{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.933000, 2.172000, -2.540560 ], "estimate": [ 3.933000, 2.172000, -2.540560 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.450000, 2.580000, 2.750000, 2.990000, 3.270000, 3.610000, 4.080000, 4.970000, 5.540000, 5.540000, 5.550000, 5.560000, 5.580000, 5.600000, 5.620000, 5.670000, 10.650000, 10.620000, 10.590000, 10.570000, 10.550000, 10.530000, 10.510000, 10.510000, 10.520000, 14.160000, 14.050000, 14.090000, 15.040000, 14.340000, 10.270000, 8.470000, 8.160000, 6.630000, 5.920000, 5.280000, 4.840000, 0.830000, 0.750000, 0.710000, 0.610000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.600000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.600000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.740000, 0.750000, 0.760000, 0.770000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.880000, 0.880000, 0.920000, 0.940000, 0.960000, 0.990000, 1.020000, 1.040000, 1.070000, 1.110000, 1.140000, 1.170000, 1.210000, 2.140000, 2.120000, 3.590000, 3.570000, 3.560000, 3.550000, 3.550000, 3.540000, 3.540000, 3.540000, 3.540000, 3.540000, 3.540000, 3.540000, 3.550000, 3.550000, 3.550000, 3.560000, 3.570000, 3.580000, 3.580000, 3.600000, 3.610000, 1.860000, 1.860000, 1.900000, 3.660000, 3.680000, 3.690000, 3.700000, 3.710000, 3.760000, 3.770000, 3.800000, 3.840000, 3.860000, 3.890000, 3.930000, 3.810000, 3.970000, 3.370000, 3.270000, 3.010000, 3.010000, 3.250000, 3.300000, 3.340000, 3.380000, 3.440000, 3.410000, 3.360000, 3.650000, null, 2.470000, 2.470000, 3.860000, 3.800000, 3.730000, 0.490000, 0.490000, 0.480000, 0.470000, 0.460000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 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, 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": [ 976054535, 588000 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.932000, 2.172000, -2.454523 ], "estimate": [ 3.932000, 2.172000, -2.454523 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.950000, 4.860000, 5.550000, 5.550000, 5.180000, 5.200000, 5.580000, 5.600000, 5.620000, 5.630000, 10.660000, 10.640000, 10.610000, 10.580000, 10.570000, 10.550000, 10.540000, 10.530000, 10.530000, 10.770000, 14.060000, 13.670000, 13.730000, 15.000000, 14.340000, 9.020000, 8.150000, 6.930000, 6.140000, 5.470000, 4.980000, 0.830000, 0.790000, 0.730000, 0.630000, 0.600000, 0.600000, 0.590000, 0.590000, 0.610000, 0.610000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.640000, 0.640000, 0.650000, 0.660000, 0.640000, 0.610000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.750000, 0.750000, 0.770000, 0.780000, 0.800000, 0.810000, 0.830000, 0.840000, 0.850000, 0.870000, 0.880000, 0.900000, 0.920000, 0.940000, 0.960000, 0.990000, 1.030000, 1.050000, 1.070000, 1.110000, 1.150000, 1.180000, 1.270000, 3.510000, 2.130000, 3.590000, 3.580000, 3.560000, 3.560000, 3.550000, 3.550000, 3.540000, 3.540000, 3.540000, 3.540000, 3.540000, 3.530000, 3.540000, 3.540000, 3.550000, 3.550000, 3.560000, 3.570000, 3.580000, 3.590000, 3.600000, 1.860000, 1.860000, 1.900000, 3.650000, 3.670000, 3.690000, 3.700000, 3.680000, 3.670000, 3.770000, 3.790000, 3.820000, 3.850000, 3.880000, 3.910000, 3.460000, 3.690000, 3.440000, 3.290000, 3.090000, 3.010000, 3.240000, 3.270000, 3.330000, 3.390000, 3.420000, 3.330000, 3.320000, 2.590000, null, null, 2.460000, 3.870000, 3.810000, 3.740000, 0.490000, 0.480000, 0.460000, 0.460000, 0.450000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.410000, 0.410000, 0.410000, 0.400000, 0.410000, 0.400000, 0.390000, 0.400000, 0.390000, 0.390000, 0.410000, 0.420000, 0.410000, 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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054535, 483551 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.932000, 2.172000, -2.374631 ], "estimate": [ 3.932000, 2.172000, -2.374631 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.570000, 5.570000, 5.590000, 5.610000, 5.620000, 5.650000, 10.670000, 10.640000, 10.620000, 10.580000, 10.570000, 10.550000, 10.540000, 10.530000, 10.540000, 11.420000, 14.060000, 13.720000, 14.990000, 14.730000, 14.350000, 8.790000, 8.160000, 6.830000, 6.040000, 5.370000, 0.910000, 0.840000, 0.770000, 0.630000, 0.620000, 0.600000, 0.610000, 0.600000, 0.610000, 0.610000, 0.620000, 0.610000, 0.610000, 0.620000, 0.620000, 0.640000, 0.650000, 0.660000, 0.660000, 0.660000, 0.620000, 0.610000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.770000, 0.780000, 0.800000, 0.810000, 0.820000, 0.840000, 0.840000, 0.860000, 0.880000, 0.900000, 0.920000, 0.940000, 0.960000, 0.990000, 1.020000, 1.040000, 1.070000, 1.100000, 1.130000, 1.160000, 1.200000, 3.310000, 2.120000, 2.110000, 3.580000, 3.570000, 3.560000, 3.550000, 3.550000, 3.540000, 3.540000, 3.540000, 3.540000, 3.540000, 3.530000, 3.540000, 3.540000, 3.540000, 3.550000, 3.550000, 3.560000, 3.560000, 3.580000, 3.590000, 3.570000, 1.860000, 1.880000, 1.900000, 3.650000, 3.670000, 3.690000, 3.710000, 3.700000, 3.750000, 3.770000, 3.740000, 3.830000, 3.850000, 3.880000, 3.910000, 3.780000, 3.970000, 3.360000, 3.260000, 3.000000, 3.020000, 3.240000, 3.300000, 3.340000, 3.380000, 3.420000, 3.400000, 3.340000, 3.680000, null, 2.460000, 2.460000, 3.850000, 3.790000, 0.470000, 0.470000, 0.450000, 0.450000, 0.440000, 0.430000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.410000, 0.420000, 0.480000, 0.500000, 0.510000, 0.540000, 0.560000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054535, 484680 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.932000, 2.171000, -2.288594 ], "estimate": [ 3.932000, 2.171000, -2.288594 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.640000, 10.670000, 10.650000, 10.630000, 10.600000, 10.570000, 10.570000, 10.550000, 10.540000, 10.540000, 11.420000, 14.080000, 13.690000, 13.900000, 14.910000, 14.360000, 8.970000, 8.180000, 6.900000, 6.110000, 5.440000, 0.910000, 0.840000, 0.770000, 0.620000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.650000, 0.660000, 0.660000, 0.670000, 0.660000, 0.620000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.780000, 0.790000, 0.810000, 0.820000, 0.830000, 0.850000, 0.860000, 0.880000, 0.890000, 0.910000, 0.930000, 0.960000, 0.980000, 1.010000, 1.030000, 1.050000, 1.090000, 1.120000, 1.150000, 1.170000, 1.210000, 3.320000, 2.100000, 2.170000, 3.580000, 3.570000, 3.560000, 3.560000, 3.550000, 3.550000, 3.540000, 3.540000, 3.540000, 3.540000, 3.540000, 3.540000, 3.540000, 3.540000, 3.550000, 3.550000, 3.560000, 3.570000, 3.580000, 3.560000, 1.890000, 1.860000, 1.880000, 3.640000, 3.650000, 3.670000, 3.690000, 3.700000, 3.730000, 3.740000, 3.770000, 3.230000, 3.820000, 3.850000, 3.880000, 3.910000, 3.900000, 3.970000, 3.350000, 3.250000, 3.000000, 3.010000, 3.240000, 3.290000, 3.320000, 3.380000, 3.410000, 3.380000, 3.360000, 3.630000, null, 2.450000, 2.430000, 3.850000, 0.490000, 0.470000, 0.450000, 0.440000, 0.440000, 0.430000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.380000, 0.400000, 0.390000, 0.470000, 0.490000, 0.510000, 0.530000, 0.570000, 0.590000, 0.640000, 0.670000, 0.720000, 0.760000, 0.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976054535, 605772 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.920000, 2.156000, -2.220993 ], "estimate": [ 3.920000, 2.156000, -2.220993 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 10.590000, 10.570000, 10.550000, 10.550000, 10.560000, 11.420000, 14.210000, 13.700000, 13.750000, 14.950000, 14.370000, 8.980000, 8.180000, 6.910000, 6.090000, 5.440000, 0.870000, 0.820000, 0.760000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.660000, 0.660000, 0.670000, 0.670000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.900000, 0.920000, 0.940000, 0.960000, 0.990000, 1.010000, 1.040000, 1.060000, 1.090000, 1.120000, 1.150000, 1.190000, 1.220000, 3.340000, 2.140000, 3.580000, 3.580000, 3.560000, 3.560000, 3.550000, 3.540000, 3.540000, 3.530000, 3.530000, 3.530000, 3.530000, 3.530000, 3.530000, 3.530000, 3.530000, 3.540000, 3.550000, 3.550000, 3.560000, 3.570000, 3.580000, 1.840000, 1.840000, 1.870000, 3.630000, 3.640000, 3.660000, 3.680000, 3.700000, 3.720000, 3.740000, 3.750000, 3.030000, 3.810000, 3.840000, 3.860000, 3.900000, 3.890000, 3.960000, 3.330000, 3.230000, 2.980000, 3.010000, 3.240000, 3.270000, 3.320000, 3.360000, 3.400000, 3.380000, 3.340000, 3.630000, null, 2.440000, 2.440000, 3.850000, 0.480000, 0.460000, 0.440000, 0.440000, 0.430000, 0.420000, 0.400000, 0.400000, 0.380000, 0.380000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.380000, 0.380000, 0.390000, 0.460000, 0.480000, 0.490000, 0.510000, 0.550000, 0.570000, 0.590000, 0.660000, 0.690000, 0.750000, 0.800000, 0.880000, 0.960000, 1.060000, 1.200000, 1.360000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054536, 301134 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.896000, 2.120000, -2.122664 ], "estimate": [ 3.896000, 2.120000, -2.122664 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 13.980000, 13.720000, 15.100000, 14.380000, 9.330000, 8.200000, 6.980000, 0.940000, 0.850000, 0.650000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.650000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.870000, 0.880000, 0.890000, 0.910000, 0.940000, 0.960000, 0.980000, 1.010000, 1.040000, 1.060000, 1.080000, 1.110000, 1.150000, 1.180000, 3.060000, 3.290000, 3.560000, 3.550000, 3.540000, 3.530000, 3.520000, 3.520000, 3.520000, 3.520000, 3.510000, 3.500000, 3.500000, 3.500000, 3.500000, 3.500000, 3.510000, 3.510000, 3.510000, 3.520000, 3.520000, 3.530000, 3.530000, 3.540000, 3.520000, 1.830000, 1.840000, 1.850000, 3.620000, 3.620000, 3.640000, 3.660000, 3.610000, 3.510000, 3.720000, 3.730000, 3.770000, 3.790000, 3.830000, 3.850000, 3.400000, 3.410000, 3.540000, 3.250000, 3.150000, 3.080000, 3.190000, 3.220000, 3.260000, 3.310000, 3.360000, 3.390000, 3.320000, 3.300000, 3.320000, null, 2.410000, 2.430000, 3.780000, 3.720000, 3.660000, 0.440000, 0.430000, 0.420000, 0.410000, 0.410000, 0.400000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000, 0.340000, 0.350000, 0.360000, 0.450000, 0.470000, 0.500000, 0.530000, 0.570000, 0.590000, 0.650000, 0.700000, 0.770000, 0.850000, 0.960000, 1.070000, 1.240000, 1.460000, 1.820000, 2.340000, 3.310000, 5.130000, 8.590000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054536, 302309 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.859000, 2.058000, -2.091937 ], "estimate": [ 3.859000, 2.058000, -2.091937 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.650000, 0.660000, 0.660000, 0.650000, 0.600000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.870000, 0.880000, 0.910000, 0.930000, 0.950000, 0.970000, 1.000000, 1.030000, 1.050000, 1.080000, 1.100000, 1.140000, 2.920000, 3.130000, 2.030000, 2.000000, 3.500000, 3.500000, 3.480000, 3.470000, 3.470000, 3.460000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.460000, 3.460000, 3.470000, 3.480000, 3.480000, 3.500000, 3.510000, 1.750000, 1.790000, 1.780000, 3.550000, 3.570000, 3.590000, 3.610000, 3.620000, 3.460000, 3.670000, 2.880000, 3.690000, 3.740000, 3.770000, 3.790000, 3.820000, 3.350000, 3.900000, 3.230000, 3.140000, 2.900000, 3.060000, 3.160000, 3.210000, 3.250000, 3.300000, 3.360000, 3.240000, 3.240000, 2.500000, null, null, null, 3.780000, 3.720000, 3.660000, 3.600000, 3.540000, 3.490000, 3.430000, 3.380000, 0.400000, 0.390000, 0.380000, 0.370000, 0.370000, 0.380000, 0.360000, 0.330000, 0.340000, 0.330000, 0.330000, 0.320000, 0.330000, 0.320000, 0.340000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.330000, 0.330000, 0.320000, 0.310000, 0.340000, 0.480000, 0.540000, 0.580000, 0.660000, 0.780000, 0.920000, 1.130000, 1.450000, 2.110000, 3.720000, 8.580000, 8.590000, 8.590000, 10.990000, 10.820000 ], "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, 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 ], "timestamp": [ 976054536, 303275 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.821000, 1.992000, -2.104228 ], "estimate": [ 3.821000, 1.992000, -2.104228 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.620000, 0.620000, 0.610000, 0.620000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.870000, 0.880000, 0.910000, 0.940000, 0.960000, 0.970000, 1.000000, 1.030000, 1.050000, 2.640000, 2.810000, 3.000000, 3.220000, 1.960000, 3.430000, 3.420000, 3.400000, 3.390000, 3.390000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.380000, 3.390000, 3.400000, 3.410000, 3.430000, 1.680000, 1.700000, 1.710000, 3.470000, 3.490000, 3.510000, 3.520000, 3.540000, 3.520000, 3.580000, 3.620000, 2.790000, 3.660000, 3.690000, 3.710000, 3.750000, 3.260000, 3.810000, 3.610000, 3.140000, 3.040000, 2.860000, 3.070000, 3.110000, 3.150000, 3.200000, 3.240000, 3.540000, 3.220000, 3.190000, 3.830000, null, null, 2.290000, 3.700000, 3.650000, 3.590000, 3.530000, 3.480000, 3.420000, 3.370000, 3.320000, 3.090000, 3.240000, 3.210000, 3.170000, 3.130000, 3.100000, 3.070000, 3.030000, 3.010000, 0.380000, 0.350000, 0.350000, 0.340000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.310000, 0.300000, 0.300000, 0.290000, 0.300000, 0.290000, 0.300000, 0.290000, 0.290000, 0.290000, 0.300000, 0.290000, 0.300000, 0.300000, 0.290000, 0.300000, 0.290000, 0.290000, 0.290000, 0.300000, 0.300000, 0.300000, 0.290000, 10.990000 ], "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, 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 ], "timestamp": [ 976054536, 405709 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.792000, 1.942000, -2.098083 ], "estimate": [ 3.792000, 1.942000, -2.098083 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.630000, 0.630000, 0.630000, 0.580000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.780000, 0.780000, 0.800000, 0.810000, 0.830000, 0.840000, 0.860000, 0.880000, 0.900000, 0.930000, 0.950000, 0.960000, 0.990000, 2.470000, 2.610000, 2.760000, 2.930000, 1.900000, 1.930000, 3.370000, 3.370000, 3.350000, 3.340000, 3.330000, 3.330000, 3.320000, 3.320000, 3.310000, 3.310000, 3.310000, 3.300000, 3.300000, 3.300000, 3.300000, 3.310000, 3.310000, 3.320000, 3.330000, 3.330000, 3.340000, 3.350000, 3.340000, null, 1.600000, 1.640000, 1.660000, 3.420000, 3.430000, 3.450000, 3.470000, 3.490000, 3.460000, 3.530000, 2.980000, 3.040000, 3.620000, 3.640000, 3.660000, 3.690000, 3.310000, 3.770000, 3.200000, 3.070000, 2.970000, 2.810000, 3.020000, 3.060000, 3.110000, 3.130000, 3.190000, 3.440000, 3.180000, 3.150000, 3.840000, 2.370000, null, null, null, 3.610000, 3.540000, 3.490000, 3.430000, 3.380000, 3.340000, 3.290000, 3.190000, 3.050000, 3.180000, 3.140000, 3.100000, 3.080000, 3.040000, 3.010000, 2.970000, 2.960000, 2.930000, 2.900000, 2.870000, 2.860000, 2.830000, 2.820000, 2.790000, 1.520000, 0.340000, 0.310000, 0.310000, 0.320000, 0.320000, 0.300000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.260000, 0.300000, 0.280000, 0.290000, 0.280000, 0.280000, 0.280000, 0.280000, 0.280000, 0.290000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976054536, 797471 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.770000, 1.904000, -2.104228 ], "estimate": [ 3.770000, 1.904000, -2.104228 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.740000, 0.740000, 0.750000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.850000, 0.880000, 0.880000, 0.910000, 0.940000, 0.960000, 2.410000, 2.530000, 2.670000, 2.830000, 3.020000, 1.860000, 3.340000, 3.330000, 3.310000, 3.300000, 3.290000, 3.290000, 3.280000, 3.270000, 3.270000, 3.260000, 3.260000, 3.260000, 3.260000, 3.270000, 3.260000, 3.270000, 3.270000, 3.270000, 3.270000, 3.280000, 3.290000, 3.290000, 3.300000, 3.320000, 1.600000, 1.580000, 1.600000, 3.360000, 3.370000, 3.390000, 3.410000, 3.430000, 3.410000, 3.480000, 3.500000, 2.690000, 3.530000, 3.570000, 3.610000, 3.630000, 3.660000, 3.200000, 3.720000, 3.130000, 3.030000, 2.940000, 2.780000, 2.970000, 3.010000, 3.060000, 3.110000, 3.160000, 3.360000, 3.150000, 3.070000, 3.800000, 3.810000, null, null, 2.220000, 3.570000, 3.520000, 3.460000, 3.410000, 3.370000, 3.320000, 3.270000, 3.230000, 3.090000, 3.010000, 3.120000, 3.090000, 3.060000, 3.020000, 2.990000, 2.960000, 2.940000, 2.910000, 2.890000, 2.860000, 2.840000, 2.830000, 2.810000, 2.800000, 2.780000, 1.510000, 2.740000, 2.730000, 2.720000, 2.710000, 2.700000, 2.680000, 2.670000, 0.320000, 0.300000, 0.300000, 0.290000, 0.300000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.300000, 0.260000, 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, 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 ], "timestamp": [ 976054536, 798625 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.745000, 1.861000, -2.110373 ], "estimate": [ 3.745000, 1.861000, -2.110373 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.560000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.680000, 0.700000, 0.710000, 0.710000, 0.710000, 0.740000, 0.740000, 0.750000, 0.770000, 0.780000, 0.800000, 0.820000, 0.840000, 0.850000, 0.870000, 0.880000, 0.910000, 1.010000, 2.330000, 2.440000, 2.580000, 2.730000, 2.900000, 1.840000, 3.310000, 3.290000, 3.280000, 3.270000, 3.260000, 3.250000, 3.240000, 3.240000, 3.230000, 3.230000, 3.230000, 3.220000, 3.230000, 3.230000, 3.230000, 3.230000, 3.230000, 3.230000, 3.230000, 3.230000, 3.240000, 3.250000, 3.260000, 3.270000, 3.270000, 1.520000, 1.550000, 1.570000, 3.340000, 3.350000, 3.360000, 3.370000, 3.390000, 3.260000, 3.440000, 3.460000, 2.660000, 3.510000, 3.530000, 3.570000, 3.590000, 3.620000, 3.160000, 3.690000, 3.120000, 3.000000, 2.910000, 2.740000, 2.940000, 2.980000, 3.020000, 3.070000, 3.120000, 3.390000, 3.030000, 3.070000, 3.350000, 2.300000, null, null, 2.210000, null, 3.500000, 3.440000, 3.390000, 3.350000, 3.300000, 3.250000, 3.220000, 3.110000, 2.980000, 3.110000, 3.080000, 3.040000, 3.010000, 2.980000, 2.960000, 2.930000, 2.900000, 2.870000, 2.860000, 2.830000, 2.820000, 2.800000, 2.780000, 2.770000, 2.750000, 1.490000, 2.720000, 2.720000, 2.700000, 2.690000, 2.680000, 2.670000, 2.650000, 2.650000, 2.640000, 2.630000, 2.630000, 2.630000, 2.630000, 0.320000, 0.300000, 0.290000, 0.290000, 0.290000, 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, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054537, 652899 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.712000, 1.806000, -2.110373 ], "estimate": [ 3.712000, 1.806000, -2.110373 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 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, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.770000, 0.790000, 0.800000, 0.820000, 0.830000, 0.850000, 0.880000, 2.150000, 2.260000, 2.370000, 2.480000, 2.630000, 2.770000, 1.780000, 3.190000, 3.240000, 3.230000, 3.220000, 3.210000, 3.200000, 3.190000, 3.180000, 3.180000, 3.180000, 3.180000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 3.180000, 3.180000, 3.190000, 3.190000, 3.200000, 3.200000, 3.210000, 3.220000, 1.500000, 1.490000, 1.500000, 3.270000, 3.290000, 3.310000, 3.320000, 3.350000, 3.300000, 3.380000, 3.400000, 3.410000, 2.790000, 3.480000, 3.510000, 3.540000, 3.560000, 3.100000, 3.630000, 3.670000, 2.970000, 2.870000, 2.690000, 2.700000, 2.910000, 2.960000, 2.990000, 3.050000, 3.100000, 3.120000, 3.000000, 3.020000, 3.300000, 3.750000, null, null, 2.150000, 3.480000, 3.430000, 3.370000, 3.330000, 3.280000, 3.240000, 3.210000, 3.170000, 3.090000, 2.930000, 3.060000, 3.030000, 3.000000, 2.960000, 2.950000, 2.920000, 2.890000, 2.860000, 2.850000, 2.820000, 2.810000, 2.800000, 2.780000, 2.760000, 2.740000, 2.720000, 2.720000, 1.470000, 2.690000, 2.680000, 2.670000, 2.650000, 2.650000, 2.640000, 2.630000, 2.630000, 2.630000, 2.630000, 2.630000, 2.620000, 2.620000, 2.610000, 2.620000, 2.180000, 1.410000, 1.020000, 0.790000 ], "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, 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 ], "timestamp": [ 976054537, 475061 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.677000, 1.747000, -2.116519 ], "estimate": [ 3.677000, 1.747000, -2.116519 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.730000, 0.740000, 0.750000, 0.770000, 0.790000, 0.800000, 0.850000, 2.000000, 2.100000, 2.180000, 2.290000, 2.400000, 2.520000, 2.650000, 1.710000, 1.740000, 3.190000, 3.170000, 3.160000, 3.150000, 3.140000, 3.130000, 3.130000, 3.110000, 3.110000, 3.120000, 3.110000, 3.110000, 3.110000, 3.100000, 3.100000, 3.110000, 3.110000, 3.110000, 3.110000, 3.120000, 3.120000, 3.120000, 3.120000, 3.130000, 3.140000, 3.160000, null, 1.410000, 1.450000, 1.470000, 3.220000, 3.240000, 3.250000, 3.270000, 3.300000, 3.260000, 3.340000, 3.360000, 2.560000, 3.410000, 3.440000, 3.480000, 3.500000, 3.180000, 3.140000, 3.600000, 2.940000, 2.880000, 2.800000, 2.620000, 2.830000, 2.880000, 2.920000, 2.970000, 3.020000, 3.320000, 2.970000, 2.960000, 3.230000, 3.690000, 3.670000, null, 2.120000, 2.110000, null, 3.370000, 3.320000, 3.270000, 3.240000, 3.200000, 3.150000, 3.120000, 2.910000, 3.020000, 3.020000, 2.990000, 2.960000, 2.940000, 2.910000, 2.880000, 2.860000, 2.840000, 2.810000, 2.800000, 2.790000, 2.770000, 2.750000, 2.730000, 2.720000, 2.710000, 2.700000, 2.690000, 1.430000, 1.840000, 2.650000, 2.640000, 2.630000, 2.630000, 2.630000, 2.630000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.610000, 2.620000, 2.600000, 1.940000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054537, 476117 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.646000, 1.697000, -2.122664 ], "estimate": [ 3.646000, 1.697000, -2.122664 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.660000, 0.680000, 0.690000, 0.700000, 0.710000, 0.700000, 0.720000, 0.740000, 0.750000, 1.070000, 1.870000, 1.950000, 2.010000, 2.110000, 2.190000, 2.290000, 2.410000, 2.530000, 2.660000, 1.660000, 3.010000, 3.120000, 3.110000, 3.100000, 3.090000, 3.080000, 3.070000, 3.070000, 3.060000, 3.060000, 3.060000, 3.050000, 3.050000, 3.050000, 3.050000, 3.040000, 3.040000, 3.050000, 3.050000, 3.050000, 3.050000, 3.060000, 3.070000, 3.080000, 3.080000, 3.090000, 3.070000, null, 1.370000, 1.330000, 1.390000, 3.160000, 3.170000, 3.190000, 3.210000, 3.220000, 3.210000, 3.270000, 3.290000, 2.760000, 3.300000, 3.370000, 3.390000, 3.430000, 3.460000, 2.980000, 3.520000, 3.570000, 2.860000, 2.770000, 2.720000, 2.540000, 2.790000, 2.840000, 2.880000, 2.920000, 2.980000, 3.180000, 2.880000, 2.920000, 3.660000, 3.640000, 2.170000, null, 2.090000, 2.080000, null, 3.320000, 3.270000, 3.230000, 3.200000, 3.160000, 3.120000, 3.080000, 2.940000, 2.870000, 2.980000, 2.960000, 2.930000, 2.900000, 2.870000, 2.860000, 2.830000, 2.820000, 2.800000, 2.780000, 2.760000, 2.740000, 2.730000, 2.720000, 2.710000, 2.690000, 2.680000, 2.670000, 2.660000, 2.640000, 1.440000, 2.630000, 2.630000, 2.630000, 2.620000, 2.620000, 2.610000, 2.620000, 2.600000, 2.620000, 2.600000, 2.620000, 2.610000, 2.620000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054537, 606011 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.620000, 1.654000, -2.134955 ], "estimate": [ 3.620000, 1.654000, -2.134955 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.520000, 0.520000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.540000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.680000, 0.670000, 0.690000, 0.700000, 0.710000, 0.750000, 1.740000, 1.810000, 1.870000, 1.940000, 2.000000, 2.090000, 2.170000, 2.270000, 2.390000, 2.500000, 1.620000, 1.640000, 2.970000, 3.080000, 3.070000, 3.060000, 3.050000, 3.040000, 3.030000, 3.020000, 3.010000, 3.010000, 3.010000, 3.000000, 3.000000, 3.000000, 3.000000, 2.990000, 2.990000, 2.990000, 3.000000, 3.000000, 3.010000, 3.010000, 3.020000, 3.020000, 3.030000, 3.040000, 3.050000, 3.040000, null, 1.320000, 1.340000, 1.350000, 3.110000, 3.130000, 3.150000, 3.170000, 3.190000, 3.170000, 3.240000, 3.260000, 2.410000, 3.310000, 3.350000, 3.370000, 3.400000, 3.430000, 2.920000, 3.500000, 3.000000, 2.810000, 2.720000, 2.590000, 2.520000, 2.760000, 2.800000, 2.850000, 2.900000, 2.950000, 3.200000, 2.930000, 2.860000, 3.610000, 3.600000, 2.140000, null, 2.070000, 2.040000, 2.040000, 3.280000, 3.230000, 3.190000, 3.160000, 3.120000, 3.090000, 3.060000, 2.840000, 2.960000, 2.960000, 2.940000, 2.910000, 2.880000, 2.860000, 2.830000, 2.810000, 2.800000, 2.780000, 2.760000, 2.750000, 2.730000, 2.720000, 2.710000, 2.690000, 2.670000, 2.670000, 2.650000, 2.640000, 2.630000, 2.620000, 1.380000, 2.620000, 2.620000, 2.610000, 2.610000, 2.600000, 2.600000, 2.590000, 2.600000, 2.610000, 2.610000, 2.610000, 2.620000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054538, 445999 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.593000, 1.612000, -2.147247 ], "estimate": [ 3.593000, 1.612000, -2.147247 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.650000, 0.650000, 0.660000, 0.670000, 0.700000, 1.610000, 1.670000, 1.740000, 1.790000, 1.850000, 1.920000, 2.000000, 2.070000, 2.160000, 2.250000, 2.360000, 2.470000, 1.590000, 2.760000, 2.920000, 3.030000, 3.020000, 3.010000, 3.000000, 2.990000, 2.980000, 2.970000, 2.960000, 2.960000, 2.960000, 2.960000, 2.950000, 2.950000, 2.940000, 2.940000, 2.950000, 2.950000, 2.950000, 2.950000, 2.960000, 2.960000, 2.960000, 2.960000, 2.970000, 2.980000, 2.990000, 2.990000, null, 1.250000, 1.260000, 1.300000, 1.310000, 3.070000, 3.090000, 3.110000, 3.130000, 2.880000, 3.170000, 3.200000, 3.220000, 2.400000, 3.280000, 3.300000, 3.340000, 3.370000, 3.000000, 3.050000, 3.460000, 2.820000, 2.760000, 2.670000, 2.500000, 2.500000, 2.720000, 2.770000, 2.820000, 2.860000, 2.920000, 3.160000, 2.880000, 2.850000, 3.590000, 3.540000, 3.490000, null, 2.060000, 2.020000, 2.000000, 3.240000, 3.220000, 3.170000, 3.130000, 3.100000, 3.060000, 3.020000, 2.850000, 2.860000, 2.940000, 2.910000, 2.880000, 2.860000, 2.840000, 2.810000, 2.800000, 2.790000, 2.760000, 2.740000, 2.730000, 2.720000, 2.710000, 2.690000, 2.680000, 2.670000, 2.650000, 2.650000, 2.630000, 2.630000, 2.630000, 2.620000, 1.410000, 2.590000, 2.610000, 2.600000, 2.590000, 2.600000, 2.590000, 2.590000, 2.610000, 2.610000, 2.620000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054538, 661200 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.562000, 1.564000, -2.153392 ], "estimate": [ 3.562000, 1.564000, -2.153392 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.630000, 0.640000, 0.680000, 1.520000, 1.570000, 1.620000, 1.670000, 1.730000, 1.780000, 1.840000, 1.900000, 1.980000, 2.050000, 2.150000, 2.240000, 2.330000, 1.550000, 1.520000, 2.710000, 2.890000, 2.980000, 2.970000, 2.950000, 2.950000, 2.950000, 2.940000, 2.930000, 2.930000, 2.920000, 2.910000, 2.910000, 2.900000, 2.900000, 2.900000, 2.900000, 2.890000, 2.900000, 2.900000, 2.900000, 2.910000, 2.910000, 2.910000, 2.920000, 2.930000, 2.940000, 2.940000, 2.950000, 2.820000, null, 1.220000, 1.180000, 1.240000, 3.020000, 3.030000, 3.050000, 3.070000, 3.090000, 2.880000, 3.130000, 3.160000, 3.160000, 2.560000, 3.240000, 3.270000, 3.300000, 3.340000, 2.820000, 3.390000, 3.440000, 2.750000, 2.700000, 2.620000, 2.450000, 2.470000, 2.690000, 2.720000, 2.790000, 2.830000, 2.880000, 2.910000, 2.840000, 2.820000, 3.550000, 3.500000, 3.450000, 2.070000, null, 1.980000, 1.980000, null, 3.180000, 3.140000, 3.100000, 3.070000, 3.030000, 3.000000, 2.950000, 2.780000, 2.910000, 2.880000, 2.860000, 2.840000, 2.830000, 2.800000, 2.790000, 2.770000, 2.750000, 2.730000, 2.720000, 2.710000, 2.690000, 2.680000, 2.660000, 2.650000, 2.640000, 2.630000, 2.630000, 2.620000, 2.620000, 2.610000, 2.610000, 1.420000, 1.430000, 2.600000, 2.590000, 2.600000, 2.590000, 2.600000, 2.610000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054538, 166483 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.527000, 1.512000, -2.165683 ], "estimate": [ 3.527000, 1.512000, -2.165683 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.580000, 0.620000, 1.370000, 1.430000, 1.470000, 1.520000, 1.560000, 1.600000, 1.640000, 1.690000, 1.750000, 1.810000, 1.880000, 1.940000, 2.010000, 2.090000, 2.170000, 2.270000, 1.460000, 1.500000, 2.630000, 2.780000, 2.930000, 2.920000, 2.900000, 2.900000, 2.890000, 2.880000, 2.870000, 2.860000, 2.860000, 2.850000, 2.850000, 2.840000, 2.840000, 2.840000, 2.840000, 2.830000, 2.830000, 2.830000, 2.830000, 2.840000, 2.840000, 2.850000, 2.850000, 2.860000, 2.860000, 2.870000, 2.870000, 2.890000, 1.260000, null, 1.150000, 1.160000, 1.180000, 1.180000, 2.970000, 2.990000, 3.010000, 3.030000, 2.950000, 3.070000, 3.100000, 3.120000, 2.300000, 3.180000, 3.210000, 3.240000, 3.270000, 2.930000, 2.920000, 3.360000, 2.830000, 2.670000, 2.610000, 2.550000, 2.390000, 2.620000, 2.660000, 2.720000, 2.760000, 2.810000, 3.050000, 2.820000, 2.780000, 2.790000, 3.110000, 3.420000, 3.370000, 2.030000, null, 1.950000, 1.930000, null, 3.120000, 3.090000, 3.050000, 3.020000, 2.980000, 2.910000, 2.770000, 2.900000, 2.880000, 2.860000, 2.830000, 2.810000, 2.800000, 2.780000, 2.760000, 2.740000, 2.720000, 2.710000, 2.700000, 2.680000, 2.670000, 2.650000, 2.650000, 2.630000, 2.630000, 2.630000, 2.620000, 2.610000, 2.610000, 2.600000, 2.600000, 2.590000, 1.870000, 1.390000, 2.590000, 2.590000, 2.600000, 2.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054538, 640476 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.493000, 1.462000, -2.177974 ], "estimate": [ 3.493000, 1.462000, -2.177974 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 1.130000, 1.300000, 1.350000, 1.390000, 1.400000, 1.440000, 1.480000, 1.530000, 1.570000, 1.600000, 1.660000, 1.710000, 1.760000, 1.830000, 1.890000, 1.960000, 2.030000, 2.110000, 2.210000, 1.410000, 1.430000, 2.540000, 2.670000, 2.830000, 2.870000, 2.850000, 2.860000, 2.840000, 2.830000, 2.820000, 2.810000, 2.810000, 2.800000, 2.790000, 2.790000, 2.780000, 2.780000, 2.780000, 2.780000, 2.770000, 2.770000, 2.780000, 2.780000, 2.780000, 2.790000, 2.790000, 2.790000, 2.800000, 2.800000, 2.810000, 2.820000, 2.830000, 2.530000, null, null, 1.100000, 1.120000, 1.140000, 2.930000, 2.940000, 2.950000, 2.970000, 2.700000, 3.020000, 3.040000, 3.060000, 2.220000, 3.120000, 3.150000, 3.190000, 3.210000, 3.250000, 2.750000, 3.310000, 3.350000, 2.650000, 2.600000, 2.520000, 2.380000, 2.350000, 2.590000, 2.630000, 2.690000, 2.740000, 2.800000, 3.030000, 2.700000, 2.720000, 3.420000, 3.030000, 3.370000, 3.310000, 2.000000, null, 1.920000, 1.890000, 1.890000, 3.070000, 3.040000, 3.010000, 2.980000, 2.960000, 2.890000, 2.740000, 2.860000, 2.850000, 2.820000, 2.800000, 2.790000, 2.770000, 2.750000, 2.730000, 2.720000, 2.710000, 2.690000, 2.670000, 2.660000, 2.650000, 2.640000, 2.630000, 2.630000, 2.630000, 2.620000, 2.610000, 2.600000, 2.600000, 2.590000, 2.590000, 2.590000, 2.590000, 1.450000, 1.400000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054538, 666146 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.461000, 1.416000, -2.190265 ], "estimate": [ 3.461000, 1.416000, -2.190265 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.570000, 1.170000, 1.220000, 1.250000, 1.270000, 1.300000, 1.340000, 1.370000, 1.400000, 1.420000, 1.460000, 1.500000, 1.540000, 1.580000, 1.620000, 1.670000, 1.730000, 1.780000, 1.840000, 1.910000, 1.990000, 2.060000, 2.150000, 1.340000, 1.840000, 2.450000, 2.570000, 2.710000, 2.830000, 2.810000, 2.800000, 2.790000, 2.780000, 2.770000, 2.760000, 2.750000, 2.740000, 2.730000, 2.730000, 2.730000, 2.720000, 2.710000, 2.710000, 2.710000, 2.710000, 2.710000, 2.710000, 2.710000, 2.720000, 2.720000, 2.720000, 2.740000, 2.740000, 2.750000, 2.760000, 2.760000, 2.780000, 2.530000, 1.160000, null, 1.040000, 1.040000, 1.080000, 1.070000, 2.880000, 2.900000, 2.920000, 2.790000, 2.950000, 2.980000, 3.000000, 3.030000, 2.350000, 3.090000, 3.120000, 3.150000, 3.190000, 2.660000, 3.240000, 3.290000, 2.630000, 2.580000, 2.510000, 2.460000, 2.270000, 2.530000, 2.580000, 2.630000, 2.670000, 2.720000, 2.970000, 2.770000, 2.690000, 2.680000, 3.390000, 2.960000, 3.300000, 3.250000, 1.970000, null, 1.890000, 1.870000, 1.860000, 3.030000, 3.000000, 2.960000, 2.940000, 2.900000, 2.700000, 2.810000, 2.840000, 2.810000, 2.800000, 2.790000, 2.760000, 2.740000, 2.720000, 2.720000, 2.700000, 2.690000, 2.670000, 2.660000, 2.640000, 2.630000, 2.630000, 2.630000, 2.620000, 2.610000, 2.610000, 2.600000, 2.600000, 2.600000, 2.590000, 2.580000, 2.590000, 2.580000, 2.580000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976054538, 865789 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.428000, 1.370000, -2.184120 ], "estimate": [ 3.428000, 1.370000, -2.184120 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.440000, 0.440000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.620000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.220000, 1.250000, 1.270000, 1.300000, 1.340000, 1.370000, 1.400000, 1.420000, 1.460000, 1.500000, 1.540000, 1.580000, 1.630000, 1.670000, 1.730000, 1.780000, 1.850000, 1.920000, 1.990000, 2.060000, 1.310000, 1.340000, 2.340000, 2.450000, 2.580000, 2.730000, 2.770000, 2.750000, 2.750000, 2.730000, 2.720000, 2.710000, 2.710000, 2.710000, 2.690000, 2.690000, 2.680000, 2.670000, 2.670000, 2.670000, 2.660000, 2.660000, 2.660000, 2.670000, 2.670000, 2.670000, 2.670000, 2.680000, 2.680000, 2.690000, 2.700000, 2.700000, 2.710000, 2.710000, 2.720000, 2.690000, 1.100000, null, null, 0.990000, 0.950000, 1.030000, 1.050000, 2.840000, 2.860000, 2.880000, 2.640000, 2.930000, 2.950000, 2.970000, 2.130000, 3.030000, 3.070000, 3.100000, 3.130000, 3.090000, 2.610000, 3.240000, 3.270000, 2.570000, 2.510000, 2.450000, 2.420000, 2.240000, 2.500000, 2.550000, 2.590000, 2.650000, 2.720000, 2.870000, 2.700000, 2.670000, 2.690000, 3.340000, 3.280000, 3.250000, 3.210000, 3.190000, 1.880000, 1.860000, 1.850000, 1.830000, 2.990000, 2.960000, 2.940000, 2.910000, 2.770000, 2.690000, 2.830000, 2.810000, 2.790000, 2.780000, 2.760000, 2.740000, 2.720000, 2.720000, 2.700000, 2.680000, 2.670000, 2.660000, 2.640000, 2.630000, 2.630000, 2.620000, 2.620000, 2.610000, 2.610000, 2.600000, 2.590000, 2.600000, 2.590000, 2.580000, 2.570000, 2.580000, 2.580000 ], "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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054539, 593369 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.396000, 1.323000, -2.171829 ], "estimate": [ 3.396000, 1.323000, -2.171829 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.430000, 0.430000, 0.430000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.440000, 0.440000, 0.450000, 0.450000, 0.450000, 0.460000, 0.470000, 0.880000, 1.010000, 1.050000, 1.060000, 1.090000, 1.100000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.220000, 1.240000, 1.270000, 1.290000, 1.330000, 1.360000, 1.390000, 1.410000, 1.450000, 1.490000, 1.540000, 1.570000, 1.620000, 1.670000, 1.720000, 1.770000, 1.830000, 1.910000, 1.960000, 1.360000, 1.260000, 2.230000, 2.310000, 2.420000, 2.550000, 2.700000, 2.700000, 2.700000, 2.700000, 2.680000, 2.670000, 2.660000, 2.650000, 2.640000, 2.630000, 2.620000, 2.620000, 2.620000, 2.620000, 2.610000, 2.610000, 2.610000, 2.610000, 2.610000, 2.610000, 2.610000, 2.620000, 2.620000, 2.620000, 2.620000, 2.630000, 2.630000, 2.640000, 2.650000, 2.660000, 2.620000, 2.660000, 1.040000, null, 1.000000, 0.910000, 0.930000, 0.960000, 0.960000, 2.800000, 2.810000, 2.810000, 2.840000, 2.880000, 2.900000, 2.930000, 2.080000, 2.980000, 3.020000, 3.060000, 3.080000, 3.010000, 2.570000, 3.200000, 3.230000, 2.520000, 2.460000, 2.410000, 2.380000, 2.180000, 2.450000, 2.490000, 2.550000, 2.590000, 2.650000, 2.810000, 2.670000, 2.630000, 2.600000, 3.310000, 2.970000, 3.210000, 3.180000, 3.140000, 1.900000, 1.850000, 1.830000, 1.820000, 1.800000, 2.920000, 2.920000, 2.890000, 2.860000, 2.700000, 2.660000, 2.790000, 2.770000, 2.760000, 2.740000, 2.720000, 2.720000, 2.700000, 2.680000, 2.670000, 2.660000, 2.650000, 2.630000, 2.630000, 2.630000, 2.620000, 2.610000, 2.600000, 2.600000, 2.590000, 2.580000, 2.590000, 2.580000, 2.580000, 2.580000, 2.580000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054539, 594547 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.377000, 1.295000, -2.165683 ], "estimate": [ 3.377000, 1.295000, -2.165683 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.420000, 0.420000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.440000, 0.740000, 0.910000, 0.980000, 1.000000, 1.020000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.170000, 1.190000, 1.220000, 1.250000, 1.270000, 1.300000, 1.330000, 1.370000, 1.400000, 1.420000, 1.450000, 1.490000, 1.540000, 1.580000, 1.630000, 1.670000, 1.730000, 1.780000, 1.830000, 1.910000, 1.690000, 1.210000, 2.130000, 2.230000, 2.330000, 2.430000, 2.550000, 2.680000, 2.680000, 2.660000, 2.650000, 2.630000, 2.620000, 2.620000, 2.610000, 2.610000, 2.600000, 2.590000, 2.580000, 2.580000, 2.570000, 2.570000, 2.570000, 2.570000, 2.560000, 2.560000, 2.560000, 2.560000, 2.570000, 2.570000, 2.580000, 2.580000, 2.590000, 2.590000, 2.600000, 2.610000, 2.620000, 2.620000, 2.420000, 2.650000, 0.990000, 0.930000, 0.910000, 0.890000, 0.890000, 0.910000, 0.940000, 2.760000, 2.780000, 2.640000, 2.830000, 2.850000, 2.880000, 2.910000, 2.020000, 2.960000, 3.000000, 3.030000, 3.070000, 2.540000, 3.080000, 3.170000, 2.640000, 2.470000, 2.400000, 2.360000, 2.350000, 2.160000, 2.430000, 2.480000, 2.530000, 2.590000, 2.640000, 2.760000, 2.640000, 2.590000, 2.620000, 3.260000, 3.120000, 3.170000, 3.140000, 3.100000, 2.170000, 1.810000, 1.810000, 1.790000, 1.780000, 2.910000, 2.880000, 2.860000, 2.720000, 2.640000, 2.790000, 2.780000, 2.760000, 2.740000, 2.720000, 2.710000, 2.700000, 2.680000, 2.670000, 2.650000, 2.640000, 2.630000, 2.630000, 2.620000, 2.620000, 2.600000, 2.600000, 2.590000, 2.590000, 2.590000, 2.590000, 2.580000, 2.580000, 2.580000, 2.570000, 2.580000 ], "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": [ 976054539, 595518 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.370000, 1.285000, -2.171829 ], "estimate": [ 3.370000, 1.285000, -2.171829 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.500000, 0.820000, 0.940000, 0.970000, 0.970000, 1.000000, 1.000000, 1.020000, 1.020000, 1.040000, 1.060000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.230000, 1.250000, 1.280000, 1.310000, 1.350000, 1.380000, 1.400000, 1.430000, 1.470000, 1.510000, 1.550000, 1.590000, 1.630000, 1.680000, 1.740000, 1.790000, 1.860000, 1.920000, 1.190000, 1.740000, 2.150000, 2.250000, 2.350000, 2.460000, 2.600000, 2.660000, 2.650000, 2.630000, 2.620000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.540000, 2.550000, 2.540000, 2.540000, 2.550000, 2.550000, 2.550000, 2.550000, 2.560000, 2.560000, 2.570000, 2.580000, 2.590000, 2.600000, 2.600000, 2.560000, 2.610000, 2.630000, 0.960000, 0.920000, 0.890000, 0.880000, 0.840000, 0.900000, 0.910000, 2.750000, 2.770000, 2.480000, 2.820000, 2.850000, 2.860000, 2.880000, 2.040000, 2.950000, 2.990000, 3.020000, 3.060000, 2.500000, 3.100000, 3.160000, 2.590000, 2.460000, 2.390000, 2.350000, 2.330000, 2.130000, 2.420000, 2.480000, 2.510000, 2.570000, 2.630000, 2.780000, 2.620000, 2.580000, 2.600000, 3.240000, 3.020000, 3.170000, 3.130000, 3.090000, 1.850000, 1.810000, 1.810000, 1.790000, 1.760000, null, 2.870000, 2.860000, 2.760000, 2.640000, 2.740000, 2.770000, 2.760000, 2.740000, 2.720000, 2.710000, 2.700000, 2.680000, 2.670000, 2.650000, 2.640000, 2.630000, 2.630000, 2.620000, 2.610000, 2.600000, 2.600000, 2.590000, 2.590000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054539, 616129 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.370000, 1.285000, -2.171829 ], "estimate": [ 3.370000, 1.285000, -2.171829 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.510000, 0.850000, 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.130000, 1.160000, 1.180000, 1.200000, 1.230000, 1.250000, 1.270000, 1.310000, 1.340000, 1.380000, 1.400000, 1.430000, 1.470000, 1.510000, 1.550000, 1.590000, 1.640000, 1.680000, 1.740000, 1.790000, 1.860000, 1.920000, 1.190000, 2.020000, 2.160000, 2.260000, 2.360000, 2.470000, 2.610000, 2.660000, 2.650000, 2.630000, 2.620000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.550000, 2.540000, 2.540000, 2.550000, 2.550000, 2.550000, 2.550000, 2.550000, 2.560000, 2.560000, 2.570000, 2.580000, 2.580000, 2.590000, 2.600000, 2.570000, 2.620000, 2.630000, 1.000000, 0.930000, 0.890000, 0.870000, 0.840000, 0.900000, 0.910000, 2.750000, 2.770000, 2.460000, 2.810000, 2.840000, 2.860000, 2.840000, 2.090000, 2.950000, 2.980000, 3.020000, 3.060000, 2.520000, 3.110000, 3.160000, 2.550000, 2.450000, 2.410000, 2.350000, 2.320000, 2.130000, 2.430000, 2.480000, 2.520000, 2.570000, 2.630000, 2.780000, 2.630000, 2.540000, 2.610000, 3.240000, 3.010000, 3.170000, 3.130000, 3.090000, 1.870000, 1.820000, 1.810000, 1.780000, 1.770000, null, 2.870000, 2.850000, 2.790000, 2.630000, 2.710000, 2.770000, 2.750000, 2.740000, 2.720000, 2.710000, 2.690000, 2.680000, 2.670000, 2.650000, 2.630000, 2.630000, 2.630000, 2.620000, 2.610000, 2.600000, 2.600000, 2.590000, 2.590000, 2.590000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054539, 766219 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.370000, 1.285000, -2.171829 ], "estimate": [ 3.370000, 1.285000, -2.171829 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.420000, 0.420000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.520000, 0.870000, 0.940000, 0.960000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.120000, 1.130000, 1.130000, 1.160000, 1.180000, 1.200000, 1.230000, 1.260000, 1.280000, 1.310000, 1.350000, 1.380000, 1.400000, 1.430000, 1.460000, 1.510000, 1.550000, 1.590000, 1.630000, 1.680000, 1.740000, 1.790000, 1.860000, 1.920000, 1.190000, 2.010000, 2.150000, 2.250000, 2.360000, 2.470000, 2.600000, 2.650000, 2.640000, 2.640000, 2.620000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.550000, 2.540000, 2.540000, 2.540000, 2.550000, 2.550000, 2.550000, 2.550000, 2.560000, 2.560000, 2.570000, 2.570000, 2.580000, 2.590000, 2.600000, 2.570000, 2.610000, 2.630000, 0.980000, 0.920000, 0.900000, 0.880000, 0.840000, 0.900000, 0.900000, 2.760000, 2.770000, 2.480000, 2.820000, 2.850000, 2.870000, 2.850000, 2.140000, 2.950000, 2.990000, 3.020000, 3.060000, 2.520000, 3.120000, 3.170000, 2.540000, 2.460000, 2.400000, 2.350000, 2.330000, 2.140000, 2.410000, 2.480000, 2.520000, 2.580000, 2.620000, 2.790000, 2.620000, 2.550000, 2.600000, 3.240000, 2.990000, 3.160000, 3.130000, 3.090000, 1.860000, 1.820000, 1.810000, 1.790000, 1.770000, null, 2.870000, 2.850000, 2.780000, 2.630000, 2.720000, 2.770000, 2.750000, 2.740000, 2.720000, 2.710000, 2.690000, 2.680000, 2.660000, 2.650000, 2.640000, 2.630000, 2.630000, 2.620000, 2.610000, 2.600000, 2.600000, 2.600000, 2.590000, 2.590000, 2.580000, 2.570000, 2.580000, 2.580000, 2.580000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054540, 127758 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.370000, 1.285000, -2.171829 ], "estimate": [ 3.370000, 1.285000, -2.171829 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.430000, 0.420000, 0.420000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.520000, 0.850000, 0.940000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.110000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.230000, 1.250000, 1.270000, 1.310000, 1.340000, 1.380000, 1.400000, 1.430000, 1.470000, 1.510000, 1.550000, 1.590000, 1.640000, 1.680000, 1.740000, 1.790000, 1.860000, 1.920000, 1.200000, 2.010000, 2.160000, 2.260000, 2.360000, 2.470000, 2.600000, 2.660000, 2.650000, 2.630000, 2.620000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.540000, 2.550000, 2.540000, 2.540000, 2.550000, 2.550000, 2.550000, 2.550000, 2.560000, 2.560000, 2.570000, 2.570000, 2.580000, 2.590000, 2.600000, 2.570000, 2.620000, 2.630000, 0.990000, 0.930000, 0.900000, 0.870000, 0.840000, 0.890000, 0.900000, 2.750000, 2.770000, 2.470000, 2.810000, 2.840000, 2.870000, 2.840000, 2.110000, 2.950000, 2.990000, 3.020000, 3.060000, 2.520000, 3.110000, 3.160000, 2.550000, 2.460000, 2.390000, 2.350000, 2.310000, 2.130000, 2.430000, 2.470000, 2.520000, 2.570000, 2.630000, 2.790000, 2.620000, 2.540000, 2.610000, 3.240000, 3.010000, 3.150000, 3.130000, 3.090000, 1.850000, 1.810000, 1.800000, 1.770000, 1.770000, null, 2.870000, 2.860000, 2.780000, 2.630000, 2.730000, 2.760000, 2.750000, 2.730000, 2.720000, 2.710000, 2.690000, 2.680000, 2.660000, 2.650000, 2.640000, 2.630000, 2.630000, 2.620000, 2.610000, 2.600000, 2.600000, 2.590000, 2.590000, 2.590000, 2.580000, 2.580000, 2.570000, 2.580000, 2.570000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054540, 165794 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.370000, 1.285000, -2.165683 ], "estimate": [ 3.370000, 1.285000, -2.165683 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.560000, 0.870000, 0.940000, 0.960000, 0.970000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.130000, 1.130000, 1.160000, 1.180000, 1.200000, 1.230000, 1.260000, 1.280000, 1.310000, 1.350000, 1.380000, 1.400000, 1.430000, 1.470000, 1.510000, 1.550000, 1.590000, 1.640000, 1.680000, 1.750000, 1.800000, 1.870000, 1.920000, 1.160000, 2.040000, 2.160000, 2.260000, 2.370000, 2.480000, 2.610000, 2.660000, 2.640000, 2.640000, 2.620000, 2.620000, 2.600000, 2.590000, 2.590000, 2.580000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.550000, 2.550000, 2.540000, 2.540000, 2.540000, 2.550000, 2.550000, 2.550000, 2.550000, 2.560000, 2.560000, 2.560000, 2.570000, 2.580000, 2.590000, 2.600000, 2.480000, 2.620000, 2.630000, null, 0.930000, 0.900000, 0.870000, 0.840000, 0.890000, 0.910000, 2.750000, 2.770000, 2.580000, 2.810000, 2.850000, 2.870000, 2.260000, 2.260000, 2.950000, 2.990000, 3.020000, 3.060000, 2.580000, 3.120000, 3.160000, 2.490000, 2.440000, 2.390000, 2.340000, 2.260000, 2.140000, 2.430000, 2.470000, 2.520000, 2.570000, 2.630000, 2.730000, 2.620000, 2.560000, 2.690000, 3.240000, 2.990000, 3.170000, 3.120000, 3.090000, 1.840000, 1.820000, 1.800000, 1.770000, 1.760000, null, 2.870000, 2.850000, 2.740000, 2.640000, 2.750000, 2.770000, 2.750000, 2.730000, 2.720000, 2.710000, 2.690000, 2.670000, 2.660000, 2.650000, 2.640000, 2.630000, 2.630000, 2.620000, 2.610000, 2.600000, 2.600000, 2.590000, 2.580000, 2.590000, 2.580000, 2.580000, 2.580000, 2.590000, 2.580000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976054540, 688810 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.370000, 1.285000, -2.147247 ], "estimate": [ 3.370000, 1.285000, -2.147247 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.430000, 0.420000, 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, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.430000, 0.450000, 0.770000, 0.910000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.170000, 1.190000, 1.210000, 1.240000, 1.270000, 1.290000, 1.330000, 1.360000, 1.390000, 1.410000, 1.450000, 1.490000, 1.530000, 1.570000, 1.610000, 1.660000, 1.710000, 1.760000, 1.830000, 1.900000, 1.290000, 1.200000, 2.100000, 2.200000, 2.290000, 2.410000, 2.520000, 2.670000, 2.660000, 2.640000, 2.630000, 2.620000, 2.610000, 2.600000, 2.590000, 2.590000, 2.580000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.550000, 2.550000, 2.550000, 2.540000, 2.540000, 2.540000, 2.550000, 2.550000, 2.550000, 2.560000, 2.560000, 2.570000, 2.580000, 2.590000, 2.600000, 2.610000, 2.590000, 2.620000, 0.940000, null, 0.930000, 0.880000, 0.830000, 0.890000, 0.890000, 0.890000, 2.760000, 2.450000, 2.790000, 2.830000, 2.850000, 2.880000, 2.060000, 2.940000, 2.960000, 3.000000, 3.030000, 2.780000, 2.520000, 3.140000, 3.180000, 2.480000, 2.420000, 2.370000, 2.330000, 2.120000, 2.190000, 2.440000, 2.490000, 2.540000, 2.590000, 2.770000, 2.640000, 2.600000, 2.590000, 3.260000, 2.990000, 3.180000, 3.150000, 3.110000, 3.070000, 1.840000, 1.800000, 1.800000, 1.780000, 1.760000, 2.890000, 2.860000, 2.840000, 2.660000, 2.630000, 2.780000, 2.770000, 2.750000, 2.720000, 2.720000, 2.700000, 2.690000, 2.670000, 2.650000, 2.650000, 2.630000, 2.630000, 2.620000, 2.620000, 2.610000, 2.600000, 2.590000, 2.590000, 2.590000, 2.580000, 2.570000, 2.590000, 2.580000, 2.580000, 2.580000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054540, 696164 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.370000, 1.284000, -2.116519 ], "estimate": [ 3.370000, 1.284000, -2.116519 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.430000, 0.430000, 0.490000, 0.860000, 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.020000, 1.040000, 1.050000, 1.070000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.170000, 1.200000, 1.220000, 1.250000, 1.270000, 1.300000, 1.340000, 1.370000, 1.400000, 1.420000, 1.460000, 1.500000, 1.540000, 1.580000, 1.620000, 1.670000, 1.730000, 1.780000, 1.840000, 1.900000, 1.200000, 1.260000, 2.140000, 2.240000, 2.330000, 2.430000, 2.560000, 2.670000, 2.650000, 2.640000, 2.620000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.550000, 2.540000, 2.540000, 2.540000, 2.550000, 2.540000, 2.550000, 2.550000, 2.560000, 2.560000, 2.560000, 2.570000, 2.580000, 2.590000, 2.600000, 2.610000, 2.310000, 2.620000, 2.610000, 0.940000, 0.880000, 0.870000, 0.870000, 0.890000, 0.900000, 2.750000, 2.760000, 2.760000, 2.800000, 2.830000, 2.850000, 2.880000, 2.040000, 2.940000, 2.970000, 3.000000, 3.040000, 2.510000, 2.620000, 3.140000, 2.780000, 2.460000, 2.400000, 2.350000, 2.340000, 2.170000, 2.380000, 2.460000, 2.490000, 2.540000, 2.600000, 2.770000, 2.640000, 2.590000, 2.570000, 3.250000, 3.210000, 3.170000, 3.130000, 3.100000, 1.850000, 1.830000, 1.800000, 1.780000, 1.770000, 1.760000, 2.870000, 2.850000, 2.820000, 2.620000, 2.650000, 2.770000, 2.750000, 2.730000, 2.720000, 2.710000, 2.690000, 2.670000, 2.660000, 2.650000, 2.640000, 2.630000, 2.630000, 2.620000, 2.610000, 2.600000, 2.590000, 2.590000, 2.590000, 2.580000, 2.580000, 2.570000, 2.570000, 2.570000, 2.580000, 2.580000, 2.580000 ], "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": [ 976054540, 796143 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.370000, 1.285000, -2.061209 ], "estimate": [ 3.370000, 1.285000, -2.061209 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.420000, 0.430000, 0.430000, 0.420000, 0.420000, 0.430000, 0.430000, 0.430000, 0.430000, 0.450000, 0.860000, 0.930000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.160000, 1.190000, 1.210000, 1.240000, 1.260000, 1.290000, 1.320000, 1.350000, 1.380000, 1.410000, 1.440000, 1.470000, 1.520000, 1.560000, 1.600000, 1.640000, 1.690000, 1.750000, 1.800000, 1.870000, 1.570000, 1.220000, 2.050000, 2.160000, 2.260000, 2.360000, 2.470000, 2.600000, 2.660000, 2.650000, 2.630000, 2.620000, 2.610000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.550000, 2.540000, 2.540000, 2.540000, 2.540000, 2.540000, 2.540000, 2.550000, 2.550000, 2.560000, 2.560000, 2.570000, 2.570000, 2.580000, 2.590000, 2.600000, 2.320000, 2.620000, 0.960000, 0.920000, 0.930000, 0.880000, 0.840000, 0.900000, 0.910000, 0.910000, 2.740000, 2.720000, 2.480000, 2.810000, 2.830000, 2.860000, 2.030000, 2.150000, 2.950000, 2.980000, 3.010000, 3.050000, 2.640000, 3.090000, 3.160000, 2.460000, 2.430000, 2.380000, 2.330000, 2.190000, 2.130000, 2.410000, 2.470000, 2.510000, 2.570000, 2.620000, 2.670000, 2.590000, 2.570000, 2.580000, 3.230000, 2.880000, 3.150000, 3.120000, 3.080000, 1.840000, 1.790000, 1.790000, 1.770000, 1.760000, 1.760000, 2.860000, 2.840000, 2.700000, 2.650000, 2.710000, 2.750000, 2.750000, 2.730000, 2.720000, 2.700000, 2.680000, 2.670000, 2.650000, 2.640000, 2.630000, 2.630000, 2.620000, 2.610000, 2.600000, 2.590000, 2.590000, 2.580000, 2.580000, 2.580000, 2.570000, 2.570000, 2.570000, 2.570000, 2.570000, 2.580000, 2.590000, 2.590000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054541, 268290 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.369000, 1.282000, -1.969026 ], "estimate": [ 3.369000, 1.282000, -1.969026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.430000, 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, 0.440000, 0.470000, 0.910000, 0.940000, 0.970000, 0.980000, 0.990000, 1.010000, 1.020000, 1.020000, 1.040000, 1.050000, 1.060000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.170000, 1.180000, 1.210000, 1.240000, 1.260000, 1.280000, 1.310000, 1.350000, 1.390000, 1.400000, 1.430000, 1.470000, 1.510000, 1.550000, 1.580000, 1.630000, 1.680000, 1.740000, 1.790000, 1.840000, 1.500000, 1.290000, 1.980000, 2.140000, 2.240000, 2.330000, 2.430000, 2.550000, 2.660000, 2.640000, 2.630000, 2.620000, 2.610000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.540000, 2.540000, 2.540000, 2.540000, 2.540000, 2.550000, 2.540000, 2.550000, 2.550000, 2.560000, 2.560000, 2.570000, 2.580000, 2.580000, 2.590000, 2.410000, 2.300000, 2.610000, null, 0.890000, 0.870000, 0.860000, 0.890000, 0.890000, 0.910000, 2.730000, 2.760000, 2.760000, 2.800000, 2.820000, 2.850000, 2.170000, 2.030000, 2.930000, 2.960000, 2.990000, 3.030000, 2.520000, 2.560000, 3.140000, 2.530000, 2.440000, 2.380000, 2.340000, 2.310000, 2.200000, 2.340000, 2.420000, 2.490000, 2.530000, 2.580000, 2.720000, 2.620000, 2.570000, 2.530000, 3.230000, 3.190000, 3.150000, 3.110000, 3.080000, 3.080000, 1.810000, 1.780000, 1.780000, 1.760000, 1.760000, 2.860000, 2.840000, 2.700000, 2.640000, 2.660000, 2.750000, 2.740000, 2.720000, 2.710000, 2.700000, 2.670000, 2.660000, 2.650000, 2.630000, 2.630000, 2.620000, 2.610000, 2.600000, 2.600000, 2.590000, 2.580000, 2.580000, 2.570000, 2.570000, 2.570000, 2.560000, 2.570000, 2.570000, 2.560000, 2.560000, 2.570000, 2.570000, 2.570000, 2.580000, 2.590000, 2.590000, 2.600000, 1.390000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054541, 269039 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.367000, 1.277000, -1.852261 ], "estimate": [ 3.367000, 1.277000, -1.852261 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.450000, 0.450000, 0.540000, 0.950000, 0.980000, 0.980000, 0.990000, 1.010000, 1.020000, 1.020000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.150000, 1.170000, 1.190000, 1.220000, 1.250000, 1.270000, 1.290000, 1.330000, 1.360000, 1.380000, 1.410000, 1.440000, 1.480000, 1.520000, 1.560000, 1.590000, 1.640000, 1.690000, 1.740000, 1.800000, 1.850000, 1.200000, 1.200000, 2.050000, 2.140000, 2.240000, 2.330000, 2.430000, 2.550000, 2.660000, 2.640000, 2.630000, 2.620000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.560000, 2.560000, 2.560000, 2.550000, 2.550000, 2.550000, 2.540000, 2.540000, 2.540000, 2.540000, 2.540000, 2.540000, 2.550000, 2.550000, 2.550000, 2.560000, 2.570000, 2.570000, 2.570000, 2.590000, 2.320000, 2.310000, 2.610000, 0.910000, 0.890000, 0.850000, 0.860000, 0.880000, 0.900000, 2.720000, 2.730000, 2.740000, 2.730000, 2.790000, 2.810000, 2.840000, 2.020000, 2.020000, 2.930000, 2.950000, 2.980000, 3.020000, 2.550000, 2.550000, 3.120000, 2.490000, 2.420000, 2.370000, 2.320000, 2.260000, 2.230000, 2.280000, 2.410000, 2.470000, 2.510000, 2.570000, 2.730000, 2.610000, 2.560000, 2.550000, 3.230000, 3.180000, 3.150000, 3.110000, 3.080000, 1.820000, 1.800000, 1.780000, 1.760000, 1.740000, 1.740000, 2.860000, 2.830000, 2.640000, 2.630000, 2.700000, 2.740000, 2.730000, 2.720000, 2.710000, 2.690000, 2.670000, 2.650000, 2.640000, 2.630000, 2.630000, 2.620000, 2.600000, 2.600000, 2.590000, 2.580000, 2.570000, 2.570000, 2.560000, 2.560000, 2.560000, 2.550000, 2.550000, 2.560000, 2.560000, 2.550000, 2.560000, 2.560000, 2.560000, 2.570000, 2.570000, 2.580000, 2.590000, 1.400000, 1.390000, 2.610000, 2.630000, 2.630000, 2.560000, 2.400000 ], "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": [ 976054541, 366320 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.367000, 1.276000, -1.766224 ], "estimate": [ 3.367000, 1.276000, -1.766224 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.450000, 0.450000, 0.460000, 0.530000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.090000, 1.110000, 1.110000, 1.130000, 1.140000, 1.150000, 1.170000, 1.200000, 1.220000, 1.250000, 1.270000, 1.290000, 1.320000, 1.340000, 1.380000, 1.390000, 1.430000, 1.470000, 1.510000, 1.540000, 1.580000, 1.620000, 1.670000, 1.730000, 1.770000, 1.820000, 1.880000, 1.240000, 1.770000, 2.100000, 2.180000, 2.280000, 2.380000, 2.490000, 2.630000, 2.660000, 2.640000, 2.630000, 2.610000, 2.610000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.550000, 2.540000, 2.540000, 2.540000, 2.540000, 2.540000, 2.540000, 2.550000, 2.550000, 2.560000, 2.560000, 2.570000, 2.580000, 2.580000, 2.590000, 2.590000, 2.610000, 0.930000, 0.900000, 0.860000, 0.860000, 0.890000, 0.890000, 0.910000, 2.720000, 2.730000, 2.480000, 2.740000, 2.790000, 2.820000, 2.850000, 2.210000, 2.890000, 2.930000, 2.950000, 2.990000, 3.010000, 2.680000, 3.090000, 3.130000, 2.440000, 2.400000, 2.350000, 2.290000, 2.150000, 2.120000, 2.380000, 2.430000, 2.470000, 2.530000, 2.580000, 2.650000, 2.570000, 2.540000, 2.500000, 3.220000, 3.180000, 3.130000, 3.100000, 3.060000, 1.820000, 1.780000, 1.760000, 1.750000, 1.740000, 1.750000, 2.840000, 2.730000, 2.620000, 2.630000, 2.750000, 2.730000, 2.720000, 2.710000, 2.700000, 2.670000, 2.660000, 2.640000, 2.630000, 2.630000, 2.620000, 2.600000, 2.590000, 2.580000, 2.580000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.550000, 2.540000, 2.540000, 2.550000, 2.550000, 2.540000, 2.550000, 2.550000, 2.550000, 2.560000, 2.560000, 2.570000, 2.580000, 1.380000, 1.370000, 2.610000, 2.620000, 2.630000, 2.540000, 2.390000, 2.260000, 2.130000, 2.040000, 1.950000, 1.870000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054541, 838690 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.367000, 1.275000, -1.704769 ], "estimate": [ 3.367000, 1.275000, -1.704769 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.540000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.030000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.110000, 1.130000, 1.130000, 1.150000, 1.170000, 1.180000, 1.210000, 1.240000, 1.260000, 1.280000, 1.310000, 1.330000, 1.360000, 1.390000, 1.420000, 1.450000, 1.490000, 1.520000, 1.560000, 1.600000, 1.640000, 1.690000, 1.750000, 1.790000, 1.850000, 1.370000, 1.210000, 2.040000, 2.140000, 2.220000, 2.320000, 2.410000, 2.520000, 2.680000, 2.660000, 2.640000, 2.630000, 2.610000, 2.610000, 2.610000, 2.600000, 2.590000, 2.590000, 2.580000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.550000, 2.550000, 2.550000, 2.550000, 2.550000, 2.550000, 2.550000, 2.560000, 2.560000, 2.560000, 2.570000, 2.570000, 2.580000, 2.590000, 2.600000, 2.400000, 0.950000, 0.900000, 0.870000, 0.870000, 0.840000, 0.880000, 0.900000, 2.700000, 2.730000, 2.750000, 2.760000, 2.780000, 2.800000, 2.830000, 2.850000, 2.150000, 2.910000, 2.940000, 2.970000, 3.000000, 2.630000, 2.500000, 3.110000, 3.150000, 2.440000, 2.390000, 2.330000, 2.310000, 2.130000, 2.160000, 2.400000, 2.440000, 2.480000, 2.550000, 2.600000, 2.600000, 2.540000, 2.540000, 2.770000, 3.200000, 2.770000, 3.120000, 3.090000, 3.050000, 1.800000, 1.780000, 1.750000, 1.730000, 1.700000, 2.870000, 2.840000, 2.650000, 2.620000, 2.710000, 2.740000, 2.720000, 2.710000, 2.710000, 2.680000, 2.660000, 2.650000, 2.630000, 2.630000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.550000, 2.540000, 2.540000, 2.540000, 2.540000, 2.540000, 2.540000, 2.540000, 2.550000, 2.550000, 2.560000, 2.560000, 2.570000, 2.570000, 1.380000, 1.680000, 2.610000, 2.620000, 2.630000, 2.500000, 2.370000, 2.220000, 2.120000, 2.020000, 1.930000, 1.850000, 1.770000, 1.710000, 1.640000, 1.580000 ], "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": [ 976054541, 856222 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.367000, 1.275000, -1.606440 ], "estimate": [ 3.367000, 1.275000, -1.606440 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.040000, 1.060000, 1.060000, 1.080000, 1.100000, 1.110000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 1.210000, 1.240000, 1.260000, 1.280000, 1.310000, 1.340000, 1.370000, 1.380000, 1.410000, 1.440000, 1.480000, 1.510000, 1.550000, 1.580000, 1.640000, 1.680000, 1.730000, 1.770000, 1.830000, 1.720000, 1.490000, 1.920000, 2.100000, 2.180000, 2.290000, 2.380000, 2.490000, 2.610000, 2.670000, 2.650000, 2.640000, 2.620000, 2.610000, 2.610000, 2.600000, 2.600000, 2.590000, 2.580000, 2.580000, 2.570000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.550000, 2.550000, 2.550000, 2.550000, 2.550000, 2.560000, 2.560000, 2.560000, 2.570000, 2.570000, 2.580000, 2.590000, 2.600000, 0.960000, 0.980000, null, 0.860000, 0.840000, 0.870000, 0.890000, 0.890000, 2.700000, 2.720000, 2.730000, 2.740000, 2.790000, 2.800000, 2.820000, 2.850000, 2.860000, 2.900000, 2.930000, 2.960000, 2.990000, 2.680000, 2.610000, 3.100000, 3.130000, 2.440000, 2.380000, 2.340000, 2.310000, 2.120000, 2.100000, 2.380000, 2.430000, 2.490000, 2.520000, 2.570000, 2.610000, 2.510000, 2.500000, 2.550000, 3.210000, 3.160000, 3.120000, 3.090000, 3.050000, 1.790000, 1.760000, 1.750000, 1.730000, 1.720000, 2.860000, 2.820000, 2.610000, 2.620000, 2.740000, 2.750000, 2.730000, 2.720000, 2.700000, 2.680000, 2.660000, 2.650000, 2.630000, 2.630000, 2.620000, 2.610000, 2.590000, 2.580000, 2.580000, 2.560000, 2.560000, 2.550000, 2.550000, 2.540000, 2.540000, 2.540000, 2.530000, 2.530000, 2.540000, 2.540000, 2.530000, 2.530000, 2.540000, 2.550000, 2.550000, 2.550000, 2.560000, 2.560000, 1.360000, 1.360000, 2.590000, 2.600000, 2.610000, 2.530000, 2.370000, 2.240000, 2.110000, 2.020000, 1.930000, 1.840000, 1.760000, 1.700000, 1.640000, 1.570000, 1.530000, 1.480000, 1.420000, 1.390000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054541, 969764 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.367000, 1.277000, -1.483530 ], "estimate": [ 3.367000, 1.277000, -1.483530 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.130000, 1.140000, 1.160000, 1.180000, 1.200000, 1.210000, 1.240000, 1.260000, 1.280000, 1.310000, 1.340000, 1.370000, 1.390000, 1.420000, 1.450000, 1.480000, 1.530000, 1.560000, 1.590000, 1.640000, 1.680000, 1.730000, 1.780000, 1.830000, 1.820000, 1.610000, 1.590000, 2.090000, 2.170000, 2.260000, 2.370000, 2.470000, 2.610000, 2.690000, 2.670000, 2.650000, 2.640000, 2.620000, 2.620000, 2.620000, 2.610000, 2.610000, 2.590000, 2.590000, 2.580000, 2.570000, 2.570000, 2.570000, 2.560000, 2.560000, 2.560000, 2.560000, 2.560000, 2.560000, 2.560000, 2.560000, 2.570000, 2.570000, 2.580000, 2.580000, 2.590000, 2.600000, 2.600000, 2.610000, 0.920000, 0.890000, 0.870000, 0.870000, 0.900000, 0.900000, 0.900000, 2.700000, 2.720000, 2.740000, 2.760000, 2.770000, 2.800000, 2.830000, 2.840000, 2.870000, 2.900000, 2.940000, 2.960000, 3.000000, 2.610000, 2.660000, 3.100000, 3.130000, 2.430000, 2.380000, 2.330000, 2.310000, 2.120000, 2.100000, 2.380000, 2.430000, 2.480000, 2.520000, 2.570000, 2.600000, 2.540000, 2.540000, 2.550000, 3.210000, 3.160000, 3.120000, 3.080000, 2.040000, 1.790000, 1.760000, 1.750000, 1.720000, 1.730000, 2.860000, 2.710000, 2.620000, 2.630000, 2.770000, 2.740000, 2.720000, 2.710000, 2.690000, 2.670000, 2.660000, 2.640000, 2.630000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.560000, 2.550000, 2.550000, 2.550000, 2.540000, 2.530000, 2.520000, 2.530000, 2.530000, 2.530000, 2.520000, 2.530000, 2.530000, 2.530000, 2.540000, 2.540000, 2.540000, 2.550000, 2.550000, 1.350000, 1.360000, 2.580000, 2.590000, 2.600000, 2.540000, 2.370000, 2.230000, 2.110000, 2.010000, 1.920000, 1.830000, 1.760000, 1.700000, 1.630000, 1.570000, 1.520000, 1.470000, 1.420000, 1.380000, 1.340000, 1.300000, 1.260000, 1.230000, 1.200000, 1.170000, 1.130000, 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": [ 976054542, 886206 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.367000, 1.277000, -1.391347 ], "estimate": [ 3.367000, 1.277000, -1.391347 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.260000, 1.280000, 1.300000, 1.330000, 1.370000, 1.400000, 1.420000, 1.440000, 1.480000, 1.520000, 1.560000, 1.580000, 1.630000, 1.670000, 1.730000, 1.770000, 1.820000, 1.880000, 1.260000, 1.250000, 2.080000, 2.150000, 2.240000, 2.350000, 2.450000, 2.560000, 2.700000, 2.690000, 2.670000, 2.650000, 2.640000, 2.630000, 2.610000, 2.610000, 2.610000, 2.610000, 2.600000, 2.600000, 2.590000, 2.580000, 2.580000, 2.570000, 2.570000, 2.570000, 2.570000, 2.560000, 2.570000, 2.570000, 2.570000, 2.570000, 2.580000, 2.580000, 2.590000, 2.600000, 2.610000, 2.610000, 2.610000, null, 0.900000, 0.880000, 0.880000, 0.900000, 0.910000, 0.910000, 2.700000, 2.730000, 2.740000, 2.590000, 2.680000, 2.800000, 2.830000, 2.850000, 2.440000, 2.900000, 2.940000, 2.950000, 2.990000, 3.030000, 2.710000, 3.030000, 3.130000, 2.440000, 2.400000, 2.350000, 2.280000, 2.140000, 2.140000, 2.380000, 2.420000, 2.470000, 2.520000, 2.570000, 2.750000, 2.590000, 2.500000, 2.530000, 3.220000, 3.180000, 3.130000, 3.100000, 3.060000, 1.810000, 1.780000, 1.750000, 1.730000, 1.710000, 2.850000, 2.840000, 2.620000, 2.620000, 2.740000, 2.740000, 2.720000, 2.720000, 2.700000, 2.670000, 2.650000, 2.640000, 2.630000, 2.620000, 2.610000, 2.600000, 2.580000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.540000, 2.530000, 2.530000, 2.520000, 2.530000, 2.520000, 2.530000, 2.520000, 2.520000, 2.520000, 2.520000, 2.530000, 2.530000, 2.530000, 2.540000, 2.550000, 1.360000, 1.350000, 2.570000, 2.580000, 2.590000, 2.610000, 2.440000, 2.290000, 2.160000, 2.050000, 1.960000, 1.870000, 1.790000, 1.720000, 1.650000, 1.580000, 1.540000, 1.480000, 1.430000, 1.380000, 1.340000, 1.310000, 1.260000, 1.230000, 1.190000, 1.170000, 1.140000, 1.120000, 1.090000, 1.060000, 1.040000, 1.010000, 1.010000, 0.980000, 0.960000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054542, 887372 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.367000, 1.277000, -1.329892 ], "estimate": [ 3.367000, 1.277000, -1.329892 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.350000, 1.380000, 1.400000, 1.440000, 1.470000, 1.500000, 1.540000, 1.570000, 1.610000, 1.660000, 1.710000, 1.760000, 1.810000, 1.870000, 1.880000, 1.280000, 2.020000, 2.140000, 2.230000, 2.310000, 2.400000, 2.510000, 2.640000, 2.700000, 2.690000, 2.670000, 2.650000, 2.640000, 2.620000, 2.610000, 2.610000, 2.600000, 2.600000, 2.590000, 2.590000, 2.590000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 2.570000, 2.570000, 2.580000, 2.580000, 2.580000, 2.580000, 2.590000, 2.590000, 2.600000, 2.610000, 2.610000, 2.610000, null, null, 0.890000, 0.880000, 0.900000, 0.910000, 0.920000, 2.700000, 2.720000, 2.740000, 2.760000, 2.740000, 2.790000, 2.820000, 2.850000, 2.030000, 2.090000, 2.930000, 2.950000, 2.980000, 3.020000, 2.500000, 2.550000, 3.120000, 2.690000, 2.430000, 2.370000, 2.320000, 2.290000, 2.170000, 2.370000, 2.410000, 2.460000, 2.510000, 2.570000, 2.740000, 2.600000, 2.570000, 2.550000, 3.240000, 2.680000, 3.150000, 3.120000, 3.080000, 1.780000, 1.770000, 1.760000, 1.740000, 1.730000, 1.730000, 2.860000, 2.730000, 2.610000, 2.630000, 2.760000, 2.740000, 2.720000, 2.700000, 2.680000, 2.660000, 2.640000, 2.630000, 2.630000, 2.610000, 2.600000, 2.590000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.540000, 2.530000, 2.530000, 2.520000, 2.520000, 2.520000, 2.510000, 2.520000, 2.520000, 2.520000, 2.520000, 2.520000, 2.520000, 2.530000, 2.530000, 2.540000, 2.540000, 1.360000, 2.560000, 2.570000, 2.580000, 2.600000, 2.540000, 2.360000, 2.220000, 2.100000, 1.990000, 1.910000, 1.820000, 1.740000, 1.680000, 1.610000, 1.540000, 1.500000, 1.450000, 1.400000, 1.360000, 1.320000, 1.280000, 1.250000, 1.210000, 1.170000, 1.150000, 1.130000, 1.100000, 1.070000, 1.040000, 1.020000, 1.000000, 1.000000, 0.970000, 0.940000, 0.930000, 0.910000, 0.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976054542, 888337 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.366000, 1.278000, -1.243854 ], "estimate": [ 3.366000, 1.278000, -1.243854 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.480000, 1.520000, 1.550000, 1.580000, 1.630000, 1.680000, 1.710000, 1.770000, 1.830000, 1.870000, 1.280000, 1.260000, 2.060000, 2.140000, 2.240000, 2.330000, 2.430000, 2.540000, 2.680000, 2.700000, 2.690000, 2.670000, 2.650000, 2.650000, 2.630000, 2.620000, 2.610000, 2.610000, 2.610000, 2.600000, 2.590000, 2.590000, 2.590000, 2.590000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 2.590000, 2.590000, 2.600000, 2.600000, 2.610000, 2.610000, 2.620000, null, 0.860000, 0.880000, 0.880000, 0.900000, 0.900000, 2.700000, 2.710000, 2.730000, 2.740000, 2.730000, 2.560000, 2.800000, 2.830000, 2.850000, 2.270000, 2.890000, 2.940000, 2.950000, 2.990000, 3.030000, 2.580000, 2.770000, 3.130000, 2.440000, 2.410000, 2.350000, 2.290000, 2.150000, 2.130000, 2.380000, 2.420000, 2.470000, 2.510000, 2.570000, 2.750000, 2.590000, 2.540000, 2.540000, 3.220000, 3.180000, 3.140000, 3.100000, 3.070000, 1.790000, 1.770000, 1.750000, 1.720000, 1.710000, 2.860000, 2.850000, 2.610000, 2.610000, 2.670000, 2.750000, 2.720000, 2.710000, 2.690000, 2.670000, 2.650000, 2.630000, 2.630000, 2.610000, 2.600000, 2.580000, 2.570000, 2.570000, 2.560000, 2.550000, 2.540000, 2.540000, 2.530000, 2.520000, 2.520000, 2.520000, 2.520000, 2.510000, 2.520000, 2.510000, 2.510000, 2.510000, 2.520000, 2.510000, 2.520000, 2.530000, 2.530000, 2.530000, 1.310000, 1.340000, 2.550000, 2.570000, 2.580000, 2.590000, 2.460000, 2.310000, 2.180000, 2.060000, 1.970000, 1.870000, 1.800000, 1.720000, 1.650000, 1.580000, 1.530000, 1.470000, 1.430000, 1.380000, 1.340000, 1.310000, 1.260000, 1.230000, 1.190000, 1.170000, 1.130000, 1.110000, 1.090000, 1.050000, 1.030000, 1.010000, 0.990000, 0.980000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054542, 889276 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.366000, 1.278000, -1.133235 ], "estimate": [ 3.366000, 1.278000, -1.133235 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.720000, 1.770000, 1.830000, 1.870000, 1.300000, 1.300000, 2.050000, 2.150000, 2.250000, 2.320000, 2.430000, 2.540000, 2.670000, 2.700000, 2.700000, 2.680000, 2.670000, 2.650000, 2.640000, 2.630000, 2.620000, 2.610000, 2.610000, 2.600000, 2.600000, 2.590000, 2.590000, 2.590000, 2.580000, 2.580000, 2.580000, 2.590000, 2.590000, 2.590000, 2.590000, 2.590000, 2.600000, 2.600000, 2.600000, 2.610000, 2.620000, 2.620000, 2.620000, null, 0.900000, 0.850000, 0.850000, 0.920000, 0.930000, 2.700000, 2.720000, 2.730000, 2.750000, 2.590000, 2.530000, 2.810000, 2.840000, 2.850000, 2.880000, 2.910000, 2.940000, 2.960000, 2.990000, 3.030000, 2.810000, 2.820000, 3.130000, 2.460000, 2.410000, 2.360000, 2.300000, 2.130000, 2.120000, 2.380000, 2.420000, 2.470000, 2.520000, 2.570000, 2.690000, 2.540000, 2.520000, 2.540000, 3.220000, 3.180000, 3.130000, 3.090000, 2.030000, 1.770000, 1.750000, 1.740000, 1.720000, 1.730000, 2.860000, 2.840000, 2.620000, 2.610000, 2.670000, 2.740000, 2.720000, 2.700000, 2.680000, 2.660000, 2.650000, 2.630000, 2.620000, 2.610000, 2.590000, 2.580000, 2.570000, 2.560000, 2.550000, 2.550000, 2.540000, 2.530000, 2.520000, 2.520000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 2.520000, 2.520000, 2.520000, 2.530000, 1.320000, 1.320000, 2.550000, 2.560000, 2.580000, 2.590000, 2.430000, 2.280000, 2.150000, 2.050000, 1.940000, 1.850000, 1.770000, 1.710000, 1.630000, 1.560000, 1.520000, 1.470000, 1.410000, 1.370000, 1.330000, 1.290000, 1.250000, 1.210000, 1.170000, 1.150000, 1.130000, 1.100000, 1.070000, 1.040000, 1.020000, 1.000000, 0.980000, 0.960000, 0.940000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054543, 261860 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.366000, 1.278000, -1.047198 ], "estimate": [ 3.366000, 1.278000, -1.047198 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.050000, 2.170000, 2.250000, 2.340000, 2.430000, 2.550000, 2.670000, 2.720000, 2.710000, 2.700000, 2.680000, 2.680000, 2.660000, 2.640000, 2.640000, 2.630000, 2.610000, 2.610000, 2.610000, 2.610000, 2.600000, 2.600000, 2.590000, 2.590000, 2.590000, 2.590000, 2.590000, 2.590000, 2.590000, 2.590000, 2.600000, 2.600000, 2.610000, 2.610000, 2.620000, 2.610000, 2.610000, null, 0.910000, 0.900000, 0.910000, 0.910000, 0.930000, 2.700000, 2.730000, 2.740000, 2.760000, 2.740000, 2.580000, 2.820000, 2.850000, 2.860000, 2.870000, 2.910000, 2.950000, 2.980000, 3.010000, 3.040000, 2.710000, 3.070000, 3.140000, 2.470000, 2.420000, 2.360000, 2.320000, 2.130000, 2.160000, 2.390000, 2.440000, 2.490000, 2.530000, 2.590000, 2.790000, 2.550000, 2.530000, 2.510000, 3.230000, 3.180000, 3.140000, 3.100000, 1.800000, 1.770000, 1.760000, 1.730000, 1.720000, 1.720000, 2.870000, 2.820000, 2.620000, 2.620000, 2.760000, 2.740000, 2.720000, 2.710000, 2.680000, 2.660000, 2.650000, 2.630000, 2.620000, 2.610000, 2.590000, 2.580000, 2.570000, 2.560000, 2.550000, 2.540000, 2.540000, 2.520000, 2.520000, 2.510000, 2.510000, 2.500000, 2.510000, 2.510000, 2.510000, 2.500000, 2.500000, 2.500000, 2.500000, 2.510000, 2.510000, 2.510000, 2.520000, 2.520000, 1.310000, 1.320000, 2.550000, 2.560000, 2.570000, 2.580000, 2.450000, 2.300000, 2.170000, 2.050000, 1.950000, 1.860000, 1.770000, 1.700000, 1.630000, 1.570000, 1.510000, 1.460000, 1.410000, 1.370000, 1.330000, 1.280000, 1.240000, 1.200000, 1.170000, 1.140000, 1.120000, 1.090000, 1.060000, 1.030000, 1.010000, 0.990000, 0.970000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.860000, 0.850000, 0.820000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054543, 480538 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.366000, 1.278000, -0.979597 ], "estimate": [ 3.366000, 1.278000, -0.979597 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.310000, 2.410000, 2.510000, 2.640000, 2.730000, 2.720000, 2.710000, 2.700000, 2.690000, 2.680000, 2.660000, 2.650000, 2.640000, 2.630000, 2.630000, 2.620000, 2.620000, 2.620000, 2.620000, 2.610000, 2.610000, 2.610000, 2.600000, 2.610000, 2.600000, 2.610000, 2.610000, 2.610000, 2.620000, 2.620000, 2.620000, 2.620000, 2.630000, 2.630000, null, 0.900000, 0.880000, 0.920000, 0.930000, 0.940000, 2.720000, 2.730000, 2.750000, 2.770000, 2.780000, 2.750000, 2.820000, 2.850000, 2.860000, 2.040000, 2.900000, 2.950000, 2.970000, 3.000000, 3.040000, 2.520000, 2.640000, 3.140000, 2.520000, 2.440000, 2.390000, 2.330000, 2.170000, 2.140000, 2.400000, 2.440000, 2.490000, 2.530000, 2.570000, 2.840000, 2.600000, 2.540000, 2.550000, 3.250000, 3.200000, 3.150000, 3.110000, 2.090000, 1.780000, 1.760000, 1.740000, 1.720000, 1.730000, 2.870000, 2.850000, 2.670000, 2.620000, 2.630000, 2.750000, 2.720000, 2.720000, 2.700000, 2.670000, 2.650000, 2.630000, 2.630000, 2.610000, 2.600000, 2.580000, 2.570000, 2.560000, 2.550000, 2.550000, 2.530000, 2.530000, 2.520000, 2.520000, 2.510000, 2.510000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.510000, 2.510000, 2.510000, 2.520000, 2.520000, 1.310000, 1.300000, 2.550000, 2.550000, 2.560000, 2.580000, 2.480000, 2.320000, 2.180000, 2.060000, 1.960000, 1.870000, 1.780000, 1.710000, 1.630000, 1.570000, 1.520000, 1.460000, 1.410000, 1.370000, 1.330000, 1.280000, 1.240000, 1.220000, 1.170000, 1.140000, 1.120000, 1.090000, 1.060000, 1.030000, 1.010000, 1.000000, 0.970000, 0.950000, 0.930000, 0.910000, 0.900000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.740000, 0.730000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054543, 481677 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.366000, 1.278000, -0.899705 ], "estimate": [ 3.366000, 1.278000, -0.899705 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.730000, 2.710000, 2.710000, 2.700000, 2.680000, 2.670000, 2.660000, 2.650000, 2.640000, 2.640000, 2.630000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.610000, 2.610000, 2.610000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.630000, 2.630000, 2.640000, null, 0.910000, 0.890000, 0.900000, 0.930000, 0.930000, 2.710000, 2.730000, 2.740000, 2.760000, 2.780000, 2.730000, 2.820000, 2.840000, 2.850000, 2.530000, 2.040000, 2.940000, 2.960000, 3.000000, 3.030000, 2.740000, 2.560000, 3.120000, 3.160000, 2.460000, 2.400000, 2.350000, 2.320000, 2.190000, 2.350000, 2.430000, 2.470000, 2.500000, 2.560000, 2.620000, 2.610000, 2.570000, 2.560000, 2.830000, 2.720000, 3.180000, 3.130000, 3.090000, 1.800000, 1.770000, 1.750000, 1.730000, 1.710000, 2.870000, 2.870000, 2.830000, 2.620000, 2.620000, 2.760000, 2.740000, 2.720000, 2.700000, 2.680000, 2.660000, 2.640000, 2.630000, 2.620000, 2.600000, 2.600000, 2.570000, 2.560000, 2.550000, 2.550000, 2.540000, 2.530000, 2.520000, 2.520000, 2.510000, 2.510000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.510000, 2.500000, 2.500000, 2.500000, 2.500000, 2.510000, 2.520000, 1.320000, 1.310000, 2.540000, 2.550000, 2.550000, 2.570000, 2.580000, 2.380000, 2.220000, 2.110000, 1.990000, 1.890000, 1.800000, 1.740000, 1.650000, 1.590000, 1.530000, 1.470000, 1.420000, 1.370000, 1.340000, 1.280000, 1.250000, 1.220000, 1.180000, 1.140000, 1.120000, 1.090000, 1.060000, 1.030000, 1.010000, 1.000000, 0.970000, 0.950000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054543, 615911 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.368000, 1.276000, -0.801377 ], "estimate": [ 3.368000, 1.276000, -0.801377 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.670000, 2.650000, 2.640000, 2.640000, 2.630000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.630000, 2.630000, 2.640000, 2.640000, 2.630000, 0.920000, 0.900000, 0.910000, 0.930000, 0.940000, 2.720000, 2.730000, 2.740000, 2.760000, 2.780000, 2.550000, 2.620000, 2.840000, 2.850000, 2.880000, 2.630000, 2.940000, 2.960000, 2.990000, 3.020000, 2.930000, 2.790000, 3.110000, 3.160000, 2.480000, 2.420000, 2.360000, 2.350000, 2.180000, 2.180000, 2.420000, 2.460000, 2.510000, 2.560000, 2.600000, 2.630000, 2.580000, 2.560000, 2.570000, 2.740000, 2.700000, 3.140000, 3.100000, 1.780000, 1.770000, 1.750000, 1.740000, 1.720000, 2.890000, 2.870000, 2.830000, 2.620000, 2.620000, 2.760000, 2.740000, 2.720000, 2.700000, 2.680000, 2.660000, 2.640000, 2.630000, 2.620000, 2.600000, 2.590000, 2.570000, 2.560000, 2.550000, 2.540000, 2.540000, 2.530000, 2.520000, 2.520000, 2.510000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.510000, 1.320000, 1.310000, 2.530000, 2.530000, 2.550000, 2.550000, 2.570000, 2.390000, 2.230000, 2.110000, 1.990000, 1.890000, 1.800000, 1.740000, 1.650000, 1.590000, 1.530000, 1.470000, 1.420000, 1.370000, 1.330000, 1.280000, 1.240000, 1.210000, 1.170000, 1.130000, 1.110000, 1.080000, 1.060000, 1.020000, 1.000000, 0.990000, 0.960000, 0.940000, 0.920000, 0.910000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.810000, 0.790000, 0.790000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.620000, 0.620000, 0.620000, 0.610000, 0.640000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054544, 257320 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.371000, 1.274000, -0.696903 ], "estimate": [ 3.371000, 1.274000, -0.696903 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.630000, 2.630000, 2.630000, 2.630000, 2.630000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.630000, 2.630000, 2.640000, 2.650000, 2.650000, 2.630000, null, 0.930000, 0.930000, 0.950000, 0.950000, 0.950000, 2.730000, 2.750000, 2.760000, 2.780000, 2.790000, 2.810000, 2.840000, 2.860000, 2.880000, 2.480000, 2.900000, 2.960000, 2.980000, 3.020000, 3.050000, 2.570000, 2.580000, 3.150000, 2.500000, 2.440000, 2.400000, 2.350000, 2.130000, 2.130000, 2.410000, 2.450000, 2.490000, 2.540000, 2.590000, 2.790000, 2.580000, 2.540000, 2.550000, 3.250000, 3.210000, 3.160000, 3.120000, 3.120000, 1.780000, 1.760000, 1.740000, 1.720000, 1.720000, 2.880000, 2.850000, 2.610000, 2.620000, 2.690000, 2.750000, 2.730000, 2.710000, 2.690000, 2.670000, 2.650000, 2.630000, 2.620000, 2.600000, 2.590000, 2.580000, 2.570000, 2.560000, 2.550000, 2.530000, 2.530000, 2.520000, 2.510000, 2.510000, 2.510000, 2.510000, 2.500000, 2.500000, 2.490000, 2.490000, 2.490000, 2.500000, 2.490000, 2.500000, 2.500000, 2.510000, 2.510000, 1.540000, 1.320000, 2.520000, 2.530000, 2.540000, 2.550000, 2.550000, 2.440000, 2.280000, 2.140000, 2.030000, 1.920000, 1.820000, 1.740000, 1.660000, 1.600000, 1.540000, 1.480000, 1.420000, 1.380000, 1.330000, 1.280000, 1.250000, 1.210000, 1.170000, 1.140000, 1.110000, 1.070000, 1.050000, 1.020000, 1.010000, 0.980000, 0.950000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.850000, 0.840000, 0.830000, 0.800000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.610000, 0.610000, 0.600000, 0.610000, 0.600000, 0.630000, 0.630000, 0.670000, 0.800000, 1.870000, 1.870000, 1.870000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054544, 267969 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.373000, 1.272000, -0.610865 ], "estimate": [ 3.373000, 1.272000, -0.610865 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.630000, 2.630000, 2.640000, 2.640000, 2.650000, 2.650000, 2.640000, 2.670000, 0.940000, 0.920000, 0.950000, 0.960000, 0.970000, 2.730000, 2.740000, 2.750000, 2.770000, 2.780000, 2.800000, 2.790000, 2.840000, 2.860000, 2.890000, 2.890000, 2.940000, 2.960000, 3.000000, 3.020000, 3.060000, 2.580000, 2.800000, 3.160000, 2.500000, 2.450000, 2.390000, 2.350000, 2.140000, 2.180000, 2.420000, 2.450000, 2.500000, 2.550000, 2.600000, 2.810000, 2.570000, 2.550000, 2.540000, 3.250000, 3.210000, 3.160000, 3.120000, 3.120000, 1.800000, 1.760000, 1.750000, 1.720000, 1.710000, 2.870000, 2.840000, 2.630000, 2.630000, 2.770000, 2.750000, 2.730000, 2.710000, 2.680000, 2.660000, 2.650000, 2.630000, 2.620000, 2.600000, 2.590000, 2.580000, 2.560000, 2.550000, 2.540000, 2.530000, 2.520000, 2.510000, 2.510000, 2.510000, 2.510000, 2.500000, 2.500000, 2.500000, 2.500000, 2.490000, 2.500000, 2.490000, 2.490000, 2.500000, 2.500000, 2.500000, 2.490000, 1.300000, 1.290000, 2.500000, 2.520000, 2.530000, 2.540000, 2.550000, 2.430000, 2.270000, 2.140000, 2.010000, 1.910000, 1.820000, 1.740000, 1.650000, 1.580000, 1.530000, 1.470000, 1.410000, 1.360000, 1.320000, 1.270000, 1.230000, 1.200000, 1.160000, 1.130000, 1.100000, 1.070000, 1.030000, 1.020000, 1.000000, 0.970000, 0.940000, 0.930000, 0.910000, 0.880000, 0.870000, 0.860000, 0.840000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.590000, 0.600000, 0.620000, 0.630000, 0.650000, 0.740000, 1.860000, 1.850000, 1.850000, 1.840000, 1.830000, 1.830000, 1.820000, 1.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054544, 226052 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.373000, 1.272000, -0.530973 ], "estimate": [ 3.373000, 1.272000, -0.530973 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.640000, 2.650000, 2.650000, 2.650000, 2.650000, 2.660000, 2.660000, null, 0.950000, 0.950000, 0.980000, 0.970000, 1.000000, 2.750000, 2.770000, 2.780000, 2.790000, 2.810000, 2.830000, 2.850000, 2.860000, 2.890000, 2.070000, 2.640000, 2.970000, 2.990000, 3.030000, 3.060000, 2.550000, 2.570000, 3.150000, 2.630000, 2.460000, 2.410000, 2.360000, 2.180000, 2.150000, 2.420000, 2.460000, 2.500000, 2.550000, 2.590000, 2.800000, 2.600000, 2.580000, 2.560000, 3.280000, 3.230000, 3.180000, 3.130000, 3.130000, null, 1.770000, 1.750000, 1.730000, 1.730000, 2.880000, 2.860000, 2.660000, 2.620000, 2.670000, 2.760000, 2.730000, 2.720000, 2.700000, 2.680000, 2.650000, 2.630000, 2.630000, 2.610000, 2.590000, 2.580000, 2.570000, 2.560000, 2.550000, 2.540000, 2.530000, 2.520000, 2.510000, 2.510000, 2.510000, 2.500000, 2.500000, 2.500000, 2.500000, 2.490000, 2.490000, 2.500000, 2.490000, 2.490000, 2.500000, 2.500000, 2.500000, 1.310000, 1.300000, 2.510000, 2.520000, 2.530000, 2.540000, 2.550000, 2.460000, 2.300000, 2.150000, 2.030000, 1.920000, 1.830000, 1.740000, 1.660000, 1.590000, 1.520000, 1.460000, 1.410000, 1.370000, 1.310000, 1.270000, 1.230000, 1.190000, 1.150000, 1.120000, 1.090000, 1.060000, 1.020000, 1.010000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.870000, 0.860000, 0.840000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.590000, 0.580000, 0.580000, 0.590000, 0.610000, 0.640000, 0.660000, 0.690000, 1.860000, 1.840000, 1.840000, 1.840000, 1.830000, 1.820000, 1.810000, 1.810000, 1.810000, 1.820000, 1.820000, 1.820000, 1.820000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054544, 517099 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.373000, 1.272000, -0.451082 ], "estimate": [ 3.373000, 1.272000, -0.451082 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.680000, 2.660000, null, 0.940000, 0.960000, 0.970000, 0.980000, 2.740000, 2.760000, 2.780000, 2.790000, 2.810000, 2.820000, 2.840000, 2.860000, 2.880000, 2.900000, 2.370000, 2.940000, 2.980000, 3.000000, 3.040000, 3.060000, 2.570000, 2.620000, 3.160000, 2.510000, 2.460000, 2.400000, 2.360000, 2.160000, 2.190000, 2.430000, 2.470000, 2.520000, 2.570000, 2.600000, 2.810000, 2.560000, 2.570000, 2.530000, 3.270000, 2.720000, 3.170000, 3.130000, 3.110000, null, 1.760000, 1.760000, 1.750000, 2.900000, 2.880000, 2.850000, 2.620000, 2.630000, 2.740000, 2.750000, 2.730000, 2.720000, 2.690000, 2.670000, 2.650000, 2.630000, 2.630000, 2.610000, 2.590000, 2.580000, 2.570000, 2.560000, 2.550000, 2.540000, 2.530000, 2.520000, 2.520000, 2.510000, 2.510000, 2.510000, 2.510000, 2.500000, 2.500000, 2.490000, 2.500000, 2.500000, 2.490000, 2.500000, 2.500000, 2.500000, 1.670000, 1.320000, 1.330000, 2.520000, 2.520000, 2.530000, 2.540000, 2.550000, 2.400000, 2.250000, 2.110000, 2.000000, 1.880000, 1.790000, 1.710000, 1.630000, 1.560000, 1.500000, 1.440000, 1.380000, 1.340000, 1.280000, 1.240000, 1.210000, 1.170000, 1.140000, 1.100000, 1.070000, 1.030000, 1.010000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.850000, 0.830000, 0.820000, 0.800000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.730000, 0.720000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.600000, 0.610000, 0.640000, 0.800000, 1.850000, 1.840000, 1.830000, 1.830000, 1.820000, 1.810000, 1.810000, 1.810000, 1.810000, 1.810000, 1.820000, 1.810000, 1.820000, 1.810000, 1.800000, 1.800000, 1.810000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054544, 566508 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.373000, 1.272000, -0.358899 ], "estimate": [ 3.373000, 1.272000, -0.358899 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.980000, 0.970000, 0.990000, 2.750000, 2.760000, 2.780000, 2.790000, 2.810000, 2.830000, 2.850000, 2.870000, 2.880000, 2.910000, 2.880000, 2.940000, 2.990000, 3.010000, 3.050000, 3.080000, 2.600000, 2.690000, 3.170000, 2.520000, 2.460000, 2.400000, 2.370000, 2.190000, 2.200000, 2.440000, 2.480000, 2.520000, 2.570000, 2.620000, 2.670000, 2.590000, 2.570000, 2.580000, 2.840000, 2.770000, 3.170000, 3.120000, 2.150000, 1.800000, 1.760000, 1.760000, 1.740000, 2.920000, 2.880000, 2.850000, 2.630000, 2.630000, 2.750000, 2.750000, 2.730000, 2.720000, 2.700000, 2.670000, 2.660000, 2.630000, 2.630000, 2.610000, 2.600000, 2.580000, 2.570000, 2.560000, 2.550000, 2.540000, 2.530000, 2.520000, 2.520000, 2.510000, 2.510000, 2.510000, 2.510000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.510000, 1.330000, 1.310000, 1.610000, 2.520000, 2.520000, 2.530000, 2.540000, 2.550000, 2.350000, 2.200000, 2.070000, 1.960000, 1.860000, 1.760000, 1.680000, 1.600000, 1.530000, 1.480000, 1.410000, 1.360000, 1.320000, 1.270000, 1.230000, 1.180000, 1.150000, 1.120000, 1.080000, 1.050000, 1.010000, 1.000000, 0.970000, 0.940000, 0.930000, 0.900000, 0.880000, 0.860000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.580000, 0.580000, 0.570000, 0.570000, 0.590000, 0.600000, 0.630000, 0.640000, 1.850000, 1.840000, 1.830000, 1.830000, 1.820000, 1.810000, 1.810000, 1.810000, 1.800000, 1.800000, 1.800000, 1.810000, 1.800000, 1.800000, 1.810000, 1.800000, 1.800000, 1.800000, 1.800000, 1.810000, 1.810000, 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": [ 976054545, 106400 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.374000, 1.272000, -0.254425 ], "estimate": [ 3.374000, 1.272000, -0.254425 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.770000, 2.790000, 2.800000, 2.820000, 2.500000, 2.500000, 2.880000, 2.910000, 2.800000, 2.100000, 2.970000, 3.000000, 3.030000, 3.070000, 2.860000, 2.650000, 3.160000, 3.190000, 2.500000, 2.440000, 2.370000, 2.230000, 2.210000, 2.420000, 2.470000, 2.500000, 2.550000, 2.590000, 2.650000, 2.650000, 2.590000, 2.590000, 3.280000, 3.240000, 3.210000, 3.160000, 3.150000, null, 1.770000, 1.760000, 1.750000, 1.750000, 2.890000, 2.870000, 2.750000, 2.640000, 2.640000, 2.770000, 2.750000, 2.730000, 2.710000, 2.690000, 2.670000, 2.650000, 2.630000, 2.620000, 2.610000, 2.590000, 2.580000, 2.570000, 2.560000, 2.550000, 2.540000, 2.530000, 2.520000, 2.520000, 2.510000, 2.510000, 2.510000, 2.510000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.510000, 1.560000, 1.510000, 1.580000, 2.510000, 2.520000, 2.530000, 2.540000, 2.550000, 2.420000, 2.250000, 2.110000, 1.990000, 1.880000, 1.790000, 1.700000, 1.620000, 1.550000, 1.490000, 1.420000, 1.380000, 1.330000, 1.270000, 1.240000, 1.190000, 1.150000, 1.120000, 1.090000, 1.050000, 1.010000, 1.000000, 0.970000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.730000, 0.710000, 0.710000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.630000, 0.760000, 1.830000, 1.820000, 1.810000, 1.810000, 1.810000, 1.810000, 1.800000, 1.790000, 1.790000, 1.790000, 1.790000, 1.790000, 1.790000, 1.790000, 1.800000, 1.800000, 1.790000, 1.790000, 1.800000, 1.800000, 1.810000, 1.810000, 1.820000, 1.820000, 1.830000, 1.830000, 1.840000, 1.850000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054545, 126505 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.374000, 1.272000, -0.156096 ], "estimate": [ 3.374000, 1.272000, -0.156096 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.890000, 2.920000, 2.110000, 2.110000, 3.000000, 3.020000, 3.050000, 3.080000, 2.630000, 2.590000, 3.180000, 2.710000, 2.500000, 2.450000, 2.390000, 2.210000, 2.190000, 2.440000, 2.480000, 2.530000, 2.580000, 2.620000, 2.800000, 2.610000, 2.590000, 2.580000, 3.290000, 3.190000, 3.200000, 3.160000, 1.850000, null, 1.770000, 1.750000, 1.750000, 2.940000, 2.900000, 2.870000, 2.660000, 2.650000, 2.720000, 2.770000, 2.750000, 2.730000, 2.710000, 2.690000, 2.670000, 2.650000, 2.630000, 2.630000, 2.610000, 2.600000, 2.580000, 2.570000, 2.560000, 2.550000, 2.550000, 2.540000, 2.520000, 2.520000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 2.500000, 2.500000, 2.500000, 2.490000, 2.500000, 2.510000, 1.720000, 1.300000, 1.290000, 1.290000, 2.520000, 2.520000, 2.540000, 2.540000, 2.550000, 2.350000, 2.200000, 2.050000, 1.940000, 1.830000, 1.740000, 1.650000, 1.580000, 1.530000, 1.450000, 1.390000, 1.350000, 1.290000, 1.240000, 1.210000, 1.160000, 1.140000, 1.100000, 1.060000, 1.030000, 1.010000, 0.980000, 0.950000, 0.930000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 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, 0.600000, 0.560000, 0.560000, 0.550000, 0.550000, 0.560000, 0.580000, 0.610000, 0.630000, 0.650000, 1.830000, 1.820000, 1.810000, 1.800000, 1.810000, 1.800000, 1.790000, 1.790000, 1.780000, 1.780000, 1.790000, 1.780000, 1.780000, 1.790000, 1.790000, 1.780000, 1.780000, 1.790000, 1.780000, 1.790000, 1.790000, 1.800000, 1.810000, 1.810000, 1.810000, 1.820000, 1.820000, 1.830000, 1.840000, 1.850000, 1.860000, 1.880000, 1.880000, 1.900000, 1.910000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054545, 206254 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.375000, 1.272000, -0.076205 ], "estimate": [ 3.375000, 1.272000, -0.076205 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.010000, 3.040000, 3.070000, 3.090000, 2.630000, 2.870000, 3.200000, 2.530000, 2.480000, 2.420000, 2.390000, 2.230000, 2.260000, 2.480000, 2.510000, 2.560000, 2.600000, 2.660000, 2.660000, 2.630000, 2.600000, 2.810000, 3.100000, 3.230000, 3.190000, 3.170000, null, 1.770000, 1.770000, 1.770000, 1.740000, 2.930000, 2.890000, 2.850000, 2.630000, 2.650000, 2.780000, 2.760000, 2.740000, 2.730000, 2.710000, 2.680000, 2.660000, 2.650000, 2.630000, 2.620000, 2.610000, 2.590000, 2.580000, 2.570000, 2.560000, 2.550000, 2.540000, 2.530000, 2.520000, 2.520000, 2.520000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 2.500000, 2.500000, 2.510000, 2.510000, 2.500000, 1.290000, 1.310000, 1.310000, 2.520000, 2.520000, 2.530000, 2.550000, 2.550000, 2.440000, 2.260000, 2.120000, 1.990000, 1.880000, 1.770000, 1.690000, 1.620000, 1.540000, 1.480000, 1.410000, 1.370000, 1.310000, 1.260000, 1.220000, 1.170000, 1.140000, 1.100000, 1.070000, 1.030000, 1.010000, 0.980000, 0.950000, 0.940000, 0.910000, 0.880000, 0.860000, 0.850000, 0.820000, 0.820000, 0.800000, 0.790000, 0.770000, 0.760000, 0.730000, 0.720000, 0.710000, 0.700000, 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, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.600000, 0.610000, 0.620000, 1.830000, 1.820000, 1.810000, 1.800000, 1.800000, 1.800000, 1.790000, 1.790000, 1.780000, 1.780000, 1.780000, 1.770000, 1.770000, 1.780000, 1.780000, 1.780000, 1.770000, 1.770000, 1.770000, 1.780000, 1.780000, 1.790000, 1.800000, 1.810000, 1.800000, 1.800000, 1.810000, 1.820000, 1.830000, 1.840000, 1.850000, 1.860000, 1.880000, 1.880000, 1.910000, 1.910000, 1.920000, 1.940000, 1.960000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054546, 823429 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.374000, 1.272000, 0.015978 ], "estimate": [ 3.374000, 1.272000, 0.015978 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.180000, 3.220000, 2.520000, 2.480000, 2.410000, 2.280000, 2.250000, 2.450000, 2.490000, 2.530000, 2.590000, 2.630000, 2.680000, 2.670000, 2.630000, 2.620000, 3.320000, 3.270000, 3.230000, 3.190000, 3.180000, null, 1.800000, 1.780000, 1.760000, 2.940000, 2.920000, 2.890000, 2.780000, 2.660000, 2.680000, 2.790000, 2.760000, 2.730000, 2.730000, 2.710000, 2.680000, 2.660000, 2.650000, 2.640000, 2.620000, 2.610000, 2.600000, 2.580000, 2.570000, 2.560000, 2.550000, 2.550000, 2.540000, 2.530000, 2.530000, 2.520000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 1.330000, 1.340000, 1.340000, 2.520000, 2.530000, 2.540000, 2.550000, 2.550000, 2.560000, 2.340000, 2.180000, 2.050000, 1.920000, 1.810000, 1.730000, 1.650000, 1.570000, 1.500000, 1.440000, 1.380000, 1.330000, 1.280000, 1.230000, 1.190000, 1.150000, 1.120000, 1.080000, 1.040000, 1.010000, 0.990000, 0.950000, 0.940000, 0.910000, 0.880000, 0.870000, 0.850000, 0.820000, 0.820000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.560000, 0.590000, 0.600000, 0.610000, 1.820000, 1.820000, 1.810000, 1.800000, 1.800000, 1.800000, 1.790000, 1.780000, 1.780000, 1.770000, 1.770000, 1.770000, 1.770000, 1.770000, 1.780000, 1.770000, 1.770000, 1.770000, 1.760000, 1.770000, 1.770000, 1.780000, 1.790000, 1.790000, 1.800000, 1.800000, 1.800000, 1.800000, 1.810000, 1.820000, 1.830000, 1.850000, 1.860000, 1.870000, 1.880000, 1.880000, 1.900000, 1.930000, 1.940000, 1.960000, 1.980000, 2.010000, 2.030000, 2.050000, 2.070000, 2.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054546, 836549 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.374000, 1.272000, 0.102016 ], "estimate": [ 3.374000, 1.272000, 0.102016 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.400000, 2.250000, 2.250000, 2.490000, 2.530000, 2.580000, 2.610000, 2.670000, 2.690000, 2.650000, 2.610000, 2.660000, 3.250000, 3.250000, 3.210000, 3.200000, null, 1.810000, 1.790000, 1.760000, 1.770000, 2.940000, 2.910000, 2.870000, 2.640000, 2.640000, 2.790000, 2.770000, 2.750000, 2.730000, 2.710000, 2.700000, 2.680000, 2.670000, 2.640000, 2.630000, 2.620000, 2.610000, 2.590000, 2.580000, 2.570000, 2.560000, 2.560000, 2.550000, 2.540000, 2.530000, 2.530000, 2.520000, 2.520000, 2.520000, 2.510000, 2.520000, 2.520000, 2.510000, 2.510000, 2.510000, 1.340000, 1.340000, 1.630000, 2.530000, 2.540000, 2.540000, 2.550000, 2.550000, 2.560000, 2.370000, 2.210000, 2.050000, 1.940000, 1.830000, 1.730000, 1.650000, 1.560000, 1.510000, 1.440000, 1.380000, 1.330000, 1.280000, 1.230000, 1.190000, 1.150000, 1.120000, 1.080000, 1.040000, 1.010000, 0.990000, 0.960000, 0.940000, 0.910000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.770000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.580000, 0.600000, 0.650000, 1.820000, 1.810000, 1.810000, 1.800000, 1.800000, 1.790000, 1.790000, 1.780000, 1.770000, 1.770000, 1.760000, 1.760000, 1.760000, 1.760000, 1.770000, 1.770000, 1.760000, 1.760000, 1.760000, 1.760000, 1.760000, 1.770000, 1.780000, 1.790000, 1.790000, 1.790000, 1.810000, 1.800000, 1.810000, 1.820000, 1.820000, 1.840000, 1.850000, 1.870000, 1.880000, 1.880000, 1.890000, 1.910000, 1.940000, 1.950000, 1.980000, 1.990000, 2.010000, 2.040000, 2.060000, 2.080000, 2.110000, 2.140000, 2.180000, 2.210000, 2.230000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054546, 846629 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.375000, 1.272000, 0.188053 ], "estimate": [ 3.375000, 1.272000, 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": [ 2.580000, 2.630000, 2.680000, 2.690000, 2.650000, 2.650000, 2.750000, 3.300000, 3.250000, 3.210000, 3.200000, null, 1.810000, 1.800000, 1.790000, 2.930000, 2.950000, 2.910000, 2.880000, 2.670000, 2.650000, 2.800000, 2.780000, 2.750000, 2.730000, 2.720000, 2.700000, 2.690000, 2.670000, 2.650000, 2.640000, 2.630000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.560000, 2.550000, 2.550000, 2.540000, 2.530000, 2.530000, 2.520000, 2.520000, 2.520000, 2.520000, 2.520000, 2.520000, 2.520000, 2.520000, 1.360000, 1.330000, 1.740000, 2.540000, 2.540000, 2.550000, 2.550000, 2.570000, 2.570000, 2.340000, 2.170000, 2.020000, 1.910000, 1.800000, 1.710000, 1.620000, 1.540000, 1.480000, 1.430000, 1.370000, 1.300000, 1.270000, 1.210000, 1.160000, 1.140000, 1.100000, 1.060000, 1.030000, 1.000000, 0.980000, 0.940000, 0.920000, 0.900000, 0.870000, 0.850000, 0.820000, 0.820000, 0.800000, 0.790000, 0.770000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.590000, 0.590000, 0.580000, 1.820000, 1.810000, 1.800000, 1.800000, 1.790000, 1.800000, 1.790000, 1.780000, 1.770000, 1.760000, 1.760000, 1.760000, 1.750000, 1.750000, 1.760000, 1.760000, 1.760000, 1.760000, 1.750000, 1.750000, 1.750000, 1.770000, 1.760000, 1.770000, 1.780000, 1.790000, 1.800000, 1.800000, 1.800000, 1.800000, 1.810000, 1.820000, 1.830000, 1.840000, 1.860000, 1.870000, 1.870000, 1.890000, 1.910000, 1.930000, 1.940000, 1.960000, 1.990000, 2.010000, 2.030000, 2.060000, 2.080000, 2.110000, 2.140000, 2.170000, 2.200000, 2.220000, 2.270000, 2.310000, 2.340000, 2.380000, 2.430000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054546, 856080 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.376000, 1.272000, 0.292527 ], "estimate": [ 3.376000, 1.272000, 0.292527 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.170000, 3.300000, 3.250000, 3.210000, 3.200000, null, 1.810000, 1.820000, 1.810000, 2.980000, 2.950000, 2.910000, 2.880000, 2.720000, 2.680000, 2.780000, 2.790000, 2.760000, 2.750000, 2.720000, 2.710000, 2.690000, 2.670000, 2.660000, 2.640000, 2.630000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.560000, 2.560000, 2.540000, 2.540000, 2.530000, 2.530000, 2.530000, 2.520000, 2.520000, 2.530000, 2.530000, 2.530000, 2.520000, 1.330000, 1.330000, 2.540000, 2.540000, 2.550000, 2.560000, 2.560000, 2.570000, 2.480000, 2.280000, 2.110000, 1.970000, 1.860000, 1.760000, 1.670000, 1.590000, 1.530000, 1.450000, 1.390000, 1.350000, 1.290000, 1.240000, 1.190000, 1.160000, 1.130000, 1.090000, 1.050000, 1.010000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.860000, 0.850000, 0.820000, 0.800000, 0.800000, 0.780000, 0.760000, 0.740000, 0.720000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.580000, 0.590000, 0.610000, 0.620000, 1.820000, 1.800000, 1.800000, 1.800000, 1.790000, 1.780000, 1.780000, 1.770000, 1.770000, 1.760000, 1.760000, 1.750000, 1.740000, 1.740000, 1.750000, 1.760000, 1.750000, 1.750000, 1.750000, 1.750000, 1.750000, 1.760000, 1.760000, 1.760000, 1.770000, 1.780000, 1.790000, 1.790000, 1.800000, 1.800000, 1.800000, 1.810000, 1.820000, 1.840000, 1.850000, 1.870000, 1.870000, 1.890000, 1.910000, 1.930000, 1.940000, 1.960000, 1.990000, 2.010000, 2.040000, 2.060000, 2.080000, 2.110000, 2.130000, 2.160000, 2.190000, 2.220000, 2.270000, 2.310000, 2.340000, 2.390000, 2.430000, 2.480000, 2.520000, 2.580000, 2.630000, 1.010000 ], "valid": [ 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, 1, 1 ], "timestamp": [ 976054546, 176005 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.377000, 1.272000, 0.390855 ], "estimate": [ 3.377000, 1.272000, 0.390855 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.870000, 1.840000, 1.810000, 1.810000, 2.990000, 2.970000, 2.930000, 2.900000, 2.780000, 2.690000, 2.720000, 2.800000, 2.780000, 2.750000, 2.740000, 2.730000, 2.700000, 2.680000, 2.670000, 2.650000, 2.630000, 2.630000, 2.620000, 2.610000, 2.590000, 2.580000, 2.570000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.540000, 2.540000, 2.540000, 2.530000, 2.540000, 2.530000, 2.530000, 2.530000, 1.360000, 1.760000, 2.550000, 2.550000, 2.560000, 2.570000, 2.580000, 2.580000, 2.440000, 2.250000, 2.100000, 1.970000, 1.850000, 1.730000, 1.650000, 1.570000, 1.510000, 1.430000, 1.370000, 1.330000, 1.270000, 1.230000, 1.180000, 1.140000, 1.110000, 1.070000, 1.040000, 1.010000, 0.980000, 0.940000, 0.930000, 0.900000, 0.870000, 0.850000, 0.840000, 0.820000, 0.810000, 0.790000, 0.780000, 0.760000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.590000, 0.590000, 0.600000, 0.650000, 1.820000, 1.800000, 1.800000, 1.790000, 1.790000, 1.790000, 1.780000, 1.770000, 1.760000, 1.750000, 1.750000, 1.750000, 1.740000, 1.740000, 1.750000, 1.760000, 1.750000, 1.750000, 1.740000, 1.740000, 1.740000, 1.740000, 1.750000, 1.750000, 1.770000, 1.770000, 1.780000, 1.790000, 1.790000, 1.800000, 1.800000, 1.800000, 1.810000, 1.820000, 1.830000, 1.850000, 1.870000, 1.870000, 1.880000, 1.900000, 1.930000, 1.940000, 1.960000, 1.990000, 2.010000, 2.030000, 2.060000, 2.080000, 2.100000, 2.130000, 2.160000, 2.200000, 2.220000, 2.270000, 2.310000, 2.340000, 2.390000, 2.440000, 2.480000, 2.520000, 2.580000, 2.630000, 1.030000, 0.960000, 0.940000, 0.910000, 0.900000, 0.840000, 0.810000 ], "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": [ 976054546, 560951 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.376000, 1.272000, 0.458456 ], "estimate": [ 3.376000, 1.272000, 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": [ 2.990000, 2.970000, 2.930000, 2.900000, 2.860000, 2.670000, 2.710000, 2.800000, 2.780000, 2.760000, 2.740000, 2.730000, 2.710000, 2.690000, 2.680000, 2.660000, 2.640000, 2.630000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.570000, 2.560000, 2.550000, 2.550000, 2.550000, 2.540000, 2.540000, 2.540000, 2.550000, 2.540000, 2.540000, 1.660000, 1.360000, 2.550000, 2.560000, 2.560000, 2.570000, 2.570000, 2.580000, 2.590000, 2.410000, 2.240000, 2.080000, 1.950000, 1.820000, 1.720000, 1.630000, 1.560000, 1.500000, 1.420000, 1.370000, 1.310000, 1.260000, 1.210000, 1.180000, 1.130000, 1.110000, 1.060000, 1.030000, 1.000000, 0.970000, 0.940000, 0.920000, 0.900000, 0.870000, 0.850000, 0.830000, 0.810000, 0.790000, 0.790000, 0.770000, 0.750000, 0.730000, 0.720000, 0.710000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.560000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.570000, 0.580000, 0.600000, 0.760000, 1.820000, 1.810000, 1.800000, 1.800000, 1.790000, 1.780000, 1.790000, 1.780000, 1.770000, 1.760000, 1.750000, 1.750000, 1.740000, 1.740000, 1.740000, 1.740000, 1.750000, 1.750000, 1.750000, 1.750000, 1.740000, 1.740000, 1.740000, 1.740000, 1.750000, 1.760000, 1.770000, 1.780000, 1.780000, 1.790000, 1.790000, 1.800000, 1.800000, 1.810000, 1.820000, 1.830000, 1.850000, 1.860000, 1.870000, 1.880000, 1.900000, 1.920000, 1.940000, 1.960000, 1.980000, 2.010000, 2.030000, 2.060000, 2.080000, 2.100000, 2.120000, 2.160000, 2.200000, 2.220000, 2.270000, 2.310000, 2.340000, 2.390000, 2.430000, 2.480000, 2.520000, 2.580000, 2.630000, 0.990000, 0.950000, 0.930000, 0.900000, 0.900000, 0.830000, 0.810000, 0.780000, 0.770000, 0.760000, 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": [ 976054546, 566612 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.376000, 1.272000, 0.562930 ], "estimate": [ 3.376000, 1.272000, 0.562930 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.680000, 2.800000, 2.780000, 2.760000, 2.740000, 2.730000, 2.710000, 2.690000, 2.670000, 2.660000, 2.650000, 2.640000, 2.630000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.570000, 2.560000, 2.560000, 2.550000, 2.550000, 2.550000, 2.550000, 2.560000, 2.540000, 2.550000, 1.360000, 1.360000, 2.560000, 2.570000, 2.570000, 2.580000, 2.580000, 2.590000, 2.600000, 2.380000, 2.200000, 2.030000, 1.910000, 1.790000, 1.710000, 1.620000, 1.540000, 1.460000, 1.410000, 1.350000, 1.300000, 1.250000, 1.190000, 1.160000, 1.120000, 1.090000, 1.050000, 1.020000, 0.990000, 0.960000, 0.930000, 0.920000, 0.890000, 0.870000, 0.850000, 0.820000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.560000, 0.570000, 0.580000, 0.580000, 0.640000, 1.480000, 1.500000, 1.800000, 1.800000, 1.800000, 1.790000, 1.790000, 1.780000, 1.770000, 1.760000, 1.740000, 1.280000, 1.280000, 1.260000, 1.260000, 1.270000, 1.290000, 1.350000, 1.740000, 1.740000, 1.740000, 1.740000, 1.740000, 1.740000, 1.730000, 1.750000, 1.760000, 1.760000, 1.770000, 1.780000, 1.780000, 1.790000, 1.790000, 1.800000, 1.800000, 1.820000, 1.830000, 1.840000, 1.860000, 1.870000, 1.880000, 1.900000, 1.920000, 1.940000, 1.960000, 1.980000, 2.010000, 2.030000, 2.060000, 2.080000, 2.110000, 2.120000, 2.160000, 2.190000, 2.220000, 2.270000, 2.310000, 2.340000, 2.390000, 2.430000, 2.480000, 2.520000, 2.580000, 2.630000, 0.960000, 0.940000, 0.900000, 0.890000, 0.890000, 0.810000, 0.790000, 0.770000, 0.750000, 0.730000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054547, 454779 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.376000, 1.272000, 0.661259 ], "estimate": [ 3.376000, 1.272000, 0.661259 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.730000, 2.710000, 2.690000, 2.670000, 2.660000, 2.640000, 2.640000, 2.630000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.580000, 2.570000, 2.570000, 2.570000, 2.560000, 2.560000, 2.560000, 2.560000, 2.550000, 2.550000, 1.730000, 1.340000, 2.550000, 2.570000, 2.570000, 2.580000, 2.590000, 2.600000, 2.600000, 2.460000, 2.260000, 2.100000, 1.960000, 1.840000, 1.730000, 1.630000, 1.560000, 1.500000, 1.430000, 1.370000, 1.320000, 1.260000, 1.220000, 1.180000, 1.140000, 1.100000, 1.060000, 1.020000, 1.000000, 0.970000, 0.930000, 0.910000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.560000, 0.550000, 0.570000, 0.580000, 0.610000, 0.800000, 1.830000, 1.820000, 1.800000, 1.800000, 1.800000, 1.790000, 1.770000, 1.440000, 1.430000, 1.420000, 1.420000, 1.410000, 1.400000, 1.400000, 1.410000, 1.590000, 1.730000, 1.260000, 1.250000, 1.250000, 1.250000, 1.250000, 1.270000, 1.280000, 1.730000, 1.730000, 1.750000, 1.760000, 1.760000, 1.760000, 1.770000, 1.780000, 1.790000, 1.800000, 1.800000, 1.800000, 1.820000, 1.830000, 1.850000, 1.870000, 1.870000, 1.880000, 1.900000, 1.920000, 1.950000, 1.960000, 1.990000, 2.010000, 2.040000, 2.060000, 2.090000, 2.120000, 2.140000, 2.170000, 2.200000, 2.240000, 2.280000, 2.320000, 2.360000, 2.410000, 2.450000, 2.490000, 2.550000, 2.610000, 0.980000, 0.940000, 0.910000, 0.890000, 0.880000, 0.810000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054547, 663400 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.376000, 1.272000, 0.747296 ], "estimate": [ 3.376000, 1.272000, 0.747296 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.650000, 2.650000, 2.630000, 2.620000, 2.610000, 2.600000, 2.590000, 2.590000, 2.580000, 2.570000, 2.570000, 2.570000, 2.570000, 2.570000, 2.560000, 2.580000, 2.570000, 2.570000, 1.370000, 1.390000, 2.570000, 2.580000, 2.580000, 2.590000, 2.600000, 2.610000, 2.610000, 2.400000, 2.220000, 2.060000, 1.910000, 1.790000, 1.700000, 1.620000, 1.530000, 1.470000, 1.400000, 1.350000, 1.300000, 1.250000, 1.190000, 1.150000, 1.120000, 1.080000, 1.050000, 1.020000, 0.990000, 0.950000, 0.930000, 0.890000, 0.880000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.750000, 0.730000, 0.730000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.630000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.560000, 0.560000, 0.560000, 0.590000, 0.610000, 0.790000, 1.840000, 1.820000, 1.810000, 1.800000, 1.800000, 1.800000, 1.790000, 1.780000, 1.770000, 1.760000, 1.750000, 1.740000, 1.730000, 1.730000, 1.730000, 1.740000, 1.740000, 1.730000, 1.740000, 1.740000, 1.290000, 1.270000, 1.250000, 1.250000, 1.260000, 1.270000, 1.260000, 1.730000, 1.750000, 1.760000, 1.760000, 1.770000, 1.780000, 1.460000, 1.450000, 1.440000, 1.440000, 1.450000, 1.830000, 1.850000, 1.870000, 1.870000, 1.880000, 1.900000, 1.930000, 1.950000, 1.970000, 1.990000, 2.020000, 2.050000, 2.060000, 2.090000, 2.120000, 2.140000, 2.180000, 2.210000, 2.250000, 2.290000, 2.320000, 2.370000, 2.420000, 2.460000, 2.500000, 2.560000, 2.610000, 0.940000, 0.920000, 0.890000, 0.870000, 0.870000, 0.790000, 0.770000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.660000, 0.660000, 0.650000, 0.640000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 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": [ 976054547, 166633 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.376000, 1.272000, 0.827188 ], "estimate": [ 3.376000, 1.272000, 0.827188 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.580000, 2.580000, 2.570000, 2.570000, 2.570000, 2.580000, 2.570000, 2.570000, 1.390000, 1.380000, 2.580000, 2.590000, 2.590000, 2.600000, 2.610000, 2.610000, 2.620000, 2.410000, 2.220000, 2.050000, 1.910000, 1.790000, 1.700000, 1.600000, 1.520000, 1.450000, 1.390000, 1.350000, 1.290000, 1.240000, 1.190000, 1.140000, 1.120000, 1.080000, 1.050000, 1.010000, 0.980000, 0.950000, 0.920000, 0.900000, 0.880000, 0.860000, 0.840000, 0.810000, 0.790000, 0.780000, 0.760000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.560000, 0.560000, 0.590000, 0.600000, 0.650000, 1.850000, 1.830000, 1.820000, 1.810000, 1.800000, 1.800000, 1.790000, 1.780000, 1.780000, 1.770000, 1.760000, 1.750000, 1.740000, 1.740000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.740000, 1.740000, 1.740000, 1.730000, 1.740000, 1.730000, 1.730000, 1.730000, 1.730000, 1.290000, 1.270000, 1.270000, 1.270000, 1.280000, 1.280000, 1.280000, 1.290000, 1.790000, 1.800000, 1.810000, 1.840000, 1.850000, 1.860000, 1.560000, 1.540000, 1.520000, 1.520000, 1.540000, 1.960000, 1.990000, 2.010000, 2.040000, 2.060000, 2.090000, 2.120000, 2.140000, 2.180000, 2.200000, 2.240000, 2.290000, 2.320000, 2.370000, 2.410000, 2.450000, 2.500000, 2.550000, 0.970000, 0.930000, 0.900000, 0.880000, 0.870000, 0.870000, 0.780000, 0.760000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.670000, 0.670000, 0.650000, 0.650000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054547, 608950 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.376000, 1.272000, 0.913225 ], "estimate": [ 3.376000, 1.272000, 0.913225 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.610000, 2.590000, 2.590000, 2.590000, 2.580000, 2.580000, 2.590000, 2.590000, 2.580000, 1.430000, 1.400000, 1.390000, 2.590000, 2.600000, 2.600000, 2.610000, 2.620000, 2.630000, 2.520000, 2.330000, 2.150000, 1.990000, 1.860000, 1.750000, 1.660000, 1.560000, 1.490000, 1.420000, 1.370000, 1.320000, 1.250000, 1.210000, 1.170000, 1.120000, 1.100000, 1.060000, 1.020000, 1.000000, 0.970000, 0.930000, 0.910000, 0.880000, 0.870000, 0.850000, 0.820000, 0.800000, 0.790000, 0.770000, 0.750000, 0.740000, 0.720000, 0.710000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.550000, 0.570000, 0.590000, 0.590000, 0.610000, 0.670000, 1.860000, 1.840000, 1.830000, 1.820000, 1.800000, 1.800000, 1.790000, 1.790000, 1.780000, 1.770000, 1.760000, 1.750000, 1.740000, 1.740000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.720000, 1.730000, 1.720000, 1.740000, 1.740000, 1.750000, 1.760000, 1.770000, 1.780000, 1.790000, 1.790000, 1.800000, 1.800000, 1.810000, 1.830000, 1.850000, 1.870000, 1.870000, 1.590000, 1.570000, 1.560000, 1.550000, 1.560000, 1.490000, 1.460000, 1.450000, 1.460000, 1.460000, 1.490000, 1.520000, 2.190000, 2.220000, 2.260000, 2.300000, 2.330000, 2.380000, 2.430000, 2.470000, 2.520000, 2.580000, 0.930000, 0.900000, 0.880000, 0.870000, 0.860000, 0.780000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 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, 0.530000, 0.530000, 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": [ 976054547, 610106 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.376000, 1.273000, 0.968535 ], "estimate": [ 3.376000, 1.273000, 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": [ 2.590000, 2.590000, 2.580000, 2.590000, 2.590000, 2.580000, 1.400000, 1.430000, 2.600000, 2.600000, 2.600000, 2.610000, 2.620000, 2.630000, 2.630000, 2.390000, 2.210000, 2.050000, 1.920000, 1.790000, 1.700000, 1.600000, 1.520000, 1.460000, 1.390000, 1.330000, 1.280000, 1.240000, 1.180000, 1.140000, 1.110000, 1.070000, 1.030000, 1.010000, 0.980000, 0.950000, 0.920000, 0.890000, 0.870000, 0.860000, 0.830000, 0.810000, 0.790000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.590000, 0.560000, 0.550000, 0.550000, 0.540000, 0.550000, 0.550000, 0.580000, 0.580000, 0.600000, 0.620000, 0.730000, 1.870000, 1.850000, 1.840000, 1.820000, 1.810000, 1.800000, 1.800000, 1.790000, 1.780000, 1.780000, 1.760000, 1.760000, 1.740000, 1.730000, 1.730000, 1.730000, 1.720000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.740000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.740000, 1.750000, 1.760000, 1.770000, 1.770000, 1.780000, 1.790000, 1.790000, 1.800000, 1.800000, 1.820000, 1.840000, 1.850000, 1.880000, 1.880000, 1.900000, 1.920000, 1.620000, 1.590000, 1.580000, 1.580000, 1.590000, 1.850000, 2.090000, 2.120000, 2.140000, 2.170000, 2.200000, 2.240000, 2.290000, 2.320000, 1.700000, 1.670000, 1.660000, 1.670000, 1.680000, 0.950000, 0.900000, 0.890000, 0.870000, 0.850000, 0.790000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.640000, 0.640000, 0.620000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 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": [ 976054547, 826272 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.376000, 1.273000, 0.986971 ], "estimate": [ 3.376000, 1.273000, 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": [ 2.580000, 2.590000, 2.590000, 2.580000, 1.390000, 1.400000, 2.610000, 2.620000, 2.620000, 2.620000, 2.630000, 2.640000, 2.640000, 2.450000, 2.260000, 2.090000, 1.960000, 1.830000, 1.710000, 1.620000, 1.550000, 1.480000, 1.400000, 1.350000, 1.300000, 1.240000, 1.200000, 1.150000, 1.120000, 1.090000, 1.050000, 1.010000, 0.990000, 0.960000, 0.930000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 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, 0.630000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.560000, 0.550000, 0.540000, 0.530000, 0.560000, 0.550000, 0.580000, 0.580000, 0.590000, 0.610000, 0.740000, 1.870000, 1.860000, 1.840000, 1.830000, 1.820000, 1.810000, 1.810000, 1.790000, 1.790000, 1.780000, 1.770000, 1.760000, 1.760000, 1.750000, 1.740000, 1.740000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.740000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.720000, 1.740000, 1.740000, 1.750000, 1.760000, 1.760000, 1.770000, 1.780000, 1.780000, 1.800000, 1.810000, 1.810000, 1.820000, 1.830000, 1.850000, 1.870000, 1.880000, 1.900000, 1.920000, 1.940000, 1.950000, 1.980000, 2.000000, 2.030000, 2.050000, 2.080000, 2.110000, 2.140000, 2.170000, 2.210000, 2.240000, 1.780000, 1.770000, 1.770000, 1.780000, 1.800000, 1.840000, 1.730000, 1.030000, 0.910000, 0.890000, 0.870000, 0.860000, 0.790000, 0.770000, 0.750000, 0.730000, 0.720000, 0.700000, 0.700000, 0.690000, 0.680000, 0.660000, 0.650000, 0.640000, 0.640000, 0.620000, 0.610000, 0.610000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 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": [ 976054548, 184097 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.376000, 1.272000, 1.017699 ], "estimate": [ 3.376000, 1.272000, 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": [ 2.590000, 2.590000, 2.590000, 1.400000, 1.410000, 2.610000, 2.620000, 2.620000, 2.630000, 2.630000, 2.640000, 2.640000, 2.410000, 2.220000, 2.060000, 1.940000, 1.810000, 1.690000, 1.610000, 1.530000, 1.460000, 1.400000, 1.340000, 1.280000, 1.240000, 1.190000, 1.150000, 1.120000, 1.080000, 1.040000, 1.000000, 0.980000, 0.950000, 0.920000, 0.910000, 0.870000, 0.860000, 0.830000, 0.810000, 0.790000, 0.780000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.560000, 0.550000, 0.540000, 0.540000, 0.560000, 0.560000, 0.570000, 0.570000, 0.600000, 0.630000, 1.130000, 1.870000, 1.850000, 1.830000, 1.830000, 1.820000, 1.810000, 1.810000, 1.790000, 1.780000, 1.780000, 1.770000, 1.760000, 1.750000, 1.750000, 1.740000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.720000, 1.730000, 1.720000, 1.730000, 1.730000, 1.730000, 1.730000, 1.740000, 1.740000, 1.750000, 1.750000, 1.760000, 1.760000, 1.770000, 1.780000, 1.790000, 1.800000, 1.810000, 1.810000, 1.820000, 1.840000, 1.850000, 1.870000, 1.880000, 1.900000, 1.930000, 1.940000, 1.960000, 1.990000, 2.010000, 2.030000, 2.060000, 2.080000, 2.110000, 2.140000, 2.180000, 2.210000, 2.250000, 2.280000, 2.310000, 2.360000, 2.410000, 2.460000, 2.490000, 2.550000, 0.960000, 0.910000, 0.890000, 0.860000, 0.850000, 0.790000, 0.760000, 0.740000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 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": [ 976054548, 185335 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.376000, 1.272000, 1.060718 ], "estimate": [ 3.376000, 1.272000, 1.060718 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.600000, 1.390000, 1.880000, 2.610000, 2.620000, 2.620000, 2.630000, 2.640000, 2.640000, 2.620000, 2.370000, 2.190000, 2.030000, 1.900000, 1.770000, 1.680000, 1.600000, 1.510000, 1.440000, 1.380000, 1.330000, 1.260000, 1.230000, 1.170000, 1.140000, 1.100000, 1.070000, 1.030000, 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, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.590000, 0.560000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.580000, 0.560000, 0.600000, 0.620000, 0.680000, 1.880000, 1.860000, 1.850000, 1.830000, 1.830000, 1.810000, 1.810000, 1.800000, 1.790000, 1.780000, 1.770000, 1.770000, 1.750000, 1.750000, 1.740000, 1.740000, 1.730000, 1.730000, 1.730000, 1.730000, 1.720000, 1.720000, 1.730000, 1.720000, 1.730000, 1.720000, 1.730000, 1.730000, 1.730000, 1.730000, 1.740000, 1.750000, 1.750000, 1.760000, 1.770000, 1.770000, 1.780000, 1.790000, 1.800000, 1.810000, 1.820000, 1.820000, 1.840000, 1.860000, 1.880000, 1.890000, 1.900000, 1.930000, 1.950000, 1.960000, 1.990000, 2.010000, 2.040000, 2.060000, 2.090000, 2.120000, 2.150000, 2.190000, 2.220000, 2.250000, 2.290000, 2.320000, 2.370000, 2.420000, 2.460000, 2.500000, 2.560000, 0.920000, 0.900000, 0.860000, 0.850000, 0.850000, 0.770000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 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 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054548, 405933 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.375000, 1.271000, 1.122173 ], "estimate": [ 3.375000, 1.271000, 1.122173 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.610000, 2.620000, 2.620000, 2.630000, 2.640000, 2.640000, 2.650000, 2.400000, 2.220000, 2.060000, 1.930000, 1.800000, 1.700000, 1.620000, 1.530000, 1.460000, 1.400000, 1.350000, 1.280000, 1.240000, 1.190000, 1.150000, 1.120000, 1.080000, 1.040000, 1.000000, 0.980000, 0.950000, 0.920000, 0.890000, 0.870000, 0.860000, 0.830000, 0.810000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.710000, 0.710000, 0.690000, 0.690000, 0.680000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.560000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.600000, 0.630000, 0.730000, 1.880000, 1.870000, 1.850000, 1.830000, 1.820000, 1.820000, 1.810000, 1.810000, 1.790000, 1.770000, 1.770000, 1.760000, 1.760000, 1.750000, 1.750000, 1.740000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.720000, 1.720000, 1.720000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.740000, 1.750000, 1.750000, 1.760000, 1.760000, 1.770000, 1.780000, 1.790000, 1.800000, 1.810000, 1.810000, 1.820000, 1.840000, 1.850000, 1.870000, 1.880000, 1.900000, 1.930000, 1.950000, 1.950000, 1.980000, 2.000000, 2.030000, 2.060000, 2.080000, 2.110000, 2.140000, 2.180000, 2.210000, 2.240000, 2.280000, 2.310000, 2.360000, 2.400000, 2.450000, 2.500000, 2.550000, 0.910000, 0.890000, 0.860000, 0.840000, 0.840000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 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, 0.540000, 0.540000, 0.540000, 0.540000, 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 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054549, 134119 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.379000, 1.279000, 1.189774 ], "estimate": [ 3.379000, 1.279000, 1.189774 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.550000, 2.330000, 2.160000, 2.000000, 1.880000, 1.770000, 1.670000, 1.580000, 1.510000, 1.440000, 1.370000, 1.330000, 1.260000, 1.220000, 1.170000, 1.130000, 1.110000, 1.060000, 1.020000, 1.000000, 0.960000, 0.930000, 0.910000, 0.880000, 0.870000, 0.850000, 0.820000, 0.800000, 0.790000, 0.770000, 0.750000, 0.740000, 0.720000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.560000, 0.550000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.560000, 0.600000, 0.620000, 0.680000, 1.880000, 1.880000, 1.860000, 1.840000, 1.830000, 1.810000, 1.810000, 1.810000, 1.800000, 1.790000, 1.790000, 1.770000, 1.760000, 1.750000, 1.750000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.720000, 1.730000, 1.730000, 1.720000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.730000, 1.740000, 1.750000, 1.750000, 1.760000, 1.760000, 1.770000, 1.780000, 1.790000, 1.800000, 1.810000, 1.820000, 1.820000, 1.840000, 1.860000, 1.880000, 1.890000, 1.900000, 1.930000, 1.950000, 1.970000, 1.980000, 2.010000, 2.030000, 2.060000, 2.090000, 2.120000, 2.140000, 2.180000, 2.210000, 2.250000, 2.290000, 2.320000, 2.370000, 2.410000, 2.470000, 2.500000, 0.940000, 0.890000, 0.880000, 0.840000, 0.840000, 0.760000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.660000, 0.660000, 0.640000, 0.640000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 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, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 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": [ 976054549, 136304 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.389000, 1.306000, 1.257375 ], "estimate": [ 3.389000, 1.306000, 1.257375 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.980000, 1.870000, 1.750000, 1.650000, 1.570000, 1.490000, 1.420000, 1.360000, 1.310000, 1.250000, 1.200000, 1.150000, 1.120000, 1.090000, 1.050000, 1.010000, 0.980000, 0.950000, 0.930000, 0.890000, 0.860000, 0.850000, 0.830000, 0.810000, 0.790000, 0.770000, 0.750000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.560000, 0.560000, 0.570000, 0.570000, 0.600000, 0.620000, 0.670000, 1.890000, 1.880000, 1.860000, 1.850000, 1.830000, 1.820000, 1.800000, 1.800000, 1.790000, 1.790000, 1.770000, 1.770000, 1.760000, 1.740000, 1.740000, 1.730000, 1.720000, 1.720000, 1.730000, 1.720000, 1.710000, 1.710000, 1.710000, 1.710000, 1.700000, 1.710000, 1.720000, 1.710000, 1.710000, 1.710000, 1.720000, 1.730000, 1.730000, 1.730000, 1.730000, 1.740000, 1.740000, 1.750000, 1.760000, 1.770000, 1.790000, 1.790000, 1.810000, 1.810000, 1.820000, 1.830000, 1.850000, 1.870000, 1.890000, 1.910000, 1.930000, 1.950000, 1.970000, 1.990000, 2.010000, 2.040000, 2.060000, 2.090000, 2.120000, 2.150000, 2.190000, 2.220000, 2.260000, 2.310000, 2.330000, 2.380000, 2.430000, 2.490000, 1.040000, 0.880000, 0.860000, 0.820000, 0.820000, 0.820000, 0.730000, 0.710000, 0.700000, 0.690000, 0.680000, 0.660000, 0.650000, 0.650000, 0.640000, 0.620000, 0.620000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 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, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054549, 137274 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.405000, 1.364000, 1.318830 ], "estimate": [ 3.405000, 1.364000, 1.318830 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.240000, 1.190000, 1.130000, 1.100000, 1.060000, 1.020000, 0.990000, 0.950000, 0.930000, 0.890000, 0.860000, 0.840000, 0.830000, 0.800000, 0.790000, 0.770000, 0.740000, 0.720000, 0.700000, 0.680000, 0.680000, 0.660000, 0.650000, 0.640000, 0.620000, 0.610000, 0.610000, 0.590000, 0.580000, 0.570000, 0.530000, 0.540000, 0.540000, 0.530000, 0.530000, 0.550000, 0.540000, 0.540000, 0.540000, 0.580000, 0.580000, 0.620000, 0.690000, 1.880000, 1.870000, 1.870000, 1.840000, 1.830000, 1.810000, 1.800000, 1.790000, 1.770000, 1.760000, 1.760000, 1.740000, 1.730000, 1.720000, 1.720000, 1.720000, 1.700000, 1.690000, 1.690000, 1.680000, 1.690000, 1.680000, 1.670000, 1.670000, 1.670000, 1.660000, 1.660000, 1.670000, 1.670000, 1.670000, 1.670000, 1.680000, 1.670000, 1.680000, 1.690000, 1.690000, 1.700000, 1.700000, 1.710000, 1.720000, 1.720000, 1.720000, 1.730000, 1.740000, 1.750000, 1.770000, 1.780000, 1.790000, 1.800000, 1.810000, 1.830000, 1.850000, 1.870000, 1.880000, 1.910000, 1.940000, 1.950000, 1.980000, 2.000000, 2.030000, 2.060000, 2.070000, 2.110000, 2.140000, 2.180000, 2.210000, 2.260000, 2.300000, 2.330000, 2.380000, 2.430000, 2.490000, 0.890000, 0.830000, 0.810000, 0.780000, 0.760000, 0.760000, 0.690000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 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, 0.450000, 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": [ 976054549, 167701 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.425000, 1.439000, 1.312684 ], "estimate": [ 3.425000, 1.439000, 1.312684 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.000000, 0.970000, 0.920000, 0.900000, 0.860000, 0.840000, 0.800000, 0.780000, 0.750000, 0.730000, 0.710000, 0.690000, 0.680000, 0.670000, 0.640000, 0.640000, 0.620000, 0.610000, 0.590000, 0.580000, 0.570000, 0.550000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.550000, 0.570000, 0.610000, 0.750000, 1.910000, 1.880000, 1.870000, 1.850000, 1.820000, 1.800000, 1.800000, 1.790000, 1.770000, 1.750000, 1.740000, 1.720000, 1.710000, 1.700000, 1.690000, 1.670000, 1.690000, 1.670000, 1.650000, 1.650000, 1.630000, 1.620000, 1.620000, 1.620000, 1.620000, 1.620000, 1.620000, 1.610000, 1.610000, 1.600000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.620000, 1.620000, 1.620000, 1.630000, 1.640000, 1.640000, 1.650000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.710000, 1.720000, 1.720000, 1.740000, 1.760000, 1.780000, 1.790000, 1.800000, 1.830000, 1.850000, 1.880000, 1.890000, 1.910000, 1.930000, 1.960000, 1.990000, 2.020000, 2.060000, 2.080000, 2.120000, 2.150000, 2.200000, 2.230000, 2.270000, 2.310000, 2.360000, 2.420000, 2.470000, 2.520000, 0.800000, 0.760000, 0.740000, 0.720000, 0.720000, 0.710000, 0.710000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 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, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.440000, 0.440000, 0.450000, 0.450000, 0.450000, 0.440000, 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": [ 976054549, 641041 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.442000, 1.502000, 1.300393 ], "estimate": [ 3.442000, 1.502000, 1.300393 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.890000, 0.850000, 0.810000, 0.770000, 0.760000, 0.720000, 0.700000, 0.670000, 0.660000, 0.640000, 0.620000, 0.600000, 0.580000, 0.560000, 0.550000, 0.510000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.500000, 0.510000, 0.520000, 0.530000, 0.550000, 0.570000, 0.680000, 1.980000, 1.940000, 1.920000, 1.890000, 1.870000, 1.850000, 1.820000, 1.800000, 1.780000, 1.760000, 1.740000, 1.730000, 1.710000, 1.710000, 1.680000, 1.670000, 1.660000, 1.640000, 1.630000, 1.610000, 1.610000, 1.610000, 1.600000, 1.590000, 1.580000, 1.570000, 1.570000, 1.560000, 1.550000, 1.540000, 1.550000, 1.540000, 1.540000, 1.530000, 1.530000, 1.530000, 1.530000, 1.530000, 1.530000, 1.530000, 1.530000, 1.530000, 1.530000, 1.530000, 1.540000, 1.540000, 1.540000, 1.550000, 1.560000, 1.570000, 1.570000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.630000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.710000, 1.730000, 1.760000, 1.780000, 1.800000, 1.810000, 1.840000, 1.860000, 1.890000, 1.910000, 1.940000, 1.970000, 2.010000, 2.040000, 2.070000, 2.110000, 2.150000, 2.190000, 2.240000, 2.300000, 2.340000, 2.390000, 2.450000, 2.510000, 2.590000, 0.730000, 0.710000, 0.690000, 0.700000, 0.660000, 0.660000, 0.660000, 0.660000, 0.650000, 0.570000, 0.570000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.440000, 0.430000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 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": [ 976054549, 666399 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.457000, 1.552000, 1.281957 ], "estimate": [ 3.457000, 1.552000, 1.281957 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.780000, 0.740000, 0.700000, 0.670000, 0.650000, 0.630000, 0.600000, 0.580000, 0.560000, 0.540000, 0.510000, 0.480000, 0.460000, 0.460000, 0.460000, 0.470000, 0.460000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.500000, 0.530000, 0.530000, 0.550000, 0.540000, 2.060000, 2.030000, 2.000000, 1.960000, 1.940000, 1.900000, 1.870000, 1.850000, 1.820000, 1.800000, 1.790000, 1.760000, 1.740000, 1.710000, 1.700000, 1.690000, 1.680000, 1.660000, 1.640000, 1.620000, 1.610000, 1.610000, 1.590000, 1.580000, 1.580000, 1.570000, 1.550000, 1.540000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.500000, 1.500000, 1.490000, 1.490000, 1.490000, 1.480000, 1.480000, 1.470000, 1.480000, 1.490000, 1.490000, 1.490000, 1.480000, 1.480000, 1.490000, 1.480000, 1.490000, 1.490000, 1.490000, 1.500000, 1.510000, 1.510000, 1.520000, 1.520000, 1.520000, 1.530000, 1.540000, 1.560000, 1.570000, 1.590000, 1.590000, 1.600000, 1.610000, 1.620000, 1.640000, 1.660000, 1.680000, 1.710000, 1.720000, 1.740000, 1.770000, 1.790000, 1.790000, 1.820000, 1.860000, 1.870000, 1.910000, 1.940000, 1.970000, 2.010000, 2.050000, 2.070000, 2.120000, 2.170000, 2.210000, 2.270000, 2.310000, 2.370000, 2.430000, 2.490000, 2.560000, 2.630000, 2.700000, 0.680000, 0.660000, 0.650000, 0.650000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.580000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 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, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.440000, 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": [ 976054549, 766487 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.470000, 1.596000, 1.275811 ], "estimate": [ 3.470000, 1.596000, 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": [ 0.680000, 0.650000, 0.620000, 0.580000, 0.560000, 0.530000, 0.480000, 0.470000, 0.450000, 0.450000, 0.450000, 0.460000, 0.450000, 0.460000, 0.460000, 0.450000, 0.450000, 0.470000, 0.470000, 0.480000, 0.480000, 0.500000, 0.510000, 0.520000, 0.530000, 0.550000, 2.160000, 2.120000, 2.070000, 2.030000, 2.000000, 1.960000, 1.930000, 1.900000, 1.870000, 1.850000, 1.820000, 1.790000, 1.770000, 1.750000, 1.710000, 1.710000, 1.690000, 1.670000, 1.640000, 1.640000, 1.620000, 1.610000, 1.600000, 1.580000, 1.570000, 1.550000, 1.540000, 1.540000, 1.520000, 1.510000, 1.510000, 1.500000, 1.490000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.440000, 1.450000, 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, 1.460000, 1.470000, 1.470000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.540000, 1.550000, 1.550000, 1.570000, 1.590000, 1.600000, 1.610000, 1.630000, 1.650000, 1.670000, 1.690000, 1.720000, 1.730000, 1.750000, 1.780000, 1.800000, 1.820000, 1.860000, 1.880000, 1.920000, 1.950000, 1.990000, 2.030000, 2.050000, 2.100000, 2.150000, 2.200000, 2.250000, 2.310000, 2.360000, 2.430000, 2.480000, 2.570000, 2.640000, 2.720000, 2.810000, 0.650000, 0.630000, 0.620000, 0.620000, 0.600000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.590000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 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": [ 976054550, 243646 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.486000, 1.648000, 1.269666 ], "estimate": [ 3.486000, 1.648000, 1.269666 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.490000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.490000, 0.500000, 0.510000, 0.520000, 0.540000, 2.330000, 2.280000, 2.220000, 2.170000, 2.120000, 2.070000, 2.050000, 2.000000, 1.960000, 1.930000, 1.890000, 1.860000, 1.840000, 1.810000, 1.790000, 1.760000, 1.730000, 1.700000, 1.690000, 1.670000, 1.640000, 1.620000, 1.610000, 1.600000, 1.590000, 1.570000, 1.560000, 1.540000, 1.520000, 1.510000, 1.500000, 1.500000, 1.480000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.430000, 1.430000, 1.420000, 1.420000, 1.420000, 1.420000, 1.410000, 1.400000, 1.390000, 1.400000, 1.390000, 1.400000, 1.390000, 1.400000, 1.400000, 1.390000, 1.400000, 1.400000, 1.390000, 1.400000, 1.410000, 1.410000, 1.420000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.510000, 1.510000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, 1.600000, 1.620000, 1.640000, 1.670000, 1.690000, 1.700000, 1.720000, 1.760000, 1.780000, 1.800000, 1.830000, 1.870000, 1.900000, 1.940000, 1.970000, 2.010000, 2.050000, 2.100000, 2.140000, 2.190000, 2.250000, 2.310000, 2.370000, 2.430000, 2.500000, 2.580000, 2.660000, 2.740000, 2.840000, 2.940000, 0.630000, 0.600000, 0.590000, 0.580000, 0.590000, 0.570000, 0.550000, 0.550000, 0.540000, 0.560000, 0.560000, 0.560000, 0.550000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.420000, 0.430000, 0.420000, 0.430000, 0.420000, 0.410000, 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": [ 976054550, 244498 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.506000, 1.712000, 1.257375 ], "estimate": [ 3.506000, 1.712000, 1.257375 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.440000, 0.420000, 0.450000, 0.450000, 0.440000, 0.450000, 0.450000, 0.460000, 0.470000, 0.480000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 2.670000, 2.590000, 2.510000, 2.450000, 2.380000, 2.310000, 2.250000, 2.190000, 2.140000, 2.090000, 2.040000, 2.010000, 1.960000, 1.930000, 1.880000, 1.850000, 1.820000, 1.790000, 1.770000, 1.740000, 1.710000, 1.690000, 1.660000, 1.640000, 1.610000, 1.590000, 1.580000, 1.560000, 1.550000, 1.540000, 1.520000, 1.500000, 1.490000, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.420000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.360000, 1.350000, 1.340000, 1.340000, 1.330000, 1.320000, 1.330000, 1.330000, 1.330000, 1.320000, 1.320000, 1.330000, 1.320000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.360000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.600000, 1.610000, 1.630000, 1.660000, 1.680000, 1.700000, 1.730000, 1.760000, 1.790000, 1.820000, 1.870000, 1.880000, 1.930000, 1.970000, 2.020000, 2.050000, 2.100000, 2.160000, 2.210000, 2.290000, 2.340000, 2.410000, 2.470000, 2.560000, 2.640000, 2.740000, 2.830000, 2.960000, 3.090000, 3.250000, 3.440000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.550000, 0.540000, 0.520000, 0.530000, 0.520000, 0.520000, 0.490000, 0.520000, 0.520000, 0.520000, 0.510000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000, 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": [ 976054550, 456140 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.527000, 1.773000, 1.245083 ], "estimate": [ 3.527000, 1.773000, 1.245083 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.460000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.490000, 0.500000, 3.530000, 3.330000, 3.170000, 3.020000, 2.890000, 2.800000, 2.680000, 2.590000, 2.500000, 2.430000, 2.360000, 2.290000, 2.220000, 2.170000, 2.110000, 2.050000, 2.010000, 1.970000, 1.920000, 1.890000, 1.850000, 1.810000, 1.780000, 1.750000, 1.730000, 1.700000, 1.670000, 1.650000, 1.620000, 1.590000, 1.580000, 1.550000, 1.530000, 1.510000, 1.490000, 1.480000, 1.470000, 1.450000, 1.440000, 1.420000, 1.420000, 1.400000, 1.410000, 1.380000, 1.380000, 1.360000, 1.360000, 1.340000, 1.330000, 1.320000, 1.310000, 1.310000, 1.310000, 1.300000, 1.290000, 1.300000, 1.280000, 1.280000, 1.280000, 1.270000, 1.270000, 1.270000, 1.270000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.270000, 1.270000, 1.270000, 1.270000, 1.280000, 1.290000, 1.290000, 1.300000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.330000, 1.350000, 1.360000, 1.370000, 1.380000, 1.400000, 1.400000, 1.420000, 1.420000, 1.440000, 1.460000, 1.470000, 1.490000, 1.510000, 1.530000, 1.550000, 1.570000, 1.590000, 1.610000, 1.640000, 1.660000, 1.690000, 1.720000, 1.760000, 1.790000, 1.820000, 1.860000, 1.900000, 1.940000, 1.990000, 2.040000, 2.080000, 2.140000, 2.200000, 2.270000, 2.320000, 2.400000, 2.480000, 2.560000, 2.650000, 2.750000, 2.870000, 3.000000, 3.160000, 3.350000, 3.570000, 3.840000, 4.150000, 4.670000, 5.250000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 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": [ 976054550, 874539 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.546000, 1.828000, 1.232792 ], "estimate": [ 3.546000, 1.828000, 1.232792 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.500000, 12.000000, 11.400000, 5.490000, 4.790000, 4.300000, 3.980000, 3.680000, 3.440000, 3.250000, 3.080000, 2.930000, 2.810000, 2.700000, 2.600000, 2.510000, 2.430000, 2.350000, 2.280000, 2.210000, 2.140000, 2.090000, 2.040000, 1.990000, 1.930000, 1.890000, 1.850000, 1.810000, 1.780000, 1.750000, 1.710000, 1.690000, 1.660000, 1.630000, 1.600000, 1.580000, 1.560000, 1.530000, 1.510000, 1.490000, 1.460000, 1.450000, 1.440000, 1.420000, 1.410000, 1.400000, 1.380000, 1.360000, 1.350000, 1.350000, 1.320000, 1.310000, 1.310000, 1.310000, 1.300000, 1.280000, 1.270000, 1.260000, 1.260000, 1.250000, 1.240000, 1.230000, 1.230000, 1.220000, 1.220000, 1.220000, 1.210000, 1.210000, 1.200000, 1.200000, 1.200000, 1.190000, 1.200000, 1.210000, 1.210000, 1.200000, 1.210000, 1.200000, 1.200000, 1.200000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.230000, 1.230000, 1.240000, 1.240000, 1.240000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.310000, 1.320000, 1.340000, 1.350000, 1.360000, 1.380000, 1.400000, 1.410000, 1.420000, 1.440000, 1.460000, 1.480000, 1.500000, 1.510000, 1.540000, 1.570000, 1.590000, 1.620000, 1.650000, 1.680000, 1.700000, 1.740000, 1.780000, 1.810000, 1.860000, 1.900000, 1.940000, 2.000000, 2.040000, 2.110000, 2.170000, 2.230000, 2.300000, 2.380000, 2.450000, 2.550000, 2.640000, 2.740000, 2.860000, 3.020000, 3.210000, 3.420000, 3.670000, 3.980000, 4.480000, 5.040000, 6.060000, 5.550000, 4.750000, 5.550000, 5.540000, 5.560000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 0.460000, 0.450000, 0.460000, 0.450000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.410000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.410000, 0.400000, 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": [ 976054550, 875676 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.563000, 1.875000, 1.220501 ], "estimate": [ 3.563000, 1.875000, 1.220501 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.740000, 12.040000, 11.450000, 5.300000, 4.560000, 4.190000, 3.860000, 3.560000, 3.340000, 3.140000, 2.990000, 2.840000, 2.750000, 2.620000, 2.520000, 2.440000, 2.350000, 2.280000, 2.200000, 2.140000, 2.080000, 2.010000, 1.970000, 1.930000, 1.870000, 1.830000, 1.790000, 1.760000, 1.720000, 1.690000, 1.650000, 1.630000, 1.600000, 1.580000, 1.560000, 1.530000, 1.500000, 1.480000, 1.450000, 1.430000, 1.410000, 1.410000, 1.400000, 1.370000, 1.360000, 1.340000, 1.320000, 1.310000, 1.310000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.200000, 1.190000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.170000, 1.170000, 1.170000, 1.160000, 1.160000, 1.160000, 1.170000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.250000, 1.260000, 1.270000, 1.280000, 1.300000, 1.300000, 1.320000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.420000, 1.440000, 1.450000, 1.470000, 1.490000, 1.520000, 1.550000, 1.580000, 1.600000, 1.630000, 1.670000, 1.690000, 1.740000, 1.780000, 1.810000, 1.860000, 1.900000, 1.950000, 2.010000, 2.060000, 2.120000, 2.180000, 2.260000, 2.330000, 2.410000, 2.500000, 2.600000, 2.700000, 2.840000, 3.000000, 3.180000, 3.410000, 3.670000, 4.000000, 4.550000, 5.200000, 6.650000, 5.520000, 4.610000, 5.120000, 5.540000, 5.540000, 5.550000, 5.550000, 10.650000, 10.610000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.440000, 0.440000, 0.430000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 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": [ 976054551, 263540 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.582000, 1.927000, 1.214356 ], "estimate": [ 3.582000, 1.927000, 1.214356 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.760000, 12.060000, 6.530000, 5.060000, 4.420000, 4.010000, 3.670000, 3.420000, 3.200000, 3.020000, 2.860000, 2.760000, 2.620000, 2.510000, 2.420000, 2.330000, 2.260000, 2.170000, 2.110000, 2.050000, 1.990000, 1.930000, 1.880000, 1.850000, 1.790000, 1.760000, 1.710000, 1.690000, 1.650000, 1.610000, 1.590000, 1.570000, 1.540000, 1.510000, 1.480000, 1.460000, 1.430000, 1.420000, 1.400000, 1.380000, 1.360000, 1.340000, 1.320000, 1.310000, 1.300000, 1.280000, 1.270000, 1.260000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.140000, 1.140000, 1.130000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.120000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.100000, 1.110000, 1.100000, 1.100000, 1.110000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.180000, 1.170000, 1.180000, 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, 1.370000, 1.390000, 1.410000, 1.420000, 1.440000, 1.460000, 1.490000, 1.520000, 1.560000, 1.590000, 1.610000, 1.650000, 1.690000, 1.720000, 1.760000, 1.800000, 1.840000, 1.890000, 1.950000, 2.010000, 2.060000, 2.140000, 2.200000, 2.280000, 2.360000, 2.450000, 2.550000, 2.640000, 2.790000, 2.950000, 3.150000, 3.390000, 3.660000, 4.010000, 4.610000, 5.460000, 5.490000, 5.480000, 4.610000, 5.230000, 5.510000, 5.510000, 5.530000, 5.540000, 10.620000, 10.580000, 5.610000, 5.350000, 5.240000, 10.470000, 10.440000, 0.490000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.440000, 0.410000, 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": [ 976054551, 519091 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.604000, 1.985000, 1.202065 ], "estimate": [ 3.604000, 1.985000, 1.202065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.820000, 12.110000, 11.770000, 4.770000, 4.250000, 3.820000, 3.520000, 3.290000, 3.080000, 2.880000, 2.750000, 2.620000, 2.510000, 2.400000, 2.310000, 2.240000, 2.160000, 2.090000, 2.020000, 1.960000, 1.900000, 1.850000, 1.810000, 1.770000, 1.720000, 1.680000, 1.640000, 1.610000, 1.580000, 1.550000, 1.510000, 1.490000, 1.470000, 1.440000, 1.420000, 1.400000, 1.380000, 1.350000, 1.330000, 1.310000, 1.300000, 1.280000, 1.270000, 1.240000, 1.230000, 1.230000, 1.200000, 1.200000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.090000, 1.090000, 1.080000, 1.080000, 1.080000, 1.070000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.310000, 1.330000, 1.350000, 1.370000, 1.390000, 1.420000, 1.440000, 1.460000, 1.500000, 1.530000, 1.560000, 1.590000, 1.620000, 1.660000, 1.700000, 1.730000, 1.780000, 1.840000, 1.890000, 1.940000, 2.000000, 2.060000, 2.140000, 2.210000, 2.290000, 2.380000, 2.480000, 2.590000, 2.730000, 2.900000, 3.110000, 3.340000, 3.640000, 4.020000, 4.660000, 5.740000, 5.460000, 5.460000, 4.960000, 5.130000, 5.480000, 5.480000, 5.490000, 5.570000, 10.580000, 5.700000, 5.630000, 5.740000, 5.810000, 10.430000, 10.420000, 10.410000, 10.390000, 10.380000, 11.490000, 14.160000, 13.940000, 0.470000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.440000, 0.440000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054551, 536672 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.627000, 2.042000, 1.189774 ], "estimate": [ 3.627000, 2.042000, 1.189774 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 13.220000, 12.360000, 11.750000, 4.620000, 4.130000, 3.710000, 3.420000, 3.150000, 2.960000, 2.770000, 2.630000, 2.520000, 2.400000, 2.310000, 2.220000, 2.130000, 2.060000, 2.000000, 1.920000, 1.880000, 1.810000, 1.760000, 1.730000, 1.680000, 1.630000, 1.590000, 1.570000, 1.540000, 1.490000, 1.470000, 1.440000, 1.420000, 1.400000, 1.370000, 1.350000, 1.320000, 1.290000, 1.280000, 1.260000, 1.250000, 1.220000, 1.200000, 1.190000, 1.180000, 1.180000, 1.150000, 1.150000, 1.130000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.990000, 0.980000, 0.980000, 0.980000, 0.990000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.330000, 1.360000, 1.390000, 1.420000, 1.440000, 1.470000, 1.500000, 1.540000, 1.570000, 1.610000, 1.640000, 1.690000, 1.740000, 1.780000, 1.830000, 1.890000, 1.950000, 2.010000, 2.090000, 2.170000, 2.260000, 2.360000, 2.450000, 2.570000, 2.740000, 2.930000, 3.150000, 3.420000, 3.770000, 4.400000, 5.300000, 5.730000, 5.410000, 4.960000, 5.000000, 5.440000, 5.450000, 5.460000, 5.480000, 10.540000, 10.500000, 5.710000, 5.900000, 10.440000, 10.420000, 10.390000, 10.370000, 10.370000, 10.350000, 11.470000, 14.040000, 13.900000, 14.700000, 14.900000, 14.200000, 9.200000, 7.980000, 8.010000, 0.680000, 0.620000, 0.500000, 0.440000, 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": [ 976054551, 616098 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.648000, 2.096000, 1.189774 ], "estimate": [ 3.648000, 2.096000, 1.189774 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.990000, 12.200000, 5.050000, 4.260000, 3.790000, 3.440000, 3.160000, 2.950000, 2.750000, 2.590000, 2.470000, 2.360000, 2.290000, 2.170000, 2.090000, 2.000000, 1.940000, 1.870000, 1.820000, 1.760000, 1.710000, 1.670000, 1.630000, 1.580000, 1.550000, 1.510000, 1.480000, 1.450000, 1.410000, 1.390000, 1.370000, 1.340000, 1.310000, 1.290000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.170000, 1.160000, 1.140000, 1.140000, 1.120000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.980000, 0.980000, 0.970000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.930000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.050000, 1.050000, 1.070000, 1.080000, 1.090000, 1.110000, 1.110000, 1.140000, 1.150000, 1.160000, 1.170000, 1.200000, 1.220000, 1.230000, 1.250000, 1.280000, 1.300000, 1.340000, 1.360000, 1.400000, 1.420000, 1.440000, 1.480000, 1.520000, 1.560000, 1.590000, 1.630000, 1.690000, 1.730000, 1.780000, 1.840000, 1.910000, 1.960000, 2.040000, 2.130000, 2.220000, 2.310000, 2.430000, 2.530000, 2.720000, 2.920000, 3.160000, 3.490000, 3.870000, 4.620000, 6.570000, 5.390000, 5.390000, 4.680000, 4.990000, 5.420000, 5.440000, 5.440000, 5.490000, 6.230000, 6.100000, 6.190000, 6.200000, 10.400000, 10.380000, 10.360000, 10.360000, 10.350000, 11.170000, 14.240000, 13.910000, 13.490000, 14.890000, 14.190000, 9.720000, 8.100000, 7.990000, 6.360000, 5.710000, 5.090000, 4.670000, 0.740000, 0.650000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054552, 586063 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.669000, 2.147000, 1.183628 ], "estimate": [ 3.669000, 2.147000, 1.183628 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.670000, 12.300000, 4.350000, 3.800000, 3.420000, 3.130000, 2.910000, 2.730000, 2.540000, 2.410000, 2.300000, 2.200000, 2.100000, 2.020000, 1.940000, 1.870000, 1.820000, 1.750000, 1.700000, 1.660000, 1.600000, 1.570000, 1.530000, 1.480000, 1.450000, 1.420000, 1.400000, 1.360000, 1.340000, 1.300000, 1.280000, 1.260000, 1.230000, 1.200000, 1.190000, 1.160000, 1.160000, 1.130000, 1.120000, 1.110000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.020000, 1.010000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.910000, 0.920000, 0.910000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.890000, 0.880000, 0.890000, 0.880000, 0.870000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.880000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.050000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.150000, 1.170000, 1.180000, 1.200000, 1.230000, 1.250000, 1.290000, 1.310000, 1.340000, 1.370000, 1.400000, 1.430000, 1.470000, 1.510000, 1.540000, 1.580000, 1.640000, 1.680000, 1.740000, 1.790000, 1.850000, 1.920000, 2.000000, 2.080000, 2.170000, 2.280000, 2.400000, 2.530000, 2.720000, 2.940000, 3.240000, 3.570000, 4.270000, 5.420000, 5.340000, 5.360000, 4.500000, 4.970000, 5.390000, 5.390000, 5.420000, 5.430000, 6.610000, 6.600000, 6.270000, 6.260000, 10.390000, 10.360000, 10.350000, 10.340000, 10.340000, 10.340000, 11.440000, 13.990000, 13.460000, 14.880000, 14.160000, 10.150000, 8.490000, 7.950000, 6.710000, 5.980000, 5.370000, 4.910000, 4.520000, 4.200000, 3.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054552, 587221 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.689000, 2.197000, 1.177483 ], "estimate": [ 3.689000, 2.197000, 1.177483 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.520000, 4.550000, 3.960000, 3.500000, 3.150000, 2.920000, 2.720000, 2.520000, 2.390000, 2.260000, 2.160000, 2.060000, 1.990000, 1.900000, 1.830000, 1.760000, 1.710000, 1.660000, 1.610000, 1.570000, 1.530000, 1.480000, 1.440000, 1.400000, 1.380000, 1.350000, 1.310000, 1.280000, 1.260000, 1.230000, 1.200000, 1.180000, 1.160000, 1.140000, 1.120000, 1.110000, 1.090000, 1.070000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.880000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.890000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.930000, 0.940000, 0.940000, 0.960000, 0.970000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.130000, 1.150000, 1.160000, 1.180000, 1.210000, 1.230000, 1.260000, 1.290000, 1.320000, 1.350000, 1.390000, 1.420000, 1.450000, 1.500000, 1.550000, 1.590000, 1.640000, 1.700000, 1.750000, 1.820000, 1.890000, 1.970000, 2.050000, 2.130000, 2.240000, 2.380000, 2.530000, 2.740000, 3.000000, 3.300000, 3.720000, 4.570000, 5.970000, 5.340000, 5.340000, 4.460000, 4.920000, 5.360000, 5.380000, 5.390000, 5.490000, 6.760000, 6.540000, 6.540000, 10.370000, 10.350000, 10.340000, 10.330000, 10.320000, 10.330000, 11.440000, 14.030000, 13.820000, 14.870000, 14.240000, 14.130000, 8.990000, 7.960000, 7.980000, 6.280000, 5.690000, 5.160000, 4.750000, 4.390000, 4.100000 ], "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": [ 976054552, 588181 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.712000, 2.250000, 1.165192 ], "estimate": [ 3.712000, 2.250000, 1.165192 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.620000, 4.310000, 3.630000, 3.280000, 2.990000, 2.720000, 2.530000, 2.380000, 2.240000, 2.130000, 2.030000, 1.940000, 1.860000, 1.810000, 1.730000, 1.670000, 1.620000, 1.570000, 1.510000, 1.460000, 1.420000, 1.390000, 1.350000, 1.310000, 1.280000, 1.260000, 1.230000, 1.200000, 1.180000, 1.160000, 1.130000, 1.110000, 1.090000, 1.060000, 1.050000, 1.040000, 1.020000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.800000, 0.810000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.770000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.760000, 0.770000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.770000, 0.770000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.890000, 0.900000, 0.920000, 0.930000, 0.950000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.110000, 1.140000, 1.160000, 1.190000, 1.220000, 1.250000, 1.280000, 1.310000, 1.350000, 1.390000, 1.420000, 1.470000, 1.510000, 1.560000, 1.610000, 1.670000, 1.740000, 1.790000, 1.880000, 1.960000, 2.040000, 2.150000, 2.260000, 2.410000, 2.620000, 2.870000, 3.190000, 3.600000, 4.550000, 5.790000, 5.300000, 5.310000, 4.390000, 4.880000, 5.350000, 5.360000, 5.380000, 6.790000, 6.810000, 10.360000, 10.350000, 10.330000, 10.320000, 10.310000, 10.300000, 10.280000, 10.370000, 11.410000, 13.880000, 13.490000, 14.850000, 14.140000, 10.170000, 8.670000, 7.960000, 7.970000, 6.210000, 5.670000, 5.170000, 4.760000, 4.460000 ], "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": [ 976054552, 589120 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.737000, 2.308000, 1.159046 ], "estimate": [ 3.737000, 2.308000, 1.159046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.790000, 4.060000, 3.460000, 3.100000, 2.800000, 2.560000, 2.390000, 2.240000, 2.110000, 2.000000, 1.900000, 1.820000, 1.740000, 1.680000, 1.620000, 1.560000, 1.520000, 1.460000, 1.410000, 1.380000, 1.340000, 1.290000, 1.260000, 1.240000, 1.200000, 1.170000, 1.150000, 1.130000, 1.100000, 1.070000, 1.050000, 1.030000, 1.020000, 1.010000, 0.970000, 0.950000, 0.950000, 0.930000, 0.910000, 0.900000, 0.880000, 0.870000, 0.870000, 0.870000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.730000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.840000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.930000, 0.940000, 0.950000, 0.980000, 1.010000, 1.030000, 1.040000, 1.060000, 1.090000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.260000, 1.290000, 1.340000, 1.380000, 1.410000, 1.460000, 1.520000, 1.570000, 1.630000, 1.700000, 1.750000, 1.840000, 1.920000, 2.030000, 2.150000, 2.290000, 2.470000, 2.730000, 3.020000, 3.440000, 4.410000, 5.700000, 5.270000, 5.280000, 4.430000, 4.900000, 5.310000, 5.340000, 5.350000, 6.920000, 7.250000, 10.340000, 10.330000, 10.320000, 10.300000, 10.290000, 10.270000, 10.280000, 11.160000, 13.990000, 13.570000, 14.820000, 14.850000, 14.110000, 9.820000, 8.440000, 7.940000, 7.960000, 6.240000, 5.700000, 5.210000, 4.830000 ], "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": [ 976054552, 590062 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.762000, 2.363000, 1.146755 ], "estimate": [ 3.762000, 2.363000, 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": [ 5.060000, 3.610000, 3.230000, 2.860000, 2.590000, 2.390000, 2.240000, 2.070000, 1.950000, 1.850000, 1.790000, 1.690000, 1.620000, 1.550000, 1.500000, 1.440000, 1.400000, 1.370000, 1.310000, 1.270000, 1.230000, 1.190000, 1.160000, 1.140000, 1.110000, 1.080000, 1.060000, 1.030000, 1.010000, 0.980000, 0.970000, 0.950000, 0.920000, 0.900000, 0.890000, 0.880000, 0.870000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.650000, 0.660000, 0.650000, 0.650000, 0.660000, 0.640000, 0.650000, 0.660000, 0.660000, 0.650000, 0.660000, 0.660000, 0.660000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.690000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.740000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.830000, 0.840000, 0.860000, 0.880000, 0.880000, 0.910000, 0.940000, 0.950000, 0.960000, 0.990000, 1.020000, 1.040000, 1.080000, 1.100000, 1.140000, 1.160000, 1.190000, 1.220000, 1.270000, 1.310000, 1.350000, 1.390000, 1.460000, 1.510000, 1.560000, 1.630000, 1.700000, 1.780000, 1.870000, 1.980000, 2.110000, 2.270000, 2.500000, 2.760000, 3.150000, 3.730000, 5.810000, 5.240000, 5.250000, 4.310000, 4.910000, 5.280000, 5.300000, 5.330000, 5.380000, 7.370000, 10.320000, 10.310000, 10.290000, 10.270000, 10.260000, 10.250000, 10.250000, 11.390000, 14.200000, 13.390000, 14.830000, 14.690000, 14.090000, 9.690000, 8.440000, 7.940000, 7.960000, 6.320000, 5.800000, 5.320000 ], "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": [ 976054552, 746618 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.786000, 2.415000, 1.128319 ], "estimate": [ 3.786000, 2.415000, 1.128319 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.640000, 3.550000, 3.080000, 2.700000, 2.460000, 2.250000, 2.090000, 1.950000, 1.830000, 1.780000, 1.650000, 1.590000, 1.520000, 1.450000, 1.410000, 1.360000, 1.320000, 1.260000, 1.230000, 1.180000, 1.140000, 1.110000, 1.090000, 1.060000, 1.020000, 1.010000, 0.980000, 0.950000, 0.930000, 0.900000, 0.890000, 0.880000, 0.860000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.600000, 0.600000, 0.610000, 0.610000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.660000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.770000, 0.780000, 0.800000, 0.810000, 0.830000, 0.850000, 0.870000, 0.880000, 0.900000, 0.920000, 0.940000, 0.960000, 1.000000, 1.030000, 1.050000, 1.080000, 1.110000, 1.150000, 1.170000, 1.220000, 1.260000, 1.300000, 1.360000, 1.400000, 1.460000, 1.520000, 1.590000, 1.660000, 1.750000, 1.860000, 1.990000, 2.140000, 2.310000, 2.580000, 2.950000, 3.500000, 5.830000, 5.220000, 5.230000, 5.170000, 4.830000, 5.270000, 5.280000, 5.300000, 5.360000, 10.330000, 10.310000, 10.290000, 10.270000, 10.250000, 10.240000, 10.250000, 10.240000, 11.360000, 13.990000, 14.140000, 14.810000, 14.120000, 14.080000, 9.570000, 8.370000, 7.920000, 7.970000, 6.350000, 5.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054553, 922799 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.809000, 2.462000, 1.122173 ], "estimate": [ 3.809000, 2.462000, 1.122173 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.550000, 3.410000, 2.890000, 2.560000, 2.320000, 2.120000, 1.960000, 1.820000, 1.760000, 1.610000, 1.530000, 1.480000, 1.410000, 1.360000, 1.320000, 1.260000, 1.220000, 1.160000, 1.140000, 1.100000, 1.060000, 1.030000, 1.010000, 0.970000, 0.940000, 0.920000, 0.900000, 0.870000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.640000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.730000, 0.740000, 0.760000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.860000, 0.870000, 0.900000, 0.930000, 0.950000, 0.990000, 1.010000, 1.040000, 1.080000, 1.110000, 1.150000, 1.180000, 1.230000, 1.290000, 1.340000, 1.390000, 1.450000, 1.510000, 1.600000, 1.680000, 1.800000, 1.940000, 2.110000, 2.300000, 2.620000, 3.090000, 5.330000, 5.190000, 5.200000, 5.210000, 4.270000, 5.230000, 5.250000, 5.270000, 5.300000, 10.310000, 10.290000, 10.280000, 10.260000, 10.240000, 10.250000, 10.240000, 10.230000, 14.130000, 13.920000, 13.750000, 14.810000, 14.080000, 14.060000, 9.560000, 8.450000, 7.940000, 7.950000, 6.450000 ], "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": [ 976054553, 166862 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.829000, 2.504000, 1.140610 ], "estimate": [ 3.829000, 2.504000, 1.140610 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.680000, 2.420000, 2.180000, 1.990000, 1.830000, 1.760000, 1.610000, 1.510000, 1.440000, 1.380000, 1.320000, 1.260000, 1.220000, 1.170000, 1.130000, 1.090000, 1.050000, 1.010000, 0.990000, 0.950000, 0.920000, 0.890000, 0.880000, 0.850000, 0.830000, 0.810000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.510000, 0.510000, 0.500000, 0.500000, 0.510000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.660000, 0.670000, 0.680000, 0.700000, 0.710000, 0.720000, 0.740000, 0.760000, 0.770000, 0.800000, 0.810000, 0.830000, 0.850000, 0.870000, 0.910000, 0.930000, 0.950000, 1.000000, 1.020000, 1.060000, 1.100000, 1.130000, 1.190000, 1.240000, 1.290000, 1.350000, 1.400000, 1.480000, 1.570000, 1.670000, 1.810000, 1.950000, 2.160000, 2.400000, 2.820000, 3.610000, 5.180000, 5.170000, 5.180000, 5.170000, 4.830000, 5.230000, 5.260000, 5.280000, 10.290000, 10.270000, 10.250000, 10.240000, 10.240000, 10.230000, 10.230000, 10.240000, 11.380000, 13.780000, 13.370000, 14.810000, 14.080000, 14.060000, 9.370000, 8.310000, 7.920000, 7.950000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054553, 654312 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.839000, 2.527000, 1.171337 ], "estimate": [ 3.839000, 2.527000, 1.171337 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.120000, 1.940000, 1.750000, 1.640000, 1.530000, 1.460000, 1.370000, 1.310000, 1.250000, 1.200000, 1.160000, 1.120000, 1.070000, 1.030000, 1.000000, 0.960000, 0.930000, 0.900000, 0.880000, 0.850000, 0.820000, 0.800000, 0.780000, 0.760000, 0.740000, 0.730000, 0.700000, 0.700000, 0.690000, 0.670000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.540000, 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, 0.490000, 0.480000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.470000, 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, 0.470000, 0.480000, 0.470000, 0.470000, 0.480000, 0.470000, 0.480000, 0.490000, 0.490000, 0.500000, 0.490000, 0.500000, 0.500000, 0.520000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.580000, 0.580000, 0.600000, 0.600000, 0.620000, 0.630000, 0.650000, 0.660000, 0.680000, 0.680000, 0.700000, 0.710000, 0.730000, 0.750000, 0.760000, 0.790000, 0.810000, 0.830000, 0.860000, 0.890000, 0.910000, 0.950000, 0.980000, 1.020000, 1.060000, 1.100000, 1.140000, 1.190000, 1.230000, 1.310000, 1.360000, 1.450000, 1.530000, 1.670000, 1.810000, 1.980000, 2.190000, 2.510000, 3.120000, 5.260000, 5.160000, 5.170000, 4.230000, 5.150000, 5.220000, 5.240000, 5.260000, 10.270000, 10.250000, 10.240000, 10.230000, 10.230000, 10.230000, 10.220000, 10.220000, 11.350000, 13.900000, 13.370000, 14.810000, 14.050000, 14.040000, 9.450000, 8.380000, 7.940000, 7.940000, 6.530000, 6.050000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054553, 666352 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.838000, 2.524000, 1.183628 ], "estimate": [ 3.838000, 2.524000, 1.183628 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.990000, 1.820000, 1.670000, 1.560000, 1.470000, 1.390000, 1.330000, 1.280000, 1.220000, 1.160000, 1.130000, 1.080000, 1.030000, 1.010000, 0.970000, 0.930000, 0.900000, 0.880000, 0.860000, 0.830000, 0.800000, 0.790000, 0.770000, 0.740000, 0.720000, 0.710000, 0.690000, 0.690000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.520000, 0.500000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.560000, 0.570000, 0.570000, 0.590000, 0.600000, 0.610000, 0.620000, 0.630000, 0.650000, 0.660000, 0.670000, 0.690000, 0.700000, 0.720000, 0.730000, 0.750000, 0.770000, 0.790000, 0.810000, 0.840000, 0.870000, 0.880000, 0.930000, 0.960000, 0.990000, 1.030000, 1.060000, 1.120000, 1.160000, 1.210000, 1.270000, 1.330000, 1.400000, 1.490000, 1.590000, 1.730000, 1.880000, 2.080000, 2.280000, 2.770000, 5.400000, 5.150000, 5.170000, 5.170000, 4.220000, 5.210000, 5.230000, 5.250000, 5.290000, 10.260000, 10.250000, 10.240000, 10.230000, 10.220000, 10.220000, 10.210000, 10.330000, 13.910000, 13.550000, 14.800000, 14.150000, 14.050000, 9.990000, 8.840000, 7.940000, 7.950000, 6.770000, 6.250000, 5.810000 ], "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": [ 976054553, 776396 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.836000, 2.519000, 1.214356 ], "estimate": [ 3.836000, 2.519000, 1.214356 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.990000, 1.830000, 1.680000, 1.560000, 1.480000, 1.410000, 1.340000, 1.300000, 1.230000, 1.180000, 1.130000, 1.090000, 1.050000, 1.010000, 0.980000, 0.940000, 0.910000, 0.890000, 0.870000, 0.840000, 0.820000, 0.790000, 0.780000, 0.750000, 0.730000, 0.710000, 0.700000, 0.700000, 0.690000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 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, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.580000, 0.590000, 0.600000, 0.610000, 0.620000, 0.630000, 0.650000, 0.660000, 0.670000, 0.690000, 0.700000, 0.710000, 0.730000, 0.750000, 0.760000, 0.790000, 0.800000, 0.830000, 0.860000, 0.880000, 0.910000, 0.940000, 0.970000, 1.010000, 1.050000, 1.090000, 1.140000, 1.190000, 1.230000, 1.300000, 1.350000, 1.430000, 1.520000, 1.650000, 1.780000, 1.940000, 2.140000, 2.430000, 2.970000, 5.370000, 5.150000, 5.170000, 4.330000, 5.150000, 5.210000, 5.230000, 5.240000, 5.300000, 10.260000, 10.240000, 10.230000, 10.220000, 10.220000, 10.210000, 10.220000, 14.050000, 13.950000, 14.030000, 14.800000, 14.060000, 14.040000, 9.670000, 8.550000, 7.930000, 7.940000, 6.630000, 6.110000, 5.680000, 5.290000 ], "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": [ 976054554, 301187 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.836000, 2.520000, 1.251229 ], "estimate": [ 3.836000, 2.520000, 1.251229 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.760000, 1.640000, 1.530000, 1.460000, 1.390000, 1.330000, 1.270000, 1.220000, 1.160000, 1.120000, 1.080000, 1.040000, 1.010000, 0.970000, 0.930000, 0.910000, 0.890000, 0.860000, 0.830000, 0.810000, 0.790000, 0.770000, 0.750000, 0.730000, 0.710000, 0.710000, 0.700000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.620000, 0.620000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 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, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.590000, 0.590000, 0.600000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.680000, 0.690000, 0.700000, 0.720000, 0.730000, 0.750000, 0.770000, 0.800000, 0.820000, 0.850000, 0.870000, 0.910000, 0.930000, 0.960000, 0.990000, 1.030000, 1.070000, 1.120000, 1.160000, 1.210000, 1.270000, 1.340000, 1.390000, 1.480000, 1.580000, 1.710000, 1.860000, 2.040000, 2.250000, 2.660000, 3.400000, 5.160000, 5.160000, 5.170000, 5.170000, 4.790000, 5.220000, 5.230000, 5.260000, 10.260000, 10.250000, 10.240000, 10.230000, 10.210000, 10.210000, 10.210000, 10.230000, 11.330000, 13.740000, 14.790000, 14.770000, 14.050000, 14.040000, 9.160000, 8.160000, 7.910000, 7.950000, 6.380000, 5.910000, 5.500000, 5.140000, 4.830000 ], "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": [ 976054554, 306334 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.837000, 2.521000, 1.324975 ], "estimate": [ 3.837000, 2.521000, 1.324975 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.530000, 1.450000, 1.380000, 1.320000, 1.260000, 1.220000, 1.160000, 1.120000, 1.070000, 1.040000, 1.000000, 0.970000, 0.930000, 0.910000, 0.890000, 0.860000, 0.830000, 0.820000, 0.790000, 0.770000, 0.750000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.520000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.580000, 0.590000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.660000, 0.670000, 0.680000, 0.700000, 0.710000, 0.720000, 0.750000, 0.750000, 0.780000, 0.800000, 0.820000, 0.850000, 0.880000, 0.910000, 0.930000, 0.970000, 1.000000, 1.040000, 1.080000, 1.130000, 1.170000, 1.230000, 1.280000, 1.340000, 1.410000, 1.490000, 1.590000, 1.730000, 1.880000, 2.080000, 2.280000, 2.740000, 3.540000, 5.150000, 5.160000, 5.170000, 4.590000, 4.880000, 5.210000, 5.230000, 5.260000, 10.260000, 10.250000, 10.220000, 10.220000, 10.220000, 10.200000, 10.200000, 10.220000, 11.350000, 13.470000, 14.780000, 14.210000, 14.040000, 10.040000, 8.860000, 7.930000, 7.900000, 6.760000, 6.240000, 5.790000, 5.380000, 5.030000, 4.770000, 4.490000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054554, 307397 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.837000, 2.523000, 1.447886 ], "estimate": [ 3.837000, 2.523000, 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": [ 1.220000, 1.160000, 1.130000, 1.090000, 1.040000, 1.010000, 0.980000, 0.940000, 0.910000, 0.890000, 0.860000, 0.840000, 0.820000, 0.800000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.660000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.490000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.590000, 0.600000, 0.610000, 0.610000, 0.630000, 0.630000, 0.650000, 0.660000, 0.670000, 0.680000, 0.700000, 0.710000, 0.720000, 0.750000, 0.760000, 0.780000, 0.800000, 0.820000, 0.850000, 0.870000, 0.900000, 0.930000, 0.960000, 1.000000, 1.030000, 1.080000, 1.130000, 1.180000, 1.220000, 1.280000, 1.350000, 1.410000, 1.490000, 1.600000, 1.730000, 1.880000, 2.060000, 2.270000, 2.710000, 3.490000, 5.150000, 5.150000, 5.160000, 4.760000, 4.780000, 5.210000, 5.240000, 5.250000, 10.250000, 10.240000, 10.220000, 10.210000, 10.200000, 10.200000, 10.190000, 10.210000, 11.340000, 13.510000, 13.370000, 14.110000, 14.030000, 9.910000, 8.790000, 7.910000, 7.900000, 6.730000, 6.190000, 5.760000, 5.360000, 5.000000, 4.720000, 4.480000, 4.250000, 4.030000, 3.840000, 3.660000, 3.510000, 3.380000 ], "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": [ 976054554, 506729 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.837000, 2.525000, 1.515487 ], "estimate": [ 3.837000, 2.525000, 1.515487 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.910000, 0.870000, 0.860000, 0.830000, 0.820000, 0.800000, 0.790000, 0.770000, 0.750000, 0.730000, 0.720000, 0.700000, 0.700000, 0.680000, 0.670000, 0.660000, 0.640000, 0.640000, 0.630000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 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, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.580000, 0.590000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.720000, 0.740000, 0.760000, 0.770000, 0.790000, 0.810000, 0.830000, 0.860000, 0.880000, 0.910000, 0.940000, 0.980000, 1.010000, 1.060000, 1.090000, 1.140000, 1.190000, 1.240000, 1.310000, 1.360000, 1.430000, 1.530000, 1.640000, 1.770000, 1.930000, 2.130000, 2.410000, 2.890000, 5.230000, 5.150000, 5.150000, 4.250000, 4.230000, 5.190000, 5.210000, 5.220000, 5.270000, 10.220000, 10.220000, 10.210000, 10.200000, 10.180000, 10.180000, 10.190000, 10.200000, 13.800000, 13.800000, 14.780000, 14.020000, 14.030000, 9.510000, 8.410000, 7.900000, 7.900000, 6.520000, 6.020000, 5.630000, 5.220000, 4.900000, 4.640000, 4.360000, 4.160000, 3.960000, 3.770000, 3.610000, 3.460000, 3.330000, 3.170000, 3.090000, 2.970000, 2.870000, 2.770000, 2.690000, 2.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054554, 913275 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.837000, 2.527000, 1.603982 ], "estimate": [ 3.837000, 2.527000, 1.603982 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.780000, 0.760000, 0.750000, 0.730000, 0.710000, 0.700000, 0.700000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 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, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.580000, 0.590000, 0.600000, 0.610000, 0.610000, 0.630000, 0.630000, 0.650000, 0.660000, 0.680000, 0.690000, 0.700000, 0.710000, 0.730000, 0.750000, 0.770000, 0.790000, 0.800000, 0.820000, 0.850000, 0.870000, 0.900000, 0.940000, 0.950000, 1.010000, 1.030000, 1.070000, 1.120000, 1.160000, 1.210000, 1.270000, 1.340000, 1.390000, 1.470000, 1.570000, 1.680000, 1.830000, 1.990000, 2.200000, 2.550000, 3.090000, 5.140000, 5.130000, 5.140000, 4.390000, 5.170000, 5.180000, 5.200000, 5.220000, 5.320000, 10.210000, 10.220000, 10.200000, 10.190000, 10.180000, 10.180000, 10.180000, 11.050000, 13.800000, 13.820000, 14.770000, 14.010000, 14.020000, 9.450000, 8.400000, 7.890000, 7.910000, 6.510000, 6.010000, 5.600000, 5.190000, 4.890000, 4.620000, 4.360000, 4.150000, 3.950000, 3.750000, 3.600000, 3.450000, 3.320000, 3.190000, 3.080000, 2.970000, 2.860000, 2.760000, 2.680000, 2.590000, 2.520000, 2.460000, 2.390000, 2.330000, 2.270000, 2.210000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054554, 914425 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.837000, 2.527000, 1.671583 ], "estimate": [ 3.837000, 2.527000, 1.671583 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 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, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.520000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.600000, 0.600000, 0.620000, 0.630000, 0.630000, 0.650000, 0.660000, 0.670000, 0.680000, 0.700000, 0.710000, 0.730000, 0.750000, 0.770000, 0.790000, 0.810000, 0.830000, 0.850000, 0.870000, 0.900000, 0.930000, 0.950000, 0.990000, 1.020000, 1.060000, 1.100000, 1.140000, 1.200000, 1.250000, 1.310000, 1.370000, 1.460000, 1.530000, 1.650000, 1.770000, 1.940000, 2.110000, 2.390000, 2.850000, 5.280000, 5.120000, 5.130000, 5.140000, 4.260000, 5.080000, 5.190000, 5.210000, 5.230000, 10.220000, 10.220000, 10.200000, 10.190000, 10.170000, 10.180000, 10.170000, 10.170000, 11.310000, 13.390000, 13.360000, 14.690000, 14.020000, 14.030000, 9.030000, 8.040000, 7.880000, 7.910000, 6.280000, 5.820000, 5.400000, 5.060000, 4.770000, 4.500000, 4.280000, 4.050000, 3.860000, 3.680000, 3.530000, 3.390000, 3.270000, 3.150000, 3.020000, 2.920000, 2.820000, 2.730000, 2.640000, 2.570000, 2.490000, 2.420000, 2.360000, 2.300000, 2.240000, 2.190000, 2.140000, 2.110000, 2.160000 ], "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": [ 976054555, 116098 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.837000, 2.526000, 1.763766 ], "estimate": [ 3.837000, 2.526000, 1.763766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.530000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.590000, 0.600000, 0.610000, 0.620000, 0.620000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.730000, 0.750000, 0.770000, 0.790000, 0.810000, 0.820000, 0.850000, 0.870000, 0.910000, 0.940000, 0.970000, 1.000000, 1.030000, 1.080000, 1.120000, 1.150000, 1.210000, 1.260000, 1.320000, 1.380000, 1.460000, 1.540000, 1.640000, 1.760000, 1.940000, 2.110000, 2.380000, 2.810000, 3.640000, 5.120000, 5.130000, 5.140000, 4.670000, 4.750000, 5.180000, 5.210000, 5.230000, 10.220000, 10.220000, 10.190000, 10.190000, 10.170000, 10.160000, 10.180000, 10.170000, 13.730000, 13.400000, 13.330000, 14.700000, 14.020000, 14.020000, 9.010000, 8.020000, 7.900000, 7.900000, 6.280000, 5.810000, 5.380000, 5.050000, 4.750000, 4.490000, 4.270000, 4.050000, 3.860000, 3.670000, 3.510000, 3.380000, 3.260000, 3.130000, 3.010000, 2.910000, 2.810000, 2.720000, 2.630000, 2.560000, 2.490000, 2.420000, 2.360000, 2.290000, 2.230000, 2.190000, 2.130000, 2.110000, 2.160000, 2.170000, 2.210000, 2.250000, 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": [ 976054555, 907129 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.837000, 2.527000, 1.874385 ], "estimate": [ 3.837000, 2.527000, 1.874385 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 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, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.700000, 0.700000, 0.710000, 0.730000, 0.750000, 0.770000, 0.790000, 0.800000, 0.820000, 0.830000, 0.870000, 0.890000, 0.920000, 0.950000, 0.990000, 1.020000, 1.050000, 1.090000, 1.140000, 1.170000, 1.240000, 1.290000, 1.340000, 1.420000, 1.500000, 1.570000, 1.680000, 1.800000, 1.960000, 2.150000, 2.450000, 2.890000, 5.270000, 5.120000, 5.120000, 4.280000, 4.270000, 5.050000, 5.180000, 5.200000, 5.220000, 10.220000, 10.210000, 10.180000, 10.180000, 10.170000, 10.170000, 10.170000, 10.170000, 11.310000, 13.320000, 13.330000, 14.520000, 14.010000, 10.090000, 8.850000, 7.900000, 7.890000, 6.720000, 6.190000, 5.750000, 5.320000, 5.000000, 4.710000, 4.460000, 4.240000, 4.000000, 3.820000, 3.640000, 3.490000, 3.350000, 3.220000, 3.110000, 3.000000, 2.880000, 2.780000, 2.690000, 2.610000, 2.540000, 2.460000, 2.390000, 2.340000, 2.280000, 2.210000, 2.170000, 2.100000, 2.090000, 2.150000, 2.170000, 2.220000, 2.250000, 2.290000, 2.450000, 2.470000, 2.520000, 0.790000, 0.770000, 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": [ 976054555, 926491 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.837000, 2.526000, 1.960423 ], "estimate": [ 3.837000, 2.526000, 1.960423 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.500000, 0.510000, 0.500000, 0.500000, 0.510000, 0.510000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.740000, 0.760000, 0.780000, 0.800000, 0.820000, 0.840000, 0.850000, 0.870000, 0.900000, 0.930000, 0.960000, 0.990000, 1.020000, 1.050000, 1.100000, 1.140000, 1.180000, 1.240000, 1.300000, 1.360000, 1.420000, 1.500000, 1.580000, 1.680000, 1.810000, 1.950000, 2.140000, 2.410000, 2.840000, 3.580000, 5.120000, 5.110000, 5.130000, 5.120000, 4.740000, 5.170000, 5.190000, 5.220000, 10.220000, 10.210000, 10.180000, 10.170000, 10.170000, 10.170000, 10.160000, 10.170000, 13.790000, 13.780000, 13.810000, 14.750000, 14.000000, 14.000000, 9.370000, 8.280000, 7.890000, 7.880000, 6.400000, 5.940000, 5.520000, 5.130000, 4.810000, 4.540000, 4.330000, 4.100000, 3.890000, 3.700000, 3.540000, 3.400000, 3.270000, 3.130000, 3.030000, 2.930000, 2.820000, 2.730000, 2.640000, 2.560000, 2.490000, 2.420000, 2.350000, 2.290000, 2.230000, 2.190000, 2.130000, 2.090000, 2.130000, 2.160000, 2.190000, 2.230000, 2.270000, 2.430000, 2.470000, 2.500000, 0.760000, 0.780000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.710000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054555, 927518 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.837000, 2.526000, 1.991150 ], "estimate": [ 3.837000, 2.526000, 1.991150 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.580000, 0.580000, 0.560000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.540000, 0.520000, 0.520000, 0.530000, 0.520000, 0.520000, 0.520000, 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, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.540000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.630000, 0.630000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.740000, 0.760000, 0.780000, 0.800000, 0.810000, 0.830000, 0.860000, 0.870000, 0.900000, 0.930000, 0.950000, 0.990000, 1.010000, 1.050000, 1.080000, 1.130000, 1.170000, 1.220000, 1.270000, 1.340000, 1.400000, 1.460000, 1.530000, 1.610000, 1.730000, 1.870000, 2.040000, 2.230000, 2.600000, 3.110000, 5.430000, 5.120000, 5.130000, 4.270000, 4.380000, 5.170000, 5.180000, 5.200000, 5.260000, 10.220000, 10.200000, 10.180000, 10.170000, 10.170000, 10.170000, 10.160000, 10.170000, 11.310000, 13.440000, 13.460000, 14.710000, 14.000000, 14.000000, 9.020000, 8.010000, 7.860000, 7.890000, 6.240000, 5.780000, 5.360000, 5.000000, 4.720000, 4.480000, 4.240000, 4.000000, 3.820000, 3.650000, 3.490000, 3.340000, 3.220000, 3.110000, 3.000000, 2.880000, 2.780000, 2.690000, 2.610000, 2.530000, 2.460000, 2.390000, 2.330000, 2.280000, 2.210000, 2.160000, 2.090000, 2.100000, 2.140000, 2.170000, 2.200000, 2.250000, 2.290000, 2.440000, 2.470000, 2.510000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054555, 928354 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.837000, 2.526000, 2.071042 ], "estimate": [ 3.837000, 2.526000, 2.071042 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.520000, 0.520000, 0.510000, 0.520000, 0.510000, 0.510000, 0.520000, 0.520000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.630000, 0.630000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.750000, 0.770000, 0.790000, 0.800000, 0.830000, 0.840000, 0.860000, 0.880000, 0.910000, 0.940000, 0.970000, 1.010000, 1.030000, 1.060000, 1.110000, 1.140000, 1.180000, 1.240000, 1.300000, 1.360000, 1.410000, 1.490000, 1.570000, 1.660000, 1.770000, 1.930000, 2.090000, 2.330000, 2.690000, 3.240000, 5.200000, 5.110000, 5.130000, 4.460000, 5.140000, 5.170000, 5.180000, 5.200000, 5.280000, 10.210000, 10.180000, 10.180000, 10.170000, 10.160000, 10.160000, 10.160000, 10.160000, 11.320000, 13.430000, 13.360000, 14.260000, 14.000000, 9.950000, 8.740000, 7.860000, 7.850000, 6.660000, 6.120000, 5.670000, 5.260000, 4.930000, 4.640000, 4.390000, 4.170000, 3.950000, 3.760000, 3.590000, 3.430000, 3.300000, 3.170000, 3.070000, 2.950000, 2.850000, 2.740000, 2.660000, 2.580000, 2.500000, 2.430000, 2.370000, 2.310000, 2.250000, 2.200000, 2.140000, 2.090000, 2.090000, 2.130000, 2.170000, 2.210000, 2.240000, 2.340000, 2.440000, 2.460000, 0.750000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.640000, 0.640000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054555, 988911 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.837000, 2.527000, 2.175516 ], "estimate": [ 3.837000, 2.527000, 2.175516 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.730000, 0.740000, 0.750000, 0.770000, 0.790000, 0.800000, 0.820000, 0.850000, 0.860000, 0.880000, 0.910000, 0.940000, 0.970000, 1.000000, 1.020000, 1.060000, 1.100000, 1.140000, 1.170000, 1.230000, 1.280000, 1.340000, 1.400000, 1.460000, 1.530000, 1.620000, 1.720000, 1.840000, 2.000000, 2.190000, 2.480000, 2.910000, 3.650000, 5.120000, 5.120000, 5.120000, 4.790000, 4.740000, 5.170000, 5.190000, 5.210000, 10.210000, 10.180000, 10.180000, 10.170000, 10.160000, 10.150000, 10.150000, 10.150000, 10.310000, 13.740000, 13.750000, 14.720000, 13.990000, 13.980000, 9.440000, 8.340000, 7.870000, 7.860000, 6.430000, 5.940000, 5.520000, 5.120000, 4.800000, 4.530000, 4.330000, 4.070000, 3.870000, 3.690000, 3.520000, 3.370000, 3.250000, 3.120000, 3.020000, 2.900000, 2.800000, 2.710000, 2.620000, 2.540000, 2.470000, 2.390000, 2.330000, 2.270000, 2.210000, 2.170000, 2.110000, 2.090000, 2.060000, 2.140000, 2.170000, 2.200000, 2.250000, 2.400000, 2.440000, 2.480000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054556, 352679 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.836000, 2.528000, 2.273844 ], "estimate": [ 3.836000, 2.528000, 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": [ 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.540000, 0.530000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.700000, 0.700000, 0.720000, 0.730000, 0.740000, 0.760000, 0.780000, 0.800000, 0.810000, 0.830000, 0.850000, 0.860000, 0.870000, 0.910000, 0.940000, 0.960000, 1.000000, 1.020000, 1.050000, 1.090000, 1.130000, 1.170000, 1.210000, 1.260000, 1.330000, 1.380000, 1.450000, 1.530000, 1.590000, 1.690000, 1.800000, 1.940000, 2.100000, 2.350000, 2.690000, 3.230000, 5.310000, 5.120000, 5.120000, 4.250000, 4.520000, 5.160000, 5.170000, 5.190000, 5.250000, 10.210000, 10.190000, 10.180000, 10.160000, 10.160000, 10.150000, 10.150000, 10.150000, 11.300000, 13.450000, 13.310000, 14.690000, 13.970000, 13.970000, 8.960000, 7.970000, 7.880000, 7.870000, 6.180000, 5.740000, 5.320000, 4.970000, 4.680000, 4.430000, 4.200000, 3.980000, 3.780000, 3.610000, 3.450000, 3.320000, 3.190000, 3.070000, 2.960000, 2.840000, 2.740000, 2.660000, 2.570000, 2.490000, 2.420000, 2.370000, 2.290000, 2.230000, 2.190000, 2.130000, 2.080000, 2.070000, 2.110000, 2.150000, 2.180000, 2.220000, 2.250000, 2.410000, 2.450000, 0.740000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.610000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.610000, 0.650000, 0.650000, 0.680000, 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": [ 976054556, 353875 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.835000, 2.528000, 2.366027 ], "estimate": [ 3.835000, 2.528000, 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": [ 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.740000, 0.750000, 0.770000, 0.790000, 0.800000, 0.820000, 0.840000, 0.860000, 0.870000, 0.890000, 0.920000, 0.940000, 0.980000, 1.010000, 1.030000, 1.060000, 1.110000, 1.140000, 1.180000, 1.230000, 1.280000, 1.340000, 1.390000, 1.470000, 1.530000, 1.620000, 1.700000, 1.830000, 1.970000, 2.130000, 2.400000, 2.760000, 3.290000, 5.260000, 5.120000, 5.120000, 4.360000, 4.760000, 5.160000, 5.170000, 5.190000, 5.260000, 10.200000, 10.190000, 10.170000, 10.160000, 10.150000, 10.140000, 10.150000, 10.150000, 11.310000, 13.460000, 13.310000, 14.710000, 13.980000, 13.980000, 9.000000, 7.970000, 7.860000, 7.880000, 6.190000, 5.720000, 5.300000, 4.970000, 4.670000, 4.410000, 4.180000, 3.970000, 3.770000, 3.590000, 3.430000, 3.290000, 3.170000, 3.060000, 2.950000, 2.840000, 2.740000, 2.650000, 2.560000, 2.490000, 2.420000, 2.350000, 2.290000, 2.230000, 2.180000, 2.120000, 2.060000, 2.070000, 2.110000, 2.140000, 2.170000, 2.210000, 2.260000, 2.400000, 2.450000, 0.790000, 0.740000, 0.710000, 0.710000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.650000, 0.650000, 0.630000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.590000, 0.610000, 0.640000, 0.640000, 0.680000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 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": [ 976054556, 556435 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.835000, 2.528000, 2.445919 ], "estimate": [ 3.835000, 2.528000, 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": [ 0.550000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.720000, 0.730000, 0.740000, 0.760000, 0.780000, 0.800000, 0.810000, 0.830000, 0.840000, 0.860000, 0.880000, 0.910000, 0.940000, 0.950000, 0.990000, 1.020000, 1.040000, 1.080000, 1.110000, 1.140000, 1.190000, 1.240000, 1.290000, 1.340000, 1.390000, 1.470000, 1.530000, 1.610000, 1.700000, 1.810000, 1.950000, 2.110000, 2.360000, 2.700000, 3.180000, 4.230000, 5.120000, 5.110000, 4.230000, 4.210000, 5.150000, 5.170000, 5.180000, 5.210000, 10.210000, 10.200000, 10.170000, 10.160000, 10.150000, 10.150000, 10.150000, 10.140000, 11.100000, 13.740000, 13.780000, 14.720000, 13.980000, 13.970000, 9.310000, 8.240000, 7.850000, 7.850000, 6.330000, 5.850000, 5.430000, 5.050000, 4.740000, 4.480000, 4.260000, 4.020000, 3.810000, 3.630000, 3.470000, 3.330000, 3.210000, 3.090000, 2.970000, 2.860000, 2.750000, 2.670000, 2.580000, 2.500000, 2.430000, 2.370000, 2.290000, 2.230000, 2.190000, 2.130000, 2.080000, 2.060000, 2.090000, 2.140000, 2.170000, 2.190000, 2.240000, 2.390000, 2.420000, 0.790000, 0.740000, 0.710000, 0.690000, 0.690000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.600000, 0.580000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.620000, 0.630000, 0.660000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.700000, 0.740000, 0.780000, 0.820000, 0.860000, 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": [ 976054556, 946324 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.835000, 2.528000, 2.531957 ], "estimate": [ 3.835000, 2.528000, 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": [ 0.560000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.560000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.770000, 0.790000, 0.800000, 0.820000, 0.830000, 0.850000, 0.870000, 0.890000, 0.920000, 0.950000, 0.980000, 1.010000, 1.030000, 1.060000, 1.100000, 1.140000, 1.160000, 1.210000, 1.260000, 1.310000, 1.370000, 1.420000, 1.490000, 1.570000, 1.660000, 1.750000, 1.880000, 2.030000, 2.200000, 2.480000, 2.840000, 3.430000, 5.260000, 5.110000, 5.120000, 4.560000, 5.140000, 5.160000, 5.180000, 5.200000, 5.270000, 10.200000, 10.180000, 10.170000, 10.170000, 10.150000, 10.140000, 10.150000, 10.160000, 11.310000, 13.700000, 13.310000, 13.830000, 13.970000, 13.980000, 9.040000, 7.980000, 7.850000, 7.870000, 6.180000, 5.730000, 5.290000, 4.950000, 4.650000, 4.400000, 4.160000, 3.940000, 3.740000, 3.570000, 3.420000, 3.290000, 3.160000, 3.040000, 2.930000, 2.830000, 2.730000, 2.640000, 2.550000, 2.480000, 2.410000, 2.350000, 2.280000, 2.220000, 2.170000, 2.110000, 2.060000, 2.040000, 2.100000, 2.150000, 2.170000, 2.210000, 2.290000, 2.400000, 2.430000, 0.720000, 0.700000, 0.690000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.620000, 0.600000, 0.610000, 0.590000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.590000, 0.600000, 0.620000, 0.630000, 0.680000, 0.720000, 0.710000, 0.700000, 0.700000, 0.700000, 0.710000, 0.750000, 0.780000, 0.820000, 0.860000, 0.900000, 0.950000, 1.000000, 1.080000, 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": [ 976054556, 947481 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.836000, 2.528000, 2.562684 ], "estimate": [ 3.836000, 2.528000, 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": [ 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.580000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.810000, 0.820000, 0.850000, 0.870000, 0.880000, 0.900000, 0.930000, 0.950000, 0.990000, 1.020000, 1.050000, 1.080000, 1.120000, 1.150000, 1.190000, 1.240000, 1.280000, 1.340000, 1.380000, 1.450000, 1.520000, 1.600000, 1.700000, 1.800000, 1.940000, 2.100000, 2.310000, 2.600000, 3.010000, 3.740000, 5.120000, 5.120000, 5.120000, 4.710000, 4.760000, 5.170000, 5.170000, 5.200000, 10.220000, 10.200000, 10.180000, 10.180000, 10.160000, 10.150000, 10.150000, 10.150000, 10.140000, 11.310000, 13.410000, 13.330000, 14.690000, 13.970000, 10.140000, 8.910000, 7.870000, 7.840000, 6.650000, 6.130000, 5.660000, 5.240000, 4.910000, 4.620000, 4.360000, 4.130000, 3.910000, 3.720000, 3.550000, 3.400000, 3.260000, 3.130000, 3.020000, 2.900000, 2.810000, 2.710000, 2.610000, 2.540000, 2.460000, 2.400000, 2.330000, 2.270000, 2.210000, 2.150000, 2.100000, 2.050000, 2.070000, 2.110000, 2.150000, 2.170000, 2.210000, 2.360000, 2.410000, 0.780000, 0.710000, 0.680000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.610000, 0.610000, 0.620000, 0.700000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.710000, 0.740000, 0.780000, 0.820000, 0.860000, 0.900000, 0.950000, 1.010000, 1.070000, 1.140000, 1.220000, 1.330000, 1.440000, 3.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054557, 108773 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.831000, 2.532000, 2.544248 ], "estimate": [ 3.831000, 2.532000, 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": [ 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.590000, 0.570000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.740000, 0.750000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.850000, 0.870000, 0.900000, 0.920000, 0.940000, 0.980000, 1.010000, 1.030000, 1.060000, 1.100000, 1.140000, 1.170000, 1.220000, 1.260000, 1.320000, 1.370000, 1.420000, 1.500000, 1.570000, 1.660000, 1.750000, 1.880000, 2.020000, 2.200000, 2.470000, 2.820000, 3.350000, 5.670000, 5.110000, 5.120000, 5.090000, 4.740000, 5.160000, 5.170000, 5.190000, 5.230000, 10.210000, 10.180000, 10.180000, 10.180000, 10.150000, 10.150000, 10.150000, 10.150000, 11.290000, 13.690000, 13.320000, 14.710000, 14.080000, 13.980000, 9.670000, 8.490000, 7.840000, 7.850000, 6.470000, 5.950000, 5.520000, 5.120000, 4.790000, 4.500000, 4.330000, 4.050000, 3.840000, 3.660000, 3.500000, 3.340000, 3.210000, 3.110000, 2.970000, 2.870000, 2.770000, 2.680000, 2.590000, 2.510000, 2.440000, 2.370000, 2.310000, 2.240000, 2.200000, 2.130000, 2.080000, 2.070000, 2.090000, 2.130000, 2.170000, 2.190000, 2.230000, 2.390000, 2.420000, 0.700000, 0.700000, 0.680000, 0.660000, 0.660000, 0.650000, 0.650000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.560000, 0.560000, 0.560000, 0.550000, 0.570000, 0.590000, 0.610000, 0.610000, 0.650000, 0.700000, 0.700000, 0.710000, 0.700000, 0.680000, 0.690000, 0.720000, 0.760000, 0.800000, 0.840000, 0.880000, 0.930000, 0.990000, 1.050000, 1.110000, 1.180000, 1.270000, 1.370000, 1.490000, 3.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054557, 596590 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.823000, 2.537000, 2.538102 ], "estimate": [ 3.823000, 2.537000, 2.538102 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.790000, 0.800000, 0.820000, 0.840000, 0.860000, 0.880000, 0.910000, 0.920000, 0.940000, 0.980000, 1.010000, 1.030000, 1.070000, 1.100000, 1.140000, 1.170000, 1.230000, 1.260000, 1.320000, 1.360000, 1.420000, 1.500000, 1.570000, 1.660000, 1.750000, 1.880000, 2.030000, 2.200000, 2.470000, 2.820000, 3.350000, 5.570000, 5.100000, 5.120000, 4.330000, 4.720000, 5.160000, 5.170000, 5.180000, 5.230000, 10.200000, 10.180000, 10.180000, 10.160000, 10.150000, 10.140000, 10.140000, 10.130000, 11.290000, 13.690000, 13.780000, 14.720000, 14.010000, 13.960000, 9.550000, 8.400000, 7.830000, 7.840000, 6.420000, 5.900000, 5.490000, 5.080000, 4.770000, 4.490000, 4.320000, 4.030000, 3.820000, 3.650000, 3.480000, 3.340000, 3.210000, 3.090000, 2.970000, 2.850000, 2.750000, 2.670000, 2.590000, 2.510000, 2.430000, 2.370000, 2.300000, 2.230000, 2.190000, 2.130000, 2.080000, 2.050000, 2.080000, 2.130000, 2.160000, 2.190000, 2.220000, 2.380000, 2.410000, 0.770000, 0.700000, 0.680000, 0.670000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.610000, 0.600000, 0.620000, 0.700000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.700000, 0.740000, 0.780000, 0.830000, 0.860000, 0.920000, 0.970000, 1.020000, 1.090000, 1.160000, 1.240000, 1.340000, 1.460000, 3.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054557, 597432 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.786000, 2.562000, 2.531957 ], "estimate": [ 3.786000, 2.562000, 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": [ 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.800000, 0.820000, 0.850000, 0.860000, 0.880000, 0.910000, 0.920000, 0.940000, 0.980000, 1.010000, 1.040000, 1.070000, 1.110000, 1.140000, 1.170000, 1.220000, 1.260000, 1.310000, 1.380000, 1.430000, 1.500000, 1.570000, 1.660000, 1.750000, 1.870000, 2.010000, 2.170000, 2.440000, 2.770000, 3.270000, 5.630000, 5.070000, 5.080000, 5.080000, 4.270000, 5.120000, 5.150000, 5.170000, 5.190000, 10.190000, 10.160000, 10.150000, 10.140000, 10.120000, 10.120000, 10.110000, 10.110000, 10.300000, 13.680000, 13.330000, 14.690000, 14.320000, 13.960000, 9.840000, 8.650000, 7.810000, 7.820000, 6.540000, 6.010000, 5.570000, 5.160000, 4.820000, 4.550000, 4.310000, 4.090000, 3.860000, 3.680000, 3.520000, 3.360000, 3.230000, 3.100000, 2.990000, 2.880000, 2.780000, 2.680000, 2.600000, 2.520000, 2.440000, 2.380000, 2.310000, 2.250000, 2.200000, 2.130000, 2.090000, 2.030000, 2.020000, 2.080000, 2.110000, 2.160000, 2.180000, 2.320000, 2.370000, 2.400000, 2.460000, 0.690000, 0.680000, 0.660000, 0.650000, 0.650000, 0.630000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.550000, 0.550000, 0.550000, 0.540000, 0.560000, 0.590000, 0.600000, 0.600000, 0.680000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.690000, 0.730000, 0.780000, 0.810000, 0.860000, 0.920000, 0.980000, 1.040000, 1.110000, 1.210000, 1.300000, 1.440000, 3.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054557, 717035 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.722000, 2.606000, 2.544248 ], "estimate": [ 3.722000, 2.606000, 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": [ 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.680000, 0.680000, 0.690000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.780000, 0.790000, 0.800000, 0.830000, 0.840000, 0.860000, 0.870000, 0.900000, 0.920000, 0.940000, 0.970000, 1.000000, 1.030000, 1.070000, 1.090000, 1.130000, 1.170000, 1.200000, 1.250000, 1.290000, 1.350000, 1.400000, 1.460000, 1.530000, 1.610000, 1.710000, 1.790000, 1.930000, 2.080000, 2.290000, 2.570000, 2.940000, 3.530000, 5.330000, 5.010000, 5.030000, 4.120000, 4.730000, 5.060000, 5.080000, 5.100000, 5.130000, 10.110000, 10.090000, 10.080000, 10.080000, 10.070000, 10.060000, 10.050000, 10.040000, 10.540000, 13.600000, 13.290000, 14.620000, 14.150000, 13.880000, 9.780000, 8.560000, 7.740000, 7.750000, 6.520000, 5.960000, 5.550000, 5.130000, 4.790000, 4.520000, 4.280000, 4.050000, 3.840000, 3.660000, 3.490000, 3.340000, 3.220000, 3.100000, 2.970000, 2.860000, 2.760000, 2.670000, 2.590000, 2.510000, 2.430000, 2.360000, 2.300000, 2.240000, 2.180000, 2.120000, 2.070000, 2.020000, 1.980000, 1.970000, 2.030000, 2.070000, 2.090000, 2.130000, 2.250000, 2.330000, 2.360000, 2.400000, 2.450000, 2.490000, 2.540000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.550000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.560000, 0.580000, 0.580000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.690000, 0.730000, 0.770000, 0.830000, 0.900000, 0.980000, 1.060000, 1.190000, 1.380000 ], "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": [ 976054558, 254613 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.659000, 2.648000, 2.550393 ], "estimate": [ 3.659000, 2.648000, 2.550393 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.790000, 0.790000, 0.810000, 0.830000, 0.850000, 0.870000, 0.880000, 0.910000, 0.930000, 0.940000, 0.970000, 1.010000, 1.030000, 1.060000, 1.090000, 1.140000, 1.170000, 1.200000, 1.250000, 1.290000, 1.350000, 1.390000, 1.440000, 1.530000, 1.590000, 1.690000, 1.770000, 1.890000, 2.020000, 2.240000, 2.490000, 2.810000, 3.290000, 5.680000, 4.940000, 4.940000, 4.960000, 4.030000, 4.570000, 5.000000, 5.020000, 5.040000, 5.160000, 10.020000, 10.020000, 10.010000, 9.990000, 9.980000, 9.980000, 9.970000, 9.990000, 11.120000, 13.530000, 13.400000, 14.550000, 13.870000, 13.810000, 9.500000, 8.360000, 7.660000, 7.680000, 6.380000, 5.870000, 5.450000, 5.050000, 4.740000, 4.460000, 4.220000, 4.010000, 3.810000, 3.620000, 3.460000, 3.300000, 3.180000, 3.060000, 2.930000, 2.850000, 2.750000, 2.640000, 2.570000, 2.500000, 2.410000, 2.340000, 2.280000, 2.220000, 2.170000, 2.110000, 2.060000, 2.020000, 1.970000, 1.920000, 1.920000, 1.950000, 2.000000, 2.030000, 2.060000, 2.130000, 2.260000, 2.310000, 2.350000, 2.390000, 2.430000, 2.490000, 2.540000, 4.750000, 4.700000, 4.630000, 0.630000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.530000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.550000, 0.580000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.700000, 0.810000 ], "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": [ 976054558, 255754 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.613000, 2.679000, 2.544248 ], "estimate": [ 3.613000, 2.679000, 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": [ 0.570000, 0.580000, 0.580000, 0.590000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.780000, 0.790000, 0.790000, 0.810000, 0.820000, 0.840000, 0.860000, 0.880000, 0.900000, 0.930000, 0.930000, 0.960000, 0.990000, 1.020000, 1.050000, 1.090000, 1.120000, 1.150000, 1.180000, 1.230000, 1.280000, 1.330000, 1.370000, 1.430000, 1.490000, 1.560000, 1.640000, 1.740000, 1.830000, 1.950000, 2.140000, 2.370000, 2.640000, 3.030000, 3.900000, 5.350000, 4.890000, 4.900000, 3.980000, 4.500000, 4.930000, 4.940000, 4.960000, 4.980000, 9.990000, 9.970000, 9.960000, 9.950000, 9.930000, 9.910000, 9.910000, 9.920000, 9.920000, 11.050000, 13.450000, 13.050000, 14.500000, 13.760000, 13.750000, 9.190000, 8.140000, 7.610000, 7.630000, 6.250000, 5.760000, 5.360000, 4.980000, 4.660000, 4.400000, 4.160000, 3.960000, 3.750000, 3.570000, 3.420000, 3.270000, 3.150000, 3.020000, 2.900000, 2.820000, 2.710000, 2.630000, 2.540000, 2.470000, 2.400000, 2.330000, 2.260000, 2.210000, 2.140000, 2.100000, 2.040000, 2.000000, 1.950000, 1.920000, 1.850000, 1.860000, 1.910000, 1.950000, 1.990000, 2.030000, 2.110000, 2.220000, 2.270000, 2.320000, 2.350000, 2.390000, 2.450000, 2.520000, 4.680000, 4.630000, 4.580000, 4.520000, 4.490000, 4.440000, 4.300000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 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, 0.500000, 0.490000, 0.500000, 0.500000, 0.530000, 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": [ 976054558, 256744 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.577000, 2.703000, 2.538102 ], "estimate": [ 3.577000, 2.703000, 2.538102 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.580000, 0.580000, 0.590000, 0.590000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.740000, 0.740000, 0.750000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.860000, 0.870000, 0.900000, 0.920000, 0.940000, 0.950000, 0.990000, 1.020000, 1.040000, 1.070000, 1.110000, 1.140000, 1.180000, 1.220000, 1.260000, 1.310000, 1.360000, 1.400000, 1.480000, 1.540000, 1.620000, 1.700000, 1.800000, 1.900000, 2.080000, 2.280000, 2.520000, 2.830000, 3.320000, 5.560000, 4.850000, 4.850000, 4.860000, 3.950000, 4.460000, 4.900000, 4.920000, 4.930000, 4.980000, 9.950000, 9.920000, 9.920000, 9.900000, 9.880000, 9.870000, 9.870000, 9.860000, 10.030000, 13.420000, 13.020000, 14.460000, 14.340000, 13.710000, 9.860000, 8.630000, 7.680000, 7.580000, 7.610000, 5.980000, 5.550000, 5.150000, 4.800000, 4.510000, 4.260000, 4.040000, 3.850000, 3.660000, 3.490000, 3.330000, 3.200000, 3.080000, 2.960000, 2.830000, 2.760000, 2.660000, 2.570000, 2.500000, 2.420000, 2.360000, 2.290000, 2.220000, 2.170000, 2.110000, 2.060000, 2.010000, 1.960000, 1.930000, 1.890000, 1.840000, 1.840000, 1.870000, 1.910000, 1.950000, 1.980000, 2.030000, 2.190000, 2.240000, 2.280000, 2.320000, 2.370000, 2.410000, 2.460000, 4.660000, 4.600000, 4.550000, 4.510000, 4.460000, 4.420000, 4.100000, 4.050000, 4.010000, 0.560000, 0.560000, 0.540000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.520000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 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": [ 976054558, 486096 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.557000, 2.717000, 2.538102 ], "estimate": [ 3.557000, 2.717000, 2.538102 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.760000, 0.770000, 0.790000, 0.800000, 0.810000, 0.830000, 0.850000, 0.870000, 0.880000, 0.900000, 0.920000, 0.940000, 0.970000, 1.000000, 1.020000, 1.050000, 1.090000, 1.120000, 1.150000, 1.180000, 1.230000, 1.270000, 1.320000, 1.370000, 1.420000, 1.490000, 1.540000, 1.630000, 1.710000, 1.820000, 1.930000, 2.100000, 2.310000, 2.550000, 2.860000, 3.350000, 5.660000, 4.820000, 4.810000, 4.820000, 3.910000, 4.420000, 4.860000, 4.880000, 4.900000, 4.960000, 9.910000, 9.900000, 9.890000, 9.870000, 9.860000, 9.850000, 9.850000, 9.840000, 9.920000, 13.440000, 13.290000, 14.400000, 14.420000, 13.690000, 13.690000, 8.830000, 7.800000, 7.530000, 7.550000, 6.050000, 5.590000, 5.220000, 4.840000, 4.540000, 4.290000, 4.080000, 3.880000, 3.670000, 3.510000, 3.350000, 3.220000, 3.100000, 2.970000, 2.860000, 2.770000, 2.680000, 2.590000, 2.510000, 2.440000, 2.370000, 2.300000, 2.230000, 2.180000, 2.110000, 2.070000, 2.020000, 1.970000, 1.940000, 1.890000, 1.840000, 1.800000, 1.810000, 1.850000, 1.900000, 1.920000, 1.960000, 2.000000, 2.170000, 2.220000, 2.250000, 2.300000, 2.340000, 2.400000, 2.430000, 4.600000, 4.560000, 4.510000, 4.470000, 4.420000, 4.380000, 4.050000, 4.020000, 3.970000, 3.900000, 3.960000, 3.880000, 0.520000, 0.540000, 0.540000, 0.530000, 0.520000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.520000, 0.510000, 0.520000, 0.520000, 0.520000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054559, 187643 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.507000, 2.750000, 2.544248 ], "estimate": [ 3.507000, 2.750000, 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": [ 0.590000, 0.600000, 0.600000, 0.610000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.860000, 0.870000, 0.890000, 0.910000, 0.930000, 0.940000, 0.970000, 1.000000, 1.020000, 1.050000, 1.090000, 1.120000, 1.150000, 1.180000, 1.230000, 1.270000, 1.320000, 1.380000, 1.420000, 1.480000, 1.530000, 1.620000, 1.710000, 1.790000, 1.890000, 2.070000, 2.270000, 2.500000, 2.780000, 3.190000, 4.120000, 4.890000, 4.760000, 4.780000, 4.770000, 4.770000, 4.790000, 4.820000, 4.840000, 4.860000, 9.870000, 9.860000, 9.840000, 9.830000, 9.810000, 9.800000, 9.800000, 9.790000, 9.800000, 14.080000, 13.530000, 13.610000, 14.360000, 13.650000, 13.620000, 9.360000, 8.250000, 7.490000, 7.500000, 6.300000, 5.790000, 5.380000, 5.000000, 4.680000, 4.410000, 4.160000, 3.950000, 3.760000, 3.580000, 3.420000, 3.270000, 3.130000, 3.020000, 2.910000, 2.790000, 2.730000, 2.630000, 2.540000, 2.460000, 2.400000, 2.330000, 2.250000, 2.210000, 2.140000, 2.080000, 2.040000, 1.990000, 1.950000, 1.910000, 1.860000, 1.830000, 1.780000, 1.760000, 1.790000, 1.830000, 1.880000, 1.900000, 1.950000, 2.130000, 2.170000, 2.190000, 2.250000, 2.290000, 2.340000, 2.390000, 2.440000, 4.520000, 4.480000, 4.430000, 4.400000, 4.350000, 4.030000, 3.990000, 3.960000, 3.920000, 3.910000, 3.880000, 3.840000, 3.810000, 3.790000, 3.800000, 3.930000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 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 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054559, 206542 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.451000, 2.788000, 2.556539 ], "estimate": [ 3.451000, 2.788000, 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": [ 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.680000, 0.680000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.850000, 0.870000, 0.880000, 0.910000, 0.930000, 0.940000, 0.970000, 0.990000, 1.020000, 1.040000, 1.080000, 1.110000, 1.140000, 1.180000, 1.210000, 1.250000, 1.300000, 1.340000, 1.390000, 1.450000, 1.510000, 1.570000, 1.650000, 1.720000, 1.820000, 1.960000, 2.110000, 2.310000, 2.540000, 2.840000, 3.270000, 4.070000, 4.830000, 4.700000, 4.720000, 3.970000, 4.720000, 4.740000, 4.760000, 4.780000, 4.800000, 9.820000, 9.800000, 9.780000, 9.770000, 9.740000, 9.730000, 9.730000, 9.720000, 9.720000, 10.610000, 13.260000, 12.870000, 14.280000, 14.190000, 13.560000, 9.660000, 8.470000, 7.530000, 7.430000, 7.450000, 5.890000, 5.450000, 5.080000, 4.730000, 4.440000, 4.190000, 3.990000, 3.800000, 3.600000, 3.430000, 3.300000, 3.150000, 3.030000, 2.920000, 2.810000, 2.710000, 2.640000, 2.540000, 2.470000, 2.400000, 2.330000, 2.260000, 2.210000, 2.140000, 2.080000, 2.030000, 1.990000, 1.950000, 1.900000, 1.860000, 1.830000, 1.790000, 1.750000, 1.710000, 1.690000, 1.760000, 1.810000, 1.840000, 1.890000, 1.920000, 2.090000, 2.150000, 2.170000, 2.230000, 2.280000, 2.340000, 2.370000, 4.480000, 4.440000, 4.400000, 4.360000, 4.310000, 3.990000, 3.960000, 3.920000, 3.870000, 3.880000, 3.840000, 3.820000, 3.800000, 3.770000, 3.780000, 3.930000, 4.010000, 3.980000, 3.970000, 3.940000, 3.930000, 3.920000, 0.510000, 0.500000, 0.500000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.500000, 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": [ 976054559, 207569 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.393000, 2.825000, 2.556539 ], "estimate": [ 3.393000, 2.825000, 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": [ 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.760000, 0.780000, 0.790000, 0.790000, 0.800000, 0.820000, 0.830000, 0.850000, 0.870000, 0.880000, 0.900000, 0.920000, 0.950000, 0.960000, 0.980000, 1.010000, 1.030000, 1.060000, 1.090000, 1.130000, 1.140000, 1.180000, 1.230000, 1.270000, 1.310000, 1.360000, 1.410000, 1.460000, 1.520000, 1.570000, 1.650000, 1.730000, 1.830000, 1.960000, 2.120000, 2.310000, 2.540000, 2.820000, 3.230000, 4.050000, 5.090000, 4.640000, 4.640000, 3.990000, 4.260000, 4.680000, 4.700000, 4.720000, 4.730000, 9.760000, 9.740000, 9.720000, 9.710000, 9.690000, 9.680000, 9.660000, 9.660000, 9.660000, 9.670000, 10.820000, 13.210000, 12.800000, 13.380000, 13.520000, 13.490000, 9.050000, 7.970000, 7.360000, 7.370000, 6.150000, 5.650000, 5.240000, 4.880000, 4.580000, 4.310000, 4.070000, 3.870000, 3.680000, 3.510000, 3.360000, 3.220000, 3.080000, 2.960000, 2.860000, 2.760000, 2.630000, 2.580000, 2.500000, 2.420000, 2.360000, 2.290000, 2.220000, 2.160000, 2.110000, 2.060000, 2.010000, 1.960000, 1.920000, 1.870000, 1.840000, 1.790000, 1.770000, 1.730000, 1.690000, 1.660000, 1.680000, 1.720000, 1.750000, 1.800000, 1.830000, 1.880000, 2.050000, 2.090000, 2.160000, 2.200000, 2.250000, 2.310000, 2.340000, 4.410000, 4.370000, 4.330000, 4.300000, 4.210000, 3.950000, 3.910000, 3.890000, 3.820000, 3.840000, 3.810000, 3.780000, 3.750000, 3.740000, 3.780000, 3.980000, 3.970000, 3.940000, 3.930000, 3.910000, 3.900000, 3.880000, 3.890000, 3.880000, 2.920000, 3.670000, 3.860000, 0.500000, 0.490000, 0.490000, 0.480000, 0.500000, 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": [ 976054559, 208583 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.347000, 2.855000, 2.562684 ], "estimate": [ 3.347000, 2.855000, 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": [ 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.750000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.820000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.910000, 0.930000, 0.940000, 0.970000, 0.990000, 1.020000, 1.040000, 1.080000, 1.110000, 1.140000, 1.160000, 1.200000, 1.240000, 1.270000, 1.330000, 1.370000, 1.420000, 1.470000, 1.530000, 1.590000, 1.660000, 1.740000, 1.840000, 1.960000, 2.120000, 2.310000, 2.520000, 2.810000, 3.190000, 3.930000, 5.230000, 4.590000, 4.600000, 3.700000, 4.240000, 4.630000, 4.640000, 4.650000, 4.670000, 4.720000, 9.700000, 9.670000, 9.660000, 9.630000, 9.620000, 9.610000, 9.600000, 9.600000, 9.600000, 10.760000, 13.140000, 12.900000, 14.180000, 14.060000, 13.440000, 9.510000, 8.350000, 7.410000, 7.290000, 7.330000, 5.790000, 5.370000, 5.010000, 4.660000, 4.380000, 4.130000, 3.920000, 3.800000, 3.550000, 3.400000, 3.250000, 3.110000, 2.990000, 2.870000, 2.770000, 2.690000, 2.580000, 2.520000, 2.440000, 2.370000, 2.300000, 2.230000, 2.180000, 2.100000, 2.060000, 2.010000, 1.960000, 1.920000, 1.870000, 1.840000, 1.800000, 1.760000, 1.730000, 1.690000, 1.670000, 1.640000, 1.620000, 1.610000, 1.690000, 1.730000, 1.770000, 1.810000, 1.960000, 2.040000, 2.070000, 2.140000, 2.170000, 2.230000, 2.300000, 4.380000, 4.340000, 4.290000, 4.260000, 4.210000, 3.920000, 3.880000, 3.850000, 3.810000, 3.850000, 3.780000, 3.770000, 3.730000, 3.720000, 3.730000, 3.960000, 3.940000, 3.920000, 3.910000, 3.890000, 3.880000, 3.870000, 3.870000, 3.870000, 2.940000, 2.950000, 3.800000, 3.850000, 3.840000, 3.840000, 1.810000, 1.100000, 0.790000, 0.590000, 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": [ 976054559, 356081 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.305000, 2.882000, 2.568830 ], "estimate": [ 3.305000, 2.882000, 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": [ 0.650000, 0.660000, 0.660000, 0.670000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.710000, 0.720000, 0.730000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.800000, 0.810000, 0.810000, 0.820000, 0.840000, 0.850000, 0.870000, 0.880000, 0.900000, 0.920000, 0.940000, 0.950000, 0.970000, 1.010000, 1.020000, 1.050000, 1.080000, 1.110000, 1.150000, 1.160000, 1.200000, 1.250000, 1.270000, 1.330000, 1.380000, 1.410000, 1.470000, 1.530000, 1.590000, 1.650000, 1.730000, 1.840000, 1.960000, 2.110000, 2.280000, 2.500000, 2.740000, 3.090000, 3.770000, 5.620000, 4.560000, 4.560000, 3.690000, 4.550000, 4.170000, 4.600000, 4.610000, 4.630000, 4.650000, 9.670000, 9.630000, 9.610000, 9.610000, 9.590000, 9.570000, 9.570000, 9.560000, 9.560000, 9.550000, 10.740000, 13.100000, 12.820000, 14.090000, 13.420000, 13.390000, 8.840000, 7.800000, 7.250000, 7.270000, 6.030000, 5.550000, 5.150000, 4.800000, 4.480000, 4.240000, 4.010000, 3.820000, 3.640000, 3.460000, 3.300000, 3.170000, 3.030000, 2.920000, 2.810000, 2.700000, 2.620000, 2.550000, 2.470000, 2.400000, 2.320000, 2.250000, 2.200000, 2.130000, 2.080000, 2.020000, 1.970000, 1.930000, 1.890000, 1.850000, 1.800000, 1.770000, 1.740000, 1.700000, 1.670000, 1.650000, 1.620000, 1.590000, 1.590000, 1.630000, 1.670000, 1.710000, 1.740000, 1.800000, 1.970000, 2.030000, 2.070000, 2.130000, 2.180000, 2.230000, 2.310000, 4.320000, 4.270000, 4.250000, 4.200000, 3.890000, 3.860000, 3.840000, 3.790000, 3.840000, 3.760000, 3.730000, 3.720000, 3.710000, 3.710000, 3.940000, 3.930000, 3.910000, 3.900000, 3.880000, 3.870000, 3.870000, 3.870000, 3.860000, 3.810000, 2.930000, 3.640000, 3.840000, 3.840000, 3.840000, 3.120000, 1.800000, 1.330000, 1.080000, 0.900000, 0.760000, 0.670000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054559, 682675 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.259000, 2.912000, 2.568830 ], "estimate": [ 3.259000, 2.912000, 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": [ 0.660000, 0.670000, 0.670000, 0.680000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.760000, 0.770000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.860000, 0.870000, 0.880000, 0.910000, 0.920000, 0.950000, 0.950000, 0.980000, 1.000000, 1.030000, 1.050000, 1.080000, 1.120000, 1.140000, 1.170000, 1.190000, 1.240000, 1.270000, 1.320000, 1.370000, 1.400000, 1.460000, 1.520000, 1.570000, 1.650000, 1.720000, 1.800000, 1.910000, 2.050000, 2.220000, 2.400000, 2.630000, 2.920000, 3.490000, 4.310000, 4.890000, 4.500000, 4.510000, 3.820000, 4.110000, 4.540000, 4.560000, 4.570000, 4.580000, 4.630000, 9.600000, 9.590000, 9.580000, 9.550000, 9.540000, 9.530000, 9.520000, 9.510000, 9.510000, 10.290000, 13.070000, 12.730000, 14.070000, 14.100000, 13.340000, 13.350000, 8.570000, 7.590000, 7.210000, 7.220000, 5.900000, 5.440000, 5.060000, 4.710000, 4.410000, 4.160000, 3.940000, 3.750000, 3.570000, 3.410000, 3.260000, 3.120000, 3.010000, 2.870000, 2.770000, 2.680000, 2.600000, 2.490000, 2.430000, 2.370000, 2.300000, 2.220000, 2.170000, 2.110000, 2.050000, 2.000000, 1.960000, 1.910000, 1.860000, 1.830000, 1.800000, 1.760000, 1.720000, 1.690000, 1.660000, 1.630000, 1.600000, 1.580000, 1.560000, 1.550000, 1.600000, 1.640000, 1.680000, 1.720000, 1.770000, 1.960000, 2.010000, 2.050000, 2.120000, 2.160000, 2.240000, 4.300000, 4.270000, 4.230000, 4.190000, 3.870000, 3.860000, 3.820000, 3.760000, 3.770000, 3.750000, 3.730000, 3.710000, 3.690000, 3.690000, 3.800000, 3.910000, 3.900000, 3.890000, 3.870000, 3.870000, 3.860000, 3.860000, 3.850000, 3.840000, 2.920000, 2.920000, 3.830000, 3.830000, 3.830000, 3.810000, 2.850000, 1.900000, 1.550000, 1.280000, 1.110000, 0.970000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054559, 756204 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.205000, 2.945000, 2.568830 ], "estimate": [ 3.205000, 2.945000, 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": [ 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.880000, 0.900000, 0.920000, 0.940000, 0.950000, 0.980000, 0.990000, 1.010000, 1.030000, 1.060000, 1.090000, 1.120000, 1.150000, 1.190000, 1.210000, 1.250000, 1.280000, 1.320000, 1.370000, 1.420000, 1.460000, 1.520000, 1.570000, 1.630000, 1.710000, 1.800000, 1.900000, 2.020000, 2.180000, 2.360000, 2.580000, 2.840000, 3.320000, 3.900000, 5.550000, 4.450000, 4.460000, 3.550000, 4.460000, 4.080000, 4.490000, 4.500000, 4.520000, 4.540000, 9.560000, 9.550000, 9.530000, 9.500000, 9.480000, 9.470000, 9.460000, 9.450000, 9.450000, 9.450000, 10.590000, 13.000000, 12.740000, 14.030000, 13.920000, 13.280000, 9.410000, 8.270000, 7.320000, 7.140000, 7.170000, 5.710000, 5.300000, 4.940000, 4.590000, 4.310000, 4.080000, 3.860000, 3.680000, 3.520000, 3.350000, 3.210000, 3.070000, 2.940000, 2.830000, 2.730000, 2.640000, 2.550000, 2.460000, 2.400000, 2.330000, 2.250000, 2.200000, 2.140000, 2.090000, 2.030000, 1.970000, 1.930000, 1.880000, 1.840000, 1.800000, 1.770000, 1.740000, 1.690000, 1.670000, 1.630000, 1.610000, 1.580000, 1.560000, 1.540000, 1.500000, 1.500000, 1.550000, 1.590000, 1.630000, 1.670000, 1.710000, 1.910000, 1.950000, 2.020000, 2.070000, 2.140000, 2.200000, 4.250000, 4.210000, 4.180000, 4.100000, 3.830000, 3.810000, 3.780000, 3.730000, 3.780000, 3.720000, 3.700000, 3.680000, 3.670000, 3.660000, 3.900000, 3.890000, 3.870000, 3.870000, 3.860000, 3.860000, 3.850000, 3.840000, 3.830000, 3.830000, 2.900000, 2.910000, 3.820000, 3.820000, 3.820000, 3.660000, 2.870000, 2.120000, 1.790000, 1.550000, 1.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054560, 257264 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.151000, 2.980000, 2.574975 ], "estimate": [ 3.151000, 2.980000, 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": [ 0.700000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.840000, 0.840000, 0.860000, 0.860000, 0.870000, 0.890000, 0.910000, 0.930000, 0.950000, 0.960000, 0.990000, 1.000000, 1.020000, 1.040000, 1.070000, 1.100000, 1.130000, 1.150000, 1.190000, 1.210000, 1.250000, 1.290000, 1.320000, 1.370000, 1.410000, 1.460000, 1.510000, 1.560000, 1.630000, 1.720000, 1.800000, 1.900000, 2.000000, 2.140000, 2.310000, 2.520000, 2.760000, 3.190000, 3.600000, 4.570000, 4.500000, 4.400000, 4.400000, 3.550000, 4.330000, 4.430000, 4.450000, 4.460000, 4.460000, 4.520000, 9.480000, 9.470000, 9.450000, 9.440000, 9.420000, 9.410000, 9.400000, 9.380000, 9.390000, 9.390000, 10.540000, 12.930000, 12.550000, 13.970000, 13.270000, 13.230000, 8.980000, 7.910000, 7.080000, 7.100000, 7.120000, 5.540000, 5.150000, 4.800000, 4.490000, 4.210000, 3.980000, 3.770000, 3.600000, 3.430000, 3.280000, 3.140000, 3.020000, 2.880000, 2.780000, 2.680000, 2.590000, 2.510000, 2.410000, 2.370000, 2.290000, 2.220000, 2.170000, 2.110000, 2.050000, 2.000000, 1.950000, 1.910000, 1.850000, 1.830000, 1.780000, 1.740000, 1.710000, 1.690000, 1.640000, 1.610000, 1.590000, 1.560000, 1.540000, 1.510000, 1.500000, 1.470000, 1.460000, 1.480000, 1.530000, 1.570000, 1.620000, 1.660000, 1.880000, 1.910000, 1.970000, 2.040000, 2.090000, 2.160000, 4.190000, 4.150000, 4.120000, 3.820000, 3.800000, 3.760000, 3.690000, 3.720000, 3.700000, 3.680000, 3.660000, 3.650000, 3.640000, 3.680000, 3.870000, 3.870000, 3.860000, 3.850000, 3.840000, 3.830000, 3.830000, 3.820000, 3.820000, 3.810000, 2.900000, 2.890000, 3.810000, 3.810000, 3.810000, 3.400000, 2.850000, 2.240000, 1.940000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054560, 258378 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.102000, 3.011000, 2.568830 ], "estimate": [ 3.102000, 3.011000, 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": [ 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.770000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.980000, 1.000000, 1.010000, 1.030000, 1.050000, 1.080000, 1.110000, 1.140000, 1.160000, 1.190000, 1.230000, 1.260000, 1.290000, 1.340000, 1.380000, 1.420000, 1.470000, 1.520000, 1.570000, 1.640000, 1.720000, 1.800000, 1.890000, 1.990000, 2.130000, 2.290000, 2.470000, 2.710000, 3.090000, 3.480000, 4.180000, 5.030000, 4.350000, 4.350000, 3.450000, 3.970000, 4.360000, 4.380000, 4.390000, 4.400000, 4.430000, 9.450000, 9.430000, 9.410000, 9.390000, 9.370000, 9.350000, 9.340000, 9.330000, 9.330000, 9.330000, 9.780000, 12.890000, 12.680000, 12.550000, 13.910000, 13.160000, 13.160000, 8.560000, 7.570000, 7.020000, 7.040000, 5.850000, 5.380000, 5.010000, 4.670000, 4.350000, 4.100000, 3.880000, 3.690000, 3.490000, 3.360000, 3.210000, 3.080000, 2.950000, 2.830000, 2.720000, 2.630000, 2.550000, 2.470000, 2.390000, 2.330000, 2.250000, 2.200000, 2.130000, 2.080000, 2.010000, 1.960000, 1.930000, 1.870000, 1.830000, 1.790000, 1.760000, 1.720000, 1.690000, 1.660000, 1.640000, 1.600000, 1.570000, 1.540000, 1.510000, 1.500000, 1.470000, 1.460000, 1.440000, 1.420000, 1.430000, 1.460000, 1.520000, 1.550000, 1.600000, 1.660000, 1.870000, 1.920000, 1.970000, 2.040000, 2.110000, 4.130000, 4.110000, 4.030000, 3.780000, 3.750000, 3.720000, 3.680000, 3.720000, 3.660000, 3.660000, 3.640000, 3.620000, 3.620000, 3.800000, 3.860000, 3.850000, 3.840000, 3.830000, 3.820000, 3.810000, 3.800000, 3.800000, 3.800000, 3.790000, 2.890000, 2.950000, 3.800000, 3.800000, 3.790000, 3.270000, 2.820000, 2.460000, 2.060000 ], "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": [ 976054560, 376441 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.059000, 3.038000, 2.568830 ], "estimate": [ 3.059000, 3.038000, 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": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.910000, 0.920000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.080000, 1.110000, 1.140000, 1.160000, 1.190000, 1.220000, 1.250000, 1.280000, 1.330000, 1.370000, 1.410000, 1.450000, 1.490000, 1.560000, 1.620000, 1.690000, 1.760000, 1.860000, 1.960000, 2.060000, 2.210000, 2.370000, 2.580000, 2.820000, 3.240000, 3.690000, 4.540000, 4.310000, 4.300000, 3.410000, 4.290000, 4.270000, 4.330000, 4.330000, 4.350000, 4.360000, 4.440000, 9.400000, 9.370000, 9.350000, 9.340000, 9.330000, 9.300000, 9.290000, 9.270000, 9.270000, 9.280000, 10.230000, 12.830000, 12.460000, 13.850000, 13.860000, 13.110000, 13.110000, 8.420000, 7.430000, 6.970000, 6.990000, 5.790000, 5.300000, 4.950000, 4.630000, 4.310000, 4.050000, 3.840000, 3.650000, 3.470000, 3.320000, 3.170000, 3.040000, 2.920000, 2.810000, 2.690000, 2.610000, 2.530000, 2.440000, 2.370000, 2.290000, 2.230000, 2.180000, 2.110000, 2.050000, 2.000000, 1.960000, 1.900000, 1.860000, 1.820000, 1.770000, 1.740000, 1.690000, 1.680000, 1.650000, 1.610000, 1.590000, 1.550000, 1.520000, 1.500000, 1.490000, 1.470000, 1.460000, 1.440000, 1.410000, 1.400000, 1.400000, 1.420000, 1.470000, 1.520000, 1.570000, 1.620000, 1.840000, 1.890000, 1.950000, 2.010000, 2.080000, 4.100000, 4.060000, 3.770000, 3.740000, 3.710000, 3.660000, 3.670000, 3.660000, 3.640000, 3.630000, 3.610000, 3.590000, 3.610000, 3.840000, 3.840000, 3.830000, 3.820000, 3.820000, 3.810000, 3.800000, 3.790000, 3.790000, 3.790000, 3.760000, 2.880000, 3.740000, 3.790000, 3.800000, 3.620000, 3.130000, 2.780000, 2.460000 ], "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": [ 976054560, 829138 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.013000, 3.068000, 2.568830 ], "estimate": [ 3.013000, 3.068000, 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": [ 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.880000, 0.900000, 0.920000, 0.930000, 0.950000, 0.970000, 0.990000, 1.010000, 1.020000, 1.030000, 1.060000, 1.090000, 1.110000, 1.140000, 1.160000, 1.190000, 1.230000, 1.260000, 1.280000, 1.330000, 1.370000, 1.410000, 1.440000, 1.500000, 1.550000, 1.610000, 1.690000, 1.760000, 1.850000, 1.940000, 2.030000, 2.180000, 2.330000, 2.520000, 2.750000, 3.120000, 3.450000, 4.140000, 5.030000, 4.260000, 4.260000, 3.350000, 3.900000, 4.290000, 4.290000, 4.290000, 4.300000, 4.320000, 9.370000, 9.340000, 9.320000, 9.300000, 9.280000, 9.260000, 9.250000, 9.240000, 9.220000, 9.230000, 9.230000, 10.380000, 12.800000, 12.420000, 13.800000, 13.360000, 13.060000, 9.170000, 8.060000, 7.110000, 6.920000, 6.950000, 5.570000, 5.160000, 4.800000, 4.490000, 4.190000, 3.940000, 3.750000, 3.570000, 3.420000, 3.260000, 3.110000, 2.980000, 2.860000, 2.760000, 2.640000, 2.550000, 2.480000, 2.400000, 2.330000, 2.240000, 2.220000, 2.130000, 2.080000, 2.020000, 1.970000, 1.930000, 1.870000, 1.840000, 1.790000, 1.760000, 1.710000, 1.690000, 1.650000, 1.620000, 1.600000, 1.560000, 1.540000, 1.500000, 1.490000, 1.460000, 1.450000, 1.440000, 1.420000, 1.390000, 1.390000, 1.370000, 1.360000, 1.370000, 1.420000, 1.470000, 1.520000, 1.580000, 1.810000, 1.870000, 1.920000, 1.990000, 2.060000, 4.040000, 3.800000, 3.720000, 3.690000, 3.630000, 3.640000, 3.680000, 3.630000, 3.620000, 3.590000, 3.590000, 3.600000, 3.780000, 3.830000, 3.820000, 3.810000, 3.800000, 3.790000, 3.790000, 3.790000, 3.790000, 3.790000, 3.790000, 3.540000, 2.880000, 3.790000, 3.790000, 3.800000, 3.380000, 3.000000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054560, 830293 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.961000, 3.101000, 2.568830 ], "estimate": [ 2.961000, 3.101000, 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": [ 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.270000, 1.290000, 1.330000, 1.380000, 1.420000, 1.450000, 1.500000, 1.570000, 1.620000, 1.680000, 1.740000, 1.830000, 1.920000, 2.030000, 2.140000, 2.300000, 2.470000, 2.680000, 3.020000, 3.360000, 3.880000, 5.020000, 4.210000, 4.210000, 4.040000, 4.230000, 3.820000, 4.240000, 4.250000, 4.250000, 4.270000, 4.340000, 9.300000, 9.280000, 9.260000, 9.250000, 9.220000, 9.200000, 9.190000, 9.180000, 9.180000, 9.180000, 9.280000, 10.310000, 12.730000, 12.320000, 13.750000, 13.040000, 13.010000, 8.700000, 7.670000, 6.860000, 6.890000, 6.910000, 5.390000, 5.000000, 4.660000, 4.340000, 4.090000, 3.860000, 3.660000, 3.500000, 3.360000, 3.180000, 3.040000, 2.920000, 2.800000, 2.700000, 2.610000, 2.520000, 2.440000, 2.360000, 2.290000, 2.210000, 2.170000, 2.110000, 2.040000, 1.990000, 1.950000, 1.890000, 1.850000, 1.810000, 1.770000, 1.730000, 1.690000, 1.670000, 1.630000, 1.600000, 1.570000, 1.540000, 1.510000, 1.500000, 1.470000, 1.460000, 1.440000, 1.400000, 1.410000, 1.380000, 1.370000, 1.350000, 1.340000, 1.330000, 1.340000, 1.370000, 1.420000, 1.470000, 1.530000, 1.770000, 1.830000, 1.880000, 1.960000, 2.030000, 3.950000, 3.690000, 3.660000, 3.620000, 3.620000, 3.620000, 3.610000, 3.600000, 3.590000, 3.580000, 3.580000, 3.570000, 3.810000, 3.810000, 3.800000, 3.790000, 3.790000, 3.790000, 3.780000, 3.780000, 3.780000, 3.780000, 3.770000, 2.870000, 2.870000, 3.790000, 3.790000, 3.620000, 3.230000, 2.910000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054561, 690000 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.909000, 3.134000, 2.574975 ], "estimate": [ 2.909000, 3.134000, 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": [ 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.260000, 1.290000, 1.330000, 1.370000, 1.400000, 1.440000, 1.500000, 1.550000, 1.600000, 1.670000, 1.740000, 1.810000, 1.880000, 1.980000, 2.100000, 2.220000, 2.380000, 2.550000, 2.780000, 3.110000, 3.490000, 4.030000, 5.290000, 4.150000, 4.150000, 3.260000, 4.110000, 4.090000, 4.180000, 4.180000, 4.200000, 4.210000, 4.300000, 9.240000, 9.200000, 9.200000, 9.190000, 9.160000, 9.130000, 9.110000, 9.110000, 9.120000, 9.120000, 9.130000, 10.260000, 12.660000, 12.270000, 13.680000, 13.030000, 12.940000, 8.930000, 7.800000, 6.930000, 6.800000, 6.830000, 5.450000, 5.030000, 4.690000, 4.380000, 4.100000, 3.870000, 3.660000, 3.490000, 3.330000, 3.200000, 3.050000, 2.920000, 2.800000, 2.690000, 2.600000, 2.510000, 2.430000, 2.350000, 2.280000, 2.220000, 2.130000, 2.100000, 2.030000, 1.980000, 1.930000, 1.890000, 1.840000, 1.790000, 1.760000, 1.720000, 1.690000, 1.660000, 1.620000, 1.590000, 1.560000, 1.530000, 1.500000, 1.490000, 1.460000, 1.440000, 1.420000, 1.390000, 1.390000, 1.370000, 1.350000, 1.350000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.300000, 1.360000, 1.410000, 1.460000, 1.540000, 1.780000, 1.860000, 1.920000, 2.000000, 3.680000, 3.660000, 3.640000, 3.600000, 3.600000, 3.610000, 3.580000, 3.580000, 3.560000, 3.550000, 3.550000, 3.790000, 3.790000, 3.780000, 3.780000, 3.780000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.570000, 2.840000, 3.750000, 3.790000, 3.730000, 3.360000 ], "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": [ 976054561, 469462 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.879000, 3.153000, 2.574975 ], "estimate": [ 2.879000, 3.153000, 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": [ 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.970000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.080000, 1.110000, 1.130000, 1.150000, 1.170000, 1.200000, 1.240000, 1.270000, 1.290000, 1.320000, 1.360000, 1.410000, 1.440000, 1.490000, 1.560000, 1.590000, 1.660000, 1.720000, 1.790000, 1.880000, 1.970000, 2.060000, 2.180000, 2.320000, 2.490000, 2.690000, 3.010000, 3.280000, 3.770000, 4.570000, 4.120000, 4.100000, 3.460000, 4.110000, 3.740000, 4.130000, 4.130000, 4.150000, 4.160000, 4.180000, 9.210000, 9.190000, 9.160000, 9.130000, 9.110000, 9.110000, 9.090000, 9.080000, 9.070000, 9.070000, 9.060000, 9.920000, 12.690000, 12.620000, 12.270000, 13.650000, 12.920000, 12.890000, 8.560000, 7.520000, 6.740000, 6.760000, 6.780000, 5.300000, 4.910000, 4.580000, 4.280000, 4.030000, 3.810000, 3.610000, 3.420000, 3.280000, 3.140000, 3.000000, 2.880000, 2.760000, 2.670000, 2.560000, 2.480000, 2.400000, 2.320000, 2.240000, 2.190000, 2.120000, 2.080000, 2.010000, 1.960000, 1.920000, 1.870000, 1.840000, 1.780000, 1.750000, 1.700000, 1.680000, 1.650000, 1.610000, 1.580000, 1.540000, 1.520000, 1.500000, 1.470000, 1.450000, 1.420000, 1.400000, 1.390000, 1.370000, 1.350000, 1.350000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.280000, 1.350000, 1.410000, 1.480000, 1.740000, 1.820000, 1.900000, 1.980000, 3.640000, 3.630000, 3.610000, 3.570000, 3.600000, 3.570000, 3.560000, 3.550000, 3.540000, 3.540000, 3.610000, 3.790000, 3.780000, 3.780000, 3.770000, 3.760000, 3.760000, 3.760000, 3.760000, 3.760000, 3.770000, 3.650000, 3.540000, 2.870000, 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": [ 976054561, 470628 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.882000, 3.151000, 2.593412 ], "estimate": [ 2.882000, 3.151000, 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": [ 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.930000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.030000, 1.060000, 1.070000, 1.090000, 1.110000, 1.140000, 1.150000, 1.190000, 1.210000, 1.240000, 1.280000, 1.300000, 1.330000, 1.380000, 1.420000, 1.460000, 1.510000, 1.560000, 1.610000, 1.670000, 1.740000, 1.810000, 1.890000, 1.980000, 2.090000, 2.210000, 2.350000, 2.520000, 2.730000, 3.040000, 3.350000, 3.830000, 4.760000, 4.100000, 4.090000, 3.190000, 4.100000, 3.700000, 4.110000, 4.120000, 4.130000, 4.140000, 4.190000, 9.200000, 9.170000, 9.140000, 9.120000, 9.100000, 9.090000, 9.060000, 9.060000, 9.050000, 9.050000, 9.050000, 9.920000, 12.610000, 12.370000, 12.260000, 13.620000, 12.880000, 12.880000, 8.380000, 7.370000, 6.730000, 6.740000, 6.760000, 5.230000, 4.860000, 4.540000, 4.230000, 3.980000, 3.750000, 3.570000, 3.410000, 3.240000, 3.110000, 2.980000, 2.850000, 2.750000, 2.650000, 2.540000, 2.460000, 2.390000, 2.300000, 2.240000, 2.170000, 2.110000, 2.080000, 2.000000, 1.960000, 1.900000, 1.860000, 1.820000, 1.780000, 1.740000, 1.690000, 1.670000, 1.630000, 1.610000, 1.570000, 1.540000, 1.510000, 1.490000, 1.470000, 1.450000, 1.420000, 1.400000, 1.390000, 1.370000, 1.360000, 1.340000, 1.330000, 1.320000, 1.300000, 1.280000, 1.280000, 1.270000, 1.250000, 1.250000, 1.270000, 1.310000, 1.380000, 1.430000, 1.570000, 1.790000, 1.860000, 1.950000, 2.050000, 3.630000, 3.600000, 3.580000, 3.570000, 3.570000, 3.560000, 3.550000, 3.530000, 3.530000, 3.540000, 3.790000, 3.780000, 3.770000, 3.770000, 3.760000, 3.760000, 3.750000, 3.750000, 3.760000, 3.760000, 3.730000, 3.560000, 2.860000, 3.760000, 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": [ 976054561, 552592 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.884000, 3.150000, 2.617994 ], "estimate": [ 2.884000, 3.150000, 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": [ 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.960000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.140000, 1.150000, 1.190000, 1.210000, 1.240000, 1.280000, 1.300000, 1.340000, 1.380000, 1.410000, 1.460000, 1.510000, 1.560000, 1.610000, 1.670000, 1.740000, 1.810000, 1.890000, 1.980000, 2.100000, 2.210000, 2.350000, 2.530000, 2.740000, 3.050000, 3.350000, 3.860000, 4.790000, 4.110000, 4.100000, 3.180000, 4.110000, 3.690000, 4.120000, 4.130000, 4.140000, 4.150000, 4.200000, 9.190000, 9.180000, 9.140000, 9.140000, 9.120000, 9.100000, 9.080000, 9.070000, 9.060000, 9.050000, 9.050000, 10.070000, 12.600000, 12.210000, 13.610000, 13.640000, 12.900000, 12.890000, 8.260000, 7.280000, 6.730000, 6.750000, 5.610000, 5.190000, 4.810000, 4.510000, 4.190000, 3.950000, 3.740000, 3.550000, 3.380000, 3.250000, 3.100000, 2.950000, 2.840000, 2.730000, 2.620000, 2.530000, 2.450000, 2.370000, 2.300000, 2.220000, 2.160000, 2.100000, 2.050000, 1.990000, 1.950000, 1.900000, 1.850000, 1.800000, 1.770000, 1.730000, 1.690000, 1.660000, 1.620000, 1.590000, 1.560000, 1.530000, 1.500000, 1.490000, 1.460000, 1.440000, 1.410000, 1.390000, 1.380000, 1.360000, 1.360000, 1.340000, 1.330000, 1.310000, 1.300000, 1.280000, 1.280000, 1.270000, 1.260000, 1.250000, 1.280000, 1.340000, 1.400000, 1.470000, 1.740000, 1.800000, 1.880000, 1.980000, 3.630000, 3.620000, 3.580000, 3.570000, 3.600000, 3.560000, 3.550000, 3.550000, 3.530000, 3.530000, 3.600000, 3.780000, 3.780000, 3.770000, 3.770000, 3.760000, 3.760000, 3.760000, 3.760000, 3.760000, 3.760000, 3.570000, 3.040000, 2.860000, 3.790000, 3.790000, 3.470000 ], "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": [ 976054562, 329381 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.884000, 3.150000, 2.642576 ], "estimate": [ 2.884000, 3.150000, 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": [ 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.880000, 0.890000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.960000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.130000, 1.150000, 1.170000, 1.190000, 1.230000, 1.260000, 1.290000, 1.310000, 1.350000, 1.400000, 1.430000, 1.480000, 1.540000, 1.580000, 1.640000, 1.700000, 1.760000, 1.840000, 1.920000, 2.020000, 2.130000, 2.250000, 2.400000, 2.600000, 2.880000, 3.150000, 3.530000, 4.080000, 5.120000, 4.110000, 3.200000, 4.080000, 3.700000, 4.110000, 4.130000, 4.140000, 4.150000, 4.160000, 4.240000, 9.190000, 9.170000, 9.150000, 9.130000, 9.110000, 9.090000, 9.080000, 9.070000, 9.070000, 9.060000, 9.050000, 10.220000, 12.620000, 12.250000, 13.620000, 13.470000, 12.870000, 9.040000, 7.960000, 7.040000, 6.730000, 6.770000, 5.490000, 5.060000, 4.710000, 4.410000, 4.120000, 3.890000, 3.670000, 3.490000, 3.330000, 3.230000, 3.040000, 2.910000, 2.800000, 2.680000, 2.590000, 2.500000, 2.420000, 2.340000, 2.280000, 2.210000, 2.140000, 2.070000, 2.030000, 1.970000, 1.930000, 1.880000, 1.840000, 1.790000, 1.750000, 1.710000, 1.690000, 1.640000, 1.610000, 1.580000, 1.550000, 1.520000, 1.500000, 1.470000, 1.460000, 1.420000, 1.400000, 1.380000, 1.380000, 1.360000, 1.350000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.270000, 1.290000, 1.370000, 1.420000, 1.490000, 1.760000, 1.850000, 1.920000, 2.020000, 3.630000, 3.600000, 3.560000, 3.570000, 3.580000, 3.560000, 3.550000, 3.540000, 3.530000, 3.530000, 3.780000, 3.780000, 3.780000, 3.760000, 3.760000, 3.760000, 3.760000, 3.760000, 3.750000, 3.760000, 3.760000, 3.560000, 2.860000, 2.860000, 3.790000, 3.700000, 3.380000, 3.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054562, 386569 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.884000, 3.150000, 2.704031 ], "estimate": [ 2.884000, 3.150000, 2.704031 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.930000, 0.940000, 0.960000, 0.970000, 0.970000, 0.980000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.100000, 1.120000, 1.150000, 1.170000, 1.190000, 1.220000, 1.250000, 1.290000, 1.310000, 1.340000, 1.390000, 1.420000, 1.470000, 1.530000, 1.570000, 1.620000, 1.690000, 1.750000, 1.820000, 1.910000, 1.990000, 2.100000, 2.220000, 2.370000, 2.530000, 2.750000, 3.070000, 3.410000, 3.880000, 4.820000, 4.110000, 3.530000, 3.190000, 3.910000, 3.690000, 4.130000, 4.130000, 4.140000, 4.160000, 4.220000, 9.190000, 9.180000, 9.150000, 9.130000, 9.110000, 9.100000, 9.080000, 9.070000, 9.060000, 9.060000, 9.060000, 10.160000, 12.600000, 12.200000, 13.620000, 13.570000, 12.880000, 12.870000, 8.050000, 7.130000, 6.740000, 6.750000, 5.580000, 5.120000, 4.760000, 4.450000, 4.140000, 3.900000, 3.700000, 3.510000, 3.350000, 3.240000, 3.070000, 2.930000, 2.800000, 2.690000, 2.610000, 2.510000, 2.430000, 2.350000, 2.280000, 2.210000, 2.140000, 2.070000, 2.040000, 1.980000, 1.920000, 1.870000, 1.840000, 1.790000, 1.750000, 1.710000, 1.690000, 1.640000, 1.610000, 1.580000, 1.550000, 1.520000, 1.500000, 1.480000, 1.460000, 1.420000, 1.400000, 1.380000, 1.380000, 1.360000, 1.350000, 1.330000, 1.310000, 1.300000, 1.290000, 1.270000, 1.270000, 1.260000, 1.240000, 1.220000, 1.290000, 1.350000, 1.400000, 1.460000, 1.750000, 1.820000, 1.890000, 1.990000, 3.630000, 3.610000, 3.550000, 3.540000, 3.600000, 3.560000, 3.550000, 3.530000, 3.530000, 3.530000, 3.660000, 3.780000, 3.770000, 3.760000, 3.760000, 3.750000, 3.750000, 3.750000, 3.750000, 3.750000, 3.760000, 3.550000, 2.860000, 2.860000, 3.790000, 3.750000, 3.420000, 3.130000, 2.870000, 2.660000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054562, 387663 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.882000, 3.150000, 2.814651 ], "estimate": [ 2.882000, 3.150000, 2.814651 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.930000, 0.940000, 0.950000, 0.970000, 0.970000, 0.980000, 1.000000, 1.020000, 1.040000, 1.030000, 1.050000, 1.070000, 1.080000, 1.110000, 1.130000, 1.150000, 1.180000, 1.200000, 1.230000, 1.260000, 1.280000, 1.320000, 1.360000, 1.390000, 1.430000, 1.480000, 1.530000, 1.570000, 1.640000, 1.700000, 1.750000, 1.840000, 1.920000, 2.030000, 2.130000, 2.240000, 2.390000, 2.560000, 2.770000, 3.100000, 3.450000, 3.940000, 4.930000, 4.110000, 3.200000, 3.200000, 3.690000, 3.780000, 4.140000, 4.140000, 4.150000, 4.160000, 4.230000, 9.200000, 9.170000, 9.150000, 9.130000, 9.110000, 9.090000, 9.080000, 9.070000, 9.060000, 9.050000, 9.070000, 12.700000, 12.630000, 12.270000, 13.620000, 13.430000, 12.870000, 8.970000, 7.840000, 6.940000, 6.750000, 6.770000, 5.420000, 5.020000, 4.660000, 4.350000, 4.080000, 3.850000, 3.630000, 3.450000, 3.300000, 3.160000, 3.010000, 2.890000, 2.760000, 2.660000, 2.570000, 2.470000, 2.400000, 2.320000, 2.240000, 2.180000, 2.110000, 2.070000, 2.010000, 1.960000, 1.900000, 1.850000, 1.810000, 1.770000, 1.740000, 1.690000, 1.660000, 1.620000, 1.600000, 1.550000, 1.530000, 1.500000, 1.480000, 1.450000, 1.430000, 1.410000, 1.390000, 1.380000, 1.350000, 1.330000, 1.340000, 1.320000, 1.300000, 1.300000, 1.270000, 1.260000, 1.260000, 1.250000, 1.240000, 1.250000, 1.280000, 1.360000, 1.410000, 1.480000, 1.750000, 1.820000, 1.910000, 2.010000, 3.610000, 3.590000, 3.540000, 3.550000, 3.560000, 3.550000, 3.540000, 3.530000, 3.520000, 3.510000, 3.720000, 3.760000, 3.760000, 3.750000, 3.750000, 3.750000, 3.740000, 3.740000, 3.750000, 3.750000, 3.750000, 3.540000, 2.850000, 2.860000, 3.780000, 3.680000, 3.340000, 3.080000, 2.830000, 2.610000, 2.420000, 2.210000, 2.080000, 1.960000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054562, 388726 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.877000, 3.152000, 2.949852 ], "estimate": [ 2.877000, 3.152000, 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": [ 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.040000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.220000, 1.250000, 1.280000, 1.300000, 1.340000, 1.360000, 1.410000, 1.450000, 1.500000, 1.550000, 1.590000, 1.650000, 1.710000, 1.780000, 1.860000, 1.940000, 2.030000, 2.130000, 2.260000, 2.410000, 2.590000, 2.860000, 3.110000, 3.450000, 3.930000, 4.370000, 4.120000, 3.370000, 3.190000, 3.770000, 3.740000, 4.140000, 4.140000, 4.150000, 4.160000, 4.230000, 9.190000, 9.180000, 9.150000, 9.130000, 9.110000, 9.100000, 9.080000, 9.070000, 9.070000, 9.070000, 9.070000, 9.940000, 12.620000, 12.620000, 12.250000, 13.240000, 12.880000, 8.890000, 7.790000, 6.900000, 6.760000, 6.750000, 5.380000, 4.960000, 4.630000, 4.300000, 4.040000, 3.800000, 3.600000, 3.420000, 3.280000, 3.120000, 3.000000, 2.860000, 2.750000, 2.640000, 2.540000, 2.450000, 2.370000, 2.300000, 2.220000, 2.160000, 2.090000, 2.040000, 1.980000, 1.930000, 1.880000, 1.840000, 1.800000, 1.750000, 1.710000, 1.670000, 1.640000, 1.610000, 1.570000, 1.540000, 1.510000, 1.490000, 1.460000, 1.440000, 1.420000, 1.400000, 1.380000, 1.370000, 1.350000, 1.330000, 1.320000, 1.300000, 1.290000, 1.280000, 1.270000, 1.250000, 1.240000, 1.240000, 1.240000, 1.230000, 1.280000, 1.350000, 1.410000, 1.470000, 1.740000, 1.810000, 1.880000, 1.980000, 3.610000, 3.590000, 3.560000, 3.580000, 3.560000, 3.540000, 3.540000, 3.510000, 3.500000, 3.510000, 3.590000, 3.750000, 3.750000, 3.740000, 3.740000, 3.740000, 3.730000, 3.730000, 3.730000, 3.730000, 3.740000, 3.520000, 2.840000, 2.810000, 3.760000, 3.680000, 3.350000, 3.080000, 2.850000, 2.620000, 2.440000, 2.210000, 2.070000, 1.960000, 1.860000, 1.770000, 1.690000, 1.610000, 1.560000, 1.480000, 1.430000, 1.380000 ], "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": [ 976054562, 548293 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.876000, 3.152000, 3.042035 ], "estimate": [ 2.876000, 3.152000, 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": [ 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.230000, 1.260000, 1.280000, 1.310000, 1.340000, 1.380000, 1.420000, 1.450000, 1.500000, 1.540000, 1.590000, 1.640000, 1.700000, 1.760000, 1.830000, 1.920000, 2.010000, 2.100000, 2.220000, 2.370000, 2.530000, 2.730000, 3.030000, 3.300000, 3.720000, 4.390000, 4.120000, 4.120000, 3.540000, 4.130000, 4.110000, 4.140000, 4.150000, 4.160000, 4.160000, 4.170000, 9.220000, 9.190000, 9.170000, 9.150000, 9.120000, 9.110000, 9.090000, 9.080000, 9.070000, 9.060000, 9.060000, 9.060000, 10.210000, 12.620000, 12.670000, 13.630000, 12.900000, 12.880000, 8.500000, 7.440000, 6.730000, 6.730000, 6.760000, 5.190000, 4.820000, 4.480000, 4.190000, 3.930000, 3.710000, 3.520000, 3.350000, 3.240000, 3.050000, 2.910000, 2.790000, 2.690000, 2.590000, 2.480000, 2.400000, 2.330000, 2.250000, 2.190000, 2.110000, 2.060000, 2.000000, 1.950000, 1.900000, 1.840000, 1.800000, 1.760000, 1.720000, 1.680000, 1.650000, 1.610000, 1.580000, 1.550000, 1.520000, 1.490000, 1.460000, 1.460000, 1.420000, 1.400000, 1.380000, 1.360000, 1.350000, 1.340000, 1.320000, 1.300000, 1.290000, 1.270000, 1.260000, 1.240000, 1.230000, 1.230000, 1.200000, 1.240000, 1.260000, 1.310000, 1.370000, 1.410000, 1.690000, 1.760000, 1.840000, 1.920000, 3.610000, 3.580000, 3.570000, 3.540000, 3.540000, 3.540000, 3.530000, 3.520000, 3.500000, 3.490000, 3.490000, 3.750000, 3.740000, 3.730000, 3.730000, 3.720000, 3.720000, 3.720000, 3.720000, 3.720000, 3.720000, 3.730000, 3.610000, 2.830000, 2.830000, 3.750000, 3.590000, 3.290000, 3.020000, 2.790000, 2.570000, 2.400000, 2.160000, 2.050000, 1.920000, 1.830000, 1.740000, 1.670000, 1.590000, 1.530000, 1.470000, 1.420000, 1.370000, 1.320000, 1.280000, 1.230000, 1.190000, 1.150000, 1.130000, 1.100000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054562, 903514 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.877000, 3.152000, 3.103490 ], "estimate": [ 2.877000, 3.152000, 3.103490 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.120000, 1.140000, 1.150000, 1.170000, 1.200000, 1.210000, 1.240000, 1.280000, 1.290000, 1.340000, 1.360000, 1.400000, 1.430000, 1.480000, 1.530000, 1.570000, 1.620000, 1.670000, 1.730000, 1.810000, 1.880000, 1.970000, 2.070000, 2.170000, 2.300000, 2.450000, 2.620000, 2.920000, 3.190000, 3.520000, 4.020000, 5.040000, 4.120000, 3.210000, 4.100000, 3.710000, 4.120000, 4.150000, 4.160000, 4.160000, 4.170000, 4.240000, 9.210000, 9.190000, 9.160000, 9.140000, 9.120000, 9.100000, 9.100000, 9.080000, 9.070000, 9.070000, 9.060000, 10.010000, 12.620000, 12.210000, 12.250000, 13.640000, 12.900000, 12.870000, 8.090000, 7.130000, 6.750000, 6.760000, 5.510000, 5.050000, 4.690000, 4.370000, 4.080000, 3.840000, 3.630000, 3.450000, 3.290000, 3.150000, 3.010000, 2.870000, 2.750000, 2.640000, 2.540000, 2.450000, 2.370000, 2.290000, 2.220000, 2.160000, 2.080000, 2.030000, 1.980000, 1.930000, 1.880000, 1.830000, 1.780000, 1.740000, 1.690000, 1.670000, 1.630000, 1.600000, 1.570000, 1.530000, 1.500000, 1.480000, 1.450000, 1.430000, 1.420000, 1.380000, 1.370000, 1.350000, 1.340000, 1.320000, 1.310000, 1.300000, 1.280000, 1.270000, 1.250000, 1.220000, 1.230000, 1.220000, 1.220000, 1.210000, 1.290000, 1.350000, 1.400000, 1.550000, 1.730000, 1.810000, 1.890000, 1.980000, 3.590000, 3.590000, 3.560000, 3.550000, 3.570000, 3.530000, 3.520000, 3.500000, 3.490000, 3.500000, 3.570000, 3.740000, 3.730000, 3.730000, 3.720000, 3.720000, 3.720000, 3.720000, 3.720000, 3.720000, 3.720000, 3.530000, 3.250000, 2.820000, 3.730000, 3.740000, 3.470000, 3.180000, 2.940000, 2.700000, 2.460000, 2.330000, 2.120000, 1.990000, 1.890000, 1.790000, 1.710000, 1.630000, 1.570000, 1.500000, 1.440000, 1.400000, 1.340000, 1.300000, 1.260000, 1.210000, 1.170000, 1.140000, 1.110000, 1.080000, 1.060000, 1.030000, 1.020000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054562, 966528 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.878000, 3.152000, -3.093657 ], "estimate": [ 2.878000, 3.152000, -3.093657 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.220000, 1.240000, 1.270000, 1.290000, 1.330000, 1.370000, 1.390000, 1.440000, 1.470000, 1.520000, 1.570000, 1.620000, 1.670000, 1.740000, 1.810000, 1.870000, 1.970000, 2.060000, 2.150000, 2.290000, 2.430000, 2.610000, 2.900000, 3.160000, 3.490000, 3.960000, 4.840000, 4.130000, 3.210000, 3.410000, 3.720000, 3.830000, 4.150000, 4.150000, 4.160000, 4.170000, 4.260000, 9.220000, 9.190000, 9.180000, 9.150000, 9.130000, 9.120000, 9.090000, 9.090000, 9.070000, 9.070000, 9.060000, 9.660000, 12.610000, 12.200000, 12.310000, 13.630000, 12.910000, 12.890000, 8.070000, 7.090000, 6.750000, 6.770000, 5.470000, 5.040000, 4.670000, 4.350000, 4.070000, 3.820000, 3.600000, 3.420000, 3.270000, 3.130000, 2.980000, 2.860000, 2.740000, 2.630000, 2.530000, 2.440000, 2.360000, 2.280000, 2.220000, 2.140000, 2.100000, 2.020000, 1.960000, 1.910000, 1.860000, 1.820000, 1.770000, 1.730000, 1.690000, 1.660000, 1.620000, 1.580000, 1.550000, 1.510000, 1.500000, 1.470000, 1.450000, 1.430000, 1.410000, 1.390000, 1.370000, 1.350000, 1.340000, 1.320000, 1.300000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.240000, 1.300000, 1.360000, 1.410000, 1.650000, 1.740000, 1.800000, 1.890000, 1.980000, 3.590000, 3.570000, 3.560000, 3.550000, 3.570000, 3.530000, 3.510000, 3.490000, 3.490000, 3.500000, 3.570000, 3.730000, 3.730000, 3.720000, 3.720000, 3.720000, 3.720000, 3.720000, 3.720000, 3.720000, 3.720000, 3.520000, 2.820000, 2.810000, 3.730000, 3.750000, 3.440000, 3.140000, 2.900000, 2.670000, 2.420000, 2.310000, 2.100000, 1.970000, 1.870000, 1.770000, 1.690000, 1.610000, 1.560000, 1.490000, 1.420000, 1.390000, 1.330000, 1.290000, 1.240000, 1.190000, 1.160000, 1.130000, 1.100000, 1.070000, 1.040000, 1.020000, 1.000000, 0.970000, 0.960000, 0.930000, 0.910000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054563, 468768 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.879000, 3.152000, -2.989184 ], "estimate": [ 2.879000, 3.152000, -2.989184 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.350000, 1.390000, 1.430000, 1.460000, 1.510000, 1.550000, 1.600000, 1.660000, 1.710000, 1.770000, 1.840000, 1.920000, 2.010000, 2.110000, 2.210000, 2.350000, 2.510000, 2.690000, 3.000000, 3.270000, 3.640000, 4.220000, 4.150000, 4.140000, 4.140000, 4.140000, 4.140000, 4.150000, 4.150000, 4.160000, 4.170000, 4.180000, 9.250000, 9.210000, 9.190000, 9.170000, 9.150000, 9.120000, 9.100000, 9.100000, 9.100000, 9.080000, 9.080000, 9.080000, 10.260000, 12.660000, 12.670000, 13.570000, 13.000000, 12.890000, 8.650000, 7.550000, 6.750000, 6.760000, 6.790000, 5.220000, 4.830000, 4.500000, 4.170000, 3.930000, 3.690000, 3.510000, 3.340000, 3.250000, 3.040000, 2.900000, 2.780000, 2.670000, 2.570000, 2.480000, 2.390000, 2.310000, 2.230000, 2.180000, 2.090000, 2.050000, 1.980000, 1.940000, 1.880000, 1.840000, 1.790000, 1.740000, 1.700000, 1.660000, 1.630000, 1.600000, 1.560000, 1.520000, 1.500000, 1.480000, 1.450000, 1.440000, 1.400000, 1.390000, 1.370000, 1.360000, 1.340000, 1.320000, 1.310000, 1.290000, 1.270000, 1.270000, 1.250000, 1.240000, 1.220000, 1.220000, 1.180000, 1.200000, 1.290000, 1.340000, 1.390000, 1.440000, 1.710000, 1.780000, 1.860000, 1.940000, 3.590000, 3.580000, 3.560000, 3.530000, 3.530000, 3.520000, 3.510000, 3.520000, 3.490000, 3.480000, 3.480000, 3.730000, 3.720000, 3.720000, 3.720000, 3.720000, 3.720000, 3.710000, 3.710000, 3.710000, 3.710000, 3.710000, 3.670000, 2.800000, 2.800000, 3.730000, 3.570000, 3.260000, 2.980000, 2.760000, 2.530000, 2.370000, 2.130000, 2.020000, 1.890000, 1.800000, 1.710000, 1.640000, 1.570000, 1.500000, 1.440000, 1.380000, 1.340000, 1.280000, 1.250000, 1.200000, 1.160000, 1.140000, 1.110000, 1.070000, 1.040000, 1.030000, 0.990000, 0.970000, 0.960000, 0.930000, 0.900000, 0.890000, 0.870000, 0.850000, 0.830000, 0.820000, 0.810000 ], "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": [ 976054563, 469866 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.878000, 3.152000, -2.890855 ], "estimate": [ 2.878000, 3.152000, -2.890855 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.620000, 1.690000, 1.750000, 1.800000, 1.880000, 1.950000, 2.040000, 2.140000, 2.250000, 2.400000, 2.560000, 2.760000, 3.070000, 3.330000, 3.780000, 4.420000, 4.160000, 4.100000, 3.240000, 4.140000, 3.770000, 4.150000, 4.160000, 4.180000, 4.190000, 4.210000, 9.240000, 9.220000, 9.190000, 9.180000, 9.160000, 9.130000, 9.120000, 9.100000, 9.100000, 9.090000, 9.100000, 9.080000, 10.230000, 12.640000, 12.390000, 13.650000, 12.930000, 12.910000, 8.350000, 7.320000, 6.760000, 6.770000, 5.570000, 5.130000, 4.750000, 4.420000, 4.110000, 3.870000, 3.650000, 3.460000, 3.290000, 3.150000, 2.990000, 2.870000, 2.750000, 2.630000, 2.530000, 2.440000, 2.370000, 2.290000, 2.210000, 2.140000, 2.080000, 2.020000, 1.970000, 1.920000, 1.860000, 1.810000, 1.770000, 1.730000, 1.690000, 1.660000, 1.610000, 1.580000, 1.540000, 1.510000, 1.500000, 1.460000, 1.440000, 1.420000, 1.400000, 1.380000, 1.360000, 1.350000, 1.330000, 1.310000, 1.290000, 1.280000, 1.270000, 1.250000, 1.240000, 1.220000, 1.210000, 1.200000, 1.230000, 1.270000, 1.320000, 1.380000, 1.430000, 1.700000, 1.760000, 1.820000, 1.900000, 1.980000, 3.580000, 3.560000, 3.550000, 3.540000, 3.560000, 3.510000, 3.510000, 3.490000, 3.480000, 3.480000, 3.530000, 3.720000, 3.720000, 3.720000, 3.710000, 3.710000, 3.700000, 3.710000, 3.700000, 3.710000, 3.710000, 3.520000, 2.800000, 2.800000, 3.690000, 3.730000, 3.460000, 3.150000, 2.880000, 2.670000, 2.420000, 2.210000, 2.070000, 1.950000, 1.840000, 1.740000, 1.670000, 1.590000, 1.530000, 1.470000, 1.410000, 1.360000, 1.300000, 1.270000, 1.220000, 1.180000, 1.140000, 1.110000, 1.080000, 1.040000, 1.030000, 1.000000, 0.970000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.820000, 0.810000, 0.790000, 0.770000, 0.760000, 0.750000, 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": [ 976054563, 606917 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.878000, 3.152000, -2.798672 ], "estimate": [ 2.878000, 3.152000, -2.798672 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.970000, 2.040000, 2.140000, 2.250000, 2.390000, 2.530000, 2.720000, 3.030000, 3.310000, 3.680000, 4.280000, 4.160000, 4.160000, 4.130000, 4.160000, 4.160000, 4.170000, 4.170000, 4.190000, 4.190000, 4.210000, 9.270000, 9.230000, 9.200000, 9.180000, 9.160000, 9.150000, 9.130000, 9.120000, 9.100000, 9.100000, 9.100000, 9.100000, 10.270000, 12.690000, 12.720000, 13.650000, 12.960000, 12.910000, 8.530000, 7.460000, 6.760000, 6.770000, 6.800000, 5.190000, 4.790000, 4.480000, 4.140000, 3.900000, 3.680000, 3.490000, 3.320000, 3.170000, 3.010000, 2.870000, 2.750000, 2.640000, 2.540000, 2.450000, 2.380000, 2.300000, 2.220000, 2.150000, 2.090000, 2.040000, 1.970000, 1.920000, 1.860000, 1.820000, 1.770000, 1.730000, 1.690000, 1.660000, 1.620000, 1.580000, 1.540000, 1.510000, 1.490000, 1.460000, 1.440000, 1.420000, 1.400000, 1.370000, 1.360000, 1.350000, 1.330000, 1.310000, 1.290000, 1.280000, 1.260000, 1.250000, 1.230000, 1.220000, 1.220000, 1.230000, 1.180000, 1.280000, 1.340000, 1.390000, 1.440000, 1.700000, 1.770000, 1.830000, 1.910000, 1.980000, 3.580000, 3.570000, 3.550000, 3.540000, 3.550000, 3.510000, 3.510000, 3.500000, 3.480000, 3.480000, 3.490000, 3.720000, 3.720000, 3.710000, 3.710000, 3.700000, 3.700000, 3.700000, 3.700000, 3.700000, 3.700000, 3.510000, 2.980000, 2.800000, 3.650000, 3.730000, 3.480000, 3.170000, 2.900000, 2.670000, 2.440000, 2.240000, 2.070000, 1.950000, 1.840000, 1.730000, 1.660000, 1.580000, 1.520000, 1.460000, 1.400000, 1.350000, 1.290000, 1.260000, 1.210000, 1.170000, 1.140000, 1.090000, 1.070000, 1.040000, 1.010000, 0.990000, 0.960000, 0.950000, 0.930000, 0.900000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054564, 155099 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.877000, 3.151000, -2.700344 ], "estimate": [ 2.877000, 3.151000, -2.700344 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.530000, 2.690000, 2.990000, 3.270000, 3.640000, 4.210000, 4.180000, 4.160000, 4.170000, 4.170000, 4.170000, 4.180000, 4.190000, 4.190000, 4.200000, 4.210000, 9.270000, 9.250000, 9.210000, 9.180000, 9.180000, 9.150000, 9.130000, 9.130000, 9.110000, 9.100000, 9.100000, 9.100000, 12.750000, 12.690000, 12.700000, 13.660000, 13.100000, 12.910000, 8.660000, 7.550000, 6.770000, 6.760000, 6.790000, 5.210000, 4.820000, 4.480000, 4.160000, 3.910000, 3.680000, 3.490000, 3.320000, 3.180000, 3.010000, 2.880000, 2.750000, 2.650000, 2.550000, 2.450000, 2.370000, 2.290000, 2.220000, 2.150000, 2.080000, 2.030000, 1.960000, 1.930000, 1.860000, 1.820000, 1.770000, 1.730000, 1.690000, 1.660000, 1.610000, 1.580000, 1.550000, 1.500000, 1.480000, 1.460000, 1.440000, 1.400000, 1.390000, 1.380000, 1.350000, 1.340000, 1.330000, 1.310000, 1.290000, 1.280000, 1.260000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.250000, 1.290000, 1.340000, 1.400000, 1.470000, 1.710000, 1.770000, 1.840000, 1.910000, 3.610000, 3.580000, 3.570000, 3.540000, 3.540000, 3.550000, 3.510000, 3.510000, 3.500000, 3.490000, 3.480000, 3.490000, 3.720000, 3.710000, 3.710000, 3.700000, 3.700000, 3.690000, 3.690000, 3.690000, 3.700000, 3.700000, 3.510000, 2.950000, 2.790000, 3.620000, 3.720000, 3.480000, 3.170000, 2.890000, 2.670000, 2.430000, 2.200000, 2.060000, 1.940000, 1.830000, 1.740000, 1.650000, 1.580000, 1.510000, 1.450000, 1.390000, 1.340000, 1.280000, 1.240000, 1.190000, 1.150000, 1.130000, 1.090000, 1.060000, 1.030000, 1.010000, 0.980000, 0.970000, 0.940000, 0.920000, 0.890000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.640000, 0.640000, 0.620000, 0.630000, 0.660000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054564, 167629 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.873000, 3.149000, -2.614306 ], "estimate": [ 2.873000, 3.149000, -2.614306 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.210000, 4.180000, 4.180000, 4.180000, 4.180000, 4.190000, 4.190000, 4.200000, 4.200000, 4.210000, 4.230000, 9.300000, 9.250000, 9.240000, 9.200000, 9.190000, 9.160000, 9.150000, 9.140000, 9.120000, 9.110000, 9.100000, 9.100000, 12.740000, 12.680000, 12.710000, 13.650000, 13.210000, 12.930000, 8.750000, 7.610000, 6.780000, 6.780000, 6.800000, 5.220000, 4.820000, 4.500000, 4.160000, 3.900000, 3.690000, 3.500000, 3.310000, 3.170000, 3.010000, 2.870000, 2.750000, 2.640000, 2.540000, 2.450000, 2.370000, 2.300000, 2.220000, 2.150000, 2.090000, 2.030000, 1.960000, 1.910000, 1.860000, 1.810000, 1.770000, 1.720000, 1.690000, 1.650000, 1.610000, 1.580000, 1.540000, 1.500000, 1.480000, 1.460000, 1.430000, 1.400000, 1.380000, 1.370000, 1.350000, 1.340000, 1.320000, 1.300000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.220000, 1.230000, 1.220000, 1.250000, 1.300000, 1.360000, 1.420000, 1.660000, 1.710000, 1.780000, 1.850000, 1.930000, 3.610000, 3.580000, 3.560000, 3.550000, 3.540000, 3.550000, 3.510000, 3.510000, 3.500000, 3.480000, 3.470000, 3.510000, 3.710000, 3.700000, 3.700000, 3.700000, 3.690000, 3.690000, 3.680000, 3.680000, 3.680000, 3.680000, 3.500000, 2.760000, 2.800000, 3.680000, 3.720000, 3.470000, 3.170000, 2.890000, 2.660000, 2.420000, 2.210000, 2.050000, 1.920000, 1.810000, 1.730000, 1.650000, 1.570000, 1.490000, 1.430000, 1.380000, 1.330000, 1.290000, 1.230000, 1.190000, 1.150000, 1.110000, 1.070000, 1.050000, 1.020000, 1.000000, 0.960000, 0.940000, 0.930000, 0.900000, 0.890000, 0.870000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.770000, 0.750000, 0.740000, 0.720000, 0.720000, 0.710000, 0.700000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.600000, 0.610000, 0.640000, 0.670000, 0.690000, 0.730000, 0.750000, 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": [ 976054564, 167194 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.870000, 3.148000, -2.534415 ], "estimate": [ 2.870000, 3.148000, -2.534415 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.190000, 4.200000, 4.210000, 4.210000, 4.220000, 4.230000, 9.290000, 9.260000, 9.240000, 9.210000, 9.190000, 9.180000, 9.160000, 9.150000, 9.120000, 9.120000, 9.110000, 9.120000, 12.760000, 12.660000, 12.410000, 13.670000, 13.590000, 12.930000, 8.870000, 7.700000, 6.800000, 6.770000, 6.800000, 5.260000, 4.860000, 4.510000, 4.180000, 3.920000, 3.690000, 3.490000, 3.320000, 3.160000, 3.010000, 2.880000, 2.750000, 2.640000, 2.530000, 2.440000, 2.370000, 2.290000, 2.220000, 2.140000, 2.100000, 2.020000, 1.970000, 1.910000, 1.860000, 1.820000, 1.770000, 1.730000, 1.680000, 1.650000, 1.610000, 1.570000, 1.540000, 1.500000, 1.480000, 1.450000, 1.420000, 1.400000, 1.380000, 1.370000, 1.350000, 1.340000, 1.310000, 1.300000, 1.280000, 1.270000, 1.240000, 1.240000, 1.230000, 1.220000, 1.230000, 1.210000, 1.270000, 1.310000, 1.370000, 1.420000, 1.670000, 1.720000, 1.790000, 1.860000, 1.950000, 3.600000, 3.580000, 3.560000, 3.540000, 3.530000, 3.540000, 3.510000, 3.500000, 3.490000, 3.470000, 3.470000, 3.530000, 3.710000, 3.700000, 3.690000, 3.690000, 3.680000, 3.680000, 3.680000, 3.680000, 3.680000, 3.680000, 3.470000, 2.780000, 2.770000, 3.690000, 3.710000, 3.470000, 3.170000, 2.890000, 2.650000, 2.430000, 2.200000, 2.040000, 1.920000, 1.810000, 1.720000, 1.640000, 1.570000, 1.490000, 1.420000, 1.380000, 1.320000, 1.260000, 1.220000, 1.180000, 1.140000, 1.100000, 1.070000, 1.030000, 1.010000, 0.990000, 0.960000, 0.950000, 0.920000, 0.890000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.600000, 0.610000, 0.630000, 0.660000, 0.680000, 0.700000, 0.740000, 0.760000, 0.800000, 0.830000, 0.840000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054564, 659667 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.868000, 3.146000, -2.448377 ], "estimate": [ 2.868000, 3.146000, -2.448377 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.230000, 4.240000, 9.300000, 9.260000, 9.240000, 9.210000, 9.200000, 9.180000, 9.160000, 9.140000, 9.140000, 9.120000, 9.120000, 9.120000, 12.750000, 12.720000, 12.740000, 13.680000, 13.110000, 12.940000, 8.650000, 7.520000, 6.780000, 6.790000, 5.630000, 5.170000, 4.780000, 4.450000, 4.120000, 3.870000, 3.640000, 3.460000, 3.290000, 3.140000, 2.990000, 2.850000, 2.720000, 2.610000, 2.520000, 2.430000, 2.340000, 2.270000, 2.200000, 2.110000, 2.080000, 2.010000, 1.960000, 1.900000, 1.850000, 1.800000, 1.760000, 1.700000, 1.680000, 1.640000, 1.610000, 1.560000, 1.530000, 1.500000, 1.470000, 1.440000, 1.410000, 1.390000, 1.370000, 1.350000, 1.350000, 1.320000, 1.300000, 1.280000, 1.280000, 1.260000, 1.240000, 1.220000, 1.220000, 1.200000, 1.240000, 1.240000, 1.290000, 1.340000, 1.400000, 1.450000, 1.690000, 1.750000, 1.820000, 1.880000, 1.970000, 3.590000, 3.570000, 3.550000, 3.540000, 3.520000, 3.500000, 3.500000, 3.500000, 3.480000, 3.480000, 3.470000, 3.650000, 3.700000, 3.700000, 3.690000, 3.680000, 3.680000, 3.680000, 3.680000, 3.680000, 3.680000, 3.680000, 3.480000, 2.780000, 2.750000, 3.700000, 3.700000, 3.380000, 3.060000, 2.810000, 2.580000, 2.320000, 2.140000, 1.990000, 1.880000, 1.770000, 1.680000, 1.600000, 1.530000, 1.470000, 1.410000, 1.350000, 1.280000, 1.250000, 1.200000, 1.150000, 1.120000, 1.090000, 1.050000, 1.020000, 1.000000, 0.970000, 0.950000, 0.930000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.790000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.600000, 0.590000, 0.620000, 0.650000, 0.660000, 0.700000, 0.730000, 0.760000, 0.780000, 0.820000, 0.830000, 4.300000, 4.290000, 2.990000, 3.010000, 1.870000, 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": [ 976054564, 676609 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.867000, 3.145000, -2.350049 ], "estimate": [ 2.867000, 3.145000, -2.350049 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.220000, 9.200000, 9.170000, 9.150000, 9.150000, 9.130000, 9.130000, 9.130000, 10.000000, 12.680000, 12.280000, 12.270000, 13.700000, 12.980000, 12.960000, 7.990000, 7.000000, 6.810000, 6.810000, 5.370000, 4.930000, 4.570000, 4.240000, 3.960000, 3.730000, 3.520000, 3.350000, 3.200000, 3.030000, 2.900000, 2.770000, 2.640000, 2.550000, 2.460000, 2.390000, 2.290000, 2.210000, 2.150000, 2.100000, 2.020000, 1.960000, 1.910000, 1.860000, 1.810000, 1.770000, 1.730000, 1.690000, 1.650000, 1.610000, 1.570000, 1.540000, 1.500000, 1.490000, 1.460000, 1.430000, 1.400000, 1.390000, 1.350000, 1.330000, 1.330000, 1.310000, 1.290000, 1.270000, 1.260000, 1.250000, 1.220000, 1.220000, 1.220000, 1.230000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.680000, 1.730000, 1.800000, 1.870000, 1.950000, 3.600000, 3.570000, 3.550000, 3.530000, 3.530000, 3.540000, 3.500000, 3.500000, 3.490000, 3.470000, 3.470000, 3.470000, 3.700000, 3.700000, 3.690000, 3.680000, 3.680000, 3.670000, 3.670000, 3.670000, 3.670000, 3.680000, 3.490000, 2.780000, 2.780000, 3.650000, 3.700000, 3.470000, 3.140000, 2.860000, 2.620000, 2.390000, 2.160000, 2.020000, 1.890000, 1.790000, 1.690000, 1.610000, 1.530000, 1.460000, 1.400000, 1.350000, 1.280000, 1.250000, 1.190000, 1.150000, 1.110000, 1.080000, 1.040000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.720000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.600000, 0.590000, 0.590000, 0.610000, 0.640000, 0.650000, 0.690000, 0.710000, 0.740000, 0.760000, 0.810000, 0.820000, 0.810000, 4.290000, 4.270000, 4.240000, 4.220000, 1.790000, 1.780000, 1.740000, 1.750000, 1.750000, 1.760000, 1.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054564, 747575 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.865000, 3.143000, -2.264012 ], "estimate": [ 2.865000, 3.143000, -2.264012 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.140000, 9.140000, 9.140000, 12.770000, 12.740000, 12.770000, 13.700000, 13.090000, 12.960000, 8.580000, 7.490000, 6.800000, 6.820000, 5.630000, 5.150000, 4.770000, 4.410000, 4.100000, 3.860000, 3.630000, 3.430000, 3.280000, 3.110000, 2.970000, 2.840000, 2.710000, 2.590000, 2.500000, 2.410000, 2.330000, 2.250000, 2.190000, 2.110000, 2.060000, 2.000000, 1.940000, 1.890000, 1.840000, 1.780000, 1.750000, 1.690000, 1.660000, 1.630000, 1.590000, 1.560000, 1.510000, 1.500000, 1.470000, 1.430000, 1.410000, 1.380000, 1.360000, 1.340000, 1.320000, 1.320000, 1.300000, 1.280000, 1.270000, 1.250000, 1.240000, 1.220000, 1.210000, 1.200000, 1.240000, 1.290000, 1.340000, 1.390000, 1.430000, 1.670000, 1.730000, 1.790000, 1.870000, 1.940000, 3.690000, 3.570000, 3.560000, 3.540000, 3.510000, 3.520000, 3.500000, 3.500000, 3.490000, 3.470000, 3.460000, 3.470000, 3.700000, 3.690000, 3.690000, 3.680000, 3.680000, 3.680000, 3.670000, 3.670000, 3.670000, 3.670000, 3.670000, 3.470000, 2.750000, 2.750000, 3.690000, 3.620000, 3.250000, 2.960000, 2.700000, 2.480000, 2.200000, 2.050000, 1.920000, 1.820000, 1.710000, 1.620000, 1.550000, 1.470000, 1.410000, 1.350000, 1.280000, 1.250000, 1.190000, 1.150000, 1.110000, 1.060000, 1.040000, 1.010000, 0.980000, 0.960000, 0.940000, 0.910000, 0.890000, 0.860000, 0.840000, 0.830000, 0.810000, 0.790000, 0.770000, 0.760000, 0.740000, 0.720000, 0.720000, 0.710000, 0.690000, 0.690000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.580000, 0.590000, 0.590000, 0.610000, 0.640000, 0.660000, 0.690000, 0.710000, 0.750000, 0.760000, 0.810000, 0.820000, 4.290000, 4.260000, 2.980000, 2.990000, 1.820000, 1.770000, 1.750000, 1.750000, 1.750000, 1.750000, 1.750000, 2.010000, 2.270000, 2.580000, 3.030000, 3.660000, 4.640000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054565, 671774 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.862000, 3.139000, -2.257866 ], "estimate": [ 2.862000, 3.139000, -2.257866 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 13.020000, 12.680000, 12.290000, 13.700000, 13.000000, 12.960000, 8.540000, 7.430000, 6.810000, 6.830000, 5.610000, 5.140000, 4.740000, 4.380000, 4.090000, 3.840000, 3.610000, 3.420000, 3.290000, 3.110000, 2.950000, 2.820000, 2.700000, 2.590000, 2.500000, 2.400000, 2.320000, 2.250000, 2.180000, 2.090000, 2.050000, 1.980000, 1.950000, 1.890000, 1.840000, 1.780000, 1.740000, 1.710000, 1.660000, 1.620000, 1.590000, 1.550000, 1.510000, 1.490000, 1.460000, 1.430000, 1.410000, 1.380000, 1.360000, 1.340000, 1.320000, 1.300000, 1.300000, 1.270000, 1.260000, 1.250000, 1.230000, 1.210000, 1.220000, 1.220000, 1.270000, 1.320000, 1.370000, 1.410000, 1.630000, 1.700000, 1.760000, 1.820000, 1.890000, 1.970000, 3.670000, 3.580000, 3.560000, 3.540000, 3.510000, 3.540000, 3.500000, 3.500000, 3.490000, 3.460000, 3.460000, 3.520000, 3.700000, 3.690000, 3.690000, 3.680000, 3.680000, 3.670000, 3.660000, 3.670000, 3.670000, 3.670000, 3.670000, 3.440000, 2.750000, 3.680000, 3.690000, 3.600000, 3.250000, 2.940000, 2.680000, 2.470000, 2.200000, 2.040000, 1.910000, 1.810000, 1.710000, 1.620000, 1.540000, 1.470000, 1.410000, 1.350000, 1.280000, 1.240000, 1.190000, 1.150000, 1.100000, 1.060000, 1.030000, 1.010000, 0.970000, 0.950000, 0.930000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.800000, 0.780000, 0.770000, 0.750000, 0.730000, 0.720000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.590000, 0.590000, 0.580000, 0.570000, 0.590000, 0.620000, 0.630000, 0.660000, 0.690000, 0.710000, 0.750000, 0.800000, 0.800000, 0.830000, 4.290000, 4.270000, 3.090000, 4.220000, 1.890000, 1.760000, 1.750000, 1.740000, 1.750000, 1.750000, 1.760000, 2.050000, 2.320000, 2.660000, 3.160000, 3.840000, 4.940000, 6.550000, 9.990000, 9.990000 ], "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": [ 976054565, 672950 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.853000, 3.129000, -2.276303 ], "estimate": [ 2.853000, 3.129000, -2.276303 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 10.270000, 12.690000, 12.400000, 13.710000, 13.110000, 12.970000, 8.650000, 7.530000, 6.800000, 6.820000, 5.640000, 5.160000, 4.770000, 4.410000, 4.110000, 3.850000, 3.630000, 3.430000, 3.290000, 3.100000, 2.960000, 2.830000, 2.710000, 2.590000, 2.500000, 2.400000, 2.330000, 2.240000, 2.190000, 2.100000, 2.050000, 1.990000, 1.940000, 1.880000, 1.830000, 1.780000, 1.740000, 1.700000, 1.660000, 1.620000, 1.580000, 1.540000, 1.510000, 1.490000, 1.460000, 1.430000, 1.410000, 1.380000, 1.350000, 1.330000, 1.310000, 1.300000, 1.280000, 1.280000, 1.260000, 1.240000, 1.230000, 1.210000, 1.220000, 1.230000, 1.260000, 1.310000, 1.350000, 1.420000, 1.580000, 1.690000, 1.760000, 1.810000, 1.890000, 1.970000, 3.720000, 3.580000, 3.560000, 3.530000, 3.500000, 3.530000, 3.490000, 3.490000, 3.490000, 3.460000, 3.460000, 3.450000, 3.700000, 3.690000, 3.680000, 3.680000, 3.670000, 3.670000, 3.660000, 3.660000, 3.660000, 3.660000, 3.660000, 3.470000, 2.740000, 3.230000, 3.690000, 3.650000, 3.290000, 2.970000, 2.710000, 2.480000, 2.210000, 2.050000, 1.930000, 1.820000, 1.710000, 1.620000, 1.550000, 1.470000, 1.410000, 1.350000, 1.280000, 1.240000, 1.190000, 1.150000, 1.110000, 1.060000, 1.040000, 1.010000, 0.990000, 0.960000, 0.930000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.790000, 0.770000, 0.740000, 0.740000, 0.720000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.560000, 0.590000, 0.610000, 0.630000, 0.650000, 0.680000, 0.710000, 0.740000, 0.760000, 0.800000, 0.810000, 4.290000, 4.270000, 4.230000, 3.090000, 4.200000, 1.770000, 1.760000, 1.740000, 1.750000, 1.750000, 1.750000, 2.010000, 2.250000, 2.580000, 3.030000, 3.710000, 4.700000, 6.460000, 9.990000, 10.000000 ], "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": [ 976054565, 673920 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.828000, 3.099000, -2.288594 ], "estimate": [ 2.828000, 3.099000, -2.288594 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.790000, 12.710000, 12.350000, 13.710000, 13.000000, 12.950000, 8.280000, 7.200000, 6.810000, 6.830000, 5.450000, 4.990000, 4.630000, 4.260000, 3.980000, 3.740000, 3.520000, 3.350000, 3.190000, 3.010000, 2.870000, 2.750000, 2.620000, 2.520000, 2.430000, 2.340000, 2.260000, 2.200000, 2.130000, 2.070000, 2.000000, 1.940000, 1.880000, 1.840000, 1.790000, 1.740000, 1.690000, 1.660000, 1.610000, 1.580000, 1.540000, 1.510000, 1.490000, 1.450000, 1.430000, 1.390000, 1.380000, 1.350000, 1.330000, 1.310000, 1.290000, 1.270000, 1.260000, 1.250000, 1.230000, 1.220000, 1.200000, 1.190000, 1.160000, 1.230000, 1.280000, 1.320000, 1.370000, 1.430000, 1.640000, 1.700000, 1.770000, 1.820000, 1.890000, 3.870000, 3.580000, 3.550000, 3.530000, 3.510000, 3.470000, 3.530000, 3.480000, 3.470000, 3.460000, 3.440000, 3.440000, 3.520000, 3.670000, 3.670000, 3.650000, 3.650000, 3.650000, 3.640000, 3.640000, 3.640000, 3.640000, 3.640000, 3.640000, 3.410000, 2.730000, 3.660000, 3.670000, 3.570000, 3.220000, 2.920000, 2.670000, 2.450000, 2.190000, 2.030000, 1.910000, 1.800000, 1.710000, 1.610000, 1.530000, 1.460000, 1.390000, 1.340000, 1.280000, 1.240000, 1.190000, 1.140000, 1.100000, 1.060000, 1.030000, 1.000000, 0.970000, 0.940000, 0.920000, 0.890000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.790000, 0.760000, 0.750000, 0.730000, 0.720000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.550000, 0.590000, 0.620000, 0.630000, 0.670000, 0.700000, 0.730000, 0.760000, 0.790000, 0.800000, 4.270000, 4.240000, 2.960000, 4.200000, 1.770000, 1.760000, 1.740000, 1.730000, 1.750000, 1.740000, 1.900000, 2.170000, 2.490000, 2.940000, 3.610000, 4.630000, 6.460000, 9.990000, 9.990000 ], "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": [ 976054565, 674944 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.777000, 3.040000, -2.276303 ], "estimate": [ 2.777000, 3.040000, -2.276303 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.300000, 13.440000, 13.710000, 13.000000, 9.160000, 7.830000, 6.850000, 6.810000, 6.830000, 5.170000, 4.730000, 4.350000, 4.040000, 3.770000, 3.550000, 3.360000, 3.200000, 3.000000, 2.860000, 2.730000, 2.600000, 2.500000, 2.390000, 2.300000, 2.220000, 2.140000, 2.060000, 2.010000, 1.950000, 1.880000, 1.830000, 1.780000, 1.740000, 1.690000, 1.650000, 1.610000, 1.560000, 1.530000, 1.500000, 1.460000, 1.430000, 1.400000, 1.370000, 1.350000, 1.330000, 1.300000, 1.280000, 1.250000, 1.250000, 1.220000, 1.210000, 1.180000, 1.170000, 1.170000, 1.150000, 1.150000, 1.160000, 1.190000, 1.240000, 1.280000, 1.320000, 1.370000, 1.600000, 1.630000, 1.700000, 1.760000, 1.820000, 1.900000, 3.820000, 3.510000, 3.490000, 3.480000, 3.440000, 3.450000, 3.430000, 3.420000, 3.410000, 3.400000, 3.390000, 3.380000, 3.500000, 3.620000, 3.620000, 3.610000, 3.600000, 3.600000, 3.590000, 3.590000, 3.590000, 3.590000, 3.590000, 3.590000, 3.370000, 2.680000, 3.570000, 3.620000, 3.570000, 3.190000, 2.900000, 2.650000, 2.440000, 2.190000, 2.020000, 1.880000, 1.790000, 1.690000, 1.610000, 1.530000, 1.450000, 1.390000, 1.330000, 1.270000, 1.230000, 1.170000, 1.130000, 1.090000, 1.040000, 1.030000, 0.990000, 0.960000, 0.940000, 0.900000, 0.890000, 0.880000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.670000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.570000, 0.560000, 0.540000, 0.570000, 0.590000, 0.610000, 0.650000, 0.680000, 0.710000, 0.750000, 0.760000, 0.770000, 4.170000, 4.150000, 1.750000, 1.750000, 1.710000, 1.720000, 1.730000, 1.730000, 2.010000, 2.370000, 2.880000, 3.690000, 5.110000, 7.420000, 9.990000, 9.990000 ], "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": [ 976054565, 766558 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.725000, 2.979000, -2.276303 ], "estimate": [ 2.725000, 2.979000, -2.276303 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.290000, 13.700000, 13.120000, 12.990000, 8.100000, 6.900000, 6.790000, 5.630000, 5.070000, 4.630000, 4.230000, 3.900000, 3.630000, 3.410000, 3.250000, 3.020000, 2.860000, 2.710000, 2.570000, 2.460000, 2.340000, 2.250000, 2.180000, 2.090000, 2.020000, 1.950000, 1.870000, 1.820000, 1.760000, 1.710000, 1.650000, 1.600000, 1.570000, 1.520000, 1.480000, 1.450000, 1.410000, 1.380000, 1.340000, 1.320000, 1.300000, 1.260000, 1.240000, 1.210000, 1.200000, 1.180000, 1.150000, 1.140000, 1.120000, 1.110000, 1.090000, 1.080000, 1.060000, 1.080000, 1.110000, 1.150000, 1.190000, 1.220000, 1.260000, 1.290000, 1.500000, 1.550000, 1.590000, 1.650000, 1.700000, 1.760000, 1.830000, 3.740000, 3.440000, 3.420000, 3.400000, 3.380000, 3.330000, 3.390000, 3.340000, 3.340000, 3.330000, 3.310000, 3.310000, 3.310000, 3.540000, 3.530000, 3.520000, 3.510000, 3.510000, 3.500000, 3.500000, 3.490000, 3.500000, 3.500000, 3.500000, 3.500000, 3.280000, 2.580000, 3.470000, 3.530000, 3.500000, 3.160000, 2.850000, 2.620000, 2.420000, 2.160000, 2.060000, 1.880000, 1.770000, 1.680000, 1.600000, 1.520000, 1.440000, 1.380000, 1.330000, 1.270000, 1.220000, 1.170000, 1.130000, 1.090000, 1.050000, 1.020000, 0.990000, 0.960000, 0.930000, 0.910000, 0.890000, 0.870000, 0.850000, 0.820000, 0.810000, 0.790000, 0.780000, 0.760000, 0.740000, 0.720000, 0.720000, 0.710000, 0.700000, 0.680000, 0.670000, 0.670000, 0.660000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.540000, 0.530000, 0.530000, 0.560000, 0.590000, 0.660000, 0.710000, 0.750000, 0.750000, 1.710000, 1.700000, 1.710000, 1.710000, 1.720000, 2.350000, 3.290000, 5.670000, 9.990000, 9.990000 ], "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": [ 976054566, 208698 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.688000, 2.935000, -2.288594 ], "estimate": [ 2.688000, 2.935000, -2.288594 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.700000, 13.400000, 13.700000, 12.970000, 9.010000, 7.470000, 6.770000, 6.800000, 5.240000, 4.710000, 4.290000, 3.920000, 3.630000, 3.380000, 3.190000, 2.980000, 2.800000, 2.640000, 2.510000, 2.390000, 2.270000, 2.190000, 2.100000, 1.990000, 1.950000, 1.870000, 1.800000, 1.740000, 1.690000, 1.630000, 1.590000, 1.530000, 1.490000, 1.450000, 1.410000, 1.360000, 1.340000, 1.310000, 1.280000, 1.250000, 1.200000, 1.190000, 1.160000, 1.140000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000, 1.020000, 1.000000, 1.020000, 1.050000, 1.080000, 1.110000, 1.150000, 1.190000, 1.220000, 1.350000, 1.440000, 1.490000, 1.540000, 1.590000, 1.630000, 1.690000, 1.750000, 3.700000, 3.670000, 3.370000, 3.350000, 3.330000, 3.310000, 3.300000, 3.340000, 3.280000, 3.260000, 3.260000, 3.240000, 3.240000, 3.240000, 3.460000, 3.460000, 3.450000, 3.440000, 3.440000, 3.430000, 3.430000, 3.430000, 3.430000, 3.430000, 3.430000, 3.430000, 3.240000, 2.500000, 2.650000, 3.450000, 3.460000, 3.180000, 2.900000, 2.640000, 2.430000, 2.220000, 2.030000, 1.940000, 1.790000, 1.690000, 1.610000, 1.530000, 1.460000, 1.390000, 1.340000, 1.280000, 1.230000, 1.180000, 1.140000, 1.090000, 1.050000, 1.030000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.570000, 0.680000, 0.750000, 0.780000, 1.690000, 1.720000, 2.850000, 6.650000 ], "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": [ 976054566, 209926 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.659000, 2.902000, -2.307030 ], "estimate": [ 2.659000, 2.902000, -2.307030 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.680000, 12.280000, 13.690000, 12.990000, 9.080000, 7.460000, 6.770000, 6.780000, 5.150000, 4.620000, 4.170000, 3.810000, 3.520000, 3.280000, 3.080000, 2.860000, 2.700000, 2.540000, 2.420000, 2.300000, 2.200000, 2.100000, 2.000000, 1.940000, 1.860000, 1.780000, 1.720000, 1.650000, 1.610000, 1.550000, 1.510000, 1.460000, 1.420000, 1.380000, 1.340000, 1.300000, 1.270000, 1.240000, 1.220000, 1.180000, 1.160000, 1.120000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000, 1.020000, 1.000000, 0.990000, 0.990000, 1.000000, 1.020000, 1.040000, 1.050000, 1.100000, 1.140000, 1.170000, 1.200000, 1.400000, 1.430000, 1.470000, 1.520000, 1.550000, 1.610000, 1.660000, 1.720000, 3.650000, 3.640000, 3.330000, 3.320000, 3.280000, 3.250000, 3.230000, 3.260000, 3.240000, 3.230000, 3.210000, 3.190000, 3.200000, 3.190000, 3.420000, 3.410000, 3.410000, 3.400000, 3.400000, 3.400000, 3.390000, 3.390000, 3.390000, 3.390000, 3.390000, 3.390000, 3.210000, 2.500000, 2.450000, 3.400000, 3.410000, 3.280000, 2.970000, 2.710000, 2.480000, 2.300000, 2.070000, 1.990000, 1.850000, 1.720000, 1.630000, 1.550000, 1.480000, 1.410000, 1.360000, 1.290000, 1.240000, 1.190000, 1.150000, 1.110000, 1.060000, 1.040000, 1.010000, 0.980000, 0.950000, 0.930000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.750000, 0.730000, 0.720000, 0.710000, 0.710000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.490000, 0.510000, 0.500000, 0.750000, 0.800000 ], "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": [ 976054566, 348479 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.628000, 2.868000, -2.300885 ], "estimate": [ 2.628000, 2.868000, -2.300885 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.290000, 13.690000, 12.980000, 8.820000, 7.200000, 6.770000, 5.640000, 4.980000, 4.480000, 4.010000, 3.660000, 3.400000, 3.190000, 2.950000, 2.760000, 2.590000, 2.450000, 2.320000, 2.210000, 2.100000, 2.000000, 1.940000, 1.850000, 1.780000, 1.720000, 1.650000, 1.600000, 1.550000, 1.490000, 1.430000, 1.380000, 1.350000, 1.330000, 1.290000, 1.250000, 1.210000, 1.190000, 1.150000, 1.120000, 1.100000, 1.070000, 1.050000, 1.050000, 1.030000, 1.000000, 0.980000, 0.960000, 0.950000, 0.950000, 0.970000, 0.990000, 1.020000, 1.060000, 1.060000, 1.090000, 1.140000, 1.170000, 1.350000, 1.390000, 1.420000, 1.470000, 1.500000, 1.550000, 1.600000, 1.640000, 3.650000, 3.630000, 3.540000, 3.290000, 3.250000, 3.220000, 3.200000, 3.210000, 3.240000, 3.200000, 3.200000, 3.180000, 3.170000, 3.160000, 3.170000, 3.370000, 3.390000, 3.380000, 3.370000, 3.370000, 3.360000, 3.350000, 3.350000, 3.360000, 3.350000, 3.360000, 3.350000, 3.170000, 2.460000, 2.420000, 3.380000, 3.380000, 3.280000, 2.980000, 2.700000, 2.490000, 2.300000, 2.080000, 1.990000, 1.860000, 1.720000, 1.620000, 1.550000, 1.470000, 1.410000, 1.360000, 1.290000, 1.240000, 1.190000, 1.150000, 1.110000, 1.060000, 1.030000, 1.000000, 0.970000, 0.950000, 0.920000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.800000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 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": [ 976054566, 792189 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.584000, 2.818000, -2.294739 ], "estimate": [ 2.584000, 2.818000, -2.294739 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 13.680000, 13.680000, 12.970000, 7.630000, 6.760000, 6.780000, 5.010000, 4.480000, 3.970000, 3.600000, 3.320000, 3.110000, 2.850000, 2.670000, 2.510000, 2.350000, 2.220000, 2.110000, 2.010000, 1.940000, 1.830000, 1.760000, 1.680000, 1.620000, 1.560000, 1.500000, 1.440000, 1.400000, 1.360000, 1.310000, 1.280000, 1.240000, 1.190000, 1.170000, 1.130000, 1.100000, 1.070000, 1.050000, 1.030000, 1.010000, 0.970000, 0.950000, 0.950000, 0.940000, 0.920000, 0.900000, 0.910000, 0.940000, 0.960000, 0.980000, 1.010000, 1.030000, 1.050000, 1.070000, 1.110000, 1.300000, 1.330000, 1.360000, 1.400000, 1.440000, 1.460000, 1.510000, 1.560000, 1.610000, 3.610000, 3.580000, 3.540000, 3.250000, 3.240000, 3.220000, 3.190000, 3.160000, 3.160000, 3.160000, 3.150000, 3.120000, 3.110000, 3.100000, 3.100000, 3.110000, 3.330000, 3.320000, 3.310000, 3.310000, 3.300000, 3.300000, 3.290000, 3.290000, 3.290000, 3.290000, 3.290000, 3.290000, 3.100000, 2.410000, 2.370000, 3.310000, 3.320000, 3.190000, 2.900000, 2.650000, 2.450000, 2.270000, 2.050000, 1.950000, 1.840000, 1.710000, 1.610000, 1.540000, 1.460000, 1.400000, 1.340000, 1.280000, 1.230000, 1.190000, 1.140000, 1.100000, 1.050000, 1.030000, 0.990000, 0.970000, 0.940000, 0.910000, 0.890000, 0.880000, 0.850000, 0.830000, 0.810000, 0.800000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 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": [ 976054566, 793426 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.537000, 2.764000, -2.288594 ], "estimate": [ 2.537000, 2.764000, -2.288594 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 13.690000, 12.970000, 7.570000, 6.760000, 5.770000, 4.770000, 4.200000, 3.750000, 3.400000, 3.170000, 2.880000, 2.670000, 2.470000, 2.310000, 2.190000, 2.070000, 1.950000, 1.860000, 1.770000, 1.680000, 1.610000, 1.550000, 1.490000, 1.430000, 1.370000, 1.320000, 1.290000, 1.240000, 1.190000, 1.150000, 1.130000, 1.090000, 1.060000, 1.020000, 1.000000, 0.970000, 0.940000, 0.920000, 0.910000, 0.900000, 0.860000, 0.870000, 0.870000, 0.870000, 0.900000, 0.900000, 0.930000, 0.960000, 0.970000, 1.000000, 1.020000, 1.050000, 1.070000, 1.250000, 1.280000, 1.300000, 1.330000, 1.370000, 1.400000, 1.440000, 1.490000, 1.530000, 1.570000, 3.540000, 3.530000, 3.500000, 3.200000, 3.180000, 3.140000, 3.130000, 3.080000, 3.100000, 3.090000, 3.080000, 3.080000, 3.050000, 3.040000, 3.040000, 3.050000, 3.260000, 3.260000, 3.250000, 3.240000, 3.240000, 3.240000, 3.230000, 3.230000, 3.230000, 3.240000, 3.230000, 3.230000, 3.230000, 3.010000, 2.310000, 2.320000, 3.250000, 3.260000, 3.020000, 2.740000, 2.510000, 2.330000, 2.160000, 1.970000, 1.880000, 1.760000, 1.650000, 1.570000, 1.490000, 1.420000, 1.370000, 1.300000, 1.240000, 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, 0.820000, 0.800000, 0.780000, 0.770000, 0.750000, 0.730000, 0.720000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 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, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 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": [ 976054566, 948387 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.499000, 2.720000, -2.288594 ], "estimate": [ 2.499000, 2.720000, -2.288594 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.970000, 7.390000, 6.740000, 5.300000, 4.560000, 3.940000, 3.510000, 3.190000, 2.900000, 2.650000, 2.450000, 2.270000, 2.130000, 2.010000, 1.890000, 1.790000, 1.700000, 1.610000, 1.530000, 1.470000, 1.400000, 1.340000, 1.290000, 1.250000, 1.190000, 1.150000, 1.110000, 1.080000, 1.040000, 1.000000, 0.980000, 0.950000, 0.920000, 0.890000, 0.860000, 0.850000, 0.830000, 0.810000, 0.820000, 0.830000, 0.840000, 0.860000, 0.890000, 0.910000, 0.920000, 0.930000, 0.950000, 0.990000, 1.000000, 1.020000, 1.180000, 1.210000, 1.230000, 1.260000, 1.290000, 1.320000, 1.350000, 1.390000, 1.440000, 1.460000, 1.500000, 3.520000, 3.490000, 3.470000, 3.430000, 3.140000, 3.110000, 3.080000, 3.030000, 3.040000, 3.040000, 3.020000, 3.010000, 3.010000, 3.000000, 2.980000, 2.970000, 2.970000, 3.210000, 3.200000, 3.190000, 3.180000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 2.970000, 2.300000, 2.240000, 3.180000, 3.190000, 3.150000, 2.840000, 2.600000, 2.390000, 2.220000, 2.040000, 1.890000, 1.790000, 1.690000, 1.600000, 1.510000, 1.440000, 1.390000, 1.320000, 1.270000, 1.210000, 1.170000, 1.130000, 1.080000, 1.040000, 1.020000, 0.980000, 0.960000, 0.930000, 0.900000, 0.890000, 0.860000, 0.840000, 0.820000, 0.810000, 0.790000, 0.770000, 0.750000, 0.740000, 0.720000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 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": [ 976054567, 361032 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.467000, 2.684000, -2.288594 ], "estimate": [ 2.467000, 2.684000, -2.288594 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 8.710000, 6.730000, 6.750000, 4.760000, 4.060000, 3.560000, 3.230000, 2.890000, 2.630000, 2.410000, 2.230000, 2.090000, 1.950000, 1.830000, 1.730000, 1.630000, 1.550000, 1.480000, 1.400000, 1.340000, 1.290000, 1.240000, 1.180000, 1.130000, 1.090000, 1.050000, 1.030000, 0.970000, 0.940000, 0.910000, 0.890000, 0.860000, 0.840000, 0.810000, 0.780000, 0.790000, 0.790000, 0.810000, 0.830000, 0.830000, 0.850000, 0.870000, 0.890000, 0.900000, 0.920000, 0.950000, 0.960000, 0.980000, 1.140000, 1.160000, 1.180000, 1.210000, 1.230000, 1.260000, 1.280000, 1.330000, 1.350000, 1.390000, 1.430000, 1.460000, 3.490000, 3.460000, 3.440000, 3.410000, 3.300000, 3.060000, 3.040000, 2.990000, 2.980000, 2.970000, 3.020000, 2.980000, 2.970000, 2.960000, 2.940000, 2.940000, 2.930000, 2.920000, 3.150000, 3.150000, 3.140000, 3.130000, 3.140000, 3.130000, 3.130000, 3.130000, 3.130000, 3.130000, 3.120000, 3.130000, 3.130000, 2.930000, 2.230000, 2.220000, 3.140000, 3.140000, 3.090000, 2.790000, 2.570000, 2.360000, 2.190000, 2.020000, 1.880000, 1.780000, 1.680000, 1.570000, 1.500000, 1.430000, 1.370000, 1.310000, 1.250000, 1.210000, 1.160000, 1.120000, 1.070000, 1.030000, 1.010000, 0.970000, 0.960000, 0.920000, 0.900000, 0.880000, 0.860000, 0.840000, 0.810000, 0.800000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 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, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 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, 0.500000, 0.500000, 0.500000, 0.500000, 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": [ 976054567, 386793 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.433000, 2.644000, -2.282448 ], "estimate": [ 2.433000, 2.644000, -2.282448 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.950000, 6.740000, 4.810000, 4.010000, 3.500000, 3.150000, 2.790000, 2.520000, 2.310000, 2.120000, 1.970000, 1.850000, 1.720000, 1.620000, 1.520000, 1.440000, 1.370000, 1.300000, 1.240000, 1.190000, 1.130000, 1.080000, 1.040000, 1.000000, 0.950000, 0.920000, 0.900000, 0.860000, 0.840000, 0.810000, 0.780000, 0.760000, 0.750000, 0.760000, 0.770000, 0.790000, 0.810000, 0.820000, 0.830000, 0.850000, 0.870000, 0.890000, 0.900000, 0.910000, 0.930000, 0.950000, 1.100000, 1.120000, 1.130000, 1.150000, 1.180000, 1.210000, 1.240000, 1.280000, 1.290000, 1.330000, 1.360000, 1.400000, 1.430000, 3.470000, 3.440000, 3.400000, 3.390000, 3.310000, 3.010000, 2.980000, 2.960000, 2.950000, 2.920000, 2.930000, 2.940000, 2.930000, 2.910000, 2.910000, 2.890000, 2.880000, 2.870000, 3.010000, 3.100000, 3.090000, 3.090000, 3.090000, 3.080000, 3.080000, 3.080000, 3.080000, 3.080000, 3.080000, 3.080000, 3.080000, 3.080000, 2.880000, 2.150000, 2.140000, 3.090000, 3.100000, 2.960000, 2.700000, 2.480000, 2.290000, 2.130000, 1.960000, 1.820000, 1.730000, 1.630000, 1.540000, 1.480000, 1.410000, 1.340000, 1.280000, 1.240000, 1.190000, 1.140000, 1.100000, 1.050000, 1.030000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.850000, 0.820000, 0.810000, 0.790000, 0.770000, 0.750000, 0.740000, 0.720000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054567, 548663 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.391000, 2.595000, -2.282448 ], "estimate": [ 2.391000, 2.595000, -2.282448 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.710000, 4.720000, 3.890000, 3.330000, 2.960000, 2.600000, 2.340000, 2.140000, 1.970000, 1.820000, 1.690000, 1.580000, 1.470000, 1.380000, 1.310000, 1.240000, 1.180000, 1.100000, 1.070000, 1.020000, 0.970000, 0.930000, 0.900000, 0.860000, 0.830000, 0.790000, 0.760000, 0.730000, 0.730000, 0.720000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.790000, 0.820000, 0.830000, 0.840000, 0.860000, 0.880000, 0.900000, 0.910000, 1.040000, 1.070000, 1.070000, 1.100000, 1.120000, 1.150000, 1.160000, 1.190000, 1.230000, 1.260000, 1.280000, 1.310000, 1.340000, 1.350000, 3.450000, 3.410000, 3.390000, 3.370000, 3.340000, 3.300000, 3.000000, 2.960000, 2.930000, 2.880000, 2.880000, 2.900000, 2.940000, 2.880000, 2.870000, 2.860000, 2.840000, 2.830000, 2.830000, 2.860000, 3.050000, 3.050000, 3.040000, 3.040000, 3.030000, 3.030000, 3.020000, 3.020000, 3.020000, 3.010000, 3.020000, 3.010000, 3.020000, 2.830000, 2.840000, 2.100000, 2.150000, 3.040000, 3.060000, 2.820000, 2.570000, 2.370000, 2.190000, 2.050000, 1.880000, 1.770000, 1.680000, 1.580000, 1.500000, 1.430000, 1.370000, 1.310000, 1.260000, 1.200000, 1.150000, 1.120000, 1.070000, 1.030000, 1.010000, 0.970000, 0.960000, 0.920000, 0.890000, 0.880000, 0.860000, 0.830000, 0.810000, 0.800000, 0.780000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 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": [ 976054567, 986660 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.347000, 2.544000, -2.276303 ], "estimate": [ 2.347000, 2.544000, -2.276303 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.550000, 3.610000, 3.140000, 2.660000, 2.330000, 2.090000, 1.920000, 1.740000, 1.580000, 1.470000, 1.350000, 1.270000, 1.180000, 1.100000, 1.040000, 1.000000, 0.940000, 0.900000, 0.860000, 0.810000, 0.770000, 0.760000, 0.720000, 0.690000, 0.690000, 0.710000, 0.710000, 0.720000, 0.740000, 0.750000, 0.750000, 0.760000, 0.780000, 0.790000, 0.790000, 0.820000, 0.830000, 0.830000, 0.850000, 0.960000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.080000, 1.110000, 1.130000, 1.160000, 1.180000, 1.210000, 1.240000, 1.260000, 1.290000, 1.320000, 3.430000, 3.390000, 3.370000, 3.340000, 3.310000, 3.270000, 3.240000, 2.930000, 2.890000, 2.870000, 2.830000, 2.820000, 2.800000, 2.870000, 2.810000, 2.800000, 2.790000, 2.770000, 2.760000, 2.760000, 2.760000, 2.980000, 2.970000, 2.980000, 2.980000, 2.970000, 2.960000, 2.960000, 2.960000, 2.950000, 2.950000, 2.950000, 2.950000, 2.950000, 2.950000, 2.760000, 2.320000, 2.020000, 2.590000, 2.980000, 2.980000, 2.710000, 2.480000, 2.300000, 2.130000, 1.990000, 1.830000, 1.730000, 1.640000, 1.560000, 1.480000, 1.410000, 1.340000, 1.280000, 1.230000, 1.180000, 1.140000, 1.090000, 1.050000, 1.020000, 0.990000, 0.950000, 0.940000, 0.910000, 0.890000, 0.870000, 0.840000, 0.820000, 0.810000, 0.790000, 0.770000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.670000, 0.670000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 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": [ 976054567, 987799 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.310000, 2.499000, -2.264012 ], "estimate": [ 2.310000, 2.499000, -2.264012 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.760000, 2.360000, 2.070000, 1.860000, 1.650000, 1.490000, 1.360000, 1.260000, 1.170000, 1.080000, 1.010000, 0.950000, 0.900000, 0.840000, 0.800000, 0.760000, 0.730000, 0.700000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.780000, 0.800000, 0.810000, 0.820000, 0.850000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.260000, 1.280000, 3.410000, 3.380000, 3.340000, 3.320000, 3.280000, 3.260000, 3.230000, 3.190000, 2.890000, 2.860000, 2.840000, 2.810000, 2.760000, 2.770000, 2.810000, 2.760000, 2.760000, 2.740000, 2.720000, 2.710000, 2.700000, 2.710000, 2.910000, 2.940000, 2.930000, 2.920000, 2.910000, 2.910000, 2.900000, 2.900000, 2.890000, 2.890000, 2.890000, 2.890000, 2.890000, 2.890000, 2.760000, 2.710000, 1.980000, 1.960000, 2.920000, 2.920000, 2.780000, 2.550000, 2.340000, 2.160000, 2.010000, 1.890000, 1.740000, 1.660000, 1.570000, 1.490000, 1.410000, 1.350000, 1.290000, 1.230000, 1.190000, 1.140000, 1.090000, 1.050000, 1.030000, 0.990000, 0.950000, 0.930000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.800000, 0.780000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 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, 0.490000, 0.490000, 0.490000, 0.480000, 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": [ 976054568, 148517 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.278000, 2.460000, -2.257866 ], "estimate": [ 2.278000, 2.460000, -2.257866 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.300000, 1.980000, 1.740000, 1.510000, 1.340000, 1.220000, 1.110000, 1.020000, 0.930000, 0.880000, 0.820000, 0.760000, 0.730000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.790000, 0.810000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.060000, 1.070000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.200000, 3.400000, 3.360000, 3.330000, 3.290000, 3.270000, 3.230000, 3.200000, 3.170000, 3.140000, 2.830000, 2.800000, 2.780000, 2.760000, 2.720000, 2.720000, 2.770000, 2.710000, 2.700000, 2.680000, 2.680000, 2.670000, 2.660000, 2.660000, 2.890000, 2.880000, 2.880000, 2.870000, 2.860000, 2.860000, 2.850000, 2.840000, 2.840000, 2.840000, 2.850000, 2.840000, 2.840000, 2.840000, 2.840000, 2.620000, 1.920000, 1.920000, 2.860000, 2.870000, 2.820000, 2.560000, 2.350000, 2.170000, 2.010000, 1.890000, 1.740000, 1.650000, 1.570000, 1.490000, 1.410000, 1.340000, 1.280000, 1.230000, 1.180000, 1.140000, 1.090000, 1.040000, 1.020000, 0.980000, 0.960000, 0.930000, 0.900000, 0.870000, 0.860000, 0.830000, 0.810000, 0.790000, 0.780000, 0.760000, 0.740000, 0.720000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 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, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 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": [ 976054568, 844437 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.244000, 2.419000, -2.245575 ], "estimate": [ 2.244000, 2.419000, -2.245575 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.460000, 1.270000, 1.130000, 1.020000, 0.920000, 0.840000, 0.760000, 0.720000, 0.680000, 0.680000, 0.630000, 0.680000, 0.680000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.840000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.950000, 0.970000, 0.980000, 0.990000, 1.020000, 1.030000, 1.030000, 1.060000, 1.070000, 1.100000, 1.120000, 1.140000, 1.160000, 1.190000, 1.250000, 3.400000, 3.370000, 3.330000, 3.280000, 3.260000, 3.230000, 3.200000, 3.170000, 3.130000, 3.110000, 2.800000, 2.770000, 2.740000, 2.730000, 2.670000, 2.680000, 2.730000, 2.670000, 2.670000, 2.650000, 2.630000, 2.620000, 2.610000, 2.620000, 2.780000, 2.840000, 2.830000, 2.820000, 2.810000, 2.810000, 2.800000, 2.800000, 2.800000, 2.800000, 2.810000, 2.800000, 2.810000, 2.810000, 2.810000, 2.610000, 2.160000, 1.860000, 1.910000, 2.810000, 2.820000, 2.630000, 2.410000, 2.230000, 2.050000, 1.920000, 1.790000, 1.670000, 1.580000, 1.500000, 1.430000, 1.360000, 1.300000, 1.240000, 1.190000, 1.140000, 1.100000, 1.050000, 1.020000, 0.980000, 0.960000, 0.930000, 0.890000, 0.870000, 0.850000, 0.840000, 0.810000, 0.790000, 0.770000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 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, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 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": [ 976054568, 845227 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.206000, 2.371000, -2.245575 ], "estimate": [ 2.206000, 2.371000, -2.245575 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.020000, 0.890000, 0.780000, 0.710000, 0.670000, 0.640000, 0.650000, 0.650000, 0.660000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.990000, 0.990000, 1.010000, 1.030000, 1.030000, 1.050000, 1.080000, 1.090000, 1.110000, 1.140000, 1.170000, 1.210000, 3.390000, 3.360000, 3.320000, 3.270000, 3.230000, 3.210000, 3.170000, 3.140000, 3.120000, 3.080000, 2.970000, 2.740000, 2.720000, 2.690000, 2.670000, 2.640000, 2.630000, 2.680000, 2.620000, 2.600000, 2.590000, 2.590000, 2.570000, 2.570000, 2.570000, 2.720000, 2.790000, 2.770000, 2.760000, 2.760000, 2.750000, 2.740000, 2.740000, 2.740000, 2.740000, 2.740000, 2.740000, 2.740000, 2.740000, 2.740000, 2.540000, 2.550000, 1.820000, 1.810000, 2.750000, 2.760000, 2.720000, 2.470000, 2.270000, 2.100000, 1.940000, 1.820000, 1.700000, 1.590000, 1.530000, 1.440000, 1.370000, 1.310000, 1.250000, 1.180000, 1.150000, 1.100000, 1.050000, 1.020000, 0.980000, 0.950000, 0.920000, 0.900000, 0.870000, 0.850000, 0.830000, 0.810000, 0.780000, 0.770000, 0.750000, 0.730000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.660000, 0.640000, 0.640000, 0.630000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 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": [ 976054568, 966124 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.166000, 2.320000, -2.251720 ], "estimate": [ 2.166000, 2.320000, -2.251720 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.670000, 0.660000, 0.650000, 0.630000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.730000, 0.750000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.940000, 0.960000, 0.980000, 0.990000, 1.010000, 1.010000, 1.030000, 1.050000, 1.070000, 1.080000, 1.100000, 1.110000, 3.480000, 3.430000, 3.380000, 3.340000, 3.300000, 3.250000, 3.220000, 3.180000, 3.150000, 3.120000, 3.080000, 3.060000, 3.030000, 2.710000, 2.680000, 2.650000, 2.640000, 2.570000, 2.580000, 2.580000, 2.570000, 2.560000, 2.550000, 2.530000, 2.520000, 2.500000, 2.510000, 2.520000, 2.730000, 2.720000, 2.720000, 2.720000, 2.710000, 2.700000, 2.690000, 2.700000, 2.690000, 2.690000, 2.690000, 2.690000, 2.680000, 2.680000, 2.690000, 2.670000, 2.490000, 1.780000, 1.760000, 2.700000, 2.710000, 2.720000, 2.500000, 2.280000, 2.110000, 1.950000, 1.820000, 1.700000, 1.600000, 1.520000, 1.430000, 1.370000, 1.310000, 1.240000, 1.180000, 1.150000, 1.100000, 1.050000, 1.010000, 0.980000, 0.950000, 0.920000, 0.880000, 0.870000, 0.850000, 0.820000, 0.810000, 0.790000, 0.760000, 0.740000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 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, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 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": [ 976054568, 967355 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.128000, 2.275000, -2.264012 ], "estimate": [ 2.128000, 2.275000, -2.264012 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.650000, 0.650000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.730000, 0.820000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.000000, 1.030000, 1.040000, 1.060000, 1.050000, 3.520000, 3.470000, 3.420000, 3.370000, 3.330000, 3.280000, 3.230000, 3.200000, 3.160000, 3.120000, 3.090000, 3.060000, 3.030000, 2.990000, 2.950000, 2.640000, 2.610000, 2.600000, 2.580000, 2.560000, 2.510000, 2.550000, 2.520000, 2.510000, 2.490000, 2.490000, 2.470000, 2.460000, 2.450000, 2.450000, 2.670000, 2.670000, 2.660000, 2.640000, 2.640000, 2.640000, 2.630000, 2.630000, 2.630000, 2.630000, 2.630000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.430000, 2.420000, 1.690000, 1.690000, 2.650000, 2.640000, 2.600000, 2.360000, 2.170000, 1.990000, 1.870000, 1.740000, 1.630000, 1.550000, 1.460000, 1.400000, 1.320000, 1.270000, 1.190000, 1.150000, 1.100000, 1.060000, 1.020000, 0.980000, 0.950000, 0.910000, 0.890000, 0.870000, 0.850000, 0.820000, 0.810000, 0.790000, 0.760000, 0.740000, 0.730000, 0.720000, 0.700000, 0.690000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.440000, 0.450000, 0.460000, 0.450000, 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": [ 976054569, 166795 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.094000, 2.234000, -2.270157 ], "estimate": [ 2.094000, 2.234000, -2.270157 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.660000, 0.660000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.700000, 0.760000, 0.800000, 0.800000, 0.820000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.950000, 0.970000, 0.990000, 0.990000, 1.020000, 1.030000, 1.020000, 1.030000, 3.410000, 3.470000, 3.420000, 3.380000, 3.330000, 3.280000, 3.230000, 3.190000, 3.140000, 3.120000, 3.080000, 3.040000, 3.010000, 2.980000, 2.960000, 2.900000, 2.600000, 2.570000, 2.550000, 2.540000, 2.510000, 2.490000, 2.520000, 2.460000, 2.470000, 2.450000, 2.430000, 2.420000, 2.410000, 2.410000, 2.420000, 2.620000, 2.630000, 2.620000, 2.600000, 2.600000, 2.600000, 2.590000, 2.590000, 2.580000, 2.570000, 2.570000, 2.570000, 2.570000, 2.570000, 2.570000, 2.570000, 2.370000, 2.380000, 1.640000, 1.640000, 2.590000, 2.600000, 2.610000, 2.400000, 2.190000, 2.020000, 1.880000, 1.760000, 1.660000, 1.550000, 1.460000, 1.400000, 1.330000, 1.270000, 1.210000, 1.150000, 1.110000, 1.060000, 1.020000, 0.990000, 0.950000, 0.910000, 0.890000, 0.870000, 0.840000, 0.820000, 0.810000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.620000, 0.610000, 0.610000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 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, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 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": [ 976054569, 480417 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.058000, 2.191000, -2.282448 ], "estimate": [ 2.058000, 2.191000, -2.282448 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.670000, 0.670000, 0.660000, 0.650000, 0.670000, 0.680000, 0.710000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.930000, 0.930000, 0.950000, 0.950000, 0.980000, 0.990000, 1.010000, 1.000000, 3.280000, 3.340000, 3.360000, 3.420000, 3.370000, 3.330000, 3.280000, 3.230000, 3.180000, 3.140000, 3.100000, 3.060000, 3.030000, 2.990000, 2.970000, 2.930000, 2.900000, 2.650000, 2.540000, 2.520000, 2.500000, 2.450000, 2.430000, 2.440000, 2.480000, 2.420000, 2.410000, 2.400000, 2.380000, 2.370000, 2.360000, 2.360000, 2.360000, 2.540000, 2.570000, 2.560000, 2.550000, 2.540000, 2.540000, 2.540000, 2.530000, 2.530000, 2.520000, 2.520000, 2.520000, 2.520000, 2.520000, 2.520000, 2.520000, 2.510000, 2.320000, 1.610000, 1.590000, 1.640000, 2.550000, 2.550000, 2.470000, 2.240000, 2.060000, 1.910000, 1.790000, 1.680000, 1.570000, 1.480000, 1.410000, 1.350000, 1.270000, 1.220000, 1.160000, 1.120000, 1.070000, 1.020000, 0.980000, 0.950000, 0.920000, 0.890000, 0.870000, 0.850000, 0.820000, 0.810000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.670000, 0.660000, 0.650000, 0.630000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054569, 566666 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.020000, 2.147000, -2.288594 ], "estimate": [ 2.020000, 2.147000, -2.288594 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.680000, 0.670000, 0.670000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.950000, 0.950000, 0.970000, 0.970000, 3.160000, 3.210000, 3.260000, 3.300000, 3.370000, 3.380000, 3.340000, 3.280000, 3.230000, 3.180000, 3.130000, 3.090000, 3.050000, 3.020000, 2.980000, 2.950000, 2.920000, 2.880000, 2.850000, 2.550000, 2.510000, 2.470000, 2.460000, 2.440000, 2.380000, 2.380000, 2.420000, 2.370000, 2.360000, 2.350000, 2.340000, 2.320000, 2.300000, 2.310000, 2.310000, 2.440000, 2.520000, 2.510000, 2.510000, 2.510000, 2.510000, 2.500000, 2.490000, 2.490000, 2.480000, 2.480000, 2.470000, 2.470000, 2.460000, 2.470000, 2.470000, 2.470000, 2.280000, 2.290000, 1.530000, 1.550000, 2.490000, 2.500000, 2.510000, 2.340000, 2.130000, 1.980000, 1.840000, 1.710000, 1.620000, 1.520000, 1.440000, 1.380000, 1.300000, 1.240000, 1.180000, 1.140000, 1.090000, 1.040000, 1.000000, 0.950000, 0.930000, 0.890000, 0.880000, 0.850000, 0.830000, 0.810000, 0.790000, 0.770000, 0.740000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.650000, 0.640000, 0.620000, 0.620000, 0.600000, 0.600000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 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, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 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": [ 976054569, 987254 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.980000, 2.101000, -2.300885 ], "estimate": [ 1.980000, 2.101000, -2.300885 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.780000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.770000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.830000, 0.830000, 0.830000, 0.850000, 0.850000, 0.850000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.940000, 0.910000, 3.050000, 3.070000, 3.120000, 3.200000, 3.220000, 3.270000, 3.330000, 3.330000, 3.280000, 3.230000, 3.180000, 3.130000, 3.090000, 3.050000, 3.000000, 2.970000, 2.940000, 2.900000, 2.870000, 2.830000, 2.800000, 2.480000, 2.440000, 2.420000, 2.400000, 2.370000, 2.320000, 2.330000, 2.380000, 2.310000, 2.300000, 2.290000, 2.280000, 2.270000, 2.250000, 2.250000, 2.240000, 2.350000, 2.470000, 2.460000, 2.450000, 2.440000, 2.450000, 2.440000, 2.430000, 2.420000, 2.420000, 2.410000, 2.410000, 2.410000, 2.410000, 2.410000, 2.410000, 2.410000, 2.410000, 2.210000, 2.200000, 1.490000, 1.490000, 2.430000, 2.430000, 2.440000, 2.250000, 2.070000, 1.910000, 1.780000, 1.670000, 1.570000, 1.480000, 1.400000, 1.340000, 1.270000, 1.210000, 1.150000, 1.110000, 1.060000, 1.020000, 0.980000, 0.950000, 0.910000, 0.880000, 0.860000, 0.830000, 0.820000, 0.800000, 0.770000, 0.750000, 0.730000, 0.720000, 0.710000, 0.690000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 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": [ 976054570, 690299 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.940000, 2.057000, -2.313176 ], "estimate": [ 1.940000, 2.057000, -2.313176 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.770000, 0.780000, 0.790000, 0.780000, 0.790000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.890000, 3.120000, 3.050000, 3.020000, 3.070000, 3.090000, 3.160000, 3.200000, 3.250000, 3.330000, 3.290000, 3.240000, 3.190000, 3.130000, 3.090000, 3.040000, 2.990000, 2.960000, 2.930000, 2.890000, 2.850000, 2.820000, 2.790000, 2.750000, 2.420000, 2.400000, 2.360000, 2.350000, 2.330000, 2.300000, 2.280000, 2.330000, 2.260000, 2.260000, 2.250000, 2.230000, 2.210000, 2.190000, 2.200000, 2.200000, 2.270000, 2.420000, 2.410000, 2.400000, 2.400000, 2.390000, 2.380000, 2.370000, 2.370000, 2.360000, 2.360000, 2.360000, 2.350000, 2.350000, 2.350000, 2.350000, 2.350000, 2.350000, 2.230000, 2.150000, 1.450000, 1.430000, 1.460000, 2.380000, 2.380000, 2.360000, 2.140000, 1.980000, 1.840000, 1.710000, 1.600000, 1.520000, 1.430000, 1.370000, 1.300000, 1.240000, 1.180000, 1.140000, 1.080000, 1.030000, 1.000000, 0.950000, 0.920000, 0.890000, 0.870000, 0.840000, 0.820000, 0.810000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.650000, 0.640000, 0.640000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 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, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.430000, 0.430000, 0.430000, 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": [ 976054570, 206532 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.902000, 2.016000, -2.319321 ], "estimate": [ 1.902000, 2.016000, -2.319321 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.780000, 0.780000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.830000, 0.830000, 0.830000, 0.830000, 0.850000, 0.840000, 0.850000, 0.860000, 0.870000, 0.860000, 0.850000, 3.270000, 3.180000, 3.110000, 3.040000, 2.990000, 3.010000, 3.050000, 3.100000, 3.140000, 3.190000, 3.240000, 3.260000, 3.210000, 3.160000, 3.120000, 3.060000, 3.010000, 2.960000, 2.930000, 2.890000, 2.860000, 2.820000, 2.780000, 2.740000, 2.710000, 2.460000, 2.340000, 2.330000, 2.310000, 2.300000, 2.270000, 2.220000, 2.260000, 2.220000, 2.210000, 2.190000, 2.190000, 2.170000, 2.150000, 2.140000, 2.140000, 2.140000, 2.260000, 2.350000, 2.340000, 2.330000, 2.340000, 2.330000, 2.330000, 2.320000, 2.320000, 2.310000, 2.310000, 2.300000, 2.300000, 2.300000, 2.300000, 2.300000, 2.300000, 2.300000, 2.260000, 2.100000, 1.700000, 1.390000, 1.380000, 2.320000, 2.330000, 2.340000, 2.140000, 1.980000, 1.830000, 1.710000, 1.600000, 1.520000, 1.440000, 1.360000, 1.290000, 1.240000, 1.180000, 1.130000, 1.070000, 1.020000, 0.990000, 0.940000, 0.920000, 0.890000, 0.870000, 0.840000, 0.810000, 0.800000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 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": [ 976054570, 599871 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.863000, 1.973000, -2.325467 ], "estimate": [ 1.863000, 1.973000, -2.325467 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.770000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.760000, 0.760000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.830000, 0.840000, 0.830000, 0.840000, 0.840000, 0.860000, 0.870000, 0.830000, 3.450000, 3.330000, 3.260000, 3.170000, 3.100000, 3.030000, 2.970000, 2.970000, 3.030000, 3.070000, 3.120000, 3.160000, 3.180000, 3.250000, 3.190000, 3.140000, 3.080000, 3.040000, 2.990000, 2.940000, 2.900000, 2.870000, 2.830000, 2.790000, 2.750000, 2.710000, 2.690000, 2.620000, 2.330000, 2.300000, 2.280000, 2.260000, 2.240000, 2.190000, 2.210000, 2.250000, 2.170000, 2.160000, 2.140000, 2.120000, 2.110000, 2.090000, 2.090000, 2.090000, 2.150000, 2.320000, 2.310000, 2.310000, 2.300000, 2.290000, 2.280000, 2.270000, 2.260000, 2.260000, 2.250000, 2.240000, 2.250000, 2.240000, 2.240000, 2.240000, 2.250000, 2.240000, 2.240000, 2.190000, 2.050000, 1.700000, 1.320000, 1.330000, 2.260000, 2.270000, 2.280000, 2.110000, 1.950000, 1.810000, 1.700000, 1.590000, 1.500000, 1.420000, 1.360000, 1.270000, 1.220000, 1.160000, 1.120000, 1.060000, 1.020000, 0.980000, 0.950000, 0.920000, 0.870000, 0.860000, 0.830000, 0.810000, 0.790000, 0.770000, 0.750000, 0.730000, 0.720000, 0.700000, 0.680000, 0.670000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 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, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.420000, 0.440000, 0.420000, 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": [ 976054570, 601047 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.823000, 1.932000, -2.337758 ], "estimate": [ 1.823000, 1.932000, -2.337758 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.770000, 0.770000, 0.790000, 0.780000, 0.770000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 2.090000, 2.080000, 3.540000, 3.460000, 3.350000, 3.250000, 3.160000, 3.080000, 3.000000, 2.920000, 2.930000, 2.970000, 3.020000, 3.070000, 3.100000, 3.150000, 3.230000, 3.170000, 3.110000, 3.070000, 3.020000, 2.960000, 2.920000, 2.870000, 2.820000, 2.790000, 2.750000, 2.720000, 2.690000, 2.650000, 2.620000, 2.280000, 2.270000, 2.230000, 2.210000, 2.180000, 2.170000, 2.120000, 2.180000, 2.120000, 2.110000, 2.090000, 2.080000, 2.070000, 2.050000, 2.040000, 2.040000, 2.050000, 2.130000, 2.250000, 2.250000, 2.230000, 2.220000, 2.220000, 2.210000, 2.210000, 2.200000, 2.190000, 2.180000, 2.190000, 2.180000, 2.180000, 2.170000, 2.180000, 2.180000, 2.180000, 2.180000, 2.170000, 1.980000, 1.990000, 1.270000, 1.270000, 2.210000, 2.200000, 2.210000, 2.130000, 1.960000, 1.820000, 1.690000, 1.590000, 1.500000, 1.420000, 1.350000, 1.270000, 1.220000, 1.160000, 1.120000, 1.060000, 1.020000, 0.980000, 0.950000, 0.910000, 0.870000, 0.850000, 0.820000, 0.800000, 0.780000, 0.760000, 0.730000, 0.720000, 0.700000, 0.690000, 0.670000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.580000, 0.570000, 0.570000, 0.550000, 0.550000, 0.550000, 0.550000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 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, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054570, 749395 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.784000, 1.891000, -2.337758 ], "estimate": [ 1.784000, 1.891000, -2.337758 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.770000, 0.770000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.830000, 0.790000, 3.390000, 3.410000, 2.040000, 2.080000, 3.500000, 3.470000, 3.340000, 3.240000, 3.170000, 3.060000, 3.000000, 2.900000, 2.900000, 2.940000, 2.990000, 3.030000, 3.070000, 3.110000, 3.150000, 3.160000, 3.100000, 3.050000, 2.990000, 2.950000, 2.900000, 2.850000, 2.800000, 2.770000, 2.730000, 2.700000, 2.650000, 2.620000, 2.590000, 2.260000, 2.220000, 2.190000, 2.170000, 2.140000, 2.130000, 2.080000, 2.110000, 2.080000, 2.070000, 2.050000, 2.040000, 2.030000, 2.020000, 2.000000, 1.990000, 2.000000, 1.990000, 2.160000, 2.200000, 2.190000, 2.190000, 2.180000, 2.160000, 2.160000, 2.150000, 2.140000, 2.140000, 2.130000, 2.130000, 2.130000, 2.140000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.120000, 1.930000, 1.940000, 1.200000, 1.220000, 1.230000, 2.150000, 2.150000, 2.120000, 1.940000, 1.810000, 1.690000, 1.580000, 1.490000, 1.410000, 1.340000, 1.270000, 1.210000, 1.150000, 1.110000, 1.050000, 1.020000, 0.970000, 0.940000, 0.900000, 0.870000, 0.840000, 0.810000, 0.800000, 0.770000, 0.760000, 0.730000, 0.710000, 0.700000, 0.680000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.600000, 0.600000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.530000, 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, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 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": [ 976054571, 110036 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.742000, 1.847000, -2.337758 ], "estimate": [ 1.742000, 1.847000, -2.337758 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.770000, 0.780000, 0.780000, 0.780000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.790000, 0.790000, 0.820000, 0.810000, 3.300000, 3.310000, 3.330000, 3.350000, 2.080000, 2.060000, 2.070000, 3.460000, 3.470000, 3.360000, 3.260000, 3.160000, 3.060000, 2.970000, 2.900000, 2.860000, 2.890000, 2.930000, 2.980000, 3.010000, 3.050000, 3.080000, 3.140000, 3.090000, 3.020000, 2.980000, 2.930000, 2.870000, 2.820000, 2.780000, 2.740000, 2.710000, 2.660000, 2.630000, 2.590000, 2.550000, 2.430000, 2.190000, 2.150000, 2.130000, 2.110000, 2.100000, 2.060000, 2.030000, 2.100000, 2.020000, 2.010000, 2.000000, 1.990000, 1.970000, 1.950000, 1.940000, 1.930000, 1.940000, 2.000000, 2.150000, 2.140000, 2.130000, 2.120000, 2.110000, 2.100000, 2.100000, 2.090000, 2.090000, 2.080000, 2.070000, 2.070000, 2.080000, 2.080000, 2.070000, 2.080000, 2.080000, 2.070000, 2.080000, 2.080000, 1.880000, 1.880000, 1.170000, 1.140000, 1.170000, 2.070000, 2.090000, 2.100000, 1.960000, 1.810000, 1.690000, 1.590000, 1.500000, 1.410000, 1.350000, 1.270000, 1.210000, 1.150000, 1.110000, 1.060000, 1.020000, 0.970000, 0.930000, 0.900000, 0.870000, 0.840000, 0.810000, 0.800000, 0.770000, 0.750000, 0.730000, 0.710000, 0.700000, 0.680000, 0.660000, 0.650000, 0.630000, 0.630000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 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": [ 976054571, 151146 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.701000, 1.804000, -2.331612 ], "estimate": [ 1.701000, 1.804000, -2.331612 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.810000, 0.790000, 3.250000, 3.260000, 3.270000, 3.290000, 3.300000, 3.320000, 3.340000, 2.020000, 2.050000, 3.420000, 3.440000, 3.430000, 3.320000, 3.210000, 3.110000, 3.030000, 2.940000, 2.830000, 2.850000, 2.880000, 2.920000, 2.960000, 2.990000, 3.030000, 3.060000, 3.110000, 3.040000, 2.980000, 2.940000, 2.880000, 2.830000, 2.780000, 2.730000, 2.700000, 2.650000, 2.620000, 2.580000, 2.540000, 2.510000, 2.180000, 2.120000, 2.110000, 2.090000, 2.060000, 2.040000, 1.980000, 2.020000, 2.060000, 1.980000, 1.960000, 1.950000, 1.940000, 1.910000, 1.900000, 1.890000, 1.890000, 1.890000, 1.950000, 2.100000, 2.090000, 2.080000, 2.070000, 2.070000, 2.060000, 2.050000, 2.040000, 2.040000, 2.030000, 2.020000, 2.030000, 2.020000, 2.020000, 2.010000, 2.020000, 2.020000, 2.020000, 2.020000, 2.020000, 1.990000, 1.820000, 1.820000, 1.080000, 1.100000, 1.110000, 2.040000, 2.040000, 2.050000, 1.880000, 1.740000, 1.640000, 1.550000, 1.450000, 1.370000, 1.310000, 1.230000, 1.180000, 1.130000, 1.080000, 1.020000, 0.990000, 0.940000, 0.910000, 0.880000, 0.850000, 0.810000, 0.790000, 0.780000, 0.760000, 0.730000, 0.710000, 0.700000, 0.680000, 0.670000, 0.650000, 0.640000, 0.630000, 0.610000, 0.600000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 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, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 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": [ 976054572, 789369 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.662000, 1.763000, -2.325467 ], "estimate": [ 1.662000, 1.763000, -2.325467 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.770000, 0.800000, 0.800000, 3.190000, 3.200000, 3.220000, 3.230000, 3.240000, 3.250000, 3.270000, 3.290000, 3.300000, 2.050000, 2.020000, 2.040000, 3.390000, 3.410000, 3.440000, 3.330000, 3.220000, 3.110000, 3.010000, 2.920000, 2.840000, 2.810000, 2.850000, 2.880000, 2.920000, 2.960000, 2.990000, 3.050000, 3.100000, 3.030000, 2.960000, 2.910000, 2.860000, 2.800000, 2.760000, 2.700000, 2.670000, 2.630000, 2.590000, 2.550000, 2.510000, 2.490000, 2.300000, 2.100000, 2.070000, 2.050000, 2.020000, 2.000000, 1.970000, 1.940000, 1.990000, 1.930000, 1.910000, 1.900000, 1.890000, 1.870000, 1.850000, 1.840000, 1.840000, 1.840000, 1.840000, 1.930000, 2.050000, 2.040000, 2.020000, 2.010000, 2.010000, 2.000000, 1.990000, 1.980000, 1.980000, 1.970000, 1.960000, 1.960000, 1.960000, 1.960000, 1.960000, 1.960000, 1.960000, 1.960000, 1.960000, 1.960000, 1.950000, 1.760000, 1.780000, 1.080000, 1.040000, 1.050000, 1.980000, 1.980000, 1.990000, 1.890000, 1.750000, 1.640000, 1.550000, 1.450000, 1.370000, 1.300000, 1.230000, 1.180000, 1.120000, 1.070000, 1.030000, 0.980000, 0.940000, 0.910000, 0.870000, 0.850000, 0.820000, 0.790000, 0.770000, 0.750000, 0.730000, 0.710000, 0.690000, 0.680000, 0.660000, 0.650000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.530000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000, 0.410000, 0.420000, 0.400000, 0.410000, 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": [ 976054572, 801869 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.625000, 1.724000, -2.331612 ], "estimate": [ 1.625000, 1.724000, -2.331612 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.650000, 2.650000, 3.180000, 3.200000, 3.210000, 3.220000, 3.220000, 3.250000, 3.260000, 3.270000, 3.280000, 2.040000, 2.010000, 2.030000, 3.360000, 3.390000, 3.410000, 3.410000, 3.280000, 3.170000, 3.050000, 2.950000, 2.870000, 2.790000, 2.810000, 2.840000, 2.880000, 2.910000, 2.940000, 2.980000, 3.000000, 3.050000, 2.980000, 2.920000, 2.860000, 2.820000, 2.760000, 2.710000, 2.670000, 2.620000, 2.590000, 2.540000, 2.500000, 2.470000, 2.430000, 2.080000, 2.050000, 2.030000, 2.010000, 1.980000, 1.950000, 1.890000, 1.930000, 1.960000, 1.880000, 1.870000, 1.850000, 1.850000, 1.830000, 1.810000, 1.790000, 1.790000, 1.800000, 1.800000, 1.890000, 2.000000, 1.990000, 1.980000, 1.970000, 1.960000, 1.950000, 1.950000, 1.940000, 1.930000, 1.920000, 1.920000, 1.910000, 1.910000, 1.920000, 1.910000, 1.910000, 1.910000, 1.910000, 1.910000, 1.900000, 1.910000, 1.710000, 1.690000, 1.480000, 0.980000, 1.000000, 1.010000, 1.930000, 1.940000, 1.940000, 1.790000, 1.670000, 1.560000, 1.470000, 1.400000, 1.320000, 1.250000, 1.190000, 1.130000, 1.090000, 1.030000, 0.990000, 0.940000, 0.910000, 0.870000, 0.850000, 0.820000, 0.790000, 0.780000, 0.750000, 0.730000, 0.710000, 0.700000, 0.680000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.410000, 0.400000, 0.400000, 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": [ 976054572, 811499 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.585000, 1.682000, -2.337758 ], "estimate": [ 1.585000, 1.682000, -2.337758 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.640000, 2.680000, 3.180000, 3.190000, 3.200000, 3.210000, 3.220000, 3.230000, 3.250000, 3.270000, 3.270000, 1.970000, 2.000000, 3.330000, 3.340000, 3.380000, 3.400000, 3.410000, 3.270000, 3.160000, 3.030000, 2.930000, 2.850000, 2.780000, 2.780000, 2.820000, 2.850000, 2.900000, 2.920000, 2.950000, 2.970000, 3.010000, 2.950000, 2.890000, 2.830000, 2.770000, 2.730000, 2.680000, 2.620000, 2.580000, 2.550000, 2.500000, 2.470000, 2.430000, 2.400000, 2.040000, 2.000000, 1.980000, 1.950000, 1.920000, 1.900000, 1.880000, 1.880000, 1.910000, 1.830000, 1.830000, 1.810000, 1.790000, 1.770000, 1.760000, 1.750000, 1.740000, 1.750000, 1.750000, 1.830000, 1.950000, 1.950000, 1.930000, 1.920000, 1.910000, 1.900000, 1.890000, 1.880000, 1.880000, 1.880000, 1.870000, 1.860000, 1.860000, 1.860000, 1.860000, 1.860000, 1.860000, 1.850000, 1.850000, 1.850000, 1.850000, 1.850000, 1.650000, 1.660000, 1.350000, 0.920000, 0.930000, 0.950000, 1.870000, 1.880000, 1.890000, 1.750000, 1.640000, 1.530000, 1.440000, 1.370000, 1.300000, 1.230000, 1.160000, 1.110000, 1.060000, 1.020000, 0.970000, 0.930000, 0.900000, 0.870000, 0.830000, 0.800000, 0.780000, 0.760000, 0.730000, 0.720000, 0.700000, 0.680000, 0.670000, 0.650000, 0.640000, 0.620000, 0.610000, 0.600000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.400000, 0.410000, 0.400000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 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": [ 976054572, 820860 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.544000, 1.639000, -2.337758 ], "estimate": [ 1.544000, 1.639000, -2.337758 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.170000, 3.180000, 3.190000, 3.200000, 3.210000, 3.210000, 3.230000, 3.250000, 3.260000, 1.990000, 1.960000, 2.010000, 3.310000, 3.330000, 3.350000, 3.380000, 3.370000, 3.250000, 3.130000, 3.000000, 2.890000, 2.800000, 2.760000, 2.770000, 2.800000, 2.840000, 2.870000, 2.900000, 2.920000, 2.950000, 2.980000, 2.920000, 2.860000, 2.800000, 2.740000, 2.700000, 2.640000, 2.590000, 2.540000, 2.500000, 2.480000, 2.430000, 2.390000, 2.330000, 1.980000, 1.960000, 1.920000, 1.910000, 1.880000, 1.860000, 1.840000, 1.820000, 1.840000, 1.800000, 1.780000, 1.760000, 1.750000, 1.730000, 1.720000, 1.700000, 1.700000, 1.690000, 1.710000, 1.770000, 1.900000, 1.890000, 1.880000, 1.880000, 1.870000, 1.860000, 1.850000, 1.840000, 1.830000, 1.820000, 1.810000, 1.810000, 1.810000, 1.810000, 1.810000, 1.810000, 1.810000, 1.810000, 1.810000, 1.800000, 1.810000, 1.800000, 1.780000, 1.610000, 1.610000, 0.910000, 0.880000, 0.890000, 0.900000, 1.820000, 1.830000, 1.830000, 1.710000, 1.590000, 1.510000, 1.410000, 1.340000, 1.270000, 1.190000, 1.140000, 1.080000, 1.040000, 1.000000, 0.950000, 0.920000, 0.870000, 0.850000, 0.820000, 0.790000, 0.760000, 0.750000, 0.720000, 0.710000, 0.690000, 0.670000, 0.660000, 0.640000, 0.630000, 0.610000, 0.600000, 0.590000, 0.570000, 0.570000, 0.550000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.400000, 0.400000, 0.400000, 0.400000, 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": [ 976054572, 176727 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.502000, 1.595000, -2.350049 ], "estimate": [ 1.502000, 1.595000, -2.350049 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.180000, 3.180000, 3.190000, 3.200000, 3.200000, 3.220000, 3.230000, 3.240000, 1.980000, 1.950000, 3.280000, 3.300000, 3.310000, 3.330000, 3.350000, 3.370000, 3.300000, 3.180000, 3.050000, 2.930000, 2.830000, 2.710000, 2.740000, 2.760000, 2.790000, 2.830000, 2.850000, 2.870000, 2.920000, 2.980000, 2.930000, 2.870000, 2.800000, 2.740000, 2.680000, 2.630000, 2.580000, 2.530000, 2.490000, 2.440000, 2.410000, 2.370000, 2.330000, 1.960000, 1.920000, 1.880000, 1.880000, 1.840000, 1.820000, 1.770000, 1.770000, 1.820000, 1.740000, 1.740000, 1.730000, 1.700000, 1.690000, 1.680000, 1.660000, 1.650000, 1.640000, 1.650000, 1.660000, 1.740000, 1.850000, 1.840000, 1.830000, 1.810000, 1.800000, 1.800000, 1.790000, 1.780000, 1.780000, 1.770000, 1.770000, 1.760000, 1.750000, 1.750000, 1.750000, 1.750000, 1.740000, 1.730000, 1.740000, 1.740000, 1.740000, 1.740000, 1.740000, 1.550000, 1.550000, 1.590000, 0.840000, 0.810000, 0.830000, 0.820000, 1.760000, 1.780000, 1.780000, 1.640000, 1.540000, 1.440000, 1.370000, 1.290000, 1.220000, 1.150000, 1.100000, 1.060000, 1.010000, 0.960000, 0.920000, 0.880000, 0.850000, 0.820000, 0.790000, 0.770000, 0.740000, 0.730000, 0.710000, 0.690000, 0.670000, 0.660000, 0.640000, 0.630000, 0.620000, 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, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.400000, 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": [ 976054572, 472740 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.462000, 1.557000, -2.399213 ], "estimate": [ 1.462000, 1.557000, -2.399213 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.180000, 3.180000, 3.170000, 3.190000, 3.200000, 3.200000, 3.210000, 3.230000, 1.980000, 1.960000, 2.230000, 3.280000, 3.290000, 3.310000, 3.310000, 3.340000, 3.360000, 3.300000, 3.170000, 3.030000, 2.910000, 2.800000, 2.690000, 2.720000, 2.750000, 2.790000, 2.820000, 2.830000, 2.870000, 2.890000, 2.970000, 2.900000, 2.850000, 2.770000, 2.710000, 2.650000, 2.600000, 2.550000, 2.500000, 2.460000, 2.410000, 2.380000, 2.330000, 2.300000, 1.900000, 1.880000, 1.850000, 1.830000, 1.790000, 1.780000, 1.760000, 1.730000, 1.780000, 1.710000, 1.700000, 1.680000, 1.670000, 1.650000, 1.630000, 1.610000, 1.600000, 1.590000, 1.600000, 1.610000, 1.690000, 1.800000, 1.800000, 1.780000, 1.770000, 1.770000, 1.750000, 1.750000, 1.730000, 1.720000, 1.720000, 1.720000, 1.720000, 1.710000, 1.700000, 1.710000, 1.700000, 1.700000, 1.690000, 1.690000, 1.690000, 1.690000, 1.690000, 1.690000, 1.690000, 1.490000, 1.490000, 1.670000, 0.770000, 0.760000, 0.770000, 0.790000, 1.720000, 1.730000, 1.730000, 1.610000, 1.510000, 1.410000, 1.340000, 1.270000, 1.190000, 1.140000, 1.090000, 1.040000, 1.000000, 0.940000, 0.910000, 0.870000, 0.840000, 0.810000, 0.790000, 0.760000, 0.730000, 0.720000, 0.700000, 0.680000, 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, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 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, 0.390000, 0.380000, 0.380000, 0.380000, 0.390000, 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": [ 976054572, 587154 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.420000, 1.520000, -2.442232 ], "estimate": [ 1.420000, 1.520000, -2.442232 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.650000, 3.180000, 3.170000, 3.180000, 3.180000, 3.190000, 3.190000, 3.200000, 3.210000, 1.920000, 1.960000, 3.250000, 3.250000, 3.270000, 3.290000, 3.310000, 3.310000, 3.340000, 3.260000, 3.130000, 2.990000, 2.870000, 2.750000, 2.680000, 2.700000, 2.720000, 2.770000, 2.790000, 2.800000, 2.840000, 2.870000, 2.940000, 2.860000, 2.800000, 2.730000, 2.680000, 2.610000, 2.560000, 2.510000, 2.460000, 2.410000, 2.360000, 2.320000, 2.290000, 2.170000, 1.870000, 1.820000, 1.810000, 1.770000, 1.750000, 1.730000, 1.690000, 1.690000, 1.730000, 1.660000, 1.650000, 1.630000, 1.610000, 1.590000, 1.570000, 1.560000, 1.560000, 1.550000, 1.560000, 1.560000, 1.610000, 1.760000, 1.750000, 1.730000, 1.720000, 1.720000, 1.710000, 1.700000, 1.680000, 1.680000, 1.670000, 1.660000, 1.660000, 1.660000, 1.650000, 1.650000, 1.640000, 1.640000, 1.630000, 1.630000, 1.630000, 1.630000, 1.630000, 1.630000, 1.630000, 1.620000, 1.430000, 1.440000, 1.530000, 1.050000, 0.710000, 0.730000, 0.720000, 0.740000, 1.660000, 1.670000, 1.610000, 1.500000, 1.410000, 1.340000, 1.270000, 1.200000, 1.140000, 1.090000, 1.040000, 1.000000, 0.940000, 0.910000, 0.870000, 0.850000, 0.810000, 0.790000, 0.760000, 0.740000, 0.720000, 0.710000, 0.690000, 0.670000, 0.660000, 0.640000, 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, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 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, 0.380000, 0.390000, 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": [ 976054572, 982800 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.377000, 1.483000, -2.448377 ], "estimate": [ 1.377000, 1.483000, -2.448377 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.180000, 3.180000, 3.170000, 3.180000, 3.170000, 3.180000, 3.190000, 1.960000, 1.920000, 1.970000, 3.220000, 3.230000, 3.260000, 3.260000, 3.280000, 3.300000, 3.300000, 3.290000, 3.170000, 3.010000, 2.890000, 2.760000, 2.650000, 2.660000, 2.690000, 2.720000, 2.740000, 2.770000, 2.800000, 2.800000, 2.840000, 2.860000, 2.780000, 2.730000, 2.660000, 2.600000, 2.540000, 2.490000, 2.440000, 2.390000, 2.340000, 2.310000, 2.260000, 2.210000, 1.820000, 1.800000, 1.770000, 1.740000, 1.720000, 1.690000, 1.640000, 1.670000, 1.690000, 1.620000, 1.610000, 1.590000, 1.570000, 1.560000, 1.540000, 1.520000, 1.510000, 1.510000, 1.500000, 1.510000, 1.530000, 1.600000, 1.710000, 1.690000, 1.680000, 1.670000, 1.660000, 1.650000, 1.640000, 1.630000, 1.620000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.600000, 1.600000, 1.590000, 1.590000, 1.590000, 1.590000, 1.580000, 1.580000, 1.590000, 1.580000, 1.520000, 1.380000, 1.400000, 1.600000, 0.670000, 0.640000, 0.680000, 0.680000, 0.670000, 1.610000, 1.620000, 1.530000, 1.430000, 1.350000, 1.270000, 1.210000, 1.150000, 1.090000, 1.050000, 1.010000, 0.950000, 0.910000, 0.880000, 0.850000, 0.820000, 0.790000, 0.770000, 0.740000, 0.730000, 0.710000, 0.700000, 0.680000, 0.660000, 0.640000, 0.630000, 0.620000, 0.600000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 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": [ 976054573, 703899 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.331000, 1.445000, -2.442232 ], "estimate": [ 1.331000, 1.445000, -2.442232 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.160000, 3.170000, 3.170000, 3.150000, 3.170000, 3.180000, 3.170000, 1.950000, 1.900000, 1.950000, 3.200000, 3.220000, 3.230000, 3.250000, 3.270000, 3.280000, 3.290000, 3.300000, 3.200000, 3.040000, 2.900000, 2.780000, 2.630000, 2.640000, 2.650000, 2.670000, 2.720000, 2.730000, 2.750000, 2.790000, 2.770000, 2.860000, 2.780000, 2.710000, 2.650000, 2.590000, 2.520000, 2.470000, 2.420000, 2.370000, 2.310000, 2.280000, 2.230000, 2.190000, 1.780000, 1.750000, 1.720000, 1.700000, 1.670000, 1.650000, 1.610000, 1.620000, 1.600000, 1.570000, 1.560000, 1.550000, 1.530000, 1.510000, 1.480000, 1.470000, 1.460000, 1.450000, 1.450000, 1.460000, 1.460000, 1.510000, 1.570000, 1.640000, 1.630000, 1.610000, 1.610000, 1.610000, 1.600000, 1.590000, 1.580000, 1.570000, 1.560000, 1.560000, 1.560000, 1.550000, 1.550000, 1.540000, 1.540000, 1.530000, 1.530000, 1.530000, 1.530000, 1.520000, 1.520000, 1.520000, 1.520000, 1.520000, 1.520000, 1.330000, 1.330000, 1.350000, 1.530000, 0.630000, 0.600000, 0.620000, 0.620000, 0.610000, 1.570000, 1.560000, 1.450000, 1.380000, 1.300000, 1.230000, 1.170000, 1.120000, 1.060000, 1.020000, 0.970000, 0.930000, 0.890000, 0.870000, 0.830000, 0.800000, 0.770000, 0.750000, 0.730000, 0.710000, 0.700000, 0.690000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 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": [ 976054573, 196848 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.299000, 1.418000, -2.442232 ], "estimate": [ 1.299000, 1.418000, -2.442232 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.170000, 3.180000, 3.170000, 3.170000, 3.180000, 3.170000, 1.940000, 1.890000, 1.970000, 3.190000, 3.210000, 3.210000, 3.230000, 3.240000, 3.250000, 3.260000, 3.280000, 3.300000, 3.150000, 2.970000, 2.830000, 2.690000, 2.610000, 2.630000, 2.650000, 2.680000, 2.700000, 2.720000, 2.740000, 2.750000, 2.790000, 2.790000, 2.720000, 2.650000, 2.590000, 2.530000, 2.470000, 2.410000, 2.370000, 2.310000, 2.270000, 2.210000, 2.180000, 1.770000, 1.730000, 1.690000, 1.670000, 1.640000, 1.620000, 1.600000, 1.550000, 1.590000, 1.590000, 1.520000, 1.510000, 1.490000, 1.480000, 1.460000, 1.430000, 1.420000, 1.410000, 1.410000, 1.410000, 1.410000, 1.430000, 1.480000, 1.610000, 1.600000, 1.590000, 1.570000, 1.570000, 1.560000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.510000, 1.510000, 1.500000, 1.490000, 1.490000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.430000, 1.270000, 1.270000, 1.480000, 1.480000, 0.910000, 0.570000, 0.560000, 0.570000, 0.570000, 0.560000, 1.510000, 1.420000, 1.350000, 1.270000, 1.200000, 1.140000, 1.090000, 1.040000, 1.000000, 0.950000, 0.910000, 0.880000, 0.850000, 0.820000, 0.790000, 0.760000, 0.740000, 0.730000, 0.710000, 0.690000, 0.670000, 0.660000, 0.650000, 0.630000, 0.610000, 0.600000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.390000, 0.390000, 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": [ 976054573, 549782 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.286000, 1.407000, -2.454523 ], "estimate": [ 1.286000, 1.407000, -2.454523 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.170000, 3.170000, 3.160000, 3.170000, 3.170000, 3.170000, 1.900000, 1.920000, 3.180000, 3.190000, 3.190000, 3.200000, 3.220000, 3.220000, 3.240000, 3.260000, 3.270000, 3.280000, 3.120000, 2.970000, 2.810000, 2.680000, 2.580000, 2.610000, 2.640000, 2.670000, 2.700000, 2.700000, 2.720000, 2.730000, 2.780000, 2.780000, 2.710000, 2.640000, 2.580000, 2.510000, 2.450000, 2.390000, 2.340000, 2.290000, 2.240000, 2.200000, 2.150000, 1.730000, 1.700000, 1.660000, 1.650000, 1.630000, 1.580000, 1.560000, 1.550000, 1.570000, 1.550000, 1.500000, 1.480000, 1.460000, 1.450000, 1.430000, 1.410000, 1.400000, 1.390000, 1.380000, 1.380000, 1.380000, 1.400000, 1.450000, 1.580000, 1.570000, 1.560000, 1.540000, 1.530000, 1.520000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.330000, 1.250000, 1.230000, 1.450000, 1.450000, 1.390000, 0.540000, 0.530000, 0.530000, 0.530000, 0.550000, 1.480000, 1.390000, 1.310000, 1.250000, 1.170000, 1.130000, 1.070000, 1.030000, 0.980000, 0.940000, 0.900000, 0.880000, 0.840000, 0.810000, 0.790000, 0.760000, 0.750000, 0.720000, 0.710000, 0.690000, 0.670000, 0.660000, 0.640000, 0.630000, 0.610000, 0.600000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.400000, 0.400000, 0.390000, 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": [ 976054573, 576912 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.288000, 1.408000, -2.454523 ], "estimate": [ 1.288000, 1.408000, -2.454523 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.170000, 3.170000, 3.180000, 3.170000, 3.180000, 3.170000, 1.920000, 1.890000, 3.180000, 3.190000, 3.200000, 3.200000, 3.210000, 3.230000, 3.240000, 3.250000, 3.260000, 3.280000, 3.150000, 3.000000, 2.820000, 2.700000, 2.590000, 2.610000, 2.630000, 2.660000, 2.680000, 2.700000, 2.720000, 2.750000, 2.770000, 2.800000, 2.720000, 2.650000, 2.590000, 2.520000, 2.460000, 2.400000, 2.350000, 2.310000, 2.250000, 2.200000, 2.160000, 1.760000, 1.700000, 1.680000, 1.650000, 1.630000, 1.600000, 1.570000, 1.560000, 1.550000, 1.590000, 1.500000, 1.480000, 1.460000, 1.450000, 1.430000, 1.420000, 1.400000, 1.390000, 1.380000, 1.380000, 1.390000, 1.390000, 1.440000, 1.490000, 1.580000, 1.560000, 1.550000, 1.540000, 1.530000, 1.510000, 1.500000, 1.500000, 1.490000, 1.480000, 1.490000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.420000, 1.240000, 1.230000, 1.410000, 1.450000, 1.430000, 0.540000, 0.550000, 0.530000, 0.540000, 0.540000, 0.550000, 1.390000, 1.330000, 1.260000, 1.180000, 1.140000, 1.080000, 1.030000, 0.990000, 0.940000, 0.910000, 0.880000, 0.850000, 0.820000, 0.800000, 0.760000, 0.740000, 0.730000, 0.710000, 0.690000, 0.670000, 0.660000, 0.640000, 0.630000, 0.610000, 0.600000, 0.590000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 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": [ 976054573, 757169 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.289000, 1.409000, -2.454523 ], "estimate": [ 1.289000, 1.409000, -2.454523 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 1.930000, 1.880000, 3.180000, 3.190000, 3.190000, 3.200000, 3.210000, 3.230000, 3.230000, 3.260000, 3.270000, 3.290000, 3.170000, 3.010000, 2.850000, 2.710000, 2.600000, 2.610000, 2.630000, 2.660000, 2.690000, 2.710000, 2.730000, 2.740000, 2.750000, 2.810000, 2.740000, 2.660000, 2.600000, 2.530000, 2.470000, 2.410000, 2.360000, 2.310000, 2.270000, 2.210000, 2.170000, 1.790000, 1.710000, 1.690000, 1.660000, 1.630000, 1.600000, 1.570000, 1.560000, 1.560000, 1.580000, 1.510000, 1.490000, 1.470000, 1.460000, 1.430000, 1.420000, 1.400000, 1.390000, 1.390000, 1.390000, 1.390000, 1.390000, 1.430000, 1.490000, 1.580000, 1.570000, 1.560000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.420000, 1.250000, 1.220000, 1.380000, 1.460000, 1.440000, 0.550000, 0.550000, 0.540000, 0.540000, 0.560000, 0.540000, 1.400000, 1.330000, 1.260000, 1.190000, 1.150000, 1.090000, 1.040000, 1.000000, 0.950000, 0.910000, 0.880000, 0.860000, 0.820000, 0.790000, 0.760000, 0.740000, 0.730000, 0.710000, 0.700000, 0.670000, 0.660000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.400000, 0.390000, 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": [ 976054574, 130841 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.289000, 1.409000, -2.454523 ], "estimate": [ 1.289000, 1.409000, -2.454523 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.170000, 3.170000, 3.160000, 3.170000, 3.170000, 3.170000, 1.920000, 1.880000, 3.180000, 3.190000, 3.190000, 3.200000, 3.210000, 3.230000, 3.240000, 3.250000, 3.270000, 3.270000, 3.170000, 3.010000, 2.850000, 2.710000, 2.600000, 2.600000, 2.630000, 2.660000, 2.690000, 2.700000, 2.720000, 2.740000, 2.750000, 2.810000, 2.740000, 2.660000, 2.600000, 2.530000, 2.470000, 2.410000, 2.360000, 2.310000, 2.260000, 2.210000, 2.170000, 1.780000, 1.700000, 1.700000, 1.650000, 1.630000, 1.600000, 1.580000, 1.550000, 1.560000, 1.590000, 1.510000, 1.490000, 1.470000, 1.450000, 1.430000, 1.420000, 1.400000, 1.390000, 1.390000, 1.380000, 1.390000, 1.400000, 1.430000, 1.490000, 1.570000, 1.570000, 1.560000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.490000, 1.480000, 1.470000, 1.470000, 1.470000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.420000, 1.260000, 1.230000, 1.380000, 1.450000, 1.440000, 0.560000, 0.540000, 0.540000, 0.540000, 0.540000, 0.520000, 1.400000, 1.330000, 1.260000, 1.190000, 1.140000, 1.080000, 1.040000, 1.000000, 0.950000, 0.910000, 0.880000, 0.850000, 0.820000, 0.800000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.680000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 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": [ 976054574, 156911 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.289000, 1.409000, -2.466814 ], "estimate": [ 1.289000, 1.409000, -2.466814 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.160000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 1.940000, 1.880000, 1.950000, 3.190000, 3.190000, 3.200000, 3.210000, 3.220000, 3.240000, 3.250000, 3.260000, 3.270000, 3.180000, 3.020000, 2.860000, 2.730000, 2.600000, 2.610000, 2.630000, 2.660000, 2.680000, 2.700000, 2.720000, 2.740000, 2.740000, 2.820000, 2.740000, 2.670000, 2.610000, 2.540000, 2.480000, 2.420000, 2.360000, 2.320000, 2.270000, 2.210000, 2.180000, 1.930000, 1.710000, 1.690000, 1.660000, 1.640000, 1.600000, 1.580000, 1.540000, 1.550000, 1.590000, 1.500000, 1.490000, 1.470000, 1.460000, 1.440000, 1.420000, 1.400000, 1.390000, 1.390000, 1.380000, 1.380000, 1.390000, 1.420000, 1.480000, 1.580000, 1.570000, 1.560000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.490000, 1.480000, 1.480000, 1.470000, 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.440000, 1.260000, 1.230000, 1.300000, 1.460000, 1.450000, 0.520000, 0.530000, 0.540000, 0.540000, 0.530000, 0.540000, 1.410000, 1.340000, 1.270000, 1.200000, 1.150000, 1.090000, 1.050000, 1.000000, 0.950000, 0.920000, 0.880000, 0.850000, 0.820000, 0.800000, 0.770000, 0.740000, 0.730000, 0.710000, 0.690000, 0.680000, 0.660000, 0.650000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 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, 0.400000, 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": [ 976054574, 456823 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.289000, 1.409000, -2.491396 ], "estimate": [ 1.289000, 1.409000, -2.491396 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.160000, 3.170000, 3.160000, 3.180000, 3.170000, 3.170000, 3.170000, 1.880000, 1.930000, 3.180000, 3.190000, 3.190000, 3.210000, 3.210000, 3.230000, 3.240000, 3.260000, 3.260000, 3.250000, 3.100000, 2.930000, 2.780000, 2.650000, 2.600000, 2.610000, 2.640000, 2.670000, 2.690000, 2.710000, 2.730000, 2.740000, 2.790000, 2.780000, 2.700000, 2.630000, 2.570000, 2.500000, 2.440000, 2.390000, 2.330000, 2.290000, 2.240000, 2.200000, 2.150000, 1.740000, 1.700000, 1.670000, 1.630000, 1.610000, 1.590000, 1.540000, 1.560000, 1.560000, 1.520000, 1.490000, 1.470000, 1.460000, 1.450000, 1.430000, 1.410000, 1.400000, 1.390000, 1.390000, 1.380000, 1.380000, 1.410000, 1.460000, 1.590000, 1.570000, 1.560000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.490000, 1.480000, 1.470000, 1.470000, 1.470000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.270000, 1.250000, 1.230000, 1.450000, 1.460000, 1.040000, 0.530000, 0.510000, 0.540000, 0.540000, 0.540000, 1.470000, 1.380000, 1.300000, 1.230000, 1.170000, 1.120000, 1.060000, 1.030000, 0.980000, 0.940000, 0.900000, 0.880000, 0.840000, 0.810000, 0.790000, 0.760000, 0.740000, 0.720000, 0.710000, 0.690000, 0.670000, 0.660000, 0.640000, 0.630000, 0.610000, 0.600000, 0.590000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.410000, 0.400000, 0.410000, 0.390000, 0.390000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 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": [ 976054575, 135725 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.289000, 1.409000, -2.534415 ], "estimate": [ 1.289000, 1.409000, -2.534415 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.640000, 2.710000, 3.160000, 3.160000, 3.160000, 3.170000, 3.170000, 3.170000, 1.910000, 1.900000, 3.180000, 3.180000, 3.190000, 3.200000, 3.210000, 3.230000, 3.230000, 3.250000, 3.270000, 3.280000, 3.150000, 3.000000, 2.840000, 2.700000, 2.600000, 2.610000, 2.630000, 2.660000, 2.690000, 2.700000, 2.720000, 2.740000, 2.770000, 2.800000, 2.720000, 2.660000, 2.590000, 2.520000, 2.460000, 2.400000, 2.360000, 2.310000, 2.260000, 2.210000, 2.170000, 1.800000, 1.700000, 1.680000, 1.640000, 1.630000, 1.610000, 1.580000, 1.550000, 1.550000, 1.580000, 1.500000, 1.490000, 1.470000, 1.450000, 1.440000, 1.420000, 1.400000, 1.390000, 1.390000, 1.380000, 1.390000, 1.390000, 1.440000, 1.490000, 1.580000, 1.570000, 1.560000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.410000, 1.250000, 1.240000, 1.440000, 1.460000, 1.450000, 0.520000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 1.400000, 1.330000, 1.270000, 1.190000, 1.150000, 1.090000, 1.040000, 1.000000, 0.950000, 0.920000, 0.880000, 0.860000, 0.820000, 0.800000, 0.770000, 0.750000, 0.730000, 0.710000, 0.700000, 0.680000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 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": [ 976054575, 156828 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.290000, 1.410000, -2.577433 ], "estimate": [ 1.290000, 1.410000, -2.577433 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.620000, 2.630000, 2.630000, 2.630000, 3.130000, 3.150000, 3.160000, 3.170000, 3.160000, 3.160000, 3.170000, 1.920000, 1.920000, 3.170000, 3.180000, 3.190000, 3.200000, 3.210000, 3.220000, 3.230000, 3.250000, 3.260000, 3.270000, 3.130000, 2.960000, 2.810000, 2.700000, 2.590000, 2.600000, 2.630000, 2.660000, 2.680000, 2.700000, 2.720000, 2.750000, 2.780000, 2.800000, 2.720000, 2.660000, 2.590000, 2.520000, 2.460000, 2.400000, 2.350000, 2.310000, 2.250000, 2.200000, 2.170000, 1.830000, 1.710000, 1.680000, 1.640000, 1.630000, 1.600000, 1.580000, 1.530000, 1.530000, 1.580000, 1.510000, 1.490000, 1.470000, 1.450000, 1.440000, 1.420000, 1.400000, 1.400000, 1.390000, 1.380000, 1.390000, 1.390000, 1.440000, 1.500000, 1.580000, 1.570000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.510000, 1.490000, 1.500000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.440000, 1.240000, 1.240000, 1.430000, 1.460000, 1.460000, 1.080000, 0.550000, 0.540000, 0.550000, 0.540000, 0.520000, 1.390000, 1.340000, 1.270000, 1.200000, 1.150000, 1.090000, 1.040000, 1.010000, 0.960000, 0.920000, 0.890000, 0.860000, 0.820000, 0.800000, 0.780000, 0.770000, 0.740000, 0.710000, 0.710000, 0.680000, 0.670000, 0.650000, 0.630000, 0.630000, 0.610000, 0.600000, 0.590000, 0.580000, 0.560000, 0.560000, 0.560000, 0.550000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 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": [ 976054575, 157832 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.289000, 1.409000, -2.614306 ], "estimate": [ 1.289000, 1.409000, -2.614306 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.620000, 2.620000, 2.620000, 2.630000, 2.630000, 3.160000, 3.150000, 3.150000, 3.160000, 3.160000, 3.160000, 1.940000, 1.900000, 1.930000, 3.170000, 3.190000, 3.190000, 3.210000, 3.210000, 3.220000, 3.240000, 3.260000, 3.270000, 3.190000, 3.060000, 2.880000, 2.760000, 2.600000, 2.600000, 2.620000, 2.630000, 2.680000, 2.690000, 2.710000, 2.730000, 2.730000, 2.840000, 2.760000, 2.690000, 2.610000, 2.550000, 2.490000, 2.420000, 2.380000, 2.320000, 2.280000, 2.230000, 2.190000, 2.140000, 1.730000, 1.690000, 1.650000, 1.630000, 1.610000, 1.590000, 1.540000, 1.550000, 1.580000, 1.520000, 1.500000, 1.480000, 1.460000, 1.440000, 1.420000, 1.410000, 1.410000, 1.390000, 1.380000, 1.380000, 1.390000, 1.400000, 1.460000, 1.580000, 1.570000, 1.560000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.510000, 1.500000, 1.500000, 1.490000, 1.480000, 1.470000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.280000, 1.240000, 1.240000, 1.460000, 1.460000, 1.460000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 1.380000, 1.310000, 1.240000, 1.180000, 1.130000, 1.080000, 1.030000, 0.990000, 0.940000, 0.910000, 0.880000, 0.850000, 0.820000, 0.800000, 0.770000, 0.760000, 0.730000, 0.710000, 0.700000, 0.690000, 0.670000, 0.650000, 0.640000, 0.620000, 0.610000, 0.600000, 0.590000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 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": [ 976054575, 158807 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.287000, 1.408000, -2.657325 ], "estimate": [ 1.287000, 1.408000, -2.657325 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.620000, 2.610000, 2.610000, 2.620000, 2.610000, 2.620000, 2.640000, 3.150000, 3.160000, 3.150000, 3.160000, 3.150000, 3.160000, 1.920000, 1.890000, 3.170000, 3.180000, 3.180000, 3.190000, 3.200000, 3.210000, 3.220000, 3.240000, 3.250000, 3.270000, 3.180000, 3.020000, 2.860000, 2.730000, 2.590000, 2.600000, 2.620000, 2.650000, 2.670000, 2.690000, 2.710000, 2.730000, 2.740000, 2.830000, 2.750000, 2.680000, 2.610000, 2.530000, 2.480000, 2.420000, 2.370000, 2.320000, 2.270000, 2.220000, 2.180000, 2.130000, 1.720000, 1.690000, 1.660000, 1.630000, 1.600000, 1.580000, 1.540000, 1.550000, 1.570000, 1.510000, 1.500000, 1.470000, 1.460000, 1.440000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.380000, 1.380000, 1.400000, 1.460000, 1.580000, 1.570000, 1.560000, 1.550000, 1.530000, 1.520000, 1.520000, 1.510000, 1.510000, 1.500000, 1.490000, 1.490000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.310000, 1.240000, 1.240000, 1.460000, 1.460000, 1.460000, 1.400000, 0.520000, 0.540000, 0.540000, 0.550000, 0.550000, 1.370000, 1.310000, 1.250000, 1.190000, 1.140000, 1.090000, 1.040000, 1.000000, 0.950000, 0.910000, 0.890000, 0.870000, 0.830000, 0.800000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.690000, 0.670000, 0.660000, 0.640000, 0.630000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 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, 0.420000, 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": [ 976054575, 426967 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.284000, 1.407000, -2.718781 ], "estimate": [ 1.284000, 1.407000, -2.718781 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.220000, 2.680000, 2.640000, 2.630000, 2.630000, 2.620000, 2.610000, 2.600000, 2.620000, 2.600000, 2.620000, 2.620000, 3.130000, 3.140000, 3.140000, 3.150000, 3.150000, 3.150000, 3.150000, 1.880000, 2.120000, 3.150000, 3.170000, 3.170000, 3.190000, 3.200000, 3.210000, 3.220000, 3.240000, 3.260000, 3.230000, 3.060000, 2.910000, 2.770000, 2.640000, 2.590000, 2.610000, 2.620000, 2.660000, 2.690000, 2.700000, 2.720000, 2.710000, 2.790000, 2.770000, 2.700000, 2.630000, 2.570000, 2.490000, 2.440000, 2.390000, 2.330000, 2.290000, 2.240000, 2.190000, 2.150000, 1.750000, 1.710000, 1.660000, 1.640000, 1.620000, 1.590000, 1.560000, 1.540000, 1.550000, 1.580000, 1.500000, 1.480000, 1.460000, 1.440000, 1.430000, 1.420000, 1.410000, 1.390000, 1.380000, 1.380000, 1.380000, 1.380000, 1.430000, 1.480000, 1.570000, 1.550000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.510000, 1.500000, 1.500000, 1.490000, 1.480000, 1.470000, 1.470000, 1.470000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.240000, 1.230000, 1.280000, 1.460000, 1.460000, 1.460000, 0.530000, 0.550000, 0.530000, 0.540000, 0.540000, 0.530000, 1.340000, 1.300000, 1.230000, 1.180000, 1.130000, 1.080000, 1.030000, 0.990000, 0.940000, 0.920000, 0.880000, 0.860000, 0.830000, 0.800000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.690000, 0.680000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054575, 758839 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.283000, 1.406000, -2.780236 ], "estimate": [ 1.283000, 1.406000, -2.780236 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.260000, 3.250000, 3.230000, 3.210000, 3.200000, 2.650000, 2.640000, 2.630000, 2.620000, 2.610000, 2.610000, 2.590000, 2.610000, 2.600000, 2.610000, 2.670000, 3.130000, 3.140000, 3.140000, 3.130000, 3.140000, 3.140000, 1.920000, 1.880000, 3.150000, 3.150000, 3.170000, 3.180000, 3.180000, 3.200000, 3.210000, 3.220000, 3.240000, 3.260000, 3.160000, 3.000000, 2.850000, 2.720000, 2.570000, 2.590000, 2.610000, 2.630000, 2.660000, 2.680000, 2.700000, 2.730000, 2.710000, 2.820000, 2.750000, 2.670000, 2.600000, 2.530000, 2.480000, 2.420000, 2.370000, 2.320000, 2.270000, 2.210000, 2.180000, 2.130000, 1.710000, 1.680000, 1.650000, 1.630000, 1.600000, 1.580000, 1.550000, 1.540000, 1.560000, 1.580000, 1.490000, 1.470000, 1.460000, 1.440000, 1.430000, 1.410000, 1.400000, 1.380000, 1.370000, 1.370000, 1.380000, 1.380000, 1.430000, 1.510000, 1.560000, 1.550000, 1.540000, 1.530000, 1.530000, 1.510000, 1.510000, 1.500000, 1.500000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.230000, 1.240000, 1.290000, 1.460000, 1.470000, 1.460000, 1.400000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 1.330000, 1.290000, 1.230000, 1.180000, 1.120000, 1.080000, 1.030000, 0.990000, 0.950000, 0.920000, 0.890000, 0.860000, 0.830000, 0.800000, 0.790000, 0.770000, 0.750000, 0.730000, 0.710000, 0.700000, 0.680000, 0.670000, 0.650000, 0.640000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 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, 0.460000, 0.460000, 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": [ 976054575, 760012 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.281000, 1.405000, -2.829400 ], "estimate": [ 1.281000, 1.405000, -2.829400 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.130000, 1.180000, 3.260000, 3.250000, 3.230000, 3.210000, 3.200000, 2.650000, 2.640000, 2.620000, 2.610000, 2.610000, 2.600000, 2.590000, 2.600000, 2.590000, 2.600000, 2.610000, 3.120000, 3.120000, 3.120000, 3.130000, 3.130000, 3.140000, 3.140000, 1.860000, 1.920000, 3.150000, 3.150000, 3.160000, 3.180000, 3.180000, 3.200000, 3.210000, 3.230000, 3.250000, 3.200000, 3.050000, 2.890000, 2.750000, 2.610000, 2.590000, 2.590000, 2.610000, 2.660000, 2.670000, 2.690000, 2.710000, 2.710000, 2.760000, 2.760000, 2.700000, 2.620000, 2.550000, 2.490000, 2.440000, 2.380000, 2.320000, 2.280000, 2.230000, 2.200000, 2.150000, 1.900000, 1.690000, 1.660000, 1.630000, 1.610000, 1.580000, 1.550000, 1.520000, 1.510000, 1.570000, 1.490000, 1.470000, 1.460000, 1.450000, 1.430000, 1.420000, 1.410000, 1.390000, 1.370000, 1.370000, 1.370000, 1.380000, 1.400000, 1.460000, 1.570000, 1.560000, 1.540000, 1.540000, 1.520000, 1.510000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.480000, 1.470000, 1.470000, 1.470000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.430000, 1.230000, 1.260000, 1.450000, 1.460000, 1.460000, 1.460000, 0.580000, 0.540000, 0.550000, 0.540000, 0.560000, 0.560000, 1.320000, 1.260000, 1.210000, 1.150000, 1.120000, 1.060000, 1.020000, 0.980000, 0.950000, 0.920000, 0.880000, 0.850000, 0.830000, 0.800000, 0.780000, 0.770000, 0.750000, 0.720000, 0.710000, 0.700000, 0.680000, 0.670000, 0.650000, 0.640000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054575, 956876 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.280000, 1.405000, -2.884710 ], "estimate": [ 1.280000, 1.405000, -2.884710 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.020000, 1.040000, 1.100000, 1.160000, 1.190000, 3.250000, 3.230000, 3.210000, 3.210000, 3.190000, 2.640000, 2.620000, 2.610000, 2.610000, 2.610000, 2.600000, 2.590000, 2.600000, 2.590000, 2.590000, 2.680000, 3.110000, 3.110000, 3.120000, 3.120000, 3.130000, 3.130000, 1.890000, 1.870000, 3.150000, 3.160000, 3.160000, 3.170000, 3.180000, 3.190000, 3.210000, 3.220000, 3.240000, 3.250000, 3.140000, 2.990000, 2.830000, 2.690000, 2.560000, 2.580000, 2.600000, 2.620000, 2.660000, 2.660000, 2.680000, 2.710000, 2.710000, 2.810000, 2.740000, 2.670000, 2.590000, 2.520000, 2.480000, 2.420000, 2.360000, 2.310000, 2.260000, 2.210000, 2.180000, 2.130000, 1.720000, 1.690000, 1.650000, 1.620000, 1.590000, 1.580000, 1.560000, 1.520000, 1.540000, 1.570000, 1.490000, 1.470000, 1.460000, 1.440000, 1.420000, 1.410000, 1.400000, 1.380000, 1.370000, 1.360000, 1.370000, 1.370000, 1.410000, 1.470000, 1.560000, 1.560000, 1.530000, 1.530000, 1.530000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.270000, 1.230000, 1.270000, 1.450000, 1.460000, 1.460000, 1.470000, 1.430000, 0.540000, 0.560000, 0.550000, 0.560000, 0.540000, 1.290000, 1.250000, 1.190000, 1.150000, 1.110000, 1.050000, 1.020000, 0.980000, 0.940000, 0.920000, 0.880000, 0.860000, 0.830000, 0.800000, 0.790000, 0.770000, 0.750000, 0.730000, 0.710000, 0.700000, 0.680000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 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": [ 976054576, 361184 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.279000, 1.405000, -2.933874 ], "estimate": [ 1.279000, 1.405000, -2.933874 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.900000, 0.940000, 0.980000, 1.010000, 1.050000, 1.100000, 1.150000, 1.200000, 3.240000, 3.220000, 3.210000, 3.190000, 3.180000, 2.630000, 2.620000, 2.610000, 2.600000, 2.590000, 2.590000, 2.580000, 2.590000, 2.580000, 2.590000, 2.670000, 3.100000, 3.120000, 3.110000, 3.120000, 3.130000, 3.120000, 1.870000, 1.860000, 3.150000, 3.150000, 3.160000, 3.160000, 3.170000, 3.180000, 3.200000, 3.210000, 3.230000, 3.250000, 3.140000, 3.000000, 2.830000, 2.700000, 2.580000, 2.580000, 2.590000, 2.610000, 2.660000, 2.670000, 2.680000, 2.710000, 2.710000, 2.820000, 2.740000, 2.670000, 2.590000, 2.520000, 2.480000, 2.420000, 2.360000, 2.310000, 2.270000, 2.220000, 2.180000, 2.130000, 1.740000, 1.680000, 1.640000, 1.630000, 1.590000, 1.580000, 1.560000, 1.520000, 1.510000, 1.550000, 1.490000, 1.480000, 1.460000, 1.440000, 1.420000, 1.410000, 1.400000, 1.380000, 1.370000, 1.360000, 1.370000, 1.380000, 1.400000, 1.450000, 1.560000, 1.560000, 1.540000, 1.530000, 1.530000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.430000, 1.250000, 1.280000, 1.460000, 1.460000, 1.460000, 1.470000, 1.480000, 0.550000, 0.550000, 0.550000, 0.560000, 0.550000, 1.250000, 1.270000, 1.220000, 1.150000, 1.120000, 1.070000, 1.030000, 0.990000, 0.950000, 0.930000, 0.890000, 0.870000, 0.840000, 0.820000, 0.800000, 0.780000, 0.750000, 0.730000, 0.720000, 0.710000, 0.690000, 0.670000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054576, 387024 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.279000, 1.405000, -2.989184 ], "estimate": [ 1.279000, 1.405000, -2.989184 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.890000, 0.840000, 0.890000, 0.910000, 0.950000, 0.980000, 1.020000, 1.050000, 1.100000, 1.150000, 1.210000, 3.230000, 3.210000, 3.200000, 3.190000, 3.160000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 3.100000, 3.110000, 3.110000, 3.120000, 3.110000, 3.120000, 3.120000, 1.870000, 1.870000, 3.140000, 3.150000, 3.160000, 3.170000, 3.170000, 3.180000, 3.190000, 3.210000, 3.220000, 3.250000, 3.120000, 2.960000, 2.810000, 2.670000, 2.550000, 2.570000, 2.590000, 2.620000, 2.640000, 2.660000, 2.690000, 2.710000, 2.700000, 2.810000, 2.730000, 2.650000, 2.590000, 2.520000, 2.470000, 2.410000, 2.350000, 2.310000, 2.260000, 2.210000, 2.170000, 2.130000, 1.740000, 1.680000, 1.650000, 1.620000, 1.600000, 1.580000, 1.550000, 1.510000, 1.510000, 1.570000, 1.490000, 1.480000, 1.460000, 1.440000, 1.430000, 1.410000, 1.400000, 1.380000, 1.370000, 1.360000, 1.360000, 1.370000, 1.400000, 1.450000, 1.560000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.420000, 1.250000, 1.280000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.420000, 0.560000, 0.560000, 0.560000, 0.560000, null, 1.260000, 1.220000, 1.160000, 1.130000, 1.070000, 1.030000, 1.000000, 0.960000, 0.940000, 0.900000, 0.870000, 0.840000, 0.820000, 0.800000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.690000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054576, 549003 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.280000, 1.405000, -3.050639 ], "estimate": [ 1.280000, 1.405000, -3.050639 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.880000, 0.860000, 0.850000, 0.850000, 0.830000, 0.860000, 0.880000, 0.920000, 0.960000, 0.990000, 1.020000, 1.070000, 1.110000, 1.170000, 3.240000, 3.220000, 3.200000, 3.190000, 3.180000, 2.630000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.560000, 2.590000, 2.570000, 2.580000, 2.580000, 3.090000, 3.100000, 3.100000, 3.120000, 3.110000, 3.120000, 3.110000, 1.860000, 1.880000, 3.140000, 3.150000, 3.160000, 3.170000, 3.180000, 3.180000, 3.200000, 3.210000, 3.240000, 3.210000, 3.060000, 2.890000, 2.760000, 2.620000, 2.560000, 2.580000, 2.580000, 2.630000, 2.660000, 2.660000, 2.690000, 2.710000, 2.730000, 2.780000, 2.700000, 2.620000, 2.560000, 2.500000, 2.440000, 2.390000, 2.330000, 2.290000, 2.240000, 2.200000, 2.150000, 2.110000, 1.700000, 1.670000, 1.640000, 1.620000, 1.600000, 1.560000, 1.550000, 1.530000, 1.520000, 1.560000, 1.480000, 1.470000, 1.450000, 1.440000, 1.420000, 1.410000, 1.400000, 1.380000, 1.370000, 1.360000, 1.360000, 1.370000, 1.410000, 1.460000, 1.560000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.470000, 1.480000, 1.470000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.460000, 1.450000, 1.330000, 1.260000, 1.280000, 1.460000, 1.470000, 1.470000, 1.480000, 1.490000, 1.440000, 0.560000, 0.560000, 0.580000, 0.570000, 0.590000, 1.260000, 1.210000, 1.150000, 1.120000, 1.080000, 1.030000, 0.990000, 0.950000, 0.930000, 0.900000, 0.870000, 0.840000, 0.820000, 0.800000, 0.790000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054577, 535500 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.280000, 1.405000, -3.099803 ], "estimate": [ 1.280000, 1.405000, -3.099803 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.920000, 0.900000, 0.890000, 0.890000, 0.860000, 0.850000, 0.810000, 0.870000, 0.800000, 0.870000, 0.900000, 0.930000, 0.960000, 1.010000, 1.050000, 1.090000, 1.140000, 3.240000, 3.220000, 3.200000, 3.180000, 3.170000, 2.820000, 2.610000, 2.600000, 2.580000, 2.580000, 2.570000, 2.570000, 2.570000, 2.560000, 2.580000, 2.570000, 3.080000, 3.100000, 3.100000, 3.110000, 3.100000, 3.110000, 3.110000, 1.870000, 1.870000, 3.130000, 3.150000, 3.150000, 3.160000, 3.160000, 3.180000, 3.190000, 3.200000, 3.220000, 3.240000, 3.110000, 2.940000, 2.800000, 2.670000, 2.540000, 2.560000, 2.580000, 2.610000, 2.640000, 2.670000, 2.670000, 2.710000, 2.690000, 2.810000, 2.720000, 2.650000, 2.580000, 2.530000, 2.460000, 2.410000, 2.350000, 2.320000, 2.260000, 2.210000, 2.170000, 2.120000, 1.880000, 1.680000, 1.650000, 1.630000, 1.590000, 1.570000, 1.550000, 1.510000, 1.520000, 1.560000, 1.500000, 1.480000, 1.460000, 1.440000, 1.430000, 1.420000, 1.400000, 1.390000, 1.370000, 1.370000, 1.360000, 1.370000, 1.370000, 1.440000, 1.570000, 1.560000, 1.550000, 1.530000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.250000, 1.290000, 1.460000, 1.470000, 1.470000, 1.480000, 1.490000, 1.490000, 0.580000, 0.560000, 0.570000, 0.590000, 0.590000, 1.280000, 1.230000, 1.180000, 1.140000, 1.100000, 1.050000, 1.020000, 0.980000, 0.950000, 0.920000, 0.890000, 0.870000, 0.840000, 0.810000, 0.800000, 0.780000, 0.760000, 0.730000, 0.720000, 0.710000, 0.690000, 0.670000, 0.660000, 0.650000, 0.630000, 0.630000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 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": [ 976054577, 269479 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.281000, 1.405000, 3.140363 ], "estimate": [ 1.281000, 1.405000, 3.140363 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.920000, 0.930000, 0.910000, 0.910000, 0.900000, 0.880000, 0.870000, 0.850000, 0.850000, 0.820000, 0.810000, 0.850000, 0.880000, 0.910000, 0.940000, 0.990000, 1.020000, 1.060000, 1.110000, 1.160000, 3.230000, 3.210000, 3.190000, 3.170000, 3.150000, 2.610000, 2.600000, 2.580000, 2.570000, 2.570000, 2.560000, 2.560000, 2.580000, 2.560000, 2.570000, 2.580000, 3.090000, 3.090000, 3.100000, 3.110000, 3.110000, 3.110000, 3.110000, 1.830000, 1.870000, 3.130000, 3.140000, 3.150000, 3.160000, 3.170000, 3.170000, 3.190000, 3.210000, 3.220000, 3.170000, 3.020000, 2.860000, 2.750000, 2.610000, 2.550000, 2.580000, 2.590000, 2.620000, 2.640000, 2.650000, 2.680000, 2.700000, 2.740000, 2.770000, 2.690000, 2.610000, 2.550000, 2.500000, 2.440000, 2.380000, 2.320000, 2.290000, 2.230000, 2.190000, 2.150000, 2.110000, 1.690000, 1.660000, 1.650000, 1.620000, 1.590000, 1.570000, 1.540000, 1.510000, 1.510000, 1.550000, 1.480000, 1.470000, 1.450000, 1.440000, 1.420000, 1.410000, 1.400000, 1.380000, 1.370000, 1.360000, 1.360000, 1.380000, 1.390000, 1.450000, 1.570000, 1.550000, 1.550000, 1.530000, 1.520000, 1.510000, 1.510000, 1.500000, 1.490000, 1.490000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.410000, 1.260000, 1.290000, 1.470000, 1.480000, 1.480000, 1.490000, 1.500000, 1.480000, 0.570000, 0.560000, 0.570000, 0.590000, 0.590000, 1.240000, 1.220000, 1.170000, 1.130000, 1.090000, 1.040000, 1.000000, 0.970000, 0.950000, 0.910000, 0.880000, 0.850000, 0.830000, 0.810000, 0.790000, 0.770000, 0.750000, 0.730000, 0.710000, 0.700000, 0.690000, 0.670000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 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": [ 976054577, 149276 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.280000, 1.405000, 3.085054 ], "estimate": [ 1.280000, 1.405000, 3.085054 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.960000, 0.950000, 0.930000, 0.920000, 0.920000, 0.910000, 0.900000, 0.890000, 0.870000, 0.850000, 0.850000, 0.810000, 0.870000, 0.830000, 0.870000, 0.900000, 0.920000, 0.960000, 1.010000, 1.030000, 1.090000, 1.140000, 3.240000, 3.210000, 3.190000, 3.180000, 3.160000, 3.140000, 2.600000, 2.590000, 2.580000, 2.570000, 2.560000, 2.560000, 2.580000, 2.550000, 2.560000, 2.570000, 3.070000, 3.090000, 3.100000, 3.100000, 3.090000, 3.100000, 3.100000, 1.870000, 1.840000, 3.120000, 3.130000, 3.150000, 3.160000, 3.160000, 3.170000, 3.190000, 3.190000, 3.210000, 3.220000, 3.110000, 2.950000, 2.810000, 2.670000, 2.560000, 2.560000, 2.580000, 2.600000, 2.630000, 2.670000, 2.670000, 2.690000, 2.710000, 2.800000, 2.730000, 2.670000, 2.600000, 2.530000, 2.480000, 2.410000, 2.370000, 2.320000, 2.270000, 2.220000, 2.180000, 2.130000, 2.100000, 1.690000, 1.660000, 1.640000, 1.600000, 1.590000, 1.560000, 1.540000, 1.520000, 1.550000, 1.560000, 1.480000, 1.460000, 1.450000, 1.430000, 1.420000, 1.410000, 1.390000, 1.380000, 1.360000, 1.360000, 1.370000, 1.370000, 1.420000, 1.470000, 1.560000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.460000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.270000, 1.290000, 1.300000, 1.470000, 1.480000, 1.480000, 1.490000, 1.500000, 1.470000, 0.560000, 0.550000, 0.580000, 0.590000, 0.610000, 1.240000, 1.200000, 1.150000, 1.120000, 1.070000, 1.030000, 1.000000, 0.970000, 0.940000, 0.900000, 0.880000, 0.850000, 0.820000, 0.810000, 0.800000, 0.770000, 0.750000, 0.730000, 0.710000, 0.710000, 0.690000, 0.670000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054577, 651978 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.281000, 1.405000, 3.011308 ], "estimate": [ 1.281000, 1.405000, 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": [ 1.040000, 1.030000, 1.020000, 1.000000, 0.980000, 0.960000, 0.950000, 0.930000, 0.920000, 0.910000, 0.890000, 0.880000, 0.880000, 0.860000, 0.840000, 0.840000, 0.800000, 0.850000, 0.780000, 0.860000, 0.870000, 0.910000, 0.950000, 0.980000, 1.030000, 1.070000, 1.110000, 1.170000, 3.200000, 3.180000, 3.170000, 3.150000, 3.150000, 2.590000, 2.580000, 2.570000, 2.560000, 2.560000, 2.550000, 2.570000, 2.560000, 2.560000, 2.570000, 2.960000, 3.090000, 3.090000, 3.090000, 3.100000, 3.100000, 3.090000, 2.190000, 1.830000, 3.120000, 3.130000, 3.140000, 3.150000, 3.160000, 3.170000, 3.180000, 3.190000, 3.200000, 3.220000, 3.130000, 2.980000, 2.830000, 2.700000, 2.580000, 2.550000, 2.580000, 2.590000, 2.610000, 2.640000, 2.660000, 2.680000, 2.700000, 2.740000, 2.740000, 2.680000, 2.610000, 2.540000, 2.480000, 2.420000, 2.380000, 2.330000, 2.280000, 2.220000, 2.190000, 2.140000, 2.100000, 1.700000, 1.660000, 1.640000, 1.610000, 1.590000, 1.570000, 1.540000, 1.510000, 1.530000, 1.560000, 1.480000, 1.470000, 1.450000, 1.440000, 1.420000, 1.410000, 1.400000, 1.380000, 1.370000, 1.360000, 1.360000, 1.380000, 1.390000, 1.450000, 1.570000, 1.560000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.420000, 1.300000, 1.290000, 1.480000, 1.480000, 1.490000, 1.490000, 1.500000, 1.510000, 0.620000, 0.570000, 0.590000, 0.600000, 0.600000, 1.230000, 1.230000, 1.180000, 1.140000, 1.090000, 1.050000, 1.010000, 0.980000, 0.950000, 0.920000, 0.890000, 0.860000, 0.840000, 0.820000, 0.810000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.680000, 0.670000, 0.660000, 0.640000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054577, 653121 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.281000, 1.405000, 2.955998 ], "estimate": [ 1.281000, 1.405000, 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": [ 1.110000, 1.090000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 0.990000, 0.970000, 0.950000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.860000, 0.850000, 0.830000, 0.840000, 0.810000, 0.780000, 0.830000, 0.850000, 0.880000, 0.920000, 0.950000, 0.980000, 1.020000, 1.080000, 1.130000, 3.210000, 3.190000, 3.170000, 3.160000, 3.160000, 2.620000, 2.580000, 2.570000, 2.560000, 2.550000, 2.560000, 2.550000, 2.560000, 2.540000, 2.560000, 2.550000, 3.080000, 3.080000, 3.080000, 3.090000, 3.080000, 3.090000, 3.100000, 1.860000, 1.840000, 3.110000, 3.120000, 3.130000, 3.140000, 3.160000, 3.170000, 3.170000, 3.190000, 3.200000, 3.230000, 3.080000, 2.920000, 2.790000, 2.670000, 2.530000, 2.550000, 2.570000, 2.590000, 2.620000, 2.640000, 2.670000, 2.690000, 2.700000, 2.800000, 2.720000, 2.660000, 2.590000, 2.520000, 2.470000, 2.420000, 2.360000, 2.320000, 2.270000, 2.210000, 2.170000, 2.130000, 2.090000, 1.690000, 1.660000, 1.640000, 1.600000, 1.580000, 1.560000, 1.540000, 1.510000, 1.530000, 1.550000, 1.480000, 1.470000, 1.450000, 1.430000, 1.420000, 1.410000, 1.400000, 1.380000, 1.360000, 1.360000, 1.360000, 1.370000, 1.400000, 1.460000, 1.570000, 1.560000, 1.550000, 1.540000, 1.530000, 1.520000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.460000, 1.460000, 1.290000, 1.310000, 1.290000, 1.480000, 1.490000, 1.490000, 1.500000, 1.510000, 1.520000, 0.600000, 0.570000, 0.590000, 0.600000, 0.610000, 1.240000, 1.220000, 1.160000, 1.130000, 1.090000, 1.040000, 1.010000, 0.980000, 0.950000, 0.910000, 0.880000, 0.870000, 0.850000, 0.820000, 0.810000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054577, 787343 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.280000, 1.405000, 2.937561 ], "estimate": [ 1.280000, 1.405000, 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": [ 1.160000, 1.130000, 1.110000, 1.090000, 1.060000, 1.040000, 1.030000, 1.020000, 0.990000, 0.970000, 0.960000, 0.930000, 0.920000, 0.910000, 0.910000, 0.890000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.830000, 0.800000, 0.790000, 0.810000, 0.840000, 0.870000, 0.900000, 0.940000, 0.970000, 1.000000, 1.070000, 1.120000, 3.200000, 3.190000, 3.170000, 3.160000, 3.160000, 2.610000, 2.580000, 2.570000, 2.560000, 2.550000, 2.560000, 2.540000, 2.550000, 2.540000, 2.550000, 2.560000, 3.070000, 3.080000, 3.080000, 3.110000, 3.080000, 3.080000, 3.100000, 1.850000, 1.820000, 3.110000, 3.120000, 3.120000, 3.140000, 3.150000, 3.170000, 3.170000, 3.190000, 3.200000, 3.220000, 3.060000, 2.910000, 2.770000, 2.660000, 2.520000, 2.550000, 2.560000, 2.590000, 2.610000, 2.630000, 2.660000, 2.680000, 2.710000, 2.780000, 2.710000, 2.650000, 2.580000, 2.520000, 2.460000, 2.400000, 2.350000, 2.310000, 2.260000, 2.210000, 2.170000, 2.130000, 2.090000, 1.690000, 1.660000, 1.640000, 1.600000, 1.580000, 1.570000, 1.550000, 1.500000, 1.540000, 1.550000, 1.470000, 1.470000, 1.450000, 1.440000, 1.430000, 1.410000, 1.400000, 1.380000, 1.370000, 1.360000, 1.370000, 1.360000, 1.400000, 1.460000, 1.570000, 1.560000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.510000, 1.500000, 1.490000, 1.490000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.480000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.460000, 1.460000, 1.470000, 1.480000, 1.460000, 1.470000, 1.290000, 1.300000, 1.300000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 0.610000, 0.570000, 0.590000, 0.600000, 0.610000, 1.240000, 1.210000, 1.160000, 1.130000, 1.080000, 1.040000, 1.010000, 0.980000, 0.950000, 0.920000, 0.880000, 0.870000, 0.850000, 0.820000, 0.810000, 0.790000, 0.760000, 0.750000, 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": [ 976054578, 565094 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.273000, 1.407000, 2.894542 ], "estimate": [ 1.273000, 1.407000, 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": [ 1.190000, 1.160000, 1.140000, 1.110000, 1.090000, 1.070000, 1.040000, 1.030000, 1.010000, 0.990000, 0.980000, 0.960000, 0.940000, 0.930000, 0.920000, 0.910000, 0.890000, 0.880000, 0.870000, 0.850000, 0.840000, 0.840000, 0.820000, 0.780000, 0.840000, 0.780000, 0.840000, 0.870000, 0.890000, 0.920000, 0.970000, 1.010000, 1.050000, 1.100000, 1.140000, 3.190000, 3.180000, 3.160000, 3.160000, 3.130000, 2.580000, 2.570000, 2.560000, 2.550000, 2.550000, 2.540000, 2.550000, 2.550000, 2.550000, 2.550000, 2.610000, 3.070000, 3.080000, 3.080000, 3.080000, 3.080000, 3.090000, 1.860000, 1.830000, 2.050000, 3.110000, 3.120000, 3.130000, 3.140000, 3.170000, 3.170000, 3.180000, 3.190000, 3.210000, 3.110000, 2.950000, 2.820000, 2.690000, 2.580000, 2.540000, 2.560000, 2.570000, 2.600000, 2.620000, 2.660000, 2.670000, 2.700000, 2.720000, 2.740000, 2.680000, 2.610000, 2.540000, 2.490000, 2.420000, 2.380000, 2.330000, 2.280000, 2.230000, 2.190000, 2.140000, 2.110000, 1.730000, 1.670000, 1.640000, 1.620000, 1.590000, 1.570000, 1.540000, 1.510000, 1.500000, 1.540000, 1.480000, 1.480000, 1.460000, 1.440000, 1.430000, 1.410000, 1.410000, 1.390000, 1.370000, 1.360000, 1.370000, 1.370000, 1.370000, 1.430000, 1.580000, 1.570000, 1.560000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.480000, 1.470000, 1.480000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.460000, 1.470000, 1.470000, 1.470000, 1.470000, 1.300000, 1.300000, 1.480000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 1.500000, 0.580000, 0.570000, 0.600000, 0.620000, 0.620000, 1.220000, 1.190000, 1.150000, 1.110000, 1.060000, 1.030000, 0.990000, 0.960000, 0.940000, 0.900000, 0.870000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 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": [ 976054578, 586974 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.245000, 1.415000, 2.814651 ], "estimate": [ 1.245000, 1.415000, 2.814651 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.130000, 1.220000, 1.190000, 1.160000, 1.140000, 1.110000, 1.090000, 1.060000, 1.040000, 1.020000, 1.010000, 0.990000, 0.970000, 0.950000, 0.930000, 0.920000, 0.910000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.830000, 0.810000, 0.810000, 0.790000, 0.830000, 0.780000, 0.810000, 0.840000, 0.880000, 0.900000, 0.950000, 0.980000, 1.010000, 1.070000, 1.110000, 3.180000, 3.170000, 3.160000, 3.150000, 3.140000, 2.600000, 2.560000, 2.550000, 2.540000, 2.530000, 2.540000, 2.540000, 2.540000, 2.530000, 2.540000, 2.530000, 3.060000, 3.070000, 3.070000, 3.060000, 3.070000, 3.070000, 3.070000, 2.090000, 1.780000, 3.080000, 3.100000, 3.110000, 3.120000, 3.130000, 3.150000, 3.160000, 3.170000, 3.180000, 3.200000, 3.100000, 2.940000, 2.790000, 2.670000, 2.560000, 2.520000, 2.550000, 2.570000, 2.590000, 2.620000, 2.640000, 2.660000, 2.680000, 2.720000, 2.730000, 2.660000, 2.600000, 2.530000, 2.480000, 2.420000, 2.360000, 2.320000, 2.270000, 2.220000, 2.180000, 2.130000, 2.090000, 1.920000, 1.650000, 1.630000, 1.610000, 1.590000, 1.570000, 1.550000, 1.500000, 1.500000, 1.510000, 1.560000, 1.460000, 1.450000, 1.440000, 1.420000, 1.410000, 1.400000, 1.380000, 1.370000, 1.360000, 1.360000, 1.360000, 1.360000, 1.400000, 1.470000, 1.560000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.510000, 1.500000, 1.490000, 1.490000, 1.480000, 1.480000, 1.480000, 1.470000, 1.470000, 1.470000, 1.460000, 1.460000, 1.470000, 1.470000, 1.460000, 1.470000, 1.470000, 1.460000, 1.470000, 1.460000, 1.460000, 1.470000, 1.320000, 1.290000, 1.310000, 1.490000, 1.490000, 1.500000, 1.510000, 1.510000, 1.520000, 1.530000, 0.600000, 0.590000, 0.590000, 0.600000, 0.620000, 1.170000, 1.180000, 1.150000, 1.100000, 1.060000, 1.030000, 1.000000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054578, 587998 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.188000, 1.436000, 2.783923 ], "estimate": [ 1.188000, 1.436000, 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": [ 1.150000, 1.120000, 1.090000, 1.220000, 1.200000, 1.160000, 1.150000, 1.120000, 1.090000, 1.050000, 1.030000, 1.020000, 1.010000, 0.970000, 0.950000, 0.930000, 0.920000, 0.900000, 0.890000, 0.880000, 0.850000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.780000, 0.760000, 0.800000, 0.750000, 0.780000, 0.800000, 0.840000, 0.860000, 0.890000, 0.920000, 0.960000, 0.990000, 1.030000, 1.090000, 3.180000, 3.150000, 3.150000, 3.130000, 3.110000, 3.100000, 2.540000, 2.530000, 2.520000, 2.510000, 2.510000, 2.510000, 2.490000, 2.500000, 2.490000, 2.500000, 2.510000, 2.960000, 3.030000, 3.030000, 3.030000, 3.030000, 3.030000, 3.040000, 1.810000, 1.770000, 1.820000, 3.070000, 3.060000, 3.070000, 3.080000, 3.100000, 3.100000, 3.130000, 3.150000, 3.170000, 3.100000, 2.940000, 2.790000, 2.670000, 2.550000, 2.480000, 2.500000, 2.510000, 2.550000, 2.580000, 2.590000, 2.600000, 2.630000, 2.640000, 2.720000, 2.650000, 2.590000, 2.520000, 2.470000, 2.400000, 2.350000, 2.310000, 2.260000, 2.210000, 2.160000, 2.120000, 2.080000, 2.050000, 1.680000, 1.620000, 1.590000, 1.580000, 1.550000, 1.520000, 1.500000, 1.460000, 1.460000, 1.460000, 1.500000, 1.430000, 1.420000, 1.410000, 1.390000, 1.380000, 1.370000, 1.360000, 1.340000, 1.330000, 1.330000, 1.330000, 1.330000, 1.340000, 1.400000, 1.540000, 1.520000, 1.510000, 1.510000, 1.500000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.440000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.400000, 1.280000, 1.290000, 1.480000, 1.490000, 1.490000, 1.500000, 1.510000, 1.520000, 1.520000, 1.540000, 1.460000, 1.350000, 0.580000, 0.580000, 0.610000, null, null, 1.120000, 1.080000, 1.050000, 1.020000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976054578, 588999 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.113000, 1.463000, 2.796214 ], "estimate": [ 1.113000, 1.463000, 2.796214 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.150000, 1.110000, 1.080000, 1.050000, 1.030000, 1.010000, 0.980000, 0.960000, 0.920000, 0.900000, 0.890000, 0.880000, 0.870000, 0.850000, 0.820000, 0.820000, 0.800000, 0.780000, 0.760000, 0.760000, 0.730000, 0.730000, 0.720000, 0.730000, 0.750000, 0.770000, 0.800000, 0.810000, 0.840000, 0.870000, 0.890000, 0.910000, 0.960000, 0.990000, 1.030000, 1.060000, 3.150000, 3.140000, 3.110000, 3.090000, 3.080000, 3.060000, 3.050000, 2.510000, 2.470000, 2.460000, 2.450000, 2.450000, 2.450000, 2.440000, 2.430000, 2.430000, 2.430000, 2.440000, 2.450000, 2.960000, 2.950000, 2.960000, 2.970000, 2.960000, 2.970000, 2.960000, 1.680000, 1.720000, 2.990000, 3.000000, 3.010000, 3.000000, 3.020000, 3.030000, 3.040000, 3.050000, 3.060000, 3.080000, 3.010000, 2.880000, 2.720000, 2.600000, 2.490000, 2.410000, 2.410000, 2.430000, 2.450000, 2.490000, 2.510000, 2.510000, 2.550000, 2.550000, 2.590000, 2.610000, 2.540000, 2.480000, 2.420000, 2.350000, 2.320000, 2.260000, 2.210000, 2.160000, 2.120000, 2.080000, 2.040000, 2.000000, 1.960000, 1.670000, 1.560000, 1.530000, 1.500000, 1.490000, 1.450000, 1.450000, 1.410000, 1.400000, 1.390000, 1.390000, 1.430000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.300000, 1.290000, 1.270000, 1.270000, 1.260000, 1.260000, 1.270000, 1.260000, 1.320000, 1.380000, 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, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.430000, 1.430000, 1.430000, 1.440000, 1.440000, 1.260000, 1.270000, 1.290000, 1.470000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.470000, 1.410000, 1.360000, 1.320000, 1.270000, 1.230000, null, 0.570000, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0 ], "timestamp": [ 976054578, 767137 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.051000, 1.485000, 2.796214 ], "estimate": [ 1.051000, 1.485000, 2.796214 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.010000, 0.980000, 0.960000, 0.930000, 0.900000, 0.890000, 0.870000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.700000, 0.700000, 0.730000, 0.740000, 0.750000, 0.770000, 0.790000, 0.810000, 0.820000, 0.840000, 0.870000, 0.890000, 0.920000, 0.940000, 0.990000, 1.010000, 2.860000, 2.810000, 3.110000, 3.100000, 3.080000, 3.050000, 3.040000, 3.030000, 3.010000, 3.000000, 2.430000, 2.420000, 2.410000, 2.400000, 2.390000, 2.390000, 2.380000, 2.370000, 2.390000, 2.370000, 2.380000, 2.440000, 2.910000, 2.910000, 2.900000, 2.930000, 2.910000, 2.910000, 1.660000, 1.650000, 1.890000, 2.920000, 2.930000, 2.930000, 2.940000, 2.950000, 2.970000, 2.970000, 2.980000, 3.000000, 3.010000, 3.030000, 2.850000, 2.720000, 2.580000, 2.460000, 2.350000, 2.350000, 2.360000, 2.380000, 2.400000, 2.420000, 2.440000, 2.460000, 2.480000, 2.480000, 2.590000, 2.520000, 2.460000, 2.390000, 2.330000, 2.290000, 2.230000, 2.190000, 2.130000, 2.090000, 2.060000, 2.010000, 1.980000, 1.950000, 1.910000, 1.870000, 1.490000, 1.480000, 1.460000, 1.430000, 1.400000, 1.390000, 1.370000, 1.350000, 1.340000, 1.320000, 1.360000, 1.360000, 1.300000, 1.290000, 1.270000, 1.270000, 1.260000, 1.250000, 1.230000, 1.220000, 1.210000, 1.210000, 1.190000, 1.200000, 1.210000, 1.210000, 1.310000, 1.430000, 1.420000, 1.410000, 1.400000, 1.400000, 1.400000, 1.400000, 1.390000, 1.400000, 1.390000, 1.380000, 1.380000, 1.390000, 1.380000, 1.380000, 1.380000, 1.370000, 1.380000, 1.380000, 1.380000, 1.390000, 1.390000, 1.390000, 1.390000, 1.390000, 1.390000, 1.400000, 1.400000, 1.410000, 1.410000, 1.420000, 1.430000, 1.210000, 1.240000, 1.410000, 1.450000, 1.460000, 1.470000, 1.490000, 1.500000, 1.510000, 1.470000, 1.430000, 1.390000, 1.340000, 1.290000, 1.250000, 1.230000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054579, 877140 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.003000, 1.502000, 2.783923 ], "estimate": [ 1.003000, 1.502000, 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": [ 0.960000, 0.940000, 0.910000, 0.880000, 0.850000, 0.840000, 0.820000, 0.800000, 0.780000, 0.760000, 0.740000, 0.720000, 0.700000, 0.700000, 0.660000, 0.700000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.800000, 0.810000, 0.830000, 0.860000, 0.880000, 0.900000, 0.920000, 0.950000, 0.970000, 2.640000, 2.680000, 2.850000, 2.810000, 3.080000, 3.060000, 3.040000, 3.020000, 3.010000, 2.990000, 2.970000, 2.950000, 2.390000, 2.370000, 2.360000, 2.350000, 2.350000, 2.360000, 2.350000, 2.340000, 2.340000, 2.340000, 2.340000, 2.380000, 2.850000, 2.860000, 2.860000, 2.860000, 2.860000, 2.860000, 1.620000, 1.570000, 1.870000, 2.870000, 2.870000, 2.880000, 2.890000, 2.900000, 2.900000, 2.920000, 2.930000, 2.930000, 2.940000, 2.960000, 2.880000, 2.740000, 2.590000, 2.460000, 2.360000, 2.290000, 2.290000, 2.310000, 2.330000, 2.370000, 2.380000, 2.390000, 2.410000, 2.440000, 2.450000, 2.520000, 2.460000, 2.390000, 2.330000, 2.280000, 2.220000, 2.180000, 2.120000, 2.080000, 2.040000, 2.000000, 1.960000, 1.930000, 1.890000, 1.860000, 1.830000, 1.450000, 1.430000, 1.400000, 1.390000, 1.360000, 1.350000, 1.330000, 1.310000, 1.280000, 1.270000, 1.270000, 1.300000, 1.290000, 1.250000, 1.250000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.150000, 1.160000, 1.160000, 1.170000, 1.230000, 1.300000, 1.380000, 1.380000, 1.370000, 1.370000, 1.370000, 1.370000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.350000, 1.360000, 1.350000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.370000, 1.370000, 1.370000, 1.380000, 1.390000, 1.390000, 1.400000, 1.400000, 1.410000, 1.230000, 1.240000, 1.270000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.470000, 1.430000, 1.380000, 1.340000 ], "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": [ 976054579, 129569 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.962000, 1.518000, 2.777778 ], "estimate": [ 0.962000, 1.518000, 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": [ 0.900000, 0.870000, 0.840000, 0.810000, 0.800000, 0.770000, 0.760000, 0.750000, 0.720000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.800000, 0.810000, 0.840000, 0.860000, 0.890000, 0.900000, 0.920000, 0.950000, 2.530000, 2.610000, 2.640000, 2.780000, 2.780000, 2.910000, 3.050000, 3.040000, 3.010000, 2.990000, 2.970000, 2.960000, 2.940000, 2.370000, 2.350000, 2.350000, 2.340000, 2.330000, 2.330000, 2.330000, 2.320000, 2.310000, 2.310000, 2.310000, 2.300000, 2.820000, 2.820000, 2.810000, 2.830000, 2.830000, 2.820000, 1.870000, 1.530000, 1.580000, 2.830000, 2.840000, 2.840000, 2.840000, 2.850000, 2.860000, 2.870000, 2.890000, 2.900000, 2.910000, 2.910000, 2.930000, 2.820000, 2.670000, 2.530000, 2.410000, 2.310000, 2.250000, 2.260000, 2.280000, 2.300000, 2.330000, 2.350000, 2.360000, 2.380000, 2.390000, 2.390000, 2.490000, 2.420000, 2.350000, 2.300000, 2.250000, 2.200000, 2.140000, 2.100000, 2.060000, 2.010000, 1.970000, 1.940000, 1.900000, 1.870000, 1.830000, 1.800000, 1.620000, 1.410000, 1.380000, 1.370000, 1.350000, 1.320000, 1.310000, 1.290000, 1.270000, 1.250000, 1.230000, 1.240000, 1.280000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.150000, 1.170000, 1.270000, 1.360000, 1.360000, 1.360000, 1.350000, 1.350000, 1.350000, 1.340000, 1.340000, 1.340000, 1.340000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.340000, 1.340000, 1.340000, 1.350000, 1.350000, 1.350000, 1.360000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.390000, 1.400000, 1.380000, 1.210000, 1.240000, 1.430000, 1.450000, 1.460000, 1.480000, 1.490000, 1.500000, 1.480000, 1.430000, 1.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054579, 523687 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.906000, 1.539000, 2.771632 ], "estimate": [ 0.906000, 1.539000, 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": [ 0.810000, 0.790000, 0.770000, 0.750000, 0.730000, 0.710000, 0.680000, 0.650000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.790000, 0.810000, 0.820000, 0.830000, 0.860000, 0.870000, 0.890000, 0.910000, 0.930000, 2.400000, 2.470000, 2.530000, 2.620000, 2.620000, 2.800000, 2.790000, 3.020000, 3.030000, 3.000000, 2.970000, 2.960000, 2.940000, 2.920000, 2.830000, 2.340000, 2.320000, 2.310000, 2.300000, 2.300000, 2.290000, 2.280000, 2.270000, 2.260000, 2.280000, 2.260000, 2.280000, 2.790000, 2.790000, 2.790000, 2.790000, 2.780000, 2.780000, 1.530000, 1.510000, 1.810000, 2.790000, 2.800000, 2.800000, 2.810000, 2.810000, 2.820000, 2.830000, 2.840000, 2.850000, 2.860000, 2.880000, 2.890000, 2.790000, 2.640000, 2.500000, 2.380000, 2.270000, 2.200000, 2.210000, 2.220000, 2.240000, 2.280000, 2.290000, 2.300000, 2.330000, 2.350000, 2.380000, 2.410000, 2.390000, 2.330000, 2.270000, 2.210000, 2.170000, 2.120000, 2.070000, 2.030000, 1.990000, 1.950000, 1.910000, 1.870000, 1.840000, 1.800000, 1.780000, 1.750000, 1.460000, 1.360000, 1.340000, 1.330000, 1.300000, 1.290000, 1.270000, 1.250000, 1.240000, 1.200000, 1.200000, 1.200000, 1.230000, 1.260000, 1.180000, 1.170000, 1.170000, 1.170000, 1.150000, 1.150000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.110000, 1.110000, 1.170000, 1.280000, 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, 1.310000, 1.310000, 1.320000, 1.310000, 1.320000, 1.320000, 1.320000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.360000, 1.370000, 1.380000, 1.390000, 1.390000, 1.410000, 1.200000, 1.200000, 1.260000, 1.440000, 1.460000, 1.470000, 1.480000, 1.500000, 1.470000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054579, 547021 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.843000, 1.563000, 2.771632 ], "estimate": [ 0.843000, 1.563000, 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": [ 0.710000, 0.690000, 0.660000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.810000, 0.820000, 0.830000, 0.860000, 0.870000, 0.890000, 0.900000, 0.930000, 2.290000, 2.340000, 2.400000, 2.480000, 2.550000, 2.600000, 2.740000, 2.710000, 2.930000, 2.980000, 2.950000, 2.940000, 2.910000, 2.890000, 2.880000, 2.860000, 2.300000, 2.280000, 2.270000, 2.250000, 2.250000, 2.240000, 2.240000, 2.240000, 2.230000, 2.230000, 2.230000, 2.230000, 2.640000, 2.740000, 2.740000, 2.740000, 2.740000, 2.750000, 1.500000, 1.470000, 1.490000, 2.740000, 2.740000, 2.740000, 2.750000, 2.750000, 2.760000, 2.770000, 2.780000, 2.790000, 2.790000, 2.800000, 2.810000, 2.830000, 2.730000, 2.590000, 2.430000, 2.320000, 2.210000, 2.140000, 2.160000, 2.180000, 2.190000, 2.210000, 2.230000, 2.250000, 2.260000, 2.290000, 2.250000, 2.330000, 2.350000, 2.300000, 2.230000, 2.180000, 2.130000, 2.080000, 2.040000, 1.990000, 1.950000, 1.920000, 1.870000, 1.850000, 1.800000, 1.790000, 1.750000, 1.720000, 1.690000, 1.420000, 1.300000, 1.280000, 1.270000, 1.260000, 1.240000, 1.220000, 1.210000, 1.170000, 1.130000, 1.160000, 1.160000, 1.140000, 1.180000, 1.120000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.070000, 1.050000, 1.070000, 1.070000, 1.070000, 1.190000, 1.300000, 1.300000, 1.290000, 1.290000, 1.290000, 1.280000, 1.280000, 1.280000, 1.280000, 1.280000, 1.280000, 1.280000, 1.280000, 1.290000, 1.290000, 1.290000, 1.290000, 1.300000, 1.300000, 1.290000, 1.300000, 1.300000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.200000, 1.200000, 1.430000, 1.450000, 1.460000, 1.470000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054579, 736897 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.812000, 1.575000, 2.777778 ], "estimate": [ 0.812000, 1.575000, 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": [ 0.650000, 0.650000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.820000, 0.830000, 0.850000, 0.870000, 0.890000, 1.020000, 2.120000, 2.160000, 2.210000, 2.270000, 2.330000, 2.390000, 2.480000, 2.540000, 2.570000, 2.700000, 2.680000, 2.900000, 2.940000, 2.920000, 2.890000, 2.870000, 2.850000, 2.840000, 2.810000, 2.260000, 2.240000, 2.230000, 2.220000, 2.210000, 2.200000, 2.190000, 2.190000, 2.190000, 2.170000, 2.170000, 2.180000, 2.430000, 2.680000, 2.690000, 2.690000, 2.690000, 2.670000, 1.440000, 1.380000, 1.440000, 2.680000, 2.680000, 2.690000, 2.690000, 2.690000, 2.700000, 2.710000, 2.720000, 2.730000, 2.740000, 2.740000, 2.740000, 2.760000, 2.780000, 2.630000, 2.480000, 2.340000, 2.240000, 2.130000, 2.030000, 2.090000, 2.110000, 2.110000, 2.170000, 2.180000, 2.190000, 2.200000, 2.220000, 2.220000, 2.270000, 2.300000, 2.240000, 2.190000, 2.120000, 2.080000, 2.040000, 1.990000, 1.950000, 1.910000, 1.870000, 1.830000, 1.800000, 1.770000, 1.740000, 1.710000, 1.680000, 1.650000, 1.620000, 1.330000, 1.240000, 1.230000, 1.220000, 1.200000, 1.180000, 1.170000, 1.150000, 1.130000, 1.100000, 1.090000, 1.100000, 1.110000, 1.080000, 1.130000, 1.090000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.020000, 1.030000, 1.020000, 1.040000, 1.120000, 1.270000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.280000, 1.290000, 1.290000, 1.300000, 1.300000, 1.310000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.370000, 1.390000, 1.390000, 1.400000, 1.200000, null, 1.430000 ], "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, 0, 1 ], "timestamp": [ 976054580, 120602 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.755000, 1.597000, 2.771632 ], "estimate": [ 0.755000, 1.597000, 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": [ 0.670000, 0.680000, 0.690000, 0.700000, 0.720000, 0.720000, 0.740000, 0.750000, 0.750000, 0.760000, 0.780000, 0.790000, 0.810000, 0.820000, 0.830000, 0.850000, 0.860000, 1.060000, 2.010000, 2.050000, 2.100000, 2.150000, 2.200000, 2.240000, 2.300000, 2.370000, 2.440000, 2.500000, 2.530000, 2.660000, 2.610000, 2.830000, 2.920000, 2.900000, 2.870000, 2.850000, 2.830000, 2.800000, 2.780000, 2.230000, 2.210000, 2.190000, 2.180000, 2.170000, 2.150000, 2.150000, 2.140000, 2.140000, 2.140000, 2.130000, 2.140000, 2.180000, 2.640000, 2.650000, 2.650000, 2.640000, 2.640000, 1.380000, 1.350000, 1.400000, 2.640000, 2.640000, 2.640000, 2.650000, 2.640000, 2.650000, 2.650000, 2.660000, 2.660000, 2.670000, 2.670000, 2.680000, 2.690000, 2.700000, 2.710000, 2.570000, 2.420000, 2.300000, 2.180000, 2.080000, 1.980000, 2.030000, 2.060000, 2.070000, 2.090000, 2.110000, 2.100000, 2.140000, 2.160000, 2.170000, 2.200000, 2.270000, 2.200000, 2.140000, 2.090000, 2.060000, 2.000000, 1.950000, 1.910000, 1.870000, 1.840000, 1.800000, 1.770000, 1.730000, 1.710000, 1.680000, 1.650000, 1.620000, 1.600000, 1.570000, 1.420000, 1.210000, 1.190000, 1.170000, 1.160000, 1.140000, 1.120000, 1.110000, 1.110000, 1.070000, 1.050000, 1.040000, 1.060000, 1.040000, 1.050000, 1.110000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.990000, 0.990000, 0.980000, 1.140000, 1.230000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.240000, 1.250000, 1.250000, 1.250000, 1.260000, 1.250000, 1.260000, 1.270000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.350000, 1.370000, 1.380000, 1.390000, 1.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054580, 121765 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.707000, 1.615000, 2.771632 ], "estimate": [ 0.707000, 1.615000, 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": [ 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.790000, 0.800000, 0.820000, 0.820000, 0.840000, 0.860000, 1.070000, 1.940000, 1.960000, 2.010000, 2.050000, 2.100000, 2.150000, 2.200000, 2.240000, 2.290000, 2.360000, 2.420000, 2.480000, 2.510000, 2.620000, 2.590000, 2.790000, 2.900000, 2.870000, 2.850000, 2.820000, 2.800000, 2.780000, 2.750000, 2.200000, 2.170000, 2.160000, 2.150000, 2.140000, 2.120000, 2.110000, 2.110000, 2.110000, 2.100000, 2.100000, 2.090000, 2.130000, 2.530000, 2.600000, 2.590000, 2.600000, 2.600000, 1.340000, 1.300000, 1.360000, 2.590000, 2.590000, 2.590000, 2.590000, 2.600000, 2.590000, 2.600000, 2.610000, 2.610000, 2.620000, 2.630000, 2.640000, 2.640000, 2.650000, 2.660000, 2.610000, 2.470000, 2.320000, 2.200000, 2.110000, 1.990000, 1.970000, 1.990000, 2.000000, 2.000000, 2.050000, 2.080000, 2.080000, 2.090000, 2.110000, 2.110000, 2.160000, 2.210000, 2.150000, 2.090000, 2.050000, 2.000000, 1.950000, 1.910000, 1.870000, 1.830000, 1.800000, 1.760000, 1.720000, 1.690000, 1.660000, 1.640000, 1.610000, 1.590000, 1.560000, 1.540000, 1.510000, 1.200000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.080000, 1.060000, 1.040000, 1.020000, 0.980000, 1.020000, 1.020000, 1.000000, 1.040000, 1.030000, 1.010000, 1.000000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.960000, 0.950000, 1.170000, 1.200000, 1.200000, 1.210000, 1.200000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.230000, 1.230000, 1.240000, 1.230000, 1.240000, 1.250000, 1.260000, 1.260000, 1.270000, 1.270000, 1.290000, 1.300000, 1.310000, 1.310000, 1.320000, 1.340000, 1.340000, 1.350000, 1.370000, 1.380000 ], "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": [ 976054580, 249371 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.656000, 1.634000, 2.765487 ], "estimate": [ 0.656000, 1.634000, 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": [ 0.730000, 0.730000, 0.750000, 0.750000, 0.760000, 0.770000, 0.790000, 0.800000, 0.820000, 0.820000, 0.840000, 1.080000, 1.860000, 1.910000, 1.940000, 1.960000, 2.000000, 2.040000, 2.100000, 2.130000, 2.190000, 2.230000, 2.270000, 2.330000, 2.390000, 2.460000, 2.500000, 2.600000, 2.570000, 2.760000, 2.860000, 2.860000, 2.830000, 2.800000, 2.770000, 2.750000, 2.730000, 2.160000, 2.150000, 2.130000, 2.120000, 2.100000, 2.100000, 2.090000, 2.080000, 2.080000, 2.070000, 2.080000, 2.060000, 2.080000, 2.350000, 2.570000, 2.570000, 2.560000, 2.550000, 1.300000, 1.260000, 1.310000, 2.550000, 2.550000, 2.560000, 2.560000, 2.560000, 2.560000, 2.560000, 2.560000, 2.580000, 2.580000, 2.580000, 2.580000, 2.600000, 2.600000, 2.610000, 2.620000, 2.520000, 2.390000, 2.260000, 2.140000, 2.020000, 1.880000, 1.940000, 1.950000, 1.960000, 1.980000, 2.000000, 2.020000, 2.030000, 2.060000, 2.070000, 2.060000, 2.110000, 2.170000, 2.110000, 2.060000, 2.010000, 1.960000, 1.920000, 1.870000, 1.830000, 1.800000, 1.760000, 1.720000, 1.700000, 1.660000, 1.630000, 1.600000, 1.580000, 1.560000, 1.530000, 1.500000, 1.480000, 1.460000, 1.140000, 1.100000, 1.090000, 1.090000, 1.060000, 1.060000, 1.050000, 1.030000, 1.030000, 1.000000, 0.970000, 0.950000, 0.980000, 0.980000, 0.960000, 0.960000, 1.030000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 1.100000, 1.190000, 1.180000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.210000, 1.220000, 1.210000, 1.220000, 1.230000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.310000, 1.310000, 1.320000, 1.340000, 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": [ 976054580, 625779 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.599000, 1.657000, 2.771632 ], "estimate": [ 0.599000, 1.657000, 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": [ 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.820000, 0.830000, 0.900000, 1.780000, 1.810000, 1.840000, 1.880000, 1.910000, 1.940000, 1.970000, 2.010000, 2.050000, 2.090000, 2.130000, 2.180000, 2.230000, 2.250000, 2.330000, 2.390000, 2.440000, 2.450000, 2.570000, 2.530000, 2.730000, 2.820000, 2.830000, 2.800000, 2.770000, 2.750000, 2.720000, 2.610000, 2.130000, 2.110000, 2.110000, 2.090000, 2.070000, 2.060000, 2.050000, 2.050000, 2.030000, 2.030000, 2.020000, 2.020000, 2.030000, 2.250000, 2.530000, 2.520000, 2.510000, 1.280000, 1.210000, 1.240000, 2.490000, 2.510000, 2.510000, 2.500000, 2.500000, 2.500000, 2.500000, 2.510000, 2.510000, 2.510000, 2.530000, 2.530000, 2.530000, 2.540000, 2.550000, 2.550000, 2.560000, 2.580000, 2.420000, 2.290000, 2.150000, 2.040000, 1.940000, 1.870000, 1.880000, 1.900000, 1.900000, 1.940000, 1.960000, 1.970000, 1.960000, 2.000000, 2.010000, 2.040000, 2.060000, 2.110000, 2.060000, 2.000000, 1.960000, 1.910000, 1.870000, 1.820000, 1.790000, 1.750000, 1.720000, 1.680000, 1.650000, 1.610000, 1.600000, 1.570000, 1.540000, 1.510000, 1.490000, 1.470000, 1.450000, 1.440000, 1.420000, 1.080000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.940000, 0.920000, 0.910000, 0.920000, 0.940000, 0.920000, 0.940000, 1.010000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.890000, 0.900000, 0.910000, 0.900000, 1.160000, 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.220000, 1.230000, 1.230000, 1.250000, 1.260000, 1.270000, 1.290000, 1.290000, 1.310000, 1.310000, 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": [ 976054580, 687072 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.539000, 1.680000, 2.771632 ], "estimate": [ 0.539000, 1.680000, 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": [ 0.790000, 0.810000, 0.820000, 1.140000, 1.740000, 1.760000, 1.780000, 1.810000, 1.840000, 1.870000, 1.910000, 1.930000, 1.960000, 1.990000, 2.030000, 2.070000, 2.110000, 2.160000, 2.200000, 2.230000, 2.300000, 2.350000, 2.410000, 2.430000, 2.520000, 2.600000, 2.520000, 2.750000, 2.820000, 2.780000, 2.760000, 2.720000, 2.690000, 2.670000, 2.100000, 2.090000, 2.070000, 2.050000, 2.040000, 2.020000, 2.010000, 2.000000, 1.990000, 1.990000, 1.980000, 1.980000, 1.990000, 2.030000, 2.330000, 2.480000, 2.470000, 1.210000, 1.150000, 1.190000, 1.220000, 2.460000, 2.460000, 2.460000, 2.460000, 2.460000, 2.460000, 2.460000, 2.460000, 2.470000, 2.470000, 2.480000, 2.470000, 2.480000, 2.490000, 2.490000, 2.500000, 2.510000, 2.520000, 2.390000, 2.250000, 2.120000, 2.000000, 1.900000, 1.800000, 1.830000, 1.830000, 1.850000, 1.840000, 1.890000, 1.910000, 1.890000, 1.940000, 1.950000, 1.970000, 1.970000, 2.010000, 2.030000, 1.970000, 1.940000, 1.890000, 1.840000, 1.800000, 1.760000, 1.720000, 1.690000, 1.660000, 1.620000, 1.600000, 1.570000, 1.540000, 1.510000, 1.480000, 1.470000, 1.440000, 1.430000, 1.410000, 1.390000, 1.370000, 1.350000, 1.020000, 1.000000, 1.000000, 0.990000, 0.970000, 0.960000, 0.950000, 0.960000, 0.940000, 0.920000, 0.910000, 0.880000, 0.860000, 0.900000, 0.890000, 0.890000, 0.870000, 0.900000, 0.990000, 0.880000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.270000, 1.280000, 1.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054580, 816938 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.484000, 1.701000, 2.771632 ], "estimate": [ 0.484000, 1.701000, 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": [ 1.710000, 1.710000, 1.740000, 1.770000, 1.770000, 1.800000, 1.820000, 1.880000, 1.890000, 1.910000, 1.950000, 1.970000, 2.010000, 2.050000, 2.090000, 2.130000, 2.180000, 2.200000, 2.270000, 2.310000, 2.370000, 2.410000, 2.480000, 2.540000, 2.500000, 2.680000, 2.760000, 2.780000, 2.750000, 2.710000, 2.690000, 2.660000, 2.080000, 2.060000, 2.040000, 2.020000, 2.000000, 1.980000, 1.980000, 1.970000, 1.960000, 1.950000, 1.950000, 1.940000, 1.930000, 1.950000, 2.120000, 2.380000, 2.440000, 1.170000, 1.110000, 1.150000, 1.160000, 2.420000, 2.410000, 2.410000, 2.410000, 2.400000, 2.410000, 2.410000, 2.400000, 2.410000, 2.420000, 2.420000, 2.420000, 2.430000, 2.430000, 2.440000, 2.450000, 2.450000, 2.470000, 2.470000, 2.360000, 2.230000, 2.090000, 1.970000, 1.870000, 1.720000, 1.760000, 1.770000, 1.780000, 1.800000, 1.830000, 1.840000, 1.860000, 1.830000, 1.880000, 1.900000, 1.920000, 1.940000, 2.010000, 1.940000, 1.900000, 1.870000, 1.810000, 1.780000, 1.740000, 1.700000, 1.660000, 1.630000, 1.600000, 1.570000, 1.540000, 1.510000, 1.480000, 1.460000, 1.440000, 1.430000, 1.410000, 1.390000, 1.360000, 1.350000, 1.320000, 1.310000, 1.300000, 0.980000, 0.950000, 0.950000, 0.930000, 0.920000, 0.920000, 0.900000, 0.900000, 0.890000, 0.890000, 0.870000, 0.840000, 0.830000, 0.820000, 0.850000, 0.840000, 0.840000, 0.820000, 0.860000, 0.950000, 0.840000, 0.850000, 0.860000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.870000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.210000, 1.220000, 1.220000, 1.230000, 1.250000, 1.260000, 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": [ 976054581, 592792 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.432000, 1.721000, 2.765487 ], "estimate": [ 0.432000, 1.721000, 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": [ 1.740000, 1.760000, 1.780000, 1.800000, 1.820000, 1.870000, 1.890000, 1.900000, 1.930000, 1.970000, 1.990000, 2.020000, 2.060000, 2.100000, 2.140000, 2.190000, 2.230000, 2.280000, 2.320000, 2.390000, 2.410000, 2.490000, 2.540000, 2.470000, 2.680000, 2.760000, 2.740000, 2.710000, 2.680000, 2.650000, 2.600000, 2.040000, 2.010000, 2.000000, 1.980000, 1.970000, 1.950000, 1.940000, 1.930000, 1.920000, 1.910000, 1.910000, 1.900000, 1.910000, 1.950000, 2.130000, 2.400000, 1.130000, 1.070000, 1.110000, 1.120000, 2.360000, 2.370000, 2.370000, 2.370000, 2.360000, 2.360000, 2.360000, 2.360000, 2.350000, 2.360000, 2.360000, 2.370000, 2.370000, 2.380000, 2.380000, 2.390000, 2.390000, 2.400000, 2.400000, 2.420000, 2.360000, 2.220000, 2.090000, 1.950000, 1.850000, 1.750000, 1.680000, 1.720000, 1.730000, 1.740000, 1.750000, 1.780000, 1.790000, 1.800000, 1.830000, 1.830000, 1.860000, 1.860000, 1.890000, 1.940000, 1.880000, 1.850000, 1.800000, 1.760000, 1.720000, 1.680000, 1.640000, 1.610000, 1.580000, 1.550000, 1.520000, 1.490000, 1.460000, 1.440000, 1.430000, 1.410000, 1.380000, 1.360000, 1.340000, 1.320000, 1.310000, 1.290000, 1.270000, 1.260000, 1.240000, 0.920000, 0.900000, 0.900000, 0.890000, 0.880000, 0.870000, 0.880000, 0.860000, 0.840000, 0.840000, 0.830000, 0.820000, 0.800000, 0.790000, 0.760000, 0.810000, 0.800000, 0.770000, 0.830000, 0.850000, 0.930000, 0.810000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.950000, 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, 1.210000, 1.220000, 1.230000, 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": [ 976054581, 616981 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.406000, 1.731000, 2.759341 ], "estimate": [ 0.406000, 1.731000, 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": [ 1.780000, 1.790000, 1.820000, 1.840000, 1.880000, 1.880000, 1.900000, 1.940000, 1.960000, 1.990000, 2.020000, 2.060000, 2.100000, 2.140000, 2.180000, 2.230000, 2.270000, 2.320000, 2.370000, 2.400000, 2.470000, 2.530000, 2.460000, 2.650000, 2.730000, 2.720000, 2.690000, 2.660000, 2.630000, 2.040000, 2.010000, 1.980000, 1.970000, 1.950000, 1.930000, 1.920000, 1.910000, 1.900000, 1.890000, 1.880000, 1.880000, 1.870000, 1.870000, 1.910000, 2.070000, 1.360000, 1.060000, 1.040000, 1.090000, 2.340000, 2.320000, 2.330000, 2.340000, 2.320000, 2.320000, 2.310000, 2.320000, 2.320000, 2.330000, 2.330000, 2.320000, 2.320000, 2.320000, 2.330000, 2.330000, 2.340000, 2.340000, 2.350000, 2.360000, 2.360000, 2.370000, 2.270000, 2.130000, 1.990000, 1.870000, 1.770000, 1.640000, 1.660000, 1.680000, 1.680000, 1.690000, 1.720000, 1.740000, 1.750000, 1.760000, 1.770000, 1.780000, 1.810000, 1.790000, 1.840000, 1.890000, 1.840000, 1.800000, 1.760000, 1.720000, 1.680000, 1.640000, 1.610000, 1.570000, 1.540000, 1.510000, 1.480000, 1.450000, 1.430000, 1.420000, 1.390000, 1.370000, 1.350000, 1.330000, 1.310000, 1.290000, 1.270000, 1.260000, 1.240000, 1.220000, 1.220000, 1.210000, 0.940000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.770000, 0.780000, 0.750000, 0.760000, 0.800000, 0.830000, 0.930000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.850000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.150000, 1.160000, 1.160000, 1.180000, 1.190000, 1.190000, 1.210000, 1.220000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054581, 617907 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.354000, 1.752000, 2.753196 ], "estimate": [ 0.354000, 1.752000, 2.753196 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.800000, 1.810000, 1.850000, 1.870000, 1.890000, 1.900000, 1.940000, 1.970000, 1.980000, 2.020000, 2.060000, 2.090000, 2.120000, 2.170000, 2.220000, 2.260000, 2.300000, 2.350000, 2.380000, 2.450000, 2.510000, 2.440000, 2.620000, 2.690000, 2.710000, 2.680000, 2.640000, 2.610000, 2.000000, 1.980000, 1.970000, 1.940000, 1.920000, 1.910000, 1.900000, 1.880000, 1.870000, 1.860000, 1.850000, 1.840000, 1.830000, 1.840000, 1.890000, 2.010000, 1.050000, 1.010000, 1.050000, 2.310000, 2.310000, 2.300000, 2.290000, 2.290000, 2.290000, 2.290000, 2.290000, 2.280000, 2.290000, 2.290000, 2.280000, 2.280000, 2.280000, 2.280000, 2.290000, 2.290000, 2.290000, 2.290000, 2.300000, 2.310000, 2.310000, 2.320000, 2.340000, 2.190000, 2.050000, 1.900000, 1.790000, 1.690000, 1.600000, 1.620000, 1.630000, 1.640000, 1.660000, 1.680000, 1.680000, 1.700000, 1.710000, 1.730000, 1.740000, 1.750000, 1.740000, 1.780000, 1.850000, 1.800000, 1.770000, 1.720000, 1.680000, 1.640000, 1.600000, 1.570000, 1.540000, 1.500000, 1.470000, 1.440000, 1.430000, 1.400000, 1.370000, 1.360000, 1.340000, 1.310000, 1.290000, 1.270000, 1.260000, 1.240000, 1.230000, 1.220000, 1.200000, 1.190000, 1.180000, 1.160000, 1.140000, 0.840000, 0.820000, 0.810000, 0.810000, 0.800000, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.710000, 0.700000, 0.710000, 0.730000, 0.740000, 0.710000, 0.740000, 0.780000, 0.850000, 0.850000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.780000, 0.790000, 0.800000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 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": [ 976054581, 618852 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.298000, 1.775000, 2.753196 ], "estimate": [ 0.298000, 1.775000, 2.753196 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.830000, 1.880000, 1.880000, 1.900000, 1.910000, 1.950000, 1.970000, 1.990000, 2.020000, 2.050000, 2.090000, 2.120000, 2.150000, 2.210000, 2.250000, 2.290000, 2.340000, 2.360000, 2.430000, 2.490000, 2.420000, 2.610000, 2.660000, 2.690000, 2.660000, 2.620000, 2.590000, 1.980000, 1.950000, 1.930000, 1.910000, 1.900000, 1.880000, 1.860000, 1.840000, 1.830000, 1.830000, 1.820000, 1.810000, 1.810000, 1.800000, 1.420000, 1.010000, 0.970000, 1.000000, 2.270000, 2.280000, 2.270000, 2.240000, 2.240000, 2.260000, 2.250000, 2.250000, 2.250000, 2.240000, 2.240000, 2.240000, 2.240000, 2.240000, 2.240000, 2.240000, 2.240000, 2.240000, 2.250000, 2.250000, 2.250000, 2.260000, 2.270000, 2.270000, 2.280000, 2.230000, 2.090000, 1.940000, 1.810000, 1.700000, 1.600000, 1.520000, 1.560000, 1.580000, 1.600000, 1.590000, 1.630000, 1.640000, 1.650000, 1.670000, 1.680000, 1.680000, 1.700000, 1.690000, 1.740000, 1.800000, 1.760000, 1.720000, 1.670000, 1.630000, 1.600000, 1.560000, 1.530000, 1.490000, 1.460000, 1.440000, 1.410000, 1.390000, 1.360000, 1.350000, 1.320000, 1.300000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.180000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.090000, 1.080000, 0.790000, 0.780000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.680000, 0.720000, 0.750000, 0.800000, 0.880000, 0.750000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.760000, 0.760000, 0.780000, 0.780000, 0.860000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 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": [ 976054581, 859374 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.243000, 1.797000, 2.747050 ], "estimate": [ 0.243000, 1.797000, 2.747050 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.890000, 1.910000, 1.940000, 1.960000, 1.980000, 2.000000, 2.030000, 2.070000, 2.100000, 2.130000, 2.170000, 2.220000, 2.240000, 2.290000, 2.340000, 2.390000, 2.430000, 2.410000, 2.530000, 2.600000, 2.670000, 2.660000, 2.620000, 2.600000, 2.310000, 1.940000, 1.910000, 1.890000, 1.870000, 1.850000, 1.830000, 1.830000, 1.810000, 1.800000, 1.790000, 1.780000, 1.770000, 1.770000, 1.100000, 0.930000, 0.930000, 0.990000, 2.250000, 2.250000, 2.230000, 2.230000, 2.220000, 2.210000, 2.210000, 2.200000, 2.200000, 2.200000, 2.190000, 2.180000, 2.180000, 2.180000, 2.190000, 2.180000, 2.190000, 2.180000, 2.180000, 2.190000, 2.190000, 2.190000, 2.200000, 2.210000, 2.210000, 2.230000, 2.230000, 2.110000, 1.960000, 1.820000, 1.700000, 1.600000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.560000, 1.570000, 1.590000, 1.600000, 1.600000, 1.620000, 1.630000, 1.650000, 1.630000, 1.680000, 1.750000, 1.700000, 1.660000, 1.620000, 1.590000, 1.550000, 1.510000, 1.480000, 1.450000, 1.420000, 1.390000, 1.360000, 1.340000, 1.320000, 1.310000, 1.280000, 1.260000, 1.240000, 1.210000, 1.200000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 0.750000, 0.730000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.650000, 0.640000, 0.650000, 0.640000, 0.660000, 0.680000, 0.680000, 0.640000, 0.690000, 0.710000, 0.730000, 0.950000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.930000, 1.070000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054582, 137943 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.211000, 1.810000, 2.759341 ], "estimate": [ 0.211000, 1.810000, 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": [ 1.890000, 1.910000, 1.930000, 1.960000, 1.990000, 2.000000, 2.020000, 2.050000, 2.100000, 2.110000, 2.160000, 2.200000, 2.230000, 2.270000, 2.310000, 2.350000, 2.400000, 2.460000, 2.400000, 2.560000, 2.620000, 2.670000, 2.620000, 2.590000, 2.540000, 1.920000, 1.890000, 1.870000, 1.850000, 1.830000, 1.820000, 1.800000, 1.790000, 1.770000, 1.760000, 1.750000, 1.750000, 1.270000, 0.930000, 0.900000, 0.940000, 2.030000, 2.220000, 2.210000, 2.200000, 2.200000, 2.180000, 2.160000, 2.170000, 2.160000, 2.160000, 2.160000, 2.160000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.160000, 2.150000, 2.150000, 2.160000, 2.160000, 2.170000, 2.170000, 2.170000, 2.180000, 2.050000, 1.920000, 1.770000, 1.650000, 1.550000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.490000, 1.520000, 1.530000, 1.540000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.630000, 1.660000, 1.680000, 1.640000, 1.600000, 1.560000, 1.520000, 1.480000, 1.450000, 1.430000, 1.400000, 1.360000, 1.340000, 1.310000, 1.300000, 1.280000, 1.250000, 1.230000, 1.210000, 1.190000, 1.190000, 1.170000, 1.150000, 1.140000, 1.120000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.000000, 1.010000, 0.750000, 0.700000, 0.690000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.650000, 0.650000, 0.650000, 0.610000, 0.650000, 0.670000, 0.680000, 0.840000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.770000, 0.760000, 1.060000, 1.070000, 1.080000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054582, 139140 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.207000, 1.811000, 2.759341 ], "estimate": [ 0.207000, 1.811000, 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": [ 1.900000, 1.910000, 1.940000, 1.960000, 1.990000, 2.000000, 2.030000, 2.050000, 2.080000, 2.110000, 2.150000, 2.190000, 2.230000, 2.260000, 2.300000, 2.350000, 2.400000, 2.450000, 2.390000, 2.550000, 2.620000, 2.660000, 2.620000, 2.590000, 2.530000, 1.910000, 1.880000, 1.860000, 1.830000, 1.820000, 1.800000, 1.790000, 1.780000, 1.760000, 1.750000, 1.750000, 1.740000, 0.970000, 0.890000, 0.880000, 0.950000, 2.020000, 2.210000, 2.190000, 2.190000, 2.180000, 2.180000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.140000, 2.140000, 2.140000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.150000, 2.160000, 2.150000, 2.070000, 1.920000, 1.780000, 1.660000, 1.550000, 1.410000, 1.440000, 1.450000, 1.460000, 1.470000, 1.490000, 1.490000, 1.500000, 1.510000, 1.520000, 1.540000, 1.560000, 1.580000, 1.580000, 1.590000, 1.630000, 1.670000, 1.630000, 1.600000, 1.560000, 1.520000, 1.480000, 1.450000, 1.430000, 1.390000, 1.370000, 1.330000, 1.310000, 1.300000, 1.270000, 1.240000, 1.220000, 1.210000, 1.190000, 1.190000, 1.160000, 1.150000, 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.010000, 0.990000, 0.990000, 0.730000, 0.680000, 0.690000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.630000, 0.630000, 0.640000, 0.630000, 0.600000, 0.650000, 0.680000, 0.690000, 0.780000, 0.680000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.730000, 0.740000, 0.750000, 0.760000, 0.760000, 0.780000, 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": [ 976054582, 335059 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.210000, 1.810000, 2.765487 ], "estimate": [ 0.210000, 1.810000, 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": [ 1.890000, 1.910000, 1.940000, 1.960000, 1.990000, 2.000000, 2.030000, 2.050000, 2.090000, 2.110000, 2.150000, 2.190000, 2.230000, 2.260000, 2.320000, 2.360000, 2.410000, 2.460000, 2.380000, 2.560000, 2.610000, 2.660000, 2.620000, 2.590000, 2.530000, 1.910000, 1.890000, 1.870000, 1.840000, 1.830000, 1.810000, 1.790000, 1.770000, 1.760000, 1.750000, 1.750000, 1.740000, 1.070000, 0.890000, 0.880000, 0.950000, 2.040000, 2.210000, 2.200000, 2.190000, 2.180000, 2.170000, 2.170000, 2.150000, 2.160000, 2.160000, 2.160000, 2.150000, 2.140000, 2.150000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.160000, 2.160000, 2.170000, 2.060000, 1.920000, 1.760000, 1.640000, 1.550000, 1.430000, 1.440000, 1.460000, 1.470000, 1.480000, 1.490000, 1.510000, 1.520000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.540000, 1.630000, 1.670000, 1.630000, 1.600000, 1.560000, 1.520000, 1.480000, 1.450000, 1.420000, 1.400000, 1.360000, 1.330000, 1.310000, 1.300000, 1.270000, 1.250000, 1.220000, 1.210000, 1.200000, 1.190000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.070000, 1.060000, 1.060000, 1.060000, 1.040000, 1.040000, 1.020000, 0.990000, 1.010000, 0.960000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.620000, 0.630000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.640000, 0.630000, 0.640000, 0.630000, 0.650000, 0.650000, 0.610000, 0.630000, 0.670000, 0.680000, 0.770000, 0.700000, 0.690000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 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, 0.760000, 0.760000, 0.760000, 1.060000, 1.080000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054582, 693143 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.208000, 1.811000, 2.759341 ], "estimate": [ 0.208000, 1.811000, 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": [ 1.900000, 1.920000, 1.940000, 1.960000, 1.990000, 2.000000, 2.020000, 2.060000, 2.090000, 2.120000, 2.150000, 2.200000, 2.230000, 2.270000, 2.320000, 2.360000, 2.410000, 2.450000, 2.400000, 2.560000, 2.620000, 2.650000, 2.620000, 2.590000, 2.500000, 1.910000, 1.890000, 1.860000, 1.840000, 1.830000, 1.810000, 1.790000, 1.780000, 1.770000, 1.750000, 1.750000, 1.740000, 1.070000, 0.890000, 0.880000, 0.950000, 2.050000, 2.210000, 2.210000, 2.190000, 2.190000, 2.170000, 2.180000, 2.160000, 2.170000, 2.170000, 2.150000, 2.150000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.160000, 2.160000, 2.170000, 2.170000, 2.180000, 2.050000, 1.910000, 1.760000, 1.640000, 1.530000, 1.440000, 1.450000, 1.460000, 1.470000, 1.490000, 1.490000, 1.510000, 1.520000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.610000, 1.610000, 1.640000, 1.670000, 1.630000, 1.600000, 1.550000, 1.510000, 1.480000, 1.450000, 1.420000, 1.390000, 1.360000, 1.330000, 1.310000, 1.300000, 1.270000, 1.250000, 1.220000, 1.210000, 1.180000, 1.180000, 1.170000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.070000, 1.060000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 1.010000, 0.900000, 0.700000, 0.700000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.640000, 0.610000, 0.640000, 0.670000, 0.690000, 0.840000, 0.690000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.740000, 0.750000, 0.760000, 0.770000, 0.750000, 1.070000, 1.080000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054582, 698639 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.208000, 1.811000, 2.759341 ], "estimate": [ 0.208000, 1.811000, 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": [ 1.900000, 1.920000, 1.940000, 1.960000, 1.990000, 2.000000, 2.030000, 2.060000, 2.090000, 2.110000, 2.160000, 2.200000, 2.230000, 2.260000, 2.320000, 2.360000, 2.410000, 2.450000, 2.390000, 2.560000, 2.610000, 2.670000, 2.620000, 2.590000, 2.530000, 1.910000, 1.890000, 1.870000, 1.840000, 1.830000, 1.810000, 1.800000, 1.780000, 1.770000, 1.750000, 1.750000, 1.740000, 1.090000, 0.900000, 0.890000, 0.950000, 2.040000, 2.220000, 2.210000, 2.190000, 2.180000, 2.180000, 2.180000, 2.160000, 2.160000, 2.160000, 2.150000, 2.160000, 2.140000, 2.150000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.150000, 2.150000, 2.160000, 2.170000, 2.180000, 2.070000, 1.930000, 1.760000, 1.650000, 1.540000, 1.440000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.510000, 1.530000, 1.540000, 1.550000, 1.560000, 1.580000, 1.590000, 1.590000, 1.600000, 1.650000, 1.680000, 1.640000, 1.600000, 1.560000, 1.520000, 1.480000, 1.450000, 1.430000, 1.390000, 1.360000, 1.340000, 1.300000, 1.290000, 1.270000, 1.250000, 1.220000, 1.210000, 1.200000, 1.180000, 1.160000, 1.150000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.040000, 1.040000, 1.030000, 1.000000, 1.010000, 0.920000, 0.700000, 0.690000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.630000, 0.610000, 0.610000, 0.610000, 0.620000, 0.630000, 0.640000, 0.640000, 0.630000, 0.640000, 0.640000, 0.640000, 0.610000, 0.640000, 0.670000, 0.690000, 0.850000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.700000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.750000, 1.070000, 1.080000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054583, 232823 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.207000, 1.811000, 2.740905 ], "estimate": [ 0.207000, 1.811000, 2.740905 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.890000, 1.910000, 1.930000, 1.960000, 1.980000, 2.000000, 2.020000, 2.050000, 2.080000, 2.110000, 2.150000, 2.190000, 2.230000, 2.250000, 2.310000, 2.310000, 2.400000, 2.440000, 2.390000, 2.550000, 2.610000, 2.680000, 2.630000, 2.600000, 2.550000, 1.910000, 1.900000, 1.870000, 1.850000, 1.830000, 1.820000, 1.800000, 1.780000, 1.770000, 1.760000, 1.750000, 1.750000, 1.240000, 0.920000, 0.890000, 0.940000, 2.010000, 2.210000, 2.200000, 2.190000, 2.190000, 2.180000, 2.170000, 2.160000, 2.160000, 2.160000, 2.150000, 2.150000, 2.150000, 2.150000, 2.140000, 2.140000, 2.140000, 2.140000, 2.130000, 2.140000, 2.140000, 2.150000, 2.150000, 2.150000, 2.160000, 2.160000, 2.160000, 2.170000, 2.170000, 2.100000, 1.960000, 1.800000, 1.670000, 1.570000, 1.430000, 1.440000, 1.460000, 1.470000, 1.480000, 1.480000, 1.510000, 1.520000, 1.530000, 1.530000, 1.550000, 1.570000, 1.590000, 1.600000, 1.600000, 1.640000, 1.680000, 1.650000, 1.610000, 1.570000, 1.530000, 1.490000, 1.450000, 1.440000, 1.400000, 1.370000, 1.340000, 1.320000, 1.300000, 1.280000, 1.250000, 1.230000, 1.210000, 1.200000, 1.190000, 1.170000, 1.150000, 1.130000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.000000, 1.010000, 0.990000, 0.710000, 0.700000, 0.680000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.620000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.650000, 0.610000, 0.630000, 0.670000, 0.690000, 0.780000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.770000, 1.070000, 1.080000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054583, 257176 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.209000, 1.810000, 2.716322 ], "estimate": [ 0.209000, 1.810000, 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": [ 1.880000, 1.910000, 1.930000, 1.950000, 1.960000, 1.990000, 2.020000, 2.040000, 2.080000, 2.100000, 2.130000, 2.180000, 2.220000, 2.250000, 2.290000, 2.320000, 2.390000, 2.420000, 2.390000, 2.530000, 2.590000, 2.640000, 2.630000, 2.610000, 2.570000, 1.920000, 1.900000, 1.880000, 1.850000, 1.830000, 1.820000, 1.800000, 1.790000, 1.780000, 1.760000, 1.750000, 1.740000, 1.740000, 0.950000, 0.890000, 0.920000, 1.320000, 2.130000, 2.210000, 2.190000, 2.190000, 2.180000, 2.180000, 2.160000, 2.160000, 2.160000, 2.150000, 2.150000, 2.150000, 2.150000, 2.140000, 2.140000, 2.150000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.150000, 2.150000, 2.160000, 2.160000, 2.170000, 2.120000, 2.000000, 1.850000, 1.700000, 1.600000, 1.500000, 1.440000, 1.450000, 1.460000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.540000, 1.550000, 1.570000, 1.590000, 1.600000, 1.580000, 1.630000, 1.700000, 1.660000, 1.610000, 1.580000, 1.540000, 1.500000, 1.460000, 1.440000, 1.410000, 1.380000, 1.350000, 1.330000, 1.300000, 1.290000, 1.260000, 1.240000, 1.210000, 1.200000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.110000, 1.100000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 0.740000, 0.700000, 0.690000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.640000, 0.620000, 0.630000, 0.660000, 0.680000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.760000, 0.970000, 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": [ 976054583, 258345 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.208000, 1.811000, 2.679449 ], "estimate": [ 0.208000, 1.811000, 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": [ 1.860000, 1.870000, 1.900000, 1.910000, 1.940000, 1.960000, 1.980000, 2.000000, 2.030000, 2.060000, 2.090000, 2.120000, 2.160000, 2.210000, 2.230000, 2.270000, 2.310000, 2.370000, 2.410000, 2.440000, 2.490000, 2.560000, 2.620000, 2.670000, 2.620000, 2.590000, 2.530000, 1.910000, 1.890000, 1.860000, 1.840000, 1.830000, 1.810000, 1.790000, 1.780000, 1.760000, 1.760000, 1.750000, 1.740000, 1.150000, 0.900000, 0.880000, 0.940000, 2.050000, 2.210000, 2.200000, 2.190000, 2.180000, 2.170000, 2.160000, 2.150000, 2.160000, 2.160000, 2.160000, 2.150000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.130000, 2.140000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.150000, 2.170000, 2.170000, 2.150000, 2.070000, 1.920000, 1.770000, 1.650000, 1.550000, 1.400000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.510000, 1.520000, 1.530000, 1.530000, 1.560000, 1.580000, 1.590000, 1.600000, 1.610000, 1.640000, 1.690000, 1.640000, 1.600000, 1.560000, 1.520000, 1.480000, 1.450000, 1.430000, 1.400000, 1.370000, 1.340000, 1.310000, 1.300000, 1.280000, 1.260000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.140000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.000000, 1.010000, 0.980000, 0.710000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.620000, 0.640000, 0.670000, 0.690000, 0.890000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 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": [ 976054583, 449414 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.208000, 1.811000, 2.636431 ], "estimate": [ 0.208000, 1.811000, 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": [ 1.820000, 1.830000, 1.870000, 1.870000, 1.890000, 1.910000, 1.930000, 1.960000, 1.980000, 2.000000, 2.020000, 2.060000, 2.090000, 2.110000, 2.160000, 2.220000, 2.230000, 2.280000, 2.320000, 2.370000, 2.410000, 2.400000, 2.510000, 2.560000, 2.620000, 2.640000, 2.620000, 2.580000, 2.520000, 1.900000, 1.880000, 1.860000, 1.830000, 1.830000, 1.800000, 1.790000, 1.780000, 1.760000, 1.750000, 1.750000, 1.740000, 1.200000, 0.910000, 0.880000, 0.930000, 2.050000, 2.210000, 2.200000, 2.190000, 2.180000, 2.170000, 2.170000, 2.160000, 2.170000, 2.160000, 2.160000, 2.150000, 2.150000, 2.140000, 2.140000, 2.140000, 2.140000, 2.130000, 2.140000, 2.140000, 2.140000, 2.150000, 2.140000, 2.150000, 2.150000, 2.160000, 2.160000, 2.170000, 2.140000, 2.070000, 1.920000, 1.780000, 1.650000, 1.570000, 1.420000, 1.440000, 1.460000, 1.470000, 1.480000, 1.490000, 1.510000, 1.520000, 1.540000, 1.540000, 1.560000, 1.580000, 1.590000, 1.590000, 1.610000, 1.640000, 1.690000, 1.640000, 1.600000, 1.560000, 1.530000, 1.490000, 1.460000, 1.440000, 1.400000, 1.380000, 1.350000, 1.320000, 1.300000, 1.280000, 1.260000, 1.240000, 1.210000, 1.200000, 1.180000, 1.180000, 1.160000, 1.150000, 1.120000, 1.120000, 1.100000, 1.080000, 1.070000, 1.060000, 1.060000, 1.060000, 1.040000, 1.040000, 1.010000, 1.010000, 0.990000, 0.720000, 0.700000, 0.690000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.650000, 0.640000, 0.630000, 0.620000, 0.630000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.610000, 0.640000, 0.670000, 0.700000, 0.900000, 0.700000, 0.710000, 0.690000, 0.690000, 0.700000, 0.690000, 0.700000, 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 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054583, 610419 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.208000, 1.811000, 2.593412 ], "estimate": [ 0.208000, 1.811000, 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": [ 1.790000, 1.790000, 1.810000, 1.820000, 1.870000, 1.860000, 1.880000, 1.890000, 1.920000, 1.940000, 1.970000, 1.980000, 2.010000, 2.040000, 2.070000, 2.110000, 2.140000, 2.180000, 2.220000, 2.250000, 2.300000, 2.320000, 2.390000, 2.430000, 2.380000, 2.540000, 2.600000, 2.670000, 2.620000, 2.590000, 2.550000, 1.910000, 1.890000, 1.860000, 1.840000, 1.830000, 1.810000, 1.790000, 1.780000, 1.770000, 1.750000, 1.750000, 1.740000, 1.730000, 0.970000, 0.880000, 0.900000, 1.190000, 2.160000, 2.210000, 2.190000, 2.180000, 2.170000, 2.170000, 2.150000, 2.160000, 2.160000, 2.150000, 2.150000, 2.150000, 2.140000, 2.140000, 2.130000, 2.140000, 2.130000, 2.140000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.150000, 2.150000, 2.160000, 2.170000, 2.170000, 2.140000, 2.000000, 1.850000, 1.710000, 1.600000, 1.510000, 1.430000, 1.450000, 1.460000, 1.480000, 1.480000, 1.500000, 1.510000, 1.530000, 1.540000, 1.550000, 1.570000, 1.590000, 1.600000, 1.590000, 1.630000, 1.710000, 1.660000, 1.620000, 1.590000, 1.550000, 1.510000, 1.480000, 1.440000, 1.420000, 1.390000, 1.360000, 1.340000, 1.300000, 1.290000, 1.270000, 1.250000, 1.220000, 1.210000, 1.190000, 1.180000, 1.160000, 1.160000, 1.140000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.040000, 1.040000, 1.010000, 1.020000, 0.900000, 0.710000, 0.720000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.640000, 0.640000, 0.670000, 0.680000, 0.740000, 0.730000, 0.710000, 0.700000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 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": [ 976054583, 997727 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.208000, 1.811000, 2.538102 ], "estimate": [ 0.208000, 1.811000, 2.538102 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.740000, 1.750000, 1.770000, 1.780000, 1.790000, 1.810000, 1.830000, 1.850000, 1.860000, 1.890000, 1.900000, 1.920000, 1.950000, 1.970000, 2.000000, 2.030000, 2.060000, 2.100000, 2.110000, 2.170000, 2.220000, 2.230000, 2.280000, 2.310000, 2.370000, 2.420000, 2.360000, 2.520000, 2.580000, 2.630000, 2.630000, 2.600000, 2.570000, 1.930000, 1.900000, 1.870000, 1.850000, 1.830000, 1.820000, 1.790000, 1.780000, 1.760000, 1.750000, 1.750000, 1.740000, 1.730000, 1.260000, 0.910000, 0.880000, 0.920000, 2.060000, 2.210000, 2.190000, 2.190000, 2.180000, 2.170000, 2.180000, 2.160000, 2.150000, 2.160000, 2.160000, 2.150000, 2.140000, 2.140000, 2.140000, 2.130000, 2.140000, 2.130000, 2.140000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.140000, 2.150000, 2.160000, 2.170000, 2.170000, 2.050000, 1.920000, 1.760000, 1.660000, 1.560000, 1.440000, 1.440000, 1.460000, 1.470000, 1.480000, 1.490000, 1.510000, 1.510000, 1.530000, 1.530000, 1.560000, 1.580000, 1.590000, 1.600000, 1.610000, 1.640000, 1.680000, 1.640000, 1.610000, 1.570000, 1.530000, 1.490000, 1.460000, 1.430000, 1.400000, 1.380000, 1.350000, 1.320000, 1.300000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.180000, 1.170000, 1.170000, 1.150000, 1.140000, 1.120000, 1.110000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.020000, 1.030000, 1.020000, 0.730000, 0.720000, 0.710000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.640000, 0.650000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.630000, 0.670000, 0.680000, 0.710000, 0.870000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 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": [ 976054584, 983600 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.208000, 1.811000, 2.507374 ], "estimate": [ 0.208000, 1.811000, 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": [ 1.710000, 1.720000, 1.730000, 1.730000, 1.760000, 1.770000, 1.780000, 1.790000, 1.810000, 1.850000, 1.860000, 1.870000, 1.890000, 1.920000, 1.940000, 1.960000, 1.990000, 2.010000, 2.040000, 2.070000, 2.110000, 2.140000, 2.180000, 2.220000, 2.250000, 2.290000, 2.320000, 2.390000, 2.430000, 2.360000, 2.530000, 2.590000, 2.640000, 2.630000, 2.610000, 2.570000, 1.930000, 1.890000, 1.870000, 1.840000, 1.830000, 1.810000, 1.790000, 1.780000, 1.760000, 1.750000, 1.740000, 1.740000, 1.730000, 1.360000, 0.930000, 0.870000, 0.920000, 2.070000, 2.210000, 2.190000, 2.180000, 2.180000, 2.160000, 2.180000, 2.160000, 2.160000, 2.150000, 2.150000, 2.140000, 2.140000, 2.140000, 2.140000, 2.130000, 2.130000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.160000, 2.170000, 2.150000, 2.070000, 1.930000, 1.780000, 1.680000, 1.580000, 1.470000, 1.450000, 1.470000, 1.470000, 1.490000, 1.490000, 1.500000, 1.520000, 1.540000, 1.540000, 1.550000, 1.570000, 1.590000, 1.600000, 1.580000, 1.640000, 1.700000, 1.650000, 1.610000, 1.580000, 1.540000, 1.500000, 1.460000, 1.440000, 1.410000, 1.380000, 1.350000, 1.330000, 1.300000, 1.280000, 1.260000, 1.250000, 1.220000, 1.210000, 1.190000, 1.180000, 1.170000, 1.160000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 0.890000, 0.740000, 0.720000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.650000, 0.640000, 0.650000, 0.650000, 0.670000, 0.670000, 0.630000, 0.670000, 0.690000, 0.710000, 0.890000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 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": [ 976054584, 825551 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.207000, 1.811000, 2.439774 ], "estimate": [ 0.207000, 1.811000, 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": [ 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.720000, 1.740000, 1.750000, 1.760000, 1.780000, 1.800000, 1.810000, 1.830000, 1.860000, 1.870000, 1.900000, 1.910000, 1.940000, 1.970000, 1.990000, 2.020000, 2.040000, 2.080000, 2.100000, 2.140000, 2.190000, 2.220000, 2.250000, 2.300000, 2.340000, 2.400000, 2.440000, 2.360000, 2.540000, 2.610000, 2.660000, 2.610000, 2.580000, 2.540000, 1.890000, 1.860000, 1.830000, 1.820000, 1.810000, 1.780000, 1.780000, 1.760000, 1.750000, 1.740000, 1.740000, 1.730000, 1.720000, 1.130000, 0.910000, 0.870000, 0.930000, 2.160000, 2.190000, 2.180000, 2.170000, 2.170000, 2.150000, 2.160000, 2.160000, 2.150000, 2.140000, 2.140000, 2.130000, 2.140000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.140000, 2.140000, 2.150000, 2.150000, 2.160000, 2.160000, 2.170000, 2.160000, 2.020000, 1.880000, 1.750000, 1.650000, 1.540000, 1.420000, 1.450000, 1.470000, 1.480000, 1.490000, 1.490000, 1.510000, 1.520000, 1.530000, 1.540000, 1.560000, 1.570000, 1.590000, 1.590000, 1.620000, 1.680000, 1.690000, 1.640000, 1.600000, 1.560000, 1.530000, 1.490000, 1.450000, 1.440000, 1.410000, 1.380000, 1.350000, 1.330000, 1.300000, 1.280000, 1.270000, 1.250000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.020000, 1.030000, 1.020000, 0.810000, 0.730000, 0.730000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.640000, 0.680000, 0.700000, 0.720000, 0.870000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 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": [ 976054584, 847007 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.207000, 1.812000, 2.384464 ], "estimate": [ 0.207000, 1.812000, 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": [ 1.640000, 1.650000, 1.660000, 1.660000, 1.670000, 1.680000, 1.690000, 1.690000, 1.720000, 1.720000, 1.720000, 1.750000, 1.760000, 1.770000, 1.790000, 1.810000, 1.840000, 1.850000, 1.870000, 1.890000, 1.900000, 1.930000, 1.960000, 1.980000, 2.000000, 2.030000, 2.070000, 2.090000, 2.130000, 2.170000, 2.210000, 2.240000, 2.290000, 2.290000, 2.380000, 2.420000, 2.360000, 2.530000, 2.590000, 2.640000, 2.620000, 2.580000, 2.540000, 1.890000, 1.870000, 1.840000, 1.820000, 1.800000, 1.780000, 1.780000, 1.760000, 1.750000, 1.740000, 1.730000, 1.720000, 1.720000, 1.690000, 0.920000, 0.870000, 0.910000, 2.080000, 2.190000, 2.180000, 2.170000, 2.170000, 2.170000, 2.160000, 2.150000, 2.150000, 2.140000, 2.140000, 2.140000, 2.130000, 2.130000, 2.130000, 2.130000, 2.120000, 2.130000, 2.130000, 2.120000, 2.140000, 2.130000, 2.140000, 2.140000, 2.150000, 2.150000, 2.160000, 2.160000, 2.160000, 2.050000, 1.930000, 1.790000, 1.660000, 1.570000, 1.490000, 1.460000, 1.460000, 1.470000, 1.490000, 1.490000, 1.500000, 1.520000, 1.520000, 1.530000, 1.550000, 1.570000, 1.590000, 1.600000, 1.600000, 1.630000, 1.700000, 1.650000, 1.610000, 1.580000, 1.540000, 1.510000, 1.470000, 1.440000, 1.420000, 1.390000, 1.370000, 1.340000, 1.310000, 1.290000, 1.280000, 1.260000, 1.240000, 1.220000, 1.200000, 1.190000, 1.170000, 1.160000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.020000, 1.030000, 1.000000, 0.740000, 0.730000, 0.720000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.660000, 0.670000, 0.680000, 0.650000, 0.670000, 0.690000, 0.710000, 0.820000, 0.720000, 0.740000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 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": [ 976054584, 848021 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.206000, 1.813000, 2.329154 ], "estimate": [ 0.206000, 1.813000, 2.329154 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.630000, 1.630000, 1.640000, 1.640000, 1.650000, 1.660000, 1.650000, 1.670000, 1.670000, 1.680000, 1.700000, 1.710000, 1.710000, 1.720000, 1.740000, 1.760000, 1.780000, 1.790000, 1.810000, 1.820000, 1.850000, 1.860000, 1.890000, 1.900000, 1.930000, 1.960000, 1.980000, 2.000000, 2.030000, 2.070000, 2.100000, 2.130000, 2.170000, 2.210000, 2.240000, 2.290000, 2.320000, 2.380000, 2.420000, 2.350000, 2.530000, 2.590000, 2.650000, 2.610000, 2.570000, 2.550000, 1.890000, 1.860000, 1.830000, 1.820000, 1.800000, 1.780000, 1.770000, 1.760000, 1.750000, 1.740000, 1.720000, 1.720000, 1.710000, 1.700000, 0.920000, 0.860000, 0.910000, 0.940000, 2.190000, 2.180000, 2.170000, 2.170000, 2.170000, 2.140000, 2.150000, 2.140000, 2.140000, 2.140000, 2.130000, 2.130000, 2.130000, 2.120000, 2.120000, 2.120000, 2.130000, 2.120000, 2.120000, 2.130000, 2.130000, 2.130000, 2.140000, 2.150000, 2.150000, 2.160000, 2.160000, 2.140000, 2.050000, 1.930000, 1.780000, 1.670000, 1.570000, 1.490000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.490000, 1.510000, 1.530000, 1.540000, 1.560000, 1.570000, 1.580000, 1.600000, 1.580000, 1.630000, 1.700000, 1.660000, 1.610000, 1.590000, 1.550000, 1.510000, 1.480000, 1.450000, 1.430000, 1.400000, 1.370000, 1.340000, 1.320000, 1.300000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.030000, 1.030000, 1.030000, 0.760000, 0.730000, 0.730000, 0.710000, 0.690000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.670000, 0.670000, 0.690000, 0.720000, 0.790000, 0.730000, 0.730000, 0.730000, 0.720000, 0.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054584, 848958 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.205000, 1.814000, 2.279990 ], "estimate": [ 0.205000, 1.814000, 2.279990 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.910000, 1.610000, 1.610000, 1.620000, 1.630000, 1.630000, 1.640000, 1.650000, 1.650000, 1.650000, 1.660000, 1.680000, 1.680000, 1.710000, 1.710000, 1.710000, 1.730000, 1.750000, 1.770000, 1.780000, 1.790000, 1.820000, 1.830000, 1.850000, 1.870000, 1.890000, 1.910000, 1.950000, 1.970000, 1.990000, 2.020000, 2.050000, 2.090000, 2.120000, 2.150000, 2.190000, 2.230000, 2.270000, 2.290000, 2.360000, 2.410000, 2.350000, 2.510000, 2.570000, 2.630000, 2.610000, 2.580000, 2.540000, 1.910000, 1.860000, 1.830000, 1.820000, 1.800000, 1.790000, 1.770000, 1.750000, 1.750000, 1.740000, 1.730000, 1.710000, 1.700000, 1.690000, 1.040000, 0.860000, 0.870000, 0.920000, 2.180000, 2.180000, 2.170000, 2.170000, 2.160000, 2.150000, 2.140000, 2.140000, 2.140000, 2.140000, 2.130000, 2.130000, 2.130000, 2.130000, 2.120000, 2.120000, 2.120000, 2.130000, 2.120000, 2.130000, 2.130000, 2.130000, 2.130000, 2.140000, 2.150000, 2.160000, 2.160000, 2.170000, 2.110000, 1.960000, 1.840000, 1.700000, 1.610000, 1.530000, 1.420000, 1.450000, 1.460000, 1.480000, 1.490000, 1.490000, 1.500000, 1.520000, 1.530000, 1.530000, 1.560000, 1.580000, 1.590000, 1.600000, 1.630000, 1.710000, 1.660000, 1.630000, 1.600000, 1.560000, 1.530000, 1.490000, 1.460000, 1.440000, 1.410000, 1.380000, 1.360000, 1.330000, 1.300000, 1.290000, 1.280000, 1.250000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 0.940000, 0.740000, 0.740000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.690000, 0.690000, 0.660000, 0.700000, 0.720000, 0.740000, 0.800000, 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": [ 976054585, 786100 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.203000, 1.816000, 2.224680 ], "estimate": [ 0.203000, 1.816000, 2.224680 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.850000, 0.850000, 0.850000, 0.920000, 1.610000, 1.610000, 1.610000, 1.620000, 1.620000, 1.630000, 1.640000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.740000, 1.750000, 1.770000, 1.790000, 1.810000, 1.830000, 1.850000, 1.860000, 1.880000, 1.910000, 1.940000, 1.960000, 1.980000, 2.010000, 2.040000, 2.080000, 2.120000, 2.140000, 2.190000, 2.230000, 2.250000, 2.300000, 2.350000, 2.400000, 2.350000, 2.500000, 2.560000, 2.630000, 2.610000, 2.580000, 2.540000, 2.210000, 1.850000, 1.830000, 1.810000, 1.790000, 1.780000, 1.770000, 1.750000, 1.740000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.120000, 0.890000, 0.860000, 0.900000, 2.180000, 2.180000, 2.160000, 2.180000, 2.160000, 2.140000, 2.150000, 2.140000, 2.140000, 2.140000, 2.130000, 2.130000, 2.120000, 2.120000, 2.120000, 2.120000, 2.110000, 2.120000, 2.130000, 2.130000, 2.130000, 2.130000, 2.140000, 2.140000, 2.150000, 2.150000, 2.150000, 2.160000, 2.120000, 1.990000, 1.860000, 1.740000, 1.630000, 1.540000, 1.430000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.540000, 1.560000, 1.580000, 1.590000, 1.590000, 1.620000, 1.680000, 1.680000, 1.640000, 1.610000, 1.580000, 1.540000, 1.500000, 1.470000, 1.440000, 1.420000, 1.390000, 1.370000, 1.340000, 1.310000, 1.300000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.050000, 1.040000, 1.020000, 0.740000, 0.740000, 0.740000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.660000, 0.690000, 0.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054585, 459828 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.203000, 1.816000, 2.169371 ], "estimate": [ 0.203000, 1.816000, 2.169371 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.850000, 0.850000, 0.840000, 0.840000, 0.850000, 0.840000, 0.900000, 1.590000, 1.600000, 1.610000, 1.610000, 1.610000, 1.620000, 1.630000, 1.640000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.710000, 1.710000, 1.720000, 1.740000, 1.770000, 1.780000, 1.800000, 1.820000, 1.840000, 1.860000, 1.880000, 1.900000, 1.920000, 1.950000, 1.990000, 2.000000, 2.040000, 2.070000, 2.100000, 2.120000, 2.190000, 2.210000, 2.240000, 2.280000, 2.330000, 2.380000, 2.430000, 2.480000, 2.540000, 2.600000, 2.610000, 2.570000, 2.540000, 2.510000, 1.850000, 1.830000, 1.810000, 1.800000, 1.790000, 1.770000, 1.750000, 1.740000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.680000, 0.910000, 0.860000, 0.890000, 0.890000, 2.180000, 2.170000, 2.160000, 2.160000, 2.140000, 2.130000, 2.140000, 2.140000, 2.130000, 2.130000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.110000, 2.120000, 2.120000, 2.120000, 2.120000, 2.130000, 2.140000, 2.140000, 2.140000, 2.150000, 2.160000, 2.160000, 2.160000, 2.020000, 1.880000, 1.750000, 1.660000, 1.570000, 1.490000, 1.450000, 1.460000, 1.460000, 1.480000, 1.490000, 1.490000, 1.510000, 1.530000, 1.530000, 1.550000, 1.580000, 1.590000, 1.600000, 1.600000, 1.640000, 1.700000, 1.650000, 1.620000, 1.590000, 1.550000, 1.510000, 1.480000, 1.450000, 1.430000, 1.400000, 1.380000, 1.350000, 1.320000, 1.300000, 1.290000, 1.270000, 1.250000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.090000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.050000, 1.040000, 0.780000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.680000, 0.690000, 0.680000, 0.690000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054585, 460962 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.203000, 1.817000, 2.120206 ], "estimate": [ 0.203000, 1.817000, 2.120206 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.840000, 0.840000, 0.820000, 1.590000, 1.590000, 1.600000, 1.600000, 1.610000, 1.610000, 1.620000, 1.630000, 1.630000, 1.640000, 1.640000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.730000, 1.750000, 1.770000, 1.800000, 1.810000, 1.820000, 1.850000, 1.860000, 1.890000, 1.910000, 1.930000, 1.960000, 1.990000, 2.020000, 2.040000, 2.060000, 2.120000, 2.140000, 2.190000, 2.220000, 2.260000, 2.260000, 2.350000, 2.400000, 2.330000, 2.510000, 2.560000, 2.620000, 2.590000, 2.560000, 2.530000, 1.880000, 1.840000, 1.820000, 1.820000, 1.790000, 1.770000, 1.750000, 1.750000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.680000, 1.260000, 0.890000, 0.850000, 0.890000, 2.170000, 2.170000, 2.170000, 2.160000, 2.160000, 2.130000, 2.140000, 2.140000, 2.140000, 2.140000, 2.130000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.110000, 2.110000, 2.120000, 2.120000, 2.130000, 2.130000, 2.130000, 2.130000, 2.140000, 2.150000, 2.150000, 2.160000, 2.110000, 1.970000, 1.840000, 1.720000, 1.630000, 1.550000, 1.410000, 1.450000, 1.460000, 1.460000, 1.480000, 1.490000, 1.500000, 1.520000, 1.520000, 1.550000, 1.560000, 1.580000, 1.590000, 1.610000, 1.620000, 1.680000, 1.680000, 1.640000, 1.610000, 1.580000, 1.540000, 1.500000, 1.480000, 1.440000, 1.420000, 1.400000, 1.370000, 1.340000, 1.320000, 1.300000, 1.290000, 1.270000, 1.250000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.100000, 1.080000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.050000, 1.030000, 0.780000, 0.750000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054585, 586745 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.202000, 1.818000, 2.058751 ], "estimate": [ 0.202000, 1.818000, 2.058751 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.840000, 0.840000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.830000, 0.820000, 0.830000, 0.840000, 0.810000, 1.570000, 1.590000, 1.590000, 1.590000, 1.600000, 1.610000, 1.610000, 1.620000, 1.630000, 1.640000, 1.640000, 1.660000, 1.660000, 1.670000, 1.690000, 1.700000, 1.710000, 1.730000, 1.740000, 1.760000, 1.780000, 1.800000, 1.820000, 1.850000, 1.860000, 1.880000, 1.910000, 1.930000, 1.960000, 1.980000, 2.000000, 2.030000, 2.060000, 2.100000, 2.130000, 2.170000, 2.220000, 2.250000, 2.270000, 2.350000, 2.390000, 2.350000, 2.500000, 2.540000, 2.620000, 2.590000, 2.560000, 2.530000, 2.160000, 1.840000, 1.820000, 1.810000, 1.790000, 1.770000, 1.750000, 1.750000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.690000, 1.680000, 0.920000, 0.850000, 0.880000, 0.910000, 2.170000, 2.170000, 2.160000, 2.160000, 2.130000, 2.130000, 2.140000, 2.130000, 2.130000, 2.120000, 2.120000, 2.120000, 2.110000, 2.110000, 2.110000, 2.120000, 2.110000, 2.120000, 2.120000, 2.120000, 2.130000, 2.130000, 2.140000, 2.140000, 2.150000, 2.150000, 2.160000, 2.150000, 2.000000, 1.880000, 1.750000, 1.640000, 1.570000, 1.480000, 1.450000, 1.470000, 1.470000, 1.490000, 1.490000, 1.510000, 1.510000, 1.530000, 1.540000, 1.560000, 1.580000, 1.590000, 1.610000, 1.590000, 1.650000, 1.700000, 1.650000, 1.620000, 1.590000, 1.550000, 1.520000, 1.480000, 1.460000, 1.440000, 1.410000, 1.380000, 1.350000, 1.330000, 1.300000, 1.290000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.200000, 1.180000, 1.170000, 1.150000, 1.140000, 1.120000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.050000, 0.770000, 0.760000, 0.740000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.700000, 0.690000, 0.680000, 0.690000, 0.690000, 0.700000, 0.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054585, 970041 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.819000, 1.991150 ], "estimate": [ 0.201000, 1.819000, 1.991150 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.810000, 0.820000, 0.830000, 0.830000, 0.830000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.830000, 0.800000, 1.570000, 1.580000, 1.580000, 1.580000, 1.590000, 1.600000, 1.600000, 1.610000, 1.620000, 1.630000, 1.640000, 1.640000, 1.660000, 1.670000, 1.690000, 1.700000, 1.710000, 1.720000, 1.740000, 1.760000, 1.790000, 1.800000, 1.810000, 1.840000, 1.860000, 1.880000, 1.900000, 1.930000, 1.960000, 1.980000, 2.000000, 2.030000, 2.060000, 2.100000, 2.130000, 2.180000, 2.220000, 2.250000, 2.290000, 2.350000, 2.400000, 2.330000, 2.500000, 2.550000, 2.620000, 2.590000, 2.550000, 2.520000, 1.910000, 1.840000, 1.820000, 1.800000, 1.790000, 1.770000, 1.750000, 1.740000, 1.730000, 1.720000, 1.700000, 1.690000, 1.690000, 1.680000, 1.680000, 0.920000, 0.850000, 0.880000, 0.900000, 2.170000, 2.170000, 2.160000, 2.150000, 2.130000, 2.130000, 2.140000, 2.130000, 2.130000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.110000, 2.120000, 2.120000, 2.120000, 2.120000, 2.130000, 2.140000, 2.140000, 2.150000, 2.150000, 2.150000, 2.120000, 2.000000, 1.880000, 1.750000, 1.660000, 1.570000, 1.480000, 1.460000, 1.460000, 1.470000, 1.490000, 1.490000, 1.500000, 1.520000, 1.530000, 1.560000, 1.570000, 1.590000, 1.590000, 1.620000, 1.600000, 1.680000, 1.700000, 1.650000, 1.620000, 1.590000, 1.550000, 1.520000, 1.490000, 1.450000, 1.430000, 1.410000, 1.380000, 1.360000, 1.340000, 1.310000, 1.300000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.050000, 1.050000, 1.050000, 0.790000, 0.770000, 0.740000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.700000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054586, 271939 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.820000, 1.935841 ], "estimate": [ 0.201000, 1.820000, 1.935841 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.820000, 0.810000, 0.820000, 0.820000, 0.810000, 0.980000, 1.570000, 1.570000, 1.580000, 1.580000, 1.590000, 1.590000, 1.610000, 1.610000, 1.620000, 1.640000, 1.640000, 1.650000, 1.660000, 1.680000, 1.690000, 1.710000, 1.710000, 1.720000, 1.740000, 1.770000, 1.800000, 1.810000, 1.820000, 1.850000, 1.860000, 1.880000, 1.900000, 1.930000, 1.970000, 1.990000, 2.020000, 2.040000, 2.080000, 2.110000, 2.160000, 2.190000, 2.230000, 2.260000, 2.320000, 2.360000, 2.430000, 2.450000, 2.520000, 2.580000, 2.610000, 2.570000, 2.540000, 2.500000, 1.850000, 1.820000, 1.810000, 1.790000, 1.780000, 1.760000, 1.740000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.680000, 1.680000, 1.720000, 0.890000, 0.840000, 0.880000, 0.900000, 2.170000, 2.170000, 2.160000, 2.150000, 2.120000, 2.140000, 2.130000, 2.130000, 2.130000, 2.120000, 2.120000, 2.110000, 2.110000, 2.120000, 2.110000, 2.110000, 2.120000, 2.120000, 2.120000, 2.120000, 2.130000, 2.130000, 2.130000, 2.140000, 2.140000, 2.150000, 2.160000, 2.070000, 1.950000, 1.810000, 1.720000, 1.620000, 1.530000, 1.420000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.520000, 1.530000, 1.550000, 1.560000, 1.580000, 1.590000, 1.610000, 1.600000, 1.640000, 1.720000, 1.680000, 1.640000, 1.610000, 1.580000, 1.550000, 1.500000, 1.480000, 1.440000, 1.420000, 1.400000, 1.380000, 1.350000, 1.330000, 1.300000, 1.290000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.180000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.090000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 0.980000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054586, 129652 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.820000, 1.892822 ], "estimate": [ 0.201000, 1.820000, 1.892822 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.810000, 0.810000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.800000, 1.560000, 1.560000, 1.570000, 1.570000, 1.580000, 1.580000, 1.590000, 1.610000, 1.610000, 1.630000, 1.630000, 1.640000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.750000, 1.770000, 1.790000, 1.800000, 1.820000, 1.850000, 1.860000, 1.890000, 1.910000, 1.940000, 1.960000, 1.990000, 2.020000, 2.050000, 2.090000, 2.120000, 2.160000, 2.200000, 2.240000, 2.260000, 2.330000, 2.370000, 2.330000, 2.470000, 2.540000, 2.600000, 2.590000, 2.550000, 2.520000, 2.460000, 1.840000, 1.830000, 1.810000, 1.780000, 1.760000, 1.750000, 1.740000, 1.730000, 1.710000, 1.700000, 1.690000, 1.690000, 1.680000, 1.670000, 1.690000, 0.880000, 0.840000, 0.880000, 0.910000, 2.170000, 2.160000, 2.150000, 2.130000, 2.130000, 2.140000, 2.130000, 2.120000, 2.120000, 2.120000, 2.110000, 2.110000, 2.120000, 2.120000, 2.120000, 2.120000, 2.110000, 2.120000, 2.120000, 2.120000, 2.130000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.170000, 2.030000, 1.910000, 1.790000, 1.680000, 1.600000, 1.530000, 1.420000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.530000, 1.550000, 1.570000, 1.590000, 1.590000, 1.620000, 1.610000, 1.650000, 1.710000, 1.670000, 1.630000, 1.610000, 1.570000, 1.540000, 1.500000, 1.470000, 1.440000, 1.430000, 1.400000, 1.370000, 1.350000, 1.320000, 1.300000, 1.280000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 1.070000, 1.060000, 1.060000, 1.050000, 0.800000, 0.780000, 0.760000, 0.740000, 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": [ 976054586, 554028 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.820000, 1.837512 ], "estimate": [ 0.201000, 1.820000, 1.837512 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.790000, 0.790000, 0.790000, 0.800000, 0.820000, 0.810000, 0.810000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.810000, 0.790000, 0.960000, 1.550000, 1.560000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.600000, 1.620000, 1.630000, 1.640000, 1.640000, 1.650000, 1.660000, 1.680000, 1.700000, 1.710000, 1.720000, 1.730000, 1.760000, 1.780000, 1.790000, 1.810000, 1.830000, 1.860000, 1.870000, 1.900000, 1.930000, 1.960000, 1.990000, 2.010000, 2.040000, 2.080000, 2.110000, 2.150000, 2.190000, 2.220000, 2.250000, 2.310000, 2.350000, 2.420000, 2.440000, 2.510000, 2.570000, 2.600000, 2.560000, 2.540000, 2.500000, 1.850000, 1.830000, 1.820000, 1.790000, 1.770000, 1.760000, 1.740000, 1.730000, 1.720000, 1.710000, 1.690000, 1.690000, 1.680000, 1.670000, 1.700000, 1.010000, 0.850000, 0.840000, 0.890000, 2.170000, 2.170000, 2.160000, 2.150000, 2.150000, 2.150000, 2.130000, 2.140000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.110000, 2.110000, 2.120000, 2.120000, 2.130000, 2.130000, 2.130000, 2.140000, 2.140000, 2.150000, 2.150000, 2.170000, 2.100000, 1.980000, 1.860000, 1.740000, 1.640000, 1.560000, 1.450000, 1.460000, 1.480000, 1.490000, 1.490000, 1.510000, 1.520000, 1.540000, 1.550000, 1.550000, 1.580000, 1.600000, 1.610000, 1.630000, 1.650000, 1.730000, 1.690000, 1.650000, 1.610000, 1.590000, 1.550000, 1.520000, 1.490000, 1.460000, 1.440000, 1.410000, 1.390000, 1.360000, 1.340000, 1.310000, 1.300000, 1.280000, 1.270000, 1.250000, 1.230000, 1.210000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.100000, 1.090000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.010000, 0.790000, 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": [ 976054586, 555238 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.820000, 1.788348 ], "estimate": [ 0.201000, 1.820000, 1.788348 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.690000, 3.670000, 3.660000, 0.850000, 0.850000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.800000, 0.800000, 0.780000, 0.780000, 0.780000, 0.800000, 0.810000, 0.810000, 0.800000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.780000, 1.200000, 1.550000, 1.560000, 1.570000, 1.570000, 1.580000, 1.590000, 1.590000, 1.610000, 1.620000, 1.630000, 1.640000, 1.640000, 1.660000, 1.660000, 1.680000, 1.700000, 1.710000, 1.710000, 1.730000, 1.760000, 1.780000, 1.790000, 1.810000, 1.830000, 1.860000, 1.880000, 1.900000, 1.930000, 1.960000, 1.990000, 2.010000, 2.030000, 2.080000, 2.110000, 2.150000, 2.190000, 2.230000, 2.260000, 2.310000, 2.360000, 2.390000, 2.460000, 2.520000, 2.580000, 2.590000, 2.550000, 2.520000, 2.490000, 1.840000, 1.830000, 1.810000, 1.790000, 1.770000, 1.750000, 1.740000, 1.730000, 1.720000, 1.710000, 1.690000, 1.680000, 1.680000, 1.670000, 1.720000, 1.040000, 0.850000, 0.840000, 0.890000, 2.160000, 2.170000, 2.160000, 2.150000, 2.120000, 2.140000, 2.140000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.110000, 2.110000, 2.110000, 2.110000, 2.120000, 2.130000, 2.120000, 2.130000, 2.130000, 2.140000, 2.150000, 2.160000, 2.160000, 2.150000, 2.080000, 1.950000, 1.830000, 1.730000, 1.620000, 1.550000, 1.430000, 1.470000, 1.480000, 1.480000, 1.500000, 1.520000, 1.530000, 1.550000, 1.560000, 1.570000, 1.590000, 1.600000, 1.620000, 1.610000, 1.650000, 1.730000, 1.690000, 1.640000, 1.600000, 1.590000, 1.550000, 1.520000, 1.480000, 1.450000, 1.440000, 1.410000, 1.390000, 1.360000, 1.340000, 1.320000, 1.300000, 1.290000, 1.270000, 1.250000, 1.240000, 1.220000, 1.210000, 1.190000, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000, 1.070000, 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": [ 976054586, 757372 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.820000, 1.745329 ], "estimate": [ 0.201000, 1.820000, 1.745329 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.710000, 3.690000, 3.680000, 3.660000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.800000, 0.800000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.790000, 0.800000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.800000, 0.800000, 0.780000, 0.870000, 1.550000, 1.560000, 1.560000, 1.570000, 1.580000, 1.590000, 1.590000, 1.600000, 1.610000, 1.620000, 1.640000, 1.630000, 1.650000, 1.660000, 1.670000, 1.690000, 1.700000, 1.710000, 1.720000, 1.740000, 1.770000, 1.790000, 1.800000, 1.820000, 1.850000, 1.860000, 1.890000, 1.920000, 1.950000, 1.970000, 2.000000, 2.020000, 2.050000, 2.100000, 2.130000, 2.160000, 2.220000, 2.240000, 2.290000, 2.340000, 2.410000, 2.320000, 2.500000, 2.560000, 2.610000, 2.560000, 2.530000, 2.490000, 1.860000, 1.830000, 1.810000, 1.790000, 1.770000, 1.750000, 1.740000, 1.730000, 1.720000, 1.700000, 1.700000, 1.690000, 1.680000, 1.670000, 1.670000, 1.760000, 0.890000, 0.840000, 0.860000, 0.890000, 2.170000, 2.160000, 2.150000, 2.110000, 2.140000, 2.140000, 2.130000, 2.130000, 2.120000, 2.120000, 2.120000, 2.110000, 2.110000, 2.110000, 2.110000, 2.120000, 2.120000, 2.120000, 2.120000, 2.130000, 2.130000, 2.140000, 2.140000, 2.160000, 2.150000, 2.160000, 2.110000, 2.000000, 1.870000, 1.760000, 1.660000, 1.570000, 1.500000, 1.470000, 1.480000, 1.480000, 1.500000, 1.510000, 1.530000, 1.540000, 1.570000, 1.570000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.720000, 1.700000, 1.660000, 1.620000, 1.600000, 1.560000, 1.530000, 1.500000, 1.470000, 1.440000, 1.420000, 1.400000, 1.370000, 1.350000, 1.330000, 1.300000, 1.290000, 1.280000, 1.260000, 1.240000, 1.220000, 1.200000, 1.200000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054587, 172734 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.820000, 1.690020 ], "estimate": [ 0.201000, 1.820000, 1.690020 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.800000, 3.770000, 3.740000, 3.730000, 3.700000, 3.680000, 3.670000, 3.650000, 0.850000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.790000, 0.790000, 0.770000, 0.880000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.580000, 1.590000, 1.600000, 1.600000, 1.620000, 1.620000, 1.650000, 1.640000, 1.650000, 1.660000, 1.690000, 1.700000, 1.720000, 1.730000, 1.740000, 1.780000, 1.790000, 1.800000, 1.820000, 1.850000, 1.860000, 1.890000, 1.920000, 1.940000, 1.980000, 2.000000, 2.020000, 2.050000, 2.100000, 2.140000, 2.170000, 2.220000, 2.250000, 2.290000, 2.350000, 2.410000, 2.370000, 2.500000, 2.560000, 2.600000, 2.560000, 2.530000, 2.500000, 1.860000, 1.830000, 1.810000, 1.790000, 1.780000, 1.750000, 1.750000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.680000, 1.680000, 1.680000, 1.770000, 0.900000, 0.850000, 0.860000, 0.910000, 2.170000, 2.160000, 2.160000, 2.140000, 2.140000, 2.140000, 2.130000, 2.130000, 2.120000, 2.120000, 2.120000, 2.120000, 2.110000, 2.120000, 2.120000, 2.130000, 2.120000, 2.120000, 2.130000, 2.130000, 2.140000, 2.150000, 2.150000, 2.150000, 2.160000, 2.160000, 2.110000, 2.000000, 1.870000, 1.750000, 1.660000, 1.590000, 1.500000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.560000, 1.580000, 1.570000, 1.590000, 1.600000, 1.630000, 1.650000, 1.660000, 1.740000, 1.710000, 1.660000, 1.630000, 1.600000, 1.560000, 1.530000, 1.500000, 1.470000, 1.440000, 1.420000, 1.400000, 1.380000, 1.350000, 1.330000, 1.310000, 1.300000, 1.280000, 1.260000, 1.250000, 1.230000, 1.210000, 1.200000, 1.180000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000 ], "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": [ 976054587, 197121 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.820000, 1.622419 ], "estimate": [ 0.201000, 1.820000, 1.622419 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.890000, 3.850000, 3.820000, 3.800000, 3.770000, 3.750000, 3.740000, 3.710000, 3.690000, 3.670000, 3.660000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.780000, 0.770000, 0.780000, 0.780000, 0.790000, 0.780000, 0.770000, 0.780000, 0.790000, 0.780000, 0.760000, 1.040000, 1.560000, 1.560000, 1.560000, 1.560000, 1.580000, 1.580000, 1.590000, 1.590000, 1.610000, 1.620000, 1.630000, 1.630000, 1.640000, 1.660000, 1.670000, 1.690000, 1.710000, 1.720000, 1.720000, 1.740000, 1.770000, 1.790000, 1.800000, 1.830000, 1.850000, 1.870000, 1.890000, 1.920000, 1.950000, 1.980000, 2.000000, 2.040000, 2.070000, 2.110000, 2.130000, 2.180000, 2.230000, 2.250000, 2.310000, 2.360000, 2.340000, 2.460000, 2.530000, 2.590000, 2.570000, 2.550000, 2.520000, 2.480000, 1.840000, 1.830000, 1.810000, 1.790000, 1.770000, 1.750000, 1.740000, 1.730000, 1.720000, 1.700000, 1.690000, 1.680000, 1.680000, 1.670000, 1.710000, 1.790000, 0.880000, 0.850000, 0.870000, 0.900000, 2.160000, 2.160000, 2.150000, 2.130000, 2.140000, 2.140000, 2.130000, 2.130000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.130000, 2.130000, 2.130000, 2.130000, 2.140000, 2.140000, 2.140000, 2.150000, 2.160000, 2.160000, 2.170000, 2.070000, 1.960000, 1.850000, 1.740000, 1.660000, 1.580000, 1.450000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.550000, 1.550000, 1.580000, 1.570000, 1.600000, 1.620000, 1.640000, 1.630000, 1.660000, 1.740000, 1.700000, 1.650000, 1.610000, 1.590000, 1.560000, 1.530000, 1.500000, 1.470000, 1.440000, 1.420000, 1.390000, 1.370000, 1.350000, 1.330000, 1.300000, 1.300000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054587, 330088 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.820000, 1.591691 ], "estimate": [ 0.201000, 1.820000, 1.591691 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.770000, 3.970000, 3.930000, 3.880000, 3.850000, 3.820000, 3.800000, 3.770000, 3.750000, 3.730000, 3.710000, 3.690000, 3.680000, 3.660000, 3.640000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.770000, 0.770000, 0.770000, 0.760000, 0.770000, 0.780000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.780000, 0.780000, 0.770000, 0.790000, 0.780000, 0.760000, 0.810000, 1.560000, 1.550000, 1.550000, 1.570000, 1.560000, 1.570000, 1.590000, 1.590000, 1.600000, 1.620000, 1.630000, 1.640000, 1.650000, 1.650000, 1.660000, 1.680000, 1.690000, 1.710000, 1.710000, 1.730000, 1.760000, 1.780000, 1.800000, 1.820000, 1.840000, 1.860000, 1.890000, 1.910000, 1.940000, 1.960000, 1.990000, 2.030000, 2.040000, 2.100000, 2.130000, 2.170000, 2.210000, 2.250000, 2.290000, 2.350000, 2.410000, 2.370000, 2.500000, 2.560000, 2.590000, 2.550000, 2.530000, 2.500000, 1.850000, 1.830000, 1.810000, 1.790000, 1.780000, 1.760000, 1.750000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.680000, 1.680000, 1.660000, 1.760000, 0.980000, 0.850000, 0.840000, 0.880000, 2.160000, 2.160000, 2.150000, 2.160000, 2.140000, 2.140000, 2.140000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.120000, 2.140000, 2.140000, 2.130000, 2.130000, 2.140000, 2.150000, 2.150000, 2.150000, 2.160000, 2.160000, 2.170000, 2.110000, 1.990000, 1.870000, 1.760000, 1.680000, 1.590000, 1.500000, 1.490000, 1.490000, 1.490000, 1.510000, 1.510000, 1.550000, 1.570000, 1.590000, 1.590000, 1.600000, 1.620000, 1.640000, 1.630000, 1.660000, 1.750000, 1.710000, 1.660000, 1.620000, 1.610000, 1.570000, 1.540000, 1.500000, 1.480000, 1.450000, 1.430000, 1.400000, 1.380000, 1.360000, 1.330000, 1.310000, 1.310000, 1.290000, 1.270000, 1.250000, 1.230000, 1.210000, 1.210000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054588, 204095 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.819000, 1.567109 ], "estimate": [ 0.201000, 1.819000, 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, 2.730000, 3.970000, 3.930000, 3.890000, 3.850000, 3.830000, 3.800000, 3.780000, 3.740000, 3.730000, 3.710000, 3.690000, 3.670000, 3.660000, 3.650000, 0.840000, 0.830000, 0.830000, 0.810000, 0.810000, 0.800000, 0.790000, 0.790000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.790000, 0.780000, 0.780000, 0.760000, 0.780000, 0.780000, 0.760000, 0.760000, 1.550000, 1.560000, 1.550000, 1.560000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.700000, 1.720000, 1.730000, 1.760000, 1.780000, 1.790000, 1.800000, 1.830000, 1.850000, 1.870000, 1.900000, 1.930000, 1.960000, 1.990000, 2.010000, 2.040000, 2.080000, 2.120000, 2.150000, 2.200000, 2.240000, 2.280000, 2.320000, 2.380000, 2.320000, 2.480000, 2.540000, 2.600000, 2.560000, 2.530000, 2.490000, 2.060000, 1.830000, 1.820000, 1.790000, 1.780000, 1.760000, 1.750000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.680000, 1.680000, 1.680000, 1.720000, 1.140000, 0.890000, 0.840000, 0.880000, 2.160000, 2.160000, 2.150000, 2.140000, 2.140000, 2.140000, 2.140000, 2.130000, 2.130000, 2.130000, 2.120000, 2.130000, 2.120000, 2.130000, 2.120000, 2.120000, 2.130000, 2.130000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.160000, 2.160000, 2.170000, 2.130000, 2.010000, 1.890000, 1.790000, 1.680000, 1.610000, 1.530000, 1.460000, 1.490000, 1.490000, 1.510000, 1.510000, 1.540000, 1.560000, 1.580000, 1.580000, 1.590000, 1.610000, 1.630000, 1.660000, 1.670000, 1.720000, 1.710000, 1.670000, 1.630000, 1.610000, 1.580000, 1.550000, 1.510000, 1.480000, 1.450000, 1.440000, 1.410000, 1.390000, 1.360000, 1.340000, 1.330000, 1.310000, 1.300000, 1.270000, 1.250000, 1.240000, 1.220000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054588, 205296 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.819000, 1.527778 ], "estimate": [ 0.201000, 1.819000, 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": [ 2.540000, 2.620000, 2.690000, 4.000000, 3.950000, 3.910000, 3.880000, 3.840000, 3.810000, 3.790000, 3.760000, 3.740000, 3.720000, 3.700000, 3.680000, 3.660000, 3.650000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.760000, 0.770000, 0.780000, 0.770000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.790000, 0.770000, 0.750000, 0.770000, 1.550000, 1.550000, 1.550000, 1.560000, 1.570000, 1.570000, 1.580000, 1.590000, 1.600000, 1.600000, 1.620000, 1.630000, 1.640000, 1.650000, 1.670000, 1.680000, 1.690000, 1.710000, 1.720000, 1.730000, 1.760000, 1.780000, 1.800000, 1.820000, 1.830000, 1.860000, 1.870000, 1.910000, 1.930000, 1.960000, 1.990000, 2.020000, 2.050000, 2.100000, 2.140000, 2.170000, 2.210000, 2.250000, 2.290000, 2.340000, 2.410000, 2.390000, 2.500000, 2.560000, 2.590000, 2.550000, 2.520000, 2.490000, 1.870000, 1.830000, 1.810000, 1.790000, 1.770000, 1.760000, 1.750000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.690000, 1.680000, 1.670000, 1.750000, 1.120000, 0.880000, 0.840000, 0.890000, 2.150000, 2.160000, 2.160000, 2.160000, 2.140000, 2.130000, 2.140000, 2.140000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.120000, 2.130000, 2.140000, 2.130000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.160000, 2.160000, 2.170000, 2.110000, 2.000000, 1.880000, 1.770000, 1.680000, 1.600000, 1.510000, 1.480000, 1.490000, 1.500000, 1.520000, 1.520000, 1.550000, 1.570000, 1.590000, 1.580000, 1.610000, 1.610000, 1.630000, 1.630000, 1.660000, 1.750000, 1.710000, 1.670000, 1.630000, 1.600000, 1.570000, 1.540000, 1.510000, 1.480000, 1.450000, 1.440000, 1.410000, 1.380000, 1.360000, 1.340000, 1.330000, 1.310000, 1.290000, 1.270000, 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": [ 976054588, 206264 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.820000, 1.454031 ], "estimate": [ 0.201000, 1.820000, 1.454031 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.340000, 2.390000, 2.460000, 2.520000, 2.570000, 2.640000, 2.710000, 3.980000, 3.940000, 3.900000, 3.860000, 3.830000, 3.800000, 3.770000, 3.750000, 3.730000, 3.700000, 3.680000, 3.660000, 3.650000, 3.640000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.760000, 0.770000, 0.770000, 0.760000, 0.760000, 0.780000, 0.780000, 0.780000, 0.770000, 0.760000, 0.770000, 0.780000, 0.760000, 0.750000, 0.880000, 1.550000, 1.550000, 1.550000, 1.550000, 1.550000, 1.570000, 1.580000, 1.590000, 1.600000, 1.600000, 1.620000, 1.630000, 1.640000, 1.640000, 1.670000, 1.680000, 1.690000, 1.710000, 1.720000, 1.730000, 1.760000, 1.780000, 1.790000, 1.820000, 1.840000, 1.860000, 1.880000, 1.910000, 1.940000, 1.970000, 2.000000, 2.030000, 2.070000, 2.100000, 2.140000, 2.180000, 2.230000, 2.250000, 2.300000, 2.350000, 2.390000, 2.460000, 2.530000, 2.590000, 2.580000, 2.550000, 2.510000, 2.480000, 1.840000, 1.830000, 1.810000, 1.790000, 1.770000, 1.750000, 1.750000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.680000, 1.670000, 1.680000, 1.770000, 1.120000, 0.880000, 0.840000, 0.880000, 2.160000, 2.160000, 2.150000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.140000, 2.140000, 2.130000, 2.140000, 2.150000, 2.160000, 2.150000, 2.160000, 2.160000, 2.180000, 2.090000, 1.980000, 1.870000, 1.750000, 1.670000, 1.580000, 1.480000, 1.490000, 1.480000, 1.500000, 1.510000, 1.550000, 1.570000, 1.580000, 1.590000, 1.590000, 1.610000, 1.630000, 1.650000, 1.640000, 1.690000, 1.750000, 1.710000, 1.660000, 1.620000, 1.600000, 1.570000, 1.540000, 1.500000, 1.470000, 1.450000, 1.430000, 1.400000, 1.380000, 1.360000, 1.350000, 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": [ 976054588, 207299 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.820000, 1.392576 ], "estimate": [ 0.201000, 1.820000, 1.392576 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.120000, 2.150000, 2.200000, 2.250000, 2.310000, 2.360000, 2.420000, 2.470000, 2.530000, 2.600000, 2.680000, 3.980000, 3.950000, 3.900000, 3.870000, 3.830000, 3.800000, 3.780000, 3.750000, 3.730000, 3.710000, 3.680000, 3.660000, 3.650000, 3.640000, 3.620000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.760000, 0.750000, 0.770000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.770000, 0.770000, 0.740000, 0.740000, 1.000000, 1.540000, 1.550000, 1.550000, 1.550000, 1.560000, 1.570000, 1.580000, 1.580000, 1.600000, 1.610000, 1.620000, 1.630000, 1.650000, 1.650000, 1.670000, 1.670000, 1.690000, 1.720000, 1.720000, 1.760000, 1.770000, 1.780000, 1.800000, 1.830000, 1.850000, 1.870000, 1.890000, 1.920000, 1.950000, 1.980000, 2.010000, 2.030000, 2.070000, 2.110000, 2.150000, 2.200000, 2.240000, 2.270000, 2.320000, 2.380000, 2.320000, 2.480000, 2.550000, 2.600000, 2.560000, 2.540000, 2.500000, 2.470000, 1.830000, 1.820000, 1.800000, 1.780000, 1.770000, 1.750000, 1.740000, 1.720000, 1.710000, 1.700000, 1.700000, 1.690000, 1.680000, 1.680000, 1.720000, 1.810000, 0.950000, 0.860000, 0.850000, 0.900000, 2.160000, 2.160000, 2.130000, 2.150000, 2.150000, 2.140000, 2.140000, 2.140000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.140000, 2.140000, 2.150000, 2.150000, 2.150000, 2.160000, 2.160000, 2.160000, 2.160000, 2.170000, 2.180000, 2.150000, 2.030000, 1.920000, 1.820000, 1.710000, 1.640000, 1.550000, 1.460000, 1.490000, 1.510000, 1.530000, 1.530000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.650000, 1.670000, 1.680000, 1.770000, 1.730000, 1.690000, 1.650000, 1.620000, 1.590000, 1.560000, 1.530000, 1.490000, 1.460000, 1.440000, 1.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054588, 330376 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.820000, 1.343412 ], "estimate": [ 0.201000, 1.820000, 1.343412 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.010000, 2.050000, 2.090000, 2.120000, 2.160000, 2.210000, 2.260000, 2.320000, 2.360000, 2.420000, 2.490000, 2.550000, 2.620000, 2.690000, 3.970000, 3.920000, 3.890000, 3.860000, 3.820000, 3.800000, 3.760000, 3.740000, 3.720000, 3.700000, 3.670000, 3.650000, 3.650000, 3.630000, 3.610000, 0.810000, 0.790000, 0.790000, 0.780000, 0.770000, 0.770000, 0.770000, 0.750000, 0.740000, 0.750000, 0.740000, 0.750000, 0.760000, 0.770000, 0.760000, 0.760000, 0.750000, 0.770000, 0.770000, 0.770000, 0.770000, 0.750000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.940000, 1.550000, 1.540000, 1.560000, 1.560000, 1.560000, 1.570000, 1.570000, 1.590000, 1.590000, 1.600000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.680000, 1.700000, 1.720000, 1.720000, 1.750000, 1.770000, 1.780000, 1.800000, 1.820000, 1.860000, 1.870000, 1.890000, 1.920000, 1.950000, 1.980000, 2.010000, 2.040000, 2.080000, 2.110000, 2.150000, 2.190000, 2.240000, 2.280000, 2.330000, 2.390000, 2.320000, 2.490000, 2.560000, 2.600000, 2.550000, 2.530000, 2.500000, 2.440000, 1.830000, 1.820000, 1.800000, 1.780000, 1.770000, 1.750000, 1.740000, 1.730000, 1.720000, 1.700000, 1.690000, 1.690000, 1.690000, 1.670000, 1.730000, 1.830000, 0.920000, 0.850000, 0.850000, 0.910000, 2.160000, 2.160000, 2.160000, 2.150000, 2.150000, 2.140000, 2.140000, 2.140000, 2.130000, 2.140000, 2.140000, 2.140000, 2.130000, 2.140000, 2.130000, 2.140000, 2.140000, 2.150000, 2.150000, 2.150000, 2.160000, 2.160000, 2.170000, 2.170000, 2.180000, 2.120000, 2.010000, 1.900000, 1.780000, 1.690000, 1.610000, 1.540000, 1.490000, 1.510000, 1.520000, 1.530000, 1.530000, 1.560000, 1.580000, 1.600000, 1.600000, 1.620000, 1.640000, 1.660000, 1.640000, 1.690000, 1.760000, 1.720000, 1.680000, 1.650000, 1.610000, 1.590000, 1.560000, 1.520000, 1.490000 ], "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": [ 976054588, 654822 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.819000, 1.288102 ], "estimate": [ 0.201000, 1.819000, 1.288102 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.900000, 1.940000, 1.970000, 2.000000, 2.040000, 2.080000, 2.110000, 2.160000, 2.210000, 2.260000, 2.300000, 2.350000, 2.420000, 2.480000, 2.540000, 2.610000, 2.680000, 3.970000, 3.920000, 3.890000, 3.850000, 3.820000, 3.790000, 3.760000, 3.730000, 3.710000, 3.690000, 3.670000, 3.650000, 3.640000, 3.620000, 3.620000, 0.790000, 0.790000, 0.790000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.740000, 0.740000, 0.730000, 0.750000, 0.750000, 0.770000, 0.760000, 0.750000, 0.750000, 0.770000, 0.770000, 0.770000, 0.770000, 0.750000, 0.760000, 0.770000, 0.760000, 0.740000, 0.730000, 0.790000, 1.540000, 1.540000, 1.550000, 1.550000, 1.560000, 1.560000, 1.580000, 1.580000, 1.600000, 1.600000, 1.610000, 1.620000, 1.640000, 1.650000, 1.660000, 1.680000, 1.700000, 1.710000, 1.720000, 1.740000, 1.770000, 1.790000, 1.780000, 1.810000, 1.830000, 1.860000, 1.880000, 1.910000, 1.950000, 1.980000, 1.990000, 2.030000, 2.060000, 2.100000, 2.140000, 2.190000, 2.240000, 2.270000, 2.330000, 2.380000, 2.310000, 2.490000, 2.550000, 2.590000, 2.560000, 2.530000, 2.500000, 2.460000, 1.840000, 1.820000, 1.810000, 1.790000, 1.770000, 1.750000, 1.750000, 1.730000, 1.720000, 1.720000, 1.710000, 1.700000, 1.690000, 1.690000, 1.740000, 1.810000, 1.180000, 0.890000, 0.850000, 0.900000, 2.150000, 2.160000, 2.150000, 2.160000, 2.150000, 2.150000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.160000, 2.160000, 2.160000, 2.170000, 2.180000, 2.190000, 2.140000, 2.060000, 1.930000, 1.810000, 1.710000, 1.620000, 1.550000, 1.500000, 1.500000, 1.530000, 1.530000, 1.530000, 1.580000, 1.590000, 1.610000, 1.600000, 1.630000, 1.640000, 1.660000, 1.640000, 1.690000, 1.770000, 1.720000, 1.700000, 1.660000, 1.620000, 1.590000 ], "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": [ 976054588, 730157 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.818000, 1.238938 ], "estimate": [ 0.201000, 1.818000, 1.238938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.830000, 1.860000, 1.880000, 1.900000, 1.940000, 1.970000, 2.010000, 2.050000, 2.090000, 2.120000, 2.160000, 2.220000, 2.260000, 2.310000, 2.360000, 2.420000, 2.490000, 2.540000, 2.610000, 2.680000, 3.950000, 3.910000, 3.870000, 3.830000, 3.790000, 3.770000, 3.740000, 3.720000, 3.710000, 3.690000, 3.670000, 3.650000, 3.630000, 3.630000, 3.610000, 0.790000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.740000, 0.720000, 0.740000, 0.750000, 0.760000, 0.770000, 0.750000, 0.740000, 0.760000, 0.760000, 0.760000, 0.770000, 0.750000, 0.760000, 0.760000, 0.760000, 0.740000, 0.740000, 0.750000, 1.530000, 1.540000, 1.550000, 1.550000, 1.560000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.630000, 1.630000, 1.650000, 1.660000, 1.680000, 1.690000, 1.700000, 1.730000, 1.760000, 1.770000, 1.780000, 1.790000, 1.810000, 1.850000, 1.860000, 1.890000, 1.920000, 1.950000, 1.980000, 2.000000, 2.030000, 2.070000, 2.110000, 2.140000, 2.190000, 2.240000, 2.280000, 2.330000, 2.390000, 2.310000, 2.490000, 2.550000, 2.610000, 2.560000, 2.530000, 2.500000, 2.460000, 1.840000, 1.830000, 1.810000, 1.790000, 1.770000, 1.760000, 1.750000, 1.740000, 1.740000, 1.720000, 1.710000, 1.700000, 1.700000, 1.690000, 1.750000, 1.820000, 1.200000, 0.910000, 0.860000, 0.900000, 2.150000, 2.160000, 2.150000, 2.150000, 2.150000, 2.150000, 2.140000, 2.150000, 2.140000, 2.140000, 2.140000, 2.130000, 2.150000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.160000, 2.150000, 2.160000, 2.170000, 2.170000, 2.190000, 2.190000, 2.130000, 2.030000, 1.910000, 1.800000, 1.700000, 1.600000, 1.540000, 1.510000, 1.520000, 1.540000, 1.540000, 1.540000, 1.590000, 1.590000, 1.610000, 1.610000, 1.630000, 1.650000, 1.660000, 1.660000, 1.710000, 1.760000, 1.720000, 1.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054589, 110988 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.200000, 1.818000, 1.189774 ], "estimate": [ 0.200000, 1.818000, 1.189774 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.750000, 1.780000, 1.800000, 1.820000, 1.850000, 1.880000, 1.910000, 1.940000, 1.970000, 2.010000, 2.040000, 2.090000, 2.120000, 2.160000, 2.210000, 2.250000, 2.310000, 2.360000, 2.420000, 2.480000, 2.540000, 2.610000, 2.680000, 3.940000, 3.900000, 3.860000, 3.820000, 3.790000, 3.760000, 3.730000, 3.720000, 3.700000, 3.680000, 3.650000, 3.650000, 3.640000, 3.620000, 3.600000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.730000, 0.750000, 0.750000, 0.760000, 0.750000, 0.750000, 0.760000, 0.760000, 0.750000, 0.770000, 0.750000, 0.760000, 0.760000, 0.750000, 0.740000, 0.730000, 0.740000, 1.530000, 1.530000, 1.540000, 1.550000, 1.560000, 1.550000, 1.570000, 1.570000, 1.590000, 1.600000, 1.600000, 1.620000, 1.640000, 1.650000, 1.650000, 1.670000, 1.690000, 1.700000, 1.730000, 1.740000, 1.780000, 1.780000, 1.800000, 1.820000, 1.840000, 1.860000, 1.880000, 1.920000, 1.940000, 1.980000, 2.000000, 2.030000, 2.070000, 2.110000, 2.140000, 2.190000, 2.240000, 2.280000, 2.330000, 2.390000, 2.320000, 2.490000, 2.560000, 2.610000, 2.550000, 2.520000, 2.500000, 2.450000, 1.840000, 1.830000, 1.810000, 1.790000, 1.780000, 1.760000, 1.750000, 1.740000, 1.730000, 1.720000, 1.710000, 1.710000, 1.700000, 1.700000, 1.750000, 1.810000, 1.290000, 0.910000, 0.860000, 0.900000, 2.170000, 2.160000, 2.150000, 2.150000, 2.150000, 2.160000, 2.150000, 2.140000, 2.140000, 2.150000, 2.140000, 2.140000, 2.140000, 2.150000, 2.140000, 2.150000, 2.150000, 2.160000, 2.160000, 2.160000, 2.170000, 2.180000, 2.180000, 2.190000, 2.200000, 2.120000, 2.020000, 1.910000, 1.800000, 1.700000, 1.610000, 1.530000, 1.510000, 1.520000, 1.530000, 1.540000, 1.560000, 1.590000, 1.600000, 1.610000, 1.610000, 1.630000, 1.650000, 1.670000, 1.670000, 1.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054589, 167193 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.200000, 1.818000, 1.165192 ], "estimate": [ 0.200000, 1.818000, 1.165192 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.700000, 1.720000, 1.750000, 1.770000, 1.790000, 1.820000, 1.840000, 1.870000, 1.900000, 1.940000, 1.970000, 1.990000, 2.030000, 2.080000, 2.110000, 2.150000, 2.200000, 2.250000, 2.300000, 2.350000, 2.400000, 2.470000, 2.530000, 2.600000, 2.670000, 3.950000, 3.900000, 3.860000, 3.820000, 3.790000, 3.770000, 3.740000, 3.730000, 3.700000, 3.670000, 3.650000, 3.650000, 3.630000, 3.610000, 3.600000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.740000, 0.750000, 0.750000, 0.760000, 0.730000, 0.720000, 0.730000, 1.010000, 1.530000, 1.540000, 1.550000, 1.560000, 1.560000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.620000, 1.630000, 1.640000, 1.660000, 1.670000, 1.690000, 1.700000, 1.710000, 1.730000, 1.740000, 1.780000, 1.780000, 1.820000, 1.830000, 1.860000, 1.880000, 1.900000, 1.940000, 1.970000, 1.990000, 2.030000, 2.060000, 2.100000, 2.130000, 2.190000, 2.230000, 2.250000, 2.320000, 2.380000, 2.320000, 2.480000, 2.540000, 2.610000, 2.560000, 2.530000, 2.500000, 2.470000, 1.850000, 1.830000, 1.820000, 1.800000, 1.780000, 1.770000, 1.750000, 1.750000, 1.740000, 1.730000, 1.710000, 1.710000, 1.710000, 1.700000, 1.720000, 1.800000, 1.960000, 0.910000, 0.880000, 0.910000, 1.170000, 2.160000, 2.160000, 2.160000, 2.150000, 2.160000, 2.150000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.160000, 2.160000, 2.160000, 2.160000, 2.170000, 2.180000, 2.190000, 2.200000, 2.200000, 2.140000, 2.040000, 1.910000, 1.800000, 1.730000, 1.640000, 1.550000, 1.510000, 1.530000, 1.540000, 1.550000, 1.530000, 1.590000, 1.600000, 1.610000, 1.620000, 1.640000, 1.660000, 1.670000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054589, 357010 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.200000, 1.818000, 1.134464 ], "estimate": [ 0.200000, 1.818000, 1.134464 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.690000, 1.720000, 1.740000, 1.760000, 1.780000, 1.810000, 1.830000, 1.860000, 1.890000, 1.920000, 1.960000, 1.980000, 2.010000, 2.060000, 2.090000, 2.120000, 2.170000, 2.220000, 2.270000, 2.330000, 2.370000, 2.440000, 2.510000, 2.560000, 2.630000, 2.810000, 3.910000, 3.870000, 3.830000, 3.800000, 3.780000, 3.750000, 3.730000, 3.710000, 3.680000, 3.660000, 3.660000, 3.640000, 3.620000, 3.600000, 0.810000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.730000, 0.740000, 0.760000, 0.760000, 0.750000, 0.750000, 0.760000, 0.750000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.740000, 0.720000, 0.720000, 0.740000, 1.530000, 1.540000, 1.540000, 1.550000, 1.560000, 1.550000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.630000, 1.640000, 1.650000, 1.670000, 1.680000, 1.690000, 1.710000, 1.730000, 1.740000, 1.770000, 1.770000, 1.800000, 1.810000, 1.850000, 1.860000, 1.890000, 1.920000, 1.960000, 1.980000, 2.010000, 2.050000, 2.080000, 2.120000, 2.170000, 2.200000, 2.240000, 2.300000, 2.350000, 2.420000, 2.430000, 2.520000, 2.580000, 2.570000, 2.540000, 2.520000, 2.490000, 1.870000, 1.840000, 1.830000, 1.810000, 1.790000, 1.780000, 1.760000, 1.750000, 1.740000, 1.730000, 1.720000, 1.710000, 1.710000, 1.710000, 1.700000, 1.750000, 1.880000, 1.170000, 0.910000, 0.870000, 0.900000, 2.170000, 2.150000, 2.150000, 2.160000, 2.160000, 2.150000, 2.150000, 2.140000, 2.140000, 2.150000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.160000, 2.150000, 2.160000, 2.150000, 2.170000, 2.180000, 2.180000, 2.190000, 2.190000, 2.180000, 2.100000, 1.980000, 1.860000, 1.760000, 1.670000, 1.590000, 1.500000, 1.520000, 1.530000, 1.540000, 1.550000, 1.580000, 1.590000, 1.610000, 1.620000, 1.630000, 1.650000 ], "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": [ 976054589, 737404 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.818000, 1.091445 ], "estimate": [ 0.201000, 1.818000, 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": [ 1.640000, 1.660000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.790000, 1.820000, 1.840000, 1.870000, 1.900000, 1.940000, 1.960000, 1.990000, 2.040000, 2.080000, 2.100000, 2.140000, 2.200000, 2.240000, 2.300000, 2.340000, 2.400000, 2.470000, 2.520000, 2.600000, 2.670000, 3.940000, 3.890000, 3.860000, 3.820000, 3.790000, 3.760000, 3.740000, 3.720000, 3.690000, 3.670000, 3.660000, 3.650000, 3.630000, 3.610000, 3.590000, 0.780000, 0.770000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.720000, 0.710000, 0.720000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.750000, 0.740000, 0.750000, 0.750000, 0.730000, 0.720000, 0.720000, 0.810000, 1.530000, 1.540000, 1.550000, 1.550000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.680000, 1.700000, 1.710000, 1.730000, 1.780000, 1.770000, 1.780000, 1.810000, 1.830000, 1.860000, 1.870000, 1.900000, 1.930000, 1.970000, 1.980000, 2.030000, 2.060000, 2.100000, 2.130000, 2.180000, 2.230000, 2.240000, 2.320000, 2.360000, 2.310000, 2.480000, 2.540000, 2.610000, 2.560000, 2.530000, 2.500000, 2.490000, 1.860000, 1.830000, 1.820000, 1.800000, 1.790000, 1.770000, 1.750000, 1.750000, 1.740000, 1.740000, 1.720000, 1.710000, 1.710000, 1.700000, 1.720000, 1.800000, 1.950000, 0.930000, 0.870000, 0.890000, 0.920000, 2.170000, 2.170000, 2.160000, 2.160000, 2.160000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.170000, 2.180000, 2.190000, 2.200000, 2.210000, 2.160000, 2.050000, 1.930000, 1.830000, 1.720000, 1.650000, 1.560000, 1.520000, 1.530000, 1.540000, 1.560000, 1.560000, 1.590000, 1.600000, 1.620000, 1.630000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054589, 738509 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.819000, 1.017699 ], "estimate": [ 0.201000, 1.819000, 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": [ 1.580000, 1.600000, 1.620000, 1.640000, 1.650000, 1.660000, 1.680000, 1.710000, 1.730000, 1.750000, 1.780000, 1.810000, 1.820000, 1.860000, 1.890000, 1.910000, 1.940000, 1.970000, 2.010000, 2.050000, 2.090000, 2.120000, 2.170000, 2.220000, 2.270000, 2.330000, 2.370000, 2.430000, 2.500000, 2.560000, 2.630000, 2.820000, 3.910000, 3.870000, 3.830000, 3.790000, 3.780000, 3.750000, 3.730000, 3.700000, 3.680000, 3.660000, 3.650000, 3.630000, 3.610000, 3.600000, 3.580000, 0.770000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.720000, 0.720000, 0.720000, 0.720000, 0.740000, 0.750000, 0.750000, 0.750000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.750000, 0.740000, 0.740000, 0.720000, 0.720000, 0.730000, 0.930000, 1.530000, 1.540000, 1.550000, 1.550000, 1.560000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.620000, 1.630000, 1.640000, 1.650000, 1.670000, 1.680000, 1.710000, 1.730000, 1.740000, 1.760000, 1.770000, 1.780000, 1.800000, 1.830000, 1.860000, 1.880000, 1.920000, 1.950000, 1.980000, 2.010000, 2.030000, 2.070000, 2.110000, 2.150000, 2.190000, 2.240000, 2.290000, 2.340000, 2.400000, 2.320000, 2.510000, 2.580000, 2.600000, 2.560000, 2.530000, 2.500000, 2.470000, 1.860000, 1.830000, 1.820000, 1.800000, 1.790000, 1.770000, 1.750000, 1.750000, 1.740000, 1.730000, 1.720000, 1.720000, 1.710000, 1.700000, 1.750000, 1.850000, 2.030000, 0.940000, 0.870000, 0.910000, 0.930000, 2.170000, 2.150000, 2.160000, 2.160000, 2.170000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.170000, 2.170000, 2.180000, 2.190000, 2.200000, 2.210000, 2.200000, 2.130000, 2.020000, 1.900000, 1.780000, 1.690000, 1.620000, 1.510000, 1.530000, 1.540000, 1.550000, 1.570000, 1.590000 ], "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": [ 976054589, 977542 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.818000, 0.950098 ], "estimate": [ 0.201000, 1.818000, 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": [ 1.520000, 1.530000, 1.550000, 1.570000, 1.580000, 1.600000, 1.620000, 1.630000, 1.640000, 1.660000, 1.680000, 1.700000, 1.730000, 1.750000, 1.770000, 1.800000, 1.820000, 1.850000, 1.870000, 1.900000, 1.930000, 1.960000, 2.000000, 2.040000, 2.080000, 2.110000, 2.160000, 2.210000, 2.260000, 2.320000, 2.360000, 2.420000, 2.490000, 2.550000, 2.620000, 2.780000, 3.910000, 3.870000, 3.830000, 3.800000, 3.770000, 3.740000, 3.720000, 3.690000, 3.680000, 3.660000, 3.650000, 3.630000, 3.610000, 3.600000, 3.570000, 0.790000, 0.760000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.720000, 0.710000, 0.720000, 0.720000, 0.740000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.740000, 0.750000, 0.740000, 0.740000, 0.740000, 0.730000, 0.720000, 0.710000, 0.720000, 0.730000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.560000, 1.570000, 1.570000, 1.590000, 1.600000, 1.610000, 1.630000, 1.640000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.730000, 1.730000, 1.780000, 1.780000, 1.800000, 1.830000, 1.860000, 1.880000, 1.910000, 1.950000, 1.960000, 1.990000, 2.030000, 2.070000, 2.100000, 2.150000, 2.190000, 2.240000, 2.240000, 2.340000, 2.400000, 2.320000, 2.500000, 2.580000, 2.620000, 2.560000, 2.540000, 2.510000, 2.480000, 1.860000, 1.840000, 1.830000, 1.810000, 1.790000, 1.780000, 1.760000, 1.750000, 1.740000, 1.740000, 1.730000, 1.720000, 1.720000, 1.710000, 1.750000, 1.830000, 2.010000, 0.960000, 0.900000, 0.890000, 0.930000, 2.180000, 2.200000, 2.150000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.170000, 2.160000, 2.180000, 2.180000, 2.190000, 2.190000, 2.200000, 2.210000, 2.230000, 2.130000, 2.010000, 1.890000, 1.790000, 1.690000, 1.610000, 1.510000, 1.530000 ], "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": [ 976054590, 263272 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.201000, 1.818000, 0.913225 ], "estimate": [ 0.201000, 1.818000, 0.913225 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.490000, 1.500000, 1.520000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, 1.600000, 1.620000, 1.630000, 1.650000, 1.670000, 1.690000, 1.720000, 1.740000, 1.760000, 1.780000, 1.810000, 1.830000, 1.850000, 1.880000, 1.920000, 1.960000, 1.980000, 2.030000, 2.060000, 2.090000, 2.140000, 2.190000, 2.230000, 2.300000, 2.340000, 2.400000, 2.460000, 2.520000, 2.590000, 2.670000, 3.910000, 3.870000, 3.820000, 3.800000, 3.770000, 3.740000, 3.720000, 3.690000, 3.680000, 3.660000, 3.650000, 3.620000, 3.610000, 3.590000, 3.580000, 3.570000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.740000, 0.720000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.740000, 0.730000, 0.710000, 0.710000, 0.720000, 0.820000, 1.530000, 1.540000, 1.540000, 1.550000, 1.560000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.630000, 1.640000, 1.650000, 1.660000, 1.670000, 1.690000, 1.700000, 1.730000, 1.750000, 1.770000, 1.770000, 1.790000, 1.820000, 1.850000, 1.870000, 1.900000, 1.930000, 1.950000, 1.980000, 2.020000, 2.050000, 2.100000, 2.150000, 2.180000, 2.230000, 2.260000, 2.320000, 2.380000, 2.320000, 2.490000, 2.550000, 2.610000, 2.570000, 2.540000, 2.520000, 2.490000, 1.880000, 1.850000, 1.830000, 1.820000, 1.800000, 1.790000, 1.770000, 1.750000, 1.750000, 1.740000, 1.730000, 1.720000, 1.720000, 1.710000, 1.720000, 1.780000, 1.970000, 1.250000, 0.930000, 0.880000, 0.930000, 2.180000, 2.180000, 2.170000, 2.170000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.170000, 2.170000, 2.180000, 2.180000, 2.200000, 2.200000, 2.200000, 2.230000, 2.230000, 2.140000, 2.020000, 1.910000, 1.810000, 1.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054590, 330921 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.200000, 1.818000, 0.876352 ], "estimate": [ 0.200000, 1.818000, 0.876352 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.490000, 1.490000, 1.510000, 1.510000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, 1.610000, 1.620000, 1.630000, 1.650000, 1.680000, 1.700000, 1.720000, 1.740000, 1.770000, 1.790000, 1.820000, 1.830000, 1.870000, 1.890000, 1.930000, 1.960000, 2.000000, 2.030000, 2.080000, 2.110000, 2.160000, 2.210000, 2.260000, 2.320000, 2.370000, 2.430000, 2.500000, 2.540000, 2.630000, 2.950000, 3.890000, 3.850000, 3.820000, 3.780000, 3.750000, 3.730000, 3.700000, 3.690000, 3.660000, 3.660000, 3.640000, 3.610000, 3.600000, 3.590000, 3.580000, 0.790000, 0.770000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.730000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.720000, 1.460000, 1.530000, 1.540000, 1.540000, 1.560000, 1.550000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.630000, 1.640000, 1.650000, 1.660000, 1.690000, 1.700000, 1.720000, 1.730000, 1.750000, 1.760000, 1.780000, 1.800000, 1.830000, 1.860000, 1.880000, 1.910000, 1.930000, 1.970000, 1.990000, 2.030000, 2.070000, 2.110000, 2.150000, 2.200000, 2.240000, 2.290000, 2.340000, 2.400000, 2.330000, 2.510000, 2.570000, 2.600000, 2.570000, 2.540000, 2.510000, 2.470000, 1.860000, 1.840000, 1.830000, 1.810000, 1.790000, 1.780000, 1.760000, 1.750000, 1.750000, 1.740000, 1.730000, 1.720000, 1.720000, 1.720000, 1.750000, 1.860000, 2.040000, 0.960000, 0.910000, 0.890000, 0.940000, 2.180000, 2.210000, 2.180000, 2.170000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.170000, 2.180000, 2.180000, 2.190000, 2.200000, 2.200000, 2.220000, 2.230000, 2.220000, 2.090000, 1.980000, 1.860000 ], "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": [ 976054591, 156602 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.200000, 1.818000, 0.808751 ], "estimate": [ 0.200000, 1.818000, 0.808751 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.460000, 1.470000, 1.470000, 1.470000, 1.490000, 1.500000, 1.510000, 1.530000, 1.540000, 1.550000, 1.570000, 1.580000, 1.600000, 1.610000, 1.630000, 1.650000, 1.670000, 1.690000, 1.710000, 1.740000, 1.750000, 1.780000, 1.810000, 1.820000, 1.850000, 1.880000, 1.920000, 1.960000, 1.990000, 2.030000, 2.070000, 2.100000, 2.140000, 2.200000, 2.240000, 2.300000, 2.350000, 2.410000, 2.480000, 2.540000, 2.600000, 2.670000, 3.890000, 3.860000, 3.810000, 3.790000, 3.760000, 3.730000, 3.710000, 3.680000, 3.670000, 3.660000, 3.640000, 3.610000, 3.590000, 3.590000, 3.580000, 3.560000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.720000, 0.730000, 0.740000, 0.740000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.740000, 0.730000, 0.700000, 0.700000, 0.710000, 0.720000, 1.520000, 1.530000, 1.530000, 1.550000, 1.560000, 1.560000, 1.570000, 1.580000, 1.600000, 1.600000, 1.620000, 1.640000, 1.650000, 1.650000, 1.680000, 1.690000, 1.710000, 1.730000, 1.780000, 1.770000, 1.780000, 1.790000, 1.820000, 1.850000, 1.870000, 1.900000, 1.930000, 1.960000, 1.990000, 2.020000, 2.060000, 2.100000, 2.150000, 2.190000, 2.240000, 2.250000, 2.330000, 2.380000, 2.320000, 2.500000, 2.560000, 2.630000, 2.580000, 2.550000, 2.520000, 2.490000, 1.890000, 1.850000, 1.830000, 1.820000, 1.810000, 1.790000, 1.780000, 1.770000, 1.750000, 1.740000, 1.740000, 1.730000, 1.720000, 1.720000, 1.730000, 1.800000, 2.000000, 2.190000, 0.950000, 0.890000, 0.930000, 2.190000, 2.180000, 2.180000, 2.170000, 2.170000, 2.160000, 2.160000, 2.160000, 2.170000, 2.160000, 2.160000, 2.170000, 2.160000, 2.160000, 2.170000, 2.170000, 2.180000, 2.180000, 2.190000, 2.200000, 2.210000, 2.220000, 2.240000, 2.240000 ], "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": [ 976054591, 157860 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.202000, 1.819000, 0.741150 ], "estimate": [ 0.202000, 1.819000, 0.741150 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.420000, 1.430000, 1.430000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.560000, 1.580000, 1.600000, 1.610000, 1.630000, 1.640000, 1.660000, 1.680000, 1.710000, 1.730000, 1.750000, 1.780000, 1.810000, 1.820000, 1.850000, 1.880000, 1.910000, 1.950000, 1.990000, 2.030000, 2.070000, 2.110000, 2.150000, 2.190000, 2.240000, 2.300000, 2.350000, 2.410000, 2.480000, 2.530000, 2.600000, 2.740000, 3.890000, 3.840000, 3.800000, 3.780000, 3.750000, 3.720000, 3.700000, 3.680000, 3.660000, 3.650000, 3.630000, 3.610000, 3.590000, 3.580000, 3.580000, 3.560000, 0.760000, 0.750000, 0.740000, 0.740000, 0.720000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.730000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.700000, 0.720000, 1.520000, 1.540000, 1.540000, 1.550000, 1.560000, 1.550000, 1.570000, 1.580000, 1.590000, 1.610000, 1.630000, 1.630000, 1.650000, 1.650000, 1.680000, 1.680000, 1.700000, 1.710000, 1.750000, 1.770000, 1.770000, 1.790000, 1.830000, 1.850000, 1.860000, 1.900000, 1.930000, 1.960000, 1.990000, 2.030000, 2.060000, 2.110000, 2.150000, 2.200000, 2.240000, 2.270000, 2.340000, 2.400000, 2.330000, 2.510000, 2.570000, 2.610000, 2.580000, 2.550000, 2.520000, 2.490000, 1.890000, 1.860000, 1.830000, 1.830000, 1.810000, 1.790000, 1.780000, 1.770000, 1.760000, 1.750000, 1.740000, 1.740000, 1.730000, 1.720000, 1.730000, 1.820000, 2.010000, 2.210000, 0.950000, 0.890000, 0.940000, 2.190000, 2.200000, 2.180000, 2.180000, 2.180000, 2.170000, 2.160000, 2.170000, 2.170000, 2.160000, 2.180000, 2.170000, 2.180000, 2.170000, 2.190000, 2.190000, 2.180000, 2.200000, 2.200000, 2.210000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054591, 158825 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.203000, 1.821000, 0.698132 ], "estimate": [ 0.203000, 1.821000, 0.698132 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.390000, 1.390000, 1.400000, 1.400000, 1.410000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.490000, 1.500000, 1.500000, 1.520000, 1.530000, 1.550000, 1.560000, 1.580000, 1.600000, 1.620000, 1.630000, 1.650000, 1.670000, 1.690000, 1.720000, 1.740000, 1.760000, 1.790000, 1.820000, 1.840000, 1.880000, 1.890000, 1.930000, 1.960000, 2.000000, 2.040000, 2.080000, 2.120000, 2.160000, 2.210000, 2.270000, 2.330000, 2.380000, 2.440000, 2.510000, 2.570000, 2.630000, 3.890000, 3.850000, 3.810000, 3.780000, 3.750000, 3.730000, 3.710000, 3.690000, 3.660000, 3.650000, 3.630000, 3.610000, 3.590000, 3.580000, 3.580000, 3.560000, 3.550000, 0.750000, 0.740000, 0.740000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.710000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.700000, 0.710000, 0.720000, 1.530000, 1.540000, 1.540000, 1.550000, 1.550000, 1.560000, 1.570000, 1.590000, 1.590000, 1.600000, 1.620000, 1.640000, 1.650000, 1.650000, 1.680000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.780000, 1.810000, 1.830000, 1.850000, 1.880000, 1.910000, 1.950000, 1.980000, 2.010000, 2.040000, 2.090000, 2.120000, 2.170000, 2.220000, 2.250000, 2.320000, 2.370000, 2.430000, 2.360000, 2.540000, 2.610000, 2.600000, 2.570000, 2.540000, 2.510000, 2.470000, 1.870000, 1.850000, 1.830000, 1.820000, 1.800000, 1.790000, 1.770000, 1.760000, 1.750000, 1.750000, 1.740000, 1.740000, 1.730000, 1.720000, 1.770000, 1.920000, 2.120000, 1.210000, 0.930000, 0.900000, 0.950000, 2.190000, 2.190000, 2.190000, 2.180000, 2.170000, 2.170000, 2.170000, 2.180000, 2.170000, 2.180000, 2.180000, 2.180000, 2.180000, 2.190000, 2.190000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054591, 159806 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.204000, 1.822000, 0.655113 ], "estimate": [ 0.204000, 1.822000, 0.655113 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.380000, 1.380000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.410000, 1.420000, 1.430000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.480000, 1.480000, 1.480000, 1.500000, 1.510000, 1.520000, 1.540000, 1.560000, 1.570000, 1.590000, 1.610000, 1.630000, 1.640000, 1.660000, 1.680000, 1.710000, 1.740000, 1.760000, 1.790000, 1.810000, 1.830000, 1.860000, 1.890000, 1.930000, 1.960000, 1.990000, 2.030000, 2.070000, 2.110000, 2.160000, 2.200000, 2.250000, 2.310000, 2.360000, 2.430000, 2.490000, 2.540000, 2.630000, 3.890000, 3.860000, 3.820000, 3.790000, 3.750000, 3.730000, 3.700000, 3.690000, 3.670000, 3.650000, 3.630000, 3.610000, 3.590000, 3.580000, 3.580000, 3.560000, 3.550000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.700000, 0.720000, 0.720000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.710000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.710000, 0.720000, 0.990000, 1.530000, 1.530000, 1.550000, 1.550000, 1.560000, 1.560000, 1.580000, 1.590000, 1.600000, 1.620000, 1.630000, 1.630000, 1.650000, 1.670000, 1.670000, 1.700000, 1.710000, 1.740000, 1.760000, 1.780000, 1.800000, 1.840000, 1.850000, 1.880000, 1.910000, 1.940000, 1.980000, 2.000000, 2.040000, 2.090000, 2.120000, 2.170000, 2.210000, 2.250000, 2.300000, 2.360000, 2.420000, 2.320000, 2.530000, 2.600000, 2.610000, 2.580000, 2.540000, 2.520000, 2.490000, 1.880000, 1.860000, 1.830000, 1.830000, 1.810000, 1.790000, 1.780000, 1.770000, 1.760000, 1.750000, 1.750000, 1.740000, 1.730000, 1.730000, 1.760000, 1.890000, 2.100000, 1.270000, 0.940000, 0.900000, 0.950000, 2.200000, 2.200000, 2.190000, 2.180000, 2.180000, 2.180000, 2.180000, 2.180000, 2.180000, 2.180000, 2.180000, 2.180000, 2.180000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054591, 330621 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.206000, 1.823000, 0.593658 ], "estimate": [ 0.206000, 1.823000, 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": [ 1.360000, 1.370000, 1.370000, 1.370000, 1.380000, 1.380000, 1.390000, 1.390000, 1.390000, 1.400000, 1.410000, 1.420000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.490000, 1.510000, 1.520000, 1.530000, 1.550000, 1.570000, 1.590000, 1.600000, 1.630000, 1.630000, 1.660000, 1.680000, 1.710000, 1.730000, 1.750000, 1.780000, 1.810000, 1.830000, 1.860000, 1.890000, 1.920000, 1.960000, 1.990000, 2.030000, 2.070000, 2.110000, 2.140000, 2.200000, 2.250000, 2.310000, 2.360000, 2.430000, 2.500000, 2.560000, 2.620000, 3.890000, 3.850000, 3.810000, 3.780000, 3.750000, 3.730000, 3.700000, 3.680000, 3.660000, 3.650000, 3.630000, 3.600000, 3.600000, 3.580000, 3.570000, 3.560000, 3.550000, 0.770000, 0.740000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.700000, 0.720000, 0.720000, 0.730000, 0.720000, 0.730000, 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.710000, 0.710000, 0.760000, 1.530000, 1.530000, 1.540000, 1.550000, 1.560000, 1.560000, 1.570000, 1.590000, 1.600000, 1.610000, 1.630000, 1.640000, 1.660000, 1.670000, 1.680000, 1.700000, 1.710000, 1.750000, 1.760000, 1.780000, 1.800000, 1.830000, 1.850000, 1.870000, 1.900000, 1.950000, 1.980000, 2.010000, 2.030000, 2.080000, 2.120000, 2.170000, 2.210000, 2.260000, 2.300000, 2.360000, 2.410000, 2.320000, 2.530000, 2.610000, 2.610000, 2.580000, 2.540000, 2.520000, 2.490000, 1.890000, 1.860000, 1.840000, 1.830000, 1.820000, 1.800000, 1.790000, 1.770000, 1.770000, 1.750000, 1.750000, 1.750000, 1.740000, 1.740000, 1.780000, 1.900000, 2.100000, 2.210000, 0.950000, 0.910000, 0.950000, 2.190000, 2.210000, 2.200000, 2.190000, 2.190000, 2.190000, 2.180000, 2.180000, 2.190000, 2.180000, 2.180000 ], "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": [ 976054591, 767143 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.207000, 1.823000, 0.526057 ], "estimate": [ 0.207000, 1.823000, 0.526057 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.360000, 1.360000, 1.370000, 1.380000, 1.380000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.410000, 1.420000, 1.430000, 1.440000, 1.440000, 1.460000, 1.460000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.520000, 1.540000, 1.550000, 1.570000, 1.590000, 1.610000, 1.630000, 1.640000, 1.660000, 1.680000, 1.710000, 1.740000, 1.760000, 1.780000, 1.810000, 1.830000, 1.870000, 1.880000, 1.920000, 1.960000, 2.000000, 2.040000, 2.090000, 2.130000, 2.160000, 2.210000, 2.270000, 2.330000, 2.380000, 2.450000, 2.520000, 2.580000, 2.640000, 3.870000, 3.830000, 3.790000, 3.770000, 3.730000, 3.710000, 3.690000, 3.670000, 3.660000, 3.640000, 3.610000, 3.600000, 3.590000, 3.570000, 3.560000, 3.550000, 3.540000, 0.780000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.700000, 0.710000, 0.710000, 0.730000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.730000, 0.730000, 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.690000, 0.690000, 0.690000, 0.710000, 0.710000, 0.760000, 1.530000, 1.540000, 1.540000, 1.550000, 1.550000, 1.560000, 1.570000, 1.590000, 1.600000, 1.630000, 1.630000, 1.640000, 1.650000, 1.670000, 1.680000, 1.710000, 1.720000, 1.760000, 1.780000, 1.780000, 1.810000, 1.840000, 1.860000, 1.890000, 1.930000, 1.960000, 1.990000, 2.020000, 2.040000, 2.100000, 2.140000, 2.180000, 2.230000, 2.260000, 2.320000, 2.380000, 2.440000, 2.490000, 2.550000, 2.630000, 2.610000, 2.580000, 2.540000, 2.520000, 2.470000, 1.890000, 1.860000, 1.840000, 1.830000, 1.820000, 1.800000, 1.790000, 1.780000, 1.770000, 1.760000, 1.750000, 1.750000, 1.740000, 1.740000, 1.770000, 1.970000, 2.190000, 1.320000, 0.970000, 0.920000, 0.970000, 2.220000, 2.200000, 2.200000, 2.200000, 2.190000, 2.190000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054591, 768285 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.207000, 1.823000, 0.470747 ], "estimate": [ 0.207000, 1.823000, 0.470747 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.350000, 1.340000, 1.340000, 1.350000, 1.360000, 1.350000, 1.360000, 1.360000, 1.360000, 1.370000, 1.370000, 1.370000, 1.380000, 1.380000, 1.390000, 1.390000, 1.400000, 1.400000, 1.410000, 1.420000, 1.430000, 1.430000, 1.450000, 1.460000, 1.460000, 1.460000, 1.470000, 1.480000, 1.500000, 1.510000, 1.530000, 1.540000, 1.560000, 1.580000, 1.590000, 1.620000, 1.630000, 1.650000, 1.670000, 1.700000, 1.720000, 1.740000, 1.770000, 1.800000, 1.820000, 1.860000, 1.880000, 1.910000, 1.950000, 1.990000, 2.030000, 2.070000, 2.110000, 2.150000, 2.210000, 2.250000, 2.310000, 2.370000, 2.420000, 2.500000, 2.560000, 2.630000, 3.880000, 3.830000, 3.790000, 3.770000, 3.730000, 3.710000, 3.680000, 3.670000, 3.660000, 3.640000, 3.610000, 3.600000, 3.580000, 3.580000, 3.560000, 3.550000, 3.540000, 3.530000, 0.740000, 0.730000, 0.710000, 0.710000, 0.690000, 0.700000, 0.710000, 0.700000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 1.480000, 1.540000, 1.550000, 1.550000, 1.550000, 1.560000, 1.580000, 1.590000, 1.600000, 1.620000, 1.620000, 1.630000, 1.650000, 1.670000, 1.690000, 1.710000, 1.720000, 1.750000, 1.760000, 1.790000, 1.810000, 1.840000, 1.860000, 1.880000, 1.930000, 1.960000, 1.980000, 2.020000, 2.050000, 2.100000, 2.130000, 2.180000, 2.230000, 2.270000, 2.320000, 2.370000, 2.430000, 2.370000, 2.550000, 2.630000, 2.620000, 2.580000, 2.550000, 2.520000, 2.490000, 1.890000, 1.870000, 1.850000, 1.830000, 1.820000, 1.810000, 1.790000, 1.780000, 1.770000, 1.760000, 1.760000, 1.750000, 1.750000, 1.740000, 1.800000, 1.950000, 2.160000, 1.300000, 0.960000, 0.930000, 0.980000, 2.220000, 2.200000, 2.210000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054591, 930788 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.207000, 1.823000, 0.440020 ], "estimate": [ 0.207000, 1.823000, 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": [ 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.340000, 1.340000, 1.340000, 1.350000, 1.350000, 1.350000, 1.360000, 1.360000, 1.360000, 1.370000, 1.370000, 1.380000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.410000, 1.420000, 1.420000, 1.430000, 1.450000, 1.460000, 1.460000, 1.460000, 1.470000, 1.490000, 1.500000, 1.510000, 1.520000, 1.540000, 1.560000, 1.580000, 1.600000, 1.620000, 1.630000, 1.650000, 1.670000, 1.700000, 1.720000, 1.750000, 1.780000, 1.800000, 1.820000, 1.860000, 1.890000, 1.910000, 1.950000, 1.990000, 2.030000, 2.070000, 2.110000, 2.160000, 2.210000, 2.260000, 2.320000, 2.380000, 2.440000, 2.510000, 2.570000, 2.650000, 3.860000, 3.820000, 3.780000, 3.750000, 3.730000, 3.700000, 3.680000, 3.660000, 3.650000, 3.630000, 3.610000, 3.600000, 3.580000, 3.570000, 3.560000, 3.540000, 3.540000, 3.530000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.710000, 0.720000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.710000, 0.710000, 0.720000, 1.500000, 1.540000, 1.540000, 1.540000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.630000, 1.630000, 1.640000, 1.660000, 1.670000, 1.700000, 1.710000, 1.730000, 1.770000, 1.780000, 1.790000, 1.810000, 1.850000, 1.870000, 1.900000, 1.930000, 1.960000, 2.000000, 2.030000, 2.070000, 2.110000, 2.140000, 2.190000, 2.240000, 2.290000, 2.340000, 2.390000, 2.340000, 2.500000, 2.570000, 2.630000, 2.610000, 2.580000, 2.540000, 2.520000, 1.940000, 1.890000, 1.870000, 1.840000, 1.830000, 1.830000, 1.810000, 1.790000, 1.780000, 1.770000, 1.760000, 1.760000, 1.750000, 1.750000, 1.750000, 1.800000, 2.000000, 2.250000, 1.000000, 0.930000, 0.930000, 0.980000, 2.230000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054592, 314481 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.206000, 1.823000, 0.384710 ], "estimate": [ 0.206000, 1.823000, 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": [ 1.350000, 1.350000, 1.350000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.350000, 1.340000, 1.340000, 1.350000, 1.350000, 1.350000, 1.360000, 1.360000, 1.370000, 1.370000, 1.370000, 1.380000, 1.380000, 1.390000, 1.390000, 1.410000, 1.410000, 1.420000, 1.430000, 1.430000, 1.450000, 1.460000, 1.470000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.530000, 1.550000, 1.570000, 1.580000, 1.600000, 1.630000, 1.640000, 1.660000, 1.680000, 1.710000, 1.740000, 1.760000, 1.790000, 1.820000, 1.840000, 1.880000, 1.900000, 1.950000, 1.970000, 2.010000, 2.050000, 2.090000, 2.140000, 2.190000, 2.230000, 2.290000, 2.340000, 2.400000, 2.480000, 2.540000, 2.610000, 3.880000, 3.840000, 3.790000, 3.770000, 3.740000, 3.710000, 3.700000, 3.670000, 3.660000, 3.640000, 3.620000, 3.600000, 3.580000, 3.580000, 3.560000, 3.550000, 3.540000, 3.530000, 0.780000, 0.720000, 0.710000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.700000, 0.700000, 0.700000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 1.530000, 1.550000, 1.540000, 1.550000, 1.560000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.690000, 1.700000, 1.720000, 1.770000, 1.770000, 1.780000, 1.810000, 1.830000, 1.850000, 1.890000, 1.920000, 1.960000, 1.980000, 2.010000, 2.060000, 2.100000, 2.130000, 2.180000, 2.230000, 2.260000, 2.310000, 2.370000, 2.430000, 2.340000, 2.540000, 2.620000, 2.630000, 2.600000, 2.560000, 2.540000, 2.510000, 1.900000, 1.880000, 1.860000, 1.840000, 1.830000, 1.820000, 1.800000, 1.790000, 1.780000, 1.770000, 1.760000, 1.760000, 1.750000, 1.750000, 1.790000, 1.920000, 2.120000, 2.250000, 0.970000, 0.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054592, 367270 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.207000, 1.823000, 0.323255 ], "estimate": [ 0.207000, 1.823000, 0.323255 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.120000, 1.070000, 1.360000, 1.350000, 1.340000, 1.340000, 1.340000, 1.340000, 1.330000, 1.340000, 1.340000, 1.330000, 1.340000, 1.340000, 1.340000, 1.340000, 1.350000, 1.350000, 1.350000, 1.350000, 1.360000, 1.360000, 1.370000, 1.370000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.410000, 1.420000, 1.430000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.500000, 1.510000, 1.530000, 1.530000, 1.550000, 1.570000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.690000, 1.710000, 1.740000, 1.760000, 1.790000, 1.820000, 1.850000, 1.880000, 1.910000, 1.940000, 1.970000, 2.010000, 2.070000, 2.100000, 2.150000, 2.200000, 2.240000, 2.300000, 2.360000, 2.430000, 2.500000, 2.550000, 2.630000, 3.860000, 3.820000, 3.790000, 3.760000, 3.730000, 3.710000, 3.690000, 3.660000, 3.650000, 3.630000, 3.620000, 3.590000, 3.580000, 3.570000, 3.560000, 3.540000, 3.540000, 3.530000, 3.510000, 0.710000, 0.710000, 0.700000, 0.690000, 0.700000, 0.710000, 0.710000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 1.530000, 1.550000, 1.550000, 1.560000, 1.570000, 1.590000, 1.570000, 1.610000, 1.610000, 1.630000, 1.640000, 1.660000, 1.670000, 1.700000, 1.710000, 1.730000, 1.770000, 1.780000, 1.800000, 1.820000, 1.850000, 1.870000, 1.900000, 1.930000, 1.970000, 2.000000, 2.030000, 2.070000, 2.110000, 2.140000, 2.200000, 2.240000, 2.270000, 2.340000, 2.400000, 2.430000, 2.510000, 2.570000, 2.630000, 2.630000, 2.590000, 2.560000, 2.530000, 2.490000, 1.900000, 1.880000, 1.860000, 1.840000, 1.830000, 1.820000, 1.810000, 1.790000, 1.780000, 1.770000, 1.770000, 1.760000, 1.770000, 1.760000, 1.800000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054592, 557808 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.206000, 1.823000, 0.274090 ], "estimate": [ 0.206000, 1.823000, 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": [ 1.370000, 1.370000, 1.370000, 1.360000, 1.310000, 1.050000, 1.340000, 1.340000, 1.340000, 1.340000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.320000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.340000, 1.340000, 1.340000, 1.350000, 1.350000, 1.360000, 1.360000, 1.370000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.410000, 1.430000, 1.430000, 1.440000, 1.460000, 1.470000, 1.470000, 1.480000, 1.500000, 1.510000, 1.520000, 1.540000, 1.550000, 1.570000, 1.590000, 1.610000, 1.630000, 1.640000, 1.670000, 1.690000, 1.720000, 1.740000, 1.760000, 1.800000, 1.820000, 1.860000, 1.890000, 1.930000, 1.970000, 1.990000, 2.040000, 2.080000, 2.120000, 2.170000, 2.230000, 2.270000, 2.330000, 2.390000, 2.450000, 2.530000, 2.590000, 3.880000, 3.830000, 3.800000, 3.770000, 3.730000, 3.710000, 3.690000, 3.670000, 3.650000, 3.630000, 3.610000, 3.600000, 3.580000, 3.580000, 3.560000, 3.550000, 3.530000, 3.530000, 3.520000, 0.730000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.710000, 0.720000, 0.710000, 0.720000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.720000, 0.710000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.810000, 1.540000, 1.540000, 1.560000, 1.560000, 1.580000, 1.600000, 1.610000, 1.600000, 1.630000, 1.630000, 1.650000, 1.670000, 1.700000, 1.710000, 1.710000, 1.750000, 1.790000, 1.790000, 1.810000, 1.840000, 1.860000, 1.890000, 1.920000, 1.960000, 1.980000, 2.020000, 2.050000, 2.090000, 2.140000, 2.190000, 2.230000, 2.270000, 2.280000, 2.380000, 2.430000, 2.340000, 2.550000, 2.630000, 2.630000, 2.600000, 2.580000, 2.540000, 2.520000, 1.910000, 1.890000, 1.870000, 1.850000, 1.830000, 1.830000, 1.810000, 1.800000, 1.790000, 1.780000, 1.770000, 1.780000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054592, 931395 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.207000, 1.823000, 0.231072 ], "estimate": [ 0.207000, 1.823000, 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": [ 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.360000, 1.340000, 1.050000, 1.340000, 1.340000, 1.340000, 1.340000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.320000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.350000, 1.360000, 1.360000, 1.370000, 1.370000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.510000, 1.520000, 1.530000, 1.550000, 1.570000, 1.580000, 1.610000, 1.620000, 1.640000, 1.660000, 1.690000, 1.710000, 1.740000, 1.760000, 1.790000, 1.820000, 1.850000, 1.890000, 1.910000, 1.960000, 1.980000, 2.020000, 2.070000, 2.110000, 2.160000, 2.210000, 2.260000, 2.320000, 2.380000, 2.440000, 2.510000, 2.570000, 2.810000, 3.840000, 3.800000, 3.780000, 3.730000, 3.720000, 3.700000, 3.670000, 3.660000, 3.630000, 3.610000, 3.600000, 3.580000, 3.580000, 3.560000, 3.550000, 3.530000, 3.530000, 3.520000, 3.510000, 0.710000, 0.710000, 0.700000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.700000, 0.700000, 0.720000, 0.730000, 0.730000, 0.740000, 1.550000, 1.540000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.610000, 1.630000, 1.630000, 1.640000, 1.670000, 1.690000, 1.700000, 1.720000, 1.740000, 1.780000, 1.790000, 1.810000, 1.840000, 1.860000, 1.890000, 1.920000, 1.960000, 1.980000, 2.020000, 2.060000, 2.070000, 2.130000, 2.180000, 2.230000, 2.270000, 2.300000, 2.380000, 2.430000, 2.340000, 2.540000, 2.610000, 2.650000, 2.610000, 2.570000, 2.550000, 2.520000, 1.910000, 1.900000, 1.880000, 1.860000, 1.840000, 1.830000, 1.820000, 1.800000, 1.800000, 1.790000, 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": [ 976054592, 932590 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.208000, 1.823000, 0.181908 ], "estimate": [ 0.208000, 1.823000, 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": [ 1.410000, 1.400000, 1.390000, 1.380000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.160000, 1.050000, 1.340000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.310000, 1.320000, 1.330000, 1.330000, 1.330000, 1.330000, 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, 1.420000, 1.430000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.540000, 1.560000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.680000, 1.710000, 1.740000, 1.760000, 1.790000, 1.820000, 1.850000, 1.890000, 1.910000, 1.960000, 1.990000, 2.030000, 2.070000, 2.110000, 2.160000, 2.220000, 2.270000, 2.330000, 2.380000, 2.440000, 2.520000, 2.580000, 3.070000, 3.830000, 3.800000, 3.770000, 3.730000, 3.720000, 3.690000, 3.670000, 3.650000, 3.630000, 3.610000, 3.600000, 3.580000, 3.570000, 3.560000, 3.550000, 3.540000, 3.530000, 3.520000, 3.510000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.720000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.640000, 1.660000, 1.680000, 1.690000, 1.700000, 1.720000, 1.750000, 1.790000, 1.790000, 1.820000, 1.840000, 1.870000, 1.890000, 1.930000, 1.960000, 1.990000, 2.020000, 2.060000, 2.090000, 2.140000, 2.200000, 2.230000, 2.280000, 2.300000, 2.390000, 2.430000, 2.350000, 2.550000, 2.630000, 2.640000, 2.610000, 2.580000, 2.550000, 2.520000, 1.910000, 1.900000, 1.880000, 1.860000, 1.840000, 1.830000, 1.820000, 1.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054593, 239462 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.209000, 1.824000, 0.120452 ], "estimate": [ 0.209000, 1.824000, 0.120452 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.430000, 1.420000, 1.410000, 1.400000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.360000, 1.350000, 1.250000, 1.040000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.320000, 1.320000, 1.310000, 1.300000, 1.310000, 1.320000, 1.320000, 1.320000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.340000, 1.350000, 1.350000, 1.360000, 1.370000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.470000, 1.470000, 1.480000, 1.500000, 1.510000, 1.530000, 1.540000, 1.560000, 1.580000, 1.590000, 1.620000, 1.630000, 1.650000, 1.680000, 1.710000, 1.730000, 1.760000, 1.780000, 1.820000, 1.840000, 1.880000, 1.900000, 1.950000, 1.980000, 2.030000, 2.060000, 2.100000, 2.150000, 2.200000, 2.250000, 2.320000, 2.370000, 2.440000, 2.510000, 2.570000, 2.760000, 3.840000, 3.800000, 3.780000, 3.730000, 3.720000, 3.700000, 3.670000, 3.650000, 3.630000, 3.620000, 3.600000, 3.580000, 3.580000, 3.560000, 3.550000, 3.540000, 3.530000, 3.520000, 3.510000, 0.720000, 0.710000, 0.700000, 0.690000, 0.700000, 0.710000, 0.730000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.870000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.620000, 1.630000, 1.640000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.750000, 1.790000, 1.790000, 1.810000, 1.850000, 1.860000, 1.890000, 1.920000, 1.960000, 1.980000, 2.020000, 2.060000, 2.080000, 2.140000, 2.190000, 2.230000, 2.260000, 2.300000, 2.370000, 2.420000, 2.360000, 2.540000, 2.620000, 2.640000, 2.620000, 2.590000, 2.550000, 2.540000, 1.920000, 1.900000, 1.890000, 1.870000, 1.850000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054593, 626909 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.211000, 1.824000, 0.077434 ], "estimate": [ 0.211000, 1.824000, 0.077434 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.380000, 1.370000, 1.360000, 1.360000, 1.350000, 1.340000, 1.160000, 1.030000, 1.320000, 1.330000, 1.330000, 1.330000, 1.320000, 1.320000, 1.320000, 1.310000, 1.300000, 1.300000, 1.300000, 1.310000, 1.320000, 1.320000, 1.320000, 1.320000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.340000, 1.350000, 1.350000, 1.360000, 1.370000, 1.380000, 1.380000, 1.400000, 1.410000, 1.410000, 1.420000, 1.430000, 1.450000, 1.470000, 1.470000, 1.480000, 1.490000, 1.510000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, 1.620000, 1.640000, 1.650000, 1.680000, 1.710000, 1.720000, 1.740000, 1.770000, 1.810000, 1.830000, 1.870000, 1.890000, 1.930000, 1.960000, 2.000000, 2.050000, 2.090000, 2.140000, 2.180000, 2.230000, 2.300000, 2.350000, 2.420000, 2.490000, 2.550000, 2.630000, 3.840000, 3.800000, 3.770000, 3.730000, 3.710000, 3.690000, 3.660000, 3.640000, 3.630000, 3.610000, 3.590000, 3.580000, 3.580000, 3.560000, 3.550000, 3.540000, 3.530000, 3.520000, 3.510000, 3.510000, 0.710000, 0.700000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.710000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.710000, 0.720000, 0.720000, 0.720000, 0.700000, 0.700000, 0.710000, 0.720000, 0.710000, 0.730000, 0.730000, 0.740000, 0.750000, 1.540000, 1.550000, 1.570000, 1.580000, 1.590000, 1.600000, 1.620000, 1.640000, 1.640000, 1.660000, 1.670000, 1.690000, 1.700000, 1.710000, 1.740000, 1.780000, 1.790000, 1.810000, 1.840000, 1.860000, 1.900000, 1.930000, 1.960000, 1.980000, 2.010000, 2.050000, 2.090000, 2.130000, 2.190000, 2.230000, 2.270000, 2.310000, 2.380000, 2.420000, 2.360000, 2.540000, 2.620000, 2.650000, 2.630000, 2.590000, 2.550000, 2.540000, 1.940000, 1.900000 ], "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": [ 976054593, 628059 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.212000, 1.824000, 0.034415 ], "estimate": [ 0.212000, 1.824000, 0.034415 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.460000, 1.450000, 1.430000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.380000, 1.370000, 1.360000, 1.350000, 1.350000, 1.340000, 1.180000, 1.040000, 1.310000, 1.320000, 1.320000, 1.320000, 1.310000, 1.310000, 1.310000, 1.310000, 1.300000, 1.300000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.320000, 1.320000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 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, 1.470000, 1.470000, 1.480000, 1.500000, 1.520000, 1.530000, 1.550000, 1.570000, 1.590000, 1.610000, 1.630000, 1.650000, 1.670000, 1.700000, 1.720000, 1.740000, 1.770000, 1.800000, 1.820000, 1.860000, 1.890000, 1.920000, 1.960000, 2.000000, 2.040000, 2.090000, 2.130000, 2.180000, 2.220000, 2.290000, 2.340000, 2.420000, 2.480000, 2.540000, 2.620000, 3.850000, 3.800000, 3.770000, 3.740000, 3.710000, 3.680000, 3.660000, 3.650000, 3.630000, 3.610000, 3.590000, 3.580000, 3.580000, 3.560000, 3.550000, 3.540000, 3.530000, 3.520000, 3.510000, 3.510000, 0.700000, 0.700000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.620000, 1.640000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.710000, 1.740000, 1.770000, 1.800000, 1.820000, 1.850000, 1.860000, 1.900000, 1.930000, 1.960000, 1.980000, 2.010000, 2.050000, 2.100000, 2.130000, 2.190000, 2.220000, 2.270000, 2.310000, 2.370000, 2.420000, 2.360000, 2.540000, 2.610000, 2.670000, 2.630000, 2.600000, 2.560000, 2.560000 ], "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": [ 976054593, 731008 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.213000, 1.824000, -0.027040 ], "estimate": [ 0.213000, 1.824000, -0.027040 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.430000, 1.420000, 1.410000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.020000, 1.290000, 1.320000, 1.310000, 1.310000, 1.310000, 1.310000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.460000, 1.470000, 1.480000, 1.480000, 1.500000, 1.520000, 1.530000, 1.560000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.680000, 1.710000, 1.740000, 1.750000, 1.780000, 1.810000, 1.830000, 1.870000, 1.900000, 1.950000, 1.970000, 2.010000, 2.060000, 2.110000, 2.150000, 2.200000, 2.260000, 2.320000, 2.380000, 2.450000, 2.520000, 2.590000, 3.860000, 3.820000, 3.790000, 3.750000, 3.720000, 3.690000, 3.670000, 3.650000, 3.640000, 3.620000, 3.600000, 3.580000, 3.580000, 3.570000, 3.550000, 3.550000, 3.530000, 3.520000, 3.510000, 3.500000, 3.500000, 0.700000, 0.700000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.710000, 0.690000, 0.700000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 1.550000, 1.560000, 1.570000, 1.590000, 1.610000, 1.620000, 1.620000, 1.640000, 1.640000, 1.660000, 1.680000, 1.700000, 1.720000, 1.740000, 1.770000, 1.800000, 1.800000, 1.840000, 1.860000, 1.890000, 1.910000, 1.960000, 1.970000, 2.000000, 2.040000, 2.080000, 2.120000, 2.160000, 2.200000, 2.240000, 2.280000, 2.350000, 2.410000, 2.360000, 2.530000, 2.590000, 2.650000, 2.630000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054594, 556414 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.215000, 1.824000, -0.057768 ], "estimate": [ 0.215000, 1.824000, -0.057768 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.560000, 1.540000, 1.520000, 1.510000, 1.490000, 1.480000, 1.470000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.350000, 1.350000, 1.340000, 1.330000, 1.330000, 1.270000, 1.010000, 1.300000, 1.310000, 1.310000, 1.310000, 1.300000, 1.300000, 1.290000, 1.300000, 1.290000, 1.290000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.310000, 1.310000, 1.310000, 1.320000, 1.320000, 1.330000, 1.330000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.410000, 1.430000, 1.440000, 1.450000, 1.470000, 1.470000, 1.480000, 1.500000, 1.520000, 1.530000, 1.550000, 1.580000, 1.590000, 1.610000, 1.630000, 1.650000, 1.680000, 1.700000, 1.730000, 1.750000, 1.780000, 1.810000, 1.830000, 1.870000, 1.900000, 1.950000, 1.970000, 2.020000, 2.070000, 2.110000, 2.150000, 2.200000, 2.260000, 2.320000, 2.380000, 2.450000, 2.520000, 2.590000, 3.850000, 3.810000, 3.780000, 3.740000, 3.710000, 3.690000, 3.660000, 3.650000, 3.640000, 3.620000, 3.590000, 3.580000, 3.570000, 3.560000, 3.550000, 3.540000, 3.530000, 3.520000, 3.510000, 3.510000, 3.500000, 0.700000, 0.700000, 0.690000, 0.710000, 0.720000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.730000, 0.740000, 0.730000, 0.730000, 0.740000, 0.730000, 0.720000, 0.700000, 0.700000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 1.550000, 1.560000, 1.580000, 1.600000, 1.600000, 1.620000, 1.620000, 1.640000, 1.650000, 1.670000, 1.690000, 1.700000, 1.730000, 1.740000, 1.770000, 1.790000, 1.820000, 1.840000, 1.860000, 1.890000, 1.930000, 1.950000, 1.980000, 2.010000, 2.050000, 2.090000, 2.130000, 2.170000, 2.220000, 2.260000, 2.310000, 2.360000, 2.420000, 2.380000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054594, 557611 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.216000, 1.824000, -0.063913 ], "estimate": [ 0.216000, 1.824000, -0.063913 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.580000, 1.560000, 1.540000, 1.530000, 1.510000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.350000, 1.350000, 1.340000, 1.330000, 1.330000, 1.280000, 1.010000, 1.280000, 1.310000, 1.310000, 1.300000, 1.300000, 1.300000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.300000, 1.300000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.320000, 1.330000, 1.330000, 1.330000, 1.340000, 1.350000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.450000, 1.470000, 1.470000, 1.480000, 1.490000, 1.510000, 1.530000, 1.550000, 1.570000, 1.590000, 1.610000, 1.630000, 1.640000, 1.670000, 1.700000, 1.730000, 1.750000, 1.780000, 1.800000, 1.820000, 1.860000, 1.900000, 1.930000, 1.970000, 2.010000, 2.050000, 2.090000, 2.140000, 2.200000, 2.240000, 2.310000, 2.370000, 2.440000, 2.510000, 2.580000, 3.850000, 3.810000, 3.780000, 3.740000, 3.710000, 3.680000, 3.670000, 3.650000, 3.640000, 3.610000, 3.590000, 3.570000, 3.580000, 3.560000, 3.550000, 3.540000, 3.530000, 3.520000, 3.510000, 3.510000, 3.500000, 0.710000, 0.710000, 0.690000, 0.710000, 0.710000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.740000, 0.720000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 1.520000, 1.570000, 1.570000, 1.590000, 1.600000, 1.620000, 1.630000, 1.630000, 1.640000, 1.660000, 1.690000, 1.700000, 1.730000, 1.750000, 1.770000, 1.810000, 1.810000, 1.840000, 1.860000, 1.900000, 1.920000, 1.960000, 1.970000, 2.020000, 2.050000, 2.090000, 2.120000, 2.170000, 2.210000, 2.250000, 2.300000, 2.360000, 2.400000, 2.380000 ], "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": [ 976054594, 558575 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.217000, 1.824000, -0.063913 ], "estimate": [ 0.217000, 1.824000, -0.063913 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.580000, 1.560000, 1.540000, 1.530000, 1.510000, 1.490000, 1.480000, 1.470000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.350000, 1.340000, 1.340000, 1.330000, 1.330000, 1.270000, 1.010000, 1.280000, 1.310000, 1.310000, 1.310000, 1.300000, 1.300000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.300000, 1.300000, 1.300000, 1.310000, 1.310000, 1.310000, 1.320000, 1.320000, 1.330000, 1.330000, 1.330000, 1.340000, 1.350000, 1.350000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.450000, 1.460000, 1.470000, 1.480000, 1.500000, 1.510000, 1.530000, 1.550000, 1.570000, 1.590000, 1.610000, 1.630000, 1.640000, 1.670000, 1.700000, 1.730000, 1.750000, 1.780000, 1.800000, 1.820000, 1.860000, 1.890000, 1.930000, 1.970000, 2.000000, 2.050000, 2.090000, 2.140000, 2.190000, 2.240000, 2.310000, 2.370000, 2.430000, 2.510000, 2.570000, 2.670000, 3.810000, 3.780000, 3.740000, 3.720000, 3.690000, 3.660000, 3.650000, 3.640000, 3.620000, 3.590000, 3.580000, 3.580000, 3.560000, 3.550000, 3.540000, 3.530000, 3.520000, 3.510000, 3.510000, 3.500000, 0.710000, 0.700000, 0.690000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.760000, 1.150000, 1.570000, 1.580000, 1.590000, 1.610000, 1.610000, 1.620000, 1.630000, 1.650000, 1.660000, 1.680000, 1.700000, 1.730000, 1.740000, 1.770000, 1.800000, 1.800000, 1.840000, 1.860000, 1.890000, 1.910000, 1.950000, 1.970000, 2.010000, 2.040000, 2.090000, 2.120000, 2.160000, 2.200000, 2.240000, 2.290000, 2.350000, 2.410000, 2.380000 ], "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": [ 976054594, 559631 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.232000, 1.823000, -0.063913 ], "estimate": [ 0.232000, 1.823000, -0.063913 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.590000, 1.570000, 1.550000, 1.530000, 1.510000, 1.500000, 1.480000, 1.470000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.330000, 1.330000, 1.310000, 1.000000, 1.240000, 1.310000, 1.310000, 1.300000, 1.300000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.280000, 1.290000, 1.290000, 1.290000, 1.300000, 1.300000, 1.310000, 1.310000, 1.310000, 1.320000, 1.320000, 1.330000, 1.330000, 1.330000, 1.340000, 1.350000, 1.350000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, 1.620000, 1.640000, 1.660000, 1.680000, 1.710000, 1.740000, 1.750000, 1.780000, 1.820000, 1.840000, 1.880000, 1.910000, 1.950000, 1.990000, 2.020000, 2.070000, 2.120000, 2.170000, 2.220000, 2.280000, 2.340000, 2.400000, 2.470000, 2.530000, 2.610000, 3.820000, 3.790000, 3.760000, 3.730000, 3.700000, 3.670000, 3.650000, 3.640000, 3.620000, 3.600000, 3.580000, 3.570000, 3.570000, 3.550000, 3.540000, 3.530000, 3.520000, 3.510000, 3.500000, 3.500000, 3.500000, 0.700000, 0.690000, 0.690000, 0.710000, 0.720000, 0.730000, 0.720000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.720000, 0.730000, 0.730000, 0.710000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.750000, 0.750000, 0.760000, 0.760000, 1.550000, 1.570000, 1.580000, 1.600000, 1.610000, 1.610000, 1.630000, 1.640000, 1.650000, 1.670000, 1.690000, 1.710000, 1.730000, 1.750000, 1.780000, 1.800000, 1.820000, 1.850000, 1.870000, 1.910000, 1.930000, 1.970000, 2.000000, 2.020000, 2.060000, 2.090000, 2.140000, 2.200000, 2.230000, 2.270000, 2.320000, 2.380000, 2.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054594, 737684 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.277000, 1.819000, -0.076205 ], "estimate": [ 0.277000, 1.819000, -0.076205 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.560000, 1.530000, 1.510000, 1.500000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.390000, 1.380000, 1.380000, 1.360000, 1.360000, 1.340000, 1.330000, 1.330000, 1.330000, 1.320000, 1.300000, 0.990000, 1.050000, 1.290000, 1.300000, 1.290000, 1.290000, 1.280000, 1.280000, 1.280000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.280000, 1.280000, 1.280000, 1.280000, 1.290000, 1.290000, 1.290000, 1.300000, 1.300000, 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.410000, 1.410000, 1.420000, 1.430000, 1.450000, 1.460000, 1.470000, 1.480000, 1.500000, 1.520000, 1.530000, 1.560000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.690000, 1.720000, 1.740000, 1.770000, 1.790000, 1.820000, 1.860000, 1.890000, 1.930000, 1.970000, 2.000000, 2.050000, 2.090000, 2.140000, 2.190000, 2.240000, 2.310000, 2.370000, 2.440000, 2.510000, 2.580000, 3.800000, 3.770000, 3.740000, 3.700000, 3.670000, 3.650000, 3.640000, 3.610000, 3.590000, 3.580000, 3.570000, 3.550000, 3.550000, 3.530000, 3.530000, 3.510000, 3.500000, 3.490000, 3.480000, 3.480000, 3.480000, 0.740000, 0.680000, 0.680000, 0.680000, 0.700000, 0.700000, 0.700000, 0.720000, 0.710000, 0.710000, 0.710000, 0.720000, 0.710000, 0.700000, 0.720000, 0.700000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 1.040000, 1.560000, 1.570000, 1.580000, 1.600000, 1.600000, 1.620000, 1.630000, 1.650000, 1.670000, 1.690000, 1.700000, 1.730000, 1.760000, 1.770000, 1.800000, 1.830000, 1.850000, 1.880000, 1.900000, 1.940000, 1.970000, 2.000000, 2.040000, 2.070000, 2.100000, 2.160000, 2.210000, 2.240000, 2.290000, 2.350000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054595, 721420 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.353000, 1.813000, -0.088496 ], "estimate": [ 0.353000, 1.813000, -0.088496 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.530000, 1.520000, 1.500000, 1.480000, 1.470000, 1.460000, 1.440000, 1.430000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.340000, 1.330000, 1.330000, 1.330000, 1.310000, 1.310000, 1.300000, 0.960000, 0.980000, 1.270000, 1.270000, 1.270000, 1.260000, 1.250000, 1.250000, 1.250000, 1.240000, 1.240000, 1.240000, 1.230000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.230000, 1.230000, 1.240000, 1.240000, 1.250000, 1.250000, 1.260000, 1.260000, 1.260000, 1.270000, 1.270000, 1.280000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.330000, 1.330000, 1.350000, 1.360000, 1.370000, 1.390000, 1.400000, 1.410000, 1.430000, 1.440000, 1.460000, 1.470000, 1.480000, 1.500000, 1.520000, 1.540000, 1.560000, 1.590000, 1.610000, 1.630000, 1.650000, 1.680000, 1.700000, 1.740000, 1.750000, 1.790000, 1.820000, 1.850000, 1.890000, 1.930000, 1.960000, 2.000000, 2.060000, 2.110000, 2.150000, 2.210000, 2.270000, 2.340000, 2.400000, 2.470000, 2.550000, 3.730000, 3.690000, 3.670000, 3.640000, 3.610000, 3.590000, 3.560000, 3.560000, 3.540000, 3.520000, 3.510000, 3.490000, 3.480000, 3.470000, 3.460000, 3.450000, 3.450000, 3.440000, 3.440000, 3.420000, 3.420000, 3.430000, 3.420000, 1.210000, 0.630000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.670000, 0.670000, 0.660000, 0.640000, 0.620000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 1.530000, 1.550000, 1.580000, 1.590000, 1.600000, 1.620000, 1.640000, 1.660000, 1.680000, 1.700000, 1.720000, 1.760000, 1.770000, 1.800000, 1.820000, 1.850000, 1.880000, 1.910000, 1.950000, 1.980000, 2.020000, 2.050000, 2.090000, 2.140000, 2.200000, 2.230000, 2.280000 ], "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": [ 976054595, 147093 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.428000, 1.806000, -0.088496 ], "estimate": [ 0.428000, 1.806000, -0.088496 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.440000, 1.430000, 1.410000, 1.400000, 1.380000, 1.370000, 1.360000, 1.340000, 1.330000, 1.330000, 1.310000, 1.310000, 1.290000, 1.280000, 0.990000, 0.950000, 1.180000, 1.250000, 1.240000, 1.230000, 1.230000, 1.230000, 1.230000, 1.220000, 1.210000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.190000, 1.190000, 1.190000, 1.190000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.220000, 1.220000, 1.230000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.280000, 1.290000, 1.310000, 1.320000, 1.330000, 1.330000, 1.340000, 1.360000, 1.380000, 1.390000, 1.410000, 1.430000, 1.440000, 1.460000, 1.470000, 1.490000, 1.510000, 1.530000, 1.550000, 1.580000, 1.600000, 1.630000, 1.650000, 1.680000, 1.700000, 1.730000, 1.760000, 1.800000, 1.830000, 1.870000, 1.900000, 1.960000, 2.000000, 2.050000, 2.090000, 2.140000, 2.210000, 2.270000, 2.340000, 2.400000, 2.550000, 3.650000, 3.620000, 3.580000, 3.560000, 3.530000, 3.520000, 3.500000, 3.480000, 3.460000, 3.450000, 3.440000, 3.430000, 3.410000, 3.410000, 3.400000, 3.380000, 3.380000, 3.370000, 3.360000, 3.350000, 3.350000, 3.350000, 3.350000, 3.340000, 1.160000, 1.150000, 1.340000, 0.610000, 0.610000, 0.600000, 0.620000, 0.620000, 0.610000, 0.600000, 0.610000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 1.560000, 1.570000, 1.590000, 1.620000, 1.630000, 1.660000, 1.680000, 1.700000, 1.730000, 1.760000, 1.780000, 1.820000, 1.840000, 1.870000, 1.910000, 1.950000, 1.980000, 2.010000, 2.060000, 2.100000, 2.160000 ], "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": [ 976054595, 567877 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.483000, 1.801000, -0.100787 ], "estimate": [ 0.483000, 1.801000, -0.100787 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.440000, 1.420000, 1.400000, 1.390000, 1.370000, 1.360000, 1.340000, 1.330000, 1.320000, 1.310000, 1.290000, 1.280000, 1.260000, 0.930000, 0.950000, 1.220000, 1.230000, 1.230000, 1.220000, 1.200000, 1.200000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.170000, 1.170000, 1.160000, 1.160000, 1.160000, 1.160000, 1.150000, 1.150000, 1.160000, 1.150000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.160000, 1.170000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.200000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.280000, 1.300000, 1.320000, 1.330000, 1.340000, 1.360000, 1.370000, 1.390000, 1.410000, 1.420000, 1.440000, 1.470000, 1.480000, 1.500000, 1.520000, 1.550000, 1.580000, 1.600000, 1.620000, 1.640000, 1.680000, 1.710000, 1.740000, 1.780000, 1.820000, 1.850000, 1.890000, 1.940000, 1.980000, 2.030000, 2.080000, 2.140000, 2.200000, 2.270000, 2.340000, 2.530000, 3.580000, 3.550000, 3.510000, 3.490000, 3.470000, 3.450000, 3.430000, 3.410000, 3.410000, 3.390000, 3.370000, 3.360000, 3.350000, 3.340000, 3.330000, 3.320000, 3.310000, 3.300000, 3.300000, 3.300000, 3.300000, 3.300000, 3.300000, 3.290000, 3.300000, 3.310000, 1.120000, 1.100000, 1.280000, 1.290000, 1.260000, 0.590000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.610000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.660000, 0.680000, 0.770000, 1.620000, 1.640000, 1.660000, 1.690000, 1.720000, 1.740000, 1.770000, 1.790000, 1.840000, 1.860000, 1.910000, 1.960000, 1.980000, 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": [ 976054595, 587416 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.528000, 1.796000, -0.106932 ], "estimate": [ 0.528000, 1.796000, -0.106932 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.430000, 1.410000, 1.390000, 1.380000, 1.360000, 1.340000, 1.330000, 1.330000, 1.310000, 1.290000, 1.280000, 1.260000, 0.910000, 0.900000, 1.170000, 1.230000, 1.220000, 1.210000, 1.200000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.120000, 1.110000, 1.130000, 1.120000, 1.120000, 1.130000, 1.120000, 1.130000, 1.140000, 1.140000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.200000, 1.200000, 1.210000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.320000, 1.330000, 1.350000, 1.370000, 1.380000, 1.400000, 1.420000, 1.440000, 1.470000, 1.480000, 1.500000, 1.520000, 1.550000, 1.580000, 1.610000, 1.630000, 1.650000, 1.680000, 1.720000, 1.760000, 1.800000, 1.830000, 1.870000, 1.920000, 1.960000, 2.010000, 2.070000, 2.120000, 2.190000, 2.250000, 2.330000, 3.560000, 3.520000, 3.490000, 3.450000, 3.440000, 3.430000, 3.410000, 3.380000, 3.370000, 3.360000, 3.340000, 3.330000, 3.320000, 3.310000, 3.300000, 3.290000, 3.280000, 3.280000, 3.280000, 3.260000, 3.260000, 3.260000, 3.260000, 3.260000, 3.270000, 3.280000, 3.280000, 1.140000, 1.060000, 1.060000, 1.260000, 1.260000, 1.270000, 1.090000, 0.570000, 0.530000, 0.530000, 0.520000, 0.500000, 0.490000, 0.500000, 0.500000, 0.510000, 0.520000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.580000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.650000, 0.650000, 0.670000, 0.810000, 1.660000, 1.680000, 1.720000, 1.730000, 1.770000, 1.810000, 1.850000, 1.880000, 1.910000, 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": [ 976054595, 777943 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.576000, 1.791000, -0.100787 ], "estimate": [ 0.576000, 1.791000, -0.100787 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.350000, 1.330000, 1.320000, 1.310000, 1.290000, 1.280000, 1.210000, 0.900000, 0.920000, 1.200000, 1.220000, 1.220000, 1.200000, 1.200000, 1.190000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.140000, 1.130000, 1.120000, 1.120000, 1.120000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.100000, 1.100000, 1.090000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.200000, 1.200000, 1.220000, 1.230000, 1.230000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.470000, 1.490000, 1.510000, 1.540000, 1.570000, 1.590000, 1.620000, 1.640000, 1.680000, 1.720000, 1.750000, 1.780000, 1.820000, 1.870000, 1.900000, 1.960000, 2.010000, 2.070000, 2.120000, 2.190000, 2.260000, 2.560000, 3.480000, 3.450000, 3.430000, 3.410000, 3.390000, 3.370000, 3.350000, 3.330000, 3.320000, 3.310000, 3.290000, 3.290000, 3.280000, 3.270000, 3.260000, 3.250000, 3.240000, 3.230000, 3.220000, 3.210000, 3.220000, 3.220000, 3.220000, 3.220000, 3.230000, 3.240000, 3.250000, 3.250000, 1.040000, 1.020000, 1.040000, 1.230000, 1.230000, 1.210000, 1.140000, 0.940000, 0.540000, 0.510000, 0.470000, 0.460000, 0.470000, 0.480000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.530000, 0.520000, 0.530000, 0.530000, 0.540000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000, 0.570000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.610000, 0.620000, 0.640000, 0.640000, 0.650000, 1.690000, 1.730000, 1.750000, 1.780000, 1.820000, 1.850000, 1.890000, 1.940000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054596, 168483 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.643000, 1.784000, -0.106932 ], "estimate": [ 0.643000, 1.784000, -0.106932 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.310000, 1.300000, 1.280000, 0.910000, 0.920000, 1.180000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.070000, 1.070000, 1.070000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.480000, 1.510000, 1.530000, 1.560000, 1.580000, 1.620000, 1.640000, 1.680000, 1.720000, 1.750000, 1.790000, 1.830000, 1.870000, 1.920000, 1.970000, 2.030000, 2.090000, 2.150000, 2.220000, 3.460000, 3.430000, 3.400000, 3.380000, 3.360000, 3.340000, 3.320000, 3.310000, 3.290000, 3.270000, 3.270000, 3.250000, 3.240000, 3.230000, 3.220000, 3.210000, 3.200000, 3.190000, 3.180000, 3.180000, 3.180000, 3.180000, 3.180000, 3.180000, 3.180000, 3.180000, 3.190000, 3.200000, 3.200000, 3.210000, 1.190000, 0.990000, 0.990000, 1.180000, 1.180000, 1.180000, 1.170000, 1.090000, 0.940000, 0.800000, 0.700000, 0.490000, 0.450000, 0.450000, 0.460000, 0.470000, 0.470000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.490000, 0.500000, 0.500000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.540000, 0.540000, 0.560000, 0.550000, 0.570000, 0.560000, 0.580000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.630000, 0.650000, 0.870000, 1.800000, 1.840000, 1.880000, 1.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054596, 169680 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.714000, 1.776000, -0.113078 ], "estimate": [ 0.714000, 1.776000, -0.113078 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.930000, 1.250000, 1.230000, 1.220000, 1.200000, 1.200000, 1.190000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.070000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.370000, 1.400000, 1.420000, 1.440000, 1.470000, 1.490000, 1.510000, 1.540000, 1.580000, 1.610000, 1.640000, 1.680000, 1.710000, 1.750000, 1.790000, 1.830000, 1.880000, 1.940000, 1.990000, 2.050000, 2.110000, 2.170000, 3.370000, 3.340000, 3.330000, 3.290000, 3.270000, 3.260000, 3.250000, 3.230000, 3.210000, 3.190000, 3.180000, 3.170000, 3.170000, 3.160000, 3.140000, 3.140000, 3.120000, 3.120000, 3.110000, 3.110000, 3.110000, 3.110000, 3.110000, 3.110000, 3.110000, 3.120000, 3.130000, 3.130000, 3.150000, 3.160000, 3.170000, 3.160000, 1.110000, 0.930000, 0.910000, 1.140000, 1.140000, 1.140000, 1.100000, 1.040000, 0.970000, 0.890000, 0.750000, 0.660000, 0.570000, 0.550000, 0.500000, 0.480000, 0.450000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.440000, 0.440000, 0.440000, 0.450000, 0.460000, 0.450000, 0.460000, 0.470000, 0.470000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.520000, 0.510000, 0.530000, 0.540000, 0.550000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.620000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054596, 397506 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.772000, 1.770000, -0.119223 ], "estimate": [ 0.772000, 1.770000, -0.119223 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.230000, 1.220000, 1.200000, 1.190000, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.980000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.330000, 1.360000, 1.390000, 1.410000, 1.440000, 1.460000, 1.480000, 1.510000, 1.550000, 1.580000, 1.620000, 1.640000, 1.680000, 1.730000, 1.760000, 1.800000, 1.860000, 1.910000, 1.970000, 2.040000, 2.090000, 3.320000, 3.290000, 3.270000, 3.250000, 3.220000, 3.210000, 3.190000, 3.170000, 3.160000, 3.150000, 3.140000, 3.120000, 3.110000, 3.100000, 3.090000, 3.080000, 3.070000, 3.070000, 3.060000, 3.050000, 3.060000, 3.060000, 3.060000, 3.050000, 3.060000, 3.070000, 3.080000, 3.080000, 3.090000, 3.100000, 3.110000, 3.120000, 3.130000, 3.150000, 1.080000, 0.970000, 0.870000, 0.850000, 1.090000, 1.100000, 1.100000, 1.030000, 0.970000, 0.900000, 0.810000, 0.720000, 0.670000, 0.620000, 0.590000, 0.560000, 0.530000, 0.500000, 0.490000, 0.470000, 0.450000, 0.430000, 0.420000, 0.430000, 0.400000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.440000, 0.430000, 0.440000, 0.450000, 0.450000, 0.460000, 0.470000, 0.470000, 0.480000, 0.490000, 0.500000, 0.500000, 0.520000, 0.530000, 0.540000, 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": [ 976054596, 664670 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.819000, 1.764000, -0.131514 ], "estimate": [ 0.819000, 1.764000, -0.131514 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.950000, 0.940000, 0.950000, 0.940000, 0.950000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.290000, 1.320000, 1.340000, 1.360000, 1.390000, 1.410000, 1.440000, 1.460000, 1.490000, 1.520000, 1.550000, 1.590000, 1.620000, 1.660000, 1.700000, 1.740000, 1.800000, 1.840000, 1.900000, 1.950000, 2.020000, 2.190000, 3.250000, 3.230000, 3.200000, 3.180000, 3.160000, 3.150000, 3.140000, 3.120000, 3.110000, 3.100000, 3.080000, 3.070000, 3.060000, 3.050000, 3.030000, 3.030000, 3.020000, 3.030000, 3.010000, 3.010000, 3.010000, 3.020000, 3.020000, 3.020000, 3.030000, 3.030000, 3.030000, 3.040000, 3.050000, 3.060000, 3.080000, 3.090000, 3.090000, 3.110000, 3.120000, 1.050000, 0.970000, 0.880000, 0.820000, 0.840000, 1.060000, 1.070000, 1.040000, 0.940000, 0.900000, 0.830000, 0.770000, 0.710000, 0.670000, 0.620000, 0.610000, 0.580000, 0.550000, 0.520000, 0.510000, 0.490000, 0.480000, 0.460000, 0.450000, 0.440000, 0.430000, 0.420000, 0.370000, 0.440000, 0.390000, 0.390000, 0.390000, 0.400000, 0.410000, 0.410000, 0.410000, 0.430000, 0.430000, 0.440000, 0.450000, 0.450000, 0.450000, 0.470000, 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": [ 976054596, 737771 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.871000, 1.757000, -0.137660 ], "estimate": [ 0.871000, 1.757000, -0.137660 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.150000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.930000, 0.930000, 0.920000, 0.920000, 0.930000, 0.920000, 0.920000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.060000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.190000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.290000, 1.320000, 1.340000, 1.370000, 1.390000, 1.410000, 1.440000, 1.470000, 1.500000, 1.530000, 1.570000, 1.610000, 1.640000, 1.680000, 1.720000, 1.780000, 1.820000, 1.880000, 1.940000, 2.000000, 3.230000, 3.200000, 3.170000, 3.150000, 3.140000, 3.110000, 3.100000, 3.080000, 3.070000, 3.060000, 3.040000, 3.030000, 3.020000, 3.020000, 3.010000, 3.000000, 2.990000, 2.990000, 2.980000, 2.980000, 2.980000, 2.980000, 2.980000, 2.970000, 2.980000, 2.990000, 3.000000, 3.000000, 3.020000, 3.020000, 3.030000, 3.040000, 3.050000, 3.060000, 3.080000, 3.090000, 3.110000, 1.000000, 0.960000, 0.900000, 0.790000, 0.800000, 0.960000, 1.030000, 1.040000, 0.940000, 0.890000, 0.850000, 0.780000, 0.720000, 0.700000, 0.670000, 0.630000, 0.610000, 0.580000, 0.560000, 0.540000, 0.520000, 0.510000, 0.500000, 0.480000, 0.470000, 0.460000, 0.440000, 0.430000, 0.430000, 0.420000, 0.400000, 0.410000, 0.390000, 0.430000, 0.360000, 0.380000, 0.380000, 0.390000, 0.400000, 0.410000, 0.410000, 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": [ 976054597, 517470 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.934000, 1.748000, -0.131514 ], "estimate": [ 0.934000, 1.748000, -0.131514 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.940000, 0.950000, 0.940000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.880000, 0.890000, 0.880000, 0.890000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.130000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.260000, 1.280000, 1.300000, 1.330000, 1.350000, 1.380000, 1.410000, 1.440000, 1.460000, 1.500000, 1.520000, 1.570000, 1.600000, 1.640000, 1.690000, 1.740000, 1.800000, 1.850000, 1.900000, 1.960000, 3.150000, 3.130000, 3.110000, 3.090000, 3.070000, 3.050000, 3.030000, 3.020000, 3.010000, 3.010000, 2.990000, 2.980000, 2.970000, 2.950000, 2.950000, 2.930000, 2.940000, 2.920000, 2.930000, 2.920000, 2.930000, 2.930000, 2.930000, 2.920000, 2.930000, 2.940000, 2.940000, 2.950000, 2.970000, 2.980000, 2.990000, 3.010000, 3.010000, 3.020000, 3.030000, 3.050000, 3.050000, 3.070000, 3.100000, 0.970000, 0.950000, 0.880000, 0.830000, 0.760000, 0.770000, 1.000000, 1.000000, 0.970000, 0.870000, 0.830000, 0.790000, 0.740000, 0.710000, 0.690000, 0.660000, 0.630000, 0.620000, 0.600000, 0.580000, 0.550000, 0.550000, 0.530000, 0.520000, 0.510000, 0.490000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.440000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.350000, 0.420000, 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": [ 976054597, 537256 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.998000, 1.739000, -0.143805 ], "estimate": [ 0.998000, 1.739000, -0.143805 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.040000, 1.030000, 1.020000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.860000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.040000, 1.060000, 1.070000, 1.080000, 1.100000, 1.110000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.260000, 1.280000, 1.310000, 1.340000, 1.360000, 1.380000, 1.420000, 1.460000, 1.480000, 1.520000, 1.550000, 1.600000, 1.640000, 1.690000, 1.740000, 1.800000, 1.850000, 1.920000, 3.090000, 3.060000, 3.040000, 3.020000, 3.010000, 3.000000, 2.980000, 2.960000, 2.960000, 2.940000, 2.930000, 2.910000, 2.910000, 2.900000, 2.890000, 2.880000, 2.880000, 2.870000, 2.860000, 2.870000, 2.870000, 2.860000, 2.870000, 2.870000, 2.880000, 2.890000, 2.900000, 2.910000, 2.910000, 2.920000, 2.930000, 2.950000, 2.960000, 2.970000, 2.980000, 3.000000, 3.010000, 3.020000, 3.040000, 3.070000, 3.080000, 0.970000, 0.900000, 0.870000, 0.840000, 0.790000, 0.730000, 0.740000, 0.860000, 0.970000, 0.920000, 0.840000, 0.810000, 0.770000, 0.740000, 0.710000, 0.700000, 0.670000, 0.650000, 0.620000, 0.620000, 0.600000, 0.580000, 0.560000, 0.540000, 0.540000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.460000, 0.470000, 0.460000, 0.440000, 0.440000, 0.440000, 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": [ 976054597, 538257 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.055000, 1.731000, -0.137660 ], "estimate": [ 1.055000, 1.731000, -0.137660 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 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, 0.950000, 0.950000, 0.970000, 0.980000, 0.980000, 1.000000, 1.010000, 1.030000, 1.040000, 1.060000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.170000, 1.190000, 1.200000, 1.230000, 1.250000, 1.280000, 1.300000, 1.320000, 1.360000, 1.400000, 1.420000, 1.450000, 1.490000, 1.530000, 1.570000, 1.610000, 1.670000, 1.720000, 1.780000, 1.840000, 3.020000, 3.000000, 2.990000, 2.970000, 2.950000, 2.930000, 2.910000, 2.910000, 2.900000, 2.880000, 2.870000, 2.860000, 2.850000, 2.840000, 2.830000, 2.830000, 2.830000, 2.810000, 2.810000, 2.810000, 2.810000, 2.810000, 2.810000, 2.820000, 2.830000, 2.830000, 2.830000, 2.840000, 2.860000, 2.870000, 2.880000, 2.890000, 2.900000, 2.910000, 2.920000, 2.940000, 2.960000, 2.970000, 3.000000, 3.000000, 3.030000, 3.040000, 3.070000, 3.100000, 0.930000, 0.900000, 0.860000, 0.830000, 0.790000, 0.760000, 0.690000, 0.710000, 0.760000, 0.940000, 0.840000, 0.810000, 0.780000, 0.750000, 0.730000, 0.710000, 0.680000, 0.670000, 0.650000, 0.640000, 0.620000, 0.600000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054597, 539219 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.106000, 1.724000, -0.137660 ], "estimate": [ 1.106000, 1.724000, -0.137660 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.780000, 0.790000, 0.780000, 0.790000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 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, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.950000, 0.970000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.190000, 1.200000, 1.230000, 1.260000, 1.280000, 1.310000, 1.340000, 1.380000, 1.400000, 1.450000, 1.470000, 1.520000, 1.560000, 1.610000, 1.660000, 1.720000, 1.770000, 2.990000, 2.960000, 2.950000, 2.920000, 2.900000, 2.890000, 2.880000, 2.870000, 2.860000, 2.840000, 2.830000, 2.820000, 2.810000, 2.800000, 2.790000, 2.780000, 2.780000, 2.770000, 2.770000, 2.770000, 2.780000, 2.780000, 2.780000, 2.770000, 2.780000, 2.790000, 2.790000, 2.800000, 2.810000, 2.820000, 2.830000, 2.840000, 2.860000, 2.870000, 2.880000, 2.900000, 2.910000, 2.920000, 2.940000, 2.960000, 2.980000, 3.000000, 3.010000, 3.040000, 3.070000, 3.110000, 0.920000, 0.880000, 0.850000, 0.820000, 0.800000, 0.760000, 0.740000, 0.720000, 0.670000, 0.690000, 0.910000, 0.820000, 0.790000, 0.760000, 0.740000, 0.730000, 0.700000, 0.680000, 0.670000, 0.660000, 0.620000, 0.620000, 0.610000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.540000, 0.530000, 0.520000, 0.520000, 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": [ 976054597, 731523 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.160000, 1.716000, -0.143805 ], "estimate": [ 1.160000, 1.716000, -0.143805 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.810000, 0.810000, 0.810000, 0.800000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.010000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.130000, 1.150000, 1.170000, 1.200000, 1.220000, 1.230000, 1.270000, 1.300000, 1.330000, 1.360000, 1.400000, 1.440000, 1.470000, 1.510000, 1.560000, 1.610000, 1.660000, 1.720000, 2.930000, 2.910000, 2.890000, 2.870000, 2.860000, 2.840000, 2.830000, 2.820000, 2.800000, 2.790000, 2.770000, 2.760000, 2.760000, 2.750000, 2.740000, 2.740000, 2.730000, 2.730000, 2.720000, 2.730000, 2.730000, 2.720000, 2.720000, 2.730000, 2.730000, 2.750000, 2.750000, 2.760000, 2.760000, 2.770000, 2.780000, 2.790000, 2.810000, 2.820000, 2.820000, 2.840000, 2.860000, 2.880000, 2.890000, 2.910000, 2.930000, 2.950000, 2.970000, 2.990000, 3.020000, 3.060000, 3.090000, 3.130000, 3.150000, 0.880000, 0.840000, 0.830000, 0.800000, 0.770000, 0.740000, 0.730000, 0.700000, 0.680000, 0.630000, 0.680000, 0.860000, 0.770000, 0.750000, 0.740000, 0.720000, 0.700000, 0.680000, 0.660000, 0.660000, 0.640000, 0.620000, 0.620000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054598, 629310 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.222000, 1.707000, -0.137660 ], "estimate": [ 1.222000, 1.707000, -0.137660 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.920000, 0.930000, 0.940000, 0.960000, 0.980000, 0.990000, 1.010000, 1.030000, 1.050000, 1.060000, 1.090000, 1.110000, 1.140000, 1.160000, 1.190000, 1.220000, 1.230000, 1.270000, 1.300000, 1.320000, 1.360000, 1.400000, 1.440000, 1.480000, 1.530000, 1.580000, 1.620000, 1.680000, 2.870000, 2.850000, 2.820000, 2.820000, 2.800000, 2.780000, 2.770000, 2.760000, 2.750000, 2.740000, 2.730000, 2.710000, 2.700000, 2.700000, 2.700000, 2.690000, 2.680000, 2.680000, 2.680000, 2.690000, 2.680000, 2.690000, 2.680000, 2.680000, 2.690000, 2.690000, 2.710000, 2.720000, 2.720000, 2.730000, 2.750000, 2.760000, 2.770000, 2.780000, 2.790000, 2.810000, 2.820000, 2.840000, 2.860000, 2.870000, 2.890000, 2.910000, 2.930000, 2.950000, 2.990000, 3.010000, 3.050000, 3.090000, 3.130000, 3.160000, 3.200000, 0.870000, 0.840000, 0.820000, 0.800000, 0.770000, 0.740000, 0.730000, 0.710000, 0.690000, 0.670000, 0.620000, 0.650000, 0.720000, 0.760000, 0.740000, 0.720000, 0.720000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.630000, 0.630000, 0.610000, 0.600000, 0.590000, 0.580000, 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": [ 976054598, 137415 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.283000, 1.699000, -0.137660 ], "estimate": [ 1.283000, 1.699000, -0.137660 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.920000, 0.940000, 0.960000, 0.980000, 0.990000, 1.010000, 1.030000, 1.060000, 1.070000, 1.090000, 1.130000, 1.150000, 1.180000, 1.190000, 1.220000, 1.260000, 1.290000, 1.330000, 1.370000, 1.400000, 1.440000, 1.490000, 1.540000, 1.590000, 2.020000, 2.800000, 2.780000, 2.750000, 2.750000, 2.730000, 2.720000, 2.710000, 2.690000, 2.680000, 2.670000, 2.660000, 2.650000, 2.640000, 2.640000, 2.630000, 2.630000, 2.610000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.620000, 2.630000, 2.640000, 2.650000, 2.660000, 2.660000, 2.670000, 2.670000, 2.690000, 2.710000, 2.720000, 2.730000, 2.740000, 2.750000, 2.770000, 2.790000, 2.810000, 2.810000, 2.840000, 2.870000, 2.890000, 2.910000, 2.940000, 2.970000, 3.000000, 3.040000, 3.070000, 3.120000, 3.150000, 3.190000, 3.250000, 3.280000, 0.840000, 0.810000, 0.780000, 0.780000, 0.750000, 0.740000, 0.710000, 0.700000, 0.690000, 0.670000, 0.670000, 0.650000, 0.610000, 0.630000, 0.710000, 0.730000, 0.710000, 0.700000, 0.690000, 0.670000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054598, 512222 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.338000, 1.691000, -0.143805 ], "estimate": [ 1.338000, 1.691000, -0.143805 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.680000, 0.670000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.820000, 0.830000, 0.830000, 0.840000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.940000, 0.960000, 0.980000, 0.990000, 1.020000, 1.040000, 1.060000, 1.080000, 1.110000, 1.140000, 1.150000, 1.190000, 1.220000, 1.240000, 1.280000, 1.320000, 1.360000, 1.400000, 1.440000, 1.490000, 1.550000, 2.750000, 2.740000, 2.730000, 2.700000, 2.690000, 2.670000, 2.670000, 2.660000, 2.640000, 2.630000, 2.620000, 2.610000, 2.590000, 2.580000, 2.580000, 2.580000, 2.570000, 2.570000, 2.570000, 2.580000, 2.580000, 2.580000, 2.580000, 2.570000, 2.580000, 2.590000, 2.590000, 2.600000, 2.610000, 2.620000, 2.630000, 2.650000, 2.660000, 2.660000, 2.670000, 2.690000, 2.710000, 2.730000, 2.750000, 2.750000, 2.770000, 2.800000, 2.810000, 2.840000, 2.870000, 2.890000, 2.920000, 2.960000, 2.990000, 3.020000, 3.060000, 3.110000, 3.140000, 3.190000, 3.240000, 3.280000, 3.340000, 3.400000, 0.830000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.690000, 0.670000, 0.680000, 0.650000, 0.650000, 0.620000, 0.620000, 0.670000, 0.720000, 0.700000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.640000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054598, 536995 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.392000, 1.683000, -0.131514 ], "estimate": [ 1.392000, 1.683000, -0.131514 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.740000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.830000, 0.840000, 0.840000, 0.850000, 0.870000, 0.880000, 0.900000, 0.910000, 0.930000, 0.950000, 0.980000, 0.990000, 1.020000, 1.040000, 1.060000, 1.080000, 1.120000, 1.140000, 1.170000, 1.190000, 1.230000, 1.270000, 1.300000, 1.340000, 1.390000, 1.440000, 1.480000, 1.950000, 2.680000, 2.670000, 2.660000, 2.640000, 2.630000, 2.610000, 2.600000, 2.580000, 2.570000, 2.560000, 2.560000, 2.550000, 2.540000, 2.550000, 2.540000, 2.530000, 2.520000, 2.530000, 2.530000, 2.530000, 2.530000, 2.530000, 2.530000, 2.540000, 2.550000, 2.560000, 2.560000, 2.560000, 2.570000, 2.580000, 2.590000, 2.610000, 2.620000, 2.630000, 2.640000, 2.660000, 2.670000, 2.690000, 2.700000, 2.720000, 2.740000, 2.760000, 2.790000, 2.810000, 2.830000, 2.870000, 2.900000, 2.930000, 2.970000, 3.000000, 3.050000, 3.090000, 3.130000, 3.180000, 3.230000, 3.270000, 3.330000, 3.390000, 3.440000, 3.510000, 3.580000, 0.780000, 0.760000, 0.740000, 0.740000, 0.730000, 0.710000, 0.700000, 0.680000, 0.670000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.600000, 0.610000, 0.680000, 0.690000, 0.690000, 0.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054598, 807651 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.451000, 1.676000, -0.113078 ], "estimate": [ 1.451000, 1.676000, -0.113078 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.820000, 0.830000, 0.850000, 0.860000, 0.880000, 0.900000, 0.910000, 0.930000, 0.950000, 0.980000, 1.000000, 1.020000, 1.050000, 1.070000, 1.090000, 1.120000, 1.160000, 1.180000, 1.210000, 1.260000, 1.290000, 1.340000, 1.380000, 1.430000, 1.630000, 2.630000, 2.630000, 2.600000, 2.580000, 2.570000, 2.560000, 2.550000, 2.540000, 2.540000, 2.520000, 2.510000, 2.500000, 2.500000, 2.500000, 2.490000, 2.480000, 2.480000, 2.480000, 2.480000, 2.480000, 2.480000, 2.480000, 2.480000, 2.490000, 2.500000, 2.510000, 2.510000, 2.520000, 2.530000, 2.540000, 2.550000, 2.560000, 2.570000, 2.580000, 2.590000, 2.610000, 2.630000, 2.650000, 2.660000, 2.680000, 2.690000, 2.720000, 2.740000, 2.760000, 2.790000, 2.810000, 2.840000, 2.880000, 2.910000, 2.950000, 2.990000, 3.030000, 3.080000, 3.120000, 3.170000, 3.220000, 3.260000, 3.330000, 3.390000, 3.440000, 3.510000, 3.590000, 3.650000, 3.740000, 0.790000, 0.760000, 0.750000, 0.720000, 0.720000, 0.700000, 0.700000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.620000, 0.610000, 0.610000, 0.590000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054599, 170958 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.512000, 1.670000, -0.076205 ], "estimate": [ 1.512000, 1.670000, -0.076205 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.850000, 0.870000, 0.890000, 0.900000, 0.920000, 0.950000, 0.970000, 0.990000, 1.020000, 1.050000, 1.060000, 1.100000, 1.130000, 1.160000, 1.200000, 1.230000, 1.260000, 1.300000, 1.350000, 1.410000, 2.570000, 2.560000, 2.550000, 2.540000, 2.520000, 2.510000, 2.500000, 2.490000, 2.470000, 2.460000, 2.460000, 2.440000, 2.450000, 2.440000, 2.430000, 2.420000, 2.420000, 2.420000, 2.420000, 2.420000, 2.420000, 2.420000, 2.420000, 2.430000, 2.440000, 2.450000, 2.460000, 2.460000, 2.460000, 2.480000, 2.490000, 2.500000, 2.520000, 2.530000, 2.540000, 2.550000, 2.560000, 2.580000, 2.600000, 2.610000, 2.630000, 2.650000, 2.670000, 2.700000, 2.720000, 2.740000, 2.770000, 2.800000, 2.830000, 2.870000, 2.910000, 2.950000, 2.990000, 3.040000, 3.080000, 3.130000, 3.180000, 3.240000, 3.290000, 3.350000, 3.400000, 3.480000, 3.540000, 3.620000, 3.710000, 3.790000, 3.880000, 3.980000, 4.090000, 0.750000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054599, 172224 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.568000, 1.667000, -0.027040 ], "estimate": [ 1.568000, 1.667000, -0.027040 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.580000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.600000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.790000, 0.810000, 0.820000, 0.840000, 0.850000, 0.870000, 0.890000, 0.910000, 0.930000, 0.960000, 0.980000, 1.020000, 1.030000, 1.050000, 1.090000, 1.110000, 1.150000, 1.190000, 1.220000, 1.260000, 1.300000, 1.410000, 2.520000, 2.520000, 2.490000, 2.470000, 2.460000, 2.450000, 2.440000, 2.430000, 2.420000, 2.410000, 2.400000, 2.390000, 2.390000, 2.380000, 2.380000, 2.370000, 2.370000, 2.370000, 2.380000, 2.380000, 2.380000, 2.380000, 2.380000, 2.380000, 2.380000, 2.390000, 2.390000, 2.400000, 2.420000, 2.420000, 2.440000, 2.450000, 2.460000, 2.470000, 2.480000, 2.500000, 2.510000, 2.530000, 2.550000, 2.560000, 2.570000, 2.590000, 2.620000, 2.650000, 2.660000, 2.690000, 2.720000, 2.730000, 2.770000, 2.800000, 2.850000, 2.880000, 2.930000, 2.980000, 3.020000, 3.070000, 3.120000, 3.160000, 3.230000, 3.280000, 3.340000, 3.400000, 3.480000, 3.550000, 3.640000, 3.720000, 3.810000, 3.920000, 4.010000, 4.130000, 4.240000, 4.390000, 4.550000, 0.720000, 0.700000, 0.700000, 0.660000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.620000, 0.620000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054599, 444965 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.617000, 1.668000, 0.052852 ], "estimate": [ 1.617000, 1.668000, 0.052852 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.770000, 0.780000, 0.800000, 0.820000, 0.830000, 0.850000, 0.870000, 0.890000, 0.910000, 0.940000, 0.970000, 0.980000, 1.010000, 1.030000, 1.060000, 1.090000, 1.130000, 1.170000, 1.200000, 1.230000, 1.290000, 2.470000, 2.450000, 2.430000, 2.420000, 2.410000, 2.390000, 2.380000, 2.380000, 2.370000, 2.360000, 2.350000, 2.340000, 2.340000, 2.340000, 2.330000, 2.320000, 2.320000, 2.310000, 2.310000, 2.320000, 2.310000, 2.310000, 2.320000, 2.320000, 2.330000, 2.340000, 2.340000, 2.350000, 2.360000, 2.360000, 2.370000, 2.380000, 2.390000, 2.410000, 2.420000, 2.430000, 2.440000, 2.460000, 2.470000, 2.490000, 2.520000, 2.520000, 2.540000, 2.560000, 2.590000, 2.610000, 2.640000, 2.650000, 2.690000, 2.720000, 2.750000, 2.800000, 2.840000, 2.880000, 2.920000, 2.970000, 3.000000, 3.050000, 3.110000, 3.170000, 3.240000, 3.280000, 3.360000, 3.430000, 3.500000, 3.580000, 3.660000, 3.750000, 3.850000, 3.960000, 4.060000, 4.190000, 4.330000, 4.500000, 4.130000, 4.870000, 4.910000, 0.720000, 0.700000, 0.690000, 0.660000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054599, 809314 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.645000, 1.670000, 0.145034 ], "estimate": [ 1.645000, 1.670000, 0.145034 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.760000, 0.780000, 0.790000, 0.810000, 0.830000, 0.840000, 0.860000, 0.880000, 0.910000, 0.930000, 0.960000, 0.970000, 1.000000, 1.040000, 1.060000, 1.090000, 1.120000, 1.160000, 1.200000, 1.230000, 2.440000, 2.420000, 2.410000, 2.390000, 2.380000, 2.370000, 2.360000, 2.350000, 2.340000, 2.330000, 2.320000, 2.310000, 2.310000, 2.300000, 2.290000, 2.280000, 2.270000, 2.270000, 2.280000, 2.290000, 2.290000, 2.280000, 2.280000, 2.270000, 2.280000, 2.290000, 2.290000, 2.300000, 2.310000, 2.320000, 2.330000, 2.340000, 2.360000, 2.360000, 2.380000, 2.380000, 2.400000, 2.400000, 2.420000, 2.440000, 2.450000, 2.480000, 2.500000, 2.510000, 2.530000, 2.550000, 2.570000, 2.610000, 2.630000, 2.650000, 2.690000, 2.720000, 2.760000, 2.800000, 2.840000, 2.880000, 2.930000, 2.990000, 3.020000, 3.080000, 3.140000, 3.200000, 3.250000, 3.320000, 3.400000, 3.470000, 3.540000, 3.620000, 3.720000, 3.820000, 3.920000, 4.040000, 4.160000, 4.310000, 4.480000, 4.630000, 4.860000, 4.900000, 4.870000, 4.530000, 4.810000, 0.690000, 0.680000, 0.680000, 0.650000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.620000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054599, 810433 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.650000, 1.671000, 0.206490 ], "estimate": [ 1.650000, 1.671000, 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": [ 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.720000, 0.720000, 0.730000, 0.740000, 0.760000, 0.770000, 0.780000, 0.800000, 0.820000, 0.830000, 0.860000, 0.880000, 0.900000, 0.910000, 0.940000, 0.970000, 0.980000, 1.020000, 1.050000, 1.070000, 1.100000, 1.140000, 1.180000, 1.210000, 2.420000, 2.410000, 2.400000, 2.380000, 2.370000, 2.360000, 2.340000, 2.330000, 2.320000, 2.310000, 2.300000, 2.290000, 2.280000, 2.280000, 2.270000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.280000, 2.280000, 2.290000, 2.300000, 2.300000, 2.320000, 2.330000, 2.350000, 2.360000, 2.370000, 2.380000, 2.390000, 2.400000, 2.420000, 2.440000, 2.460000, 2.480000, 2.500000, 2.520000, 2.540000, 2.560000, 2.590000, 2.620000, 2.640000, 2.680000, 2.710000, 2.750000, 2.790000, 2.830000, 2.880000, 2.930000, 2.980000, 3.020000, 3.070000, 3.140000, 3.190000, 3.250000, 3.320000, 3.400000, 3.470000, 3.550000, 3.640000, 3.730000, 3.830000, 3.950000, 4.060000, 4.190000, 4.350000, 4.510000, 3.940000, 4.900000, 4.870000, 4.590000, 4.470000, 4.790000, 4.780000, 0.680000, 0.680000, 0.670000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.590000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054599, 930791 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.645000, 1.670000, 0.261799 ], "estimate": [ 1.645000, 1.670000, 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": [ 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.750000, 0.770000, 0.780000, 0.790000, 0.820000, 0.830000, 0.840000, 0.870000, 0.890000, 0.910000, 0.930000, 0.960000, 0.970000, 1.010000, 1.040000, 1.050000, 1.090000, 1.120000, 1.160000, 1.200000, 1.230000, 2.420000, 2.400000, 2.400000, 2.380000, 2.370000, 2.360000, 2.340000, 2.330000, 2.320000, 2.310000, 2.300000, 2.290000, 2.280000, 2.280000, 2.270000, 2.260000, 2.260000, 2.260000, 2.250000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.270000, 2.280000, 2.290000, 2.300000, 2.300000, 2.310000, 2.330000, 2.330000, 2.350000, 2.360000, 2.380000, 2.380000, 2.400000, 2.410000, 2.420000, 2.450000, 2.470000, 2.490000, 2.510000, 2.530000, 2.540000, 2.570000, 2.600000, 2.620000, 2.650000, 2.690000, 2.730000, 2.760000, 2.810000, 2.840000, 2.890000, 2.940000, 3.000000, 3.030000, 3.090000, 3.150000, 3.210000, 3.270000, 3.340000, 3.410000, 3.490000, 3.580000, 3.660000, 3.750000, 3.850000, 3.980000, 4.090000, 4.230000, 4.380000, 3.940000, 4.750000, 4.770000, 4.860000, 4.420000, 4.820000, 4.780000, 0.690000, 0.670000, 0.670000, 0.660000, 0.660000, 0.640000, 0.640000, 0.640000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 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": [ 976054600, 717589 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.644000, 1.670000, 0.378564 ], "estimate": [ 1.644000, 1.670000, 0.378564 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.570000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.610000, 0.610000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.780000, 0.800000, 0.820000, 0.830000, 0.840000, 0.870000, 0.890000, 0.910000, 0.930000, 0.960000, 0.970000, 1.000000, 1.030000, 1.050000, 1.080000, 1.120000, 1.150000, 1.180000, 1.210000, 1.280000, 2.420000, 2.400000, 2.380000, 2.380000, 2.370000, 2.350000, 2.340000, 2.330000, 2.320000, 2.310000, 2.300000, 2.290000, 2.290000, 2.280000, 2.270000, 2.260000, 2.260000, 2.270000, 2.270000, 2.270000, 2.270000, 2.260000, 2.270000, 2.260000, 2.260000, 2.270000, 2.270000, 2.290000, 2.300000, 2.310000, 2.310000, 2.320000, 2.330000, 2.340000, 2.360000, 2.370000, 2.380000, 2.390000, 2.410000, 2.420000, 2.440000, 2.460000, 2.480000, 2.500000, 2.510000, 2.540000, 2.550000, 2.580000, 2.610000, 2.640000, 2.660000, 2.710000, 2.740000, 2.780000, 2.820000, 2.870000, 2.910000, 2.960000, 3.010000, 3.060000, 3.120000, 3.180000, 3.240000, 3.300000, 3.380000, 3.450000, 3.530000, 3.620000, 3.700000, 3.800000, 3.900000, 4.010000, 4.140000, 4.290000, 4.440000, 4.600000, 4.830000, 4.870000, 4.820000, 4.600000, 4.790000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.630000, 0.640000, 0.630000, 0.630000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.650000, 0.650000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054600, 718783 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.645000, 1.671000, 0.519911 ], "estimate": [ 1.645000, 1.671000, 0.519911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.560000, 0.570000, 0.580000, 0.560000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.810000, 0.830000, 0.840000, 0.860000, 0.880000, 0.900000, 0.920000, 0.940000, 0.970000, 0.980000, 1.020000, 1.050000, 1.060000, 1.090000, 1.130000, 1.160000, 1.200000, 1.230000, 2.440000, 2.420000, 2.410000, 2.390000, 2.380000, 2.370000, 2.350000, 2.340000, 2.330000, 2.320000, 2.310000, 2.300000, 2.290000, 2.290000, 2.280000, 2.270000, 2.260000, 2.270000, 2.270000, 2.260000, 2.260000, 2.270000, 2.260000, 2.260000, 2.260000, 2.260000, 2.270000, 2.270000, 2.280000, 2.290000, 2.300000, 2.310000, 2.320000, 2.330000, 2.340000, 2.350000, 2.360000, 2.380000, 2.390000, 2.400000, 2.420000, 2.440000, 2.450000, 2.470000, 2.490000, 2.510000, 2.530000, 2.540000, 2.570000, 2.600000, 2.630000, 2.660000, 2.690000, 2.730000, 2.760000, 2.810000, 2.850000, 2.890000, 2.940000, 3.000000, 3.040000, 3.090000, 3.150000, 3.230000, 3.270000, 3.350000, 3.430000, 3.500000, 3.590000, 3.670000, 3.760000, 3.880000, 3.980000, 4.100000, 4.240000, 4.390000, 4.560000, 4.760000, 4.850000, 4.830000, 4.820000, 4.790000, 0.660000, 0.650000, 0.640000, 0.650000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.640000, 0.630000, 0.630000, 0.630000, 0.610000, 0.610000, 0.610000, 0.630000, 0.640000, 0.640000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054600, 719830 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.654000, 1.676000, 0.550639 ], "estimate": [ 1.654000, 1.676000, 0.550639 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.760000, 0.770000, 0.790000, 0.800000, 0.820000, 0.830000, 0.840000, 0.870000, 0.890000, 0.910000, 0.920000, 0.950000, 0.970000, 0.990000, 1.030000, 1.050000, 1.060000, 1.100000, 1.130000, 1.170000, 1.200000, 1.230000, 2.460000, 2.440000, 2.420000, 2.410000, 2.390000, 2.380000, 2.370000, 2.360000, 2.350000, 2.330000, 2.320000, 2.310000, 2.300000, 2.290000, 2.280000, 2.280000, 2.270000, 2.260000, 2.260000, 2.270000, 2.260000, 2.270000, 2.270000, 2.260000, 2.270000, 2.260000, 2.260000, 2.260000, 2.270000, 2.280000, 2.290000, 2.300000, 2.320000, 2.320000, 2.330000, 2.340000, 2.360000, 2.370000, 2.380000, 2.390000, 2.410000, 2.430000, 2.450000, 2.460000, 2.480000, 2.500000, 2.520000, 2.550000, 2.560000, 2.580000, 2.620000, 2.650000, 2.670000, 2.700000, 2.730000, 2.780000, 2.820000, 2.870000, 2.910000, 2.960000, 3.010000, 3.060000, 3.120000, 3.180000, 3.250000, 3.300000, 3.380000, 3.450000, 3.540000, 3.630000, 3.710000, 3.800000, 3.920000, 4.020000, 4.150000, 4.290000, 4.460000, 3.940000, 4.840000, 4.840000, 4.820000, 4.370000, 0.660000, 0.650000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.540000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.620000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054600, 730926 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.672000, 1.687000, 0.538348 ], "estimate": [ 1.672000, 1.687000, 0.538348 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.760000, 0.770000, 0.790000, 0.800000, 0.820000, 0.830000, 0.840000, 0.870000, 0.880000, 0.900000, 0.920000, 0.940000, 0.970000, 0.980000, 1.010000, 1.050000, 1.060000, 1.090000, 1.130000, 1.160000, 1.190000, 1.220000, 1.270000, 2.440000, 2.420000, 2.400000, 2.380000, 2.370000, 2.370000, 2.360000, 2.340000, 2.330000, 2.320000, 2.310000, 2.300000, 2.290000, 2.270000, 2.270000, 2.270000, 2.260000, 2.260000, 2.250000, 2.250000, 2.250000, 2.260000, 2.260000, 2.250000, 2.260000, 2.260000, 2.260000, 2.270000, 2.280000, 2.280000, 2.290000, 2.290000, 2.310000, 2.320000, 2.330000, 2.340000, 2.360000, 2.370000, 2.380000, 2.390000, 2.410000, 2.430000, 2.450000, 2.460000, 2.480000, 2.500000, 2.530000, 2.550000, 2.570000, 2.590000, 2.620000, 2.650000, 2.690000, 2.720000, 2.750000, 2.800000, 2.830000, 2.880000, 2.930000, 2.980000, 3.030000, 3.080000, 3.140000, 3.210000, 3.270000, 3.330000, 3.420000, 3.490000, 3.570000, 3.660000, 3.750000, 3.860000, 3.960000, 4.080000, 4.210000, 4.370000, 3.990000, 4.720000, 4.620000, 4.830000, 4.400000, 4.800000, 0.680000, 0.640000, 0.620000, 0.620000, 0.630000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.530000, 0.530000, 0.640000, 0.600000, 0.610000, 0.610000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.620000, 0.630000, 0.640000, 0.640000, 0.630000, 0.620000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054601, 535699 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.722000, 1.716000, 0.538348 ], "estimate": [ 1.722000, 1.716000, 0.538348 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.810000, 0.820000, 0.830000, 0.850000, 0.870000, 0.890000, 0.910000, 0.930000, 0.950000, 0.980000, 0.990000, 1.020000, 1.050000, 1.060000, 1.090000, 1.130000, 1.170000, 1.190000, 1.310000, 2.410000, 2.400000, 2.380000, 2.370000, 2.360000, 2.340000, 2.330000, 2.320000, 2.310000, 2.290000, 2.270000, 2.260000, 2.250000, 2.250000, 2.250000, 2.250000, 2.240000, 2.230000, 2.230000, 2.220000, 2.220000, 2.220000, 2.220000, 2.220000, 2.220000, 2.230000, 2.220000, 2.230000, 2.240000, 2.240000, 2.250000, 2.260000, 2.270000, 2.270000, 2.280000, 2.300000, 2.310000, 2.320000, 2.340000, 2.350000, 2.370000, 2.380000, 2.390000, 2.410000, 2.430000, 2.440000, 2.470000, 2.490000, 2.520000, 2.540000, 2.550000, 2.580000, 2.610000, 2.650000, 2.670000, 2.710000, 2.740000, 2.800000, 2.830000, 2.880000, 2.940000, 3.000000, 3.030000, 3.090000, 3.150000, 3.230000, 3.280000, 3.360000, 3.430000, 3.520000, 3.610000, 3.700000, 3.800000, 3.900000, 4.010000, 4.140000, 4.290000, 4.470000, 3.900000, 4.350000, 4.360000, 4.800000, 4.460000, 4.610000, 4.680000, 4.720000, 0.620000, 0.610000, 0.600000, 0.600000, 0.570000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.520000, 0.510000, 0.530000, 0.600000, 0.640000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.620000, 0.630000, 0.640000, 0.640000, 0.630000, 0.620000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054601, 217363 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.793000, 1.758000, 0.538348 ], "estimate": [ 1.793000, 1.758000, 0.538348 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.760000, 0.770000, 0.790000, 0.810000, 0.830000, 0.830000, 0.840000, 0.860000, 0.880000, 0.900000, 0.920000, 0.940000, 0.970000, 0.980000, 1.010000, 1.030000, 1.060000, 1.090000, 1.110000, 1.140000, 1.170000, 2.390000, 2.370000, 2.350000, 2.340000, 2.320000, 2.300000, 2.280000, 2.270000, 2.260000, 2.250000, 2.240000, 2.230000, 2.220000, 2.210000, 2.200000, 2.180000, 2.180000, 2.170000, 2.170000, 2.160000, 2.160000, 2.160000, 2.150000, 2.160000, 2.170000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.160000, 2.170000, 2.180000, 2.190000, 2.200000, 2.210000, 2.220000, 2.230000, 2.240000, 2.250000, 2.260000, 2.280000, 2.300000, 2.310000, 2.330000, 2.350000, 2.360000, 2.370000, 2.390000, 2.420000, 2.440000, 2.460000, 2.490000, 2.510000, 2.540000, 2.560000, 2.600000, 2.630000, 2.670000, 2.710000, 2.740000, 2.800000, 2.850000, 2.890000, 2.940000, 2.990000, 3.060000, 3.120000, 3.190000, 3.250000, 3.320000, 3.410000, 3.490000, 3.570000, 3.680000, 3.770000, 3.880000, 3.990000, 4.140000, 4.300000, 4.240000, 4.680000, 4.470000, 4.720000, 4.380000, 4.720000, 4.680000, 4.680000, 4.660000, 4.650000, 4.650000, 4.700000, 5.430000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.530000, 0.530000, 0.510000, 0.510000, 0.510000, 0.520000, 0.540000, 0.540000, 0.530000, 0.540000, 0.540000, 0.550000, 0.620000, 0.610000, 0.620000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054601, 546084 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.852000, 1.794000, 0.544493 ], "estimate": [ 1.852000, 1.794000, 0.544493 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.770000, 0.780000, 0.800000, 0.820000, 0.830000, 0.830000, 0.850000, 0.870000, 0.890000, 0.910000, 0.920000, 0.950000, 0.970000, 0.990000, 1.010000, 1.030000, 1.060000, 1.080000, 1.110000, 2.360000, 2.340000, 2.310000, 2.290000, 2.260000, 2.240000, 2.240000, 2.220000, 2.200000, 2.190000, 2.170000, 2.170000, 2.150000, 2.140000, 2.130000, 2.130000, 2.120000, 2.110000, 2.100000, 2.090000, 2.100000, 2.090000, 2.090000, 2.070000, 2.070000, 2.070000, 2.070000, 2.070000, 2.070000, 2.070000, 2.080000, 2.070000, 2.080000, 2.090000, 2.100000, 2.100000, 2.110000, 2.120000, 2.120000, 2.130000, 2.140000, 2.150000, 2.160000, 2.170000, 2.190000, 2.210000, 2.230000, 2.240000, 2.250000, 2.270000, 2.280000, 2.310000, 2.330000, 2.350000, 2.370000, 2.390000, 2.420000, 2.440000, 2.470000, 2.510000, 2.530000, 2.560000, 2.610000, 2.640000, 2.690000, 2.730000, 2.790000, 2.840000, 2.880000, 2.940000, 3.000000, 3.070000, 3.140000, 3.200000, 3.280000, 3.370000, 3.450000, 3.530000, 3.640000, 3.750000, 3.860000, 3.990000, 4.140000, 4.300000, 3.780000, 4.710000, 4.770000, 4.690000, 4.530000, 4.660000, 4.630000, 4.620000, 4.610000, 4.600000, 4.590000, 4.830000, 5.780000, 9.960000, 9.890000, 9.820000, 9.760000, 9.670000, 9.610000, 0.560000, 0.530000, 0.540000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.510000, 0.500000, 0.500000, 0.500000, 0.520000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.530000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.510000, 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": [ 976054601, 587411 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.894000, 1.819000, 0.532203 ], "estimate": [ 1.894000, 1.819000, 0.532203 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.810000, 0.830000, 0.840000, 0.850000, 0.870000, 0.890000, 0.910000, 0.920000, 0.940000, 0.970000, 0.980000, 1.010000, 1.030000, 1.050000, 1.140000, 2.350000, 2.320000, 2.300000, 2.270000, 2.240000, 2.220000, 2.200000, 2.190000, 2.160000, 2.150000, 2.140000, 2.130000, 2.120000, 2.120000, 2.100000, 2.090000, 2.080000, 2.070000, 2.060000, 2.050000, 2.040000, 2.030000, 2.040000, 2.030000, 2.020000, 2.010000, 2.010000, 2.020000, 2.030000, 2.030000, 2.020000, 2.010000, 2.020000, 2.020000, 2.030000, 2.030000, 2.040000, 2.050000, 2.060000, 2.060000, 2.070000, 2.080000, 2.090000, 2.100000, 2.120000, 2.120000, 2.130000, 2.150000, 2.160000, 2.180000, 2.200000, 2.220000, 2.230000, 2.250000, 2.270000, 2.300000, 2.320000, 2.340000, 2.360000, 2.380000, 2.410000, 2.450000, 2.480000, 2.510000, 2.550000, 2.590000, 2.640000, 2.680000, 2.730000, 2.780000, 2.830000, 2.880000, 2.940000, 3.000000, 3.060000, 3.140000, 3.230000, 3.300000, 3.390000, 3.470000, 3.570000, 3.680000, 3.790000, 3.910000, 4.070000, 4.240000, 4.170000, 4.640000, 4.440000, 4.660000, 4.220000, 4.620000, 4.600000, 4.590000, 4.580000, 4.570000, 4.570000, 4.620000, 5.610000, 9.920000, 9.860000, 9.790000, 9.740000, 9.640000, 9.580000, 9.520000, 9.480000, 9.420000, 9.370000, 9.340000, 0.530000, 0.520000, 0.500000, 0.500000, 0.500000, 0.520000, 0.490000, 0.510000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.520000, 0.510000, 0.520000, 0.530000, 0.520000, 0.520000, 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": [ 976054601, 796985 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.931000, 1.840000, 0.532203 ], "estimate": [ 1.931000, 1.840000, 0.532203 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.760000, 0.770000, 0.780000, 0.790000, 0.810000, 0.820000, 0.830000, 0.840000, 0.860000, 0.880000, 0.890000, 0.910000, 0.930000, 0.940000, 0.970000, 0.990000, 1.010000, 1.030000, 2.350000, 2.320000, 2.300000, 2.270000, 2.240000, 2.220000, 2.200000, 2.170000, 2.160000, 2.140000, 2.120000, 2.110000, 2.110000, 2.090000, 2.080000, 2.070000, 2.060000, 2.050000, 2.030000, 2.020000, 2.010000, 2.010000, 2.000000, 1.990000, 1.990000, 2.000000, 1.990000, 1.990000, 1.990000, 1.980000, 1.980000, 1.980000, 1.980000, 1.980000, 1.990000, 1.990000, 2.000000, 2.000000, 2.000000, 2.000000, 2.020000, 2.020000, 2.030000, 2.030000, 2.050000, 2.060000, 2.080000, 2.090000, 2.100000, 2.120000, 2.120000, 2.130000, 2.150000, 2.170000, 2.190000, 2.210000, 2.230000, 2.240000, 2.260000, 2.290000, 2.320000, 2.350000, 2.360000, 2.400000, 2.430000, 2.460000, 2.500000, 2.530000, 2.580000, 2.630000, 2.670000, 2.720000, 2.770000, 2.820000, 2.880000, 2.950000, 3.010000, 3.070000, 3.150000, 3.240000, 3.320000, 3.410000, 3.500000, 3.610000, 3.720000, 3.840000, 3.980000, 4.140000, 4.310000, 3.720000, 4.780000, 4.640000, 4.610000, 4.210000, 4.580000, 4.570000, 4.560000, 4.550000, 4.540000, 4.600000, 5.160000, 9.920000, 9.850000, 9.780000, 9.730000, 9.640000, 9.570000, 9.520000, 9.460000, 9.420000, 9.350000, 9.330000, 9.280000, 9.240000, 9.210000, 9.180000, 0.510000, 0.510000, 0.480000, 0.480000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.510000, 0.520000, 0.500000, 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": [ 976054602, 237912 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.980000, 1.869000, 0.532203 ], "estimate": [ 1.980000, 1.869000, 0.532203 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.790000, 0.790000, 0.810000, 0.830000, 0.830000, 0.850000, 0.870000, 0.880000, 0.900000, 0.910000, 0.930000, 0.950000, 0.970000, 0.990000, 1.070000, 2.340000, 2.310000, 2.280000, 2.240000, 2.230000, 2.200000, 2.180000, 2.150000, 2.130000, 2.110000, 2.110000, 2.090000, 2.070000, 2.070000, 2.050000, 2.040000, 2.030000, 2.010000, 2.000000, 1.990000, 1.990000, 1.980000, 1.980000, 1.960000, 1.960000, 1.950000, 1.950000, 1.940000, 1.930000, 1.930000, 1.940000, 1.950000, 1.940000, 1.940000, 1.930000, 1.940000, 1.940000, 1.950000, 1.950000, 1.960000, 1.970000, 1.980000, 1.980000, 1.990000, 1.990000, 2.000000, 2.010000, 2.030000, 2.040000, 2.060000, 2.070000, 2.080000, 2.100000, 2.120000, 2.130000, 2.150000, 2.160000, 2.180000, 2.200000, 2.220000, 2.240000, 2.270000, 2.290000, 2.310000, 2.350000, 2.380000, 2.410000, 2.430000, 2.480000, 2.520000, 2.560000, 2.610000, 2.650000, 2.710000, 2.750000, 2.810000, 2.870000, 2.940000, 3.000000, 3.070000, 3.150000, 3.240000, 3.320000, 3.410000, 3.510000, 3.610000, 3.730000, 3.860000, 4.010000, 4.190000, 4.280000, 4.610000, 4.160000, 4.550000, 4.160000, 4.570000, 4.470000, 4.540000, 4.530000, 4.510000, 4.520000, 4.570000, 5.720000, 9.850000, 9.790000, 9.720000, 9.660000, 9.590000, 9.530000, 9.470000, 9.430000, 9.370000, 9.330000, 9.290000, 9.250000, 9.210000, 9.180000, 9.160000, 9.130000, 9.120000, 9.980000, 10.200000, 0.510000, 0.490000, 0.510000, 0.500000, 0.490000, 0.500000, 0.490000, 0.510000, 0.510000, 0.490000, 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": [ 976054602, 239384 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.042000, 1.905000, 0.519911 ], "estimate": [ 2.042000, 1.905000, 0.519911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.840000, 0.860000, 0.870000, 0.890000, 0.910000, 0.920000, 0.930000, 0.960000, 2.350000, 2.330000, 2.290000, 2.260000, 2.220000, 2.210000, 2.170000, 2.150000, 2.120000, 2.100000, 2.080000, 2.070000, 2.050000, 2.030000, 2.010000, 2.000000, 1.990000, 1.990000, 1.980000, 1.970000, 1.940000, 1.930000, 1.920000, 1.910000, 1.910000, 1.910000, 1.900000, 1.890000, 1.890000, 1.880000, 1.870000, 1.860000, 1.860000, 1.870000, 1.880000, 1.880000, 1.870000, 1.870000, 1.870000, 1.870000, 1.880000, 1.880000, 1.890000, 1.890000, 1.900000, 1.910000, 1.910000, 1.920000, 1.930000, 1.940000, 1.950000, 1.970000, 1.980000, 1.990000, 2.000000, 2.010000, 2.030000, 2.050000, 2.070000, 2.080000, 2.100000, 2.110000, 2.130000, 2.150000, 2.180000, 2.210000, 2.220000, 2.250000, 2.280000, 2.320000, 2.350000, 2.370000, 2.410000, 2.460000, 2.500000, 2.540000, 2.590000, 2.640000, 2.700000, 2.740000, 2.800000, 2.870000, 2.940000, 3.000000, 3.090000, 3.170000, 3.250000, 3.340000, 3.450000, 3.550000, 3.670000, 3.800000, 3.960000, 4.130000, 4.330000, 3.740000, 4.840000, 4.560000, 4.440000, 4.530000, 4.510000, 4.490000, 4.490000, 4.480000, 4.480000, 4.550000, 5.750000, 9.800000, 9.730000, 9.680000, 9.600000, 9.540000, 9.490000, 9.430000, 9.370000, 9.330000, 9.300000, 9.260000, 9.210000, 9.190000, 9.160000, 9.130000, 9.110000, 9.100000, 9.950000, 10.180000, 12.690000, 12.590000, 12.630000, 13.560000, 6.650000, 1.920000, 0.780000, 0.550000, 0.500000, 0.490000, 0.500000, 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": [ 976054602, 367118 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.100000, 1.938000, 0.519911 ], "estimate": [ 2.100000, 1.938000, 0.519911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.760000, 0.760000, 0.770000, 0.790000, 0.800000, 0.810000, 0.830000, 0.830000, 0.840000, 0.860000, 0.870000, 0.890000, 0.910000, 2.380000, 2.350000, 2.310000, 2.270000, 2.230000, 2.210000, 2.170000, 2.140000, 2.110000, 2.100000, 2.070000, 2.050000, 2.020000, 2.020000, 1.990000, 1.980000, 1.960000, 1.950000, 1.930000, 1.920000, 1.910000, 1.900000, 1.890000, 1.880000, 1.870000, 1.850000, 1.850000, 1.830000, 1.830000, 1.830000, 1.820000, 1.820000, 1.810000, 1.800000, 1.790000, 1.800000, 1.800000, 1.800000, 1.810000, 1.800000, 1.800000, 1.800000, 1.800000, 1.800000, 1.800000, 1.810000, 1.820000, 1.830000, 1.830000, 1.830000, 1.840000, 1.860000, 1.860000, 1.880000, 1.890000, 1.900000, 1.910000, 1.920000, 1.940000, 1.960000, 1.980000, 1.990000, 2.000000, 2.020000, 2.030000, 2.060000, 2.080000, 2.100000, 2.120000, 2.130000, 2.150000, 2.190000, 2.230000, 2.250000, 2.280000, 2.320000, 2.350000, 2.400000, 2.440000, 2.490000, 2.530000, 2.580000, 2.630000, 2.690000, 2.750000, 2.820000, 2.880000, 2.960000, 3.040000, 3.120000, 3.220000, 3.300000, 3.400000, 3.510000, 3.630000, 3.760000, 3.940000, 4.120000, 4.320000, 3.800000, 4.540000, 4.510000, 4.100000, 4.480000, 4.470000, 4.460000, 4.450000, 4.440000, 4.440000, 4.510000, 9.790000, 9.720000, 9.680000, 9.600000, 9.530000, 9.490000, 9.430000, 9.380000, 9.330000, 9.290000, 9.260000, 9.220000, 9.180000, 9.150000, 9.130000, 9.090000, 9.080000, 9.160000, 10.160000, 12.680000, 12.710000, 12.660000, 12.920000, 13.550000, 6.590000, 3.150000, 2.010000, 1.540000, 1.180000, 0.940000, 0.800000 ], "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": [ 976054602, 824352 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.147000, 1.964000, 0.513766 ], "estimate": [ 2.147000, 1.964000, 0.513766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.830000, 0.830000, 0.840000, 0.850000, 0.890000, 2.400000, 2.350000, 2.320000, 2.280000, 2.240000, 2.200000, 2.170000, 2.130000, 2.100000, 2.080000, 2.050000, 2.030000, 2.000000, 1.980000, 1.970000, 1.950000, 1.930000, 1.910000, 1.900000, 1.880000, 1.870000, 1.860000, 1.850000, 1.830000, 1.830000, 1.820000, 1.810000, 1.800000, 1.790000, 1.780000, 1.770000, 1.760000, 1.760000, 1.750000, 1.750000, 1.740000, 1.740000, 1.740000, 1.730000, 1.740000, 1.740000, 1.740000, 1.740000, 1.740000, 1.740000, 1.740000, 1.740000, 1.740000, 1.750000, 1.750000, 1.760000, 1.770000, 1.780000, 1.790000, 1.800000, 1.810000, 1.820000, 1.830000, 1.840000, 1.850000, 1.860000, 1.880000, 1.900000, 1.910000, 1.920000, 1.950000, 1.960000, 1.980000, 1.990000, 2.010000, 2.040000, 2.060000, 2.070000, 2.090000, 2.120000, 2.150000, 2.190000, 2.220000, 2.250000, 2.300000, 2.340000, 2.370000, 2.420000, 2.470000, 2.530000, 2.560000, 2.630000, 2.680000, 2.740000, 2.810000, 2.880000, 2.970000, 3.040000, 3.130000, 3.230000, 3.330000, 3.440000, 3.570000, 3.700000, 3.860000, 4.050000, 4.240000, 3.580000, 4.600000, 4.470000, 4.460000, 4.450000, 4.430000, 4.430000, 4.420000, 4.420000, 4.410000, 4.480000, 9.760000, 9.690000, 9.610000, 9.570000, 9.500000, 9.460000, 9.400000, 9.350000, 9.290000, 9.280000, 9.220000, 9.190000, 9.160000, 9.140000, 9.110000, 9.080000, 9.070000, 9.850000, 10.160000, 12.670000, 12.560000, 12.150000, 13.370000, 13.540000, 6.570000, 3.910000, 2.900000, 2.150000, 1.790000, 1.500000 ], "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": [ 976054602, 825513 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.186000, 1.986000, 0.513766 ], "estimate": [ 2.186000, 1.986000, 0.513766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.770000, 0.770000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.870000, 2.460000, 2.420000, 2.370000, 2.330000, 2.290000, 2.240000, 2.220000, 2.170000, 2.130000, 2.100000, 2.080000, 2.050000, 2.010000, 2.000000, 1.970000, 1.950000, 1.940000, 1.910000, 1.900000, 1.880000, 1.860000, 1.840000, 1.840000, 1.820000, 1.820000, 1.810000, 1.790000, 1.780000, 1.770000, 1.760000, 1.750000, 1.750000, 1.740000, 1.730000, 1.720000, 1.720000, 1.710000, 1.700000, 1.690000, 1.690000, 1.690000, 1.690000, 1.700000, 1.710000, 1.690000, 1.700000, 1.700000, 1.690000, 1.690000, 1.690000, 1.700000, 1.710000, 1.720000, 1.720000, 1.740000, 1.740000, 1.750000, 1.760000, 1.770000, 1.780000, 1.790000, 1.800000, 1.820000, 1.830000, 1.840000, 1.850000, 1.870000, 1.890000, 1.910000, 1.920000, 1.930000, 1.960000, 1.980000, 1.990000, 2.010000, 2.040000, 2.070000, 2.090000, 2.110000, 2.140000, 2.170000, 2.200000, 2.250000, 2.290000, 2.330000, 2.370000, 2.430000, 2.480000, 2.520000, 2.580000, 2.630000, 2.700000, 2.760000, 2.830000, 2.920000, 2.990000, 3.080000, 3.180000, 3.280000, 3.380000, 3.510000, 3.640000, 3.810000, 3.990000, 4.200000, 3.750000, 4.740000, 4.450000, 4.430000, 4.030000, 4.410000, 4.400000, 4.390000, 4.390000, 4.390000, 4.450000, 9.720000, 9.660000, 9.590000, 9.540000, 9.470000, 9.430000, 9.370000, 9.320000, 9.280000, 9.250000, 9.210000, 9.180000, 9.160000, 9.120000, 9.100000, 9.070000, 9.060000, 9.820000, 12.670000, 12.650000, 12.550000, 12.620000, 13.540000, 13.540000, 6.580000, 4.430000, 3.200000, 2.520000, 2.070000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054602, 931684 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.235000, 2.014000, 0.519911 ], "estimate": [ 2.235000, 2.014000, 0.519911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.810000, 0.890000, 2.540000, 2.470000, 2.410000, 2.370000, 2.330000, 2.290000, 2.230000, 2.200000, 2.160000, 2.120000, 2.090000, 2.060000, 2.030000, 2.000000, 1.960000, 1.950000, 1.920000, 1.900000, 1.890000, 1.860000, 1.850000, 1.830000, 1.820000, 1.810000, 1.790000, 1.790000, 1.770000, 1.760000, 1.750000, 1.740000, 1.730000, 1.720000, 1.700000, 1.700000, 1.690000, 1.690000, 1.680000, 1.670000, 1.660000, 1.650000, 1.650000, 1.650000, 1.650000, 1.650000, 1.650000, 1.650000, 1.660000, 1.650000, 1.650000, 1.650000, 1.650000, 1.650000, 1.650000, 1.650000, 1.660000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.730000, 1.750000, 1.750000, 1.770000, 1.780000, 1.790000, 1.810000, 1.820000, 1.830000, 1.850000, 1.870000, 1.880000, 1.900000, 1.920000, 1.950000, 1.970000, 1.980000, 2.000000, 2.030000, 2.070000, 2.090000, 2.120000, 2.150000, 2.190000, 2.220000, 2.280000, 2.320000, 2.360000, 2.410000, 2.470000, 2.520000, 2.570000, 2.630000, 2.710000, 2.770000, 2.850000, 2.930000, 3.020000, 3.110000, 3.210000, 3.320000, 3.430000, 3.580000, 3.730000, 3.920000, 4.120000, 3.510000, 4.660000, 4.410000, 4.400000, 4.100000, 4.390000, 4.380000, 4.370000, 4.360000, 4.350000, 4.380000, 5.550000, 9.630000, 9.590000, 9.510000, 9.460000, 9.400000, 9.360000, 9.290000, 9.270000, 9.220000, 9.200000, 9.160000, 9.130000, 9.100000, 9.090000, 9.060000, 9.040000, 9.900000, 12.660000, 12.720000, 12.620000, 12.670000, 13.540000, 13.520000, 6.550000, 4.890000, 3.600000, 3.000000, 2.460000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054603, 851223 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.292000, 2.046000, 0.519911 ], "estimate": [ 2.292000, 2.046000, 0.519911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.830000, 2.660000, 2.580000, 2.510000, 2.460000, 2.410000, 2.350000, 2.310000, 2.270000, 2.220000, 2.180000, 2.130000, 2.100000, 2.070000, 2.030000, 1.990000, 1.960000, 1.940000, 1.910000, 1.880000, 1.860000, 1.850000, 1.820000, 1.820000, 1.800000, 1.780000, 1.770000, 1.750000, 1.740000, 1.740000, 1.720000, 1.710000, 1.690000, 1.680000, 1.670000, 1.660000, 1.650000, 1.650000, 1.640000, 1.630000, 1.620000, 1.620000, 1.620000, 1.610000, 1.600000, 1.590000, 1.590000, 1.590000, 1.590000, 1.590000, 1.590000, 1.600000, 1.590000, 1.590000, 1.590000, 1.590000, 1.590000, 1.600000, 1.600000, 1.610000, 1.620000, 1.630000, 1.640000, 1.650000, 1.650000, 1.650000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.730000, 1.750000, 1.750000, 1.770000, 1.790000, 1.810000, 1.820000, 1.820000, 1.840000, 1.870000, 1.890000, 1.910000, 1.930000, 1.960000, 1.970000, 2.010000, 2.040000, 2.070000, 2.100000, 2.130000, 2.180000, 2.220000, 2.270000, 2.310000, 2.360000, 2.410000, 2.460000, 2.520000, 2.580000, 2.630000, 2.710000, 2.790000, 2.870000, 2.960000, 3.050000, 3.150000, 3.260000, 3.380000, 3.510000, 3.680000, 3.860000, 4.080000, 4.330000, 3.760000, 4.390000, 4.370000, 4.020000, 4.350000, 4.330000, 4.340000, 4.330000, 4.330000, 4.330000, 5.540000, 9.610000, 9.560000, 9.480000, 9.420000, 9.370000, 9.320000, 9.280000, 9.240000, 9.210000, 9.170000, 9.140000, 9.110000, 9.090000, 9.060000, 9.040000, 9.030000, 9.900000, 10.110000, 13.320000, 12.740000, 12.110000, 13.540000, 13.460000, 6.540000, 5.350000, 3.960000, 3.260000, 2.820000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054603, 852398 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.348000, 2.078000, 0.513766 ], "estimate": [ 2.348000, 2.078000, 0.513766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.730000, 2.950000, 2.870000, 2.770000, 2.690000, 2.610000, 2.540000, 2.480000, 2.420000, 2.370000, 2.320000, 2.260000, 2.210000, 2.180000, 2.130000, 2.090000, 2.050000, 2.020000, 1.980000, 1.950000, 1.910000, 1.880000, 1.860000, 1.830000, 1.800000, 1.800000, 1.770000, 1.760000, 1.740000, 1.730000, 1.710000, 1.690000, 1.680000, 1.660000, 1.660000, 1.650000, 1.640000, 1.630000, 1.620000, 1.610000, 1.590000, 1.590000, 1.580000, 1.570000, 1.570000, 1.560000, 1.550000, 1.540000, 1.530000, 1.530000, 1.520000, 1.510000, 1.520000, 1.520000, 1.530000, 1.530000, 1.530000, 1.530000, 1.520000, 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, 1.630000, 1.640000, 1.650000, 1.660000, 1.680000, 1.690000, 1.710000, 1.730000, 1.740000, 1.750000, 1.770000, 1.780000, 1.810000, 1.820000, 1.850000, 1.870000, 1.890000, 1.910000, 1.940000, 1.970000, 1.990000, 2.030000, 2.080000, 2.110000, 2.150000, 2.200000, 2.240000, 2.300000, 2.350000, 2.390000, 2.450000, 2.520000, 2.570000, 2.640000, 2.720000, 2.800000, 2.880000, 2.980000, 3.080000, 3.200000, 3.320000, 3.460000, 3.630000, 3.820000, 4.030000, 4.290000, 3.440000, 4.340000, 4.340000, 3.910000, 4.330000, 4.320000, 4.310000, 4.310000, 4.300000, 4.310000, 9.620000, 9.550000, 9.490000, 9.440000, 9.380000, 9.320000, 9.280000, 9.240000, 9.220000, 9.170000, 9.150000, 9.120000, 9.080000, 9.060000, 9.040000, 9.030000, 9.030000, 9.910000, 12.630000, 12.550000, 12.160000, 13.290000, 13.520000, 12.810000, 6.540000, 5.450000, 4.240000, 3.510000, 3.070000 ], "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": [ 976054603, 853364 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.396000, 2.105000, 0.519911 ], "estimate": [ 2.396000, 2.105000, 0.519911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 3.280000, 3.120000, 3.000000, 2.900000, 2.820000, 2.730000, 2.630000, 2.570000, 2.500000, 2.440000, 2.360000, 2.320000, 2.260000, 2.210000, 2.160000, 2.120000, 2.080000, 2.040000, 2.000000, 1.960000, 1.930000, 1.890000, 1.870000, 1.830000, 1.800000, 1.780000, 1.750000, 1.730000, 1.730000, 1.700000, 1.690000, 1.670000, 1.660000, 1.640000, 1.630000, 1.620000, 1.620000, 1.600000, 1.590000, 1.580000, 1.570000, 1.550000, 1.540000, 1.530000, 1.520000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.480000, 1.480000, 1.480000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.480000, 1.480000, 1.470000, 1.470000, 1.470000, 1.480000, 1.480000, 1.490000, 1.480000, 1.480000, 1.480000, 1.500000, 1.500000, 1.510000, 1.520000, 1.520000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.620000, 1.640000, 1.650000, 1.660000, 1.680000, 1.690000, 1.710000, 1.730000, 1.740000, 1.760000, 1.780000, 1.800000, 1.810000, 1.840000, 1.870000, 1.900000, 1.930000, 1.960000, 2.000000, 2.040000, 2.090000, 2.120000, 2.170000, 2.220000, 2.260000, 2.310000, 2.370000, 2.430000, 2.490000, 2.550000, 2.630000, 2.700000, 2.790000, 2.880000, 2.980000, 3.090000, 3.210000, 3.350000, 3.490000, 3.680000, 3.900000, 4.140000, 3.390000, 4.330000, 4.310000, 4.300000, 3.900000, 4.290000, 4.290000, 4.280000, 4.280000, 4.280000, 4.330000, 9.530000, 9.480000, 9.420000, 9.350000, 9.310000, 9.270000, 9.220000, 9.200000, 9.170000, 9.140000, 9.090000, 9.070000, 9.050000, 9.030000, 9.020000, 9.020000, 9.880000, 12.630000, 12.640000, 12.200000, 13.260000, 13.510000, 12.780000, 6.720000, 6.560000, 4.650000, 3.880000, 3.360000 ], "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": [ 976054603, 854361 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.440000, 2.130000, 0.513766 ], "estimate": [ 2.440000, 2.130000, 0.513766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 3.820000, 3.600000, 3.410000, 3.250000, 3.110000, 2.990000, 2.880000, 2.790000, 2.690000, 2.600000, 2.520000, 2.460000, 2.400000, 2.330000, 2.290000, 2.220000, 2.170000, 2.120000, 2.080000, 2.040000, 2.000000, 1.960000, 1.920000, 1.880000, 1.860000, 1.810000, 1.790000, 1.760000, 1.740000, 1.720000, 1.690000, 1.670000, 1.660000, 1.630000, 1.630000, 1.620000, 1.600000, 1.580000, 1.570000, 1.570000, 1.550000, 1.530000, 1.530000, 1.520000, 1.500000, 1.490000, 1.490000, 1.480000, 1.480000, 1.470000, 1.460000, 1.450000, 1.450000, 1.440000, 1.440000, 1.430000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.430000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.430000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.560000, 1.580000, 1.590000, 1.610000, 1.620000, 1.640000, 1.650000, 1.660000, 1.680000, 1.700000, 1.730000, 1.740000, 1.760000, 1.780000, 1.810000, 1.830000, 1.860000, 1.890000, 1.930000, 1.960000, 2.000000, 2.050000, 2.090000, 2.130000, 2.190000, 2.220000, 2.290000, 2.340000, 2.400000, 2.470000, 2.530000, 2.610000, 2.690000, 2.780000, 2.880000, 2.970000, 3.080000, 3.210000, 3.350000, 3.540000, 3.750000, 3.970000, 4.240000, 3.600000, 4.290000, 4.280000, 3.830000, 4.260000, 4.260000, 4.250000, 4.250000, 4.250000, 4.250000, 9.510000, 9.480000, 9.410000, 9.360000, 9.300000, 9.250000, 9.220000, 9.180000, 9.150000, 9.130000, 9.100000, 9.070000, 9.040000, 9.030000, 9.010000, 9.000000, 9.840000, 10.090000, 12.660000, 12.520000, 12.140000, 13.520000, 12.940000, 7.640000, 6.550000, 5.230000, 4.400000, 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": [ 976054603, 931970 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.490000, 2.158000, 0.526057 ], "estimate": [ 2.490000, 2.158000, 0.526057 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 4.780000, 4.370000, 4.050000, 3.800000, 3.570000, 3.380000, 3.250000, 3.070000, 2.950000, 2.840000, 2.750000, 2.640000, 2.560000, 2.480000, 2.410000, 2.340000, 2.290000, 2.220000, 2.170000, 2.120000, 2.080000, 2.030000, 1.990000, 1.960000, 1.910000, 1.880000, 1.840000, 1.800000, 1.780000, 1.740000, 1.720000, 1.690000, 1.680000, 1.650000, 1.630000, 1.610000, 1.600000, 1.590000, 1.570000, 1.550000, 1.540000, 1.520000, 1.520000, 1.500000, 1.490000, 1.480000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.420000, 1.420000, 1.410000, 1.400000, 1.400000, 1.400000, 1.380000, 1.380000, 1.370000, 1.370000, 1.370000, 1.360000, 1.370000, 1.380000, 1.380000, 1.380000, 1.360000, 1.370000, 1.370000, 1.370000, 1.380000, 1.380000, 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, 1.500000, 1.510000, 1.530000, 1.540000, 1.560000, 1.580000, 1.590000, 1.610000, 1.620000, 1.630000, 1.650000, 1.670000, 1.690000, 1.710000, 1.730000, 1.750000, 1.790000, 1.800000, 1.840000, 1.880000, 1.910000, 1.950000, 1.980000, 2.030000, 2.080000, 2.120000, 2.180000, 2.210000, 2.290000, 2.340000, 2.400000, 2.480000, 2.540000, 2.620000, 2.700000, 2.790000, 2.900000, 3.010000, 3.150000, 3.280000, 3.460000, 3.660000, 3.890000, 4.160000, 3.340000, 4.260000, 4.240000, 4.230000, 4.220000, 4.230000, 4.230000, 4.230000, 4.230000, 4.220000, 4.270000, 9.460000, 9.380000, 9.330000, 9.280000, 9.230000, 9.190000, 9.160000, 9.140000, 9.110000, 9.080000, 9.040000, 9.030000, 9.020000, 9.000000, 8.990000, 9.850000, 10.080000, 12.720000, 12.710000, 12.900000, 13.500000, 12.780000, 7.630000, 6.570000, 5.560000, 4.560000, 3.940000 ], "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": [ 976054604, 382405 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.545000, 2.190000, 0.532203 ], "estimate": [ 2.545000, 2.190000, 0.532203 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.720000, 15.340000, 14.350000, 13.950000, 5.470000, 4.830000, 4.380000, 4.040000, 3.770000, 3.550000, 3.340000, 3.220000, 3.010000, 2.900000, 2.790000, 2.680000, 2.590000, 2.500000, 2.420000, 2.380000, 2.290000, 2.220000, 2.170000, 2.100000, 2.070000, 2.020000, 1.960000, 1.930000, 1.880000, 1.860000, 1.810000, 1.790000, 1.750000, 1.720000, 1.690000, 1.650000, 1.650000, 1.620000, 1.600000, 1.570000, 1.560000, 1.550000, 1.530000, 1.510000, 1.490000, 1.480000, 1.470000, 1.470000, 1.460000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.350000, 1.350000, 1.340000, 1.340000, 1.330000, 1.330000, 1.320000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.310000, 1.310000, 1.310000, 1.300000, 1.300000, 1.310000, 1.310000, 1.320000, 1.310000, 1.320000, 1.330000, 1.340000, 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, 1.470000, 1.480000, 1.490000, 1.500000, 1.520000, 1.530000, 1.540000, 1.570000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.680000, 1.710000, 1.730000, 1.760000, 1.790000, 1.820000, 1.860000, 1.900000, 1.950000, 1.980000, 2.040000, 2.090000, 2.120000, 2.180000, 2.240000, 2.300000, 2.360000, 2.440000, 2.510000, 2.590000, 2.680000, 2.790000, 2.880000, 3.010000, 3.140000, 3.290000, 3.480000, 3.710000, 3.960000, 4.280000, 3.700000, 4.210000, 4.210000, 3.790000, 4.190000, 4.190000, 4.190000, 4.200000, 4.190000, 4.190000, 9.420000, 9.360000, 9.310000, 9.260000, 9.220000, 9.200000, 9.150000, 9.130000, 9.100000, 9.070000, 9.030000, 9.010000, 8.990000, 8.990000, 8.980000, 9.040000, 10.110000, 13.480000, 12.740000, 12.070000, 13.490000, 12.870000, 8.320000, 6.560000, 6.560000, 5.010000, 4.390000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054604, 383628 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.598000, 2.222000, 0.538348 ], "estimate": [ 2.598000, 2.222000, 0.538348 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 15.160000, 15.220000, 15.260000, 15.320000, 14.720000, 13.770000, 5.440000, 4.780000, 4.320000, 3.970000, 3.690000, 3.460000, 3.260000, 3.080000, 2.930000, 2.820000, 2.710000, 2.590000, 2.510000, 2.430000, 2.370000, 2.280000, 2.210000, 2.160000, 2.090000, 2.040000, 1.990000, 1.940000, 1.900000, 1.860000, 1.820000, 1.790000, 1.750000, 1.720000, 1.680000, 1.650000, 1.620000, 1.610000, 1.580000, 1.560000, 1.530000, 1.510000, 1.490000, 1.480000, 1.470000, 1.460000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.380000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.280000, 1.270000, 1.270000, 1.260000, 1.260000, 1.240000, 1.250000, 1.240000, 1.240000, 1.260000, 1.260000, 1.260000, 1.250000, 1.260000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.260000, 1.270000, 1.270000, 1.280000, 1.290000, 1.300000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.410000, 1.420000, 1.440000, 1.450000, 1.470000, 1.480000, 1.480000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.600000, 1.620000, 1.630000, 1.670000, 1.690000, 1.720000, 1.760000, 1.800000, 1.830000, 1.870000, 1.910000, 1.960000, 2.000000, 2.060000, 2.100000, 2.160000, 2.220000, 2.290000, 2.360000, 2.430000, 2.500000, 2.600000, 2.690000, 2.800000, 2.920000, 3.050000, 3.200000, 3.400000, 3.610000, 3.850000, 4.170000, 3.260000, 4.170000, 4.180000, 4.150000, 4.160000, 4.170000, 4.170000, 4.170000, 4.170000, 4.170000, 4.260000, 9.340000, 9.280000, 9.240000, 9.200000, 9.160000, 9.120000, 9.090000, 9.070000, 9.040000, 9.020000, 8.990000, 8.980000, 8.970000, 8.950000, 9.010000, 10.070000, 12.660000, 12.580000, 12.390000, 13.480000, 12.760000, 8.350000, 6.720000, 6.550000, 5.220000, 4.580000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054604, 587160 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.645000, 2.250000, 0.544493 ], "estimate": [ 2.645000, 2.250000, 0.544493 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 15.210000, 15.250000, 15.310000, 15.000000, 13.990000, 5.280000, 4.640000, 4.170000, 3.850000, 3.580000, 3.340000, 3.180000, 2.980000, 2.840000, 2.750000, 2.610000, 2.500000, 2.420000, 2.330000, 2.270000, 2.190000, 2.130000, 2.070000, 2.010000, 1.950000, 1.910000, 1.870000, 1.830000, 1.790000, 1.740000, 1.720000, 1.680000, 1.640000, 1.610000, 1.580000, 1.550000, 1.530000, 1.510000, 1.490000, 1.470000, 1.460000, 1.450000, 1.430000, 1.410000, 1.400000, 1.380000, 1.360000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.300000, 1.290000, 1.280000, 1.270000, 1.260000, 1.260000, 1.240000, 1.230000, 1.230000, 1.230000, 1.230000, 1.220000, 1.210000, 1.200000, 1.200000, 1.200000, 1.190000, 1.190000, 1.190000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 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, 1.340000, 1.340000, 1.360000, 1.370000, 1.390000, 1.410000, 1.410000, 1.430000, 1.450000, 1.470000, 1.470000, 1.500000, 1.510000, 1.530000, 1.560000, 1.580000, 1.610000, 1.620000, 1.660000, 1.690000, 1.730000, 1.760000, 1.800000, 1.850000, 1.890000, 1.930000, 1.970000, 2.040000, 2.090000, 2.140000, 2.210000, 2.280000, 2.350000, 2.430000, 2.510000, 2.610000, 2.720000, 2.820000, 2.960000, 3.110000, 3.290000, 3.530000, 3.770000, 4.080000, 4.500000, 3.240000, 4.140000, 4.130000, 3.720000, 4.130000, 4.130000, 4.130000, 4.130000, 4.130000, 4.200000, 9.290000, 9.250000, 9.210000, 9.160000, 9.140000, 9.100000, 9.070000, 9.040000, 9.020000, 9.000000, 8.990000, 8.960000, 8.960000, 8.940000, 9.800000, 10.050000, 12.470000, 12.070000, 13.420000, 13.480000, 12.750000, 8.170000, 6.720000, 6.550000, 5.300000, 4.700000, 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": [ 976054605, 154150 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.690000, 2.277000, 0.544493 ], "estimate": [ 2.690000, 2.277000, 0.544493 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 15.220000, 15.290000, 15.340000, 14.470000, 5.460000, 4.690000, 4.170000, 3.840000, 3.560000, 3.320000, 3.100000, 2.940000, 2.800000, 2.670000, 2.560000, 2.460000, 2.370000, 2.300000, 2.210000, 2.140000, 2.080000, 2.020000, 1.960000, 1.910000, 1.860000, 1.810000, 1.780000, 1.730000, 1.700000, 1.650000, 1.630000, 1.600000, 1.570000, 1.550000, 1.500000, 1.490000, 1.470000, 1.450000, 1.430000, 1.410000, 1.400000, 1.380000, 1.370000, 1.350000, 1.330000, 1.330000, 1.320000, 1.310000, 1.290000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.230000, 1.220000, 1.220000, 1.200000, 1.200000, 1.200000, 1.190000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.150000, 1.150000, 1.140000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.160000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.220000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.300000, 1.310000, 1.330000, 1.340000, 1.350000, 1.370000, 1.390000, 1.400000, 1.410000, 1.430000, 1.450000, 1.470000, 1.480000, 1.500000, 1.520000, 1.550000, 1.590000, 1.610000, 1.630000, 1.670000, 1.710000, 1.750000, 1.800000, 1.830000, 1.870000, 1.920000, 1.970000, 2.030000, 2.080000, 2.140000, 2.220000, 2.280000, 2.360000, 2.450000, 2.540000, 2.650000, 2.750000, 2.890000, 3.040000, 3.210000, 3.450000, 3.690000, 3.990000, 4.410000, 3.420000, 4.110000, 4.100000, 4.050000, 4.100000, 4.100000, 4.100000, 4.100000, 4.110000, 4.160000, 9.270000, 9.220000, 9.180000, 9.130000, 9.110000, 9.070000, 9.050000, 9.030000, 9.000000, 8.980000, 8.960000, 8.950000, 8.930000, 8.940000, 9.790000, 10.030000, 12.540000, 12.050000, 13.460000, 13.470000, 12.750000, 8.170000, 6.790000, 6.540000, 6.560000, 4.820000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054605, 165609 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.738000, 2.306000, 0.544493 ], "estimate": [ 2.738000, 2.306000, 0.544493 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 15.260000, 15.320000, 15.040000, 14.500000, 4.720000, 4.130000, 3.810000, 3.520000, 3.270000, 3.050000, 2.890000, 2.720000, 2.610000, 2.490000, 2.390000, 2.310000, 2.220000, 2.150000, 2.080000, 2.010000, 1.960000, 1.900000, 1.850000, 1.790000, 1.750000, 1.710000, 1.680000, 1.630000, 1.610000, 1.570000, 1.530000, 1.520000, 1.470000, 1.450000, 1.430000, 1.420000, 1.390000, 1.370000, 1.350000, 1.350000, 1.330000, 1.320000, 1.300000, 1.280000, 1.270000, 1.260000, 1.240000, 1.230000, 1.230000, 1.210000, 1.200000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.100000, 1.090000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.200000, 1.220000, 1.230000, 1.230000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.340000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.460000, 1.480000, 1.510000, 1.540000, 1.570000, 1.600000, 1.630000, 1.670000, 1.720000, 1.760000, 1.800000, 1.840000, 1.890000, 1.950000, 1.990000, 2.070000, 2.120000, 2.190000, 2.270000, 2.350000, 2.440000, 2.540000, 2.650000, 2.760000, 2.910000, 3.080000, 3.320000, 3.550000, 3.840000, 4.240000, 4.150000, 3.230000, 4.080000, 4.070000, 4.070000, 4.070000, 4.080000, 4.080000, 4.080000, 4.080000, 9.240000, 9.210000, 9.160000, 9.120000, 9.090000, 9.050000, 9.030000, 9.010000, 8.990000, 8.970000, 8.940000, 8.930000, 8.920000, 8.910000, 9.350000, 10.030000, 12.540000, 12.040000, 13.450000, 13.460000, 12.730000, 8.430000, 7.060000, 6.540000, 6.560000, 5.050000, 4.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054605, 117763 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.770000, 2.325000, 0.556785 ], "estimate": [ 2.770000, 2.325000, 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": [ 15.250000, 15.320000, 15.000000, 5.050000, 4.430000, 3.940000, 3.600000, 3.330000, 3.090000, 2.900000, 2.750000, 2.620000, 2.490000, 2.380000, 2.300000, 2.210000, 2.120000, 2.050000, 1.990000, 1.940000, 1.860000, 1.820000, 1.770000, 1.720000, 1.680000, 1.630000, 1.600000, 1.560000, 1.520000, 1.490000, 1.460000, 1.440000, 1.420000, 1.390000, 1.370000, 1.360000, 1.330000, 1.320000, 1.310000, 1.290000, 1.280000, 1.260000, 1.240000, 1.230000, 1.230000, 1.200000, 1.200000, 1.190000, 1.180000, 1.170000, 1.150000, 1.140000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.050000, 1.050000, 1.050000, 1.040000, 1.040000, 1.050000, 1.040000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.170000, 1.190000, 1.200000, 1.200000, 1.220000, 1.230000, 1.250000, 1.260000, 1.280000, 1.300000, 1.300000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.430000, 1.470000, 1.490000, 1.520000, 1.560000, 1.600000, 1.630000, 1.670000, 1.720000, 1.750000, 1.790000, 1.850000, 1.900000, 1.950000, 2.020000, 2.080000, 2.160000, 2.230000, 2.320000, 2.400000, 2.500000, 2.610000, 2.750000, 2.910000, 3.100000, 3.340000, 3.600000, 3.920000, 4.380000, 3.700000, 4.040000, 4.050000, 3.620000, 4.050000, 4.050000, 4.050000, 4.050000, 4.060000, 4.070000, 9.200000, 9.150000, 9.120000, 9.090000, 9.050000, 9.030000, 9.010000, 8.980000, 8.960000, 8.940000, 8.920000, 8.910000, 8.910000, 8.910000, 10.020000, 12.640000, 12.510000, 12.140000, 13.450000, 12.740000, 12.720000, 7.740000, 6.640000, 6.530000, 6.560000, 4.910000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054605, 698737 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.776000, 2.329000, 0.550639 ], "estimate": [ 2.776000, 2.329000, 0.550639 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 15.220000, 15.280000, 15.330000, 6.080000, 4.700000, 4.080000, 3.730000, 3.410000, 3.170000, 2.940000, 2.780000, 2.620000, 2.500000, 2.390000, 2.290000, 2.190000, 2.120000, 2.050000, 1.980000, 1.920000, 1.860000, 1.800000, 1.750000, 1.700000, 1.660000, 1.620000, 1.580000, 1.540000, 1.500000, 1.480000, 1.450000, 1.420000, 1.400000, 1.370000, 1.350000, 1.340000, 1.320000, 1.300000, 1.290000, 1.270000, 1.250000, 1.230000, 1.220000, 1.220000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.010000, 1.020000, 1.030000, 1.020000, 1.030000, 1.020000, 1.020000, 1.020000, 1.010000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.230000, 1.250000, 1.260000, 1.270000, 1.290000, 1.320000, 1.330000, 1.350000, 1.360000, 1.390000, 1.410000, 1.430000, 1.450000, 1.490000, 1.530000, 1.560000, 1.600000, 1.630000, 1.680000, 1.710000, 1.760000, 1.810000, 1.860000, 1.920000, 1.980000, 2.050000, 2.110000, 2.180000, 2.280000, 2.360000, 2.460000, 2.570000, 2.710000, 2.870000, 3.060000, 3.300000, 3.560000, 3.880000, 4.330000, 4.040000, 3.120000, 4.030000, 3.740000, 4.030000, 4.030000, 4.040000, 4.040000, 4.050000, 4.050000, 9.180000, 9.140000, 9.110000, 9.080000, 9.040000, 9.020000, 9.010000, 8.980000, 8.950000, 8.930000, 8.910000, 8.910000, 8.900000, 8.900000, 10.000000, 12.490000, 12.490000, 13.160000, 13.450000, 12.740000, 12.710000, 7.730000, 6.640000, 6.540000, 6.560000 ], "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": [ 976054605, 699884 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.774000, 2.328000, 0.562930 ], "estimate": [ 2.774000, 2.328000, 0.562930 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 15.240000, 15.280000, 15.350000, 5.370000, 4.520000, 3.980000, 3.590000, 3.330000, 3.090000, 2.900000, 2.730000, 2.590000, 2.460000, 2.350000, 2.290000, 2.180000, 2.100000, 2.030000, 1.960000, 1.900000, 1.850000, 1.790000, 1.740000, 1.700000, 1.650000, 1.610000, 1.580000, 1.540000, 1.500000, 1.480000, 1.450000, 1.420000, 1.390000, 1.370000, 1.360000, 1.340000, 1.320000, 1.310000, 1.280000, 1.270000, 1.250000, 1.230000, 1.230000, 1.220000, 1.200000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.070000, 1.070000, 1.070000, 1.070000, 1.090000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.410000, 1.450000, 1.470000, 1.500000, 1.540000, 1.580000, 1.610000, 1.650000, 1.700000, 1.730000, 1.780000, 1.830000, 1.880000, 1.940000, 2.010000, 2.060000, 2.140000, 2.220000, 2.300000, 2.400000, 2.500000, 2.620000, 2.750000, 2.910000, 3.110000, 3.370000, 3.640000, 4.000000, 4.510000, 3.130000, 4.030000, 4.040000, 4.020000, 4.030000, 4.030000, 4.040000, 4.040000, 4.050000, 4.110000, 9.170000, 9.130000, 9.100000, 9.070000, 9.030000, 9.000000, 8.990000, 8.960000, 8.940000, 8.910000, 8.910000, 8.890000, 8.890000, 8.960000, 10.000000, 12.510000, 12.100000, 13.440000, 13.450000, 12.720000, 8.410000, 7.170000, 6.530000, 6.550000, 5.230000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054605, 700682 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.772000, 2.327000, 0.581367 ], "estimate": [ 2.772000, 2.327000, 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": [ 15.300000, 15.350000, 5.470000, 4.540000, 4.000000, 3.600000, 3.350000, 3.100000, 2.910000, 2.750000, 2.610000, 2.480000, 2.370000, 2.300000, 2.190000, 2.110000, 2.050000, 1.980000, 1.920000, 1.860000, 1.800000, 1.750000, 1.700000, 1.670000, 1.620000, 1.580000, 1.540000, 1.510000, 1.480000, 1.450000, 1.430000, 1.400000, 1.380000, 1.350000, 1.340000, 1.320000, 1.300000, 1.290000, 1.270000, 1.250000, 1.240000, 1.220000, 1.230000, 1.210000, 1.200000, 1.190000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.030000, 1.030000, 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, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.440000, 1.450000, 1.480000, 1.510000, 1.550000, 1.590000, 1.620000, 1.660000, 1.710000, 1.750000, 1.790000, 1.850000, 1.890000, 1.950000, 2.020000, 2.070000, 2.160000, 2.240000, 2.320000, 2.420000, 2.520000, 2.640000, 2.780000, 2.940000, 3.150000, 3.400000, 3.680000, 4.060000, 4.590000, 3.130000, 4.030000, 4.030000, 3.860000, 4.040000, 4.040000, 4.040000, 4.050000, 4.050000, 4.110000, 9.170000, 9.130000, 9.090000, 9.050000, 9.040000, 9.010000, 8.990000, 8.960000, 8.950000, 8.930000, 8.920000, 8.900000, 8.900000, 9.170000, 10.000000, 12.520000, 12.150000, 13.440000, 13.450000, 12.720000, 8.360000, 7.100000, 6.540000, 6.550000, 5.200000, 4.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054605, 875112 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.772000, 2.327000, 0.599803 ], "estimate": [ 2.772000, 2.327000, 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": [ 15.320000, 6.060000, 4.810000, 4.130000, 3.790000, 3.460000, 3.190000, 2.980000, 2.810000, 2.650000, 2.530000, 2.420000, 2.310000, 2.230000, 2.150000, 2.070000, 2.010000, 1.940000, 1.870000, 1.830000, 1.780000, 1.720000, 1.680000, 1.640000, 1.600000, 1.560000, 1.520000, 1.480000, 1.450000, 1.440000, 1.410000, 1.390000, 1.360000, 1.340000, 1.330000, 1.310000, 1.300000, 1.280000, 1.260000, 1.250000, 1.230000, 1.220000, 1.220000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.120000, 1.100000, 1.090000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.030000, 1.020000, 1.030000, 1.030000, 1.030000, 1.020000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.160000, 1.170000, 1.190000, 1.200000, 1.210000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.320000, 1.330000, 1.360000, 1.380000, 1.400000, 1.420000, 1.450000, 1.460000, 1.500000, 1.530000, 1.570000, 1.610000, 1.640000, 1.690000, 1.730000, 1.780000, 1.820000, 1.870000, 1.930000, 1.990000, 2.050000, 2.120000, 2.190000, 2.280000, 2.370000, 2.460000, 2.580000, 2.710000, 2.870000, 3.050000, 3.300000, 3.560000, 3.870000, 4.320000, 3.760000, 3.130000, 4.030000, 3.600000, 4.030000, 4.040000, 4.030000, 4.040000, 4.040000, 4.060000, 9.180000, 9.150000, 9.100000, 9.070000, 9.030000, 9.020000, 9.000000, 8.970000, 8.950000, 8.930000, 8.910000, 8.910000, 8.890000, 8.890000, 10.030000, 12.510000, 12.520000, 12.270000, 13.440000, 12.730000, 12.720000, 7.620000, 6.540000, 6.530000, 6.550000, 4.890000, 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": [ 976054606, 275802 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.772000, 2.327000, 0.655113 ], "estimate": [ 2.772000, 2.327000, 0.655113 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.870000, 4.200000, 3.800000, 3.490000, 3.220000, 2.990000, 2.830000, 2.720000, 2.550000, 2.430000, 2.320000, 2.240000, 2.160000, 2.080000, 2.020000, 1.940000, 1.890000, 1.840000, 1.780000, 1.730000, 1.690000, 1.640000, 1.610000, 1.570000, 1.530000, 1.490000, 1.460000, 1.440000, 1.420000, 1.390000, 1.370000, 1.350000, 1.330000, 1.310000, 1.290000, 1.280000, 1.270000, 1.250000, 1.230000, 1.220000, 1.220000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.140000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.030000, 1.020000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.230000, 1.260000, 1.270000, 1.290000, 1.300000, 1.320000, 1.340000, 1.360000, 1.380000, 1.390000, 1.420000, 1.450000, 1.460000, 1.490000, 1.530000, 1.560000, 1.600000, 1.640000, 1.680000, 1.710000, 1.760000, 1.810000, 1.870000, 1.930000, 1.980000, 2.050000, 2.100000, 2.190000, 2.280000, 2.360000, 2.450000, 2.570000, 2.690000, 2.840000, 3.020000, 3.260000, 3.500000, 3.820000, 4.240000, 3.970000, 3.130000, 4.030000, 3.590000, 4.000000, 4.030000, 4.030000, 4.040000, 4.050000, 4.050000, 9.180000, 9.130000, 9.100000, 9.070000, 9.040000, 9.020000, 8.990000, 8.970000, 8.950000, 8.920000, 8.900000, 8.890000, 8.900000, 8.890000, 10.000000, 12.520000, 12.470000, 12.030000, 13.440000, 12.720000, 12.710000, 7.620000, 6.530000, 6.530000, 5.400000, 4.880000, 4.460000, 4.110000, 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": [ 976054606, 297471 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.772000, 2.327000, 0.735005 ], "estimate": [ 2.772000, 2.327000, 0.735005 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.020000, 2.850000, 2.720000, 2.580000, 2.460000, 2.350000, 2.270000, 2.180000, 2.100000, 2.030000, 1.970000, 1.910000, 1.850000, 1.790000, 1.740000, 1.710000, 1.660000, 1.610000, 1.580000, 1.540000, 1.500000, 1.470000, 1.450000, 1.420000, 1.400000, 1.380000, 1.350000, 1.330000, 1.320000, 1.300000, 1.280000, 1.270000, 1.250000, 1.240000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.030000, 1.040000, 1.030000, 1.030000, 1.040000, 1.030000, 1.040000, 1.040000, 1.040000, 1.030000, 1.030000, 1.040000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 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, 1.220000, 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, 1.460000, 1.490000, 1.520000, 1.560000, 1.600000, 1.630000, 1.680000, 1.720000, 1.750000, 1.800000, 1.860000, 1.910000, 1.970000, 2.050000, 2.100000, 2.180000, 2.260000, 2.350000, 2.450000, 2.550000, 2.680000, 2.810000, 2.990000, 3.190000, 3.470000, 3.760000, 4.160000, 4.010000, 3.130000, 4.030000, 3.610000, 3.610000, 4.030000, 4.030000, 4.030000, 4.040000, 4.040000, 4.130000, 9.150000, 9.090000, 9.060000, 9.030000, 9.010000, 8.990000, 8.970000, 8.940000, 8.920000, 8.900000, 8.900000, 8.880000, 8.880000, 9.780000, 12.590000, 12.480000, 12.070000, 13.430000, 12.720000, 12.700000, 7.760000, 6.630000, 6.520000, 6.540000, 4.920000, 4.480000, 4.140000, 3.810000, 3.550000, 3.320000, 3.150000, 2.980000 ], "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": [ 976054606, 432886 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.767000, 2.322000, 0.833333 ], "estimate": [ 2.767000, 2.322000, 0.833333 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.500000, 2.390000, 2.300000, 2.200000, 2.120000, 2.060000, 1.980000, 1.930000, 1.870000, 1.810000, 1.760000, 1.720000, 1.680000, 1.630000, 1.590000, 1.550000, 1.520000, 1.500000, 1.450000, 1.440000, 1.410000, 1.390000, 1.360000, 1.340000, 1.320000, 1.310000, 1.290000, 1.270000, 1.260000, 1.250000, 1.230000, 1.220000, 1.210000, 1.190000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.130000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.030000, 1.040000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.230000, 1.250000, 1.270000, 1.280000, 1.310000, 1.320000, 1.330000, 1.360000, 1.380000, 1.400000, 1.410000, 1.440000, 1.460000, 1.490000, 1.520000, 1.560000, 1.590000, 1.620000, 1.660000, 1.720000, 1.760000, 1.790000, 1.850000, 1.910000, 1.960000, 2.030000, 2.090000, 2.160000, 2.250000, 2.320000, 2.420000, 2.530000, 2.660000, 2.790000, 2.950000, 3.140000, 3.410000, 3.680000, 4.050000, 4.040000, 4.010000, 4.030000, 4.000000, 3.630000, 4.020000, 4.030000, 4.030000, 4.030000, 4.040000, 4.100000, 9.140000, 9.120000, 9.060000, 9.020000, 9.020000, 8.980000, 8.960000, 8.930000, 8.920000, 8.910000, 8.890000, 8.880000, 8.870000, 8.960000, 9.990000, 12.450000, 12.480000, 13.430000, 12.970000, 12.710000, 8.000000, 6.840000, 6.520000, 6.530000, 5.040000, 4.580000, 4.220000, 3.870000, 3.600000, 3.370000, 3.160000, 2.990000, 2.840000, 2.690000, 2.550000, 2.420000, 2.330000 ], "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": [ 976054607, 322237 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.761000, 2.315000, 0.882497 ], "estimate": [ 2.761000, 2.315000, 0.882497 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.080000, 2.010000, 1.950000, 1.900000, 1.840000, 1.790000, 1.740000, 1.690000, 1.650000, 1.620000, 1.590000, 1.550000, 1.510000, 1.480000, 1.450000, 1.430000, 1.410000, 1.380000, 1.360000, 1.350000, 1.330000, 1.310000, 1.290000, 1.270000, 1.260000, 1.250000, 1.240000, 1.220000, 1.210000, 1.190000, 1.190000, 1.190000, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.050000, 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, 1.060000, 1.070000, 1.070000, 1.070000, 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, 1.190000, 1.200000, 1.210000, 1.230000, 1.240000, 1.250000, 1.270000, 1.290000, 1.310000, 1.320000, 1.330000, 1.350000, 1.370000, 1.400000, 1.420000, 1.430000, 1.460000, 1.490000, 1.510000, 1.550000, 1.580000, 1.620000, 1.650000, 1.690000, 1.740000, 1.790000, 1.830000, 1.870000, 1.930000, 1.980000, 2.060000, 2.120000, 2.190000, 2.280000, 2.360000, 2.460000, 2.570000, 2.690000, 2.830000, 2.990000, 3.210000, 3.460000, 3.740000, 4.130000, 3.230000, 3.120000, 4.030000, 3.620000, 3.620000, 4.030000, 4.030000, 4.030000, 4.030000, 4.040000, 4.110000, 9.140000, 9.110000, 9.070000, 9.040000, 9.010000, 8.990000, 8.960000, 8.940000, 8.920000, 8.900000, 8.890000, 8.880000, 8.880000, 9.460000, 9.990000, 12.470000, 12.480000, 13.420000, 12.840000, 12.700000, 7.870000, 6.720000, 6.530000, 6.520000, 4.960000, 4.500000, 4.130000, 3.790000, 3.520000, 3.310000, 3.120000, 2.960000, 2.790000, 2.630000, 2.510000, 2.400000, 2.280000, 2.190000, 2.100000, 2.030000, 1.950000, 1.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054607, 347340 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.744000, 2.291000, 0.968535 ], "estimate": [ 2.744000, 2.291000, 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": [ 1.860000, 1.800000, 1.760000, 1.720000, 1.680000, 1.630000, 1.600000, 1.570000, 1.540000, 1.490000, 1.470000, 1.450000, 1.430000, 1.410000, 1.390000, 1.370000, 1.350000, 1.330000, 1.320000, 1.300000, 1.290000, 1.270000, 1.260000, 1.240000, 1.230000, 1.220000, 1.220000, 1.200000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 1.100000, 1.100000, 1.100000, 1.080000, 1.080000, 1.080000, 1.070000, 1.070000, 1.080000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.070000, 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, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.200000, 1.220000, 1.230000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.480000, 1.510000, 1.540000, 1.570000, 1.600000, 1.630000, 1.670000, 1.720000, 1.760000, 1.800000, 1.860000, 1.900000, 1.950000, 2.020000, 2.070000, 2.140000, 2.220000, 2.310000, 2.380000, 2.480000, 2.580000, 2.700000, 2.840000, 3.000000, 3.200000, 3.450000, 3.710000, 4.090000, 3.630000, 3.140000, 4.040000, 3.640000, 3.630000, 4.040000, 4.050000, 4.050000, 4.040000, 4.050000, 4.110000, 9.170000, 9.130000, 9.090000, 9.050000, 9.030000, 9.000000, 8.990000, 8.950000, 8.940000, 8.920000, 8.900000, 8.890000, 8.890000, 8.880000, 12.520000, 12.410000, 12.090000, 13.190000, 13.440000, 12.720000, 8.190000, 6.960000, 6.520000, 6.520000, 5.010000, 4.550000, 4.190000, 3.810000, 3.530000, 3.310000, 3.120000, 2.980000, 2.770000, 2.620000, 2.490000, 2.380000, 2.260000, 2.170000, 2.090000, 2.000000, 1.930000, 1.850000, 1.780000, 1.750000, 1.700000, 1.640000, 1.590000 ], "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": [ 976054607, 348358 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.726000, 2.265000, 1.017699 ], "estimate": [ 2.726000, 2.265000, 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": [ 1.760000, 1.710000, 1.670000, 1.630000, 1.600000, 1.570000, 1.530000, 1.510000, 1.490000, 1.470000, 1.450000, 1.430000, 1.410000, 1.390000, 1.370000, 1.350000, 1.330000, 1.310000, 1.300000, 1.280000, 1.260000, 1.250000, 1.240000, 1.230000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.130000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.320000, 1.330000, 1.350000, 1.370000, 1.370000, 1.400000, 1.410000, 1.430000, 1.460000, 1.470000, 1.500000, 1.530000, 1.560000, 1.600000, 1.620000, 1.650000, 1.690000, 1.730000, 1.780000, 1.810000, 1.880000, 1.930000, 1.970000, 2.030000, 2.090000, 2.160000, 2.230000, 2.310000, 2.400000, 2.500000, 2.590000, 2.700000, 2.830000, 2.980000, 3.160000, 3.390000, 3.650000, 3.980000, 4.410000, 4.050000, 4.060000, 4.060000, 4.040000, 4.060000, 4.060000, 4.060000, 4.060000, 4.070000, 4.130000, 9.210000, 9.170000, 9.140000, 9.100000, 9.060000, 9.040000, 9.010000, 8.980000, 8.960000, 8.940000, 8.920000, 8.910000, 8.910000, 8.900000, 9.780000, 12.490000, 12.440000, 12.050000, 13.440000, 12.880000, 12.720000, 7.730000, 6.540000, 6.520000, 5.340000, 4.770000, 4.330000, 3.930000, 3.620000, 3.370000, 3.170000, 2.960000, 2.810000, 2.640000, 2.510000, 2.390000, 2.270000, 2.170000, 2.080000, 1.990000, 1.920000, 1.860000, 1.780000, 1.740000, 1.680000, 1.630000, 1.580000, 1.520000, 1.490000, 1.440000, 1.390000 ], "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": [ 976054607, 349300 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.715000, 2.246000, 1.023844 ], "estimate": [ 2.715000, 2.246000, 1.023844 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.750000, 1.720000, 1.670000, 1.630000, 1.610000, 1.570000, 1.540000, 1.510000, 1.490000, 1.470000, 1.460000, 1.440000, 1.420000, 1.400000, 1.370000, 1.360000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.200000, 1.190000, 1.170000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.120000, 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, 1.170000, 1.180000, 1.190000, 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, 1.330000, 1.350000, 1.370000, 1.390000, 1.400000, 1.410000, 1.430000, 1.460000, 1.470000, 1.500000, 1.530000, 1.560000, 1.590000, 1.620000, 1.640000, 1.680000, 1.720000, 1.760000, 1.810000, 1.850000, 1.900000, 1.960000, 2.010000, 2.070000, 2.120000, 2.190000, 2.270000, 2.340000, 2.440000, 2.520000, 2.630000, 2.750000, 2.880000, 3.020000, 3.190000, 3.440000, 3.690000, 4.020000, 4.480000, 3.180000, 4.080000, 4.080000, 3.710000, 4.080000, 4.080000, 4.080000, 4.080000, 4.080000, 4.150000, 9.240000, 9.190000, 9.150000, 9.120000, 9.080000, 9.050000, 9.030000, 9.010000, 8.990000, 8.960000, 8.940000, 8.930000, 8.920000, 8.890000, 9.780000, 12.490000, 12.460000, 12.040000, 13.460000, 13.370000, 12.730000, 7.850000, 6.610000, 6.530000, 5.530000, 4.770000, 4.340000, 3.930000, 3.620000, 3.350000, 3.150000, 2.970000, 2.770000, 2.620000, 2.480000, 2.350000, 2.250000, 2.140000, 2.040000, 1.970000, 1.890000, 1.830000, 1.780000, 1.700000, 1.650000, 1.600000, 1.540000, 1.500000, 1.460000, 1.410000, 1.370000, 1.340000 ], "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": [ 976054607, 352929 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.714000, 2.244000, 1.042281 ], "estimate": [ 2.714000, 2.244000, 1.042281 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.750000, 1.710000, 1.670000, 1.630000, 1.610000, 1.570000, 1.540000, 1.520000, 1.490000, 1.470000, 1.460000, 1.440000, 1.420000, 1.400000, 1.380000, 1.360000, 1.340000, 1.320000, 1.310000, 1.300000, 1.280000, 1.260000, 1.260000, 1.240000, 1.240000, 1.230000, 1.220000, 1.210000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.160000, 1.160000, 1.160000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.130000, 1.130000, 1.120000, 1.130000, 1.140000, 1.130000, 1.130000, 1.130000, 1.120000, 1.120000, 1.130000, 1.140000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.290000, 1.300000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.470000, 1.490000, 1.530000, 1.540000, 1.580000, 1.610000, 1.630000, 1.660000, 1.710000, 1.750000, 1.780000, 1.820000, 1.880000, 1.930000, 1.970000, 2.030000, 2.090000, 2.150000, 2.220000, 2.310000, 2.380000, 2.470000, 2.570000, 2.680000, 2.780000, 2.920000, 3.080000, 3.290000, 3.510000, 3.800000, 4.150000, 4.640000, 3.190000, 4.080000, 4.070000, 3.910000, 4.080000, 4.080000, 4.080000, 4.080000, 4.090000, 4.190000, 9.230000, 9.190000, 9.140000, 9.110000, 9.070000, 9.040000, 9.020000, 9.010000, 8.980000, 8.960000, 8.940000, 8.930000, 8.920000, 8.920000, 10.030000, 12.550000, 12.430000, 12.050000, 13.450000, 12.750000, 12.730000, 7.360000, 6.530000, 6.540000, 5.110000, 4.580000, 4.200000, 3.800000, 3.510000, 3.270000, 3.070000, 2.890000, 2.710000, 2.560000, 2.430000, 2.300000, 2.200000, 2.100000, 2.000000, 1.930000, 1.870000, 1.780000, 1.730000, 1.680000, 1.630000, 1.560000, 1.530000, 1.470000, 1.430000, 1.380000, 1.360000, 1.330000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054607, 552706 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.714000, 2.245000, 1.054572 ], "estimate": [ 2.714000, 2.245000, 1.054572 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.680000, 1.640000, 1.610000, 1.580000, 1.550000, 1.520000, 1.500000, 1.480000, 1.460000, 1.440000, 1.420000, 1.400000, 1.380000, 1.360000, 1.350000, 1.330000, 1.320000, 1.300000, 1.290000, 1.270000, 1.260000, 1.240000, 1.240000, 1.230000, 1.230000, 1.210000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.120000, 1.130000, 1.140000, 1.140000, 1.130000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.260000, 1.270000, 1.280000, 1.300000, 1.310000, 1.330000, 1.340000, 1.360000, 1.370000, 1.390000, 1.400000, 1.420000, 1.450000, 1.470000, 1.480000, 1.500000, 1.530000, 1.560000, 1.600000, 1.620000, 1.650000, 1.690000, 1.730000, 1.760000, 1.810000, 1.860000, 1.900000, 1.960000, 2.010000, 2.080000, 2.130000, 2.200000, 2.280000, 2.350000, 2.450000, 2.530000, 2.640000, 2.760000, 2.880000, 3.030000, 3.210000, 3.460000, 3.710000, 4.030000, 4.490000, 3.170000, 4.080000, 4.080000, 3.680000, 4.080000, 4.080000, 4.080000, 4.080000, 4.090000, 4.160000, 9.230000, 9.200000, 9.150000, 9.120000, 9.080000, 9.050000, 9.030000, 9.000000, 8.980000, 8.960000, 8.940000, 8.930000, 8.920000, 8.910000, 9.770000, 12.510000, 12.460000, 12.050000, 13.450000, 13.330000, 12.730000, 7.790000, 6.540000, 6.540000, 5.310000, 4.730000, 4.290000, 3.890000, 3.600000, 3.330000, 3.130000, 2.960000, 2.770000, 2.590000, 2.460000, 2.340000, 2.230000, 2.130000, 2.030000, 1.960000, 1.880000, 1.820000, 1.740000, 1.690000, 1.640000, 1.590000, 1.530000, 1.490000, 1.440000, 1.400000, 1.360000, 1.330000, 1.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054608, 135200 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.714000, 2.246000, 1.085300 ], "estimate": [ 2.714000, 2.246000, 1.085300 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.700000, 1.660000, 1.630000, 1.590000, 1.560000, 1.530000, 1.510000, 1.480000, 1.470000, 1.450000, 1.430000, 1.410000, 1.390000, 1.370000, 1.350000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.260000, 1.250000, 1.250000, 1.230000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.190000, 1.180000, 1.170000, 1.160000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.200000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 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, 1.620000, 1.640000, 1.680000, 1.720000, 1.750000, 1.800000, 1.840000, 1.880000, 1.940000, 2.000000, 2.050000, 2.110000, 2.170000, 2.250000, 2.330000, 2.410000, 2.500000, 2.610000, 2.700000, 2.830000, 2.970000, 3.150000, 3.370000, 3.600000, 3.900000, 4.300000, 3.160000, 4.080000, 4.080000, 3.680000, 4.080000, 4.080000, 4.080000, 4.080000, 4.080000, 4.100000, 9.250000, 9.220000, 9.160000, 9.130000, 9.090000, 9.050000, 9.040000, 9.000000, 8.990000, 8.970000, 8.940000, 8.930000, 8.920000, 8.920000, 8.970000, 10.040000, 12.420000, 12.030000, 13.420000, 13.460000, 12.720000, 8.260000, 6.890000, 6.540000, 6.550000, 4.890000, 4.430000, 4.030000, 3.670000, 3.410000, 3.180000, 2.980000, 2.820000, 2.650000, 2.510000, 2.390000, 2.260000, 2.160000, 2.060000, 1.980000, 1.900000, 1.840000, 1.780000, 1.710000, 1.650000, 1.600000, 1.550000, 1.510000, 1.460000, 1.410000, 1.370000, 1.340000, 1.300000, 1.270000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054608, 270099 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.715000, 2.247000, 1.159046 ], "estimate": [ 2.715000, 2.247000, 1.159046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.570000, 1.540000, 1.520000, 1.500000, 1.470000, 1.470000, 1.450000, 1.420000, 1.400000, 1.380000, 1.360000, 1.350000, 1.330000, 1.320000, 1.310000, 1.290000, 1.280000, 1.260000, 1.260000, 1.250000, 1.230000, 1.230000, 1.220000, 1.210000, 1.200000, 1.200000, 1.180000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.300000, 1.320000, 1.330000, 1.340000, 1.360000, 1.380000, 1.400000, 1.400000, 1.420000, 1.450000, 1.470000, 1.490000, 1.500000, 1.540000, 1.570000, 1.600000, 1.640000, 1.650000, 1.690000, 1.730000, 1.770000, 1.810000, 1.860000, 1.910000, 1.970000, 2.020000, 2.080000, 2.130000, 2.200000, 2.290000, 2.350000, 2.450000, 2.530000, 2.640000, 2.750000, 2.890000, 3.040000, 3.200000, 3.450000, 3.710000, 4.020000, 4.490000, 3.160000, 4.080000, 4.080000, 3.670000, 4.080000, 4.080000, 4.080000, 4.080000, 4.080000, 4.160000, 9.220000, 9.180000, 9.140000, 9.110000, 9.070000, 9.050000, 9.030000, 8.990000, 8.980000, 8.940000, 8.940000, 8.920000, 8.910000, 8.910000, 9.760000, 12.510000, 12.460000, 12.150000, 13.450000, 12.830000, 12.710000, 7.520000, 6.520000, 6.520000, 5.180000, 4.650000, 4.240000, 3.830000, 3.530000, 3.280000, 3.090000, 2.930000, 2.720000, 2.560000, 2.430000, 2.320000, 2.200000, 2.100000, 2.020000, 1.940000, 1.860000, 1.780000, 1.750000, 1.680000, 1.620000, 1.570000, 1.530000, 1.480000, 1.430000, 1.380000, 1.360000, 1.330000, 1.290000, 1.260000, 1.230000, 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": [ 976054608, 117827 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.716000, 2.250000, 1.251229 ], "estimate": [ 2.716000, 2.250000, 1.251229 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.460000, 1.460000, 1.430000, 1.410000, 1.400000, 1.380000, 1.360000, 1.350000, 1.330000, 1.320000, 1.310000, 1.290000, 1.270000, 1.260000, 1.260000, 1.250000, 1.240000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.160000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.140000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.190000, 1.210000, 1.220000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.310000, 1.330000, 1.340000, 1.360000, 1.370000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.480000, 1.500000, 1.520000, 1.560000, 1.590000, 1.620000, 1.640000, 1.670000, 1.720000, 1.750000, 1.800000, 1.830000, 1.880000, 1.940000, 1.990000, 2.050000, 2.100000, 2.170000, 2.240000, 2.320000, 2.400000, 2.500000, 2.590000, 2.690000, 2.820000, 2.950000, 3.110000, 3.320000, 3.560000, 3.830000, 4.210000, 3.400000, 4.060000, 4.080000, 3.910000, 4.070000, 4.070000, 4.070000, 4.070000, 4.080000, 4.080000, 9.240000, 9.200000, 9.160000, 9.110000, 9.070000, 9.050000, 9.030000, 9.000000, 8.970000, 8.950000, 8.930000, 8.920000, 8.910000, 8.900000, 8.900000, 12.510000, 12.400000, 12.030000, 12.060000, 13.440000, 12.720000, 8.250000, 6.870000, 6.530000, 6.530000, 4.880000, 4.400000, 4.000000, 3.670000, 3.400000, 3.160000, 2.980000, 2.810000, 2.640000, 2.490000, 2.370000, 2.250000, 2.150000, 2.040000, 1.970000, 1.890000, 1.830000, 1.750000, 1.700000, 1.640000, 1.590000, 1.550000, 1.500000, 1.450000, 1.410000, 1.360000, 1.340000, 1.300000, 1.260000, 1.240000, 1.200000, 1.180000, 1.150000, 1.120000, 1.110000, 1.080000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054608, 590566 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.717000, 2.251000, 1.306539 ], "estimate": [ 2.717000, 2.251000, 1.306539 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.380000, 1.370000, 1.350000, 1.340000, 1.330000, 1.320000, 1.300000, 1.290000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.160000, 1.160000, 1.160000, 1.150000, 1.140000, 1.140000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.140000, 1.140000, 1.140000, 1.150000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.330000, 1.330000, 1.350000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.460000, 1.460000, 1.480000, 1.520000, 1.540000, 1.570000, 1.600000, 1.620000, 1.650000, 1.690000, 1.730000, 1.770000, 1.800000, 1.860000, 1.900000, 1.960000, 2.010000, 2.070000, 2.120000, 2.200000, 2.270000, 2.340000, 2.430000, 2.520000, 2.620000, 2.740000, 2.860000, 2.990000, 3.170000, 3.380000, 3.620000, 3.920000, 4.320000, 4.080000, 4.070000, 4.070000, 4.070000, 4.070000, 4.070000, 4.070000, 4.070000, 4.070000, 4.090000, 9.220000, 9.180000, 9.130000, 9.100000, 9.060000, 9.040000, 9.020000, 8.980000, 8.960000, 8.940000, 8.920000, 8.910000, 8.890000, 8.870000, 8.870000, 10.020000, 12.410000, 12.150000, 12.860000, 13.420000, 12.700000, 7.900000, 6.630000, 6.520000, 5.550000, 4.750000, 4.320000, 3.910000, 3.600000, 3.330000, 3.130000, 2.940000, 2.760000, 2.600000, 2.460000, 2.330000, 2.230000, 2.120000, 2.020000, 1.940000, 1.860000, 1.800000, 1.730000, 1.680000, 1.620000, 1.570000, 1.520000, 1.480000, 1.430000, 1.390000, 1.350000, 1.320000, 1.280000, 1.250000, 1.220000, 1.180000, 1.160000, 1.150000, 1.100000, 1.100000, 1.080000, 1.050000, 1.030000, 1.020000, 1.000000, 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": [ 976054608, 591485 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.717000, 2.253000, 1.417158 ], "estimate": [ 2.717000, 2.253000, 1.417158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.310000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.220000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.190000, 1.190000, 1.180000, 1.180000, 1.170000, 1.170000, 1.160000, 1.160000, 1.160000, 1.150000, 1.140000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.140000, 1.150000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.180000, 1.200000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.290000, 1.300000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.470000, 1.500000, 1.520000, 1.550000, 1.580000, 1.600000, 1.630000, 1.660000, 1.710000, 1.740000, 1.780000, 1.820000, 1.870000, 1.920000, 1.970000, 2.020000, 2.080000, 2.140000, 2.210000, 2.280000, 2.350000, 2.440000, 2.520000, 2.640000, 2.760000, 2.880000, 3.010000, 3.190000, 3.390000, 3.650000, 3.950000, 3.180000, 3.180000, 4.080000, 4.060000, 4.040000, 4.060000, 4.060000, 4.070000, 4.070000, 4.070000, 4.120000, 9.220000, 9.170000, 9.140000, 9.090000, 9.050000, 9.030000, 9.010000, 8.980000, 8.950000, 8.930000, 8.910000, 8.910000, 8.890000, 8.860000, 8.860000, 10.030000, 12.420000, 12.250000, 12.510000, 13.410000, 12.710000, 7.870000, 6.590000, 6.530000, 5.470000, 4.720000, 4.280000, 3.860000, 3.560000, 3.310000, 3.100000, 2.920000, 2.740000, 2.580000, 2.430000, 2.310000, 2.200000, 2.100000, 2.010000, 1.930000, 1.850000, 1.790000, 1.710000, 1.660000, 1.620000, 1.550000, 1.510000, 1.460000, 1.420000, 1.370000, 1.350000, 1.310000, 1.270000, 1.240000, 1.210000, 1.170000, 1.150000, 1.130000, 1.100000, 1.080000, 1.060000, 1.050000, 1.020000, 1.010000, 0.990000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.910000, 0.910000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054608, 672940 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.717000, 2.253000, 1.515487 ], "estimate": [ 2.717000, 2.253000, 1.515487 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.250000, 1.250000, 1.230000, 1.220000, 1.220000, 1.220000, 1.210000, 1.200000, 1.200000, 1.190000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.170000, 1.170000, 1.160000, 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, 1.170000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.220000, 1.230000, 1.230000, 1.250000, 1.260000, 1.270000, 1.280000, 1.300000, 1.310000, 1.320000, 1.320000, 1.350000, 1.360000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.460000, 1.480000, 1.500000, 1.530000, 1.560000, 1.590000, 1.610000, 1.630000, 1.670000, 1.710000, 1.750000, 1.790000, 1.820000, 1.880000, 1.920000, 1.970000, 2.020000, 2.080000, 2.140000, 2.210000, 2.280000, 2.360000, 2.440000, 2.540000, 2.630000, 2.750000, 2.870000, 3.010000, 3.170000, 3.380000, 3.620000, 3.900000, 4.300000, 4.080000, 4.070000, 4.060000, 4.060000, 4.060000, 4.060000, 4.060000, 4.070000, 4.070000, 4.070000, 9.230000, 9.180000, 9.140000, 9.100000, 9.070000, 9.030000, 9.010000, 8.990000, 8.960000, 8.950000, 8.910000, 8.900000, 8.890000, 8.880000, 8.880000, 12.490000, 12.400000, 12.000000, 12.000000, 13.420000, 12.700000, 8.280000, 6.860000, 6.520000, 6.520000, 4.840000, 4.360000, 3.940000, 3.600000, 3.350000, 3.140000, 2.930000, 2.760000, 2.600000, 2.450000, 2.330000, 2.210000, 2.110000, 2.010000, 1.940000, 1.850000, 1.780000, 1.720000, 1.660000, 1.610000, 1.560000, 1.510000, 1.470000, 1.410000, 1.370000, 1.340000, 1.300000, 1.260000, 1.240000, 1.200000, 1.170000, 1.140000, 1.120000, 1.100000, 1.070000, 1.060000, 1.040000, 1.020000, 1.000000, 0.980000, 0.960000, 0.970000, 0.940000, 0.940000, 0.920000, 0.910000, 0.890000, 0.890000, 0.880000, 0.880000, 0.860000, 0.860000, 0.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054609, 168807 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.717000, 2.252000, 1.585545 ], "estimate": [ 2.717000, 2.252000, 1.585545 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.220000, 1.220000, 1.220000, 1.200000, 1.200000, 1.200000, 1.190000, 1.190000, 1.190000, 1.180000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.330000, 1.330000, 1.340000, 1.360000, 1.380000, 1.390000, 1.410000, 1.430000, 1.450000, 1.460000, 1.480000, 1.500000, 1.530000, 1.560000, 1.580000, 1.610000, 1.640000, 1.670000, 1.710000, 1.740000, 1.780000, 1.820000, 1.880000, 1.910000, 1.960000, 2.010000, 2.080000, 2.130000, 2.200000, 2.270000, 2.350000, 2.420000, 2.510000, 2.610000, 2.720000, 2.840000, 2.980000, 3.140000, 3.330000, 3.560000, 3.820000, 4.180000, 3.350000, 4.070000, 4.070000, 3.780000, 4.060000, 4.060000, 4.060000, 4.060000, 4.060000, 4.070000, 4.180000, 9.200000, 9.160000, 9.120000, 9.080000, 9.040000, 9.020000, 9.000000, 8.970000, 8.940000, 8.920000, 8.910000, 8.900000, 8.880000, 8.880000, 9.720000, 12.480000, 12.450000, 12.410000, 13.400000, 12.870000, 12.690000, 7.440000, 6.490000, 6.490000, 5.080000, 4.550000, 4.130000, 3.740000, 3.440000, 3.200000, 3.010000, 2.830000, 2.650000, 2.500000, 2.370000, 2.240000, 2.130000, 2.030000, 1.960000, 1.880000, 1.800000, 1.720000, 1.680000, 1.620000, 1.570000, 1.520000, 1.480000, 1.420000, 1.390000, 1.340000, 1.310000, 1.270000, 1.230000, 1.210000, 1.180000, 1.150000, 1.120000, 1.090000, 1.080000, 1.060000, 1.040000, 1.020000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.840000, 0.810000, 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": [ 976054609, 169949 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.717000, 2.252000, 1.665438 ], "estimate": [ 2.717000, 2.252000, 1.665438 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.170000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.190000, 1.190000, 1.210000, 1.220000, 1.220000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.320000, 1.330000, 1.330000, 1.350000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.460000, 1.490000, 1.510000, 1.540000, 1.560000, 1.590000, 1.620000, 1.640000, 1.680000, 1.720000, 1.750000, 1.790000, 1.830000, 1.880000, 1.920000, 1.960000, 2.020000, 2.080000, 2.140000, 2.200000, 2.270000, 2.340000, 2.420000, 2.510000, 2.600000, 2.710000, 2.830000, 2.970000, 3.120000, 3.320000, 3.540000, 3.820000, 4.150000, 3.320000, 4.070000, 4.070000, 3.650000, 4.040000, 4.060000, 4.060000, 4.060000, 4.070000, 4.070000, 4.170000, 9.210000, 9.160000, 9.120000, 9.080000, 9.050000, 9.020000, 9.000000, 8.970000, 8.940000, 8.920000, 8.910000, 8.890000, 8.880000, 8.880000, 9.610000, 10.010000, 12.430000, 12.470000, 13.380000, 13.290000, 12.680000, 7.620000, 6.480000, 6.490000, 5.140000, 4.580000, 4.170000, 3.750000, 3.470000, 3.210000, 3.030000, 2.840000, 2.640000, 2.490000, 2.370000, 2.240000, 2.140000, 2.030000, 1.950000, 1.870000, 1.810000, 1.730000, 1.680000, 1.620000, 1.570000, 1.510000, 1.470000, 1.420000, 1.380000, 1.350000, 1.310000, 1.260000, 1.230000, 1.210000, 1.170000, 1.140000, 1.120000, 1.100000, 1.080000, 1.050000, 1.030000, 1.010000, 1.000000, 0.980000, 0.960000, 0.960000, 0.950000, 0.930000, 0.920000, 0.900000, 0.880000, 0.880000, 0.880000, 0.870000, 0.850000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.800000, 0.820000, 0.870000, 0.920000, 0.960000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054609, 297503 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.717000, 2.253000, 1.757620 ], "estimate": [ 2.717000, 2.253000, 1.757620 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.190000, 1.190000, 1.190000, 1.180000, 1.190000, 1.180000, 1.190000, 1.190000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.190000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.200000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.230000, 1.250000, 1.250000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.330000, 1.350000, 1.360000, 1.380000, 1.400000, 1.410000, 1.440000, 1.450000, 1.460000, 1.490000, 1.510000, 1.530000, 1.550000, 1.580000, 1.610000, 1.630000, 1.670000, 1.710000, 1.740000, 1.780000, 1.810000, 1.860000, 1.900000, 1.950000, 1.990000, 2.060000, 2.110000, 2.170000, 2.240000, 2.330000, 2.390000, 2.480000, 2.570000, 2.670000, 2.780000, 2.910000, 3.060000, 3.210000, 3.430000, 3.670000, 3.970000, 3.170000, 3.160000, 4.080000, 4.050000, 3.710000, 4.060000, 4.060000, 4.060000, 4.060000, 4.070000, 4.120000, 9.220000, 9.170000, 9.150000, 9.090000, 9.070000, 9.040000, 9.000000, 8.980000, 8.950000, 8.940000, 8.910000, 8.900000, 8.890000, 8.880000, 8.880000, 12.470000, 12.400000, 12.010000, 12.000000, 13.400000, 12.680000, 8.350000, 6.860000, 6.490000, 6.500000, 4.820000, 4.330000, 3.910000, 3.580000, 3.310000, 3.090000, 2.910000, 2.720000, 2.550000, 2.420000, 2.280000, 2.170000, 2.070000, 1.980000, 1.890000, 1.820000, 1.760000, 1.700000, 1.640000, 1.580000, 1.520000, 1.480000, 1.420000, 1.380000, 1.350000, 1.310000, 1.280000, 1.230000, 1.210000, 1.180000, 1.150000, 1.120000, 1.100000, 1.070000, 1.050000, 1.040000, 1.010000, 1.000000, 0.970000, 0.950000, 0.950000, 0.930000, 0.920000, 0.910000, 0.890000, 0.880000, 0.870000, 0.880000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.830000, 0.810000, 0.820000, 0.820000, 0.820000, 0.840000, 0.880000, 0.920000, 0.970000, 1.010000, 1.190000, 1.350000, 1.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054609, 689813 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.717000, 2.253000, 1.800639 ], "estimate": [ 2.717000, 2.253000, 1.800639 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.200000, 1.200000, 1.190000, 1.190000, 1.190000, 1.200000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.320000, 1.320000, 1.330000, 1.340000, 1.360000, 1.370000, 1.390000, 1.400000, 1.420000, 1.440000, 1.460000, 1.470000, 1.490000, 1.510000, 1.540000, 1.560000, 1.590000, 1.610000, 1.640000, 1.680000, 1.720000, 1.750000, 1.790000, 1.830000, 1.870000, 1.910000, 1.950000, 2.010000, 2.070000, 2.120000, 2.180000, 2.250000, 2.330000, 2.400000, 2.490000, 2.580000, 2.680000, 2.780000, 2.930000, 3.060000, 3.230000, 3.440000, 3.690000, 3.970000, 3.150000, 3.170000, 4.070000, 4.040000, 3.700000, 4.060000, 4.060000, 4.070000, 4.070000, 4.070000, 4.120000, 9.220000, 9.180000, 9.150000, 9.100000, 9.060000, 9.040000, 9.020000, 8.980000, 8.950000, 8.930000, 8.910000, 8.900000, 8.880000, 8.880000, 8.880000, 10.010000, 12.410000, 12.020000, 11.990000, 13.360000, 12.690000, 8.490000, 6.930000, 6.490000, 6.490000, 4.820000, 4.320000, 3.910000, 3.570000, 3.310000, 3.080000, 2.920000, 2.700000, 2.540000, 2.410000, 2.270000, 2.170000, 2.060000, 1.980000, 1.890000, 1.810000, 1.740000, 1.690000, 1.620000, 1.570000, 1.520000, 1.470000, 1.420000, 1.380000, 1.350000, 1.290000, 1.260000, 1.230000, 1.190000, 1.160000, 1.130000, 1.100000, 1.080000, 1.080000, 1.050000, 1.020000, 1.010000, 0.990000, 0.960000, 0.950000, 0.950000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.860000, 0.860000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.760000, 0.820000, 0.860000, 0.900000, 0.960000, 1.010000, 1.130000, 1.330000, 1.400000, 1.480000, 1.570000, 3.160000, 3.110000, 3.120000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054609, 690914 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.716000, 2.254000, 1.837512 ], "estimate": [ 2.716000, 2.254000, 1.837512 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.200000, 1.200000, 1.200000, 1.190000, 1.190000, 1.200000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.310000, 1.320000, 1.340000, 1.350000, 1.360000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.460000, 1.490000, 1.500000, 1.520000, 1.550000, 1.570000, 1.600000, 1.620000, 1.650000, 1.690000, 1.720000, 1.760000, 1.800000, 1.830000, 1.870000, 1.920000, 1.960000, 2.020000, 2.070000, 2.120000, 2.190000, 2.270000, 2.340000, 2.420000, 2.500000, 2.600000, 2.690000, 2.820000, 2.930000, 3.080000, 3.270000, 3.470000, 3.720000, 4.020000, 4.420000, 3.170000, 4.070000, 4.070000, 3.660000, 4.060000, 4.060000, 4.060000, 4.060000, 4.070000, 4.140000, 9.230000, 9.190000, 9.140000, 9.110000, 9.060000, 9.040000, 9.010000, 8.990000, 8.960000, 8.930000, 8.910000, 8.900000, 8.890000, 8.880000, 8.870000, 10.000000, 12.470000, 12.390000, 11.990000, 13.380000, 12.840000, 12.670000, 7.230000, 6.480000, 6.490000, 4.940000, 4.430000, 3.990000, 3.640000, 3.360000, 3.130000, 2.910000, 2.750000, 2.580000, 2.420000, 2.290000, 2.190000, 2.080000, 1.980000, 1.900000, 1.830000, 1.760000, 1.680000, 1.640000, 1.590000, 1.520000, 1.480000, 1.430000, 1.380000, 1.350000, 1.300000, 1.270000, 1.230000, 1.190000, 1.160000, 1.140000, 1.100000, 1.080000, 1.070000, 1.050000, 1.020000, 1.000000, 0.990000, 0.960000, 0.960000, 0.940000, 0.930000, 0.910000, 0.900000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.780000, 0.800000, 0.820000, 0.860000, 0.900000, 0.960000, 0.990000, 1.110000, 1.330000, 1.400000, 1.470000, 1.550000, 3.160000, 3.130000, 3.110000, 3.140000, 3.130000, 3.120000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054609, 792366 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.716000, 2.256000, 1.831366 ], "estimate": [ 2.716000, 2.256000, 1.831366 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.190000, 1.190000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 1.220000, 1.230000, 1.220000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.260000, 1.270000, 1.280000, 1.300000, 1.310000, 1.320000, 1.320000, 1.340000, 1.350000, 1.360000, 1.380000, 1.390000, 1.410000, 1.430000, 1.450000, 1.460000, 1.480000, 1.500000, 1.520000, 1.540000, 1.570000, 1.590000, 1.620000, 1.650000, 1.680000, 1.720000, 1.760000, 1.790000, 1.830000, 1.870000, 1.920000, 1.960000, 2.010000, 2.070000, 2.120000, 2.180000, 2.260000, 2.330000, 2.410000, 2.500000, 2.580000, 2.680000, 2.800000, 2.930000, 3.070000, 3.240000, 3.450000, 3.690000, 3.980000, 4.370000, 3.160000, 4.070000, 4.070000, 3.670000, 4.060000, 4.060000, 4.060000, 4.060000, 4.070000, 4.120000, 9.250000, 9.200000, 9.140000, 9.120000, 9.080000, 9.040000, 9.020000, 8.990000, 8.950000, 8.940000, 8.910000, 8.900000, 8.890000, 8.870000, 8.880000, 9.990000, 12.470000, 12.400000, 12.000000, 13.420000, 13.280000, 12.670000, 7.500000, 6.470000, 6.490000, 5.050000, 4.500000, 4.080000, 3.700000, 3.400000, 3.150000, 2.950000, 2.770000, 2.600000, 2.450000, 2.320000, 2.210000, 2.090000, 2.000000, 1.920000, 1.850000, 1.770000, 1.700000, 1.650000, 1.590000, 1.530000, 1.480000, 1.440000, 1.390000, 1.350000, 1.320000, 1.280000, 1.230000, 1.200000, 1.170000, 1.140000, 1.120000, 1.090000, 1.070000, 1.050000, 1.030000, 1.010000, 0.990000, 0.970000, 0.950000, 0.950000, 0.930000, 0.920000, 0.900000, 0.890000, 0.880000, 0.870000, 0.850000, 0.850000, 0.840000, 0.820000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.780000, 0.860000, 0.890000, 0.940000, 0.980000, 1.040000, 1.330000, 1.390000, 1.450000, 1.540000, 3.150000, 3.130000, 3.110000, 3.140000, 3.140000, 3.130000 ], "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": [ 976054610, 677495 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.712000, 2.271000, 1.812930 ], "estimate": [ 2.712000, 2.271000, 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": [ 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.190000, 1.200000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 1.220000, 1.230000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.310000, 1.320000, 1.320000, 1.340000, 1.350000, 1.370000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.460000, 1.490000, 1.500000, 1.530000, 1.550000, 1.570000, 1.600000, 1.620000, 1.660000, 1.690000, 1.720000, 1.760000, 1.800000, 1.840000, 1.870000, 1.920000, 1.970000, 2.030000, 2.070000, 2.130000, 2.200000, 2.270000, 2.330000, 2.420000, 2.500000, 2.600000, 2.700000, 2.810000, 2.950000, 3.090000, 3.290000, 3.490000, 3.740000, 4.070000, 3.180000, 3.490000, 4.060000, 4.060000, 3.660000, 4.050000, 4.060000, 4.050000, 4.050000, 4.060000, 4.130000, 9.210000, 9.180000, 9.150000, 9.100000, 9.050000, 9.040000, 9.000000, 8.980000, 8.940000, 8.920000, 8.890000, 8.890000, 8.880000, 8.880000, 8.840000, 12.460000, 12.480000, 12.370000, 12.010000, 13.390000, 12.700000, 8.680000, 7.120000, 6.480000, 6.500000, 4.900000, 4.390000, 3.950000, 3.600000, 3.330000, 3.110000, 2.910000, 2.720000, 2.560000, 2.420000, 2.280000, 2.170000, 2.070000, 1.980000, 1.890000, 1.810000, 1.750000, 1.670000, 1.630000, 1.570000, 1.520000, 1.480000, 1.420000, 1.380000, 1.340000, 1.300000, 1.270000, 1.220000, 1.190000, 1.160000, 1.130000, 1.100000, 1.090000, 1.070000, 1.040000, 1.020000, 1.000000, 0.980000, 0.970000, 0.950000, 0.940000, 0.920000, 0.920000, 0.900000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.830000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.800000, 0.770000, 0.790000, 0.840000, 0.880000, 0.940000, 0.980000, 1.020000, 1.320000, 1.390000, 1.450000, 1.540000, 3.160000, 3.130000, 3.110000, 3.140000, 3.130000, 3.120000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054610, 678694 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.705000, 2.299000, 1.819075 ], "estimate": [ 2.705000, 2.299000, 1.819075 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.200000, 1.200000, 1.190000, 1.200000, 1.200000, 1.190000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.220000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.270000, 1.290000, 1.300000, 1.310000, 1.320000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.390000, 1.410000, 1.430000, 1.450000, 1.460000, 1.470000, 1.500000, 1.510000, 1.540000, 1.560000, 1.590000, 1.620000, 1.650000, 1.680000, 1.720000, 1.750000, 1.790000, 1.830000, 1.870000, 1.900000, 1.950000, 2.010000, 2.070000, 2.110000, 2.180000, 2.250000, 2.330000, 2.390000, 2.480000, 2.570000, 2.670000, 2.780000, 2.910000, 3.050000, 3.210000, 3.420000, 3.660000, 3.940000, 4.320000, 3.140000, 4.040000, 4.030000, 3.770000, 4.030000, 4.030000, 4.030000, 4.030000, 4.030000, 4.060000, 9.220000, 9.170000, 9.130000, 9.090000, 9.040000, 9.020000, 8.980000, 8.970000, 8.930000, 8.910000, 8.890000, 8.870000, 8.860000, 8.850000, 8.830000, 9.700000, 12.420000, 12.390000, 12.240000, 13.360000, 13.360000, 12.640000, 7.750000, 6.450000, 6.450000, 5.170000, 4.580000, 4.160000, 3.760000, 3.440000, 3.200000, 3.000000, 2.830000, 2.620000, 2.480000, 2.350000, 2.230000, 2.110000, 2.010000, 1.930000, 1.850000, 1.770000, 1.710000, 1.650000, 1.600000, 1.540000, 1.500000, 1.440000, 1.400000, 1.350000, 1.330000, 1.280000, 1.250000, 1.210000, 1.190000, 1.150000, 1.130000, 1.110000, 1.070000, 1.050000, 1.040000, 1.020000, 1.000000, 0.970000, 0.970000, 0.950000, 0.940000, 0.920000, 0.920000, 0.890000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.830000, 0.840000, 0.820000, 0.820000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.760000, 0.780000, 0.830000, 0.890000, 0.920000, 0.960000, 1.080000, 1.350000, 1.420000, 1.500000, 3.150000, 3.120000, 3.100000, 3.150000, 3.130000, 3.130000 ], "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": [ 976054610, 679720 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.697000, 2.330000, 1.825221 ], "estimate": [ 2.697000, 2.330000, 1.825221 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.200000, 1.200000, 1.200000, 1.190000, 1.200000, 1.200000, 1.200000, 1.210000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.240000, 1.260000, 1.260000, 1.270000, 1.280000, 1.300000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.360000, 1.360000, 1.390000, 1.400000, 1.410000, 1.430000, 1.450000, 1.470000, 1.480000, 1.500000, 1.530000, 1.550000, 1.570000, 1.600000, 1.630000, 1.660000, 1.690000, 1.730000, 1.760000, 1.810000, 1.850000, 1.870000, 1.930000, 1.970000, 2.030000, 2.080000, 2.140000, 2.210000, 2.280000, 2.350000, 2.430000, 2.510000, 2.610000, 2.720000, 2.830000, 2.950000, 3.100000, 3.290000, 3.510000, 3.760000, 4.090000, 3.090000, 4.020000, 4.000000, 3.830000, 3.970000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.070000, 9.170000, 9.130000, 9.080000, 9.040000, 9.010000, 8.970000, 8.940000, 8.930000, 8.890000, 8.870000, 8.860000, 8.840000, 8.830000, 8.820000, 8.810000, 9.940000, 12.430000, 12.310000, 11.920000, 13.330000, 12.870000, 12.620000, 7.390000, 6.410000, 6.430000, 5.030000, 4.490000, 4.070000, 3.680000, 3.380000, 3.150000, 2.960000, 2.780000, 2.600000, 2.450000, 2.330000, 2.210000, 2.100000, 2.000000, 1.910000, 1.850000, 1.770000, 1.710000, 1.650000, 1.610000, 1.540000, 1.500000, 1.450000, 1.400000, 1.360000, 1.320000, 1.280000, 1.240000, 1.210000, 1.180000, 1.150000, 1.120000, 1.110000, 1.080000, 1.060000, 1.040000, 1.020000, 1.000000, 0.980000, 0.960000, 0.960000, 0.930000, 0.920000, 0.910000, 0.900000, 0.880000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.760000, 0.780000, 0.830000, 0.880000, 0.950000, 1.000000, 1.350000, 1.420000, 1.510000, 3.120000, 3.100000, 3.140000, 3.130000, 3.130000 ], "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": [ 976054610, 680701 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.690000, 2.356000, 1.825221 ], "estimate": [ 2.690000, 2.356000, 1.825221 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.200000, 1.200000, 1.190000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.220000, 1.220000, 1.230000, 1.240000, 1.250000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.310000, 1.320000, 1.330000, 1.340000, 1.360000, 1.370000, 1.380000, 1.400000, 1.420000, 1.430000, 1.460000, 1.470000, 1.490000, 1.510000, 1.540000, 1.560000, 1.580000, 1.610000, 1.630000, 1.670000, 1.700000, 1.740000, 1.780000, 1.810000, 1.850000, 1.890000, 1.940000, 1.990000, 2.040000, 2.100000, 2.160000, 2.220000, 2.290000, 2.380000, 2.450000, 2.540000, 2.630000, 2.750000, 2.870000, 2.990000, 3.150000, 3.350000, 3.570000, 3.840000, 4.190000, 3.080000, 3.990000, 3.980000, 3.610000, 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 4.080000, 9.140000, 9.090000, 9.050000, 9.000000, 8.970000, 8.940000, 8.910000, 8.880000, 8.870000, 8.840000, 8.830000, 8.810000, 8.790000, 8.790000, 8.770000, 12.360000, 12.390000, 12.320000, 11.980000, 13.320000, 12.620000, 8.640000, 7.110000, 6.400000, 6.410000, 4.920000, 4.420000, 4.000000, 3.630000, 3.360000, 3.130000, 2.930000, 2.760000, 2.580000, 2.440000, 2.310000, 2.190000, 2.090000, 1.990000, 1.910000, 1.840000, 1.770000, 1.700000, 1.650000, 1.590000, 1.540000, 1.490000, 1.450000, 1.390000, 1.350000, 1.310000, 1.280000, 1.240000, 1.210000, 1.180000, 1.150000, 1.120000, 1.100000, 1.070000, 1.060000, 1.040000, 1.020000, 1.000000, 0.980000, 0.960000, 0.960000, 0.940000, 0.920000, 0.910000, 0.900000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.800000, 0.850000, 0.920000, 0.970000, 1.350000, 1.420000, 1.520000, 3.100000, 3.110000, 3.130000, 3.130000 ], "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": [ 976054610, 792984 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.678000, 2.402000, 1.819075 ], "estimate": [ 2.678000, 2.402000, 1.819075 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.270000, 1.280000, 1.300000, 1.300000, 1.310000, 1.320000, 1.330000, 1.350000, 1.360000, 1.370000, 1.390000, 1.410000, 1.420000, 1.440000, 1.460000, 1.470000, 1.490000, 1.510000, 1.540000, 1.560000, 1.590000, 1.620000, 1.650000, 1.680000, 1.720000, 1.750000, 1.790000, 1.810000, 1.870000, 1.900000, 1.960000, 2.010000, 2.060000, 2.110000, 2.180000, 2.250000, 2.330000, 2.390000, 2.480000, 2.560000, 2.670000, 2.770000, 2.900000, 3.040000, 3.200000, 3.400000, 3.640000, 3.920000, 3.040000, 3.850000, 3.950000, 3.940000, 3.540000, 3.940000, 3.930000, 3.930000, 3.940000, 3.930000, 3.950000, 9.140000, 9.090000, 9.040000, 9.010000, 8.970000, 8.930000, 8.890000, 8.870000, 8.860000, 8.820000, 8.800000, 8.780000, 8.770000, 8.750000, 8.740000, 9.000000, 9.850000, 12.290000, 11.870000, 12.950000, 13.280000, 12.580000, 8.440000, 6.950000, 6.370000, 6.360000, 4.850000, 4.360000, 3.950000, 3.610000, 3.320000, 3.110000, 2.910000, 2.770000, 2.570000, 2.430000, 2.300000, 2.190000, 2.090000, 1.990000, 1.900000, 1.830000, 1.770000, 1.710000, 1.650000, 1.590000, 1.540000, 1.490000, 1.440000, 1.400000, 1.360000, 1.330000, 1.280000, 1.250000, 1.220000, 1.180000, 1.150000, 1.130000, 1.110000, 1.090000, 1.070000, 1.040000, 1.020000, 1.000000, 0.990000, 0.970000, 0.950000, 0.940000, 0.930000, 0.920000, 0.900000, 0.890000, 0.880000, 0.880000, 0.860000, 0.860000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.750000, 0.770000, 0.840000, 0.910000, 0.980000, 1.400000, 1.510000, 3.100000, 3.150000, 3.120000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054611, 146396 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.659000, 2.474000, 1.819075 ], "estimate": [ 2.659000, 2.474000, 1.819075 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.200000, 1.190000, 1.190000, 1.200000, 1.200000, 1.200000, 1.200000, 1.210000, 1.210000, 1.230000, 1.230000, 1.230000, 1.230000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.310000, 1.320000, 1.340000, 1.350000, 1.370000, 1.380000, 1.400000, 1.410000, 1.440000, 1.450000, 1.470000, 1.490000, 1.510000, 1.520000, 1.550000, 1.580000, 1.610000, 1.630000, 1.670000, 1.700000, 1.730000, 1.770000, 1.810000, 1.850000, 1.880000, 1.940000, 1.980000, 2.040000, 2.090000, 2.150000, 2.210000, 2.280000, 2.350000, 2.440000, 2.510000, 2.610000, 2.720000, 2.840000, 2.970000, 3.130000, 3.310000, 3.530000, 3.780000, 3.000000, 2.920000, 3.880000, 3.870000, 3.750000, 3.870000, 3.860000, 3.870000, 3.870000, 3.860000, 3.870000, 3.930000, 9.040000, 8.990000, 8.960000, 8.900000, 8.870000, 8.850000, 8.820000, 8.800000, 8.760000, 8.750000, 8.730000, 8.700000, 8.690000, 8.680000, 8.670000, 9.560000, 12.270000, 12.200000, 11.860000, 13.200000, 13.230000, 12.490000, 7.910000, 6.610000, 6.270000, 6.310000, 4.700000, 4.250000, 3.860000, 3.540000, 3.280000, 3.060000, 2.880000, 2.730000, 2.540000, 2.410000, 2.290000, 2.170000, 2.070000, 1.990000, 1.890000, 1.830000, 1.760000, 1.700000, 1.640000, 1.590000, 1.520000, 1.500000, 1.450000, 1.400000, 1.360000, 1.330000, 1.290000, 1.250000, 1.210000, 1.190000, 1.150000, 1.130000, 1.110000, 1.090000, 1.070000, 1.050000, 1.020000, 1.010000, 0.990000, 0.970000, 0.960000, 0.950000, 0.930000, 0.920000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.800000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.770000, 0.780000, 0.780000, 0.770000, 0.770000, 0.740000, 0.750000, 0.870000, 0.980000, 3.150000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054611, 207803 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.640000, 2.546000, 1.825221 ], "estimate": [ 2.640000, 2.546000, 1.825221 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.200000, 1.200000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.250000, 1.250000, 1.260000, 1.280000, 1.280000, 1.290000, 1.300000, 1.320000, 1.320000, 1.320000, 1.340000, 1.360000, 1.370000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.470000, 1.490000, 1.510000, 1.540000, 1.560000, 1.590000, 1.620000, 1.640000, 1.680000, 1.720000, 1.750000, 1.790000, 1.820000, 1.860000, 1.900000, 1.950000, 2.000000, 2.050000, 2.100000, 2.170000, 2.230000, 2.310000, 2.370000, 2.470000, 2.550000, 2.660000, 2.750000, 2.880000, 3.000000, 3.180000, 3.360000, 3.580000, 3.870000, 2.930000, 3.820000, 3.820000, 3.800000, 3.500000, 3.800000, 3.800000, 3.800000, 3.800000, 3.800000, 3.800000, 9.040000, 8.960000, 8.910000, 8.860000, 8.830000, 8.790000, 8.760000, 8.730000, 8.710000, 8.680000, 8.650000, 8.650000, 8.610000, 8.610000, 8.590000, 8.590000, 9.460000, 12.210000, 12.100000, 11.870000, 13.120000, 13.130000, 12.400000, 7.890000, 6.600000, 6.210000, 6.230000, 4.730000, 4.270000, 3.910000, 3.550000, 3.290000, 3.070000, 2.880000, 2.710000, 2.570000, 2.430000, 2.300000, 2.190000, 2.090000, 2.000000, 1.910000, 1.850000, 1.780000, 1.710000, 1.660000, 1.610000, 1.540000, 1.490000, 1.460000, 1.420000, 1.370000, 1.340000, 1.300000, 1.270000, 1.230000, 1.200000, 1.170000, 1.140000, 1.120000, 1.100000, 1.080000, 1.060000, 1.040000, 1.030000, 1.010000, 0.980000, 0.960000, 0.970000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.800000, 0.800000, 0.800000, 0.790000, 0.780000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.770000, 0.760000, 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": [ 976054611, 703976 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.626000, 2.600000, 1.819075 ], "estimate": [ 2.626000, 2.600000, 1.819075 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.190000, 1.190000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.320000, 1.340000, 1.360000, 1.370000, 1.390000, 1.410000, 1.420000, 1.450000, 1.470000, 1.480000, 1.500000, 1.530000, 1.540000, 1.570000, 1.600000, 1.630000, 1.650000, 1.690000, 1.730000, 1.760000, 1.800000, 1.840000, 1.870000, 1.920000, 1.960000, 2.020000, 2.070000, 2.120000, 2.190000, 2.260000, 2.340000, 2.410000, 2.500000, 2.590000, 2.680000, 2.800000, 2.930000, 3.060000, 3.250000, 3.450000, 3.700000, 2.830000, 3.750000, 3.750000, 3.750000, 3.550000, 3.740000, 3.740000, 3.740000, 3.730000, 3.740000, 3.740000, 3.810000, 8.930000, 8.880000, 8.840000, 8.800000, 8.750000, 8.720000, 8.690000, 8.650000, 8.650000, 8.610000, 8.590000, 8.570000, 8.550000, 8.540000, 8.530000, 8.530000, 9.670000, 12.150000, 12.060000, 11.670000, 13.060000, 12.990000, 12.340000, 7.690000, 6.450000, 6.130000, 6.170000, 4.670000, 4.230000, 3.880000, 3.540000, 3.280000, 3.060000, 2.880000, 2.710000, 2.590000, 2.430000, 2.320000, 2.220000, 2.110000, 2.010000, 1.920000, 1.850000, 1.770000, 1.720000, 1.660000, 1.620000, 1.560000, 1.510000, 1.460000, 1.430000, 1.390000, 1.360000, 1.320000, 1.280000, 1.240000, 1.210000, 1.190000, 1.160000, 1.130000, 1.110000, 1.090000, 1.070000, 1.060000, 1.030000, 1.010000, 1.000000, 0.980000, 0.970000, 0.970000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 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": [ 976054611, 705124 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.614000, 2.645000, 1.794493 ], "estimate": [ 2.614000, 2.645000, 1.794493 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.190000, 1.190000, 1.200000, 1.210000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.400000, 1.410000, 1.430000, 1.460000, 1.470000, 1.490000, 1.510000, 1.530000, 1.560000, 1.580000, 1.610000, 1.630000, 1.670000, 1.710000, 1.740000, 1.780000, 1.810000, 1.850000, 1.890000, 1.940000, 1.990000, 2.040000, 2.090000, 2.150000, 2.210000, 2.300000, 2.370000, 2.450000, 2.530000, 2.630000, 2.740000, 2.850000, 2.990000, 3.150000, 3.340000, 3.560000, 2.800000, 2.760000, 3.710000, 3.710000, 3.320000, 3.620000, 3.690000, 3.700000, 3.690000, 3.690000, 3.700000, 3.700000, 8.920000, 8.870000, 8.820000, 8.780000, 8.730000, 8.700000, 8.660000, 8.630000, 8.610000, 8.580000, 8.560000, 8.540000, 8.520000, 8.500000, 8.500000, 8.490000, 8.510000, 9.640000, 12.030000, 11.870000, 11.900000, 12.710000, 12.310000, 12.290000, 7.200000, 6.130000, 6.120000, 6.150000, 4.500000, 4.100000, 3.780000, 3.450000, 3.220000, 3.000000, 2.830000, 2.670000, 2.560000, 2.410000, 2.280000, 2.180000, 2.090000, 1.990000, 1.910000, 1.850000, 1.780000, 1.700000, 1.660000, 1.610000, 1.550000, 1.510000, 1.460000, 1.410000, 1.400000, 1.360000, 1.310000, 1.280000, 1.240000, 1.210000, 1.190000, 1.160000, 1.140000, 1.120000, 1.100000, 1.080000, 1.050000, 1.040000, 1.010000, 1.000000, 0.990000, 0.970000, 0.970000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.880000, 0.860000, 0.860000, 0.850000, 0.840000, 0.830000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 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": [ 976054611, 837538 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.603000, 2.692000, 1.806784 ], "estimate": [ 2.603000, 2.692000, 1.806784 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.200000, 1.190000, 1.190000, 1.200000, 1.190000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.220000, 1.230000, 1.240000, 1.230000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.300000, 1.300000, 1.310000, 1.320000, 1.340000, 1.350000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.470000, 1.500000, 1.510000, 1.540000, 1.560000, 1.590000, 1.620000, 1.650000, 1.670000, 1.710000, 1.740000, 1.790000, 1.820000, 1.850000, 1.890000, 1.950000, 1.990000, 2.050000, 2.100000, 2.170000, 2.230000, 2.310000, 2.380000, 2.470000, 2.550000, 2.650000, 2.760000, 2.880000, 3.020000, 3.180000, 3.370000, 3.600000, 2.720000, 2.770000, 3.670000, 3.670000, 3.320000, 3.660000, 3.660000, 3.660000, 3.660000, 3.660000, 3.660000, 3.680000, 8.880000, 8.830000, 8.770000, 8.730000, 8.690000, 8.640000, 8.610000, 8.590000, 8.550000, 8.540000, 8.510000, 8.480000, 8.470000, 8.470000, 8.450000, 8.440000, 8.660000, 9.600000, 11.970000, 11.580000, 11.920000, 12.990000, 12.260000, 12.250000, 7.140000, 6.090000, 6.070000, 6.090000, 4.510000, 4.090000, 3.790000, 3.460000, 3.220000, 3.010000, 2.830000, 2.670000, 2.530000, 2.420000, 2.290000, 2.180000, 2.090000, 2.000000, 1.920000, 1.850000, 1.770000, 1.710000, 1.660000, 1.620000, 1.560000, 1.520000, 1.470000, 1.420000, 1.380000, 1.370000, 1.330000, 1.290000, 1.260000, 1.220000, 1.200000, 1.160000, 1.140000, 1.120000, 1.100000, 1.080000, 1.070000, 1.040000, 1.030000, 1.020000, 1.000000, 0.970000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.810000, 0.800000, 0.800000, 0.790000, 0.800000, 0.790000, 0.790000, 0.780000, 0.790000, 0.790000 ], "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": [ 976054612, 288300 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.587000, 2.757000, 1.800639 ], "estimate": [ 2.587000, 2.757000, 1.800639 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.190000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.240000, 1.250000, 1.250000, 1.270000, 1.270000, 1.290000, 1.300000, 1.300000, 1.320000, 1.320000, 1.340000, 1.360000, 1.380000, 1.390000, 1.410000, 1.430000, 1.440000, 1.470000, 1.480000, 1.490000, 1.520000, 1.550000, 1.570000, 1.600000, 1.630000, 1.660000, 1.690000, 1.730000, 1.760000, 1.800000, 1.840000, 1.870000, 1.910000, 1.960000, 2.020000, 2.080000, 2.120000, 2.190000, 2.260000, 2.340000, 2.410000, 2.500000, 2.580000, 2.680000, 2.790000, 2.920000, 3.070000, 3.240000, 3.450000, 3.040000, 2.870000, 3.630000, 3.610000, 3.590000, 3.200000, 3.600000, 3.600000, 3.600000, 3.600000, 3.590000, 3.600000, 3.660000, 8.800000, 8.750000, 8.710000, 8.660000, 8.620000, 8.590000, 8.550000, 8.520000, 8.500000, 8.470000, 8.450000, 8.440000, 8.420000, 8.410000, 8.400000, 8.380000, 9.080000, 9.530000, 11.920000, 11.520000, 12.840000, 12.910000, 12.210000, 8.310000, 7.020000, 6.010000, 6.010000, 6.040000, 4.480000, 4.090000, 3.760000, 3.450000, 3.230000, 3.010000, 2.830000, 2.670000, 2.540000, 2.470000, 2.290000, 2.190000, 2.090000, 2.000000, 1.930000, 1.850000, 1.780000, 1.720000, 1.670000, 1.620000, 1.560000, 1.520000, 1.480000, 1.440000, 1.390000, 1.360000, 1.340000, 1.310000, 1.260000, 1.230000, 1.200000, 1.180000, 1.150000, 1.130000, 1.120000, 1.090000, 1.070000, 1.060000, 1.030000, 1.020000, 1.000000, 0.990000, 0.980000, 0.960000, 0.960000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000 ], "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": [ 976054612, 289383 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.570000, 2.826000, 1.806784 ], "estimate": [ 2.570000, 2.826000, 1.806784 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.190000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.270000, 1.270000, 1.280000, 1.290000, 1.300000, 1.320000, 1.320000, 1.330000, 1.350000, 1.370000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.470000, 1.490000, 1.500000, 1.530000, 1.560000, 1.590000, 1.610000, 1.640000, 1.670000, 1.710000, 1.740000, 1.780000, 1.810000, 1.860000, 1.880000, 1.940000, 1.990000, 2.050000, 2.090000, 2.150000, 2.210000, 2.300000, 2.360000, 2.450000, 2.530000, 2.630000, 2.730000, 2.850000, 2.990000, 3.150000, 3.340000, 2.760000, 2.630000, 3.560000, 3.550000, 3.340000, 3.130000, 3.530000, 3.530000, 3.520000, 3.520000, 3.520000, 3.520000, 3.540000, 8.750000, 8.710000, 8.660000, 8.600000, 8.570000, 8.530000, 8.500000, 8.470000, 8.440000, 8.400000, 8.390000, 8.370000, 8.350000, 8.340000, 8.320000, 8.320000, 8.320000, 9.270000, 11.900000, 11.820000, 11.640000, 12.830000, 12.770000, 12.120000, 8.000000, 6.740000, 5.930000, 5.960000, 5.970000, 4.410000, 4.030000, 3.710000, 3.410000, 3.190000, 2.990000, 2.800000, 2.660000, 2.530000, 2.420000, 2.310000, 2.200000, 2.100000, 2.010000, 1.930000, 1.860000, 1.790000, 1.730000, 1.680000, 1.620000, 1.560000, 1.530000, 1.480000, 1.450000, 1.390000, 1.360000, 1.340000, 1.300000, 1.280000, 1.270000, 1.210000, 1.190000, 1.160000, 1.130000, 1.120000, 1.100000, 1.080000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 0.980000, 0.970000, 0.970000, 0.950000, 0.950000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000 ], "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": [ 976054612, 467818 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.557000, 2.881000, 1.812930 ], "estimate": [ 2.557000, 2.881000, 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": [ 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.200000, 1.190000, 1.200000, 1.210000, 1.210000, 1.220000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.310000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.470000, 1.490000, 1.510000, 1.530000, 1.550000, 1.580000, 1.610000, 1.630000, 1.660000, 1.700000, 1.730000, 1.760000, 1.800000, 1.840000, 1.870000, 1.930000, 1.970000, 2.030000, 2.080000, 2.130000, 2.200000, 2.270000, 2.340000, 2.410000, 2.510000, 2.600000, 2.690000, 2.810000, 2.940000, 3.090000, 3.260000, 2.710000, 2.590000, 3.510000, 3.500000, 3.480000, 3.140000, 3.460000, 3.480000, 3.470000, 3.470000, 3.470000, 3.470000, 3.470000, 3.560000, 8.700000, 8.630000, 8.580000, 8.540000, 8.500000, 8.460000, 8.430000, 8.400000, 8.370000, 8.350000, 8.330000, 8.300000, 8.280000, 8.280000, 8.260000, 8.250000, 8.300000, 9.400000, 11.850000, 11.780000, 11.410000, 12.140000, 12.280000, 12.070000, 7.440000, 6.340000, 5.890000, 5.910000, 4.840000, 4.260000, 3.890000, 3.610000, 3.340000, 3.130000, 2.920000, 2.770000, 2.610000, 2.490000, 2.360000, 2.280000, 2.180000, 2.080000, 1.990000, 1.910000, 1.860000, 1.780000, 1.710000, 1.670000, 1.620000, 1.560000, 1.520000, 1.480000, 1.430000, 1.400000, 1.360000, 1.330000, 1.300000, 1.270000, 1.250000, 1.230000, 1.190000, 1.170000, 1.140000, 1.120000, 1.100000, 1.090000, 1.070000, 1.050000, 1.030000, 1.020000, 1.010000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.890000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.860000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.820000, 0.800000 ], "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": [ 976054612, 935461 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.545000, 2.925000, 1.812930 ], "estimate": [ 2.545000, 2.925000, 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": [ 1.190000, 1.190000, 1.190000, 1.190000, 1.200000, 1.200000, 1.200000, 1.210000, 1.210000, 1.210000, 1.220000, 1.230000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.270000, 1.290000, 1.300000, 1.310000, 1.320000, 1.320000, 1.340000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.440000, 1.460000, 1.470000, 1.490000, 1.510000, 1.540000, 1.570000, 1.600000, 1.620000, 1.650000, 1.680000, 1.720000, 1.750000, 1.790000, 1.820000, 1.860000, 1.900000, 1.950000, 2.000000, 2.050000, 2.100000, 2.170000, 2.230000, 2.310000, 2.380000, 2.460000, 2.550000, 2.640000, 2.750000, 2.880000, 3.010000, 3.180000, 2.780000, 2.540000, 3.490000, 3.470000, 3.460000, 3.030000, 3.210000, 3.440000, 3.430000, 3.430000, 3.430000, 3.420000, 3.430000, 3.490000, 8.650000, 8.620000, 8.560000, 8.510000, 8.460000, 8.440000, 8.400000, 8.370000, 8.330000, 8.310000, 8.300000, 8.270000, 8.240000, 8.240000, 8.230000, 8.210000, 8.180000, 9.000000, 9.370000, 11.730000, 11.350000, 12.150000, 12.490000, 12.040000, 12.000000, 7.050000, 6.050000, 5.830000, 5.860000, 4.560000, 4.130000, 3.800000, 3.540000, 3.260000, 3.050000, 2.870000, 2.710000, 2.570000, 2.440000, 2.330000, 2.250000, 2.140000, 2.050000, 1.970000, 1.890000, 1.820000, 1.770000, 1.710000, 1.650000, 1.600000, 1.550000, 1.510000, 1.470000, 1.420000, 1.380000, 1.360000, 1.330000, 1.290000, 1.260000, 1.240000, 1.220000, 1.210000, 1.160000, 1.140000, 1.120000, 1.100000, 1.090000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 0.990000, 0.970000, 0.970000, 0.960000, 0.950000, 0.930000, 0.930000, 0.920000, 0.900000, 0.910000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000 ], "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": [ 976054612, 936619 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.532000, 2.978000, 1.819075 ], "estimate": [ 2.532000, 2.978000, 1.819075 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.220000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.270000, 1.270000, 1.280000, 1.300000, 1.310000, 1.320000, 1.320000, 1.340000, 1.350000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.460000, 1.480000, 1.500000, 1.530000, 1.560000, 1.580000, 1.610000, 1.630000, 1.660000, 1.700000, 1.730000, 1.760000, 1.810000, 1.840000, 1.870000, 1.930000, 1.970000, 2.030000, 2.090000, 2.130000, 2.200000, 2.270000, 2.340000, 2.420000, 2.510000, 2.600000, 2.690000, 2.820000, 2.940000, 3.080000, 3.270000, 2.740000, 3.730000, 3.420000, 3.420000, 3.380000, 2.990000, 3.390000, 3.390000, 3.390000, 3.380000, 3.380000, 3.380000, 3.390000, 3.470000, 8.600000, 8.540000, 8.490000, 8.450000, 8.400000, 8.380000, 8.340000, 8.300000, 8.290000, 8.260000, 8.230000, 8.220000, 8.200000, 8.190000, 8.170000, 8.160000, 8.160000, 9.300000, 11.790000, 11.690000, 11.450000, 12.700000, 12.510000, 11.970000, 7.880000, 6.670000, 5.810000, 5.800000, 5.820000, 4.430000, 4.030000, 3.720000, 3.470000, 3.210000, 3.010000, 2.820000, 2.690000, 2.530000, 2.430000, 2.320000, 2.260000, 2.120000, 2.030000, 1.960000, 1.880000, 1.810000, 1.760000, 1.710000, 1.640000, 1.600000, 1.540000, 1.490000, 1.460000, 1.410000, 1.380000, 1.360000, 1.330000, 1.280000, 1.250000, 1.230000, 1.210000, 1.190000, 1.190000, 1.150000, 1.120000, 1.100000, 1.090000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.850000, 0.860000, 0.840000, 0.840000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054612, 997439 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.515000, 3.042000, 1.825221 ], "estimate": [ 2.515000, 3.042000, 1.825221 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.190000, 1.200000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.260000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.470000, 1.490000, 1.500000, 1.530000, 1.550000, 1.580000, 1.610000, 1.630000, 1.660000, 1.690000, 1.730000, 1.760000, 1.810000, 1.840000, 1.870000, 1.920000, 1.960000, 2.020000, 2.070000, 2.120000, 2.190000, 2.260000, 2.340000, 2.400000, 2.490000, 2.580000, 2.670000, 2.800000, 2.930000, 3.070000, 2.760000, 2.450000, 3.680000, 3.360000, 3.350000, 3.170000, 2.920000, 3.330000, 3.320000, 3.320000, 3.320000, 3.320000, 3.310000, 3.320000, 3.380000, 8.540000, 8.490000, 8.440000, 8.390000, 8.350000, 8.320000, 8.280000, 8.250000, 8.240000, 8.200000, 8.170000, 8.150000, 8.140000, 8.120000, 8.120000, 8.100000, 8.100000, 8.640000, 9.250000, 11.630000, 11.220000, 11.650000, 12.650000, 11.930000, 11.880000, 7.190000, 6.160000, 5.730000, 5.740000, 5.770000, 4.220000, 3.880000, 3.590000, 3.330000, 3.120000, 2.920000, 2.770000, 2.610000, 2.480000, 2.380000, 2.270000, 2.230000, 2.090000, 2.000000, 1.930000, 1.870000, 1.800000, 1.740000, 1.690000, 1.630000, 1.580000, 1.530000, 1.490000, 1.450000, 1.410000, 1.360000, 1.350000, 1.310000, 1.280000, 1.250000, 1.220000, 1.210000, 1.180000, 1.160000, 1.140000, 1.150000, 1.110000, 1.090000, 1.070000, 1.060000, 1.030000, 1.020000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.860000, 0.860000, 0.860000, 0.840000, 0.840000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.830000, 0.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054613, 864717 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.498000, 3.104000, 1.831366 ], "estimate": [ 2.498000, 3.104000, 1.831366 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.200000, 1.210000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.320000, 1.330000, 1.350000, 1.370000, 1.390000, 1.400000, 1.420000, 1.440000, 1.460000, 1.470000, 1.480000, 1.500000, 1.520000, 1.550000, 1.580000, 1.600000, 1.630000, 1.650000, 1.690000, 1.730000, 1.760000, 1.800000, 1.830000, 1.880000, 1.910000, 1.960000, 2.000000, 2.070000, 2.110000, 2.180000, 2.240000, 2.330000, 2.390000, 2.480000, 2.550000, 2.660000, 2.770000, 2.890000, 3.020000, 2.380000, 2.400000, 3.620000, 3.300000, 3.300000, 2.940000, 2.840000, 3.280000, 3.280000, 3.270000, 3.270000, 3.270000, 3.270000, 3.270000, 3.320000, 8.500000, 8.450000, 8.390000, 8.350000, 8.310000, 8.260000, 8.230000, 8.210000, 8.170000, 8.160000, 8.130000, 8.110000, 8.090000, 8.070000, 8.050000, 8.040000, 8.030000, 8.040000, 9.180000, 11.690000, 11.570000, 11.160000, 12.580000, 12.500000, 11.850000, 7.770000, 6.630000, 5.770000, 5.680000, 5.700000, 4.420000, 4.040000, 3.730000, 3.470000, 3.220000, 3.010000, 2.850000, 2.690000, 2.550000, 2.430000, 2.330000, 2.230000, 2.150000, 2.060000, 1.980000, 1.900000, 1.840000, 1.780000, 1.710000, 1.660000, 1.610000, 1.550000, 1.520000, 1.480000, 1.440000, 1.390000, 1.360000, 1.330000, 1.300000, 1.270000, 1.240000, 1.210000, 1.200000, 1.170000, 1.150000, 1.120000, 1.120000, 1.100000, 1.070000, 1.080000, 1.050000, 1.040000, 1.020000, 1.010000, 0.990000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 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, 0.830000, 0.840000, 0.830000, 0.830000, 0.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054613, 887598 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.484000, 3.153000, 1.843657 ], "estimate": [ 2.484000, 3.153000, 1.843657 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.210000, 1.210000, 1.220000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.380000, 1.390000, 1.410000, 1.430000, 1.450000, 1.460000, 1.470000, 1.490000, 1.510000, 1.540000, 1.560000, 1.590000, 1.620000, 1.640000, 1.670000, 1.710000, 1.740000, 1.770000, 1.810000, 1.850000, 1.890000, 1.930000, 1.980000, 2.030000, 2.090000, 2.130000, 2.200000, 2.270000, 2.340000, 2.410000, 2.500000, 2.590000, 2.680000, 2.810000, 2.930000, 3.060000, 2.350000, 3.450000, 3.270000, 3.260000, 3.250000, 2.970000, 3.230000, 3.230000, 3.210000, 3.210000, 3.210000, 3.210000, 3.200000, 3.210000, 3.290000, 8.440000, 8.380000, 8.330000, 8.290000, 8.250000, 8.220000, 8.170000, 8.140000, 8.130000, 8.100000, 8.070000, 8.050000, 8.030000, 8.010000, 8.000000, 7.990000, 7.990000, 7.970000, 9.120000, 11.580000, 11.500000, 11.120000, 12.530000, 12.450000, 11.790000, 7.750000, 6.610000, 5.770000, 5.620000, 5.650000, 4.420000, 4.040000, 3.720000, 3.460000, 3.240000, 3.030000, 2.860000, 2.690000, 2.550000, 2.430000, 2.330000, 2.240000, 2.140000, 2.090000, 1.990000, 1.910000, 1.840000, 1.780000, 1.720000, 1.670000, 1.620000, 1.570000, 1.530000, 1.490000, 1.450000, 1.400000, 1.360000, 1.340000, 1.300000, 1.260000, 1.250000, 1.220000, 1.210000, 1.180000, 1.150000, 1.140000, 1.110000, 1.100000, 1.100000, 1.090000, 1.070000, 1.060000, 1.030000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.960000, 0.960000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.890000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054613, 888679 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.471000, 3.201000, 1.849803 ], "estimate": [ 2.471000, 3.201000, 1.849803 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.210000, 1.220000, 1.230000, 1.240000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.270000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.410000, 1.420000, 1.450000, 1.460000, 1.460000, 1.480000, 1.500000, 1.530000, 1.550000, 1.580000, 1.610000, 1.630000, 1.660000, 1.690000, 1.730000, 1.760000, 1.800000, 1.830000, 1.880000, 1.920000, 1.960000, 2.000000, 2.060000, 2.110000, 2.170000, 2.230000, 2.310000, 2.370000, 2.460000, 2.550000, 2.650000, 2.750000, 2.850000, 2.990000, 2.510000, 3.340000, 3.250000, 3.220000, 3.200000, 2.790000, 3.160000, 3.180000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 3.230000, 8.430000, 8.380000, 8.330000, 8.280000, 8.240000, 8.200000, 8.160000, 8.130000, 8.090000, 8.070000, 8.050000, 8.020000, 7.990000, 7.990000, 7.980000, 7.960000, 7.950000, 7.950000, 7.970000, 9.070000, 11.490000, 11.470000, 11.100000, 12.490000, 11.930000, 11.750000, 7.420000, 6.370000, 5.590000, 5.590000, 5.600000, 4.320000, 3.960000, 3.670000, 3.420000, 3.190000, 2.990000, 2.820000, 2.660000, 2.530000, 2.420000, 2.300000, 2.210000, 2.130000, 2.070000, 1.980000, 1.890000, 1.820000, 1.770000, 1.700000, 1.650000, 1.620000, 1.560000, 1.520000, 1.480000, 1.430000, 1.400000, 1.360000, 1.330000, 1.300000, 1.270000, 1.240000, 1.210000, 1.200000, 1.170000, 1.150000, 1.120000, 1.120000, 1.100000, 1.080000, 1.070000, 1.050000, 1.050000, 1.040000, 1.020000, 1.000000, 1.000000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.870000, 0.870000, 0.880000, 0.860000, 0.860000, 0.850000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.840000, 0.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054613, 889634 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.453000, 3.262000, 1.855949 ], "estimate": [ 2.453000, 3.262000, 1.855949 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.220000, 1.230000, 1.240000, 1.240000, 1.240000, 1.250000, 1.250000, 1.260000, 1.270000, 1.270000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.400000, 1.420000, 1.440000, 1.460000, 1.470000, 1.470000, 1.490000, 1.520000, 1.550000, 1.560000, 1.590000, 1.620000, 1.650000, 1.670000, 1.710000, 1.740000, 1.770000, 1.810000, 1.850000, 1.880000, 1.930000, 1.970000, 2.020000, 2.080000, 2.120000, 2.190000, 2.250000, 2.330000, 2.380000, 2.480000, 2.560000, 2.660000, 2.760000, 2.880000, 2.240000, 3.180000, 3.360000, 3.170000, 3.160000, 3.150000, 2.830000, 3.130000, 3.120000, 3.110000, 3.110000, 3.110000, 3.100000, 3.100000, 3.110000, 3.170000, 8.370000, 8.310000, 8.270000, 8.230000, 8.170000, 8.130000, 8.100000, 8.070000, 8.030000, 8.010000, 7.980000, 7.960000, 7.940000, 7.920000, 7.900000, 7.890000, 7.890000, 7.880000, 7.850000, 9.060000, 11.520000, 11.380000, 11.020000, 12.430000, 12.320000, 11.680000, 7.610000, 6.550000, 5.690000, 5.500000, 5.530000, 4.370000, 4.030000, 3.710000, 3.440000, 3.240000, 3.020000, 2.850000, 2.690000, 2.550000, 2.420000, 2.320000, 2.230000, 2.130000, 2.050000, 2.020000, 1.910000, 1.860000, 1.780000, 1.720000, 1.670000, 1.620000, 1.570000, 1.520000, 1.480000, 1.450000, 1.400000, 1.370000, 1.340000, 1.300000, 1.270000, 1.250000, 1.220000, 1.200000, 1.170000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.050000, 1.050000, 1.030000, 1.030000, 1.010000, 0.990000, 0.980000, 0.980000, 0.960000, 0.970000, 0.940000, 0.930000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.850000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054613, 992807 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.433000, 3.325000, 1.855949 ], "estimate": [ 2.433000, 3.325000, 1.855949 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.230000, 1.230000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.270000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.400000, 1.420000, 1.440000, 1.460000, 1.470000, 1.480000, 1.500000, 1.520000, 1.550000, 1.560000, 1.590000, 1.620000, 1.640000, 1.670000, 1.710000, 1.740000, 1.770000, 1.810000, 1.840000, 1.880000, 1.920000, 1.960000, 2.010000, 2.070000, 2.120000, 2.170000, 2.230000, 2.300000, 2.370000, 2.450000, 2.530000, 2.630000, 2.720000, 2.840000, 2.350000, 3.100000, 3.290000, 3.120000, 3.110000, 3.090000, 2.980000, 3.080000, 3.060000, 3.060000, 3.060000, 3.050000, 3.050000, 3.050000, 3.040000, 3.110000, 8.340000, 8.280000, 8.250000, 8.190000, 8.140000, 8.100000, 8.060000, 8.020000, 7.980000, 7.980000, 7.940000, 7.910000, 7.890000, 7.880000, 7.850000, 7.830000, 7.830000, 7.830000, 7.810000, 8.470000, 8.950000, 11.340000, 11.090000, 11.210000, 12.370000, 11.740000, 11.610000, 7.270000, 6.290000, 5.540000, 5.450000, 5.480000, 4.310000, 3.930000, 3.650000, 3.400000, 3.180000, 2.970000, 2.800000, 2.650000, 2.520000, 2.400000, 2.290000, 2.200000, 2.120000, 2.040000, 1.980000, 1.890000, 1.840000, 1.770000, 1.710000, 1.650000, 1.610000, 1.560000, 1.520000, 1.470000, 1.440000, 1.400000, 1.360000, 1.340000, 1.300000, 1.270000, 1.240000, 1.220000, 1.200000, 1.180000, 1.150000, 1.130000, 1.110000, 1.100000, 1.080000, 1.070000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.850000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054614, 501533 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.417000, 3.379000, 1.855949 ], "estimate": [ 2.417000, 3.379000, 1.855949 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.240000, 1.250000, 1.260000, 1.260000, 1.280000, 1.280000, 1.280000, 1.300000, 1.310000, 1.320000, 1.330000, 1.330000, 1.340000, 1.360000, 1.360000, 1.370000, 1.390000, 1.400000, 1.420000, 1.430000, 1.450000, 1.470000, 1.480000, 1.490000, 1.510000, 1.530000, 1.560000, 1.580000, 1.610000, 1.630000, 1.650000, 1.690000, 1.720000, 1.750000, 1.790000, 1.810000, 1.860000, 1.900000, 1.950000, 1.980000, 2.030000, 2.090000, 2.130000, 2.190000, 2.260000, 2.330000, 2.400000, 2.480000, 2.560000, 2.660000, 2.750000, 2.140000, 2.980000, 3.160000, 3.340000, 3.060000, 3.040000, 2.610000, 2.960000, 3.020000, 3.020000, 3.010000, 3.010000, 3.000000, 3.000000, 2.990000, 2.990000, 3.060000, 8.270000, 8.220000, 8.190000, 8.130000, 8.080000, 8.040000, 7.990000, 7.970000, 7.940000, 7.900000, 7.880000, 7.850000, 7.830000, 7.810000, 7.790000, 7.790000, 7.760000, 7.760000, 7.750000, 8.150000, 8.900000, 11.280000, 11.280000, 11.020000, 11.650000, 11.860000, 11.550000, 7.410000, 6.390000, 5.590000, 5.390000, 5.410000, 5.430000, 3.980000, 3.670000, 3.420000, 3.200000, 3.000000, 2.820000, 2.670000, 2.530000, 2.420000, 2.320000, 2.220000, 2.120000, 2.040000, 1.980000, 1.900000, 1.860000, 1.780000, 1.720000, 1.670000, 1.620000, 1.570000, 1.530000, 1.480000, 1.440000, 1.400000, 1.360000, 1.340000, 1.310000, 1.280000, 1.250000, 1.220000, 1.190000, 1.180000, 1.150000, 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.030000, 1.020000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.950000, 0.940000, 0.950000, 0.920000, 0.920000, 0.910000, 0.890000, 0.900000, 0.890000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054614, 502601 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.402000, 3.431000, 1.849803 ], "estimate": [ 2.402000, 3.431000, 1.849803 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.250000, 1.250000, 1.260000, 1.270000, 1.280000, 1.280000, 1.290000, 1.290000, 1.300000, 1.310000, 1.330000, 1.330000, 1.340000, 1.360000, 1.360000, 1.370000, 1.380000, 1.390000, 1.410000, 1.420000, 1.440000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.540000, 1.570000, 1.590000, 1.620000, 1.640000, 1.670000, 1.700000, 1.730000, 1.760000, 1.790000, 1.830000, 1.870000, 1.910000, 1.950000, 1.990000, 2.050000, 2.090000, 2.150000, 2.210000, 2.280000, 2.330000, 2.420000, 2.500000, 2.590000, 2.680000, 2.090000, 2.240000, 3.030000, 3.190000, 3.020000, 3.020000, 3.000000, 2.700000, 2.980000, 2.970000, 2.970000, 2.960000, 2.950000, 2.950000, 2.940000, 2.940000, 2.950000, 3.040000, 8.230000, 8.170000, 8.130000, 8.080000, 8.030000, 7.990000, 7.960000, 7.920000, 7.880000, 7.850000, 7.830000, 7.810000, 7.790000, 7.750000, 7.740000, 7.740000, 7.720000, 7.710000, 7.710000, 7.850000, 8.840000, 11.270000, 11.220000, 10.840000, 12.260000, 12.130000, 11.500000, 7.520000, 6.480000, 5.640000, 5.360000, 5.360000, 5.390000, 4.010000, 3.700000, 3.430000, 3.230000, 3.040000, 2.840000, 2.690000, 2.550000, 2.430000, 2.320000, 2.220000, 2.130000, 2.050000, 1.980000, 1.900000, 1.870000, 1.790000, 1.730000, 1.680000, 1.630000, 1.580000, 1.530000, 1.490000, 1.450000, 1.410000, 1.370000, 1.350000, 1.310000, 1.280000, 1.250000, 1.220000, 1.210000, 1.180000, 1.150000, 1.130000, 1.130000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.030000, 1.010000, 1.010000, 0.990000, 0.990000, 0.990000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.850000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.850000, 0.840000, 0.840000, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054614, 647443 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.386000, 3.483000, 1.849803 ], "estimate": [ 2.386000, 3.483000, 1.849803 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.250000, 1.260000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.300000, 1.310000, 1.310000, 1.320000, 1.330000, 1.340000, 1.360000, 1.360000, 1.380000, 1.380000, 1.400000, 1.410000, 1.420000, 1.440000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.610000, 1.630000, 1.660000, 1.690000, 1.720000, 1.750000, 1.790000, 1.810000, 1.860000, 1.890000, 1.940000, 1.980000, 2.020000, 2.080000, 2.120000, 2.180000, 2.240000, 2.320000, 2.370000, 2.460000, 2.530000, 2.630000, 2.080000, 2.380000, 2.960000, 3.100000, 3.000000, 2.970000, 2.950000, 2.500000, 2.930000, 2.920000, 2.910000, 2.910000, 2.910000, 2.900000, 2.900000, 2.890000, 2.890000, 2.950000, 8.220000, 8.150000, 8.100000, 8.070000, 8.010000, 7.970000, 7.930000, 7.890000, 7.850000, 7.830000, 7.800000, 7.780000, 7.750000, 7.730000, 7.710000, 7.690000, 7.670000, 7.660000, 7.650000, 7.630000, 8.340000, 8.780000, 11.170000, 10.930000, 11.030000, 12.190000, 11.590000, 11.440000, 7.280000, 6.300000, 5.520000, 5.290000, 5.320000, 5.330000, 3.940000, 3.650000, 3.400000, 3.190000, 3.010000, 2.820000, 2.660000, 2.530000, 2.410000, 2.300000, 2.210000, 2.120000, 2.030000, 1.980000, 1.900000, 1.820000, 1.820000, 1.720000, 1.670000, 1.620000, 1.570000, 1.530000, 1.480000, 1.450000, 1.400000, 1.370000, 1.340000, 1.310000, 1.280000, 1.250000, 1.220000, 1.200000, 1.180000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 1.010000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.960000, 0.940000, 0.930000, 0.930000, 0.920000, 0.910000, 0.920000, 0.930000, 0.900000, 0.900000, 0.900000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054615, 103041 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.369000, 3.541000, 1.855949 ], "estimate": [ 2.369000, 3.541000, 1.855949 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.270000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 1.340000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.440000, 1.460000, 1.470000, 1.490000, 1.500000, 1.510000, 1.540000, 1.560000, 1.580000, 1.610000, 1.630000, 1.660000, 1.690000, 1.710000, 1.740000, 1.780000, 1.820000, 1.850000, 1.890000, 1.940000, 1.960000, 2.020000, 2.070000, 2.120000, 2.170000, 2.230000, 2.300000, 2.360000, 2.440000, 2.510000, 2.610000, 2.180000, 2.810000, 2.930000, 3.070000, 2.950000, 2.920000, 2.910000, 2.730000, 2.890000, 2.870000, 2.870000, 2.860000, 2.850000, 2.840000, 2.830000, 2.830000, 2.840000, 2.920000, 3.970000, 8.120000, 8.080000, 8.040000, 7.970000, 7.940000, 7.890000, 7.860000, 7.810000, 7.780000, 7.760000, 7.730000, 7.700000, 7.680000, 7.660000, 7.640000, 7.620000, 7.620000, 7.600000, 7.590000, 7.590000, 8.730000, 11.210000, 11.120000, 10.970000, 12.130000, 12.150000, 11.410000, 11.390000, 6.750000, 5.900000, 5.250000, 5.240000, 5.260000, 4.100000, 3.810000, 3.530000, 3.300000, 3.110000, 2.940000, 2.760000, 2.600000, 2.480000, 2.360000, 2.250000, 2.170000, 2.080000, 1.990000, 1.940000, 1.870000, 1.810000, 1.770000, 1.710000, 1.660000, 1.610000, 1.550000, 1.510000, 1.470000, 1.430000, 1.390000, 1.360000, 1.320000, 1.300000, 1.270000, 1.240000, 1.210000, 1.190000, 1.180000, 1.140000, 1.120000, 1.110000, 1.100000, 1.080000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 1.010000, 0.990000, 0.990000, 0.980000, 0.970000, 0.960000, 0.940000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.910000, 0.910000, 0.890000, 0.890000, 0.870000, 0.870000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.850000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054615, 104253 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.351000, 3.598000, 1.862095 ], "estimate": [ 2.351000, 3.598000, 1.862095 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.300000, 1.300000, 1.310000, 1.320000, 1.320000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.390000, 1.410000, 1.420000, 1.440000, 1.450000, 1.470000, 1.470000, 1.490000, 1.510000, 1.530000, 1.540000, 1.560000, 1.590000, 1.610000, 1.630000, 1.660000, 1.690000, 1.730000, 1.750000, 1.780000, 1.810000, 1.850000, 1.890000, 1.940000, 1.960000, 2.010000, 2.060000, 2.110000, 2.160000, 2.220000, 2.300000, 2.360000, 2.430000, 2.510000, 1.980000, 2.290000, 2.790000, 2.910000, 3.040000, 2.880000, 2.870000, 2.850000, 2.430000, 2.830000, 2.820000, 2.810000, 2.800000, 2.790000, 2.790000, 2.780000, 2.770000, 2.770000, 2.850000, 3.290000, 8.090000, 8.030000, 7.990000, 7.930000, 7.890000, 7.840000, 7.810000, 7.780000, 7.720000, 7.710000, 7.670000, 7.650000, 7.630000, 7.610000, 7.580000, 7.570000, 7.550000, 7.540000, 7.530000, 7.530000, 8.260000, 8.650000, 11.070000, 11.080000, 10.700000, 12.070000, 11.710000, 11.330000, 7.410000, 6.390000, 5.600000, 5.170000, 5.190000, 5.210000, 4.010000, 3.680000, 3.430000, 3.220000, 3.030000, 2.880000, 2.680000, 2.540000, 2.430000, 2.320000, 2.220000, 2.120000, 2.040000, 1.980000, 1.900000, 1.840000, 1.780000, 1.730000, 1.710000, 1.630000, 1.590000, 1.540000, 1.500000, 1.450000, 1.420000, 1.380000, 1.350000, 1.320000, 1.290000, 1.260000, 1.230000, 1.210000, 1.190000, 1.160000, 1.140000, 1.120000, 1.110000, 1.090000, 1.080000, 1.050000, 1.050000, 1.030000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.890000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.860000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054615, 192635 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.334000, 3.654000, 1.868240 ], "estimate": [ 2.334000, 3.654000, 1.868240 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.300000, 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 1.340000, 1.340000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.440000, 1.450000, 1.470000, 1.480000, 1.490000, 1.510000, 1.530000, 1.540000, 1.560000, 1.590000, 1.610000, 1.630000, 1.650000, 1.690000, 1.720000, 1.750000, 1.780000, 1.810000, 1.840000, 1.890000, 1.920000, 1.970000, 1.990000, 2.050000, 2.090000, 2.140000, 2.210000, 2.270000, 2.340000, 2.400000, 2.490000, 2.010000, 2.640000, 2.760000, 2.860000, 2.980000, 2.830000, 2.830000, 2.810000, 2.380000, 2.780000, 2.770000, 2.760000, 2.760000, 2.760000, 2.750000, 2.740000, 2.740000, 2.740000, 2.750000, 2.810000, 8.070000, 8.010000, 7.970000, 7.930000, 7.860000, 7.830000, 7.780000, 7.730000, 7.710000, 7.680000, 7.640000, 7.620000, 7.590000, 7.570000, 7.550000, 7.520000, 7.510000, 7.500000, 7.480000, 7.470000, 7.460000, 8.340000, 8.600000, 10.990000, 10.610000, 11.980000, 12.030000, 11.310000, 11.270000, 7.100000, 6.160000, 5.410000, 5.120000, 5.140000, 5.160000, 3.920000, 3.600000, 3.360000, 3.160000, 2.970000, 2.830000, 2.640000, 2.520000, 2.400000, 2.290000, 2.200000, 2.100000, 2.020000, 1.960000, 1.890000, 1.820000, 1.760000, 1.710000, 1.680000, 1.620000, 1.570000, 1.530000, 1.490000, 1.440000, 1.400000, 1.380000, 1.340000, 1.310000, 1.280000, 1.250000, 1.230000, 1.200000, 1.190000, 1.160000, 1.140000, 1.120000, 1.110000, 1.090000, 1.080000, 1.060000, 1.030000, 1.030000, 1.020000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.880000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.850000, 0.860000, 0.860000, 0.850000, 0.860000, 0.850000, 0.860000, 0.850000, 0.860000, 0.840000, 0.850000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054615, 656411 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.317000, 3.708000, 1.868240 ], "estimate": [ 2.317000, 3.708000, 1.868240 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.320000, 1.330000, 1.340000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.400000, 1.410000, 1.420000, 1.420000, 1.440000, 1.460000, 1.470000, 1.490000, 1.490000, 1.510000, 1.530000, 1.550000, 1.560000, 1.590000, 1.610000, 1.630000, 1.660000, 1.680000, 1.710000, 1.740000, 1.770000, 1.810000, 1.830000, 1.880000, 1.910000, 1.960000, 2.000000, 2.040000, 2.090000, 2.120000, 2.190000, 2.250000, 2.320000, 2.390000, 2.130000, 1.900000, 2.620000, 2.710000, 2.830000, 2.950000, 2.780000, 2.780000, 2.740000, 2.340000, 2.740000, 2.730000, 2.720000, 2.710000, 2.700000, 2.700000, 2.690000, 2.680000, 2.680000, 2.690000, 2.750000, 3.720000, 7.990000, 7.940000, 7.890000, 7.830000, 7.800000, 7.740000, 7.720000, 7.670000, 7.630000, 7.600000, 7.590000, 7.540000, 7.540000, 7.500000, 7.490000, 7.470000, 7.440000, 7.430000, 7.420000, 7.410000, 7.420000, 8.550000, 11.020000, 10.950000, 10.670000, 11.960000, 11.960000, 11.250000, 11.210000, 6.790000, 5.930000, 5.250000, 5.060000, 5.090000, 5.100000, 3.830000, 3.530000, 3.320000, 3.120000, 2.920000, 2.780000, 2.620000, 2.480000, 2.370000, 2.270000, 2.170000, 2.080000, 2.000000, 1.930000, 1.870000, 1.800000, 1.750000, 1.700000, 1.650000, 1.620000, 1.580000, 1.520000, 1.480000, 1.430000, 1.390000, 1.370000, 1.340000, 1.300000, 1.280000, 1.240000, 1.230000, 1.200000, 1.170000, 1.150000, 1.140000, 1.120000, 1.100000, 1.090000, 1.080000, 1.050000, 1.040000, 1.020000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.920000, 0.910000, 0.910000, 0.900000, 0.890000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054615, 701267 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.300000, 3.762000, 1.868240 ], "estimate": [ 2.300000, 3.762000, 1.868240 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.340000, 1.350000, 1.350000, 1.360000, 1.360000, 1.370000, 1.390000, 1.400000, 1.410000, 1.420000, 1.440000, 1.440000, 1.460000, 1.470000, 1.490000, 1.490000, 1.510000, 1.530000, 1.550000, 1.560000, 1.580000, 1.600000, 1.630000, 1.650000, 1.670000, 1.710000, 1.730000, 1.760000, 1.800000, 1.820000, 1.860000, 1.900000, 1.940000, 1.980000, 2.030000, 2.070000, 2.120000, 2.170000, 2.220000, 2.290000, 2.350000, 1.850000, 2.150000, 2.580000, 2.670000, 2.770000, 2.880000, 2.780000, 2.740000, 2.720000, 2.290000, 2.700000, 2.680000, 2.680000, 2.670000, 2.660000, 2.660000, 2.650000, 2.640000, 2.630000, 2.640000, 2.700000, 3.010000, 7.990000, 7.920000, 7.870000, 7.840000, 7.780000, 7.740000, 7.690000, 7.660000, 7.610000, 7.570000, 7.540000, 7.510000, 7.490000, 7.470000, 7.440000, 7.420000, 7.410000, 7.390000, 7.370000, 7.370000, 7.360000, 7.350000, 8.490000, 11.000000, 10.890000, 10.500000, 11.900000, 11.910000, 11.170000, 11.160000, 6.630000, 5.800000, 5.160000, 5.010000, 5.040000, 5.060000, 3.790000, 3.500000, 3.270000, 3.090000, 2.900000, 2.760000, 2.590000, 2.460000, 2.350000, 2.250000, 2.150000, 2.070000, 1.990000, 1.930000, 1.860000, 1.790000, 1.740000, 1.690000, 1.640000, 1.580000, 1.590000, 1.530000, 1.470000, 1.430000, 1.390000, 1.370000, 1.330000, 1.300000, 1.270000, 1.240000, 1.220000, 1.200000, 1.170000, 1.150000, 1.130000, 1.110000, 1.100000, 1.080000, 1.060000, 1.040000, 1.040000, 1.030000, 1.010000, 0.990000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.900000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.860000, 0.850000, 0.850000, 0.850000, 0.870000, 0.850000, 0.860000, 0.850000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054615, 867691 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.282000, 3.820000, 1.862095 ], "estimate": [ 2.282000, 3.820000, 1.862095 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.350000, 1.350000, 1.360000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.490000, 1.500000, 1.510000, 1.530000, 1.550000, 1.570000, 1.590000, 1.600000, 1.630000, 1.640000, 1.670000, 1.700000, 1.730000, 1.760000, 1.790000, 1.810000, 1.850000, 1.890000, 1.930000, 1.970000, 2.000000, 2.060000, 2.100000, 2.150000, 2.220000, 2.270000, 2.330000, 1.800000, 2.470000, 2.550000, 2.630000, 2.720000, 2.830000, 2.750000, 2.690000, 2.670000, 2.240000, 2.650000, 2.640000, 2.620000, 2.620000, 2.600000, 2.590000, 2.580000, 2.590000, 2.570000, 2.580000, 2.630000, 2.670000, 3.650000, 7.920000, 7.860000, 7.810000, 7.780000, 7.710000, 7.670000, 7.630000, 7.590000, 7.560000, 7.520000, 7.490000, 7.460000, 7.440000, 7.420000, 7.380000, 7.370000, 7.350000, 7.340000, 7.330000, 7.320000, 7.310000, 7.630000, 8.440000, 10.890000, 10.820000, 10.440000, 11.860000, 11.820000, 11.100000, 11.110000, 6.530000, 5.720000, 5.100000, 4.970000, 4.980000, 5.010000, 3.760000, 3.480000, 3.260000, 3.050000, 2.900000, 2.740000, 2.600000, 2.460000, 2.340000, 2.230000, 2.150000, 2.070000, 1.990000, 1.910000, 1.860000, 1.790000, 1.730000, 1.680000, 1.630000, 1.590000, 1.540000, 1.530000, 1.490000, 1.420000, 1.390000, 1.360000, 1.330000, 1.290000, 1.270000, 1.240000, 1.220000, 1.190000, 1.160000, 1.150000, 1.140000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.030000, 1.030000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054616, 285632 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.266000, 3.873000, 1.862095 ], "estimate": [ 2.266000, 3.873000, 1.862095 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.370000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.430000, 1.430000, 1.440000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.550000, 1.570000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.690000, 1.720000, 1.750000, 1.780000, 1.810000, 1.840000, 1.880000, 1.910000, 1.950000, 1.990000, 2.040000, 2.090000, 2.120000, 2.180000, 2.230000, 1.790000, 1.800000, 2.440000, 2.520000, 2.590000, 2.690000, 2.780000, 2.810000, 2.670000, 2.620000, 2.200000, 2.620000, 2.610000, 2.580000, 2.580000, 2.580000, 2.570000, 2.560000, 2.550000, 2.550000, 2.540000, 2.550000, 2.600000, 3.140000, 7.910000, 7.840000, 7.800000, 7.740000, 7.700000, 7.650000, 7.600000, 7.560000, 7.520000, 7.480000, 7.460000, 7.420000, 7.400000, 7.370000, 7.340000, 7.330000, 7.310000, 7.300000, 7.280000, 7.260000, 7.260000, 7.230000, 8.060000, 8.390000, 10.780000, 10.810000, 10.440000, 11.800000, 11.550000, 11.050000, 11.050000, 6.330000, 5.560000, 4.990000, 4.910000, 4.930000, 4.960000, 3.700000, 3.440000, 3.210000, 3.020000, 2.860000, 2.710000, 2.560000, 2.440000, 2.320000, 2.220000, 2.130000, 2.030000, 1.970000, 1.900000, 1.840000, 1.780000, 1.710000, 1.670000, 1.630000, 1.580000, 1.530000, 1.490000, 1.490000, 1.450000, 1.380000, 1.360000, 1.330000, 1.290000, 1.260000, 1.230000, 1.220000, 1.190000, 1.160000, 1.150000, 1.140000, 1.110000, 1.100000, 1.090000, 1.070000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.910000, 0.900000, 0.890000, 0.890000, 0.870000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 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": [ 976054616, 337720 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.249000, 3.927000, 1.855949 ], "estimate": [ 2.249000, 3.927000, 1.855949 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.370000, 1.380000, 1.390000, 1.390000, 1.410000, 1.420000, 1.430000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.500000, 1.500000, 1.510000, 1.530000, 1.550000, 1.570000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.690000, 1.720000, 1.740000, 1.770000, 1.800000, 1.830000, 1.860000, 1.900000, 1.940000, 1.970000, 2.020000, 2.070000, 2.110000, 2.170000, 2.220000, 1.780000, 2.330000, 2.400000, 2.490000, 2.550000, 2.630000, 2.730000, 2.830000, 2.620000, 2.570000, 2.150000, 2.580000, 2.570000, 2.550000, 2.540000, 2.530000, 2.520000, 2.510000, 2.500000, 2.500000, 2.490000, 2.490000, 2.550000, 2.780000, 3.600000, 7.840000, 7.790000, 7.720000, 7.680000, 7.620000, 7.580000, 7.540000, 7.500000, 7.460000, 7.420000, 7.400000, 7.360000, 7.340000, 7.320000, 7.290000, 7.260000, 7.250000, 7.230000, 7.220000, 7.210000, 7.190000, 7.180000, 8.060000, 8.340000, 10.720000, 10.580000, 10.540000, 11.750000, 11.370000, 10.990000, 11.000000, 6.280000, 5.530000, 4.950000, 4.850000, 4.870000, 4.890000, 3.680000, 3.410000, 3.200000, 3.020000, 2.850000, 2.710000, 2.550000, 2.430000, 2.320000, 2.220000, 2.130000, 2.040000, 1.970000, 1.890000, 1.820000, 1.780000, 1.710000, 1.670000, 1.620000, 1.570000, 1.530000, 1.490000, 1.450000, 1.430000, 1.440000, 1.360000, 1.320000, 1.290000, 1.260000, 1.230000, 1.220000, 1.200000, 1.170000, 1.150000, 1.140000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 0.990000, 0.990000, 0.980000, 0.980000, 0.960000, 0.960000, 0.950000, 0.940000, 0.930000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.870000, 0.880000, 0.880000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.860000, 0.850000, 0.850000, 0.850000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054616, 417951 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.232000, 3.984000, 1.862095 ], "estimate": [ 2.232000, 3.984000, 1.862095 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.510000, 1.530000, 1.550000, 1.570000, 1.580000, 1.600000, 1.620000, 1.630000, 1.660000, 1.690000, 1.710000, 1.740000, 1.770000, 1.800000, 1.820000, 1.860000, 1.890000, 1.930000, 1.970000, 2.010000, 2.060000, 2.100000, 2.150000, 1.710000, 1.880000, 2.320000, 2.390000, 2.460000, 2.530000, 2.610000, 2.700000, 2.770000, 2.580000, 2.110000, 2.130000, 2.540000, 2.520000, 2.510000, 2.500000, 2.480000, 2.470000, 2.460000, 2.460000, 2.450000, 2.440000, 2.440000, 2.500000, 2.620000, 3.320000, 7.830000, 7.760000, 7.710000, 7.660000, 7.620000, 7.560000, 7.510000, 7.460000, 7.420000, 7.400000, 7.350000, 7.330000, 7.300000, 7.280000, 7.240000, 7.230000, 7.210000, 7.190000, 7.170000, 7.160000, 7.150000, 7.140000, 7.130000, 8.270000, 10.740000, 10.700000, 10.290000, 11.690000, 11.700000, 10.960000, 10.940000, 6.850000, 6.000000, 5.270000, 4.790000, 4.810000, 4.830000, 4.840000, 3.580000, 3.330000, 3.130000, 2.940000, 2.780000, 2.640000, 2.510000, 2.390000, 2.260000, 2.190000, 2.100000, 2.020000, 1.940000, 1.870000, 1.800000, 1.750000, 1.700000, 1.640000, 1.610000, 1.540000, 1.510000, 1.470000, 1.440000, 1.400000, 1.400000, 1.400000, 1.320000, 1.290000, 1.250000, 1.220000, 1.200000, 1.190000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.060000, 1.040000, 1.020000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.950000, 0.950000, 0.940000, 0.930000, 0.930000, 0.920000, 0.900000, 0.910000, 0.900000, 0.890000, 0.910000, 0.890000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054617, 418172 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.214000, 4.041000, 1.868240 ], "estimate": [ 2.214000, 4.041000, 1.868240 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.470000, 1.480000, 1.490000, 1.500000, 1.500000, 1.520000, 1.530000, 1.540000, 1.560000, 1.570000, 1.600000, 1.600000, 1.620000, 1.640000, 1.660000, 1.690000, 1.720000, 1.740000, 1.770000, 1.800000, 1.830000, 1.860000, 1.890000, 1.940000, 1.960000, 2.010000, 2.060000, 2.100000, 1.680000, 1.960000, 2.260000, 2.320000, 2.380000, 2.460000, 2.520000, 2.610000, 2.700000, 2.540000, 2.530000, 2.290000, 2.500000, 2.480000, 2.470000, 2.450000, 2.440000, 2.430000, 2.420000, 2.410000, 2.400000, 2.400000, 2.400000, 2.400000, 2.440000, 2.600000, 3.190000, 3.900000, 7.720000, 7.670000, 7.610000, 7.590000, 7.520000, 7.480000, 7.420000, 7.390000, 7.340000, 7.320000, 7.280000, 7.250000, 7.230000, 7.210000, 7.180000, 7.160000, 7.140000, 7.130000, 7.120000, 7.110000, 7.090000, 7.060000, 7.920000, 8.210000, 10.630000, 10.630000, 10.230000, 11.640000, 11.540000, 10.900000, 10.890000, 6.410000, 5.650000, 5.010000, 4.740000, 4.760000, 4.770000, 4.820000, 3.460000, 3.230000, 3.040000, 2.870000, 2.720000, 2.580000, 2.460000, 2.350000, 2.240000, 2.140000, 2.050000, 1.980000, 1.910000, 1.840000, 1.780000, 1.720000, 1.670000, 1.630000, 1.570000, 1.530000, 1.490000, 1.450000, 1.420000, 1.380000, 1.360000, 1.350000, 1.360000, 1.280000, 1.240000, 1.220000, 1.190000, 1.180000, 1.150000, 1.140000, 1.120000, 1.110000, 1.080000, 1.060000, 1.060000, 1.040000, 1.030000, 1.010000, 1.000000, 0.980000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.900000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054617, 477599 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.197000, 4.095000, 1.868240 ], "estimate": [ 2.197000, 4.095000, 1.868240 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.410000, 1.420000, 1.430000, 1.430000, 1.450000, 1.460000, 1.470000, 1.490000, 1.490000, 1.500000, 1.500000, 1.520000, 1.530000, 1.540000, 1.560000, 1.580000, 1.600000, 1.610000, 1.630000, 1.640000, 1.660000, 1.690000, 1.710000, 1.740000, 1.770000, 1.800000, 1.820000, 1.860000, 1.880000, 1.930000, 1.960000, 2.000000, 2.050000, 1.970000, 1.650000, 2.190000, 2.250000, 2.300000, 2.360000, 2.430000, 2.510000, 2.580000, 2.660000, 2.510000, 2.450000, 2.040000, 2.450000, 2.440000, 2.420000, 2.410000, 2.400000, 2.400000, 2.390000, 2.380000, 2.370000, 2.360000, 2.350000, 2.350000, 2.400000, 2.470000, 2.920000, 3.570000, 7.720000, 7.660000, 7.590000, 7.550000, 7.510000, 7.450000, 7.410000, 7.360000, 7.330000, 7.290000, 7.250000, 7.230000, 7.190000, 7.180000, 7.150000, 7.130000, 7.100000, 7.080000, 7.070000, 7.060000, 7.050000, 7.040000, 7.050000, 7.920000, 8.170000, 10.550000, 10.170000, 10.440000, 11.580000, 11.040000, 10.840000, 10.840000, 6.190000, 5.470000, 4.880000, 4.680000, 4.710000, 4.720000, 4.860000, 3.390000, 3.170000, 2.990000, 2.820000, 2.670000, 2.540000, 2.440000, 2.310000, 2.220000, 2.110000, 2.030000, 1.950000, 1.880000, 1.820000, 1.760000, 1.710000, 1.660000, 1.610000, 1.550000, 1.530000, 1.480000, 1.440000, 1.400000, 1.380000, 1.350000, 1.310000, 1.320000, 1.320000, 1.240000, 1.210000, 1.180000, 1.160000, 1.140000, 1.130000, 1.110000, 1.110000, 1.080000, 1.060000, 1.050000, 1.040000, 1.020000, 1.020000, 1.000000, 0.990000, 0.990000, 0.980000, 0.960000, 0.950000, 0.950000, 0.940000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054617, 478675 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.181000, 4.148000, 1.868240 ], "estimate": [ 2.181000, 4.148000, 1.868240 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.410000, 1.420000, 1.430000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.510000, 1.530000, 1.550000, 1.550000, 1.570000, 1.590000, 1.600000, 1.620000, 1.630000, 1.650000, 1.670000, 1.700000, 1.730000, 1.740000, 1.770000, 1.800000, 1.830000, 1.860000, 1.880000, 1.930000, 1.960000, 2.000000, 1.920000, 1.620000, 2.130000, 2.190000, 2.240000, 2.290000, 2.350000, 2.420000, 2.490000, 2.560000, 2.640000, 2.460000, 2.000000, 2.370000, 2.410000, 2.400000, 2.380000, 2.380000, 2.360000, 2.350000, 2.340000, 2.330000, 2.320000, 2.310000, 2.300000, 2.300000, 2.360000, 2.430000, 2.810000, 3.400000, 7.690000, 7.640000, 7.570000, 7.530000, 7.480000, 7.420000, 7.370000, 7.320000, 7.280000, 7.250000, 7.220000, 7.180000, 7.150000, 7.130000, 7.110000, 7.090000, 7.060000, 7.040000, 7.020000, 7.000000, 6.990000, 6.980000, 6.980000, 7.020000, 8.100000, 10.610000, 10.510000, 10.210000, 11.520000, 11.530000, 10.800000, 10.780000, 6.760000, 5.920000, 5.220000, 4.700000, 4.640000, 4.670000, 4.680000, 4.930000, 3.320000, 3.100000, 2.920000, 2.770000, 2.620000, 2.500000, 2.400000, 2.280000, 2.180000, 2.080000, 1.990000, 1.930000, 1.870000, 1.790000, 1.730000, 1.680000, 1.640000, 1.590000, 1.540000, 1.500000, 1.460000, 1.420000, 1.390000, 1.360000, 1.330000, 1.300000, 1.280000, 1.280000, 1.280000, 1.230000, 1.180000, 1.170000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.060000, 1.040000, 1.030000, 1.010000, 1.000000, 1.000000, 0.980000, 0.980000, 0.970000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 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, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054617, 479616 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.163000, 4.202000, 1.874385 ], "estimate": [ 2.163000, 4.202000, 1.874385 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.430000, 1.440000, 1.450000, 1.460000, 1.480000, 1.490000, 1.500000, 1.510000, 1.510000, 1.530000, 1.530000, 1.550000, 1.570000, 1.570000, 1.590000, 1.610000, 1.630000, 1.630000, 1.650000, 1.680000, 1.700000, 1.730000, 1.740000, 1.770000, 1.800000, 1.830000, 1.860000, 1.880000, 1.930000, 1.960000, 1.940000, 1.580000, 2.090000, 2.130000, 2.180000, 2.220000, 2.290000, 2.350000, 2.410000, 2.490000, 2.560000, 2.470000, 2.380000, 1.970000, 2.390000, 2.370000, 2.360000, 2.340000, 2.330000, 2.320000, 2.300000, 2.290000, 2.280000, 2.270000, 2.270000, 2.260000, 2.260000, 2.310000, 2.390000, 2.740000, 3.260000, 7.660000, 7.600000, 7.540000, 7.480000, 7.440000, 7.390000, 7.340000, 7.290000, 7.260000, 7.220000, 7.170000, 7.140000, 7.120000, 7.090000, 7.070000, 7.040000, 7.010000, 6.990000, 6.970000, 6.960000, 6.950000, 6.940000, 6.930000, 6.930000, 7.830000, 8.050000, 10.450000, 10.480000, 10.110000, 11.480000, 11.300000, 10.750000, 10.730000, 6.280000, 5.550000, 4.940000, 4.580000, 4.590000, 4.610000, 4.640000, 3.420000, 3.200000, 3.000000, 2.830000, 2.690000, 2.550000, 2.450000, 2.320000, 2.230000, 2.120000, 2.030000, 1.950000, 1.890000, 1.830000, 1.760000, 1.710000, 1.660000, 1.610000, 1.560000, 1.520000, 1.480000, 1.430000, 1.400000, 1.360000, 1.340000, 1.310000, 1.280000, 1.250000, 1.220000, 1.230000, 1.230000, 1.190000, 1.140000, 1.140000, 1.120000, 1.100000, 1.080000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 0.990000, 0.990000, 0.990000, 0.980000, 0.960000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.900000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054617, 480604 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.144000, 4.260000, 1.880531 ], "estimate": [ 2.144000, 4.260000, 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": [ 1.460000, 1.470000, 1.480000, 1.490000, 1.490000, 1.510000, 1.510000, 1.520000, 1.540000, 1.550000, 1.560000, 1.580000, 1.590000, 1.600000, 1.620000, 1.640000, 1.650000, 1.660000, 1.690000, 1.710000, 1.730000, 1.760000, 1.790000, 1.810000, 1.840000, 1.880000, 1.900000, 1.950000, 1.550000, 1.850000, 2.060000, 2.090000, 2.140000, 2.190000, 2.240000, 2.300000, 2.350000, 2.420000, 2.500000, 2.560000, 2.390000, 1.990000, 2.350000, 2.330000, 2.320000, 2.300000, 2.280000, 2.270000, 2.260000, 2.250000, 2.240000, 2.230000, 2.220000, 2.210000, 2.200000, 2.210000, 2.260000, 2.460000, 2.780000, 3.260000, 7.620000, 7.570000, 7.500000, 7.460000, 7.400000, 7.370000, 7.300000, 7.250000, 7.220000, 7.160000, 7.120000, 7.100000, 7.060000, 7.040000, 7.010000, 6.990000, 6.960000, 6.940000, 6.930000, 6.910000, 6.890000, 6.880000, 6.870000, 6.870000, 7.170000, 8.010000, 10.520000, 10.370000, 10.160000, 11.410000, 11.420000, 10.690000, 10.650000, 6.690000, 5.850000, 5.170000, 4.660000, 4.500000, 4.540000, 4.550000, 4.680000, 3.300000, 3.080000, 2.890000, 2.750000, 2.610000, 2.490000, 2.370000, 2.270000, 2.170000, 2.070000, 1.990000, 1.920000, 1.840000, 1.790000, 1.730000, 1.670000, 1.630000, 1.580000, 1.530000, 1.500000, 1.450000, 1.420000, 1.380000, 1.350000, 1.320000, 1.290000, 1.250000, 1.230000, 1.220000, 1.200000, 1.190000, 1.170000, 1.190000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.030000, 1.040000, 1.010000, 1.000000, 0.980000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.930000, 0.930000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.850000, 0.840000, 0.840000, 0.840000, 0.850000, 0.840000, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054617, 667466 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.126000, 4.316000, 1.886677 ], "estimate": [ 2.126000, 4.316000, 1.886677 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.490000, 1.500000, 1.510000, 1.510000, 1.520000, 1.530000, 1.550000, 1.570000, 1.570000, 1.590000, 1.600000, 1.610000, 1.630000, 1.640000, 1.660000, 1.670000, 1.700000, 1.730000, 1.740000, 1.770000, 1.800000, 1.820000, 1.860000, 1.890000, 1.900000, 1.540000, 1.970000, 2.020000, 2.070000, 2.100000, 2.150000, 2.200000, 2.250000, 2.310000, 2.360000, 2.430000, 2.500000, 2.360000, 1.890000, 2.320000, 2.300000, 2.280000, 2.270000, 2.250000, 2.240000, 2.220000, 2.210000, 2.200000, 2.180000, 2.180000, 2.160000, 2.160000, 2.160000, 2.220000, 2.250000, 2.490000, 2.820000, 3.270000, 7.590000, 7.530000, 7.460000, 7.400000, 7.360000, 7.330000, 7.260000, 7.230000, 7.170000, 7.130000, 7.090000, 7.050000, 7.020000, 6.990000, 6.960000, 6.940000, 6.920000, 6.890000, 6.870000, 6.850000, 6.850000, 6.840000, 6.820000, 6.820000, 6.790000, 7.930000, 10.430000, 10.330000, 9.950000, 10.300000, 11.370000, 10.810000, 10.620000, 10.630000, 6.090000, 5.390000, 4.800000, 4.470000, 4.480000, 4.500000, 4.510000, 3.340000, 3.150000, 2.950000, 2.790000, 2.640000, 2.510000, 2.400000, 2.300000, 2.190000, 2.100000, 2.010000, 1.930000, 1.860000, 1.790000, 1.740000, 1.690000, 1.640000, 1.590000, 1.530000, 1.500000, 1.460000, 1.430000, 1.380000, 1.350000, 1.330000, 1.290000, 1.260000, 1.230000, 1.220000, 1.190000, 1.170000, 1.160000, 1.150000, 1.140000, 1.140000, 1.120000, 1.080000, 1.060000, 1.040000, 1.030000, 1.020000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.850000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054617, 950693 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.108000, 4.367000, 1.898968 ], "estimate": [ 2.108000, 4.367000, 1.898968 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.520000, 1.530000, 1.540000, 1.560000, 1.570000, 1.590000, 1.590000, 1.610000, 1.630000, 1.640000, 1.650000, 1.660000, 1.690000, 1.700000, 1.720000, 1.740000, 1.770000, 1.800000, 1.820000, 1.850000, 1.880000, 1.560000, 1.940000, 1.970000, 2.010000, 2.050000, 2.090000, 2.130000, 2.190000, 2.230000, 2.280000, 2.340000, 2.400000, 2.470000, 2.200000, 1.850000, 2.280000, 2.270000, 2.250000, 2.230000, 2.210000, 2.200000, 2.180000, 2.170000, 2.160000, 2.150000, 2.130000, 2.130000, 2.120000, 2.120000, 2.160000, 2.190000, 2.380000, 2.650000, 3.030000, 3.470000, 7.540000, 7.470000, 7.400000, 7.350000, 7.300000, 7.270000, 7.200000, 7.150000, 7.120000, 7.070000, 7.030000, 6.990000, 6.950000, 6.940000, 6.920000, 6.890000, 6.860000, 6.830000, 6.820000, 6.810000, 6.780000, 6.750000, 6.760000, 6.760000, 6.750000, 7.870000, 10.370000, 10.290000, 9.900000, 9.980000, 11.300000, 10.770000, 10.550000, 10.560000, 6.050000, 5.350000, 4.790000, 4.390000, 4.420000, 4.440000, 4.460000, 4.710000, 3.150000, 2.940000, 2.780000, 2.630000, 2.500000, 2.390000, 2.270000, 2.180000, 2.070000, 2.000000, 1.930000, 1.860000, 1.790000, 1.730000, 1.680000, 1.630000, 1.570000, 1.530000, 1.490000, 1.450000, 1.410000, 1.380000, 1.350000, 1.320000, 1.280000, 1.250000, 1.220000, 1.200000, 1.190000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.110000, 1.070000, 1.030000, 1.030000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.960000, 0.960000, 0.950000, 0.940000, 0.920000, 0.920000, 0.900000, 0.910000, 0.900000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.870000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.830000, 0.840000, 0.840000, 0.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054617, 993829 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.090000, 4.419000, 1.905113 ], "estimate": [ 2.090000, 4.419000, 1.905113 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.530000, 1.540000, 1.550000, 1.570000, 1.590000, 1.600000, 1.610000, 1.620000, 1.640000, 1.650000, 1.660000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.780000, 1.810000, 1.830000, 1.630000, 1.480000, 1.920000, 1.960000, 1.980000, 2.020000, 2.060000, 2.100000, 2.150000, 2.200000, 2.230000, 2.290000, 2.350000, 2.410000, 2.370000, 1.800000, 2.260000, 2.240000, 2.220000, 2.200000, 2.180000, 2.170000, 2.150000, 2.140000, 2.130000, 2.120000, 2.110000, 2.100000, 2.090000, 2.080000, 2.090000, 2.130000, 2.200000, 2.410000, 2.690000, 3.030000, 3.450000, 7.500000, 7.430000, 7.370000, 7.320000, 7.260000, 7.250000, 7.160000, 7.120000, 7.070000, 7.030000, 6.990000, 6.950000, 6.930000, 6.890000, 6.870000, 6.850000, 6.830000, 6.800000, 6.770000, 6.760000, 6.740000, 6.720000, 6.720000, 6.710000, 6.720000, 7.610000, 7.830000, 10.240000, 10.240000, 9.860000, 11.260000, 11.250000, 10.520000, 10.500000, 6.330000, 5.590000, 4.960000, 4.480000, 4.350000, 4.380000, 4.410000, 4.450000, 3.200000, 2.990000, 2.810000, 2.650000, 2.540000, 2.420000, 2.310000, 2.210000, 2.120000, 2.020000, 1.950000, 1.870000, 1.810000, 1.730000, 1.690000, 1.640000, 1.590000, 1.540000, 1.500000, 1.460000, 1.420000, 1.380000, 1.360000, 1.320000, 1.290000, 1.250000, 1.240000, 1.210000, 1.180000, 1.170000, 1.140000, 1.130000, 1.120000, 1.090000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.010000, 0.990000, 0.980000, 0.980000, 0.980000, 0.960000, 0.950000, 0.930000, 0.930000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054618, 577378 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.069000, 4.478000, 1.923550 ], "estimate": [ 2.069000, 4.478000, 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": [ 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.630000, 1.640000, 1.650000, 1.660000, 1.680000, 1.690000, 1.710000, 1.720000, 1.740000, 1.760000, 1.790000, 1.810000, 1.460000, 1.510000, 1.890000, 1.930000, 1.960000, 1.990000, 2.030000, 2.060000, 2.100000, 2.140000, 2.190000, 2.230000, 2.280000, 2.340000, 2.390000, 1.750000, 2.200000, 2.220000, 2.190000, 2.170000, 2.150000, 2.140000, 2.130000, 2.120000, 2.100000, 2.080000, 2.070000, 2.060000, 2.050000, 2.030000, 2.020000, 2.040000, 2.090000, 2.170000, 2.350000, 2.600000, 2.920000, 3.250000, 7.490000, 7.430000, 7.360000, 7.310000, 7.240000, 7.190000, 7.150000, 7.100000, 7.040000, 7.000000, 6.960000, 6.920000, 6.890000, 6.860000, 6.830000, 6.800000, 6.780000, 6.750000, 6.730000, 6.710000, 6.690000, 6.690000, 6.670000, 6.660000, 6.650000, 6.650000, 7.610000, 7.750000, 10.170000, 10.180000, 9.800000, 11.190000, 11.160000, 10.460000, 10.440000, 6.220000, 5.490000, 4.880000, 4.410000, 4.280000, 4.320000, 4.340000, 4.360000, 3.150000, 2.950000, 2.780000, 2.630000, 2.500000, 2.390000, 2.280000, 2.190000, 2.090000, 2.010000, 1.930000, 1.850000, 1.780000, 1.710000, 1.670000, 1.620000, 1.560000, 1.530000, 1.480000, 1.440000, 1.390000, 1.370000, 1.340000, 1.300000, 1.270000, 1.240000, 1.220000, 1.190000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.080000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 1.020000, 1.050000, 1.000000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054618, 578475 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.047000, 4.535000, 1.923550 ], "estimate": [ 2.047000, 4.535000, 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": [ 1.580000, 1.590000, 1.610000, 1.630000, 1.640000, 1.660000, 1.650000, 1.670000, 1.690000, 1.700000, 1.720000, 1.730000, 1.760000, 1.780000, 1.710000, 1.450000, 1.850000, 1.880000, 1.900000, 1.940000, 1.970000, 2.000000, 2.040000, 2.080000, 2.110000, 2.150000, 2.200000, 2.250000, 2.300000, 2.350000, 1.740000, 2.180000, 2.190000, 2.160000, 2.150000, 2.130000, 2.120000, 2.100000, 2.080000, 2.070000, 2.050000, 2.030000, 2.020000, 2.010000, 2.000000, 1.990000, 1.990000, 2.040000, 2.070000, 2.200000, 2.390000, 2.620000, 2.910000, 3.250000, 7.470000, 7.390000, 7.340000, 7.270000, 7.220000, 7.160000, 7.130000, 7.060000, 7.020000, 6.960000, 6.940000, 6.890000, 6.840000, 6.810000, 6.780000, 6.750000, 6.730000, 6.700000, 6.690000, 6.660000, 6.650000, 6.630000, 6.620000, 6.590000, 6.590000, 6.570000, 7.230000, 7.710000, 10.210000, 10.120000, 9.720000, 11.130000, 11.130000, 10.500000, 10.380000, 10.390000, 5.880000, 5.200000, 4.650000, 4.220000, 4.250000, 4.270000, 4.280000, 4.520000, 3.060000, 2.870000, 2.710000, 2.560000, 2.440000, 2.320000, 2.230000, 2.140000, 2.040000, 1.970000, 1.890000, 1.810000, 1.750000, 1.690000, 1.640000, 1.580000, 1.530000, 1.500000, 1.450000, 1.410000, 1.380000, 1.340000, 1.310000, 1.280000, 1.250000, 1.220000, 1.200000, 1.180000, 1.160000, 1.130000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.040000, 1.030000, 1.000000, 1.000000, 0.990000, 0.960000, 0.980000, 1.020000, 0.970000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.910000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.810000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.820000, 0.820000, 0.810000, 0.810000, 0.820000, 0.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054618, 818055 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.028000, 4.586000, 1.923550 ], "estimate": [ 2.028000, 4.586000, 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": [ 1.600000, 1.620000, 1.630000, 1.640000, 1.660000, 1.670000, 1.680000, 1.690000, 1.720000, 1.740000, 1.750000, 1.760000, 1.460000, 1.440000, 1.820000, 1.850000, 1.880000, 1.900000, 1.940000, 1.970000, 1.990000, 2.030000, 2.070000, 2.090000, 2.140000, 2.180000, 2.230000, 2.280000, 1.910000, 1.730000, 2.160000, 2.150000, 2.130000, 2.120000, 2.090000, 2.080000, 2.060000, 2.040000, 2.020000, 2.010000, 2.000000, 1.990000, 1.980000, 1.960000, 1.940000, 1.940000, 2.000000, 2.010000, 2.150000, 2.310000, 2.500000, 2.770000, 3.030000, 3.370000, 7.420000, 7.340000, 7.280000, 7.210000, 7.150000, 7.110000, 7.080000, 7.000000, 6.960000, 6.920000, 6.870000, 6.830000, 6.790000, 6.760000, 6.720000, 6.700000, 6.680000, 6.650000, 6.620000, 6.600000, 6.590000, 6.570000, 6.560000, 6.540000, 6.520000, 6.520000, 6.840000, 7.660000, 10.130000, 10.030000, 9.680000, 11.020000, 11.070000, 10.760000, 10.320000, 10.340000, 5.930000, 5.250000, 4.670000, 4.250000, 4.190000, 4.220000, 4.230000, 4.310000, 3.150000, 2.870000, 2.710000, 2.560000, 2.430000, 2.330000, 2.230000, 2.130000, 2.040000, 1.960000, 1.890000, 1.800000, 1.740000, 1.680000, 1.630000, 1.580000, 1.530000, 1.490000, 1.450000, 1.410000, 1.380000, 1.340000, 1.300000, 1.270000, 1.240000, 1.210000, 1.190000, 1.160000, 1.130000, 1.140000, 1.110000, 1.090000, 1.080000, 1.070000, 1.040000, 1.030000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.980000, 0.920000, 0.900000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000 ], "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": [ 976054619, 210000 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.008000, 4.640000, 1.917404 ], "estimate": [ 2.008000, 4.640000, 1.917404 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.630000, 1.640000, 1.660000, 1.660000, 1.680000, 1.680000, 1.710000, 1.730000, 1.740000, 1.760000, 1.430000, 1.460000, 1.810000, 1.830000, 1.860000, 1.890000, 1.910000, 1.940000, 1.960000, 1.990000, 2.040000, 2.070000, 2.100000, 2.130000, 2.180000, 2.230000, 2.270000, 1.700000, 2.150000, 2.130000, 2.120000, 2.100000, 2.070000, 2.060000, 2.040000, 2.020000, 2.000000, 1.990000, 1.970000, 1.960000, 1.940000, 1.930000, 1.920000, 1.900000, 1.910000, 1.960000, 1.990000, 2.130000, 2.280000, 2.460000, 2.700000, 2.950000, 3.230000, 7.410000, 7.340000, 7.280000, 7.200000, 7.140000, 7.090000, 7.040000, 7.000000, 6.940000, 6.900000, 6.840000, 6.810000, 6.760000, 6.730000, 6.700000, 6.680000, 6.650000, 6.620000, 6.590000, 6.580000, 6.560000, 6.520000, 6.520000, 6.500000, 6.490000, 6.490000, 6.460000, 7.270000, 7.620000, 10.110000, 9.990000, 9.620000, 11.010000, 11.020000, 10.310000, 10.270000, 10.290000, 5.720000, 5.080000, 4.540000, 4.130000, 4.140000, 4.160000, 4.180000, 4.370000, 3.070000, 2.820000, 2.650000, 2.500000, 2.400000, 2.280000, 2.170000, 2.090000, 2.000000, 1.930000, 1.860000, 1.790000, 1.710000, 1.660000, 1.610000, 1.560000, 1.510000, 1.460000, 1.430000, 1.380000, 1.350000, 1.320000, 1.290000, 1.250000, 1.230000, 1.200000, 1.170000, 1.150000, 1.140000, 1.120000, 1.100000, 1.080000, 1.060000, 1.050000, 1.030000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.920000, 0.920000, 0.930000, 0.950000, 0.960000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.850000, 0.840000, 0.840000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.800000, 0.810000, 0.800000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.800000, 0.810000 ], "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": [ 976054619, 211174 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.988000, 4.693000, 1.923550 ], "estimate": [ 1.988000, 4.693000, 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": [ 1.660000, 1.660000, 1.670000, 1.690000, 1.710000, 1.710000, 1.740000, 1.460000, 1.430000, 1.780000, 1.810000, 1.810000, 1.840000, 1.860000, 1.890000, 1.920000, 1.950000, 1.970000, 2.000000, 2.040000, 2.080000, 2.110000, 2.140000, 2.180000, 1.970000, 1.680000, 2.130000, 2.110000, 2.090000, 2.070000, 2.040000, 2.030000, 2.010000, 1.990000, 1.970000, 1.950000, 1.930000, 1.920000, 1.910000, 1.900000, 1.880000, 1.870000, 1.860000, 1.920000, 1.920000, 2.000000, 2.140000, 2.290000, 2.460000, 2.680000, 2.900000, 3.180000, 7.380000, 7.310000, 7.240000, 7.180000, 7.100000, 7.060000, 7.010000, 6.990000, 6.920000, 6.860000, 6.820000, 6.770000, 6.730000, 6.690000, 6.660000, 6.630000, 6.590000, 6.570000, 6.550000, 6.510000, 6.500000, 6.490000, 6.470000, 6.440000, 6.430000, 6.410000, 6.410000, 6.410000, 7.540000, 7.570000, 9.940000, 9.960000, 9.560000, 10.960000, 10.960000, 10.210000, 10.220000, 6.180000, 5.420000, 4.820000, 4.330000, 4.070000, 4.080000, 4.110000, 4.130000, 4.360000, 2.910000, 2.730000, 2.580000, 2.450000, 2.330000, 2.230000, 2.130000, 2.030000, 1.960000, 1.880000, 1.790000, 1.740000, 1.690000, 1.630000, 1.560000, 1.530000, 1.480000, 1.430000, 1.390000, 1.370000, 1.330000, 1.290000, 1.260000, 1.230000, 1.210000, 1.180000, 1.140000, 1.120000, 1.120000, 1.100000, 1.080000, 1.060000, 1.040000, 1.030000, 1.010000, 0.990000, 1.000000, 0.980000, 0.970000, 0.960000, 0.940000, 0.930000, 0.920000, 0.920000, 0.920000, 0.900000, 0.900000, 0.900000, 0.880000, 0.880000, 0.910000, 0.940000, 0.870000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.810000, 0.800000, 0.800000, 0.800000, 0.790000, 0.800000, 0.800000, 0.790000, 0.800000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000 ], "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": [ 976054619, 212118 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.967000, 4.749000, 1.929695 ], "estimate": [ 1.967000, 4.749000, 1.929695 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.690000, 1.710000, 1.730000, 1.700000, 1.380000, 1.770000, 1.790000, 1.800000, 1.820000, 1.840000, 1.860000, 1.890000, 1.910000, 1.940000, 1.970000, 1.990000, 2.030000, 2.060000, 2.100000, 2.130000, 2.170000, 1.640000, 1.620000, 2.100000, 2.090000, 2.070000, 2.040000, 2.010000, 2.000000, 1.980000, 1.960000, 1.940000, 1.920000, 1.910000, 1.890000, 1.880000, 1.860000, 1.850000, 1.830000, 1.830000, 1.870000, 1.890000, 1.950000, 2.070000, 2.200000, 2.330000, 2.520000, 2.720000, 2.950000, 3.230000, 7.350000, 7.290000, 7.210000, 7.140000, 7.090000, 7.030000, 6.970000, 6.930000, 6.870000, 6.820000, 6.770000, 6.720000, 6.690000, 6.660000, 6.610000, 6.590000, 6.560000, 6.530000, 6.500000, 6.480000, 6.450000, 6.410000, 6.420000, 6.400000, 6.390000, 6.370000, 6.360000, 6.370000, 7.250000, 7.490000, 10.060000, 9.870000, 9.690000, 10.900000, 10.910000, 10.210000, 10.160000, 10.170000, 5.600000, 4.990000, 4.450000, 4.050000, 4.020000, 4.050000, 4.060000, 4.080000, 4.330000, 2.770000, 2.610000, 2.480000, 2.350000, 2.240000, 2.140000, 2.040000, 1.980000, 1.890000, 1.820000, 1.750000, 1.690000, 1.630000, 1.580000, 1.530000, 1.480000, 1.440000, 1.390000, 1.360000, 1.330000, 1.290000, 1.260000, 1.220000, 1.200000, 1.170000, 1.140000, 1.130000, 1.120000, 1.090000, 1.080000, 1.060000, 1.040000, 1.020000, 1.010000, 0.990000, 0.990000, 0.980000, 0.970000, 0.940000, 0.950000, 0.920000, 0.920000, 0.910000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.880000, 0.870000, 0.850000, 0.860000, 0.900000, 0.910000, 0.830000, 0.860000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.790000, 0.800000, 0.800000, 0.790000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000 ], "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": [ 976054619, 501960 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.946000, 4.804000, 1.935841 ], "estimate": [ 1.946000, 4.804000, 1.935841 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.680000, 1.380000, 1.760000, 1.780000, 1.790000, 1.810000, 1.830000, 1.840000, 1.860000, 1.880000, 1.900000, 1.930000, 1.960000, 1.980000, 2.010000, 2.050000, 2.080000, 2.110000, 2.130000, 1.680000, 2.220000, 2.080000, 2.060000, 2.040000, 2.000000, 1.990000, 1.970000, 1.940000, 1.920000, 1.910000, 1.890000, 1.870000, 1.850000, 1.840000, 1.830000, 1.810000, 1.800000, 1.790000, 1.840000, 1.840000, 1.890000, 1.990000, 2.100000, 2.230000, 2.380000, 2.570000, 2.750000, 2.970000, 3.230000, 7.320000, 7.240000, 7.170000, 7.100000, 7.050000, 6.980000, 6.940000, 6.890000, 6.830000, 6.780000, 6.730000, 6.690000, 6.640000, 6.610000, 6.570000, 6.540000, 6.490000, 6.480000, 6.450000, 6.410000, 6.410000, 6.380000, 6.350000, 6.330000, 6.340000, 6.310000, 6.290000, 6.290000, 6.900000, 7.440000, 9.930000, 9.810000, 9.480000, 9.600000, 10.850000, 10.750000, 10.090000, 10.110000, 5.950000, 5.230000, 4.670000, 4.190000, 3.960000, 3.960000, 3.980000, 4.000000, 4.250000, 2.870000, 2.650000, 2.500000, 2.390000, 2.270000, 2.160000, 2.070000, 1.990000, 1.900000, 1.830000, 1.770000, 1.710000, 1.650000, 1.580000, 1.530000, 1.490000, 1.440000, 1.390000, 1.370000, 1.330000, 1.290000, 1.260000, 1.230000, 1.210000, 1.170000, 1.150000, 1.120000, 1.110000, 1.100000, 1.070000, 1.060000, 1.030000, 1.020000, 1.000000, 0.990000, 0.970000, 0.970000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.890000, 0.890000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.810000, 0.820000, 0.870000, 0.870000, 0.810000, 0.820000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000 ], "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": [ 976054619, 884683 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.925000, 4.856000, 1.941986 ], "estimate": [ 1.925000, 4.856000, 1.941986 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.550000, 1.760000, 1.780000, 1.790000, 1.810000, 1.830000, 1.840000, 1.850000, 1.870000, 1.900000, 1.910000, 1.940000, 1.970000, 1.990000, 2.030000, 2.060000, 2.100000, 1.830000, 1.610000, 2.200000, 2.090000, 2.040000, 2.010000, 1.990000, 1.970000, 1.940000, 1.920000, 1.900000, 1.880000, 1.860000, 1.840000, 1.840000, 1.820000, 1.800000, 1.780000, 1.770000, 1.760000, 1.790000, 1.810000, 1.840000, 1.920000, 2.030000, 2.130000, 2.260000, 2.420000, 2.590000, 2.770000, 2.990000, 3.230000, 7.300000, 7.210000, 7.150000, 7.090000, 7.010000, 6.950000, 6.900000, 6.840000, 6.800000, 6.740000, 6.700000, 6.650000, 6.600000, 6.560000, 6.530000, 6.490000, 6.460000, 6.430000, 6.420000, 6.390000, 6.360000, 6.340000, 6.320000, 6.290000, 6.280000, 6.260000, 6.240000, 6.250000, 6.250000, 7.130000, 7.380000, 9.820000, 9.750000, 9.400000, 10.800000, 10.800000, 10.080000, 10.040000, 6.300000, 5.480000, 4.850000, 4.350000, 3.950000, 3.910000, 3.930000, 3.940000, 3.960000, 4.200000, 2.700000, 2.550000, 2.410000, 2.290000, 2.190000, 2.090000, 2.000000, 1.920000, 1.850000, 1.780000, 1.710000, 1.660000, 1.590000, 1.540000, 1.490000, 1.450000, 1.400000, 1.370000, 1.330000, 1.290000, 1.260000, 1.230000, 1.200000, 1.170000, 1.140000, 1.130000, 1.100000, 1.090000, 1.060000, 1.050000, 1.040000, 1.020000, 0.990000, 0.970000, 0.970000, 0.960000, 0.940000, 0.940000, 0.930000, 0.910000, 0.910000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.810000, 0.820000, 0.810000, 0.800000, 0.810000, 0.840000, 0.840000, 0.790000, 0.790000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.780000, 0.790000, 0.780000, 0.780000, 0.780000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000 ], "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": [ 976054619, 885826 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.903000, 4.909000, 1.954277 ], "estimate": [ 1.903000, 4.909000, 1.954277 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.790000, 1.810000, 1.830000, 1.840000, 1.860000, 1.880000, 1.900000, 1.910000, 1.950000, 1.960000, 1.980000, 2.010000, 2.040000, 2.080000, 1.600000, 1.800000, 2.180000, 2.070000, 2.020000, 1.980000, 1.970000, 1.940000, 1.910000, 1.900000, 1.870000, 1.850000, 1.830000, 1.810000, 1.800000, 1.790000, 1.770000, 1.760000, 1.740000, 1.730000, 1.750000, 1.770000, 1.800000, 1.880000, 1.960000, 2.070000, 2.180000, 2.310000, 2.450000, 2.620000, 2.800000, 2.990000, 7.360000, 7.260000, 7.190000, 7.110000, 7.050000, 6.990000, 6.930000, 6.860000, 6.810000, 6.800000, 6.700000, 6.670000, 6.610000, 6.560000, 6.520000, 6.480000, 6.440000, 6.420000, 6.390000, 6.370000, 6.330000, 6.310000, 6.290000, 6.270000, 6.240000, 6.230000, 6.220000, 6.200000, 6.200000, 6.190000, 6.950000, 7.320000, 9.810000, 9.700000, 9.330000, 9.670000, 10.730000, 10.630000, 9.990000, 10.000000, 5.830000, 5.120000, 4.540000, 4.090000, 3.840000, 3.860000, 3.870000, 3.890000, 4.110000, 4.150000, 2.600000, 2.450000, 2.330000, 2.220000, 2.130000, 2.030000, 1.940000, 1.860000, 1.790000, 1.720000, 1.670000, 1.620000, 1.560000, 1.510000, 1.460000, 1.400000, 1.370000, 1.340000, 1.300000, 1.260000, 1.230000, 1.200000, 1.160000, 1.140000, 1.120000, 1.100000, 1.080000, 1.070000, 1.050000, 1.030000, 1.010000, 0.990000, 0.980000, 0.980000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.810000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.800000, 0.800000, 0.800000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 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": [ 976054619, 997738 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.881000, 4.964000, 1.960423 ], "estimate": [ 1.881000, 4.964000, 1.960423 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.830000, 1.840000, 1.860000, 1.880000, 1.900000, 1.910000, 1.930000, 1.960000, 1.980000, 1.990000, 2.020000, 2.060000, 1.640000, 2.080000, 2.150000, 2.130000, 2.010000, 1.980000, 1.950000, 1.920000, 1.900000, 1.880000, 1.850000, 1.830000, 1.810000, 1.790000, 1.770000, 1.760000, 1.750000, 1.730000, 1.710000, 1.700000, 1.710000, 1.750000, 1.750000, 1.810000, 1.890000, 1.980000, 2.080000, 2.190000, 2.320000, 2.480000, 2.620000, 2.800000, 2.980000, 7.340000, 7.260000, 7.180000, 7.100000, 7.040000, 6.950000, 6.910000, 6.830000, 6.790000, 6.730000, 6.670000, 6.620000, 6.570000, 6.540000, 6.490000, 6.450000, 6.410000, 6.390000, 6.360000, 6.340000, 6.300000, 6.280000, 6.250000, 6.220000, 6.210000, 6.200000, 6.170000, 6.160000, 6.140000, 6.130000, 6.140000, 9.770000, 7.260000, 9.710000, 9.640000, 9.340000, 10.690000, 10.670000, 9.980000, 9.930000, 9.940000, 5.430000, 4.820000, 4.310000, 3.910000, 3.750000, 3.810000, 3.820000, 3.840000, 4.090000, 2.740000, 2.510000, 2.390000, 2.270000, 2.150000, 2.060000, 1.970000, 1.870000, 1.820000, 1.740000, 1.690000, 1.630000, 1.570000, 1.530000, 1.480000, 1.420000, 1.380000, 1.350000, 1.300000, 1.270000, 1.240000, 1.210000, 1.170000, 1.140000, 1.130000, 1.110000, 1.080000, 1.060000, 1.040000, 1.020000, 1.020000, 0.990000, 0.970000, 0.970000, 0.960000, 0.940000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.820000, 0.830000, 0.820000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.770000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.760000, 0.770000, 0.780000, 0.820000, 0.820000, 0.770000, 0.780000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.760000, 0.760000, 0.770000, 0.760000, 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": [ 976054620, 857921 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.858000, 5.018000, 1.960423 ], "estimate": [ 1.858000, 5.018000, 1.960423 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.840000, 1.860000, 1.880000, 1.900000, 1.910000, 1.930000, 1.960000, 1.970000, 1.990000, 2.010000, 1.560000, 1.540000, 2.100000, 2.130000, 2.090000, 1.990000, 1.950000, 1.920000, 1.910000, 1.880000, 1.850000, 1.820000, 1.800000, 1.790000, 1.760000, 1.740000, 1.720000, 1.700000, 1.690000, 1.670000, 1.670000, 1.680000, 1.700000, 1.720000, 1.780000, 1.860000, 1.940000, 2.020000, 2.120000, 2.230000, 2.350000, 2.500000, 2.650000, 2.800000, 3.000000, 7.310000, 7.230000, 7.150000, 7.070000, 7.000000, 6.930000, 6.880000, 6.800000, 6.750000, 6.690000, 6.650000, 6.600000, 6.550000, 6.500000, 6.450000, 6.410000, 6.380000, 6.330000, 6.310000, 6.280000, 6.260000, 6.230000, 6.190000, 6.180000, 6.140000, 6.140000, 6.120000, 6.100000, 6.090000, 6.080000, 6.070000, 6.780000, 7.220000, 9.680000, 9.570000, 9.360000, 9.370000, 10.610000, 10.620000, 9.860000, 9.870000, 5.890000, 5.130000, 4.560000, 4.080000, 3.740000, 3.730000, 3.760000, 3.770000, 3.780000, 4.040000, 2.570000, 2.430000, 2.310000, 2.200000, 2.100000, 1.990000, 1.920000, 1.840000, 1.770000, 1.700000, 1.640000, 1.590000, 1.540000, 1.480000, 1.430000, 1.390000, 1.350000, 1.310000, 1.270000, 1.240000, 1.210000, 1.180000, 1.140000, 1.130000, 1.100000, 1.090000, 1.060000, 1.040000, 1.020000, 1.000000, 0.990000, 0.970000, 0.970000, 0.950000, 0.930000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.780000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.740000, 0.810000, 0.790000, 0.800000, 0.760000, 0.770000, 0.750000, 0.750000, 0.760000, 0.750000, 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": [ 976054620, 917652 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.837000, 5.070000, 1.954277 ], "estimate": [ 1.837000, 5.070000, 1.954277 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.860000, 1.880000, 1.900000, 1.920000, 1.930000, 1.960000, 1.980000, 1.990000, 1.960000, 1.560000, 2.060000, 2.100000, 2.120000, 2.010000, 1.970000, 1.930000, 1.910000, 1.880000, 1.850000, 1.820000, 1.810000, 1.780000, 1.760000, 1.730000, 1.710000, 1.690000, 1.680000, 1.660000, 1.640000, 1.640000, 1.680000, 1.670000, 1.710000, 1.780000, 1.830000, 1.910000, 1.980000, 2.080000, 2.170000, 2.300000, 2.430000, 2.560000, 2.710000, 2.870000, 3.050000, 7.280000, 7.190000, 7.110000, 7.030000, 6.960000, 6.890000, 6.820000, 6.760000, 6.710000, 6.660000, 6.610000, 6.560000, 6.500000, 6.460000, 6.410000, 6.380000, 6.330000, 6.300000, 6.270000, 6.230000, 6.210000, 6.190000, 6.160000, 6.130000, 6.110000, 6.090000, 6.070000, 6.050000, 6.050000, 6.040000, 6.030000, 6.660000, 7.180000, 9.630000, 9.540000, 9.560000, 9.170000, 10.570000, 10.530000, 9.850000, 9.830000, 5.990000, 5.200000, 4.600000, 4.120000, 3.760000, 3.680000, 3.690000, 3.720000, 3.730000, 3.980000, 4.000000, 2.440000, 2.310000, 2.200000, 2.100000, 2.000000, 1.910000, 1.830000, 1.760000, 1.700000, 1.640000, 1.580000, 1.530000, 1.480000, 1.420000, 1.380000, 1.360000, 1.310000, 1.270000, 1.240000, 1.210000, 1.170000, 1.140000, 1.120000, 1.100000, 1.080000, 1.060000, 1.040000, 1.010000, 1.000000, 0.980000, 0.970000, 0.960000, 0.940000, 0.930000, 0.910000, 0.910000, 0.900000, 0.880000, 0.870000, 0.850000, 0.860000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.770000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.740000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.750000, 0.790000, 0.790000, 0.790000, 0.740000, 0.770000, 0.750000, 0.750000, 0.750000, 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": [ 976054620, 918761 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.815000, 5.122000, 1.954277 ], "estimate": [ 1.815000, 5.122000, 1.954277 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.900000, 1.910000, 1.940000, 1.970000, 1.980000, 1.730000, 1.550000, 2.050000, 2.070000, 2.100000, 2.130000, 1.960000, 1.920000, 1.890000, 1.860000, 1.830000, 1.810000, 1.780000, 1.750000, 1.740000, 1.700000, 1.680000, 1.650000, 1.640000, 1.630000, 1.610000, 1.600000, 1.640000, 1.640000, 1.650000, 1.710000, 1.770000, 1.840000, 1.910000, 1.990000, 2.080000, 2.180000, 2.280000, 2.400000, 2.530000, 2.670000, 2.830000, 3.010000, 7.290000, 7.200000, 7.110000, 7.030000, 6.960000, 6.890000, 6.810000, 6.750000, 6.690000, 6.640000, 6.590000, 6.540000, 6.480000, 6.440000, 6.390000, 6.340000, 6.300000, 6.270000, 6.220000, 6.210000, 6.180000, 6.160000, 6.120000, 6.090000, 6.070000, 6.050000, 6.040000, 6.020000, 6.000000, 5.990000, 5.980000, 5.990000, 6.720000, 7.110000, 9.610000, 9.470000, 9.340000, 9.240000, 10.500000, 10.260000, 9.780000, 9.760000, 5.860000, 5.080000, 4.500000, 4.040000, 3.680000, 3.620000, 3.640000, 3.650000, 3.680000, 3.910000, 3.930000, 2.400000, 2.270000, 2.170000, 2.060000, 1.970000, 1.880000, 1.810000, 1.730000, 1.680000, 1.610000, 1.550000, 1.510000, 1.460000, 1.410000, 1.370000, 1.340000, 1.290000, 1.250000, 1.220000, 1.190000, 1.150000, 1.130000, 1.100000, 1.080000, 1.060000, 1.040000, 1.020000, 1.000000, 0.980000, 0.970000, 0.960000, 0.940000, 0.920000, 0.910000, 0.910000, 0.900000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.820000, 0.830000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.770000, 0.780000, 0.770000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.740000, 0.770000, 0.790000, 0.780000, 0.740000, 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": [ 976054620, 919726 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.793000, 5.177000, 1.960423 ], "estimate": [ 1.793000, 5.177000, 1.960423 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.910000, 1.930000, 1.950000, 1.970000, 1.520000, 1.660000, 2.030000, 2.060000, 2.090000, 2.110000, 1.950000, 1.910000, 1.880000, 1.840000, 1.820000, 1.790000, 1.760000, 1.740000, 1.710000, 1.680000, 1.650000, 1.640000, 1.610000, 1.600000, 1.580000, 1.570000, 1.610000, 1.610000, 1.630000, 1.680000, 1.730000, 1.800000, 1.860000, 1.930000, 2.010000, 2.090000, 2.200000, 2.310000, 2.420000, 2.540000, 2.670000, 2.830000, 2.970000, 7.260000, 7.190000, 7.090000, 7.010000, 6.920000, 6.870000, 6.800000, 6.730000, 6.670000, 6.610000, 6.560000, 6.500000, 6.440000, 6.410000, 6.360000, 6.320000, 6.270000, 6.220000, 6.210000, 6.180000, 6.130000, 6.110000, 6.080000, 6.050000, 6.030000, 6.010000, 5.990000, 5.970000, 5.950000, 5.930000, 5.920000, 5.920000, 6.160000, 7.060000, 9.540000, 9.550000, 9.430000, 9.240000, 9.830000, 10.470000, 9.890000, 9.710000, 9.720000, 5.370000, 4.760000, 4.210000, 3.800000, 3.560000, 3.570000, 3.600000, 3.600000, 3.620000, 3.870000, 2.530000, 2.320000, 2.210000, 2.090000, 2.000000, 1.900000, 1.830000, 1.760000, 1.680000, 1.630000, 1.570000, 1.520000, 1.470000, 1.420000, 1.380000, 1.340000, 1.290000, 1.270000, 1.220000, 1.190000, 1.150000, 1.120000, 1.110000, 1.090000, 1.060000, 1.030000, 1.030000, 1.000000, 0.970000, 0.970000, 0.950000, 0.940000, 0.920000, 0.910000, 0.890000, 0.890000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 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": [ 976054621, 101300 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.769000, 5.233000, 1.966568 ], "estimate": [ 1.769000, 5.233000, 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": [ 1.960000, 1.530000, 1.610000, 2.020000, 2.030000, 2.060000, 2.090000, 1.960000, 1.910000, 1.880000, 1.840000, 1.810000, 1.780000, 1.750000, 1.720000, 1.700000, 1.670000, 1.640000, 1.620000, 1.600000, 1.580000, 1.570000, 1.550000, 1.560000, 1.580000, 1.600000, 1.630000, 1.680000, 1.730000, 1.790000, 1.850000, 1.920000, 1.980000, 2.060000, 2.150000, 2.260000, 2.360000, 2.470000, 2.590000, 2.730000, 2.880000, 7.310000, 7.220000, 7.130000, 7.050000, 6.970000, 6.900000, 6.810000, 6.740000, 6.680000, 6.620000, 6.550000, 6.510000, 6.460000, 6.400000, 6.350000, 6.310000, 6.260000, 6.220000, 6.180000, 6.150000, 6.110000, 6.070000, 6.060000, 6.030000, 6.000000, 5.980000, 5.950000, 5.920000, 5.910000, 5.890000, 5.890000, 5.860000, 5.860000, 5.850000, 6.820000, 7.000000, 9.470000, 9.350000, 8.980000, 10.110000, 10.380000, 10.290000, 9.640000, 9.650000, 5.530000, 4.860000, 4.320000, 3.880000, 3.540000, 3.510000, 3.530000, 3.540000, 3.560000, 3.800000, 3.820000, 2.330000, 2.190000, 2.090000, 1.990000, 1.900000, 1.820000, 1.750000, 1.680000, 1.620000, 1.560000, 1.500000, 1.460000, 1.410000, 1.370000, 1.340000, 1.290000, 1.260000, 1.220000, 1.190000, 1.140000, 1.120000, 1.090000, 1.070000, 1.050000, 1.030000, 1.010000, 0.980000, 0.970000, 0.950000, 0.940000, 0.930000, 0.910000, 0.890000, 0.890000, 0.880000, 0.860000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.790000, 0.790000, 0.780000, 0.780000, 0.760000, 0.770000, 0.770000, 0.770000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.720000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 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": [ 976054621, 495586 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.747000, 5.285000, 1.972714 ], "estimate": [ 1.747000, 5.285000, 1.972714 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.990000, 2.010000, 2.040000, 2.060000, 2.080000, 1.950000, 1.910000, 1.870000, 1.820000, 1.790000, 1.770000, 1.740000, 1.710000, 1.680000, 1.650000, 1.630000, 1.600000, 1.580000, 1.560000, 1.530000, 1.530000, 1.560000, 1.570000, 1.570000, 1.610000, 1.660000, 1.700000, 1.760000, 1.810000, 1.890000, 1.950000, 2.020000, 2.090000, 2.180000, 2.290000, 2.380000, 2.500000, 2.620000, 2.740000, 2.900000, 7.290000, 7.190000, 7.100000, 7.020000, 6.940000, 6.860000, 6.790000, 6.720000, 6.660000, 6.590000, 6.530000, 6.480000, 6.430000, 6.370000, 6.330000, 6.270000, 6.220000, 6.190000, 6.150000, 6.100000, 6.070000, 6.040000, 6.020000, 5.990000, 5.960000, 5.920000, 5.910000, 5.890000, 5.860000, 5.850000, 5.830000, 5.820000, 5.810000, 5.800000, 6.550000, 6.960000, 9.430000, 9.310000, 9.320000, 8.930000, 10.350000, 10.360000, 9.630000, 9.590000, 5.810000, 5.040000, 4.480000, 4.000000, 3.610000, 3.460000, 3.460000, 3.480000, 3.510000, 3.520000, 3.770000, 2.350000, 2.220000, 2.110000, 2.010000, 1.910000, 1.840000, 1.770000, 1.690000, 1.630000, 1.560000, 1.510000, 1.460000, 1.410000, 1.380000, 1.340000, 1.290000, 1.260000, 1.220000, 1.200000, 1.140000, 1.120000, 1.100000, 1.070000, 1.040000, 1.030000, 1.010000, 0.980000, 0.970000, 0.950000, 0.930000, 0.920000, 0.900000, 0.890000, 0.880000, 0.870000, 0.850000, 0.840000, 0.830000, 0.820000, 0.800000, 0.800000, 0.810000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.700000, 0.690000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 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": [ 976054621, 496811 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.725000, 5.334000, 1.972714 ], "estimate": [ 1.725000, 5.334000, 1.972714 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.030000, 2.060000, 2.080000, 1.950000, 1.910000, 1.860000, 1.820000, 1.780000, 1.750000, 1.730000, 1.690000, 1.660000, 1.630000, 1.610000, 1.580000, 1.560000, 1.530000, 1.510000, 1.510000, 1.550000, 1.540000, 1.560000, 1.600000, 1.640000, 1.680000, 1.730000, 1.800000, 1.840000, 1.900000, 1.970000, 2.050000, 2.110000, 2.210000, 2.300000, 2.400000, 2.500000, 2.620000, 2.740000, 2.890000, 7.280000, 7.190000, 7.110000, 7.020000, 6.930000, 6.840000, 6.770000, 6.700000, 6.640000, 6.570000, 6.500000, 6.460000, 6.420000, 6.330000, 6.300000, 6.230000, 6.200000, 6.160000, 6.110000, 6.070000, 6.040000, 6.010000, 5.980000, 5.960000, 5.920000, 5.890000, 5.870000, 5.840000, 5.820000, 5.800000, 5.790000, 5.780000, 5.770000, 5.760000, 6.230000, 6.890000, 6.910000, 9.360000, 9.270000, 8.880000, 10.110000, 10.290000, 10.190000, 9.540000, 9.550000, 5.410000, 4.740000, 4.210000, 3.780000, 3.450000, 3.390000, 3.420000, 3.440000, 3.450000, 3.690000, 3.710000, 2.250000, 2.140000, 2.030000, 1.940000, 1.850000, 1.780000, 1.710000, 1.640000, 1.580000, 1.520000, 1.470000, 1.410000, 1.380000, 1.330000, 1.290000, 1.260000, 1.220000, 1.180000, 1.170000, 1.140000, 1.090000, 1.070000, 1.040000, 1.010000, 1.000000, 0.980000, 0.960000, 0.950000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.770000, 0.760000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054621, 647480 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.702000, 5.388000, 1.978859 ], "estimate": [ 1.702000, 5.388000, 1.978859 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.070000, 1.950000, 1.900000, 1.850000, 1.820000, 1.780000, 1.740000, 1.710000, 1.670000, 1.650000, 1.620000, 1.600000, 1.570000, 1.540000, 1.510000, 1.500000, 1.500000, 1.530000, 1.530000, 1.550000, 1.580000, 1.620000, 1.660000, 1.710000, 1.760000, 1.800000, 1.860000, 1.920000, 1.980000, 2.060000, 2.130000, 2.230000, 2.320000, 2.400000, 2.520000, 2.630000, 2.750000, 7.370000, 7.280000, 7.180000, 7.090000, 7.010000, 6.910000, 6.830000, 6.760000, 6.670000, 6.620000, 6.550000, 6.480000, 6.420000, 6.380000, 6.320000, 6.260000, 6.210000, 6.170000, 6.120000, 6.090000, 6.050000, 6.020000, 5.980000, 5.940000, 5.920000, 5.890000, 5.850000, 5.820000, 5.800000, 5.790000, 5.770000, 5.750000, 5.730000, 5.720000, 5.710000, 5.700000, 6.500000, 6.860000, 9.320000, 9.210000, 9.210000, 8.830000, 10.240000, 10.240000, 9.530000, 9.490000, 9.500000, 5.000000, 4.430000, 3.940000, 3.560000, 3.350000, 3.350000, 3.370000, 3.390000, 3.410000, 3.640000, 3.670000, 2.190000, 2.060000, 1.970000, 1.870000, 1.790000, 1.710000, 1.660000, 1.590000, 1.530000, 1.470000, 1.420000, 1.380000, 1.340000, 1.290000, 1.250000, 1.220000, 1.190000, 1.150000, 1.130000, 1.120000, 1.060000, 1.040000, 1.010000, 0.990000, 0.970000, 0.960000, 0.950000, 0.920000, 0.910000, 0.900000, 0.880000, 0.870000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.780000, 0.770000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.760000, 0.750000, 0.740000, 0.740000, 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.700000, 0.700000, 0.690000, 0.700000, 0.690000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054622, 103471 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.677000, 5.443000, 1.991150 ], "estimate": [ 1.677000, 5.443000, 1.991150 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.860000, 1.830000, 1.780000, 1.740000, 1.710000, 1.670000, 1.640000, 1.610000, 1.580000, 1.550000, 1.520000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.530000, 1.560000, 1.590000, 1.640000, 1.670000, 1.720000, 1.760000, 1.810000, 1.860000, 1.920000, 1.980000, 2.050000, 2.120000, 2.200000, 2.290000, 2.380000, 2.480000, 2.590000, 2.700000, 2.800000, 7.310000, 7.210000, 7.130000, 7.030000, 6.950000, 6.860000, 6.780000, 6.690000, 6.620000, 6.550000, 6.480000, 6.420000, 6.360000, 6.340000, 6.270000, 6.210000, 6.150000, 6.110000, 6.070000, 6.030000, 5.990000, 5.940000, 5.920000, 5.880000, 5.860000, 5.820000, 5.790000, 5.770000, 5.750000, 5.720000, 5.700000, 5.680000, 5.670000, 5.660000, 5.650000, 5.640000, 6.450000, 6.770000, 9.250000, 9.160000, 9.130000, 8.780000, 10.180000, 10.170000, 9.530000, 9.430000, 9.440000, 5.020000, 4.430000, 3.930000, 3.550000, 3.250000, 3.290000, 3.320000, 3.320000, 3.340000, 3.590000, 3.600000, 2.140000, 2.040000, 1.950000, 1.850000, 1.770000, 1.700000, 1.630000, 1.560000, 1.510000, 1.450000, 1.400000, 1.360000, 1.320000, 1.270000, 1.230000, 1.200000, 1.170000, 1.120000, 1.100000, 1.080000, 1.060000, 1.030000, 1.000000, 0.980000, 0.970000, 0.940000, 0.920000, 0.910000, 0.880000, 0.880000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.790000, 0.790000, 0.780000, 0.770000, 0.760000, 0.770000, 0.750000, 0.740000, 0.740000, 0.740000, 0.720000, 0.720000, 0.710000, 0.720000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.670000, 0.670000, 0.670000, 0.680000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054622, 104670 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.653000, 5.496000, 1.985005 ], "estimate": [ 1.653000, 5.496000, 1.985005 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.740000, 1.710000, 1.660000, 1.640000, 1.600000, 1.570000, 1.540000, 1.510000, 1.490000, 1.480000, 1.490000, 1.500000, 1.500000, 1.510000, 1.550000, 1.580000, 1.620000, 1.650000, 1.690000, 1.730000, 1.780000, 1.820000, 1.880000, 1.930000, 2.000000, 2.060000, 2.130000, 2.210000, 2.290000, 2.370000, 2.470000, 2.560000, 2.670000, 2.790000, 7.350000, 7.240000, 7.140000, 7.060000, 6.960000, 6.870000, 6.780000, 6.690000, 6.630000, 6.550000, 6.490000, 6.420000, 6.370000, 6.310000, 6.250000, 6.200000, 6.140000, 6.090000, 6.040000, 6.010000, 5.970000, 5.920000, 5.890000, 5.860000, 5.820000, 5.800000, 5.770000, 5.740000, 5.710000, 5.690000, 5.670000, 5.650000, 5.640000, 5.620000, 5.600000, 5.590000, 5.820000, 6.510000, 6.740000, 9.210000, 9.090000, 9.140000, 8.730000, 10.130000, 10.130000, 9.420000, 9.380000, 5.580000, 4.830000, 4.280000, 3.790000, 3.440000, 3.230000, 3.240000, 3.250000, 3.280000, 3.290000, 3.540000, 3.550000, 2.080000, 2.000000, 1.890000, 1.800000, 1.720000, 1.650000, 1.590000, 1.530000, 1.470000, 1.420000, 1.370000, 1.330000, 1.280000, 1.250000, 1.210000, 1.170000, 1.130000, 1.100000, 1.080000, 1.060000, 1.030000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.890000, 0.870000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.790000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.680000, 0.680000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.660000, 0.650000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054622, 194074 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.632000, 5.546000, 1.966568 ], "estimate": [ 1.632000, 5.546000, 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": [ 1.730000, 1.670000, 1.640000, 1.610000, 1.570000, 1.540000, 1.500000, 1.490000, 1.470000, 1.470000, 1.500000, 1.490000, 1.500000, 1.520000, 1.550000, 1.580000, 1.620000, 1.640000, 1.690000, 1.730000, 1.770000, 1.810000, 1.850000, 1.920000, 1.970000, 2.030000, 2.100000, 2.160000, 2.240000, 2.320000, 2.400000, 2.500000, 2.590000, 2.720000, 5.200000, 7.320000, 7.210000, 7.110000, 7.020000, 6.930000, 6.840000, 6.760000, 6.660000, 6.590000, 6.520000, 6.460000, 6.390000, 6.320000, 6.270000, 6.220000, 6.160000, 6.100000, 6.060000, 6.020000, 5.970000, 5.920000, 5.890000, 5.840000, 5.810000, 5.780000, 5.770000, 5.720000, 5.690000, 5.660000, 5.640000, 5.620000, 5.600000, 5.580000, 5.570000, 5.550000, 5.540000, 5.550000, 6.380000, 6.680000, 9.140000, 9.090000, 9.040000, 8.690000, 10.010000, 10.080000, 9.930000, 9.320000, 9.320000, 5.060000, 4.440000, 3.930000, 3.530000, 3.220000, 3.180000, 3.200000, 3.210000, 3.230000, 3.330000, 3.490000, 3.510000, 2.010000, 1.910000, 1.810000, 1.730000, 1.660000, 1.590000, 1.530000, 1.480000, 1.410000, 1.370000, 1.320000, 1.280000, 1.230000, 1.200000, 1.160000, 1.120000, 1.090000, 1.070000, 1.040000, 1.010000, 1.000000, 0.980000, 0.960000, 0.980000, 0.920000, 0.880000, 0.880000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.810000, 0.790000, 0.780000, 0.780000, 0.770000, 0.750000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.710000, 0.700000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.640000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054622, 666442 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.610000, 5.600000, 1.929695 ], "estimate": [ 1.610000, 5.600000, 1.929695 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.690000, 1.640000, 1.610000, 1.580000, 1.540000, 1.500000, 1.480000, 1.450000, 1.460000, 1.490000, 1.480000, 1.480000, 1.500000, 1.530000, 1.560000, 1.600000, 1.620000, 1.660000, 1.690000, 1.730000, 1.770000, 1.810000, 1.860000, 1.910000, 1.970000, 2.030000, 2.100000, 2.160000, 2.230000, 2.310000, 2.380000, 2.480000, 2.560000, 2.680000, 5.000000, 5.330000, 7.260000, 7.160000, 7.070000, 6.960000, 6.870000, 6.790000, 6.700000, 6.610000, 6.540000, 6.470000, 6.400000, 6.320000, 6.260000, 6.210000, 6.170000, 6.110000, 6.060000, 6.010000, 5.950000, 5.920000, 5.880000, 5.830000, 5.790000, 5.760000, 5.730000, 5.710000, 5.670000, 5.640000, 5.610000, 5.580000, 5.570000, 5.550000, 5.530000, 5.510000, 5.500000, 5.500000, 5.500000, 6.380000, 6.620000, 9.100000, 9.060000, 8.980000, 8.630000, 10.000000, 10.010000, 9.890000, 9.280000, 9.280000, 5.060000, 4.420000, 3.920000, 3.510000, 3.200000, 3.140000, 3.140000, 3.150000, 3.170000, 3.250000, 3.430000, 3.440000, 1.980000, 1.890000, 1.800000, 1.710000, 1.640000, 1.570000, 1.520000, 1.460000, 1.400000, 1.360000, 1.310000, 1.260000, 1.220000, 1.180000, 1.150000, 1.120000, 1.080000, 1.060000, 1.030000, 1.010000, 0.990000, 0.960000, 0.950000, 0.930000, 0.920000, 0.890000, 0.870000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.660000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.650000, 0.640000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.640000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054622, 687849 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.590000, 5.657000, 1.862095 ], "estimate": [ 1.590000, 5.657000, 1.862095 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.750000, 1.700000, 1.660000, 1.620000, 1.580000, 1.540000, 1.500000, 1.470000, 1.450000, 1.450000, 1.470000, 1.460000, 1.460000, 1.490000, 1.500000, 1.530000, 1.570000, 1.590000, 1.620000, 1.650000, 1.680000, 1.720000, 1.760000, 1.800000, 1.840000, 1.890000, 1.950000, 2.000000, 2.060000, 2.120000, 2.170000, 2.250000, 2.320000, 2.400000, 2.500000, 2.590000, 2.670000, 4.980000, 5.280000, 7.260000, 7.140000, 7.050000, 6.940000, 6.860000, 6.760000, 6.660000, 6.600000, 6.520000, 6.440000, 6.370000, 6.310000, 6.240000, 6.180000, 6.150000, 6.070000, 6.020000, 5.960000, 5.910000, 5.880000, 5.830000, 5.790000, 5.750000, 5.720000, 5.680000, 5.660000, 5.630000, 5.590000, 5.570000, 5.550000, 5.510000, 5.500000, 5.480000, 5.460000, 5.450000, 5.440000, 5.430000, 6.190000, 9.050000, 9.020000, 9.090000, 8.920000, 8.990000, 9.260000, 9.960000, 9.980000, 9.260000, 9.210000, 9.220000, 4.740000, 4.180000, 3.700000, 3.320000, 3.030000, 3.070000, 3.100000, 3.110000, 3.130000, 3.350000, 3.370000, 3.400000, 1.920000, 1.840000, 1.750000, 1.660000, 1.600000, 1.530000, 1.470000, 1.410000, 1.380000, 1.320000, 1.270000, 1.240000, 1.190000, 1.150000, 1.120000, 1.090000, 1.060000, 1.040000, 1.000000, 0.990000, 0.970000, 0.960000, 0.930000, 0.910000, 0.890000, 0.890000, 0.900000, 0.860000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.750000, 0.750000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.710000, 0.690000, 0.690000, 0.670000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054622, 793789 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.574000, 5.714000, 1.806784 ], "estimate": [ 1.574000, 5.714000, 1.806784 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.820000, 1.760000, 1.710000, 1.660000, 1.620000, 1.570000, 1.540000, 1.490000, 1.460000, 1.430000, 1.430000, 1.450000, 1.440000, 1.440000, 1.470000, 1.490000, 1.500000, 1.530000, 1.560000, 1.590000, 1.620000, 1.640000, 1.670000, 1.710000, 1.740000, 1.790000, 1.830000, 1.880000, 1.930000, 1.970000, 2.040000, 2.090000, 2.140000, 2.210000, 2.290000, 2.360000, 2.440000, 2.530000, 2.630000, 4.750000, 5.000000, 5.320000, 7.190000, 7.080000, 6.980000, 6.880000, 6.800000, 6.700000, 6.610000, 6.530000, 6.450000, 6.380000, 6.300000, 6.240000, 6.180000, 6.110000, 6.060000, 6.020000, 5.960000, 5.910000, 5.860000, 5.820000, 5.780000, 5.730000, 5.690000, 5.660000, 5.630000, 5.610000, 5.570000, 5.540000, 5.500000, 5.480000, 5.460000, 5.440000, 5.420000, 5.410000, 5.390000, 5.380000, 5.370000, 6.010000, 9.030000, 6.520000, 8.970000, 8.870000, 8.930000, 8.550000, 9.900000, 9.930000, 9.270000, 9.160000, 9.170000, 4.790000, 4.230000, 3.730000, 3.360000, 3.070000, 3.000000, 3.040000, 3.040000, 3.050000, 3.070000, 3.320000, 3.320000, 3.340000, 1.850000, 1.760000, 1.680000, 1.590000, 1.530000, 1.470000, 1.410000, 1.380000, 1.330000, 1.280000, 1.240000, 1.200000, 1.160000, 1.120000, 1.090000, 1.070000, 1.040000, 1.000000, 0.980000, 0.950000, 0.950000, 0.930000, 0.910000, 0.890000, 0.880000, 0.860000, 0.840000, 0.840000, 0.840000, 0.810000, 0.800000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.720000, 0.720000, 0.720000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.680000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054623, 305086 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.562000, 5.768000, 1.763766 ], "estimate": [ 1.562000, 5.768000, 1.763766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.810000, 1.750000, 1.690000, 1.630000, 1.590000, 1.550000, 1.500000, 1.470000, 1.430000, 1.410000, 1.420000, 1.430000, 1.420000, 1.430000, 1.460000, 1.480000, 1.490000, 1.520000, 1.540000, 1.570000, 1.590000, 1.630000, 1.650000, 1.680000, 1.720000, 1.760000, 1.800000, 1.840000, 1.880000, 1.920000, 1.980000, 2.030000, 2.090000, 2.140000, 2.210000, 2.280000, 2.350000, 2.430000, 2.510000, 2.600000, 4.630000, 4.880000, 5.150000, 7.190000, 7.080000, 6.980000, 6.880000, 6.780000, 6.700000, 6.610000, 6.520000, 6.440000, 6.360000, 6.290000, 6.220000, 6.160000, 6.090000, 6.060000, 5.990000, 5.920000, 5.880000, 5.820000, 5.790000, 5.750000, 5.700000, 5.660000, 5.620000, 5.580000, 5.550000, 5.530000, 5.500000, 5.460000, 5.430000, 5.410000, 5.390000, 5.370000, 5.350000, 5.340000, 5.320000, 5.320000, 5.320000, 6.040000, 6.450000, 8.950000, 8.930000, 8.800000, 8.590000, 8.900000, 9.840000, 9.860000, 9.130000, 9.090000, 9.110000, 4.660000, 4.110000, 3.650000, 3.300000, 3.020000, 2.950000, 2.960000, 2.990000, 2.990000, 3.010000, 3.250000, 3.270000, 3.290000, 1.800000, 1.740000, 1.660000, 1.590000, 1.530000, 1.470000, 1.400000, 1.360000, 1.310000, 1.280000, 1.220000, 1.190000, 1.150000, 1.120000, 1.080000, 1.050000, 1.020000, 1.000000, 0.970000, 0.970000, 0.950000, 0.920000, 0.900000, 0.890000, 0.870000, 0.860000, 0.830000, 0.830000, 0.810000, 0.810000, 0.800000, 0.810000, 0.780000, 0.760000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054623, 306303 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.551000, 5.825000, 1.757620 ], "estimate": [ 1.551000, 5.825000, 1.757620 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.800000, 1.740000, 1.680000, 1.620000, 1.570000, 1.520000, 1.490000, 1.440000, 1.400000, 1.410000, 1.420000, 1.410000, 1.410000, 1.420000, 1.440000, 1.470000, 1.490000, 1.500000, 1.520000, 1.550000, 1.570000, 1.600000, 1.630000, 1.650000, 1.690000, 1.720000, 1.750000, 1.800000, 1.830000, 1.880000, 1.930000, 1.970000, 2.020000, 2.090000, 2.130000, 2.200000, 2.270000, 2.340000, 2.410000, 2.500000, 2.600000, 4.500000, 4.760000, 5.020000, 7.200000, 7.080000, 6.970000, 6.870000, 6.770000, 6.690000, 6.590000, 6.490000, 6.410000, 6.340000, 6.260000, 6.200000, 6.140000, 6.070000, 6.020000, 5.970000, 5.910000, 5.850000, 5.800000, 5.760000, 5.710000, 5.670000, 5.630000, 5.580000, 5.550000, 5.520000, 5.500000, 5.460000, 5.430000, 5.400000, 5.370000, 5.350000, 5.330000, 5.310000, 5.300000, 5.280000, 5.270000, 5.260000, 5.370000, 6.130000, 6.410000, 8.860000, 8.830000, 8.750000, 8.400000, 9.570000, 9.800000, 9.730000, 9.040000, 9.050000, 5.060000, 4.380000, 3.900000, 3.480000, 3.150000, 2.910000, 2.900000, 2.920000, 2.930000, 2.940000, 2.960000, 3.210000, 3.220000, 3.240000, 1.790000, 1.700000, 1.630000, 1.550000, 1.490000, 1.440000, 1.380000, 1.340000, 1.290000, 1.240000, 1.210000, 1.170000, 1.120000, 1.100000, 1.070000, 1.040000, 1.020000, 1.000000, 0.970000, 0.950000, 0.930000, 0.910000, 0.880000, 0.880000, 0.870000, 0.850000, 0.830000, 0.810000, 0.810000, 0.800000, 0.790000, 0.790000, 0.780000, 0.760000, 0.780000, 0.740000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.630000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.610000, 0.630000, 0.620000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054623, 394209 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.540000, 5.881000, 1.763766 ], "estimate": [ 1.540000, 5.881000, 1.763766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.630000, 1.570000, 1.520000, 1.480000, 1.440000, 1.400000, 1.400000, 1.420000, 1.400000, 1.400000, 1.410000, 1.430000, 1.460000, 1.480000, 1.490000, 1.510000, 1.530000, 1.560000, 1.570000, 1.600000, 1.630000, 1.650000, 1.680000, 1.720000, 1.740000, 1.790000, 1.820000, 1.860000, 1.910000, 1.970000, 2.000000, 2.050000, 2.110000, 2.160000, 2.230000, 2.300000, 2.370000, 2.440000, 2.530000, 4.350000, 4.560000, 4.790000, 5.040000, 7.140000, 7.030000, 6.920000, 6.820000, 6.730000, 6.640000, 6.540000, 6.450000, 6.370000, 6.290000, 6.220000, 6.140000, 6.090000, 6.020000, 5.960000, 5.910000, 5.850000, 5.790000, 5.750000, 5.700000, 5.660000, 5.610000, 5.570000, 5.540000, 5.500000, 5.460000, 5.440000, 5.400000, 5.370000, 5.340000, 5.320000, 5.300000, 5.270000, 5.260000, 5.240000, 5.220000, 5.210000, 5.190000, 5.220000, 5.990000, 6.340000, 8.820000, 8.810000, 8.690000, 8.330000, 8.800000, 9.720000, 9.720000, 9.010000, 8.980000, 5.240000, 4.550000, 4.040000, 3.580000, 3.230000, 2.950000, 2.840000, 2.850000, 2.870000, 2.890000, 2.890000, 3.090000, 3.150000, 3.170000, 3.180000, 1.710000, 1.640000, 1.580000, 1.510000, 1.450000, 1.380000, 1.350000, 1.300000, 1.250000, 1.220000, 1.180000, 1.140000, 1.110000, 1.080000, 1.040000, 1.020000, 0.990000, 0.970000, 0.960000, 0.940000, 0.910000, 0.900000, 0.880000, 0.860000, 0.840000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.780000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.610000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054624, 373736 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.528000, 5.938000, 1.769911 ], "estimate": [ 1.528000, 5.938000, 1.769911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.460000, 1.410000, 1.390000, 1.400000, 1.400000, 1.390000, 1.400000, 1.410000, 1.420000, 1.450000, 1.470000, 1.490000, 1.500000, 1.520000, 1.550000, 1.560000, 1.580000, 1.620000, 1.640000, 1.660000, 1.690000, 1.720000, 1.760000, 1.790000, 1.830000, 1.870000, 1.920000, 1.960000, 2.000000, 2.050000, 2.100000, 2.160000, 2.220000, 2.280000, 2.350000, 2.430000, 2.530000, 4.280000, 4.440000, 4.680000, 4.910000, 5.200000, 7.050000, 6.930000, 6.830000, 6.730000, 6.640000, 6.540000, 6.450000, 6.370000, 6.280000, 6.200000, 6.140000, 6.080000, 6.010000, 5.950000, 5.930000, 5.830000, 5.780000, 5.730000, 5.670000, 5.640000, 5.590000, 5.550000, 5.500000, 5.470000, 5.430000, 5.400000, 5.380000, 5.340000, 5.320000, 5.290000, 5.260000, 5.240000, 5.220000, 5.190000, 5.170000, 5.160000, 5.150000, 5.140000, 5.630000, 6.040000, 6.290000, 8.760000, 8.690000, 8.630000, 8.280000, 9.580000, 9.680000, 9.660000, 8.930000, 8.940000, 5.040000, 4.360000, 3.890000, 3.460000, 3.140000, 2.890000, 2.760000, 2.800000, 2.820000, 2.840000, 2.850000, 3.030000, 3.110000, 3.130000, 3.130000, 3.140000, 1.630000, 1.550000, 1.480000, 1.420000, 1.380000, 1.330000, 1.280000, 1.230000, 1.200000, 1.150000, 1.130000, 1.090000, 1.060000, 1.030000, 1.000000, 0.970000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.880000, 0.860000, 0.830000, 0.820000, 0.820000, 0.800000, 0.780000, 0.780000, 0.770000, 0.750000, 0.740000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 0.620000, 0.610000, 0.620000, 0.620000 ], "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054624, 397791 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.516000, 5.996000, 1.769911 ], "estimate": [ 1.516000, 5.996000, 1.769911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.390000, 1.390000, 1.400000, 1.380000, 1.390000, 1.410000, 1.420000, 1.430000, 1.460000, 1.480000, 1.490000, 1.500000, 1.520000, 1.540000, 1.570000, 1.580000, 1.610000, 1.630000, 1.660000, 1.680000, 1.720000, 1.750000, 1.780000, 1.820000, 1.850000, 1.890000, 1.940000, 1.970000, 2.020000, 2.070000, 2.120000, 2.180000, 2.240000, 2.300000, 2.370000, 2.440000, 4.100000, 4.260000, 4.440000, 4.660000, 4.890000, 5.150000, 7.030000, 6.900000, 6.800000, 6.710000, 6.600000, 6.520000, 6.420000, 6.330000, 6.250000, 6.180000, 6.110000, 6.040000, 5.980000, 5.910000, 5.860000, 5.800000, 5.740000, 5.690000, 5.650000, 5.590000, 5.550000, 5.500000, 5.460000, 5.420000, 5.390000, 5.350000, 5.330000, 5.300000, 5.270000, 5.230000, 5.210000, 5.180000, 5.160000, 5.150000, 5.130000, 5.110000, 5.100000, 5.090000, 5.100000, 5.840000, 6.220000, 8.690000, 8.690000, 8.580000, 8.640000, 8.210000, 9.600000, 9.610000, 8.990000, 8.880000, 8.880000, 4.670000, 4.110000, 3.670000, 3.290000, 2.980000, 2.770000, 2.730000, 2.750000, 2.760000, 2.770000, 2.780000, 3.030000, 3.050000, 3.070000, 3.080000, 3.100000, 1.590000, 1.520000, 1.460000, 1.390000, 1.340000, 1.300000, 1.250000, 1.200000, 1.170000, 1.130000, 1.100000, 1.070000, 1.040000, 1.010000, 0.990000, 0.970000, 0.940000, 0.930000, 0.910000, 0.880000, 0.880000, 0.850000, 0.830000, 0.830000, 0.810000, 0.800000, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.690000, 0.700000, 0.660000, 0.640000, 0.660000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054624, 398885 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.504000, 6.051000, 1.769911 ], "estimate": [ 1.504000, 6.051000, 1.769911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.390000, 1.380000, 1.390000, 1.400000, 1.420000, 1.430000, 1.450000, 1.460000, 1.480000, 1.500000, 1.500000, 1.530000, 1.550000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.690000, 1.720000, 1.750000, 1.780000, 1.810000, 1.850000, 1.900000, 1.930000, 1.970000, 2.010000, 2.060000, 2.110000, 2.160000, 2.210000, 2.280000, 2.340000, 2.420000, 4.010000, 4.170000, 4.360000, 4.540000, 4.750000, 4.980000, 7.060000, 6.940000, 6.830000, 6.730000, 6.630000, 6.540000, 6.440000, 6.350000, 6.270000, 6.190000, 6.110000, 6.030000, 5.970000, 5.900000, 5.850000, 5.810000, 5.750000, 5.680000, 5.620000, 5.560000, 5.520000, 5.490000, 5.440000, 5.410000, 5.360000, 5.330000, 5.300000, 5.300000, 5.230000, 5.200000, 5.170000, 5.150000, 5.140000, 5.110000, 5.090000, 5.070000, 5.060000, 5.040000, 5.030000, 5.030000, 5.880000, 6.170000, 8.660000, 8.650000, 8.520000, 8.330000, 8.180000, 9.570000, 9.560000, 8.880000, 8.820000, 8.830000, 4.590000, 4.050000, 3.610000, 3.250000, 2.940000, 2.720000, 2.630000, 2.690000, 2.700000, 2.720000, 2.740000, 2.910000, 2.990000, 3.010000, 3.030000, 3.030000, 1.560000, 1.510000, 1.450000, 1.390000, 1.340000, 1.280000, 1.230000, 1.210000, 1.160000, 1.120000, 1.090000, 1.070000, 1.030000, 1.000000, 0.970000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.880000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.700000, 0.700000, 0.700000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.670000, 0.640000, 0.630000, 0.670000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.610000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054624, 399937 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.493000, 6.106000, 1.769911 ], "estimate": [ 1.493000, 6.106000, 1.769911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.390000, 1.410000, 1.420000, 1.430000, 1.460000, 1.460000, 1.480000, 1.500000, 1.500000, 1.530000, 1.550000, 1.570000, 1.590000, 1.620000, 1.630000, 1.650000, 1.670000, 1.710000, 1.740000, 1.770000, 1.800000, 1.820000, 1.870000, 1.900000, 1.940000, 1.980000, 2.020000, 2.070000, 2.110000, 2.170000, 2.230000, 2.290000, 2.350000, 2.470000, 4.000000, 4.140000, 4.320000, 4.510000, 4.700000, 4.910000, 7.060000, 6.930000, 6.820000, 6.710000, 6.600000, 6.510000, 6.430000, 6.340000, 6.240000, 6.160000, 6.080000, 6.020000, 5.950000, 5.880000, 5.810000, 5.780000, 5.700000, 5.640000, 5.590000, 5.540000, 5.490000, 5.450000, 5.410000, 5.360000, 5.320000, 5.290000, 5.250000, 5.250000, 5.190000, 5.160000, 5.140000, 5.110000, 5.090000, 5.060000, 5.040000, 5.020000, 5.000000, 5.000000, 4.980000, 4.980000, 5.560000, 8.640000, 6.120000, 8.580000, 8.520000, 8.460000, 8.110000, 9.390000, 9.500000, 9.510000, 8.770000, 8.770000, 4.980000, 4.320000, 3.850000, 3.420000, 3.100000, 2.830000, 2.630000, 2.620000, 2.630000, 2.650000, 2.670000, 2.680000, 2.920000, 2.940000, 2.950000, 2.970000, 2.980000, 3.000000, 1.480000, 1.400000, 1.370000, 1.310000, 1.250000, 1.210000, 1.180000, 1.140000, 1.100000, 1.070000, 1.040000, 1.010000, 0.980000, 0.960000, 0.950000, 0.930000, 0.910000, 0.880000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.790000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.750000, 0.720000, 0.730000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.610000, 0.630000, 0.610000, 0.600000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054624, 400923 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.481000, 6.164000, 1.763766 ], "estimate": [ 1.481000, 6.164000, 1.763766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.420000, 1.430000, 1.450000, 1.470000, 1.470000, 1.490000, 1.500000, 1.510000, 1.530000, 1.550000, 1.570000, 1.590000, 1.610000, 1.630000, 1.660000, 1.680000, 1.710000, 1.740000, 1.760000, 1.800000, 1.820000, 1.860000, 1.900000, 1.930000, 1.970000, 2.010000, 2.060000, 2.100000, 2.140000, 2.200000, 2.260000, 2.330000, 2.410000, 3.900000, 4.030000, 4.190000, 4.360000, 4.560000, 4.760000, 4.980000, 7.000000, 6.870000, 6.770000, 6.650000, 6.550000, 6.470000, 6.370000, 6.270000, 6.180000, 6.100000, 6.030000, 5.960000, 5.890000, 5.820000, 5.770000, 5.740000, 5.650000, 5.580000, 5.540000, 5.490000, 5.440000, 5.400000, 5.340000, 5.310000, 5.270000, 5.230000, 5.200000, 5.190000, 5.150000, 5.110000, 5.080000, 5.060000, 5.030000, 5.010000, 4.990000, 4.970000, 4.950000, 4.930000, 4.930000, 4.920000, 5.660000, 6.060000, 6.050000, 8.540000, 8.570000, 8.410000, 8.050000, 9.210000, 9.440000, 9.450000, 8.730000, 8.710000, 8.720000, 4.350000, 3.880000, 3.450000, 3.120000, 2.850000, 2.630000, 2.540000, 2.580000, 2.590000, 2.610000, 2.610000, 2.630000, 2.880000, 2.900000, 2.920000, 2.930000, 2.940000, 1.500000, 1.420000, 1.360000, 1.310000, 1.260000, 1.220000, 1.180000, 1.140000, 1.100000, 1.070000, 1.040000, 1.010000, 0.980000, 0.950000, 0.940000, 0.920000, 0.910000, 0.880000, 0.870000, 0.840000, 0.830000, 0.810000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.660000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.610000, 0.610000, 0.630000, 0.630000, 0.590000, 0.610000, 0.600000, 0.600000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054624, 647618 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.469000, 6.222000, 1.763766 ], "estimate": [ 1.469000, 6.222000, 1.763766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.550000, 1.560000, 1.580000, 1.610000, 1.630000, 1.640000, 1.670000, 1.690000, 1.730000, 1.740000, 1.780000, 1.810000, 1.830000, 1.870000, 1.900000, 1.930000, 1.970000, 2.010000, 2.060000, 2.100000, 2.140000, 2.200000, 2.250000, 2.320000, 3.730000, 3.840000, 3.980000, 4.120000, 4.270000, 4.460000, 4.660000, 4.870000, 7.010000, 6.890000, 6.770000, 6.660000, 6.550000, 6.460000, 6.360000, 6.270000, 6.190000, 6.090000, 6.020000, 5.940000, 5.870000, 5.800000, 5.740000, 5.670000, 5.630000, 5.560000, 5.520000, 5.460000, 5.420000, 5.360000, 5.320000, 5.280000, 5.230000, 5.200000, 5.160000, 5.140000, 5.100000, 5.070000, 5.040000, 5.010000, 4.990000, 4.970000, 4.940000, 4.920000, 4.900000, 4.890000, 4.880000, 4.870000, 4.870000, 5.590000, 8.500000, 6.000000, 8.480000, 8.390000, 8.360000, 8.030000, 9.360000, 9.380000, 9.380000, 8.650000, 8.660000, 4.890000, 4.250000, 3.790000, 3.390000, 3.060000, 2.790000, 2.590000, 2.480000, 2.520000, 2.540000, 2.540000, 2.560000, 2.580000, 2.830000, 2.850000, 2.860000, 2.880000, 2.890000, 2.910000, 1.390000, 1.350000, 1.300000, 1.250000, 1.200000, 1.160000, 1.120000, 1.090000, 1.060000, 1.030000, 1.000000, 0.980000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.850000, 0.810000, 0.810000, 0.810000, 0.790000, 0.780000, 0.770000, 0.750000, 0.760000, 0.750000, 0.730000, 0.730000, 0.710000, 0.710000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.660000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 0.610000, 0.600000, 0.610000, 0.580000, 0.610000, 0.620000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054624, 923848 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.457000, 6.278000, 1.763766 ], "estimate": [ 1.457000, 6.278000, 1.763766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.470000, 1.490000, 1.500000, 1.500000, 1.520000, 1.540000, 1.560000, 1.570000, 1.590000, 1.610000, 1.640000, 1.650000, 1.680000, 1.700000, 1.730000, 1.750000, 1.780000, 1.810000, 1.830000, 1.860000, 1.900000, 1.920000, 1.970000, 2.000000, 2.040000, 2.090000, 2.130000, 2.180000, 2.240000, 2.300000, 3.670000, 3.780000, 3.890000, 4.030000, 4.210000, 4.350000, 4.530000, 4.720000, 4.920000, 6.940000, 6.820000, 6.700000, 6.600000, 6.480000, 6.390000, 6.300000, 6.200000, 6.120000, 6.030000, 5.950000, 5.880000, 5.820000, 5.750000, 5.680000, 5.630000, 5.560000, 5.500000, 5.460000, 5.400000, 5.350000, 5.310000, 5.260000, 5.220000, 5.180000, 5.140000, 5.110000, 5.080000, 5.050000, 5.010000, 4.990000, 4.960000, 4.930000, 4.910000, 4.890000, 4.870000, 4.850000, 4.830000, 4.820000, 4.810000, 4.830000, 5.540000, 8.460000, 5.950000, 8.430000, 8.340000, 8.300000, 7.960000, 9.310000, 9.330000, 9.320000, 8.600000, 8.610000, 8.610000, 4.260000, 3.790000, 3.380000, 3.070000, 2.790000, 2.590000, 2.420000, 2.460000, 2.490000, 2.490000, 2.510000, 2.530000, 2.770000, 2.780000, 2.800000, 2.820000, 2.830000, 2.860000, 2.860000, 1.330000, 1.300000, 1.240000, 1.210000, 1.150000, 1.130000, 1.100000, 1.050000, 1.030000, 1.000000, 0.960000, 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, 0.740000, 0.730000, 0.720000, 0.720000, 0.700000, 0.690000, 0.690000, 0.690000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.600000, 0.610000, 0.600000, 0.610000, 0.590000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054624, 995520 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.447000, 6.332000, 1.763766 ], "estimate": [ 1.447000, 6.332000, 1.763766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.510000, 1.510000, 1.530000, 1.550000, 1.560000, 1.580000, 1.600000, 1.630000, 1.640000, 1.660000, 1.680000, 1.710000, 1.720000, 1.760000, 1.790000, 1.820000, 1.830000, 1.870000, 1.900000, 1.930000, 1.970000, 2.000000, 2.040000, 2.080000, 2.120000, 2.170000, 2.220000, 2.280000, 3.610000, 3.710000, 3.830000, 3.940000, 4.090000, 4.250000, 4.420000, 4.600000, 4.790000, 6.990000, 6.870000, 6.740000, 6.630000, 6.530000, 6.410000, 6.310000, 6.210000, 6.130000, 6.050000, 5.970000, 5.890000, 5.800000, 5.750000, 5.680000, 5.620000, 5.580000, 5.490000, 5.440000, 5.380000, 5.330000, 5.280000, 5.240000, 5.180000, 5.140000, 5.120000, 5.070000, 5.040000, 5.020000, 4.980000, 4.940000, 4.910000, 4.900000, 4.860000, 4.850000, 4.830000, 4.810000, 4.790000, 4.780000, 4.760000, 4.750000, 4.760000, 5.560000, 5.890000, 5.900000, 8.380000, 8.270000, 8.260000, 7.960000, 9.230000, 9.270000, 9.270000, 8.540000, 8.540000, 8.550000, 4.240000, 3.760000, 3.370000, 3.040000, 2.780000, 2.570000, 2.380000, 2.400000, 2.430000, 2.430000, 2.450000, 2.460000, 2.480000, 2.720000, 2.730000, 2.760000, 2.770000, 2.790000, 2.810000, 2.830000, 1.280000, 1.240000, 1.200000, 1.150000, 1.120000, 1.090000, 1.050000, 1.020000, 1.000000, 0.960000, 0.950000, 0.920000, 0.910000, 0.880000, 0.870000, 0.840000, 0.830000, 0.820000, 0.800000, 0.790000, 0.770000, 0.770000, 0.750000, 0.750000, 0.750000, 0.740000, 0.720000, 0.720000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.670000, 0.670000, 0.660000, 0.660000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054625, 506021 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.435000, 6.389000, 1.763766 ], "estimate": [ 1.435000, 6.389000, 1.763766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.530000, 1.550000, 1.570000, 1.570000, 1.600000, 1.610000, 1.630000, 1.650000, 1.680000, 1.700000, 1.720000, 1.750000, 1.770000, 1.800000, 1.830000, 1.840000, 1.870000, 1.900000, 1.940000, 1.970000, 2.000000, 2.050000, 2.080000, 2.120000, 2.170000, 2.230000, 2.300000, 3.590000, 3.680000, 3.790000, 3.910000, 4.040000, 4.180000, 4.360000, 4.540000, 4.710000, 7.000000, 6.880000, 6.750000, 6.650000, 6.530000, 6.410000, 6.310000, 6.220000, 6.130000, 6.040000, 5.970000, 5.880000, 5.800000, 5.740000, 5.660000, 5.590000, 5.540000, 5.480000, 5.420000, 5.360000, 5.310000, 5.260000, 5.210000, 5.160000, 5.130000, 5.080000, 5.040000, 5.000000, 4.970000, 4.950000, 4.910000, 4.880000, 4.860000, 4.830000, 4.810000, 4.790000, 4.770000, 4.750000, 4.740000, 4.730000, 4.710000, 4.710000, 5.210000, 5.560000, 5.840000, 8.320000, 8.310000, 8.190000, 8.240000, 7.840000, 9.230000, 9.210000, 9.110000, 8.490000, 8.510000, 4.680000, 4.050000, 3.610000, 3.250000, 2.950000, 2.690000, 2.490000, 2.320000, 2.350000, 2.370000, 2.390000, 2.400000, 2.420000, 2.430000, 2.690000, 2.700000, 2.700000, 2.720000, 2.740000, 2.760000, 2.750000, 4.010000, 1.210000, 1.170000, 1.130000, 1.110000, 1.080000, 1.040000, 1.000000, 0.970000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.860000, 0.830000, 0.820000, 0.810000, 0.790000, 0.780000, 0.760000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054625, 507166 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.423000, 6.448000, 1.763766 ], "estimate": [ 1.423000, 6.448000, 1.763766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.550000, 1.570000, 1.590000, 1.600000, 1.610000, 1.640000, 1.650000, 1.670000, 1.690000, 1.710000, 1.750000, 1.760000, 1.780000, 1.810000, 1.830000, 1.860000, 1.890000, 1.910000, 1.950000, 1.980000, 2.020000, 2.050000, 2.100000, 2.140000, 2.180000, 2.240000, 3.480000, 3.580000, 3.670000, 3.780000, 3.890000, 4.010000, 4.150000, 4.320000, 4.490000, 4.660000, 4.870000, 6.880000, 6.740000, 6.640000, 6.510000, 6.400000, 6.300000, 6.190000, 6.110000, 6.020000, 5.930000, 5.860000, 5.770000, 5.710000, 5.630000, 5.560000, 5.500000, 5.450000, 5.380000, 5.330000, 5.270000, 5.220000, 5.170000, 5.130000, 5.080000, 5.040000, 4.990000, 4.960000, 4.930000, 4.910000, 4.870000, 4.840000, 4.810000, 4.780000, 4.760000, 4.740000, 4.730000, 4.700000, 4.680000, 4.670000, 4.650000, 4.640000, 4.660000, 5.380000, 8.270000, 5.780000, 8.250000, 8.390000, 8.130000, 7.770000, 8.340000, 9.150000, 9.160000, 8.460000, 8.430000, 8.440000, 4.420000, 3.860000, 3.490000, 3.130000, 2.840000, 2.600000, 2.430000, 2.270000, 2.280000, 2.310000, 2.330000, 2.350000, 2.350000, 2.380000, 2.620000, 2.620000, 2.650000, 2.670000, 2.690000, 2.690000, 2.710000, 3.910000, 3.890000, 1.160000, 1.120000, 1.090000, 1.060000, 1.020000, 1.000000, 0.960000, 0.940000, 0.920000, 0.900000, 0.870000, 0.870000, 0.850000, 0.830000, 0.810000, 0.790000, 0.790000, 0.790000, 0.770000, 0.740000, 0.740000, 0.740000, 0.730000, 0.710000, 0.710000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.590000, 0.600000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054625, 593757 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.412000, 6.504000, 1.769911 ], "estimate": [ 1.412000, 6.504000, 1.769911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.650000, 1.660000, 1.680000, 1.700000, 1.730000, 1.750000, 1.770000, 1.790000, 1.820000, 1.830000, 1.870000, 1.900000, 1.920000, 1.960000, 1.980000, 2.020000, 2.060000, 2.100000, 2.140000, 2.180000, 2.270000, 3.470000, 3.550000, 3.640000, 3.740000, 3.860000, 3.970000, 4.090000, 4.270000, 4.430000, 4.580000, 4.770000, 6.900000, 6.780000, 6.650000, 6.530000, 6.410000, 6.300000, 6.210000, 6.110000, 6.020000, 5.940000, 5.850000, 5.780000, 5.700000, 5.630000, 5.550000, 5.490000, 5.470000, 5.370000, 5.310000, 5.250000, 5.200000, 5.140000, 5.110000, 5.050000, 5.010000, 4.970000, 4.930000, 4.890000, 4.870000, 4.840000, 4.820000, 4.780000, 4.750000, 4.730000, 4.710000, 4.690000, 4.660000, 4.640000, 4.630000, 4.610000, 4.600000, 4.600000, 4.900000, 5.470000, 5.720000, 5.740000, 8.220000, 8.110000, 8.090000, 7.740000, 9.000000, 9.100000, 9.120000, 8.400000, 8.370000, 8.390000, 4.240000, 3.740000, 3.380000, 3.040000, 2.770000, 2.550000, 2.360000, 2.210000, 2.240000, 2.260000, 2.280000, 2.280000, 2.300000, 2.310000, 2.570000, 2.580000, 2.600000, 2.610000, 2.620000, 2.650000, 2.670000, 3.860000, 3.840000, 1.200000, 1.110000, 1.080000, 1.050000, 1.010000, 0.980000, 0.960000, 0.930000, 0.910000, 0.900000, 0.870000, 0.850000, 0.840000, 0.820000, 0.800000, 0.800000, 0.780000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.700000, 0.700000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054626, 109058 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.400000, 6.558000, 1.769911 ], "estimate": [ 1.400000, 6.558000, 1.769911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.640000, 1.660000, 1.670000, 1.680000, 1.690000, 1.720000, 1.750000, 1.760000, 1.780000, 1.800000, 1.830000, 1.860000, 1.880000, 1.910000, 1.940000, 1.970000, 2.000000, 2.030000, 2.070000, 2.110000, 2.150000, 2.190000, 3.380000, 3.460000, 3.540000, 3.620000, 3.740000, 3.840000, 3.950000, 4.080000, 4.240000, 4.390000, 4.540000, 4.730000, 6.900000, 6.760000, 6.640000, 6.520000, 6.400000, 6.300000, 6.200000, 6.110000, 6.010000, 5.910000, 5.820000, 5.760000, 5.670000, 5.610000, 5.540000, 5.460000, 5.410000, 5.340000, 5.290000, 5.220000, 5.160000, 5.130000, 5.070000, 5.020000, 4.980000, 4.930000, 4.890000, 4.860000, 4.830000, 4.810000, 4.760000, 4.730000, 4.710000, 4.690000, 4.660000, 4.640000, 4.610000, 4.600000, 4.570000, 4.570000, 4.550000, 4.530000, 4.540000, 5.140000, 8.180000, 5.670000, 8.150000, 8.140000, 8.030000, 8.070000, 7.670000, 9.060000, 9.050000, 8.950000, 8.320000, 8.330000, 8.340000, 4.030000, 3.570000, 3.220000, 2.920000, 2.660000, 2.430000, 2.280000, 2.140000, 2.190000, 2.210000, 2.230000, 2.250000, 2.250000, 2.260000, 2.510000, 2.540000, 2.540000, 2.550000, 2.580000, 2.590000, 2.610000, 3.810000, 3.760000, 5.250000, 1.130000, 1.060000, 1.030000, 0.990000, 0.960000, 0.940000, 0.920000, 0.890000, 0.870000, 0.860000, 0.840000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.670000, 0.660000, 0.660000, 0.660000, 0.640000, 0.640000, 0.650000, 0.630000, 0.630000, 0.630000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.570000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.580000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054626, 110200 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.388000, 6.615000, 1.769911 ], "estimate": [ 1.388000, 6.615000, 1.769911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.660000, 1.670000, 1.690000, 1.710000, 1.740000, 1.750000, 1.770000, 1.800000, 1.810000, 1.830000, 1.850000, 1.880000, 1.910000, 1.930000, 1.970000, 1.990000, 2.030000, 2.070000, 2.110000, 2.140000, 2.190000, 3.350000, 3.420000, 3.510000, 3.590000, 3.690000, 3.780000, 3.880000, 4.050000, 4.160000, 4.310000, 4.450000, 4.600000, 6.980000, 6.830000, 6.690000, 6.570000, 6.450000, 6.340000, 6.230000, 6.140000, 6.030000, 5.940000, 5.840000, 5.770000, 5.680000, 5.620000, 5.530000, 5.470000, 5.410000, 5.370000, 5.290000, 5.220000, 5.160000, 5.120000, 5.060000, 5.010000, 4.960000, 4.910000, 4.880000, 4.840000, 4.810000, 4.770000, 4.750000, 4.720000, 4.690000, 4.650000, 4.630000, 4.600000, 4.580000, 4.560000, 4.540000, 4.530000, 4.510000, 4.500000, 4.490000, 4.500000, 5.340000, 8.120000, 5.630000, 8.090000, 8.970000, 7.990000, 8.030000, 7.620000, 9.000000, 9.000000, 8.880000, 8.270000, 8.270000, 8.280000, 3.970000, 3.530000, 3.200000, 2.900000, 2.620000, 2.430000, 2.260000, 2.100000, 2.130000, 2.150000, 2.170000, 2.190000, 2.190000, 2.210000, 2.450000, 2.470000, 2.490000, 2.510000, 2.520000, 2.550000, 2.570000, 2.680000, 3.740000, 5.220000, 5.090000, 1.100000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.870000, 0.850000, 0.820000, 0.820000, 0.810000, 0.780000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.680000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 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": [ 976054626, 195114 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.376000, 6.674000, 1.769911 ], "estimate": [ 1.376000, 6.674000, 1.769911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.690000, 1.710000, 1.740000, 1.760000, 1.770000, 1.790000, 1.800000, 1.830000, 1.840000, 1.870000, 1.900000, 1.920000, 1.950000, 1.980000, 2.000000, 2.040000, 2.070000, 2.110000, 2.150000, 3.270000, 3.340000, 3.410000, 3.490000, 3.580000, 3.670000, 3.760000, 3.860000, 4.010000, 4.140000, 4.260000, 4.410000, 4.560000, 4.750000, 6.840000, 6.680000, 6.560000, 6.450000, 6.320000, 6.210000, 6.120000, 6.020000, 5.920000, 5.820000, 5.750000, 5.660000, 5.580000, 5.500000, 5.430000, 5.380000, 5.310000, 5.260000, 5.190000, 5.140000, 5.080000, 5.030000, 4.970000, 4.920000, 4.880000, 4.840000, 4.800000, 4.760000, 4.730000, 4.720000, 4.670000, 4.640000, 4.610000, 4.580000, 4.560000, 4.530000, 4.510000, 4.490000, 4.480000, 4.450000, 4.440000, 4.430000, 4.420000, 4.970000, 5.330000, 5.560000, 5.560000, 8.030000, 8.100000, 7.910000, 7.550000, 8.170000, 8.920000, 8.940000, 8.330000, 8.210000, 8.190000, 4.370000, 3.800000, 3.400000, 3.090000, 2.790000, 2.550000, 2.350000, 2.200000, 2.030000, 2.070000, 2.100000, 2.110000, 2.120000, 2.130000, 2.150000, 2.260000, 2.420000, 2.430000, 2.450000, 2.460000, 2.480000, 2.500000, 2.530000, 3.670000, 5.160000, 5.030000, 4.910000, 4.780000, 0.970000, 0.950000, 0.920000, 0.890000, 0.870000, 0.860000, 0.830000, 0.820000, 0.810000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.710000, 0.700000, 0.690000, 0.690000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.660000, 0.650000, 0.640000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.590000, 0.580000, 0.570000, 0.580000, 0.580000, 0.570000, 0.570000, 0.580000, 0.570000, 0.580000, 0.570000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054626, 708788 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.364000, 6.730000, 1.782202 ], "estimate": [ 1.364000, 6.730000, 1.782202 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.740000, 1.760000, 1.770000, 1.790000, 1.800000, 1.820000, 1.840000, 1.870000, 1.900000, 1.910000, 1.940000, 1.970000, 1.990000, 2.030000, 2.060000, 2.100000, 2.140000, 3.220000, 3.290000, 3.360000, 3.440000, 3.510000, 3.590000, 3.690000, 3.770000, 3.870000, 3.990000, 4.150000, 4.270000, 4.410000, 4.570000, 8.460000, 6.790000, 6.660000, 6.530000, 6.400000, 6.290000, 6.180000, 6.080000, 5.970000, 5.880000, 5.780000, 5.700000, 5.630000, 5.550000, 5.460000, 5.390000, 5.330000, 5.270000, 5.220000, 5.160000, 5.100000, 5.030000, 4.990000, 4.930000, 4.880000, 4.840000, 4.800000, 4.750000, 4.720000, 4.690000, 4.670000, 4.620000, 4.580000, 4.570000, 4.540000, 4.510000, 4.490000, 4.470000, 4.440000, 4.420000, 4.410000, 4.400000, 4.380000, 4.380000, 4.420000, 5.170000, 5.510000, 5.520000, 7.980000, 8.250000, 7.880000, 7.910000, 7.500000, 8.880000, 8.890000, 8.790000, 8.160000, 8.150000, 8.160000, 3.940000, 3.490000, 3.160000, 2.840000, 2.590000, 2.400000, 2.230000, 2.080000, 2.010000, 2.030000, 2.050000, 2.050000, 2.080000, 2.080000, 2.110000, 2.360000, 2.370000, 2.390000, 2.410000, 2.430000, 2.440000, 2.450000, 2.480000, 3.630000, 5.060000, 4.940000, 4.800000, 4.680000, 4.580000, 0.940000, 0.900000, 0.890000, 0.860000, 0.840000, 0.820000, 0.800000, 0.800000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.710000, 0.700000, 0.680000, 0.690000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054626, 710001 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.352000, 6.786000, 1.788348 ], "estimate": [ 1.352000, 6.786000, 1.788348 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.770000, 1.780000, 1.800000, 1.820000, 1.830000, 1.860000, 1.880000, 1.910000, 1.920000, 1.950000, 1.980000, 2.000000, 2.030000, 2.070000, 2.100000, 2.170000, 3.210000, 3.270000, 3.330000, 3.400000, 3.470000, 3.550000, 3.630000, 3.730000, 3.830000, 3.950000, 4.070000, 4.190000, 4.340000, 4.470000, 4.630000, 6.860000, 6.710000, 6.570000, 6.440000, 6.320000, 6.210000, 6.100000, 6.010000, 5.890000, 5.810000, 5.720000, 5.630000, 5.550000, 5.480000, 5.390000, 5.320000, 5.270000, 5.240000, 5.140000, 5.080000, 5.020000, 4.970000, 4.910000, 4.860000, 4.820000, 4.780000, 4.740000, 4.690000, 4.660000, 4.620000, 4.610000, 4.560000, 4.520000, 4.490000, 4.480000, 4.450000, 4.430000, 4.410000, 4.380000, 4.360000, 4.350000, 4.330000, 4.330000, 4.320000, 4.490000, 5.160000, 5.500000, 5.440000, 7.910000, 8.210000, 7.810000, 7.850000, 7.450000, 8.820000, 8.830000, 8.760000, 8.090000, 8.100000, 8.110000, 3.930000, 3.460000, 3.150000, 2.830000, 2.580000, 2.390000, 2.200000, 2.050000, 1.930000, 1.960000, 1.990000, 2.000000, 2.010000, 2.020000, 2.030000, 2.050000, 2.310000, 2.320000, 2.330000, 2.360000, 2.370000, 2.400000, 2.420000, 3.570000, 5.080000, 4.940000, 4.800000, 4.680000, 4.570000, 4.460000, 0.990000, 0.870000, 0.850000, 0.820000, 0.820000, 0.790000, 0.790000, 0.760000, 0.750000, 0.740000