660000, 8.300000, 8.040000, 8.360000, 8.400000, 13.430000, 13.410000, 13.390000, 13.380000, 13.380000, 13.370000, 14.500000, 16.580000, 16.560000, 17.380000, 3.720000, 3.430000, 2.900000, 2.370000, 2.090000, 1.880000, 1.700000, 1.540000, 1.440000, 1.330000, 1.230000, 1.160000, 1.090000, 1.020000, 0.960000, 0.910000, 0.860000, 0.820000, 0.780000, 0.750000, 0.710000, 0.680000, 0.650000, 0.630000, 0.620000, 0.600000, 0.570000, 0.560000, 0.540000, 0.530000, 0.520000, 0.500000, 0.500000, 0.480000, 0.480000, 0.460000, 0.450000, 0.450000, 0.430000, 0.430000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.300000, 0.310000, 0.310000, 0.300000, 0.310000, 0.300000, 0.300000, 0.300000, 0.300000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000 ], "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": [ 976053457, 152994 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.751000, 1.891000, 0.440020 ], "estimate": [ 1.751000, 1.891000, 0.440020 ], "true_pose": [ null, null, null ], "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": [ 0.980000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.980000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.150000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.260000, 1.290000, 1.300000, 1.310000, 1.340000, 1.370000, 1.380000, 1.410000, 1.440000, 1.460000, 1.500000, 1.520000, 1.570000, 1.600000, 1.630000, 1.670000, 1.730000, 1.770000, 1.820000, 1.880000, 1.940000, 1.990000, 2.080000, 2.160000, 2.230000, 2.330000, 2.440000, 2.540000, 2.670000, 2.820000, 2.990000, 3.200000, 3.470000, 3.930000, 4.670000, 8.250000, 7.960000, 8.310000, 8.340000, 13.380000, 13.360000, 13.340000, 13.340000, 13.330000, 13.330000, 16.960000, 16.860000, 16.730000, 17.590000, 17.160000, 3.390000, 3.380000, 2.380000, 2.110000, 1.890000, 1.700000, 1.550000, 1.430000, 1.330000, 1.240000, 1.170000, 1.090000, 1.020000, 0.970000, 0.910000, 0.870000, 0.820000, 0.780000, 0.740000, 0.710000, 0.690000, 0.670000, 0.640000, 0.620000, 0.600000, 0.580000, 0.570000, 0.550000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.460000, 0.450000, 0.440000, 0.430000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000, 0.330000, 0.340000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.300000, 0.310000, 0.310000, 0.300000, 0.310000, 0.310000, 0.310000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000 ], "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": [ 976053457, 262133 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.804000, 1.917000, 0.446165 ], "estimate": [ 1.804000, 1.917000, 0.446165 ], "true_pose": [ null, null, null ], "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": [ 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.980000, 0.990000, 0.980000, 0.970000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.260000, 1.280000, 1.290000, 1.300000, 1.330000, 1.350000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.510000, 1.550000, 1.590000, 1.630000, 1.660000, 1.710000, 1.760000, 1.800000, 1.860000, 1.930000, 1.990000, 2.060000, 2.140000, 2.220000, 2.310000, 2.410000, 2.510000, 2.640000, 2.780000, 2.960000, 3.160000, 3.440000, 3.860000, 4.560000, 8.190000, 7.810000, 8.250000, 8.290000, 13.330000, 13.320000, 13.300000, 13.280000, 13.270000, 13.260000, 16.910000, 16.850000, 16.420000, 17.820000, 17.100000, 3.330000, 3.330000, 2.370000, 2.130000, 1.910000, 1.730000, 1.560000, 1.450000, 1.340000, 1.240000, 1.160000, 1.080000, 1.030000, 0.970000, 0.910000, 0.860000, 0.830000, 0.780000, 0.740000, 0.710000, 0.690000, 0.660000, 0.630000, 0.620000, 0.600000, 0.580000, 0.560000, 0.540000, 0.520000, 0.520000, 0.510000, 0.490000, 0.480000, 0.470000, 0.460000, 0.460000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.350000, 0.350000, 0.360000, 0.350000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.290000, 0.300000, 0.300000, 0.300000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.300000, 0.310000, 0.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053457, 605411 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.859000, 1.944000, 0.458456 ], "estimate": [ 1.859000, 1.944000, 0.458456 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.970000, 0.970000, 0.970000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.020000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.180000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.320000, 1.350000, 1.360000, 1.390000, 1.420000, 1.450000, 1.470000, 1.510000, 1.550000, 1.590000, 1.620000, 1.660000, 1.710000, 1.750000, 1.790000, 1.860000, 1.920000, 1.990000, 2.050000, 2.130000, 2.210000, 2.310000, 2.400000, 2.510000, 2.630000, 2.790000, 2.950000, 3.150000, 3.460000, 3.910000, 4.650000, 8.150000, 7.820000, 8.200000, 8.230000, 13.270000, 13.250000, 13.230000, 13.230000, 13.220000, 13.230000, 14.140000, 16.800000, 16.360000, 17.770000, 17.050000, 3.280000, 3.260000, 2.310000, 2.130000, 1.900000, 1.710000, 1.550000, 1.410000, 1.330000, 1.230000, 1.160000, 1.080000, 1.010000, 0.950000, 0.900000, 0.850000, 0.810000, 0.770000, 0.730000, 0.700000, 0.680000, 0.660000, 0.630000, 0.620000, 0.590000, 0.570000, 0.550000, 0.540000, 0.520000, 0.510000, 0.500000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.440000, 0.420000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.370000, 0.370000, 0.360000, 0.350000, 0.350000, 0.350000, 0.340000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.300000, 0.310000, 0.300000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.290000, 0.300000, 0.300000, 0.300000, 0.310000, 0.300000, 0.300000, 0.310000, 0.320000, 0.310000, 0.310000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000 ], "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": [ 976053457, 725131 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.910000, 1.969000, 0.464602 ], "estimate": [ 1.910000, 1.969000, 0.464602 ], "true_pose": [ null, null, null ], "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": [ 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.970000, 0.960000, 0.970000, 0.970000, 0.970000, 0.980000, 1.000000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.170000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.310000, 1.340000, 1.350000, 1.380000, 1.410000, 1.440000, 1.460000, 1.500000, 1.540000, 1.580000, 1.600000, 1.650000, 1.690000, 1.730000, 1.790000, 1.840000, 1.900000, 1.980000, 2.030000, 2.110000, 2.200000, 2.270000, 2.370000, 2.470000, 2.610000, 2.770000, 2.900000, 3.100000, 3.400000, 3.800000, 4.460000, 8.080000, 7.280000, 8.080000, 8.180000, 8.290000, 13.210000, 13.190000, 13.170000, 13.150000, 13.150000, 13.230000, 16.710000, 16.450000, 17.710000, 16.990000, 3.240000, 3.230000, 3.180000, 2.210000, 1.960000, 1.770000, 1.600000, 1.470000, 1.350000, 1.250000, 1.170000, 1.090000, 1.010000, 0.960000, 0.920000, 0.870000, 0.820000, 0.770000, 0.740000, 0.710000, 0.680000, 0.660000, 0.630000, 0.620000, 0.590000, 0.580000, 0.550000, 0.530000, 0.530000, 0.510000, 0.490000, 0.480000, 0.470000, 0.460000, 0.450000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.360000, 0.350000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.290000, 0.290000, 0.280000, 0.280000, 0.290000, 0.280000, 0.290000, 0.300000, 0.310000, 0.300000, 0.300000, 0.310000, 0.300000, 0.300000, 0.300000, 0.310000, 0.310000, 0.310000 ], "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": [ 976053458, 183019 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.960000, 1.993000, 0.452311 ], "estimate": [ 1.960000, 1.993000, 0.452311 ], "true_pose": [ null, null, null ], "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, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.320000, 1.350000, 1.370000, 1.400000, 1.440000, 1.460000, 1.500000, 1.540000, 1.570000, 1.600000, 1.650000, 1.690000, 1.740000, 1.800000, 1.840000, 1.890000, 1.960000, 2.030000, 2.110000, 2.200000, 2.270000, 2.380000, 2.480000, 2.600000, 2.750000, 2.900000, 3.100000, 3.440000, 3.830000, 4.520000, 8.040000, 7.240000, 8.070000, 8.120000, 8.250000, 13.180000, 13.150000, 13.130000, 13.120000, 13.120000, 13.220000, 16.680000, 16.290000, 17.670000, 16.940000, 3.340000, 3.180000, 3.160000, 2.210000, 1.940000, 1.770000, 1.590000, 1.460000, 1.340000, 1.240000, 1.170000, 1.090000, 1.010000, 0.960000, 0.910000, 0.850000, 0.820000, 0.770000, 0.740000, 0.700000, 0.680000, 0.640000, 0.630000, 0.620000, 0.580000, 0.570000, 0.550000, 0.530000, 0.530000, 0.500000, 0.500000, 0.480000, 0.470000, 0.460000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.280000, 0.290000, 0.290000, 0.290000, 0.280000, 0.290000, 0.290000, 0.290000, 0.280000, 0.280000, 0.300000, 0.300000, 0.300000, 0.310000, 0.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053458, 205471 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.011000, 2.018000, 0.452311 ], "estimate": [ 2.011000, 2.018000, 0.452311 ], "true_pose": [ null, null, null ], "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": [ 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.170000, 1.170000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.310000, 1.340000, 1.360000, 1.380000, 1.410000, 1.450000, 1.470000, 1.510000, 1.540000, 1.570000, 1.620000, 1.660000, 1.700000, 1.750000, 1.790000, 1.850000, 1.920000, 1.980000, 2.040000, 2.120000, 2.210000, 2.300000, 2.400000, 2.520000, 2.650000, 2.790000, 2.960000, 3.170000, 3.570000, 4.030000, 5.000000, 8.000000, 7.530000, 8.050000, 8.080000, 13.130000, 13.100000, 13.090000, 13.070000, 13.060000, 13.060000, 13.940000, 16.620000, 16.280000, 17.620000, 16.900000, 3.130000, 3.120000, 2.580000, 2.120000, 1.890000, 1.700000, 1.540000, 1.400000, 1.300000, 1.200000, 1.140000, 1.060000, 0.980000, 0.930000, 0.870000, 0.840000, 0.800000, 0.760000, 0.720000, 0.680000, 0.650000, 0.630000, 0.620000, 0.590000, 0.570000, 0.550000, 0.540000, 0.530000, 0.520000, 0.500000, 0.480000, 0.480000, 0.460000, 0.460000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.340000, 0.340000, 0.340000, 0.340000, 0.330000, 0.330000, 0.320000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.290000, 0.280000, 0.280000, 0.280000, 0.280000, 0.280000, 0.280000, 0.290000, 0.290000, 0.290000, 0.300000, 0.310000, 0.300000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053458, 220074 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.067000, 2.044000, 0.446165 ], "estimate": [ 2.067000, 2.044000, 0.446165 ], "true_pose": [ null, null, null ], "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": [ 0.950000, 0.960000, 0.950000, 0.960000, 0.960000, 0.960000, 0.950000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.060000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.260000, 1.280000, 1.300000, 1.320000, 1.340000, 1.360000, 1.390000, 1.430000, 1.460000, 1.490000, 1.520000, 1.550000, 1.590000, 1.640000, 1.670000, 1.720000, 1.770000, 1.830000, 1.880000, 1.940000, 2.000000, 2.080000, 2.160000, 2.250000, 2.360000, 2.460000, 2.580000, 2.720000, 2.870000, 3.090000, 3.400000, 3.810000, 4.460000, 7.940000, 7.210000, 7.660000, 8.030000, 8.060000, 13.070000, 13.050000, 13.020000, 13.010000, 13.010000, 13.010000, 14.130000, 16.220000, 17.510000, 17.110000, 16.840000, 3.070000, 3.060000, 2.120000, 1.980000, 1.770000, 1.610000, 1.460000, 1.350000, 1.240000, 1.150000, 1.090000, 1.000000, 0.960000, 0.880000, 0.850000, 0.810000, 0.770000, 0.720000, 0.690000, 0.670000, 0.640000, 0.630000, 0.600000, 0.570000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.480000, 0.470000, 0.460000, 0.450000, 0.450000, 0.440000, 0.430000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.330000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.280000, 0.280000, 0.280000, 0.280000, 0.280000, 0.280000, 0.280000, 0.270000, 0.270000, 0.270000, 0.290000, 0.290000, 0.290000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.310000, 0.310000 ], "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": [ 976053458, 712726 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.123000, 2.071000, 0.446165 ], "estimate": [ 2.123000, 2.071000, 0.446165 ], "true_pose": [ null, null, null ], "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": [ 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.230000, 1.240000, 1.270000, 1.290000, 1.300000, 1.330000, 1.360000, 1.370000, 1.400000, 1.440000, 1.460000, 1.500000, 1.540000, 1.570000, 1.600000, 1.650000, 1.690000, 1.740000, 1.790000, 1.850000, 1.910000, 1.980000, 2.040000, 2.110000, 2.200000, 2.290000, 2.400000, 2.510000, 2.630000, 2.770000, 2.940000, 3.240000, 3.580000, 4.080000, 5.010000, 7.880000, 7.410000, 7.940000, 7.980000, 13.000000, 13.000000, 12.970000, 12.960000, 12.930000, 12.940000, 13.120000, 16.490000, 16.400000, 17.500000, 16.790000, 3.170000, 3.000000, 3.000000, 2.050000, 1.870000, 1.680000, 1.540000, 1.390000, 1.280000, 1.190000, 1.100000, 1.030000, 0.970000, 0.930000, 0.870000, 0.820000, 0.770000, 0.740000, 0.700000, 0.680000, 0.650000, 0.630000, 0.590000, 0.580000, 0.560000, 0.540000, 0.530000, 0.520000, 0.500000, 0.480000, 0.470000, 0.460000, 0.460000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.370000, 0.380000, 0.360000, 0.360000, 0.360000, 0.360000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.280000, 0.290000, 0.280000, 0.270000, 0.270000, 0.280000, 0.270000, 0.270000, 0.270000, 0.260000, 0.280000, 0.290000, 0.270000, 0.280000, 0.290000, 0.270000, 0.280000, 0.290000, 0.270000, 0.290000, 0.290000, 0.270000, 0.280000 ], "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": [ 976053458, 713866 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.174000, 2.095000, 0.433874 ], "estimate": [ 2.174000, 2.095000, 0.433874 ], "true_pose": [ null, null, null ], "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": [ 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.060000, 1.080000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.230000, 1.260000, 1.270000, 1.290000, 1.300000, 1.330000, 1.350000, 1.380000, 1.410000, 1.440000, 1.470000, 1.500000, 1.530000, 1.570000, 1.610000, 1.660000, 1.700000, 1.750000, 1.800000, 1.860000, 1.910000, 1.980000, 2.050000, 2.130000, 2.210000, 2.320000, 2.410000, 2.540000, 2.670000, 2.810000, 2.990000, 3.330000, 3.700000, 4.270000, 7.820000, 7.840000, 7.060000, 7.910000, 7.930000, 12.950000, 12.940000, 12.920000, 12.910000, 12.890000, 12.890000, 13.790000, 16.430000, 16.140000, 17.450000, 16.720000, 2.990000, 2.950000, 2.940000, 2.000000, 1.830000, 1.650000, 1.500000, 1.360000, 1.260000, 1.180000, 1.080000, 1.000000, 0.960000, 0.890000, 0.850000, 0.800000, 0.760000, 0.720000, 0.700000, 0.660000, 0.640000, 0.620000, 0.590000, 0.570000, 0.550000, 0.530000, 0.520000, 0.500000, 0.500000, 0.480000, 0.470000, 0.460000, 0.450000, 0.440000, 0.430000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.350000, 0.360000, 0.350000, 0.340000, 0.340000, 0.340000, 0.330000, 0.320000, 0.330000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.290000, 0.290000, 0.280000, 0.280000, 0.280000, 0.280000, 0.280000, 0.270000, 0.270000, 0.270000, 0.260000, 0.270000, 0.270000, 0.270000, 0.270000, 0.260000, 0.260000, 0.280000, 0.290000, 0.290000, 0.280000, 0.280000, 0.280000, 0.280000, 0.290000, 0.290000, 0.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053458, 780305 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.223000, 2.117000, 0.409292 ], "estimate": [ 2.223000, 2.117000, 0.409292 ], "true_pose": [ null, null, null ], "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": [ 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.310000, 1.330000, 1.360000, 1.390000, 1.420000, 1.460000, 1.480000, 1.520000, 1.560000, 1.590000, 1.630000, 1.680000, 1.720000, 1.780000, 1.830000, 1.880000, 1.950000, 2.010000, 2.090000, 2.180000, 2.270000, 2.370000, 2.490000, 2.600000, 2.740000, 2.930000, 3.200000, 3.530000, 3.990000, 4.880000, 7.790000, 7.010000, 7.830000, 7.870000, 7.990000, 12.910000, 12.870000, 12.860000, 12.850000, 12.840000, 12.840000, 13.970000, 16.390000, 17.330000, 17.290000, 12.600000, 2.900000, 2.900000, 2.890000, 1.940000, 1.730000, 1.570000, 1.430000, 1.310000, 1.210000, 1.130000, 1.040000, 0.970000, 0.920000, 0.870000, 0.820000, 0.770000, 0.730000, 0.700000, 0.670000, 0.640000, 0.620000, 0.610000, 0.580000, 0.560000, 0.540000, 0.530000, 0.510000, 0.510000, 0.480000, 0.470000, 0.460000, 0.460000, 0.440000, 0.440000, 0.430000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.330000, 0.340000, 0.330000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.290000, 0.300000, 0.300000, 0.280000, 0.290000, 0.280000, 0.280000, 0.270000, 0.280000, 0.270000, 0.260000, 0.260000, 0.260000, 0.260000, 0.260000, 0.260000, 0.280000, 0.290000, 0.280000, 0.280000, 0.290000, 0.290000, 0.280000, 0.290000, 0.280000, 0.280000, 0.270000, 0.270000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053459, 290038 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.276000, 2.139000, 0.397001 ], "estimate": [ 2.276000, 2.139000, 0.397001 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.940000, 0.960000, 0.950000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.950000, 0.940000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.150000, 1.180000, 1.180000, 1.210000, 1.210000, 1.230000, 1.260000, 1.270000, 1.300000, 1.320000, 1.340000, 1.360000, 1.390000, 1.420000, 1.460000, 1.480000, 1.520000, 1.550000, 1.580000, 1.630000, 1.680000, 1.730000, 1.770000, 1.830000, 1.880000, 1.940000, 2.030000, 2.100000, 2.180000, 2.280000, 2.370000, 2.480000, 2.600000, 2.740000, 2.940000, 3.230000, 3.580000, 4.090000, 7.720000, 7.740000, 7.400000, 7.790000, 7.820000, 7.950000, 12.840000, 12.830000, 12.800000, 12.800000, 12.790000, 12.800000, 13.910000, 16.140000, 17.320000, 17.090000, 16.630000, 2.860000, 2.860000, 2.850000, 1.900000, 1.710000, 1.560000, 1.420000, 1.310000, 1.210000, 1.120000, 1.030000, 0.960000, 0.910000, 0.860000, 0.820000, 0.770000, 0.740000, 0.700000, 0.670000, 0.640000, 0.630000, 0.600000, 0.580000, 0.560000, 0.540000, 0.530000, 0.510000, 0.500000, 0.480000, 0.470000, 0.460000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.290000, 0.280000, 0.280000, 0.280000, 0.280000, 0.270000, 0.270000, 0.260000, 0.270000, 0.260000, 0.260000, 0.260000, 0.260000, 0.270000, 0.270000, 0.270000, 0.270000, 0.280000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.280000, 0.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053459, 291152 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.333000, 2.163000, 0.397001 ], "estimate": [ 2.333000, 2.163000, 0.397001 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.930000, 0.950000, 0.950000, 0.940000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.090000, 1.100000, 1.120000, 1.120000, 1.140000, 1.160000, 1.170000, 1.190000, 1.210000, 1.220000, 1.230000, 1.260000, 1.280000, 1.300000, 1.320000, 1.340000, 1.370000, 1.400000, 1.430000, 1.460000, 1.500000, 1.530000, 1.570000, 1.610000, 1.660000, 1.690000, 1.740000, 1.790000, 1.850000, 1.910000, 1.980000, 2.060000, 2.130000, 2.230000, 2.330000, 2.430000, 2.540000, 2.680000, 2.820000, 3.120000, 3.440000, 3.880000, 4.650000, 7.680000, 6.870000, 7.380000, 7.770000, 7.780000, 12.790000, 12.780000, 12.770000, 12.750000, 12.740000, 12.740000, 13.870000, 16.300000, 15.870000, 17.290000, 16.580000, 3.010000, 2.800000, 2.790000, 1.990000, 1.780000, 1.610000, 1.470000, 1.350000, 1.230000, 1.150000, 1.070000, 0.990000, 0.930000, 0.870000, 0.830000, 0.780000, 0.750000, 0.710000, 0.690000, 0.640000, 0.630000, 0.610000, 0.580000, 0.560000, 0.540000, 0.530000, 0.520000, 0.500000, 0.490000, 0.470000, 0.460000, 0.450000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.380000, 0.380000, 0.360000, 0.370000, 0.360000, 0.360000, 0.350000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.300000, 0.290000, 0.290000, 0.290000, 0.280000, 0.270000, 0.270000, 0.270000, 0.270000, 0.270000, 0.270000, 0.260000, 0.260000, 0.270000, 0.260000, 0.260000, 0.260000, 0.260000, 0.270000, 0.270000, 0.270000, 0.280000, 0.280000, 0.290000, 0.280000, 0.280000, 0.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053459, 380664 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.388000, 2.187000, 0.397001 ], "estimate": [ 2.388000, 2.187000, 0.397001 ], "true_pose": [ null, null, null ], "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, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.150000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.310000, 1.340000, 1.370000, 1.410000, 1.440000, 1.460000, 1.500000, 1.540000, 1.570000, 1.610000, 1.660000, 1.710000, 1.750000, 1.800000, 1.860000, 1.920000, 1.990000, 2.070000, 2.150000, 2.240000, 2.350000, 2.450000, 2.560000, 2.700000, 2.920000, 3.190000, 3.540000, 4.030000, 7.600000, 7.630000, 7.100000, 7.670000, 7.700000, 7.770000, 12.720000, 12.710000, 12.690000, 12.680000, 12.680000, 12.680000, 16.290000, 16.260000, 15.830000, 17.230000, 16.510000, 2.910000, 2.730000, 2.730000, 2.260000, 1.750000, 1.580000, 1.450000, 1.340000, 1.230000, 1.140000, 1.060000, 0.980000, 0.920000, 0.870000, 0.810000, 0.770000, 0.740000, 0.700000, 0.680000, 0.640000, 0.620000, 0.600000, 0.570000, 0.550000, 0.540000, 0.530000, 0.500000, 0.490000, 0.490000, 0.470000, 0.460000, 0.450000, 0.440000, 0.430000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.340000, 0.350000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.280000, 0.280000, 0.270000, 0.280000, 0.260000, 0.270000, 0.270000, 0.260000, 0.270000, 0.260000, 0.260000, 0.260000, 0.260000, 0.280000, 0.290000, 0.290000, 0.290000, 0.290000, 0.280000, 0.290000, 0.280000, 0.270000, 0.260000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053459, 878664 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.547000, 2.250000, 0.384710 ], "estimate": [ 2.547000, 2.250000, 0.384710 ], "true_pose": [ null, null, null ], "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, 0.920000, 0.920000, 0.920000, 0.930000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.050000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.160000, 1.180000, 1.200000, 1.210000, 1.220000, 1.250000, 1.270000, 1.300000, 1.310000, 1.340000, 1.370000, 1.400000, 1.430000, 1.460000, 1.490000, 1.530000, 1.570000, 1.610000, 1.660000, 1.700000, 1.750000, 1.800000, 1.860000, 1.930000, 2.000000, 2.090000, 2.170000, 2.270000, 2.360000, 2.470000, 2.600000, 2.810000, 3.070000, 3.380000, 3.800000, 4.500000, 7.440000, 7.460000, 6.940000, 7.520000, 7.550000, 12.580000, 12.560000, 12.530000, 12.520000, 12.500000, 12.490000, 12.500000, 13.630000, 15.810000, 15.700000, 16.900000, 16.340000, 2.800000, 2.560000, 2.560000, 2.560000, 1.610000, 1.540000, 1.400000, 1.290000, 1.180000, 1.100000, 1.020000, 0.960000, 0.900000, 0.840000, 0.800000, 0.760000, 0.720000, 0.680000, 0.650000, 0.630000, 0.610000, 0.580000, 0.560000, 0.530000, 0.530000, 0.520000, 0.490000, 0.490000, 0.480000, 0.460000, 0.450000, 0.440000, 0.430000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.360000, 0.360000, 0.350000, 0.340000, 0.340000, 0.340000, 0.340000, 0.340000, 0.330000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.310000, 0.290000, 0.290000, 0.280000, 0.290000, 0.290000, 0.280000, 0.270000, 0.270000, 0.270000, 0.270000, 0.260000, 0.260000, 0.260000, 0.260000, 0.250000, 0.260000, 0.260000, 0.270000, 0.270000, 0.270000, 0.270000, 0.280000, 0.280000, 0.280000, 0.280000, 0.280000 ], "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": [ 976053460, 220072 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.604000, 2.272000, 0.360128 ], "estimate": [ 2.604000, 2.272000, 0.360128 ], "true_pose": [ null, null, null ], "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": [ 0.910000, 0.910000, 0.910000, 0.920000, 0.920000, 0.910000, 0.920000, 0.910000, 0.900000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.940000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.060000, 1.070000, 1.090000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.260000, 1.280000, 1.290000, 1.330000, 1.350000, 1.380000, 1.410000, 1.460000, 1.480000, 1.510000, 1.540000, 1.580000, 1.630000, 1.680000, 1.720000, 1.780000, 1.830000, 1.900000, 1.970000, 2.050000, 2.120000, 2.220000, 2.310000, 2.420000, 2.550000, 2.730000, 2.970000, 3.250000, 3.620000, 4.190000, 7.380000, 7.390000, 7.040000, 7.450000, 7.480000, 7.550000, 12.510000, 12.490000, 12.470000, 12.450000, 12.430000, 12.440000, 13.350000, 15.980000, 15.750000, 16.990000, 16.280000, 11.290000, 2.520000, 2.510000, 2.490000, 2.520000, 1.550000, 1.470000, 1.350000, 1.240000, 1.160000, 1.080000, 0.990000, 0.940000, 0.870000, 0.840000, 0.780000, 0.740000, 0.700000, 0.660000, 0.640000, 0.620000, 0.590000, 0.570000, 0.550000, 0.540000, 0.520000, 0.510000, 0.500000, 0.480000, 0.470000, 0.460000, 0.450000, 0.450000, 0.430000, 0.420000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000, 0.340000, 0.340000, 0.330000, 0.330000, 0.320000, 0.320000, 0.310000, 0.320000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.290000, 0.290000, 0.290000, 0.290000, 0.270000, 0.280000, 0.270000, 0.270000, 0.270000, 0.270000, 0.260000, 0.260000, 0.260000, 0.250000, 0.260000, 0.260000, 0.260000, 0.260000, 0.250000, 0.250000, 0.270000, 0.270000, 0.270000, 0.270000, 0.260000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053460, 548699 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.658000, 2.291000, 0.317109 ], "estimate": [ 2.658000, 2.291000, 0.317109 ], "true_pose": [ null, null, null ], "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, 0.900000, 0.910000, 0.900000, 0.900000, 0.900000, 0.910000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.180000, 1.190000, 1.210000, 1.220000, 1.250000, 1.280000, 1.300000, 1.310000, 1.340000, 1.370000, 1.400000, 1.430000, 1.470000, 1.500000, 1.530000, 1.570000, 1.620000, 1.660000, 1.710000, 1.760000, 1.820000, 1.890000, 1.960000, 2.030000, 2.100000, 2.210000, 2.290000, 2.400000, 2.520000, 2.730000, 2.950000, 3.240000, 3.630000, 4.190000, 7.320000, 7.330000, 6.800000, 7.380000, 7.410000, 7.460000, 12.440000, 12.430000, 12.420000, 12.400000, 12.380000, 12.380000, 13.260000, 15.930000, 15.560000, 16.940000, 16.250000, 11.680000, 2.730000, 2.460000, 2.450000, 2.440000, 2.460000, 1.490000, 1.380000, 1.280000, 1.190000, 1.100000, 1.030000, 0.970000, 0.910000, 0.840000, 0.800000, 0.760000, 0.720000, 0.690000, 0.670000, 0.630000, 0.610000, 0.580000, 0.570000, 0.540000, 0.530000, 0.520000, 0.500000, 0.480000, 0.480000, 0.470000, 0.460000, 0.450000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.390000, 0.380000, 0.370000, 0.380000, 0.370000, 0.370000, 0.360000, 0.350000, 0.340000, 0.340000, 0.340000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.300000, 0.310000, 0.290000, 0.300000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.280000, 0.270000, 0.280000, 0.270000, 0.260000, 0.270000, 0.260000, 0.260000, 0.260000, 0.260000, 0.270000, 0.280000, 0.270000, 0.280000, 0.290000, 0.290000, 0.280000, 0.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053460, 620461 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.712000, 2.307000, 0.261799 ], "estimate": [ 2.712000, 2.307000, 0.261799 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.900000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.900000, 0.890000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.970000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.060000, 1.060000, 1.080000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.180000, 1.200000, 1.210000, 1.250000, 1.270000, 1.290000, 1.310000, 1.330000, 1.360000, 1.400000, 1.430000, 1.470000, 1.490000, 1.530000, 1.570000, 1.610000, 1.650000, 1.710000, 1.770000, 1.830000, 1.890000, 1.980000, 2.030000, 2.120000, 2.210000, 2.310000, 2.430000, 2.570000, 2.780000, 3.030000, 3.340000, 3.770000, 4.420000, 7.270000, 7.290000, 6.670000, 7.340000, 7.380000, 12.420000, 12.400000, 12.380000, 12.360000, 12.340000, 12.330000, 12.340000, 13.450000, 15.890000, 15.490000, 16.890000, 16.170000, 11.230000, 2.670000, 2.400000, 2.400000, 2.400000, 2.420000, 1.450000, 1.400000, 1.290000, 1.190000, 1.110000, 1.030000, 0.970000, 0.920000, 0.860000, 0.820000, 0.780000, 0.730000, 0.710000, 0.680000, 0.640000, 0.630000, 0.610000, 0.570000, 0.560000, 0.540000, 0.530000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.460000, 0.440000, 0.440000, 0.430000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.390000, 0.380000, 0.380000, 0.370000, 0.360000, 0.350000, 0.350000, 0.340000, 0.340000, 0.340000, 0.330000, 0.330000, 0.320000, 0.320000, 0.310000, 0.320000, 0.310000, 0.300000, 0.300000, 0.300000, 0.290000, 0.300000, 0.290000, 0.300000, 0.290000, 0.280000, 0.280000, 0.280000, 0.280000, 0.270000, 0.270000, 0.270000, 0.270000, 0.270000, 0.270000, 0.260000, 0.280000, 0.290000, 0.290000, 0.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053461, 190904 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.768000, 2.320000, 0.200344 ], "estimate": [ 2.768000, 2.320000, 0.200344 ], "true_pose": [ null, null, null ], "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, 0.900000, 0.890000, 0.880000, 0.870000, 0.880000, 0.880000, 0.880000, 0.870000, 0.880000, 0.870000, 0.890000, 0.880000, 0.880000, 0.870000, 0.880000, 0.870000, 0.880000, 0.870000, 0.870000, 0.880000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.940000, 0.930000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.100000, 1.130000, 1.130000, 1.150000, 1.170000, 1.190000, 1.200000, 1.220000, 1.260000, 1.280000, 1.310000, 1.330000, 1.360000, 1.380000, 1.410000, 1.450000, 1.470000, 1.510000, 1.560000, 1.600000, 1.650000, 1.700000, 1.760000, 1.820000, 1.880000, 1.960000, 2.030000, 2.110000, 2.210000, 2.300000, 2.420000, 2.590000, 2.810000, 3.080000, 3.430000, 3.910000, 7.360000, 7.220000, 7.210000, 6.900000, 7.290000, 7.320000, 12.350000, 12.340000, 12.310000, 12.290000, 12.290000, 12.280000, 12.280000, 13.390000, 15.910000, 15.460000, 16.830000, 16.120000, 10.750000, 2.660000, 2.350000, 2.340000, 2.340000, 2.370000, 2.200000, 1.390000, 1.310000, 1.210000, 1.140000, 1.060000, 0.990000, 0.930000, 0.880000, 0.840000, 0.790000, 0.760000, 0.720000, 0.690000, 0.670000, 0.650000, 0.630000, 0.600000, 0.580000, 0.570000, 0.540000, 0.530000, 0.520000, 0.500000, 0.490000, 0.480000, 0.470000, 0.460000, 0.440000, 0.440000, 0.440000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.390000, 0.400000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.350000, 0.350000, 0.350000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.280000, 0.280000, 0.290000, 0.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053461, 217336 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.826000, 2.332000, 0.194199 ], "estimate": [ 2.826000, 2.332000, 0.194199 ], "true_pose": [ null, null, null ], "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": [ 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.860000, 0.860000, 0.850000, 0.850000, 0.860000, 0.850000, 0.850000, 0.860000, 0.860000, 0.850000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.900000, 0.890000, 0.900000, 0.900000, 0.900000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.100000, 1.120000, 1.120000, 1.150000, 1.170000, 1.190000, 1.200000, 1.220000, 1.260000, 1.280000, 1.310000, 1.330000, 1.360000, 1.380000, 1.420000, 1.450000, 1.500000, 1.530000, 1.570000, 1.610000, 1.660000, 1.720000, 1.790000, 1.850000, 1.920000, 1.990000, 2.070000, 2.170000, 2.250000, 2.360000, 2.530000, 2.740000, 2.990000, 3.330000, 3.770000, 7.200000, 7.160000, 7.180000, 6.980000, 7.240000, 7.260000, 12.300000, 12.280000, 12.250000, 12.230000, 12.220000, 12.220000, 12.230000, 13.410000, 15.790000, 15.410000, 16.780000, 16.070000, 10.680000, 9.870000, 2.300000, 2.300000, 2.290000, 2.300000, 2.300000, 1.540000, 1.330000, 1.250000, 1.180000, 1.100000, 1.030000, 0.980000, 0.920000, 0.880000, 0.830000, 0.790000, 0.760000, 0.730000, 0.690000, 0.660000, 0.640000, 0.630000, 0.610000, 0.580000, 0.570000, 0.540000, 0.540000, 0.530000, 0.510000, 0.500000, 0.480000, 0.480000, 0.460000, 0.460000, 0.450000, 0.440000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.380000, 0.390000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.310000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053461, 221065 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.884000, 2.344000, 0.206490 ], "estimate": [ 2.884000, 2.344000, 0.206490 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.850000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.850000, 0.850000, 0.840000, 0.840000, 0.850000, 0.840000, 0.840000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.050000, 1.060000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.270000, 1.290000, 1.310000, 1.340000, 1.370000, 1.410000, 1.430000, 1.460000, 1.510000, 1.560000, 1.610000, 1.650000, 1.710000, 1.780000, 1.840000, 1.910000, 1.990000, 2.060000, 2.160000, 2.270000, 2.380000, 2.550000, 2.770000, 3.050000, 3.400000, 3.900000, 7.100000, 7.100000, 6.380000, 6.810000, 7.180000, 7.210000, 12.230000, 12.210000, 12.200000, 12.180000, 12.170000, 12.170000, 12.170000, 13.300000, 15.330000, 15.350000, 16.400000, 16.000000, 10.080000, 9.810000, 2.250000, 2.240000, 2.230000, 2.240000, 2.260000, 2.200000, 1.280000, 1.250000, 1.180000, 1.110000, 1.040000, 0.990000, 0.940000, 0.870000, 0.840000, 0.800000, 0.770000, 0.740000, 0.710000, 0.690000, 0.650000, 0.630000, 0.620000, 0.590000, 0.580000, 0.560000, 0.540000, 0.530000, 0.530000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.460000, 0.440000, 0.450000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.320000, 0.310000, 0.320000, 0.310000, 0.310000, 0.320000, 0.320000, 0.310000, 0.320000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053461, 735332 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.939000, 2.355000, 0.206490 ], "estimate": [ 2.939000, 2.355000, 0.206490 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.840000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.910000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.060000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.160000, 1.180000, 1.200000, 1.220000, 1.250000, 1.280000, 1.310000, 1.320000, 1.350000, 1.400000, 1.410000, 1.460000, 1.490000, 1.540000, 1.580000, 1.630000, 1.680000, 1.740000, 1.810000, 1.880000, 1.950000, 2.020000, 2.110000, 2.240000, 2.330000, 2.510000, 2.720000, 2.980000, 3.310000, 3.770000, 7.050000, 7.050000, 6.550000, 6.820000, 7.120000, 7.150000, 12.190000, 12.170000, 12.150000, 12.130000, 12.120000, 12.120000, 12.110000, 15.750000, 15.680000, 15.250000, 16.680000, 15.950000, 10.830000, 9.760000, 2.490000, 2.180000, 2.180000, 2.180000, 2.200000, 2.190000, 2.150000, 1.250000, 1.220000, 1.150000, 1.090000, 1.010000, 0.970000, 0.920000, 0.870000, 0.830000, 0.790000, 0.770000, 0.740000, 0.710000, 0.680000, 0.650000, 0.630000, 0.620000, 0.590000, 0.580000, 0.560000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.430000, 0.410000, 0.410000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.370000, 0.380000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.330000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.330000, 0.330000, 0.330000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053461, 736546 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.997000, 2.367000, 0.206490 ], "estimate": [ 2.997000, 2.367000, 0.206490 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.820000, 0.820000, 0.840000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.040000, 1.060000, 1.080000, 1.090000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.200000, 1.210000, 1.240000, 1.270000, 1.300000, 1.310000, 1.350000, 1.380000, 1.420000, 1.460000, 1.500000, 1.550000, 1.590000, 1.650000, 1.690000, 1.760000, 1.830000, 1.880000, 1.970000, 2.040000, 2.140000, 2.240000, 2.410000, 2.590000, 2.820000, 3.130000, 3.500000, 4.100000, 7.000000, 7.010000, 6.500000, 7.050000, 7.080000, 7.120000, 12.120000, 12.100000, 12.090000, 12.070000, 12.070000, 12.050000, 12.070000, 15.620000, 15.190000, 16.590000, 16.070000, 11.890000, 9.920000, 9.710000, 2.400000, 2.130000, 2.130000, 2.130000, 2.130000, 2.140000, 2.090000, 2.000000, 1.170000, 1.140000, 1.080000, 1.010000, 0.960000, 0.920000, 0.860000, 0.840000, 0.790000, 0.760000, 0.730000, 0.710000, 0.690000, 0.660000, 0.640000, 0.620000, 0.600000, 0.590000, 0.570000, 0.550000, 0.540000, 0.530000, 0.520000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.340000, 0.350000, 0.340000, 0.340000, 0.340000, 0.340000, 0.330000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.340000, 0.330000, 0.330000, 0.330000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053461, 875033 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.054000, 2.379000, 0.212635 ], "estimate": [ 3.054000, 2.379000, 0.212635 ], "true_pose": [ null, null, null ], "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": [ 0.820000, 0.820000, 0.820000, 0.810000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.810000, 0.830000, 0.810000, 0.810000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.030000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.120000, 1.130000, 1.160000, 1.180000, 1.200000, 1.220000, 1.250000, 1.280000, 1.300000, 1.330000, 1.360000, 1.400000, 1.440000, 1.470000, 1.520000, 1.560000, 1.610000, 1.660000, 1.720000, 1.790000, 1.860000, 1.930000, 2.010000, 2.110000, 2.190000, 2.350000, 2.520000, 2.750000, 3.030000, 3.400000, 3.920000, 6.930000, 6.950000, 6.340000, 6.810000, 7.020000, 7.040000, 12.070000, 12.050000, 12.030000, 12.010000, 12.000000, 11.990000, 11.990000, 13.130000, 15.540000, 15.230000, 16.550000, 15.850000, 10.440000, 9.660000, 8.030000, 2.110000, 2.070000, 2.080000, 2.070000, 2.090000, 2.050000, 2.050000, 2.040000, 1.130000, 1.100000, 1.050000, 0.990000, 0.940000, 0.900000, 0.850000, 0.830000, 0.770000, 0.750000, 0.720000, 0.700000, 0.670000, 0.660000, 0.630000, 0.620000, 0.600000, 0.580000, 0.560000, 0.550000, 0.540000, 0.530000, 0.510000, 0.510000, 0.490000, 0.480000, 0.480000, 0.460000, 0.460000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.340000, 0.350000, 0.340000, 0.340000, 0.350000, 0.340000, 0.340000, 0.340000 ], "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": [ 976053462, 332137 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.113000, 2.391000, 0.206490 ], "estimate": [ 3.113000, 2.391000, 0.206490 ], "true_pose": [ null, null, null ], "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": [ 0.810000, 0.810000, 0.800000, 0.800000, 0.810000, 0.800000, 0.800000, 0.790000, 0.810000, 0.800000, 0.800000, 0.800000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.920000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.080000, 1.090000, 1.110000, 1.130000, 1.140000, 1.160000, 1.200000, 1.210000, 1.240000, 1.270000, 1.300000, 1.330000, 1.360000, 1.390000, 1.430000, 1.470000, 1.510000, 1.560000, 1.610000, 1.660000, 1.720000, 1.790000, 1.870000, 1.940000, 2.010000, 2.100000, 2.240000, 2.390000, 2.590000, 2.830000, 3.140000, 3.560000, 4.270000, 6.870000, 6.890000, 6.030000, 6.940000, 6.980000, 7.010000, 11.990000, 11.990000, 11.960000, 11.940000, 11.930000, 11.930000, 11.990000, 15.520000, 15.060000, 16.480000, 16.010000, 15.770000, 9.950000, 9.580000, 7.790000, 2.170000, 2.020000, 2.020000, 2.010000, 2.030000, 2.040000, 1.990000, 1.980000, 1.980000, 1.070000, 1.060000, 1.000000, 0.940000, 0.900000, 0.840000, 0.820000, 0.780000, 0.760000, 0.730000, 0.710000, 0.680000, 0.660000, 0.640000, 0.630000, 0.610000, 0.590000, 0.570000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053462, 333269 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.170000, 2.403000, 0.200344 ], "estimate": [ 3.170000, 2.403000, 0.200344 ], "true_pose": [ null, null, null ], "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": [ 0.800000, 0.790000, 0.790000, 0.790000, 0.810000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.790000, 0.780000, 0.790000, 0.790000, 0.800000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.010000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.160000, 1.200000, 1.210000, 1.240000, 1.270000, 1.300000, 1.330000, 1.370000, 1.390000, 1.440000, 1.470000, 1.510000, 1.580000, 1.620000, 1.670000, 1.740000, 1.800000, 1.870000, 1.950000, 2.020000, 2.150000, 2.300000, 2.450000, 2.670000, 2.940000, 3.290000, 3.780000, 6.820000, 6.830000, 6.010000, 6.490000, 6.890000, 6.930000, 11.960000, 11.940000, 11.920000, 11.900000, 11.880000, 11.890000, 11.880000, 12.770000, 15.430000, 15.210000, 16.440000, 15.720000, 11.210000, 9.540000, 9.550000, 7.460000, 2.150000, 1.970000, 1.970000, 1.960000, 1.980000, 1.990000, 1.930000, 1.940000, 1.940000, 1.310000, 1.010000, 0.990000, 0.950000, 0.890000, 0.870000, 0.830000, 0.790000, 0.760000, 0.730000, 0.700000, 0.680000, 0.670000, 0.640000, 0.630000, 0.610000, 0.590000, 0.580000, 0.560000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.490000, 0.480000, 0.480000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.360000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000, 0.360000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053462, 421249 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.225000, 2.414000, 0.200344 ], "estimate": [ 3.225000, 2.414000, 0.200344 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.850000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.050000, 1.060000, 1.080000, 1.090000, 1.120000, 1.130000, 1.160000, 1.180000, 1.200000, 1.240000, 1.260000, 1.290000, 1.320000, 1.360000, 1.400000, 1.430000, 1.470000, 1.510000, 1.560000, 1.610000, 1.670000, 1.720000, 1.790000, 1.870000, 1.950000, 2.030000, 2.160000, 2.310000, 2.490000, 2.710000, 2.990000, 3.350000, 3.890000, 6.770000, 6.770000, 5.930000, 6.560000, 6.840000, 6.870000, 11.900000, 11.880000, 11.860000, 11.850000, 11.840000, 11.830000, 11.830000, 15.460000, 15.390000, 14.960000, 16.380000, 15.670000, 11.010000, 9.480000, 9.500000, 7.400000, 2.160000, 1.910000, 1.910000, 1.910000, 1.900000, 1.940000, 1.870000, 1.880000, 1.880000, 1.880000, 1.870000, 0.970000, 0.970000, 0.920000, 0.860000, 0.840000, 0.800000, 0.770000, 0.740000, 0.710000, 0.690000, 0.670000, 0.650000, 0.630000, 0.620000, 0.600000, 0.580000, 0.570000, 0.560000, 0.540000, 0.540000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.440000, 0.430000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.390000, 0.400000, 0.400000, 0.390000, 0.380000, 0.390000, 0.380000, 0.380000, 0.370000, 0.380000, 0.370000, 0.380000, 0.370000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053462, 930642 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.281000, 2.426000, 0.194199 ], "estimate": [ 3.281000, 2.426000, 0.194199 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.780000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.900000, 0.900000, 0.910000, 0.930000, 0.940000, 0.960000, 0.970000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.220000, 1.260000, 1.290000, 1.310000, 1.350000, 1.380000, 1.420000, 1.460000, 1.510000, 1.560000, 1.610000, 1.670000, 1.730000, 1.790000, 1.870000, 1.940000, 2.050000, 2.170000, 2.330000, 2.520000, 2.750000, 3.060000, 3.420000, 4.100000, 6.710000, 6.730000, 6.650000, 6.770000, 6.790000, 6.830000, 11.850000, 11.810000, 11.800000, 11.770000, 11.780000, 11.760000, 11.770000, 15.390000, 15.340000, 14.940000, 16.340000, 15.620000, 10.780000, 9.410000, 8.210000, 7.310000, 2.120000, 1.870000, 1.850000, 1.860000, 1.850000, 1.880000, 1.890000, 1.830000, 1.830000, 1.830000, 1.830000, 1.830000, 0.930000, 0.920000, 0.880000, 0.840000, 0.810000, 0.780000, 0.750000, 0.720000, 0.700000, 0.670000, 0.660000, 0.630000, 0.630000, 0.610000, 0.590000, 0.580000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.420000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.380000, 0.370000, 0.370000, 0.370000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000 ], "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": [ 976053462, 931766 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.340000, 2.437000, 0.188053 ], "estimate": [ 3.340000, 2.437000, 0.188053 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.760000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.880000, 0.890000, 0.900000, 0.900000, 0.920000, 0.930000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.040000, 1.050000, 1.060000, 1.090000, 1.110000, 1.130000, 1.140000, 1.170000, 1.200000, 1.220000, 1.250000, 1.290000, 1.310000, 1.340000, 1.380000, 1.440000, 1.450000, 1.500000, 1.560000, 1.610000, 1.670000, 1.730000, 1.800000, 1.860000, 1.960000, 2.060000, 2.210000, 2.360000, 2.570000, 2.810000, 3.150000, 3.590000, 6.760000, 6.650000, 6.680000, 5.830000, 6.720000, 6.740000, 6.780000, 11.780000, 11.760000, 11.740000, 11.730000, 11.720000, 11.710000, 11.720000, 12.830000, 15.130000, 14.900000, 16.220000, 15.560000, 10.350000, 9.370000, 8.030000, 7.140000, 2.110000, 1.830000, 1.800000, 1.800000, 1.790000, 1.810000, 1.830000, 1.770000, 1.780000, 1.780000, 1.780000, 1.780000, 1.790000, 1.000000, 0.850000, 0.870000, 0.820000, 0.780000, 0.750000, 0.720000, 0.710000, 0.680000, 0.660000, 0.650000, 0.630000, 0.620000, 0.600000, 0.580000, 0.570000, 0.550000, 0.540000, 0.540000, 0.520000, 0.520000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.410000, 0.400000, 0.400000, 0.390000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.390000, 0.370000, 0.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053463, 253000 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.397000, 2.448000, 0.188053 ], "estimate": [ 3.397000, 2.448000, 0.188053 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.760000, 0.770000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.970000, 0.970000, 0.990000, 1.000000, 1.020000, 1.040000, 1.060000, 1.090000, 1.090000, 1.110000, 1.140000, 1.170000, 1.200000, 1.220000, 1.250000, 1.280000, 1.310000, 1.350000, 1.380000, 1.420000, 1.460000, 1.500000, 1.560000, 1.610000, 1.670000, 1.730000, 1.790000, 1.890000, 1.980000, 2.100000, 2.250000, 2.420000, 2.640000, 2.900000, 3.260000, 3.750000, 6.600000, 6.610000, 5.760000, 6.290000, 6.670000, 6.700000, 6.810000, 11.720000, 11.690000, 11.680000, 11.660000, 11.660000, 11.660000, 11.780000, 15.220000, 14.820000, 16.220000, 15.680000, 15.500000, 9.950000, 9.310000, 7.790000, 6.980000, 6.270000, 1.920000, 1.750000, 1.750000, 1.740000, 1.750000, 1.780000, 1.760000, 1.730000, 1.730000, 1.730000, 1.730000, 1.740000, 1.730000, 1.730000, 0.830000, 0.820000, 0.800000, 0.770000, 0.730000, 0.710000, 0.680000, 0.670000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.570000, 0.560000, 0.540000, 0.550000, 0.530000, 0.520000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.390000, 0.380000, 0.390000, 0.380000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053463, 528553 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.453000, 2.458000, 0.181908 ], "estimate": [ 3.453000, 2.458000, 0.181908 ], "true_pose": [ null, null, null ], "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": [ 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.750000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.900000, 0.910000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.040000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.160000, 1.190000, 1.210000, 1.250000, 1.280000, 1.310000, 1.340000, 1.380000, 1.420000, 1.450000, 1.500000, 1.560000, 1.620000, 1.670000, 1.740000, 1.810000, 1.900000, 2.000000, 2.130000, 2.280000, 2.460000, 2.690000, 2.980000, 3.360000, 4.040000, 6.540000, 6.550000, 5.990000, 6.410000, 6.630000, 6.640000, 11.670000, 11.670000, 11.640000, 11.620000, 11.610000, 11.600000, 11.600000, 12.430000, 15.140000, 14.870000, 16.150000, 15.460000, 15.430000, 9.670000, 9.240000, 7.670000, 6.850000, 6.190000, 1.910000, 1.700000, 1.700000, 1.710000, 1.700000, 1.700000, 1.730000, 1.670000, 1.670000, 1.670000, 1.670000, 1.680000, 1.680000, 1.690000, 1.700000, 1.360000, 0.780000, 0.770000, 0.750000, 0.710000, 0.690000, 0.670000, 0.650000, 0.640000, 0.620000, 0.600000, 0.590000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.510000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.460000, 0.440000, 0.430000, 0.430000, 0.430000, 0.440000, 0.430000, 0.430000, 0.420000, 0.410000, 0.420000, 0.410000, 0.400000, 0.400000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000 ], "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": [ 976053463, 529646 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.511000, 2.469000, 0.181908 ], "estimate": [ 3.511000, 2.469000, 0.181908 ], "true_pose": [ null, null, null ], "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": [ 0.740000, 0.740000, 0.740000, 0.750000, 0.740000, 0.740000, 0.730000, 0.740000, 0.740000, 0.730000, 0.740000, 0.740000, 0.730000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.900000, 0.920000, 0.930000, 0.950000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.050000, 1.060000, 1.090000, 1.110000, 1.120000, 1.140000, 1.170000, 1.200000, 1.220000, 1.260000, 1.300000, 1.320000, 1.350000, 1.400000, 1.440000, 1.480000, 1.530000, 1.580000, 1.650000, 1.700000, 1.790000, 1.880000, 1.970000, 2.100000, 2.250000, 2.420000, 2.640000, 2.930000, 3.290000, 3.880000, 6.480000, 6.500000, 5.620000, 6.100000, 6.560000, 6.600000, 11.630000, 11.610000, 11.590000, 11.560000, 11.550000, 11.550000, 11.550000, 11.570000, 15.160000, 14.690000, 16.080000, 16.010000, 15.380000, 10.130000, 9.210000, 7.910000, 7.060000, 6.360000, 5.820000, 1.820000, 1.640000, 1.640000, 1.640000, 1.640000, 1.660000, 1.670000, 1.620000, 1.610000, 1.620000, 1.630000, 1.620000, 1.620000, 1.640000, 1.640000, 1.650000, 1.640000, 0.750000, 0.730000, 0.720000, 0.700000, 0.670000, 0.650000, 0.630000, 0.610000, 0.610000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.530000, 0.530000, 0.520000, 0.510000, 0.500000, 0.500000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.400000, 0.400000, 0.390000, 0.390000 ], "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": [ 976053463, 621251 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.569000, 2.479000, 0.181908 ], "estimate": [ 3.569000, 2.479000, 0.181908 ], "true_pose": [ null, null, null ], "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": [ 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.960000, 0.970000, 0.980000, 0.990000, 1.020000, 1.040000, 1.050000, 1.080000, 1.090000, 1.110000, 1.140000, 1.170000, 1.200000, 1.220000, 1.260000, 1.290000, 1.320000, 1.350000, 1.390000, 1.440000, 1.470000, 1.530000, 1.570000, 1.640000, 1.700000, 1.780000, 1.880000, 1.980000, 2.110000, 2.260000, 2.440000, 2.670000, 2.970000, 3.350000, 4.170000, 6.430000, 6.440000, 5.870000, 6.310000, 6.500000, 6.540000, 11.550000, 11.540000, 11.520000, 11.510000, 11.490000, 11.490000, 11.490000, 11.600000, 15.050000, 14.620000, 16.040000, 15.520000, 15.310000, 9.940000, 9.140000, 7.830000, 6.990000, 6.300000, 5.770000, 1.820000, 1.610000, 1.580000, 1.590000, 1.580000, 1.580000, 1.620000, 1.620000, 1.560000, 1.560000, 1.570000, 1.570000, 1.580000, 1.590000, 1.590000, 1.600000, 1.590000, 1.600000, 1.610000, 1.110000, 0.700000, 0.670000, 0.670000, 0.650000, 0.630000, 0.610000, 0.590000, 0.580000, 0.580000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.510000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.410000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.400000, 0.390000, 0.390000, 0.390000 ], "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": [ 976053464, 192193 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.626000, 2.490000, 0.188053 ], "estimate": [ 3.626000, 2.490000, 0.188053 ], "true_pose": [ null, null, null ], "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": [ 0.720000, 0.730000, 0.720000, 0.720000, 0.730000, 0.720000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.850000, 0.850000, 0.860000, 0.880000, 0.900000, 0.900000, 0.920000, 0.930000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.130000, 1.160000, 1.190000, 1.210000, 1.240000, 1.280000, 1.310000, 1.340000, 1.380000, 1.420000, 1.460000, 1.520000, 1.580000, 1.630000, 1.710000, 1.790000, 1.880000, 1.980000, 2.120000, 2.270000, 2.460000, 2.700000, 3.000000, 3.400000, 6.410000, 6.360000, 6.390000, 6.380000, 6.400000, 6.450000, 6.480000, 11.500000, 11.490000, 11.470000, 11.460000, 11.450000, 11.440000, 11.430000, 11.550000, 14.990000, 14.570000, 15.980000, 15.480000, 15.250000, 9.940000, 9.080000, 7.830000, 6.980000, 6.310000, 5.770000, 1.800000, 1.700000, 1.530000, 1.530000, 1.540000, 1.530000, 1.540000, 1.570000, 1.560000, 1.520000, 1.520000, 1.510000, 1.520000, 1.530000, 1.540000, 1.540000, 1.550000, 1.560000, 1.550000, 1.570000, 1.570000, 1.580000, 0.710000, 0.650000, 0.630000, 0.640000, 0.610000, 0.590000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.440000, 0.440000, 0.450000, 0.450000, 0.440000, 0.450000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000 ], "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": [ 976053464, 193348 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.683000, 2.501000, 0.194199 ], "estimate": [ 3.683000, 2.501000, 0.194199 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.710000, 0.710000, 0.720000, 0.710000, 0.710000, 0.730000, 0.730000, 0.710000, 0.710000, 0.720000, 0.710000, 0.720000, 0.720000, 0.710000, 0.720000, 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.890000, 0.900000, 0.910000, 0.930000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.160000, 1.190000, 1.200000, 1.240000, 1.280000, 1.300000, 1.340000, 1.380000, 1.420000, 1.460000, 1.530000, 1.580000, 1.660000, 1.730000, 1.820000, 1.910000, 2.020000, 2.160000, 2.320000, 2.520000, 2.780000, 3.110000, 3.590000, 6.370000, 6.320000, 6.340000, 5.520000, 6.380000, 6.400000, 6.430000, 11.440000, 11.430000, 11.400000, 11.380000, 11.380000, 11.370000, 11.370000, 12.240000, 14.920000, 14.970000, 15.930000, 15.210000, 11.220000, 9.530000, 9.020000, 7.610000, 6.820000, 6.180000, 5.670000, 5.260000, 1.690000, 1.500000, 1.480000, 1.480000, 1.480000, 1.480000, 1.470000, 1.520000, 1.470000, 1.460000, 1.460000, 1.470000, 1.480000, 1.480000, 1.490000, 1.500000, 1.500000, 1.510000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 0.750000, 0.620000, 0.600000, 0.600000, 0.600000, 0.560000, 0.540000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053464, 220571 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.740000, 2.512000, 0.200344 ], "estimate": [ 3.740000, 2.512000, 0.200344 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.710000, 0.730000, 0.720000, 0.700000, 0.710000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.830000, 0.830000, 0.840000, 0.860000, 0.880000, 0.890000, 0.900000, 0.900000, 0.920000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.050000, 1.070000, 1.080000, 1.110000, 1.120000, 1.160000, 1.180000, 1.200000, 1.240000, 1.280000, 1.300000, 1.340000, 1.390000, 1.430000, 1.480000, 1.540000, 1.600000, 1.670000, 1.750000, 1.830000, 1.940000, 2.050000, 2.200000, 2.380000, 2.590000, 2.890000, 3.240000, 3.960000, 6.250000, 6.270000, 5.390000, 5.960000, 6.330000, 6.360000, 6.420000, 11.390000, 11.380000, 11.340000, 11.330000, 11.320000, 11.320000, 11.320000, 14.930000, 14.880000, 14.460000, 15.880000, 15.180000, 10.740000, 9.180000, 8.980000, 7.390000, 6.680000, 6.030000, 5.560000, 5.150000, 1.660000, 1.560000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.460000, 1.470000, 1.410000, 1.410000, 1.410000, 1.420000, 1.430000, 1.430000, 1.440000, 1.450000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 0.770000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.530000, 0.530000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.410000, 0.410000, 0.410000, 0.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053464, 674505 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.796000, 2.524000, 0.212635 ], "estimate": [ 3.796000, 2.524000, 0.212635 ], "true_pose": [ null, null, null ], "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": [ 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.720000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.840000, 0.860000, 0.870000, 0.880000, 0.900000, 0.900000, 0.920000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.050000, 1.070000, 1.080000, 1.110000, 1.120000, 1.170000, 1.190000, 1.210000, 1.250000, 1.280000, 1.310000, 1.350000, 1.390000, 1.450000, 1.500000, 1.570000, 1.620000, 1.710000, 1.790000, 1.880000, 1.980000, 2.130000, 2.290000, 2.500000, 2.740000, 3.080000, 3.530000, 6.320000, 6.210000, 6.210000, 5.330000, 6.260000, 6.280000, 6.310000, 11.340000, 11.310000, 11.300000, 11.270000, 11.260000, 11.260000, 11.250000, 11.350000, 14.810000, 14.390000, 15.820000, 15.370000, 15.090000, 9.990000, 8.900000, 8.940000, 7.040000, 6.350000, 5.810000, 5.390000, 4.970000, 1.630000, 1.530000, 1.390000, 1.360000, 1.370000, 1.370000, 1.370000, 1.380000, 1.410000, 1.420000, 1.350000, 1.360000, 1.370000, 1.370000, 1.380000, 1.380000, 1.390000, 1.400000, 1.400000, 1.420000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.490000, 1.500000, 1.500000, 1.520000, 1.530000, 0.660000, 0.540000, 0.540000, 0.530000, 0.540000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.480000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053464, 725576 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.855000, 2.537000, 0.218781 ], "estimate": [ 3.855000, 2.537000, 0.218781 ], "true_pose": [ null, null, null ], "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": [ 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.910000, 0.930000, 0.950000, 0.960000, 0.980000, 0.980000, 1.010000, 1.030000, 1.050000, 1.070000, 1.080000, 1.110000, 1.150000, 1.170000, 1.190000, 1.220000, 1.260000, 1.290000, 1.320000, 1.370000, 1.430000, 1.480000, 1.540000, 1.600000, 1.670000, 1.750000, 1.840000, 1.930000, 2.070000, 2.220000, 2.410000, 2.640000, 2.930000, 3.290000, 6.190000, 6.150000, 6.160000, 5.570000, 5.800000, 6.220000, 6.250000, 6.350000, 11.260000, 11.250000, 11.240000, 11.210000, 11.210000, 11.210000, 11.210000, 14.830000, 14.770000, 14.330000, 15.770000, 15.050000, 10.760000, 9.180000, 8.860000, 7.400000, 6.690000, 6.030000, 5.570000, 5.180000, 4.790000, 1.560000, 1.480000, 1.330000, 1.320000, 1.330000, 1.340000, 1.330000, 1.320000, 1.350000, 1.360000, 1.310000, 1.320000, 1.320000, 1.330000, 1.340000, 1.330000, 1.340000, 1.350000, 1.350000, 1.370000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.430000, 1.440000, 1.440000, 1.460000, 1.480000, 1.500000, 1.500000, 1.520000, 1.530000, 1.550000, 0.610000, 0.510000, 0.510000, 0.490000, 0.510000, 0.500000, 0.490000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.420000, 0.410000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053464, 820487 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.911000, 2.549000, 0.224926 ], "estimate": [ 3.911000, 2.549000, 0.224926 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.690000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.680000, 0.690000, 0.690000, 0.690000, 0.680000, 0.690000, 0.700000, 0.700000, 0.720000, 0.710000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.910000, 0.930000, 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.040000, 1.060000, 1.080000, 1.090000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.280000, 1.320000, 1.340000, 1.400000, 1.450000, 1.510000, 1.570000, 1.640000, 1.720000, 1.800000, 1.900000, 2.010000, 2.160000, 2.320000, 2.540000, 2.820000, 3.130000, 3.810000, 6.080000, 6.090000, 6.110000, 5.590000, 6.150000, 6.180000, 6.200000, 11.210000, 11.200000, 11.170000, 11.150000, 11.150000, 11.140000, 11.140000, 11.270000, 14.700000, 14.280000, 15.700000, 15.430000, 14.980000, 10.060000, 8.800000, 8.810000, 7.050000, 6.400000, 5.820000, 5.390000, 4.990000, 4.660000, 1.520000, 1.460000, 1.370000, 1.250000, 1.260000, 1.260000, 1.260000, 1.270000, 1.280000, 1.310000, 1.310000, 1.250000, 1.260000, 1.270000, 1.280000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.400000, 1.410000, 1.430000, 1.450000, 1.460000, 1.480000, 1.500000, 1.510000, 1.530000, 1.550000, 1.570000, 1.600000, 0.770000, 0.490000, 0.480000, 0.470000, 0.460000, 0.480000, 0.480000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.430000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976053465, 325255 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.967000, 2.562000, 0.224926 ], "estimate": [ 3.967000, 2.562000, 0.224926 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.690000, 0.700000, 0.690000, 0.700000, 0.700000, 0.690000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.690000, 0.710000, 0.690000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.830000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.900000, 0.930000, 0.950000, 0.970000, 0.970000, 0.990000, 1.010000, 1.030000, 1.050000, 1.080000, 1.090000, 1.120000, 1.150000, 1.170000, 1.200000, 1.240000, 1.270000, 1.300000, 1.360000, 1.410000, 1.450000, 1.520000, 1.580000, 1.650000, 1.740000, 1.830000, 1.920000, 2.050000, 2.190000, 2.370000, 2.590000, 2.890000, 3.230000, 4.180000, 6.040000, 6.050000, 5.160000, 5.840000, 6.100000, 6.130000, 6.170000, 11.160000, 11.150000, 11.130000, 11.120000, 11.100000, 11.090000, 11.090000, 11.610000, 14.640000, 14.280000, 15.660000, 15.070000, 14.910000, 9.840000, 8.750000, 8.760000, 6.960000, 6.310000, 5.760000, 5.330000, 4.970000, 4.640000, 4.330000, 1.450000, 1.360000, 1.240000, 1.210000, 1.210000, 1.230000, 1.220000, 1.230000, 1.240000, 1.260000, 1.250000, 1.210000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.300000, 1.320000, 1.330000, 1.330000, 1.340000, 1.360000, 1.370000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.480000, 1.500000, 1.510000, 1.530000, 1.550000, 1.580000, 1.610000, 1.630000, 1.660000, 2.610000, 0.480000, 0.460000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053465, 326395 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.025000, 2.576000, 0.231072 ], "estimate": [ 4.025000, 2.576000, 0.231072 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.690000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.680000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.830000, 0.850000, 0.860000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.020000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.160000, 1.180000, 1.220000, 1.250000, 1.280000, 1.330000, 1.390000, 1.440000, 1.490000, 1.550000, 1.630000, 1.700000, 1.770000, 1.870000, 1.970000, 2.130000, 2.300000, 2.510000, 2.750000, 3.080000, 3.690000, 6.040000, 5.980000, 5.990000, 5.080000, 6.030000, 6.060000, 6.070000, 11.120000, 11.090000, 11.070000, 11.060000, 11.050000, 11.030000, 11.030000, 11.040000, 12.160000, 14.590000, 14.200000, 15.600000, 14.900000, 10.650000, 9.150000, 8.700000, 7.410000, 6.650000, 6.040000, 5.550000, 5.180000, 4.810000, 4.490000, 4.210000, 1.400000, 1.340000, 1.270000, 1.170000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.200000, 1.210000, 1.210000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.300000, 1.320000, 1.330000, 1.340000, 1.360000, 1.370000, 1.400000, 1.410000, 1.430000, 1.450000, 1.470000, 1.490000, 1.510000, 1.540000, 1.560000, 1.600000, 1.620000, 2.610000, 2.700000, 2.800000, 2.900000, 3.020000, 3.130000, 0.460000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.420000, 0.430000, 0.420000, 0.430000, 0.420000, 0.430000, 0.430000, 0.430000 ], "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": [ 976053465, 420632 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.082000, 2.590000, 0.237217 ], "estimate": [ 4.082000, 2.590000, 0.237217 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.730000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.020000, 1.040000, 1.060000, 1.080000, 1.110000, 1.130000, 1.160000, 1.180000, 1.230000, 1.270000, 1.300000, 1.350000, 1.410000, 1.460000, 1.520000, 1.580000, 1.650000, 1.730000, 1.820000, 1.930000, 2.050000, 2.200000, 2.400000, 2.610000, 2.900000, 3.330000, 5.980000, 5.920000, 5.930000, 5.060000, 5.710000, 5.980000, 6.010000, 6.050000, 11.050000, 11.040000, 11.010000, 10.990000, 10.990000, 10.990000, 10.990000, 11.070000, 14.560000, 14.100000, 15.540000, 15.380000, 14.830000, 10.000000, 8.660000, 8.650000, 7.080000, 6.410000, 5.840000, 5.370000, 5.060000, 4.690000, 4.380000, 4.120000, 1.390000, 1.330000, 1.260000, 1.140000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.150000, 1.160000, 1.160000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.230000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.310000, 1.330000, 1.330000, 1.350000, 1.370000, 1.390000, 1.420000, 1.440000, 1.460000, 1.490000, 1.500000, 1.530000, 1.560000, 1.590000, 1.640000, 2.720000, 2.810000, 2.910000, 3.040000, 3.160000, 3.300000, 2.460000, 3.650000, 3.850000, 3.930000, 3.920000, 0.450000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.430000, 0.420000, 0.430000, 0.430000, 0.420000, 0.430000, 0.430000, 0.430000 ], "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": [ 976053465, 931965 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.138000, 2.603000, 0.249508 ], "estimate": [ 4.138000, 2.603000, 0.249508 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.670000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.830000, 0.840000, 0.840000, 0.860000, 0.870000, 0.890000, 0.900000, 0.910000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.040000, 1.060000, 1.080000, 1.100000, 1.130000, 1.150000, 1.190000, 1.230000, 1.270000, 1.310000, 1.360000, 1.420000, 1.460000, 1.530000, 1.590000, 1.660000, 1.740000, 1.820000, 1.920000, 2.060000, 2.210000, 2.400000, 2.620000, 2.910000, 3.370000, 6.040000, 5.860000, 5.870000, 4.990000, 5.620000, 5.930000, 5.950000, 5.980000, 10.990000, 10.970000, 10.950000, 10.940000, 10.930000, 10.920000, 10.920000, 10.940000, 12.060000, 14.260000, 14.100000, 15.460000, 14.760000, 10.220000, 8.770000, 8.580000, 7.190000, 6.490000, 5.900000, 5.430000, 5.070000, 4.730000, 4.430000, 4.140000, 3.920000, 1.310000, 1.260000, 1.200000, 1.130000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.090000, 1.110000, 1.120000, 1.080000, 1.060000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.140000, 1.140000, 1.150000, 1.170000, 1.180000, 1.200000, 1.210000, 1.230000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.320000, 1.330000, 1.350000, 1.380000, 1.400000, 1.420000, 1.450000, 1.480000, 1.500000, 1.530000, 1.560000, 1.600000, 2.760000, 2.880000, 2.990000, 3.120000, 3.270000, 2.570000, 3.630000, 3.840000, 3.920000, 3.910000, 3.890000, 3.870000, 3.860000, 3.850000, 3.840000, 3.830000, 0.540000, 0.440000, 0.400000, 0.410000, 0.410000, 0.400000, 0.410000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053465, 933189 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.193000, 2.618000, 0.255654 ], "estimate": [ 4.193000, 2.618000, 0.255654 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.680000, 0.670000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.700000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.810000, 0.830000, 0.830000, 0.840000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.030000, 1.050000, 1.080000, 1.090000, 1.120000, 1.150000, 1.180000, 1.230000, 1.260000, 1.310000, 1.360000, 1.410000, 1.460000, 1.520000, 1.590000, 1.650000, 1.720000, 1.830000, 1.920000, 2.050000, 2.200000, 2.390000, 2.610000, 2.890000, 3.340000, 4.280000, 5.810000, 5.820000, 4.940000, 5.840000, 5.870000, 5.900000, 5.930000, 10.940000, 10.930000, 10.910000, 10.910000, 10.880000, 10.880000, 10.870000, 10.870000, 12.000000, 14.410000, 14.010000, 15.430000, 14.730000, 10.650000, 9.110000, 8.540000, 7.330000, 6.630000, 6.040000, 5.530000, 5.140000, 4.810000, 4.500000, 4.210000, 3.980000, 3.740000, 1.260000, 1.210000, 1.160000, 1.090000, 1.030000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.020000, 1.060000, 1.070000, 1.060000, 1.040000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.090000, 1.100000, 1.110000, 1.110000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.290000, 1.310000, 1.330000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.500000, 1.540000, 1.580000, 2.830000, 2.940000, 3.080000, 3.220000, 2.560000, 3.670000, 3.830000, 3.910000, 3.900000, 3.880000, 3.860000, 3.840000, 3.840000, 3.820000, 3.810000, 3.800000, 3.790000, 3.790000, 3.800000, 3.790000, 0.460000, 0.470000, 0.450000 ], "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": [ 976053466, 214100 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.250000, 2.633000, 0.261799 ], "estimate": [ 4.250000, 2.633000, 0.261799 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.670000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.960000, 0.960000, 0.980000, 1.000000, 1.030000, 1.050000, 1.070000, 1.090000, 1.130000, 1.160000, 1.190000, 1.230000, 1.280000, 1.320000, 1.360000, 1.420000, 1.470000, 1.530000, 1.590000, 1.660000, 1.740000, 1.820000, 1.940000, 2.060000, 2.210000, 2.400000, 2.630000, 2.880000, 3.390000, 5.870000, 5.760000, 5.760000, 4.880000, 5.780000, 5.810000, 5.830000, 5.850000, 10.890000, 10.860000, 10.840000, 10.840000, 10.820000, 10.820000, 10.810000, 10.810000, 14.420000, 14.400000, 14.060000, 15.360000, 14.660000, 14.620000, 9.350000, 8.480000, 8.480000, 6.750000, 6.160000, 5.610000, 5.190000, 4.900000, 4.530000, 4.260000, 4.010000, 3.800000, 3.610000, 1.210000, 1.160000, 1.100000, 1.050000, 0.980000, 0.940000, 0.940000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 1.000000, 1.010000, 1.010000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.290000, 1.310000, 1.330000, 1.350000, 1.380000, 1.410000, 1.440000, 1.480000, 1.510000, 1.540000, 2.890000, 3.020000, 3.180000, 3.370000, 2.460000, 3.820000, 3.900000, 3.880000, 3.860000, 3.840000, 3.830000, 3.820000, 3.810000, 3.800000, 3.800000, 3.790000, 3.790000, 3.800000, 3.790000, 3.790000, 3.790000, 3.790000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976053466, 531380 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.308000, 2.648000, 0.267945 ], "estimate": [ 4.308000, 2.648000, 0.267945 ], "true_pose": [ null, null, null ], "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": [ 0.690000, 0.680000, 0.680000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.890000, 0.900000, 0.920000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.050000, 1.080000, 1.090000, 1.120000, 1.160000, 1.180000, 1.230000, 1.260000, 1.300000, 1.360000, 1.410000, 1.460000, 1.520000, 1.580000, 1.650000, 1.730000, 1.810000, 1.910000, 2.030000, 2.170000, 2.350000, 2.560000, 2.810000, 3.250000, 3.960000, 5.710000, 5.700000, 5.720000, 4.830000, 5.750000, 5.770000, 5.790000, 5.890000, 10.820000, 10.810000, 10.790000, 10.770000, 10.760000, 10.750000, 10.750000, 10.820000, 14.330000, 13.910000, 15.310000, 15.250000, 14.590000, 10.020000, 8.650000, 8.420000, 7.060000, 6.410000, 5.830000, 5.360000, 5.010000, 4.690000, 4.370000, 4.100000, 3.890000, 3.690000, 3.500000, 1.210000, 1.110000, 1.060000, 1.010000, 0.980000, 0.910000, 0.900000, 0.900000, 0.910000, 0.920000, 0.910000, 0.920000, 0.920000, 0.960000, 0.970000, 0.960000, 0.940000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.300000, 1.320000, 1.340000, 1.380000, 1.400000, 1.440000, 1.480000, 1.500000, 2.930000, 3.100000, 3.290000, 3.490000, 2.420000, 3.880000, 3.860000, 3.850000, 3.840000, 3.830000, 3.810000, 3.800000, 3.790000, 3.790000, 3.800000, 3.790000, 3.790000, 3.790000, 3.790000, 3.780000, 3.780000 ], "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": [ 976053466, 532554 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.363000, 2.664000, 0.274090 ], "estimate": [ 4.363000, 2.664000, 0.274090 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.680000, 0.680000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.710000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.830000, 0.830000, 0.850000, 0.860000, 0.880000, 0.890000, 0.900000, 0.920000, 0.940000, 0.950000, 0.960000, 0.990000, 1.000000, 1.030000, 1.060000, 1.070000, 1.100000, 1.130000, 1.160000, 1.190000, 1.240000, 1.270000, 1.310000, 1.360000, 1.410000, 1.460000, 1.520000, 1.580000, 1.650000, 1.730000, 1.820000, 1.920000, 2.040000, 2.180000, 2.360000, 2.560000, 2.820000, 3.270000, 4.020000, 5.660000, 5.650000, 5.660000, 4.760000, 5.680000, 5.710000, 5.730000, 5.800000, 10.770000, 10.740000, 10.730000, 10.720000, 10.710000, 10.700000, 10.700000, 10.700000, 11.820000, 14.230000, 13.930000, 15.280000, 14.530000, 10.290000, 8.870000, 8.360000, 7.150000, 6.500000, 5.930000, 5.430000, 5.050000, 4.770000, 4.420000, 4.160000, 3.920000, 3.720000, 3.530000, 3.360000, 3.220000, 1.060000, 1.010000, 0.970000, 0.940000, 0.890000, 0.850000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.870000, 0.900000, 0.910000, 0.910000, 0.900000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.910000, 0.930000, 0.930000, 0.950000, 0.970000, 0.970000, 0.990000, 1.000000, 1.010000, 1.030000, 1.050000, 1.070000, 1.080000, 1.100000, 1.100000, 1.130000, 1.140000, 1.170000, 1.190000, 1.220000, 1.240000, 1.280000, 1.310000, 1.330000, 1.360000, 1.400000, 1.430000, 1.470000, 1.530000, 3.220000, 3.440000, 2.390000, 3.870000, 3.850000, 3.840000, 3.820000, 3.810000, 3.800000, 3.790000, 3.790000, 3.800000, 3.790000, 3.790000, 3.780000, 3.780000, 3.780000, 3.780000, 3.780000 ], "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": [ 976053466, 621441 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.419000, 2.679000, 0.274090 ], "estimate": [ 4.419000, 2.679000, 0.274090 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.680000, 0.690000, 0.680000, 0.690000, 0.690000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.820000, 0.830000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.950000, 0.970000, 0.990000, 1.000000, 1.030000, 1.060000, 1.080000, 1.100000, 1.130000, 1.160000, 1.190000, 1.230000, 1.270000, 1.300000, 1.360000, 1.410000, 1.450000, 1.520000, 1.570000, 1.630000, 1.710000, 1.800000, 1.900000, 2.000000, 2.150000, 2.310000, 2.520000, 2.730000, 3.140000, 3.750000, 5.940000, 5.590000, 5.610000, 5.580000, 5.230000, 5.650000, 5.670000, 5.690000, 10.720000, 10.710000, 10.700000, 10.680000, 10.650000, 10.640000, 10.640000, 10.640000, 11.530000, 14.180000, 14.040000, 15.200000, 14.550000, 14.450000, 9.520000, 8.320000, 8.320000, 6.840000, 6.200000, 5.660000, 5.220000, 4.870000, 4.570000, 4.270000, 4.020000, 3.820000, 3.620000, 3.440000, 3.270000, 3.130000, 1.040000, 0.980000, 0.950000, 0.920000, 0.870000, 0.840000, 0.800000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.860000, 0.870000, 0.870000, 0.840000, 0.830000, 0.840000, 0.850000, 0.850000, 0.850000, 0.870000, 0.880000, 0.900000, 0.910000, 0.910000, 0.920000, 0.940000, 0.950000, 0.970000, 0.990000, 1.000000, 1.010000, 1.040000, 1.050000, 1.060000, 1.090000, 1.100000, 1.130000, 1.150000, 1.180000, 1.210000, 1.230000, 1.270000, 1.300000, 1.330000, 1.360000, 1.390000, 1.430000, 1.470000, 3.340000, 3.590000, 2.380000, 3.840000, 3.820000, 3.820000, 3.800000, 3.800000, 3.790000, 3.790000, 3.790000, 3.780000, 3.780000, 3.780000, 3.780000, 3.780000, 3.780000, 3.780000 ], "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": [ 976053467, 171640 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.474000, 2.695000, 0.274090 ], "estimate": [ 4.474000, 2.695000, 0.274090 ], "true_pose": [ null, null, null ], "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": [ 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.690000, 0.700000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.890000, 0.900000, 0.920000, 0.950000, 0.960000, 0.980000, 0.990000, 1.020000, 1.050000, 1.070000, 1.080000, 1.110000, 1.150000, 1.180000, 1.210000, 1.260000, 1.280000, 1.330000, 1.380000, 1.430000, 1.480000, 1.540000, 1.610000, 1.670000, 1.750000, 1.820000, 1.930000, 2.060000, 2.200000, 2.380000, 2.590000, 2.900000, 3.330000, 4.090000, 5.580000, 5.540000, 5.550000, 4.640000, 5.550000, 5.600000, 5.620000, 5.670000, 10.660000, 10.650000, 10.620000, 10.610000, 10.590000, 10.590000, 10.580000, 10.580000, 11.710000, 14.150000, 14.060000, 15.140000, 14.460000, 14.390000, 9.380000, 8.250000, 8.260000, 6.750000, 6.140000, 5.600000, 5.170000, 4.840000, 4.530000, 4.240000, 3.990000, 3.770000, 3.590000, 3.420000, 3.260000, 3.100000, 2.980000, 0.990000, 0.930000, 0.900000, 0.860000, 0.840000, 0.800000, 0.770000, 0.750000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.760000, 0.770000, 0.770000, 0.810000, 0.830000, 0.820000, 0.810000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.960000, 0.980000, 0.980000, 1.000000, 1.020000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.170000, 1.200000, 1.230000, 1.260000, 1.300000, 1.320000, 1.370000, 1.410000, 1.450000, 3.630000, 2.360000, 3.820000, 3.800000, 3.800000, 3.790000, 3.790000, 3.780000, 3.780000, 3.770000, 3.780000, 3.780000, 3.780000, 3.770000, 3.780000, 3.780000 ], "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": [ 976053467, 195631 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.530000, 2.710000, 0.261799 ], "estimate": [ 4.530000, 2.710000, 0.261799 ], "true_pose": [ null, null, null ], "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": [ 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.820000, 0.830000, 0.830000, 0.850000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.940000, 0.960000, 0.980000, 1.000000, 1.020000, 1.040000, 1.070000, 1.080000, 1.100000, 1.140000, 1.170000, 1.200000, 1.240000, 1.280000, 1.320000, 1.370000, 1.420000, 1.460000, 1.520000, 1.580000, 1.640000, 1.720000, 1.800000, 1.890000, 2.010000, 2.150000, 2.300000, 2.490000, 2.760000, 3.130000, 3.670000, 6.070000, 5.480000, 5.500000, 4.600000, 5.500000, 5.540000, 5.560000, 5.590000, 10.620000, 10.600000, 10.580000, 10.570000, 10.560000, 10.540000, 10.530000, 10.540000, 10.550000, 11.650000, 14.070000, 13.720000, 15.100000, 14.390000, 10.400000, 8.920000, 8.190000, 8.210000, 6.520000, 5.960000, 5.450000, 5.050000, 4.730000, 4.430000, 4.150000, 3.900000, 3.700000, 3.510000, 3.360000, 3.200000, 3.060000, 2.930000, 2.820000, 0.920000, 0.880000, 0.840000, 0.830000, 0.790000, 0.760000, 0.740000, 0.710000, 0.700000, 0.700000, 0.680000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.750000, 0.780000, 0.790000, 0.780000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.800000, 0.810000, 0.820000, 0.840000, 0.840000, 0.860000, 0.870000, 0.890000, 0.910000, 0.920000, 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.040000, 1.060000, 1.090000, 1.120000, 1.140000, 1.180000, 1.210000, 1.240000, 1.280000, 1.320000, 1.350000, 1.400000, 1.450000, 2.350000, 3.800000, 3.790000, 3.790000, 3.780000, 3.780000, 3.770000, 3.780000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.780000 ], "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": [ 976053467, 221562 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.587000, 2.725000, 0.237217 ], "estimate": [ 4.587000, 2.725000, 0.237217 ], "true_pose": [ null, null, null ], "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, 1.57079