{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.480000, 8.587000, 1.374139 ], "estimate": [ 4.480000, 8.587000, 1.374139 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000, 1.030000, 1.020000, 1.020000, 1.030000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.020000, 1.010000, 1.010000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 1.010000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.070000, 1.080000, 1.100000, 1.100000, 1.110000, 1.130000, 1.120000, 1.140000, 1.150000, 1.160000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.260000, 1.280000, 1.300000, 1.310000, 1.330000, 1.360000, 1.380000, 1.410000, 1.430000, 1.460000, 1.490000, 1.530000, 1.560000, 1.570000, 1.620000, 1.680000, 1.710000, 1.740000, 1.780000, 1.830000, 1.890000, 1.940000, 2.010000, 2.070000, 2.130000, 2.210000, 2.290000, 2.370000, 2.470000, 2.560000, 2.670000, 2.790000, 2.930000, 3.080000, 3.220000, 3.410000, 3.610000, 5.060000, 5.020000, 5.010000, 4.890000, 4.870000, 4.850000, 4.840000, 4.810000, 4.810000, 4.800000, 4.790000, 4.780000, 4.780000, 4.770000, 4.770000, 4.770000, 4.770000, 4.770000, 4.780000, 4.790000, 4.790000, 4.800000, 4.810000, 4.810000, 4.820000, 4.840000, 4.860000, 4.870000, 4.890000, 4.920000, 4.950000, 4.970000, 7.500000, 7.740000, 7.510000, 7.590000, 7.540000, 7.750000, 8.030000, 8.100000, 8.160000, 8.220000, 5.620000, 5.480000, 5.510000, 5.550000, 5.610000, 5.670000, 5.730000, 5.800000, 5.870000, 5.940000, 6.020000, 0.670000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.790000, 1.110000, 1.240000, 1.320000, 1.380000, 1.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054818, 319978 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.492000, 8.646000, 1.374139 ], "estimate": [ 4.492000, 8.646000, 1.374139 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.060000, 1.060000, 1.040000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.020000, 1.010000, 1.020000, 1.010000, 1.000000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.990000, 0.990000, 0.980000, 0.970000, 0.980000, 0.990000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.030000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.150000, 1.170000, 1.170000, 1.180000, 1.200000, 1.220000, 1.230000, 1.250000, 1.260000, 1.280000, 1.300000, 1.320000, 1.360000, 1.380000, 1.410000, 1.430000, 1.450000, 1.490000, 1.520000, 1.550000, 1.620000, 1.640000, 1.670000, 1.710000, 1.750000, 1.800000, 1.850000, 1.900000, 1.970000, 2.030000, 2.090000, 2.170000, 2.250000, 2.320000, 2.430000, 2.520000, 2.640000, 2.760000, 2.890000, 3.040000, 3.190000, 3.370000, 3.570000, 5.000000, 4.970000, 4.940000, 4.830000, 4.810000, 4.800000, 4.780000, 4.760000, 4.750000, 4.740000, 4.730000, 4.710000, 4.710000, 4.710000, 4.710000, 4.700000, 4.710000, 4.720000, 4.720000, 4.730000, 4.730000, 4.740000, 4.750000, 4.760000, 4.770000, 4.790000, 4.810000, 4.820000, 4.840000, 4.860000, 4.890000, 4.910000, 4.970000, 7.710000, 7.480000, 7.550000, 7.490000, 7.690000, 7.990000, 8.050000, 8.110000, 8.180000, 5.640000, 5.440000, 5.460000, 5.510000, 5.560000, 5.620000, 5.690000, 5.750000, 5.820000, 5.880000, 5.970000, 6.060000, 6.140000, 6.220000, 6.310000, 6.400000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.640000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 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": [ 976054818, 321396 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.503000, 8.700000, 1.374139 ], "estimate": [ 4.503000, 8.700000, 1.374139 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.010000, 1.010000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.950000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.980000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.060000, 1.060000, 1.080000, 1.090000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.250000, 1.280000, 1.300000, 1.320000, 1.350000, 1.380000, 1.410000, 1.420000, 1.450000, 1.500000, 1.520000, 1.590000, 1.600000, 1.640000, 1.670000, 1.720000, 1.760000, 1.810000, 1.880000, 1.930000, 2.000000, 2.060000, 2.130000, 2.210000, 2.300000, 2.380000, 2.490000, 2.600000, 2.730000, 2.850000, 2.980000, 3.150000, 3.330000, 3.530000, 4.930000, 4.910000, 4.890000, 4.780000, 4.760000, 4.740000, 4.720000, 4.720000, 4.710000, 4.690000, 4.690000, 4.680000, 4.670000, 4.670000, 4.660000, 4.670000, 4.680000, 4.670000, 4.680000, 4.690000, 4.690000, 4.700000, 4.710000, 4.710000, 4.730000, 4.740000, 4.770000, 4.780000, 4.800000, 4.810000, 4.850000, 4.880000, 4.920000, 7.500000, 7.420000, 7.430000, 7.460000, 7.680000, 7.950000, 8.010000, 8.080000, 8.150000, 5.820000, 5.440000, 5.420000, 5.470000, 5.530000, 5.580000, 5.640000, 5.710000, 5.790000, 5.860000, 5.930000, 6.010000, 6.110000, 6.170000, 6.270000, 6.370000, 6.460000, 6.580000, 6.700000, 6.810000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 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": [ 976054818, 322365 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.514000, 8.757000, 1.380285 ], "estimate": [ 4.514000, 8.757000, 1.380285 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.020000, 1.010000, 1.010000, 1.010000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.930000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.170000, 1.190000, 1.220000, 1.230000, 1.260000, 1.280000, 1.300000, 1.320000, 1.360000, 1.380000, 1.410000, 1.430000, 1.470000, 1.520000, 1.530000, 1.570000, 1.610000, 1.650000, 1.690000, 1.740000, 1.790000, 1.850000, 1.900000, 1.960000, 2.040000, 2.100000, 2.180000, 2.270000, 2.360000, 2.470000, 2.590000, 2.700000, 2.820000, 2.970000, 3.130000, 3.320000, 3.530000, 4.870000, 4.860000, 4.820000, 4.710000, 4.700000, 4.680000, 4.670000, 4.650000, 4.640000, 4.630000, 4.630000, 4.630000, 4.630000, 4.620000, 4.620000, 4.620000, 4.620000, 4.630000, 4.620000, 4.630000, 4.630000, 4.650000, 4.660000, 4.670000, 4.680000, 4.700000, 4.710000, 4.730000, 4.750000, 4.770000, 4.810000, 4.820000, 4.870000, 7.580000, 7.380000, 7.460000, 7.430000, 7.600000, 7.910000, 7.980000, 8.040000, 8.110000, 6.000000, 5.440000, 5.380000, 5.440000, 5.490000, 5.540000, 5.610000, 5.670000, 5.740000, 5.820000, 5.890000, 5.970000, 6.080000, 6.150000, 6.230000, 6.340000, 6.440000, 6.540000, 6.670000, 6.780000, 6.960000, 7.060000, 7.190000, 3.250000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.640000, 0.640000, 0.640000, 0.630000, 0.640000, 0.640000, 0.640000, 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": [ 976054818, 412994 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.526000, 8.816000, 1.380285 ], "estimate": [ 4.526000, 8.816000, 1.380285 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.920000, 0.900000, 0.910000, 0.920000, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000, 0.900000, 0.910000, 0.910000, 0.920000, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.930000, 0.940000, 0.930000, 0.930000, 0.940000, 0.950000, 0.940000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.170000, 1.170000, 1.200000, 1.220000, 1.240000, 1.250000, 1.280000, 1.310000, 1.330000, 1.360000, 1.390000, 1.420000, 1.460000, 1.490000, 1.510000, 1.550000, 1.580000, 1.640000, 1.680000, 1.730000, 1.770000, 1.820000, 1.900000, 1.950000, 2.020000, 2.080000, 2.170000, 2.260000, 2.350000, 2.470000, 2.560000, 2.700000, 2.830000, 2.980000, 3.140000, 3.350000, 3.560000, 4.820000, 4.790000, 4.700000, 4.650000, 4.640000, 4.630000, 4.610000, 4.600000, 4.590000, 4.580000, 4.560000, 4.570000, 4.550000, 4.560000, 4.560000, 4.570000, 4.560000, 4.580000, 4.570000, 4.580000, 4.590000, 4.600000, 4.610000, 4.620000, 4.630000, 4.650000, 4.670000, 4.700000, 4.710000, 4.730000, 4.760000, 4.800000, 4.840000, 7.350000, 7.340000, 7.430000, 7.430000, 7.620000, 7.890000, 7.960000, 8.020000, 8.090000, 5.860000, 5.390000, 5.360000, 5.400000, 5.460000, 5.510000, 5.580000, 5.640000, 5.710000, 5.790000, 5.860000, 5.970000, 6.050000, 6.130000, 6.210000, 6.320000, 6.430000, 6.530000, 6.650000, 6.770000, 6.930000, 7.040000, 7.200000, 3.260000, 3.230000, 3.210000, 3.200000, 3.180000, 3.170000, 0.640000, 0.630000, 0.630000, 0.640000, 0.630000, 0.640000, 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": [ 976054818, 805323 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.537000, 8.874001, 1.380285 ], "estimate": [ 4.537000, 8.874001, 1.380285 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.960000, 0.950000, 0.940000, 0.950000, 0.940000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.880000, 0.890000, 0.890000, 0.890000, 0.890000, 0.880000, 0.890000, 0.890000, 0.880000, 0.890000, 0.890000, 0.880000, 0.890000, 0.900000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.040000, 1.040000, 1.050000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.150000, 1.170000, 1.190000, 1.220000, 1.240000, 1.260000, 1.290000, 1.310000, 1.340000, 1.400000, 1.430000, 1.430000, 1.460000, 1.490000, 1.530000, 1.570000, 1.620000, 1.660000, 1.710000, 1.760000, 1.810000, 1.880000, 1.940000, 2.010000, 2.080000, 2.170000, 2.260000, 2.350000, 2.460000, 2.580000, 2.700000, 2.840000, 2.980000, 3.180000, 3.380000, 4.750000, 4.740000, 4.720000, 4.600000, 4.580000, 4.560000, 4.540000, 4.550000, 4.530000, 4.530000, 4.530000, 4.520000, 4.510000, 4.510000, 4.500000, 4.510000, 4.510000, 4.510000, 4.530000, 4.520000, 4.530000, 4.540000, 4.540000, 4.560000, 4.570000, 4.590000, 4.600000, 4.620000, 4.640000, 4.660000, 4.690000, 4.710000, 4.750000, 4.800000, 7.580000, 7.400000, 7.360000, null, 7.820000, 7.860000, 7.930000, 8.000000, 8.070000, 5.570000, 5.330000, 5.310000, 5.370000, 5.430000, 5.490000, 5.540000, 5.610000, 5.690000, 5.760000, 5.850000, 5.930000, 6.030000, 6.110000, 6.190000, 6.300000, 6.400000, 6.520000, 6.640000, 6.770000, 6.910000, 7.040000, 7.190000, 3.290000, 3.220000, 3.210000, 3.190000, 3.180000, 3.160000, 3.150000, 3.140000, 3.130000, 3.120000, 1.110000, 0.640000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054818, 821491 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.548000, 8.931000, 1.386431 ], "estimate": [ 4.548000, 8.931000, 1.386431 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.890000, 0.900000, 0.890000, 0.890000, 0.890000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.880000, 0.880000, 0.870000, 0.880000, 0.870000, 0.870000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.930000, 0.930000, 0.950000, 0.950000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.080000, 1.100000, 1.110000, 1.120000, 1.140000, 1.160000, 1.170000, 1.200000, 1.220000, 1.250000, 1.270000, 1.290000, 1.350000, 1.360000, 1.380000, 1.410000, 1.430000, 1.480000, 1.510000, 1.560000, 1.600000, 1.650000, 1.700000, 1.750000, 1.810000, 1.870000, 1.930000, 2.010000, 2.070000, 2.160000, 2.250000, 2.350000, 2.450000, 2.580000, 2.710000, 2.850000, 3.010000, 3.200000, 3.410000, 4.710000, 4.680000, 4.600000, 4.550000, 4.540000, 4.510000, 4.510000, 4.500000, 4.480000, 4.470000, 4.470000, 4.460000, 4.460000, 4.460000, 4.460000, 4.460000, 4.450000, 4.460000, 4.470000, 4.480000, 4.490000, 4.500000, 4.500000, 4.520000, 4.530000, 4.540000, 4.560000, 4.570000, 4.590000, 4.620000, 4.640000, 4.680000, 4.700000, 4.740000, 7.560000, 7.580000, 7.340000, null, 7.770000, 7.840000, 7.910000, 7.980000, 8.050000, 5.490000, 5.300000, 5.280000, 5.340000, 5.400000, 5.450000, 5.530000, 5.590000, 5.660000, 5.740000, 5.830000, 5.910000, 6.000000, 6.090000, 6.170000, 6.270000, 6.390000, 6.510000, 6.620000, 6.770000, 6.910000, 7.040000, 7.180000, 7.340000, 3.210000, 3.200000, 3.190000, 3.170000, 3.160000, 3.140000, 3.130000, 3.130000, 3.120000, 3.120000, 3.110000, 1.430000, 1.400000, 0.880000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054819, 131420 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.559000, 8.987000, 1.404867 ], "estimate": [ 4.559000, 8.987000, 1.404867 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.910000, 0.910000, 0.890000, 0.900000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.870000, 0.870000, 0.860000, 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, 0.850000, 0.850000, 0.860000, 0.850000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.870000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 0.990000, 1.010000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.080000, 1.100000, 1.110000, 1.130000, 1.160000, 1.170000, 1.190000, 1.220000, 1.240000, 1.300000, 1.310000, 1.320000, 1.350000, 1.390000, 1.410000, 1.440000, 1.490000, 1.530000, 1.560000, 1.610000, 1.660000, 1.710000, 1.760000, 1.820000, 1.890000, 1.960000, 2.040000, 2.110000, 2.210000, 2.310000, 2.400000, 2.530000, 2.650000, 2.810000, 2.950000, 3.140000, 3.360000, 4.640000, 4.620000, 4.520000, 4.480000, 4.460000, 4.460000, 4.450000, 4.440000, 4.430000, 4.420000, 4.410000, 4.410000, 4.400000, 4.410000, 4.410000, 4.410000, 4.410000, 4.410000, 4.430000, 4.420000, 4.430000, 4.440000, 4.450000, 4.460000, 4.470000, 4.490000, 4.510000, 4.530000, 4.540000, 4.560000, 4.600000, 4.620000, 4.650000, 4.700000, 7.500000, 7.320000, 7.300000, null, 7.740000, 7.790000, 7.860000, 7.930000, 8.000000, 5.860000, 5.310000, 5.240000, 5.280000, 5.340000, 5.400000, 5.460000, 5.530000, 5.600000, 5.690000, 5.760000, 5.850000, 5.950000, 6.020000, 6.120000, 6.220000, 6.340000, 6.440000, 6.560000, 6.700000, 6.840000, 6.990000, 7.120000, 7.290000, 7.440000, 3.190000, 3.180000, 3.170000, 3.150000, 3.140000, 3.130000, 3.130000, 3.120000, 3.110000, 3.100000, 3.110000, 3.100000, 1.420000, 1.410000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054819, 518278 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.568000, 9.046000, 1.441740 ], "estimate": [ 4.568000, 9.046000, 1.441740 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.880000, 0.880000, 0.870000, 0.880000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.840000, 0.870000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.930000, 0.930000, 0.940000, 0.950000, 0.970000, 0.970000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.040000, 1.060000, 1.070000, 1.100000, 1.110000, 1.130000, 1.150000, 1.170000, 1.200000, 1.260000, 1.270000, 1.270000, 1.290000, 1.330000, 1.360000, 1.390000, 1.420000, 1.450000, 1.500000, 1.550000, 1.580000, 1.630000, 1.680000, 1.740000, 1.800000, 1.860000, 1.920000, 2.000000, 2.080000, 2.160000, 2.280000, 2.370000, 2.480000, 2.610000, 2.750000, 2.910000, 3.090000, 3.310000, 4.580000, 4.560000, 4.460000, 4.440000, 4.420000, 4.410000, 4.390000, 4.380000, 4.370000, 4.370000, 4.360000, 4.350000, 4.350000, 4.350000, 4.350000, 4.350000, 4.350000, 4.360000, 4.370000, 4.370000, 4.380000, 4.390000, 4.400000, 4.410000, 4.420000, 4.440000, 4.450000, 4.470000, 4.490000, 4.520000, 4.540000, 4.560000, 4.600000, 4.620000, 7.180000, 7.360000, 7.250000, 7.250000, 7.700000, 7.740000, 7.800000, 7.870000, 7.950000, 5.900000, 5.340000, 5.220000, 5.230000, 5.280000, 5.350000, 5.400000, 5.470000, 5.540000, 5.620000, 5.710000, 5.780000, 5.870000, 5.970000, 6.060000, 6.150000, 6.260000, 6.370000, 6.500000, 6.620000, 6.770000, 6.910000, 7.060000, 7.200000, 7.370000, 3.210000, 3.170000, 3.160000, 3.150000, 3.140000, 3.130000, 3.120000, 3.110000, 3.110000, 3.100000, 3.100000, 3.100000, 3.090000, 2.480000, 1.420000, 1.410000, 1.200000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054819, 519490 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.574000, 9.105000, 1.497050 ], "estimate": [ 4.574000, 9.105000, 1.497050 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.960000, 0.960000, 0.980000, 0.970000, 0.990000, 1.000000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.110000, 1.120000, 1.150000, 1.200000, 1.210000, 1.220000, 1.230000, 1.260000, 1.290000, 1.320000, 1.360000, 1.390000, 1.410000, 1.450000, 1.490000, 1.540000, 1.580000, 1.630000, 1.680000, 1.740000, 1.800000, 1.870000, 1.930000, 2.020000, 2.090000, 2.190000, 2.280000, 2.410000, 2.510000, 2.640000, 2.790000, 2.960000, 3.150000, 4.540000, 4.500000, 4.480000, 4.380000, 4.360000, 4.350000, 4.340000, 4.330000, 4.320000, 4.310000, 4.310000, 4.300000, 4.300000, 4.300000, 4.290000, 4.290000, 4.300000, 4.300000, 4.310000, 4.320000, 4.320000, 4.330000, 4.340000, 4.350000, 4.360000, 4.360000, 4.380000, 4.400000, 4.420000, 4.440000, 4.460000, 4.490000, 4.520000, 4.540000, 4.570000, 7.420000, 7.460000, null, null, 7.640000, 7.710000, 7.770000, 7.850000, 7.920000, 5.780000, 5.260000, 5.170000, 5.190000, 5.250000, 5.310000, 5.380000, 5.440000, 5.520000, 5.590000, 5.670000, 5.760000, 5.860000, 5.930000, 6.020000, 6.140000, 6.240000, 6.360000, 6.490000, 6.600000, 6.770000, 6.900000, 7.040000, 7.200000, 7.370000, 7.560000, 3.160000, 3.140000, 3.130000, 3.120000, 3.120000, 3.110000, 3.100000, 3.100000, 3.100000, 3.090000, 3.090000, 3.090000, 3.090000, 2.380000, 1.940000, 1.410000, 1.400000, 1.200000, 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, 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 ], "timestamp": [ 976054819, 612748 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.576000, 9.163000, 1.570796 ], "estimate": [ 4.576000, 9.163000, 1.570796 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.810000, 0.810000, 0.820000, 0.810000, 0.810000, 0.820000, 0.820000, 0.810000, 0.810000, 0.830000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.880000, 0.890000, 0.890000, 0.910000, 0.910000, 0.910000, 0.920000, 0.940000, 0.940000, 0.970000, 0.980000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.080000, 1.100000, 1.110000, 1.170000, 1.160000, 1.170000, 1.200000, 1.220000, 1.250000, 1.280000, 1.300000, 1.330000, 1.370000, 1.390000, 1.430000, 1.470000, 1.520000, 1.570000, 1.610000, 1.660000, 1.710000, 1.780000, 1.830000, 1.900000, 1.990000, 2.060000, 2.160000, 2.260000, 2.360000, 2.480000, 2.600000, 2.740000, 2.920000, 3.090000, 4.480000, 4.460000, 4.430000, 4.330000, 4.320000, 4.300000, 4.290000, 4.270000, 4.270000, 4.260000, 4.250000, 4.250000, 4.240000, 4.240000, 4.230000, 4.240000, 4.240000, 4.240000, 4.250000, 4.270000, 4.270000, 4.280000, 4.290000, 4.300000, 4.310000, 4.320000, 4.340000, 4.340000, 4.360000, 4.380000, 4.410000, 4.430000, 4.450000, 4.490000, 4.520000, 4.560000, 7.240000, 7.150000, 7.150000, 7.610000, 7.630000, 7.710000, 7.780000, 7.850000, 5.800000, 5.290000, 5.130000, 5.130000, 5.180000, 5.240000, 5.300000, 5.360000, 5.440000, 5.510000, 5.600000, 5.680000, 5.770000, 5.870000, 5.950000, 6.040000, 6.140000, 6.270000, 6.380000, 6.510000, 6.650000, 6.800000, 6.940000, 7.100000, 7.260000, 7.430000, 7.630000, 3.130000, 3.120000, 3.110000, 3.100000, 3.100000, 3.090000, 3.080000, 3.080000, 3.080000, 3.080000, 3.080000, 3.080000, 3.080000, 2.540000, 2.100000, 1.830000, 1.410000, 1.390000, 1.250000, 1.150000, 1.080000, 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": [ 976054820, 164281 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.574000, 9.221000, 1.647001 ], "estimate": [ 4.574000, 9.221000, 1.647001 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000, 0.820000, 0.830000, 0.840000, 0.830000, 0.840000, 0.850000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.950000, 0.950000, 0.970000, 0.990000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.080000, 1.110000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.220000, 1.240000, 1.270000, 1.290000, 1.330000, 1.360000, 1.390000, 1.440000, 1.480000, 1.520000, 1.560000, 1.610000, 1.660000, 1.720000, 1.780000, 1.850000, 1.910000, 1.990000, 2.060000, 2.170000, 2.270000, 2.360000, 2.470000, 2.600000, 2.750000, 2.930000, 3.130000, 4.410000, 4.400000, 4.310000, 4.260000, 4.250000, 4.230000, 4.220000, 4.210000, 4.200000, 4.190000, 4.180000, 4.180000, 4.180000, 4.180000, 4.170000, 4.180000, 4.180000, 4.190000, 4.190000, 4.200000, 4.200000, 4.210000, 4.220000, 4.240000, 4.250000, 4.260000, 4.280000, 4.300000, 4.320000, 4.330000, 4.340000, 4.370000, 4.390000, 4.420000, 4.450000, 4.510000, 7.180000, 7.110000, 7.110000, 7.560000, 7.580000, 7.650000, 7.720000, 7.790000, 5.760000, 5.260000, 5.110000, 5.090000, 5.120000, 5.170000, 5.240000, 5.300000, 5.370000, 5.450000, 5.530000, 5.610000, 5.700000, 5.800000, 5.880000, 5.980000, 6.090000, 6.200000, 6.310000, 6.440000, 6.580000, 6.730000, 6.870000, 7.020000, 7.180000, 7.350000, 7.550000, 3.140000, 3.100000, 3.090000, 3.080000, 3.080000, 3.080000, 3.070000, 3.070000, 3.060000, 3.060000, 3.060000, 3.060000, 3.060000, 3.040000, 2.570000, 2.190000, 1.920000, 1.740000, 1.400000, 1.380000, 1.290000, 1.200000, 1.130000, 1.070000, 1.010000, 0.970000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054820, 165436 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.568000, 9.279000, 1.677729 ], "estimate": [ 4.568000, 9.279000, 1.677729 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 0.990000, 1.010000, 1.030000, 1.090000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.170000, 1.210000, 1.230000, 1.260000, 1.280000, 1.320000, 1.350000, 1.380000, 1.410000, 1.450000, 1.490000, 1.540000, 1.580000, 1.640000, 1.690000, 1.740000, 1.810000, 1.880000, 1.950000, 2.040000, 2.120000, 2.210000, 2.300000, 2.420000, 2.540000, 2.680000, 2.830000, 3.020000, 4.380000, 4.350000, 4.330000, 4.230000, 4.210000, 4.190000, 4.170000, 4.170000, 4.160000, 4.150000, 4.140000, 4.140000, 4.140000, 4.140000, 4.130000, 4.130000, 4.130000, 4.140000, 4.140000, 4.150000, 4.160000, 4.170000, 4.170000, 4.170000, 4.180000, 4.200000, 4.220000, 4.230000, 4.250000, 4.260000, 4.280000, 4.310000, 4.330000, 4.350000, 4.380000, 4.410000, 7.260000, 7.070000, 7.030000, 7.090000, 7.500000, 7.550000, 7.620000, 7.690000, 7.760000, 7.850000, 5.410000, 5.100000, 5.040000, 5.080000, 5.140000, 5.210000, 5.270000, 5.350000, 5.420000, 5.490000, 5.570000, 5.680000, 5.760000, 5.860000, 5.960000, 6.060000, 6.170000, 6.290000, 6.410000, 6.560000, 6.740000, 6.870000, 7.010000, 7.180000, 7.350000, 7.550000, 7.770000, 3.140000, 3.080000, 3.070000, 3.060000, 3.050000, 3.050000, 3.050000, 3.040000, 3.050000, 3.040000, 3.040000, 3.040000, 3.040000, 3.240000, 2.540000, 2.220000, 1.980000, 1.800000, 1.560000, 1.390000, 1.370000, 1.300000, 1.220000, 1.160000, 1.100000, 1.060000, 1.000000, 0.960000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054820, 231104 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.562000, 9.335999, 1.647001 ], "estimate": [ 4.562000, 9.335999, 1.647001 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.800000, 0.810000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.820000, 0.830000, 0.830000, 0.850000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.890000, 0.910000, 0.910000, 0.910000, 0.930000, 0.950000, 0.950000, 0.970000, 0.980000, 1.000000, 1.050000, 1.030000, 1.040000, 1.050000, 1.060000, 1.090000, 1.100000, 1.130000, 1.140000, 1.160000, 1.190000, 1.220000, 1.250000, 1.270000, 1.290000, 1.330000, 1.360000, 1.400000, 1.420000, 1.470000, 1.510000, 1.560000, 1.610000, 1.660000, 1.720000, 1.770000, 1.840000, 1.920000, 2.000000, 2.070000, 2.170000, 2.270000, 2.370000, 2.480000, 2.620000, 2.770000, 2.940000, 4.340000, 4.300000, 4.290000, 4.220000, 4.160000, 4.150000, 4.130000, 4.110000, 4.110000, 4.100000, 4.080000, 4.090000, 4.080000, 4.070000, 4.070000, 4.070000, 4.070000, 4.070000, 4.080000, 4.080000, 4.100000, 4.100000, 4.110000, 4.120000, 4.130000, 4.140000, 4.160000, 4.170000, 4.180000, 4.200000, 4.220000, 4.230000, 4.260000, 4.280000, 4.320000, 4.340000, 4.370000, 7.240000, 7.090000, 7.010000, null, 7.460000, 7.530000, 7.590000, 7.680000, 7.750000, 5.660000, 5.200000, 5.050000, 5.000000, 5.050000, 5.110000, 5.180000, 5.240000, 5.320000, 5.390000, 5.470000, 5.570000, 5.650000, 5.750000, 5.850000, 5.940000, 6.050000, 6.170000, 6.280000, 6.420000, 6.570000, 6.720000, 6.870000, 7.030000, 7.180000, 7.380000, 7.580000, 7.790000, 3.140000, 3.060000, 3.050000, 3.040000, 3.040000, 3.030000, 3.030000, 3.030000, 3.020000, 3.020000, 3.020000, 3.030000, 3.030000, 3.060000, 2.870000, 2.460000, 2.190000, 1.990000, 1.810000, 1.620000, 1.500000, 1.380000, 1.370000, 1.300000, 1.240000, 1.190000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054820, 734581 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.558000, 9.395000, 1.628564 ], "estimate": [ 4.558000, 9.395000, 1.628564 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.810000, 0.830000, 0.820000, 0.820000, 0.820000, 0.840000, 0.840000, 0.840000, 0.830000, 0.850000, 0.850000, 0.870000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.920000, 0.940000, 0.950000, 0.970000, 1.000000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.120000, 1.130000, 1.150000, 1.170000, 1.200000, 1.240000, 1.260000, 1.280000, 1.320000, 1.350000, 1.390000, 1.420000, 1.450000, 1.500000, 1.550000, 1.590000, 1.650000, 1.710000, 1.770000, 1.830000, 1.900000, 1.990000, 2.070000, 2.160000, 2.260000, 2.350000, 2.470000, 2.600000, 2.760000, 2.930000, 4.270000, 4.260000, 4.230000, 4.130000, 4.100000, 4.080000, 4.070000, 4.050000, 4.050000, 4.040000, 4.040000, 4.030000, 4.020000, 4.030000, 4.030000, 4.030000, 4.030000, 4.030000, 4.030000, 4.030000, 4.040000, 4.040000, 4.050000, 4.060000, 4.070000, 4.080000, 4.100000, 4.120000, 4.140000, 4.160000, 4.160000, 4.190000, 4.200000, 4.230000, 4.250000, 4.280000, 4.320000, 7.190000, 7.000000, 6.970000, null, 7.420000, 7.470000, 7.540000, 7.620000, 7.700000, 7.780000, 5.420000, 5.040000, 4.950000, 4.980000, 5.060000, 5.120000, 5.200000, 5.250000, 5.330000, 5.420000, 5.490000, 5.580000, 5.690000, 5.770000, 5.860000, 5.980000, 6.100000, 6.200000, 6.350000, 6.480000, 6.650000, 6.770000, 6.930000, 7.110000, 7.290000, 7.480000, 7.710000, 7.910000, 3.080000, 3.030000, 3.030000, 3.020000, 3.010000, 3.010000, 3.010000, 3.000000, 3.010000, 3.010000, 3.010000, 3.010000, 3.020000, 3.440000, 2.780000, 2.450000, 2.210000, 2.020000, 1.860000, 1.680000, 1.580000, 1.490000, 1.380000, 1.370000, 1.310000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054820, 735723 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.554000, 9.454000, 1.634709 ], "estimate": [ 4.554000, 9.454000, 1.634709 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.800000, 0.800000, 0.810000, 0.800000, 0.810000, 0.820000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.870000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.960000, 0.950000, 0.970000, 0.980000, 0.990000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.170000, 1.200000, 1.230000, 1.260000, 1.280000, 1.320000, 1.350000, 1.390000, 1.420000, 1.460000, 1.500000, 1.550000, 1.600000, 1.650000, 1.720000, 1.780000, 1.850000, 1.910000, 2.010000, 2.090000, 2.180000, 2.280000, 2.390000, 2.510000, 2.660000, 2.810000, 4.300000, 4.200000, 4.170000, 4.150000, 4.040000, 4.030000, 4.010000, 4.000000, 3.990000, 3.980000, 3.970000, 3.960000, 3.950000, 3.960000, 3.960000, 3.950000, 3.960000, 3.960000, 3.950000, 3.960000, 3.970000, 3.980000, 3.990000, 3.990000, 4.000000, 4.020000, 4.030000, 4.040000, 4.060000, 4.060000, 4.090000, 4.100000, 4.130000, 4.160000, 4.170000, 4.200000, 4.220000, 4.260000, 7.140000, 6.970000, 6.910000, 7.350000, 7.370000, 7.440000, 7.510000, 7.580000, 7.660000, 5.550000, 5.150000, 4.960000, 4.910000, 4.950000, 5.010000, 5.070000, 5.140000, 5.220000, 5.300000, 5.370000, 5.450000, 5.550000, 5.650000, 5.730000, 5.840000, 5.960000, 6.070000, 6.190000, 6.310000, 6.460000, 6.630000, 6.760000, 6.920000, 7.090000, 7.270000, 7.490000, 7.700000, 7.910000, 8.150000, 3.020000, 3.000000, 3.000000, 3.000000, 2.990000, 2.990000, 2.990000, 2.990000, 2.990000, 2.990000, 3.000000, 3.000000, 3.010000, 3.060000, 2.660000, 2.380000, 2.190000, 2.010000, 1.840000, 1.710000, 1.620000, 1.550000, 1.470000, 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": [ 976054820, 921066 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.550000, 9.513000, 1.628564 ], "estimate": [ 4.550000, 9.513000, 1.628564 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.800000, 0.790000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.800000, 0.800000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.850000, 0.870000, 0.870000, 0.890000, 0.950000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.060000, 1.090000, 1.100000, 1.130000, 1.140000, 1.160000, 1.190000, 1.230000, 1.240000, 1.270000, 1.310000, 1.340000, 1.380000, 1.410000, 1.450000, 1.500000, 1.540000, 1.600000, 1.650000, 1.700000, 1.770000, 1.840000, 1.900000, 1.990000, 2.070000, 2.160000, 2.270000, 2.380000, 2.500000, 2.650000, 2.810000, 4.180000, 4.130000, 4.110000, 4.090000, 3.990000, 3.980000, 3.960000, 3.940000, 3.940000, 3.920000, 3.920000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.940000, 3.930000, 3.940000, 3.940000, 3.960000, 3.970000, 3.990000, 4.010000, 4.010000, 4.030000, 4.040000, 4.070000, 4.100000, 4.120000, 4.140000, 4.170000, 4.200000, 4.280000, 7.020000, 6.870000, null, 7.310000, 7.380000, 7.450000, 7.530000, 7.590000, 7.680000, 5.460000, 4.990000, 4.860000, 4.880000, 4.950000, 5.010000, 5.080000, 5.140000, 5.230000, 5.300000, 5.390000, 5.480000, 5.580000, 5.660000, 5.760000, 5.870000, 5.980000, 6.110000, 6.250000, 6.360000, 6.530000, 6.680000, 6.840000, 7.000000, 7.180000, 7.380000, 7.600000, 7.820000, 8.060000, 8.290000, 3.000000, 2.980000, 2.980000, 2.980000, 2.980000, 2.970000, 2.970000, 2.970000, 2.980000, 2.980000, 2.980000, 2.990000, 3.000000, 3.050000, 2.680000, 2.430000, 2.240000, 2.060000, 1.920000, 1.790000, 1.700000, 1.620000, 1.560000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054822, 248466 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.546000, 9.571000, 1.628564 ], "estimate": [ 4.546000, 9.571000, 1.628564 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.830000, 0.860000, 0.910000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.940000, 0.940000, 0.960000, 0.970000, 0.990000, 1.000000, 1.000000, 1.010000, 1.030000, 1.050000, 1.080000, 1.100000, 1.110000, 1.130000, 1.160000, 1.180000, 1.210000, 1.240000, 1.260000, 1.290000, 1.320000, 1.360000, 1.400000, 1.440000, 1.480000, 1.530000, 1.580000, 1.640000, 1.690000, 1.760000, 1.810000, 1.890000, 1.970000, 2.060000, 2.140000, 2.240000, 2.350000, 2.480000, 2.620000, 2.780000, 4.110000, 4.090000, 4.070000, 4.010000, 3.930000, 3.910000, 3.900000, 3.890000, 3.880000, 3.880000, 3.870000, 3.860000, 3.850000, 3.850000, 3.850000, 3.850000, 3.850000, 3.850000, 3.860000, 3.870000, 3.860000, 3.870000, 3.880000, 3.890000, 3.890000, 3.900000, 3.910000, 3.920000, 3.940000, 3.950000, 3.960000, 3.990000, 4.010000, 4.030000, 4.050000, 4.080000, 4.110000, 4.140000, 4.170000, 6.820000, 6.780000, null, 7.250000, 7.310000, 7.380000, 7.450000, 7.530000, 7.600000, 5.460000, 4.990000, 4.870000, 4.820000, 4.870000, 4.930000, 5.000000, 5.070000, 5.140000, 5.230000, 5.300000, 5.390000, 5.480000, 5.590000, 5.680000, 5.780000, 5.890000, 6.000000, 6.140000, 6.260000, 6.410000, 6.570000, 6.740000, 6.890000, 7.060000, 7.260000, 7.480000, 7.700000, 7.930000, 8.160000, 8.440000, 2.990000, 2.960000, 2.960000, 2.960000, 2.960000, 2.960000, 2.960000, 2.960000, 2.970000, 2.960000, 2.970000, 2.970000, 2.990000, 3.090000, 2.740000, 2.490000, 2.310000, 2.130000, 2.000000, 1.890000, 1.790000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054822, 249657 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.543000, 9.629001, 1.628564 ], "estimate": [ 4.543000, 9.629001, 1.628564 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.780000, 0.780000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.840000, 0.890000, 0.850000, 0.840000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.910000, 0.930000, 0.930000, 0.950000, 0.970000, 0.970000, 0.980000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.250000, 1.290000, 1.320000, 1.350000, 1.390000, 1.420000, 1.470000, 1.520000, 1.560000, 1.630000, 1.680000, 1.740000, 1.800000, 1.880000, 1.960000, 2.030000, 2.120000, 2.230000, 2.340000, 2.460000, 2.600000, 2.760000, 4.050000, 4.030000, 4.000000, 3.900000, 3.880000, 3.870000, 3.850000, 3.840000, 3.820000, 3.820000, 3.810000, 3.810000, 3.800000, 3.800000, 3.800000, 3.790000, 3.790000, 3.800000, 3.800000, 3.810000, 3.810000, 3.820000, 3.830000, 3.830000, 3.840000, 3.850000, 3.860000, 3.880000, 3.890000, 3.900000, 3.910000, 3.930000, 3.950000, 3.970000, 4.000000, 4.030000, 4.050000, 4.090000, 4.110000, 6.800000, 6.770000, 6.780000, 7.220000, 7.250000, 7.330000, 7.390000, 7.470000, 7.550000, 5.450000, 5.350000, 4.880000, 4.780000, 4.800000, 4.870000, 4.940000, 5.010000, 5.070000, 5.150000, 5.230000, 5.330000, 5.410000, 5.520000, 5.610000, 5.710000, 5.820000, 5.930000, 6.060000, 6.180000, 6.340000, 6.490000, 6.650000, 6.800000, 6.980000, 7.170000, 7.380000, 7.600000, 7.820000, 8.060000, 8.340000, 3.020000, 2.950000, 2.950000, 2.950000, 2.950000, 2.950000, 2.950000, 2.950000, 2.950000, 2.960000, 2.960000, 2.960000, 2.970000, 2.980000, 3.040000, 2.730000, 2.510000, 2.330000, 2.170000, 2.030000, 1.930000, 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": [ 976054822, 250723 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.539000, 9.685000, 1.647001 ], "estimate": [ 4.539000, 9.685000, 1.647001 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.790000, 0.800000, 0.810000, 0.810000, 0.800000, 0.870000, 0.840000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.880000, 0.880000, 0.900000, 0.910000, 0.900000, 0.930000, 0.930000, 0.950000, 0.970000, 0.980000, 0.990000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.140000, 1.150000, 1.170000, 1.200000, 1.240000, 1.270000, 1.290000, 1.340000, 1.370000, 1.400000, 1.450000, 1.490000, 1.540000, 1.590000, 1.640000, 1.710000, 1.770000, 1.830000, 1.910000, 2.000000, 2.070000, 2.170000, 2.280000, 2.390000, 2.520000, 2.660000, 4.000000, 3.980000, 3.960000, 3.920000, 3.830000, 3.800000, 3.790000, 3.780000, 3.770000, 3.770000, 3.760000, 3.750000, 3.740000, 3.740000, 3.740000, 3.740000, 3.740000, 3.740000, 3.750000, 3.750000, 3.750000, 3.760000, 3.760000, 3.780000, 3.780000, 3.790000, 3.800000, 3.800000, 3.820000, 3.840000, 3.860000, 3.870000, 3.880000, 3.900000, 3.930000, 3.940000, 3.970000, 4.000000, 4.020000, 4.060000, 6.730000, 6.710000, 6.770000, 7.150000, 7.230000, 7.300000, 7.370000, 7.450000, 7.530000, 5.380000, 4.980000, 4.800000, 4.740000, 4.770000, 4.830000, 4.900000, 4.970000, 5.050000, 5.120000, 5.210000, 5.290000, 5.380000, 5.480000, 5.590000, 5.680000, 5.790000, 5.920000, 6.030000, 6.170000, 6.320000, 6.480000, 6.630000, 6.790000, 6.970000, 7.170000, 7.390000, 7.610000, 7.840000, 8.090000, 8.380000, 9.790000, 2.980000, 2.930000, 2.930000, 2.930000, 2.930000, 2.930000, 2.930000, 2.940000, 2.940000, 2.950000, 2.950000, 2.960000, 2.960000, 2.980000, 2.830000, 2.610000, 2.430000, 2.270000, 2.140000, 2.040000, 1.950000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054822, 251742 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.533000, 9.744000, 1.690020 ], "estimate": [ 4.533000, 9.744000, 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": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.800000, 0.840000, 0.810000, 0.810000, 0.810000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.850000, 0.860000, 0.870000, 0.890000, 0.890000, 0.890000, 0.920000, 0.920000, 0.930000, 0.950000, 0.970000, 0.980000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.120000, 1.130000, 1.150000, 1.180000, 1.200000, 1.240000, 1.270000, 1.300000, 1.340000, 1.360000, 1.400000, 1.450000, 1.500000, 1.540000, 1.600000, 1.650000, 1.700000, 1.770000, 1.850000, 1.920000, 2.000000, 2.080000, 2.180000, 2.300000, 2.410000, 2.550000, 2.810000, 3.940000, 3.920000, 3.890000, 3.780000, 3.770000, 3.750000, 3.740000, 3.730000, 3.720000, 3.710000, 3.710000, 3.700000, 3.700000, 3.700000, 3.700000, 3.680000, 3.690000, 3.690000, 3.690000, 3.700000, 3.700000, 3.700000, 3.710000, 3.720000, 3.730000, 3.740000, 3.750000, 3.760000, 3.770000, 3.790000, 3.800000, 3.820000, 3.840000, 3.860000, 3.870000, 3.890000, 3.920000, 3.950000, 3.990000, 4.020000, 6.900000, 6.670000, null, 7.110000, 7.180000, 7.250000, 7.330000, 7.400000, 7.480000, 5.370000, 5.100000, 4.770000, 4.690000, 4.710000, 4.780000, 4.840000, 4.920000, 4.990000, 5.060000, 5.150000, 5.240000, 5.320000, 5.420000, 5.520000, 5.610000, 5.730000, 5.840000, 5.970000, 6.110000, 6.260000, 6.420000, 6.570000, 6.730000, 6.910000, 7.100000, 7.310000, 7.560000, 7.770000, 8.030000, 8.290000, 8.880000, 3.010000, 2.940000, 2.910000, 2.910000, 2.910000, 2.910000, 2.920000, 2.920000, 2.920000, 2.930000, 2.940000, 2.940000, 2.950000, 2.960000, 3.050000, 2.780000, 2.570000, 2.420000, 2.270000, 2.150000, 2.050000, 1.960000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054822, 252670 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.523000, 9.805000, 1.733038 ], "estimate": [ 4.523000, 9.805000, 1.733038 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.790000, 0.800000, 0.790000, 0.780000, 0.800000, 0.800000, 0.830000, 0.810000, 0.800000, 0.800000, 0.820000, 0.820000, 0.810000, 0.820000, 0.830000, 0.840000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.910000, 0.910000, 0.930000, 0.930000, 0.950000, 0.960000, 0.980000, 0.980000, 1.000000, 1.020000, 1.030000, 1.060000, 1.080000, 1.100000, 1.110000, 1.140000, 1.160000, 1.190000, 1.220000, 1.250000, 1.280000, 1.310000, 1.350000, 1.390000, 1.420000, 1.460000, 1.510000, 1.560000, 1.610000, 1.670000, 1.730000, 1.800000, 1.870000, 1.940000, 2.030000, 2.110000, 2.210000, 2.320000, 2.460000, 2.590000, 4.010000, 3.860000, 3.850000, 3.820000, 3.720000, 3.700000, 3.690000, 3.680000, 3.660000, 3.650000, 3.650000, 3.640000, 3.640000, 3.640000, 3.630000, 3.630000, 3.640000, 3.630000, 3.640000, 3.640000, 3.640000, 3.640000, 3.640000, 3.650000, 3.660000, 3.670000, 3.680000, 3.700000, 3.700000, 3.710000, 3.730000, 3.750000, 3.770000, 3.780000, 3.790000, 3.810000, 3.840000, 3.870000, 3.890000, 3.910000, 3.940000, 6.630000, 6.570000, 6.680000, 7.060000, 7.120000, 7.190000, 7.260000, 7.330000, 7.420000, 5.320000, 5.220000, 4.760000, 4.640000, 4.640000, 4.700000, 4.780000, 4.850000, 4.920000, 5.000000, 5.070000, 5.170000, 5.250000, 5.350000, 5.450000, 5.560000, 5.660000, 5.790000, 5.900000, 6.030000, 6.160000, 6.340000, 6.500000, 6.660000, 6.840000, 7.020000, 7.240000, 7.470000, 7.690000, 7.940000, 8.220000, 8.510000, 9.680000, 2.970000, 2.900000, 2.880000, 2.880000, 2.880000, 2.880000, 2.890000, 2.890000, 2.900000, 2.910000, 2.920000, 2.930000, 2.930000, 2.950000, 3.030000, 2.790000, 2.600000, 2.440000, 2.310000, 2.210000, 2.110000, 2.020000, 1.940000, 1.870000, 1.810000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054822, 253613 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.514000, 9.862000, 1.726893 ], "estimate": [ 4.514000, 9.862000, 1.726893 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.810000, 0.780000, 0.790000, 0.780000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.850000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.880000, 0.880000, 0.900000, 0.900000, 0.900000, 0.920000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.190000, 1.230000, 1.250000, 1.290000, 1.320000, 1.360000, 1.390000, 1.430000, 1.470000, 1.520000, 1.560000, 1.630000, 1.690000, 1.730000, 1.800000, 1.870000, 1.960000, 2.040000, 2.130000, 2.230000, 2.330000, 2.470000, 4.050000, 3.850000, 3.820000, 3.790000, 3.770000, 3.660000, 3.640000, 3.630000, 3.630000, 3.620000, 3.610000, 3.600000, 3.600000, 3.590000, 3.590000, 3.590000, 3.580000, 3.580000, 3.580000, 3.580000, 3.590000, 3.590000, 3.590000, 3.590000, 3.600000, 3.620000, 3.630000, 3.630000, 3.630000, 3.640000, 3.660000, 3.670000, 3.690000, 3.700000, 3.720000, 3.740000, 3.760000, 3.780000, 3.800000, 3.840000, 3.870000, 3.890000, 3.950000, 6.510000, 6.600000, 6.980000, 7.070000, 7.140000, 7.210000, 7.280000, 7.370000, 7.440000, 5.220000, 4.780000, 4.670000, 4.600000, 4.640000, 4.710000, 4.790000, 4.850000, 4.930000, 5.010000, 5.090000, 5.180000, 5.290000, 5.390000, 5.480000, 5.600000, 5.710000, 5.820000, 5.960000, 6.100000, 6.250000, 6.400000, 6.590000, 6.760000, 6.940000, 7.150000, 7.380000, 7.620000, 7.850000, 8.110000, 8.410000, 9.680000, 9.590000, 3.010000, 2.890000, 2.870000, 2.870000, 2.870000, 2.870000, 2.870000, 2.880000, 2.880000, 2.890000, 2.900000, 2.910000, 2.930000, 2.940000, 3.030000, 2.820000, 2.630000, 2.480000, 2.340000, 2.240000, 2.150000, 2.070000, 1.980000, 1.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054822, 254531 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.505000, 9.917000, 1.733038 ], "estimate": [ 4.505000, 9.917000, 1.733038 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.770000, 0.790000, 0.840000, 0.820000, 0.790000, 0.790000, 0.780000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.830000, 0.840000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.920000, 0.930000, 0.940000, 0.960000, 0.980000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.060000, 1.100000, 1.120000, 1.130000, 1.140000, 1.180000, 1.220000, 1.240000, 1.260000, 1.300000, 1.340000, 1.380000, 1.410000, 1.460000, 1.500000, 1.550000, 1.610000, 1.660000, 1.710000, 1.780000, 1.850000, 1.910000, 2.000000, 2.090000, 2.190000, 2.300000, 2.420000, 2.550000, 3.800000, 3.750000, 3.740000, 3.720000, 3.610000, 3.590000, 3.590000, 3.570000, 3.560000, 3.550000, 3.550000, 3.550000, 3.540000, 3.530000, 3.530000, 3.520000, 3.520000, 3.520000, 3.530000, 3.530000, 3.530000, 3.540000, 3.530000, 3.540000, 3.560000, 3.560000, 3.560000, 3.570000, 3.590000, 3.600000, 3.620000, 3.620000, 3.640000, 3.660000, 3.680000, 3.700000, 3.710000, 3.740000, 3.760000, 3.790000, 3.810000, 3.850000, 6.490000, 6.500000, 6.620000, 6.970000, 7.040000, 7.110000, 7.190000, 7.260000, 7.340000, 5.220000, 5.130000, 4.690000, 4.570000, 4.540000, 4.610000, 4.690000, 4.750000, 4.820000, 4.900000, 4.990000, 5.070000, 5.160000, 5.250000, 5.360000, 5.460000, 5.580000, 5.690000, 5.810000, 5.950000, 6.100000, 6.240000, 6.410000, 6.590000, 6.750000, 6.960000, 7.160000, 7.390000, 7.640000, 7.880000, 8.170000, 8.490000, 9.620000, 9.560000, 9.480000, 2.900000, 2.840000, 2.850000, 2.850000, 2.860000, 2.860000, 2.870000, 2.870000, 2.870000, 2.880000, 2.890000, 2.910000, 2.920000, 2.940000, 2.870000, 2.680000, 2.540000, 2.420000, 2.320000, 2.220000, 2.140000, 2.050000 ], "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": [ 976054822, 468219 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.494000, 9.974000, 1.776057 ], "estimate": [ 4.494000, 9.974000, 1.776057 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.770000, 0.770000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.870000, 0.880000, 0.880000, 0.900000, 0.900000, 0.900000, 0.920000, 0.930000, 0.950000, 0.960000, 0.980000, 0.980000, 1.000000, 1.020000, 1.030000, 1.060000, 1.080000, 1.090000, 1.120000, 1.140000, 1.160000, 1.180000, 1.220000, 1.240000, 1.270000, 1.310000, 1.350000, 1.380000, 1.410000, 1.460000, 1.510000, 1.550000, 1.600000, 1.650000, 1.710000, 1.770000, 1.840000, 1.910000, 2.000000, 2.080000, 2.180000, 2.290000, 2.410000, 3.940000, 3.730000, 3.720000, 3.700000, 3.650000, 3.560000, 3.540000, 3.530000, 3.520000, 3.510000, 3.500000, 3.500000, 3.490000, 3.480000, 3.480000, 3.470000, 3.470000, 3.480000, 3.470000, 3.480000, 3.470000, 3.470000, 3.480000, 3.490000, 3.490000, 3.510000, 3.510000, 3.520000, 3.530000, 3.540000, 3.550000, 3.560000, 3.560000, 3.590000, 3.610000, 3.620000, 3.640000, 3.670000, 3.690000, 3.700000, 3.730000, 3.760000, 3.780000, 3.860000, 6.460000, 6.520000, 6.910000, 6.970000, 7.050000, 7.120000, 7.200000, 7.270000, 7.360000, 5.130000, 4.680000, 4.590000, 4.510000, 4.530000, 4.610000, 4.670000, 4.750000, 4.820000, 4.910000, 4.990000, 5.070000, 5.170000, 5.280000, 5.370000, 5.480000, 5.590000, 5.720000, 5.840000, 5.990000, 6.130000, 6.310000, 6.470000, 6.640000, 6.830000, 7.030000, 7.260000, 7.500000, 7.740000, 8.020000, 8.300000, 9.620000, 9.560000, 9.480000, 3.440000, 2.870000, 2.820000, 2.830000, 2.830000, 2.830000, 2.840000, 2.850000, 2.850000, 2.860000, 2.870000, 2.880000, 2.890000, 2.910000, 2.930000, 2.850000, 2.690000, 2.550000, 2.440000, 2.330000, 2.240000, 2.160000, 2.090000, 2.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054822, 680152 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.479000, 10.034000, 1.837512 ], "estimate": [ 4.479000, 10.034000, 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": [ 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.890000, 0.900000, 0.900000, 0.900000, 0.920000, 0.920000, 0.940000, 0.960000, 0.970000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.070000, 1.080000, 1.090000, 1.120000, 1.140000, 1.170000, 1.190000, 1.220000, 1.240000, 1.280000, 1.310000, 1.350000, 1.400000, 1.420000, 1.460000, 1.510000, 1.550000, 1.600000, 1.660000, 1.720000, 1.780000, 1.840000, 1.920000, 2.000000, 2.080000, 2.180000, 2.300000, 2.400000, 3.870000, 3.660000, 3.640000, 3.630000, 3.540000, 3.500000, 3.490000, 3.470000, 3.460000, 3.440000, 3.440000, 3.440000, 3.430000, 3.430000, 3.420000, 3.430000, 3.420000, 3.420000, 3.410000, 3.420000, 3.420000, 3.420000, 3.420000, 3.430000, 3.430000, 3.440000, 3.440000, 3.450000, 3.460000, 3.470000, 3.480000, 3.490000, 3.510000, 3.530000, 3.530000, 3.550000, 3.570000, 3.590000, 3.620000, 3.630000, 3.670000, 3.680000, 3.710000, 3.750000, 6.370000, 6.370000, 6.560000, 6.880000, 6.950000, 7.030000, 7.100000, 7.180000, 7.270000, 5.140000, 5.010000, 4.590000, 4.460000, 4.460000, 4.510000, 4.570000, 4.640000, 4.720000, 4.800000, 4.880000, 4.970000, 5.050000, 5.160000, 5.260000, 5.360000, 5.460000, 5.590000, 5.710000, 5.840000, 5.990000, 6.140000, 6.300000, 6.480000, 6.660000, 6.870000, 7.080000, 7.300000, 7.560000, 7.820000, 8.080000, 8.410000, 9.560000, 9.480000, 9.420000, 3.650000, 2.850000, 2.800000, 2.800000, 2.800000, 2.800000, 2.810000, 2.820000, 2.830000, 2.840000, 2.850000, 2.860000, 2.870000, 2.880000, 2.890000, 2.910000, 2.740000, 2.610000, 2.500000, 2.390000, 2.300000, 2.220000, 2.140000, 2.070000, 1.990000, 1.940000, 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": [ 976054822, 813575 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.462000, 10.089001, 1.905113 ], "estimate": [ 4.462000, 10.089001, 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": [ 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.870000, 0.880000, 0.890000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.130000, 1.140000, 1.170000, 1.200000, 1.230000, 1.250000, 1.280000, 1.320000, 1.360000, 1.400000, 1.420000, 1.470000, 1.510000, 1.550000, 1.600000, 1.650000, 1.710000, 1.760000, 1.830000, 1.900000, 1.980000, 2.060000, 2.150000, 2.260000, 2.350000, 3.840000, 3.630000, 3.610000, 3.590000, 3.570000, 3.450000, 3.430000, 3.430000, 3.420000, 3.400000, 3.390000, 3.390000, 3.380000, 3.380000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.380000, 3.380000, 3.400000, 3.400000, 3.410000, 3.420000, 3.430000, 3.430000, 3.440000, 3.460000, 3.470000, 3.480000, 3.510000, 3.530000, 3.550000, 3.570000, 3.590000, 3.610000, 3.650000, 3.670000, 3.710000, 6.340000, 6.380000, 6.620000, 6.850000, 6.930000, 7.000000, 7.070000, 7.160000, 7.240000, 5.060000, 4.960000, 4.510000, 4.410000, 4.400000, 4.460000, 4.530000, 4.600000, 4.680000, 4.760000, 4.850000, 4.930000, 5.030000, 5.120000, 5.230000, 5.330000, 5.430000, 5.550000, 5.680000, 5.820000, 5.960000, 6.110000, 6.280000, 6.460000, 6.650000, 6.840000, 7.050000, 7.290000, 7.550000, 7.810000, 8.090000, 8.620000, 9.510000, 9.450000, 9.370000, 4.050000, 2.870000, 2.810000, 2.770000, 2.780000, 2.780000, 2.790000, 2.800000, 2.800000, 2.810000, 2.820000, 2.840000, 2.850000, 2.860000, 2.870000, 2.880000, 2.820000, 2.690000, 2.550000, 2.450000, 2.360000, 2.270000, 2.200000, 2.130000, 2.060000, 1.990000, 1.950000, 1.890000, 1.840000, 1.800000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054823, 334205 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.441000, 10.142000, 1.991150 ], "estimate": [ 4.441000, 10.142000, 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": [ 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.870000, 0.880000, 0.900000, 0.890000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 0.990000, 0.990000, 1.010000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.110000, 1.140000, 1.150000, 1.180000, 1.210000, 1.240000, 1.250000, 1.280000, 1.320000, 1.350000, 1.390000, 1.420000, 1.460000, 1.500000, 1.550000, 1.590000, 1.650000, 1.690000, 1.760000, 1.810000, 1.890000, 1.960000, 2.040000, 2.130000, 2.240000, 2.330000, 3.790000, 3.580000, 3.560000, 3.550000, 3.520000, 3.410000, 3.390000, 3.390000, 3.360000, 3.360000, 3.350000, 3.340000, 3.330000, 3.320000, 3.320000, 3.310000, 3.310000, 3.310000, 3.300000, 3.300000, 3.300000, 3.310000, 3.310000, 3.310000, 3.320000, 3.320000, 3.340000, 3.340000, 3.340000, 3.350000, 3.370000, 3.380000, 3.380000, 3.400000, 3.410000, 3.420000, 3.440000, 3.450000, 3.470000, 3.500000, 3.520000, 3.540000, 3.560000, 3.590000, 3.610000, 3.660000, 6.330000, 6.670000, 6.760000, 6.820000, 6.880000, 6.950000, 7.030000, 7.110000, 7.190000, 4.980000, 4.740000, 4.450000, 4.340000, 4.350000, 4.400000, 4.460000, 4.530000, 4.620000, 4.690000, 4.780000, 4.860000, 4.960000, 5.050000, 5.170000, 5.260000, 5.370000, 5.490000, 5.610000, 5.750000, 5.890000, 6.060000, 6.210000, 6.400000, 6.590000, 6.780000, 7.010000, 7.230000, 7.480000, 7.740000, 8.040000, 8.370000, 9.470000, 9.400000, 9.340000, 9.290000, 3.300000, 2.780000, 2.740000, 2.740000, 2.740000, 2.750000, 2.760000, 2.770000, 2.780000, 2.790000, 2.800000, 2.810000, 2.820000, 2.840000, 2.850000, 2.870000, 2.760000, 2.640000, 2.530000, 2.430000, 2.350000, 2.260000, 2.190000, 2.120000, 2.060000, 1.990000, 1.940000, 1.900000, 1.850000, 1.800000, 1.770000, 1.730000, 1.690000, 1.660000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054823, 335387 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.416000, 10.194000, 2.015732 ], "estimate": [ 4.416000, 10.194000, 2.015732 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.960000, 0.960000, 0.970000, 0.990000, 0.990000, 0.990000, 1.000000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.150000, 1.180000, 1.200000, 1.240000, 1.250000, 1.280000, 1.320000, 1.370000, 1.390000, 1.420000, 1.450000, 1.490000, 1.540000, 1.570000, 1.630000, 1.680000, 1.730000, 1.800000, 1.850000, 1.920000, 2.000000, 2.080000, 2.170000, 2.280000, 3.770000, 3.750000, 3.540000, 3.520000, 3.510000, 3.480000, 3.370000, 3.350000, 3.330000, 3.320000, 3.320000, 3.290000, 3.290000, 3.280000, 3.280000, 3.270000, 3.270000, 3.270000, 3.270000, 3.260000, 3.260000, 3.260000, 3.270000, 3.270000, 3.270000, 3.270000, 3.270000, 3.280000, 3.290000, 3.290000, 3.300000, 3.310000, 3.320000, 3.340000, 3.340000, 3.360000, 3.380000, 3.390000, 3.410000, 3.420000, 3.430000, 3.460000, 3.480000, 3.510000, 3.530000, 3.570000, 3.600000, 6.200000, 6.290000, 6.530000, 6.760000, 6.830000, 6.890000, 6.960000, 7.050000, 7.130000, 7.220000, 4.900000, 4.470000, 4.380000, 4.290000, 4.340000, 4.400000, 4.460000, 4.540000, 4.620000, 4.700000, 4.790000, 4.870000, 4.980000, 5.070000, 5.180000, 5.280000, 5.400000, 5.520000, 5.660000, 5.800000, 5.950000, 6.130000, 6.280000, 6.460000, 6.660000, 6.870000, 7.100000, 7.340000, 7.600000, 7.870000, 8.190000, 9.480000, 9.420000, 9.350000, 9.300000, 9.240000, 3.480000, 2.790000, 2.760000, 2.710000, 2.720000, 2.720000, 2.730000, 2.740000, 2.750000, 2.760000, 2.770000, 2.790000, 2.800000, 2.810000, 2.830000, 2.840000, 2.820000, 2.700000, 2.580000, 2.480000, 2.390000, 2.310000, 2.240000, 2.170000, 2.110000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.810000, 1.770000, 1.740000, 1.700000, 1.660000, 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": [ 976054823, 441413 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.390000, 10.249001, 1.985005 ], "estimate": [ 4.390000, 10.249001, 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": [ 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.990000, 1.000000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.210000, 1.240000, 1.260000, 1.300000, 1.320000, 1.360000, 1.390000, 1.420000, 1.450000, 1.500000, 1.540000, 1.580000, 1.630000, 1.670000, 1.720000, 1.790000, 1.850000, 1.910000, 2.000000, 2.070000, 2.160000, 2.270000, 3.730000, 3.720000, 3.500000, 3.480000, 3.430000, 3.420000, 3.320000, 3.290000, 3.280000, 3.270000, 3.260000, 3.250000, 3.250000, 3.240000, 3.230000, 3.230000, 3.210000, 3.210000, 3.210000, 3.210000, 3.200000, 3.210000, 3.210000, 3.210000, 3.210000, 3.220000, 3.220000, 3.220000, 3.230000, 3.230000, 3.250000, 3.260000, 3.260000, 3.270000, 3.280000, 3.280000, 3.300000, 3.310000, 3.320000, 3.350000, 3.360000, 3.390000, 3.410000, 3.430000, 3.460000, 3.480000, 3.510000, 3.550000, 6.160000, 6.250000, 6.630000, 6.700000, 6.780000, 6.840000, 6.920000, 7.000000, 7.090000, 7.170000, 4.850000, 4.430000, 4.320000, 4.230000, 4.280000, 4.340000, 4.410000, 4.480000, 4.560000, 4.650000, 4.730000, 4.820000, 4.920000, 5.020000, 5.140000, 5.230000, 5.350000, 5.460000, 5.600000, 5.740000, 5.890000, 6.060000, 6.240000, 6.410000, 6.600000, 6.820000, 7.050000, 7.300000, 7.550000, 7.840000, 8.150000, 9.450000, 9.380000, 9.320000, 9.260000, 9.210000, 3.890000, 3.190000, 2.750000, 2.690000, 2.680000, 2.690000, 2.700000, 2.700000, 2.720000, 2.720000, 2.740000, 2.750000, 2.770000, 2.780000, 2.800000, 2.810000, 2.840000, 2.800000, 2.690000, 2.570000, 2.480000, 2.400000, 2.330000, 2.240000, 2.180000, 2.120000, 2.070000, 2.010000, 1.960000, 1.910000, 1.880000, 1.840000, 1.800000, 1.760000 ], "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": [ 976054823, 836828 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.365000, 10.305000, 1.997296 ], "estimate": [ 4.365000, 10.305000, 1.997296 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.960000, 0.960000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.140000, 1.160000, 1.190000, 1.210000, 1.230000, 1.250000, 1.300000, 1.310000, 1.330000, 1.370000, 1.390000, 1.420000, 1.460000, 1.510000, 1.550000, 1.570000, 1.630000, 1.670000, 1.730000, 1.790000, 1.860000, 1.910000, 1.980000, 2.060000, 2.150000, 3.700000, 3.680000, 3.660000, 3.450000, 3.420000, 3.390000, 3.370000, 3.270000, 3.250000, 3.240000, 3.220000, 3.220000, 3.200000, 3.190000, 3.180000, 3.170000, 3.160000, 3.160000, 3.160000, 3.160000, 3.150000, 3.150000, 3.150000, 3.150000, 3.150000, 3.140000, 3.160000, 3.160000, 3.160000, 3.170000, 3.180000, 3.190000, 3.190000, 3.200000, 3.210000, 3.220000, 3.230000, 3.250000, 3.260000, 3.260000, 3.280000, 3.300000, 3.320000, 3.340000, 3.360000, 3.380000, 3.420000, 3.420000, 3.460000, 3.530000, 6.130000, 6.580000, 6.600000, 6.670000, 6.750000, 6.820000, 6.890000, 6.970000, 7.060000, 4.820000, 4.750000, 4.330000, 4.240000, 4.190000, 4.230000, 4.300000, 4.360000, 4.440000, 4.530000, 4.610000, 4.690000, 4.800000, 4.880000, 4.980000, 5.070000, 5.190000, 5.300000, 5.430000, 5.570000, 5.700000, 5.860000, 6.050000, 6.210000, 6.390000, 6.590000, 6.810000, 7.040000, 7.300000, 7.550000, 7.840000, 8.160000, 9.380000, 9.320000, 9.260000, 9.210000, 9.160000, 3.860000, 3.250000, 2.780000, 2.700000, 2.650000, 2.650000, 2.660000, 2.670000, 2.690000, 2.700000, 2.710000, 2.720000, 2.740000, 2.750000, 2.770000, 2.790000, 2.800000, 2.840000, 2.720000, 2.610000, 2.530000, 2.440000, 2.370000, 2.290000, 2.230000, 2.150000, 2.110000, 2.050000, 2.000000, 1.950000, 1.910000, 1.870000, 1.830000, 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": [ 976054823, 837970 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.342000, 10.356000, 2.009587 ], "estimate": [ 4.342000, 10.356000, 2.009587 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.940000, 0.940000, 0.940000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.000000, 1.020000, 1.020000, 1.030000, 1.050000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.220000, 1.260000, 1.270000, 1.300000, 1.310000, 1.340000, 1.370000, 1.400000, 1.430000, 1.470000, 1.510000, 1.550000, 1.590000, 1.640000, 1.670000, 1.730000, 1.790000, 1.850000, 1.910000, 1.980000, 2.060000, 2.140000, 3.660000, 3.640000, 3.620000, 3.410000, 3.370000, 3.360000, 3.340000, 3.230000, 3.200000, 3.190000, 3.180000, 3.160000, 3.160000, 3.140000, 3.130000, 3.130000, 3.120000, 3.110000, 3.110000, 3.100000, 3.100000, 3.090000, 3.100000, 3.100000, 3.100000, 3.100000, 3.100000, 3.100000, 3.110000, 3.110000, 3.120000, 3.120000, 3.140000, 3.130000, 3.150000, 3.160000, 3.160000, 3.180000, 3.190000, 3.200000, 3.220000, 3.240000, 3.260000, 3.260000, 3.280000, 3.300000, 3.330000, 3.360000, 3.390000, 3.410000, 6.090000, 6.100000, 6.530000, 6.560000, 6.630000, 6.700000, 6.780000, 6.850000, 6.930000, 7.020000, 4.770000, 4.700000, 4.270000, 4.200000, 4.140000, 4.170000, 4.240000, 4.320000, 4.390000, 4.470000, 4.550000, 4.640000, 4.730000, 4.820000, 4.940000, 5.040000, 5.140000, 5.260000, 5.380000, 5.520000, 5.660000, 5.820000, 5.990000, 6.160000, 6.330000, 6.540000, 6.750000, 6.980000, 7.240000, 7.510000, 7.800000, 8.120000, 9.360000, 9.290000, 9.230000, 9.180000, 9.120000, 9.090000, 3.550000, 3.080000, 2.720000, 2.670000, 2.620000, 2.620000, 2.630000, 2.650000, 2.660000, 2.670000, 2.680000, 2.700000, 2.720000, 2.730000, 2.750000, 2.770000, 2.790000, 2.810000, 2.700000, 2.600000, 2.520000, 2.430000, 2.360000, 2.290000, 2.230000, 2.170000, 2.120000, 2.060000, 2.010000, 1.980000, 1.930000, 1.890000, 1.850000, 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": [ 976054824, 612910 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.322000, 10.396999, 2.003441 ], "estimate": [ 4.322000, 10.396999, 2.003441 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 0.990000, 1.000000, 1.000000, 1.020000, 1.020000, 1.030000, 1.050000, 1.050000, 1.060000, 1.080000, 1.100000, 1.100000, 1.120000, 1.140000, 1.150000, 1.170000, 1.190000, 1.220000, 1.250000, 1.250000, 1.280000, 1.310000, 1.340000, 1.360000, 1.390000, 1.410000, 1.460000, 1.490000, 1.530000, 1.560000, 1.600000, 1.650000, 1.700000, 1.740000, 1.800000, 1.870000, 1.930000, 2.010000, 2.080000, 3.650000, 3.620000, 3.600000, 3.570000, 3.370000, 3.340000, 3.310000, 3.290000, 3.180000, 3.160000, 3.150000, 3.130000, 3.120000, 3.110000, 3.100000, 3.090000, 3.090000, 3.080000, 3.070000, 3.060000, 3.050000, 3.050000, 3.050000, 3.050000, 3.050000, 3.040000, 3.040000, 3.050000, 3.060000, 3.060000, 3.060000, 3.080000, 3.080000, 3.090000, 3.100000, 3.110000, 3.120000, 3.120000, 3.130000, 3.140000, 3.160000, 3.160000, 3.180000, 3.200000, 3.230000, 3.240000, 3.250000, 3.270000, 3.300000, 3.330000, 3.370000, 3.420000, 6.040000, 6.490000, 6.500000, 6.580000, 6.650000, 6.720000, 6.800000, 6.860000, 6.950000, 4.750000, 4.690000, 4.270000, 4.170000, 4.100000, 4.120000, 4.180000, 4.250000, 4.320000, 4.400000, 4.470000, 4.560000, 4.650000, 4.750000, 4.850000, 4.950000, 5.060000, 5.180000, 5.290000, 5.430000, 5.560000, 5.720000, 5.880000, 6.060000, 6.230000, 6.420000, 6.640000, 6.870000, 7.130000, 7.380000, 7.660000, 7.970000, 9.350000, 9.290000, 9.220000, 9.170000, 9.110000, 9.070000, 3.950000, 3.410000, 2.980000, 2.670000, 2.650000, 2.600000, 2.610000, 2.620000, 2.630000, 2.640000, 2.650000, 2.670000, 2.680000, 2.700000, 2.720000, 2.730000, 2.760000, 2.780000, 2.810000, 2.700000, 2.600000, 2.530000, 2.440000, 2.380000, 2.300000, 2.240000, 2.180000, 2.130000, 2.080000, 2.040000, 2.000000, 1.950000, 1.910000, 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": [ 976054824, 533553 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.314000, 10.415000, 2.009587 ], "estimate": [ 4.314000, 10.415000, 2.009587 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.060000, 1.080000, 1.090000, 1.100000, 1.130000, 1.140000, 1.150000, 1.160000, 1.190000, 1.220000, 1.230000, 1.250000, 1.270000, 1.300000, 1.320000, 1.360000, 1.380000, 1.400000, 1.440000, 1.480000, 1.510000, 1.550000, 1.590000, 1.640000, 1.680000, 1.730000, 1.780000, 1.840000, 1.900000, 1.970000, 2.050000, 2.120000, 3.630000, 3.590000, 3.550000, 3.500000, 3.340000, 3.300000, 3.280000, 3.160000, 3.140000, 3.120000, 3.120000, 3.110000, 3.090000, 3.080000, 3.060000, 3.050000, 3.050000, 3.040000, 3.040000, 3.040000, 3.030000, 3.030000, 3.020000, 3.020000, 3.020000, 3.020000, 3.020000, 3.030000, 3.030000, 3.030000, 3.040000, 3.040000, 3.050000, 3.050000, 3.070000, 3.070000, 3.090000, 3.100000, 3.110000, 3.120000, 3.130000, 3.140000, 3.160000, 3.180000, 3.200000, 3.210000, 3.230000, 3.250000, 3.280000, 3.310000, 3.340000, 3.400000, 6.010000, 6.450000, 6.490000, 6.550000, 6.620000, 6.700000, 6.770000, 6.850000, 6.940000, 4.700000, 4.660000, 4.250000, 4.160000, 4.080000, 4.090000, 4.150000, 4.220000, 4.300000, 4.370000, 4.460000, 4.540000, 4.640000, 4.730000, 4.820000, 4.940000, 5.050000, 5.150000, 5.270000, 5.410000, 5.540000, 5.690000, 5.850000, 6.050000, 6.220000, 6.410000, 6.620000, 6.860000, 7.120000, 7.380000, 7.670000, 7.960000, 9.330000, 9.270000, 9.210000, 9.160000, 9.100000, 9.060000, 4.070000, 3.500000, 3.090000, 2.760000, 2.630000, 2.590000, 2.590000, 2.610000, 2.620000, 2.620000, 2.630000, 2.650000, 2.670000, 2.690000, 2.700000, 2.720000, 2.740000, 2.760000, 2.850000, 2.730000, 2.640000, 2.560000, 2.480000, 2.400000, 2.330000, 2.270000, 2.210000, 2.160000, 2.110000, 2.060000, 2.010000, 1.970000, 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": [ 976054824, 534693 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.314000, 10.413000, 2.009587 ], "estimate": [ 4.314000, 10.413000, 2.009587 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.050000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.160000, 1.190000, 1.230000, 1.230000, 1.250000, 1.270000, 1.290000, 1.330000, 1.340000, 1.380000, 1.400000, 1.430000, 1.460000, 1.490000, 1.540000, 1.570000, 1.620000, 1.670000, 1.720000, 1.760000, 1.820000, 1.890000, 1.950000, 2.030000, 2.100000, 3.620000, 3.590000, 3.560000, 3.540000, 3.340000, 3.320000, 3.280000, 3.200000, 3.160000, 3.130000, 3.120000, 3.110000, 3.090000, 3.080000, 3.070000, 3.060000, 3.060000, 3.040000, 3.040000, 3.030000, 3.030000, 3.030000, 3.020000, 3.030000, 3.020000, 3.020000, 3.020000, 3.020000, 3.030000, 3.020000, 3.050000, 3.040000, 3.050000, 3.050000, 3.060000, 3.070000, 3.090000, 3.090000, 3.100000, 3.120000, 3.130000, 3.140000, 3.160000, 3.170000, 3.190000, 3.210000, 3.230000, 3.250000, 3.270000, 3.300000, 3.330000, 3.370000, 6.010000, 6.460000, 6.470000, 6.540000, 6.610000, 6.680000, 6.750000, 6.830000, 6.920000, 4.720000, 4.660000, 4.260000, 4.170000, 4.070000, 4.080000, 4.150000, 4.210000, 4.290000, 4.350000, 4.440000, 4.530000, 4.610000, 4.710000, 4.800000, 4.920000, 5.020000, 5.130000, 5.240000, 5.370000, 5.520000, 5.680000, 5.830000, 5.990000, 6.180000, 6.380000, 6.580000, 6.810000, 7.060000, 7.320000, 7.600000, 7.910000, 9.330000, 9.280000, 9.210000, 9.160000, 9.110000, 9.070000, 4.090000, 3.530000, 3.110000, 2.770000, 2.630000, 2.590000, 2.590000, 2.600000, 2.610000, 2.620000, 2.640000, 2.650000, 2.660000, 2.680000, 2.700000, 2.720000, 2.730000, 2.750000, 2.780000, 2.740000, 2.650000, 2.560000, 2.470000, 2.400000, 2.340000, 2.270000, 2.210000, 2.160000, 2.110000, 2.060000, 2.010000, 1.970000, 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": [ 976054824, 613976 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.315000, 10.412000, 2.015732 ], "estimate": [ 4.315000, 10.412000, 2.015732 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.010000, 1.010000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.190000, 1.220000, 1.230000, 1.250000, 1.270000, 1.300000, 1.330000, 1.360000, 1.380000, 1.400000, 1.430000, 1.470000, 1.510000, 1.550000, 1.590000, 1.630000, 1.680000, 1.730000, 1.780000, 1.840000, 1.890000, 1.970000, 2.040000, 2.120000, 3.610000, 3.600000, 3.560000, 3.440000, 3.320000, 3.310000, 3.290000, 3.170000, 3.150000, 3.140000, 3.120000, 3.110000, 3.090000, 3.080000, 3.070000, 3.060000, 3.050000, 3.040000, 3.050000, 3.040000, 3.030000, 3.030000, 3.030000, 3.030000, 3.030000, 3.030000, 3.030000, 3.030000, 3.030000, 3.040000, 3.040000, 3.050000, 3.060000, 3.060000, 3.070000, 3.080000, 3.080000, 3.100000, 3.110000, 3.120000, 3.130000, 3.140000, 3.170000, 3.180000, 3.200000, 3.220000, 3.250000, 3.250000, 3.280000, 3.310000, 3.350000, 6.020000, 6.030000, 6.460000, 6.480000, 6.560000, 6.630000, 6.700000, 6.770000, 6.850000, 6.940000, 4.770000, 4.650000, 4.240000, 4.150000, 4.060000, 4.100000, 4.160000, 4.230000, 4.310000, 4.380000, 4.460000, 4.540000, 4.640000, 4.740000, 4.840000, 4.940000, 5.060000, 5.160000, 5.280000, 5.410000, 5.560000, 5.700000, 5.880000, 6.060000, 6.220000, 6.430000, 6.640000, 6.870000, 7.130000, 7.390000, 7.670000, 7.990000, 9.320000, 9.260000, 9.210000, 9.150000, 9.110000, 9.050000, 3.940000, 3.420000, 3.010000, 2.720000, 2.630000, 2.590000, 2.600000, 2.610000, 2.620000, 2.630000, 2.640000, 2.650000, 2.670000, 2.690000, 2.710000, 2.720000, 2.740000, 2.770000, 2.820000, 2.720000, 2.620000, 2.540000, 2.460000, 2.390000, 2.320000, 2.260000, 2.200000, 2.150000, 2.090000, 2.050000, 2.000000, 1.960000, 1.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054825, 702489 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.315000, 10.412000, 2.021878 ], "estimate": [ 4.315000, 10.412000, 2.021878 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.960000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.150000, 1.170000, 1.190000, 1.240000, 1.240000, 1.250000, 1.280000, 1.310000, 1.330000, 1.360000, 1.390000, 1.410000, 1.440000, 1.480000, 1.520000, 1.550000, 1.590000, 1.640000, 1.690000, 1.730000, 1.800000, 1.860000, 1.900000, 1.990000, 2.060000, 3.640000, 3.610000, 3.590000, 3.560000, 3.360000, 3.330000, 3.310000, 3.270000, 3.160000, 3.140000, 3.130000, 3.120000, 3.110000, 3.100000, 3.080000, 3.080000, 3.070000, 3.050000, 3.040000, 3.040000, 3.040000, 3.030000, 3.030000, 3.030000, 3.030000, 3.030000, 3.020000, 3.040000, 3.030000, 3.030000, 3.030000, 3.050000, 3.040000, 3.050000, 3.060000, 3.070000, 3.080000, 3.080000, 3.100000, 3.120000, 3.120000, 3.140000, 3.150000, 3.170000, 3.180000, 3.210000, 3.220000, 3.250000, 3.260000, 3.290000, 3.320000, 3.340000, 6.010000, null, 6.410000, 6.500000, 6.580000, 6.650000, 6.720000, 6.790000, 6.880000, 6.960000, 4.720000, 4.630000, 4.220000, 4.130000, 4.080000, 4.110000, 4.170000, 4.250000, 4.320000, 4.400000, 4.480000, 4.570000, 4.670000, 4.760000, 4.860000, 4.960000, 5.060000, 5.190000, 5.310000, 5.450000, 5.580000, 5.730000, 5.910000, 6.090000, 6.270000, 6.470000, 6.690000, 6.920000, 7.180000, 7.460000, 7.730000, 8.060000, 9.300000, 9.240000, 9.190000, 9.130000, 9.090000, 9.040000, 3.780000, 3.360000, 2.920000, 2.670000, 2.640000, 2.590000, 2.600000, 2.610000, 2.620000, 2.630000, 2.640000, 2.650000, 2.670000, 2.690000, 2.710000, 2.720000, 2.750000, 2.770000, 2.800000, 2.690000, 2.600000, 2.520000, 2.440000, 2.370000, 2.300000, 2.250000, 2.180000, 2.130000, 2.080000, 2.040000, 2.000000, 1.950000, 1.910000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054825, 771584 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.315000, 10.413000, 2.046460 ], "estimate": [ 4.315000, 10.413000, 2.046460 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.070000, 1.080000, 1.110000, 1.110000, 1.140000, 1.150000, 1.160000, 1.180000, 1.230000, 1.240000, 1.240000, 1.260000, 1.300000, 1.320000, 1.340000, 1.370000, 1.410000, 1.440000, 1.470000, 1.500000, 1.540000, 1.570000, 1.620000, 1.660000, 1.710000, 1.760000, 1.800000, 1.870000, 1.930000, 2.010000, 2.070000, 3.640000, 3.610000, 3.580000, 3.570000, 3.350000, 3.330000, 3.300000, 3.280000, 3.160000, 3.160000, 3.120000, 3.120000, 3.100000, 3.090000, 3.080000, 3.070000, 3.060000, 3.050000, 3.040000, 3.040000, 3.030000, 3.030000, 3.030000, 3.030000, 3.030000, 3.030000, 3.040000, 3.030000, 3.030000, 3.030000, 3.060000, 3.050000, 3.050000, 3.060000, 3.060000, 3.070000, 3.090000, 3.100000, 3.110000, 3.120000, 3.130000, 3.140000, 3.150000, 3.180000, 3.200000, 3.210000, 3.230000, 3.250000, 3.270000, 3.300000, 3.320000, 3.360000, 6.010000, null, 6.460000, 6.520000, 6.580000, 6.670000, 6.740000, 6.810000, 6.900000, 6.980000, 4.700000, 4.540000, 4.190000, 4.090000, 4.090000, 4.140000, 4.190000, 4.260000, 4.330000, 4.420000, 4.510000, 4.590000, 4.690000, 4.790000, 4.890000, 4.980000, 5.100000, 5.220000, 5.340000, 5.480000, 5.610000, 5.780000, 5.970000, 6.120000, 6.310000, 6.520000, 6.740000, 6.980000, 7.230000, 7.490000, 7.810000, 8.130000, 9.290000, 9.230000, 9.180000, 9.110000, 9.080000, 9.040000, 3.620000, 3.210000, 2.830000, 2.630000, 2.600000, 2.590000, 2.600000, 2.610000, 2.620000, 2.630000, 2.640000, 2.660000, 2.680000, 2.700000, 2.720000, 2.730000, 2.750000, 2.770000, 2.770000, 2.660000, 2.570000, 2.490000, 2.410000, 2.350000, 2.280000, 2.220000, 2.170000, 2.120000, 2.060000, 2.020000, 1.990000, 1.940000, 1.900000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054825, 772709 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.314000, 10.413000, 2.089479 ], "estimate": [ 4.314000, 10.413000, 2.089479 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.020000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.210000, 1.240000, 1.240000, 1.260000, 1.290000, 1.310000, 1.350000, 1.370000, 1.410000, 1.420000, 1.460000, 1.500000, 1.530000, 1.570000, 1.610000, 1.650000, 1.710000, 1.750000, 1.800000, 1.860000, 1.920000, 1.990000, 2.070000, 3.640000, 3.620000, 3.590000, 3.560000, 3.360000, 3.330000, 3.310000, 3.270000, 3.170000, 3.150000, 3.130000, 3.120000, 3.110000, 3.090000, 3.080000, 3.070000, 3.070000, 3.060000, 3.050000, 3.040000, 3.040000, 3.030000, 3.030000, 3.030000, 3.030000, 3.040000, 3.040000, 3.030000, 3.040000, 3.030000, 3.030000, 3.050000, 3.060000, 3.070000, 3.070000, 3.080000, 3.080000, 3.100000, 3.110000, 3.120000, 3.130000, 3.140000, 3.160000, 3.170000, 3.180000, 3.210000, 3.230000, 3.260000, 3.270000, 3.300000, 3.320000, 3.350000, 6.010000, null, 6.450000, 6.500000, 6.580000, 6.650000, 6.730000, 6.800000, 6.880000, 6.960000, 4.700000, 4.590000, 4.190000, 4.100000, 4.060000, 4.110000, 4.180000, 4.250000, 4.320000, 4.400000, 4.490000, 4.570000, 4.680000, 4.770000, 4.870000, 4.970000, 5.080000, 5.190000, 5.310000, 5.440000, 5.590000, 5.750000, 5.930000, 6.110000, 6.270000, 6.470000, 6.690000, 6.940000, 7.180000, 7.460000, 7.740000, 8.080000, 9.300000, 9.230000, 9.180000, 9.120000, 9.090000, 9.040000, 3.660000, 3.230000, 2.860000, 2.630000, 2.590000, 2.580000, 2.600000, 2.610000, 2.620000, 2.620000, 2.640000, 2.650000, 2.670000, 2.690000, 2.710000, 2.720000, 2.740000, 2.770000, 2.770000, 2.660000, 2.580000, 2.490000, 2.420000, 2.350000, 2.280000, 2.230000, 2.170000, 2.120000, 2.070000, 2.030000, 1.980000, 1.940000, 1.900000, 1.860000, 1.830000, 1.800000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054825, 773655 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.314000, 10.413000, 2.150934 ], "estimate": [ 4.314000, 10.413000, 2.150934 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.070000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.150000, 1.180000, 1.190000, 1.240000, 1.250000, 1.240000, 1.270000, 1.300000, 1.330000, 1.350000, 1.380000, 1.410000, 1.440000, 1.470000, 1.510000, 1.550000, 1.580000, 1.630000, 1.670000, 1.720000, 1.760000, 1.820000, 1.880000, 1.940000, 2.020000, 2.080000, 3.630000, 3.620000, 3.590000, 3.570000, 3.350000, 3.320000, 3.310000, 3.270000, 3.170000, 3.150000, 3.120000, 3.120000, 3.110000, 3.090000, 3.090000, 3.080000, 3.070000, 3.060000, 3.050000, 3.050000, 3.030000, 3.040000, 3.030000, 3.030000, 3.030000, 3.030000, 3.040000, 3.030000, 3.030000, 3.040000, 3.060000, 3.060000, 3.060000, 3.060000, 3.070000, 3.080000, 3.090000, 3.100000, 3.110000, 3.120000, 3.130000, 3.140000, 3.150000, 3.180000, 3.200000, 3.210000, 3.240000, 3.250000, 3.270000, 3.300000, 3.330000, 3.360000, 6.020000, null, 6.460000, 6.510000, 6.580000, 6.660000, 6.730000, 6.810000, 6.890000, 6.980000, 4.670000, 4.280000, 4.170000, 4.070000, 4.070000, 4.130000, 4.190000, 4.260000, 4.330000, 4.410000, 4.510000, 4.590000, 4.690000, 4.780000, 4.880000, 4.970000, 5.100000, 5.210000, 5.340000, 5.470000, 5.610000, 5.770000, 5.960000, 6.120000, 6.300000, 6.500000, 6.730000, 6.970000, 7.220000, 7.480000, 7.800000, 8.120000, 9.280000, 9.210000, 9.160000, 9.100000, 9.070000, 4.070000, 3.540000, 3.120000, 2.770000, 2.620000, 2.580000, 2.580000, 2.590000, 2.610000, 2.620000, 2.620000, 2.640000, 2.650000, 2.670000, 2.690000, 2.710000, 2.720000, 2.740000, 2.760000, 2.730000, 2.650000, 2.560000, 2.470000, 2.400000, 2.330000, 2.260000, 2.200000, 2.160000, 2.100000, 2.050000, 2.010000, 1.970000, 1.920000, 1.890000, 1.850000, 1.820000, 1.780000, 1.760000, 1.740000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054825, 774587 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.313000, 10.414001, 2.255408 ], "estimate": [ 4.313000, 10.414001, 2.255408 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.050000, 1.050000, 1.060000, 1.080000, 1.090000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.260000, 1.260000, 1.280000, 1.300000, 1.330000, 1.350000, 1.390000, 1.410000, 1.430000, 1.470000, 1.510000, 1.550000, 1.590000, 1.630000, 1.660000, 1.710000, 1.760000, 1.820000, 1.880000, 1.940000, 2.010000, 2.080000, 3.640000, 3.610000, 3.590000, 3.570000, 3.340000, 3.330000, 3.310000, 3.230000, 3.170000, 3.150000, 3.130000, 3.120000, 3.110000, 3.100000, 3.090000, 3.070000, 3.070000, 3.060000, 3.060000, 3.050000, 3.040000, 3.040000, 3.030000, 3.030000, 3.030000, 3.030000, 3.040000, 3.030000, 3.040000, 3.040000, 3.050000, 3.050000, 3.050000, 3.060000, 3.070000, 3.080000, 3.090000, 3.090000, 3.110000, 3.120000, 3.130000, 3.150000, 3.150000, 3.180000, 3.190000, 3.210000, 3.240000, 3.250000, 3.270000, 3.290000, 3.320000, 3.360000, 6.030000, 6.460000, 6.460000, 6.500000, 6.580000, 6.650000, 6.720000, 6.800000, 6.870000, 4.730000, 4.660000, 4.250000, 4.150000, 4.070000, 4.070000, 4.130000, 4.190000, 4.250000, 4.330000, 4.400000, 4.490000, 4.570000, 4.670000, 4.770000, 4.860000, 4.960000, 5.070000, 5.190000, 5.320000, 5.440000, 5.580000, 5.740000, 5.910000, 6.090000, 6.260000, 6.460000, 6.680000, 6.930000, 7.180000, 7.440000, 7.720000, 8.060000, 9.260000, 9.210000, 9.150000, 9.110000, 9.050000, 4.060000, 3.490000, 3.070000, 2.730000, 2.620000, 2.580000, 2.570000, 2.590000, 2.590000, 2.610000, 2.620000, 2.620000, 2.640000, 2.650000, 2.680000, 2.700000, 2.720000, 2.730000, 2.750000, 2.720000, 2.630000, 2.540000, 2.450000, 2.390000, 2.320000, 2.250000, 2.190000, 2.140000, 2.090000, 2.040000, 1.990000, 1.960000, 1.920000, 1.880000, 1.840000, 1.810000, 1.770000, 1.750000, 1.710000, 1.700000, 1.670000, 1.650000, 1.630000, 1.610000, 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": [ 976054825, 814221 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.311000, 10.417000, 2.409046 ], "estimate": [ 4.311000, 10.417000, 2.409046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.180000, 1.190000, 1.210000, 1.230000, 1.280000, 1.270000, 1.290000, 1.310000, 1.330000, 1.360000, 1.390000, 1.410000, 1.450000, 1.480000, 1.520000, 1.550000, 1.590000, 1.630000, 1.670000, 1.710000, 1.770000, 1.800000, 1.870000, 1.930000, 2.000000, 2.070000, 2.130000, 3.630000, 3.610000, 3.580000, 3.360000, 3.340000, 3.320000, 3.280000, 3.180000, 3.170000, 3.140000, 3.120000, 3.110000, 3.110000, 3.090000, 3.090000, 3.070000, 3.070000, 3.060000, 3.060000, 3.040000, 3.050000, 3.040000, 3.050000, 3.030000, 3.030000, 3.040000, 3.040000, 3.040000, 3.040000, 3.050000, 3.060000, 3.060000, 3.070000, 3.070000, 3.090000, 3.090000, 3.090000, 3.110000, 3.120000, 3.120000, 3.140000, 3.150000, 3.170000, 3.190000, 3.210000, 3.220000, 3.250000, 3.260000, 3.290000, 3.310000, 3.340000, 6.010000, 6.010000, 6.490000, 6.490000, 6.540000, 6.610000, 6.680000, 6.770000, 6.840000, 6.930000, 4.680000, 4.390000, 4.170000, 4.080000, 4.080000, 4.100000, 4.150000, 4.210000, 4.290000, 4.360000, 4.440000, 4.530000, 4.620000, 4.720000, 4.810000, 4.930000, 5.030000, 5.120000, 5.250000, 5.370000, 5.510000, 5.660000, 5.820000, 6.010000, 6.170000, 6.370000, 6.560000, 6.800000, 7.040000, 7.300000, 7.570000, 7.870000, 9.280000, 9.210000, 9.160000, 9.100000, 9.070000, 9.020000, 3.670000, 3.230000, 2.810000, 2.600000, 2.560000, 2.570000, 2.570000, 2.580000, 2.590000, 2.600000, 2.620000, 2.620000, 2.640000, 2.650000, 2.670000, 2.690000, 2.710000, 2.730000, 2.750000, 2.650000, 2.560000, 2.480000, 2.400000, 2.340000, 2.260000, 2.200000, 2.150000, 2.090000, 2.040000, 1.990000, 1.960000, 1.920000, 1.880000, 1.840000, 1.810000, 1.780000, 1.750000, 1.720000, 1.690000, 1.660000, 1.650000, 1.620000, 1.600000, 1.580000, 1.570000, 1.550000, 1.530000, 1.520000, 1.490000, 1.470000, 1.460000, 1.440000, 1.430000, 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, 1, 1 ], "timestamp": [ 976054826, 139003 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.311000, 10.417000, 2.488938 ], "estimate": [ 4.311000, 10.417000, 2.488938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.280000, 1.300000, 1.320000, 1.350000, 1.370000, 1.410000, 1.430000, 1.460000, 1.500000, 1.540000, 1.570000, 1.620000, 1.660000, 1.700000, 1.740000, 1.790000, 1.850000, 1.900000, 1.960000, 2.040000, 2.110000, 3.680000, 3.640000, 3.610000, 3.590000, 3.370000, 3.350000, 3.330000, 3.300000, 3.190000, 3.170000, 3.150000, 3.140000, 3.120000, 3.110000, 3.100000, 3.100000, 3.080000, 3.080000, 3.070000, 3.060000, 3.060000, 3.050000, 3.050000, 3.040000, 3.040000, 3.040000, 3.050000, 3.040000, 3.040000, 3.040000, 3.060000, 3.060000, 3.060000, 3.070000, 3.070000, 3.090000, 3.090000, 3.100000, 3.110000, 3.120000, 3.130000, 3.140000, 3.160000, 3.180000, 3.200000, 3.220000, 3.230000, 3.250000, 3.280000, 3.300000, 3.330000, 3.380000, 6.010000, null, 6.460000, 6.500000, 6.570000, 6.640000, 6.710000, 6.800000, 6.860000, 6.950000, 4.680000, 4.410000, 4.170000, 4.090000, 4.060000, 4.110000, 4.170000, 4.240000, 4.320000, 4.400000, 4.480000, 4.570000, 4.670000, 4.760000, 4.860000, 4.950000, 5.060000, 5.180000, 5.300000, 5.430000, 5.570000, 5.710000, 5.880000, 6.060000, 6.240000, 6.420000, 6.650000, 6.870000, 7.120000, 7.370000, 7.660000, 7.970000, 9.280000, 9.210000, 9.160000, 9.100000, 9.070000, 9.020000, 3.710000, 3.260000, 2.830000, 2.600000, 2.560000, 2.550000, 2.570000, 2.570000, 2.590000, 2.600000, 2.610000, 2.620000, 2.640000, 2.650000, 2.670000, 2.690000, 2.710000, 2.730000, 2.740000, 2.650000, 2.560000, 2.480000, 2.400000, 2.330000, 2.260000, 2.200000, 2.150000, 2.090000, 2.040000, 1.990000, 1.960000, 1.910000, 1.870000, 1.840000, 1.810000, 1.770000, 1.750000, 1.710000, 1.680000, 1.660000, 1.650000, 1.620000, 1.600000, 1.580000, 1.550000, 1.540000, 1.530000, 1.510000, 1.490000, 1.460000, 1.450000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054826, 251641 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.313000, 10.415000, 2.531957 ], "estimate": [ 4.313000, 10.415000, 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": [ 1.330000, 1.350000, 1.380000, 1.410000, 1.430000, 1.470000, 1.500000, 1.540000, 1.570000, 1.610000, 1.660000, 1.690000, 1.750000, 1.800000, 1.850000, 1.910000, 1.980000, 2.050000, 2.110000, 3.680000, 3.640000, 3.620000, 3.600000, 3.370000, 3.350000, 3.330000, 3.300000, 3.200000, 3.170000, 3.150000, 3.140000, 3.120000, 3.110000, 3.110000, 3.100000, 3.080000, 3.070000, 3.070000, 3.070000, 3.060000, 3.060000, 3.050000, 3.040000, 3.040000, 3.050000, 3.040000, 3.050000, 3.050000, 3.050000, 3.060000, 3.060000, 3.070000, 3.070000, 3.080000, 3.090000, 3.100000, 3.110000, 3.110000, 3.120000, 3.130000, 3.150000, 3.170000, 3.190000, 3.210000, 3.220000, 3.240000, 3.260000, 3.290000, 3.300000, 3.340000, 3.380000, 6.000000, null, 6.470000, 6.510000, 6.580000, 6.650000, 6.720000, 6.800000, 6.870000, 6.970000, 4.670000, 4.260000, 4.160000, 4.060000, 4.050000, 4.130000, 4.180000, 4.260000, 4.330000, 4.400000, 4.490000, 4.580000, 4.670000, 4.770000, 4.870000, 4.950000, 5.070000, 5.180000, 5.310000, 5.430000, 5.580000, 5.730000, 5.920000, 6.080000, 6.260000, 6.440000, 6.660000, 6.880000, 7.140000, 7.390000, 7.680000, 8.000000, 9.270000, 9.210000, 9.150000, 9.100000, 9.060000, 9.010000, 3.600000, 3.150000, 2.770000, 2.610000, 2.550000, 2.550000, 2.570000, 2.580000, 2.590000, 2.600000, 2.610000, 2.620000, 2.640000, 2.650000, 2.670000, 2.700000, 2.720000, 2.740000, 2.730000, 2.630000, 2.540000, 2.460000, 2.390000, 2.320000, 2.250000, 2.180000, 2.130000, 2.080000, 2.030000, 1.990000, 1.940000, 1.910000, 1.870000, 1.830000, 1.790000, 1.760000, 1.730000, 1.700000, 1.670000, 1.650000, 1.630000, 1.610000, 1.580000, 1.570000, 1.540000, 1.530000, 1.520000, 1.500000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.400000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.350000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054826, 598271 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.311000, 10.415999, 2.630285 ], "estimate": [ 4.311000, 10.415999, 2.630285 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.480000, 1.520000, 1.560000, 1.600000, 1.650000, 1.690000, 1.740000, 1.790000, 1.840000, 1.890000, 1.960000, 2.030000, 2.090000, 2.170000, 3.650000, 3.630000, 3.620000, 3.380000, 3.370000, 3.340000, 3.320000, 3.200000, 3.180000, 3.160000, 3.150000, 3.130000, 3.120000, 3.110000, 3.100000, 3.090000, 3.080000, 3.070000, 3.060000, 3.060000, 3.060000, 3.050000, 3.050000, 3.050000, 3.050000, 3.050000, 3.050000, 3.050000, 3.050000, 3.050000, 3.070000, 3.070000, 3.080000, 3.080000, 3.090000, 3.100000, 3.110000, 3.110000, 3.120000, 3.130000, 3.150000, 3.170000, 3.190000, 3.210000, 3.220000, 3.240000, 3.260000, 3.270000, 3.300000, 3.320000, 3.360000, 6.020000, 6.010000, 6.490000, 6.490000, 6.560000, 6.630000, 6.700000, 6.780000, 6.850000, 6.930000, 4.680000, 4.300000, 4.170000, 4.070000, 4.070000, 4.110000, 4.170000, 4.240000, 4.310000, 4.380000, 4.460000, 4.540000, 4.630000, 4.730000, 4.840000, 4.950000, 5.040000, 5.150000, 5.270000, 5.400000, 5.530000, 5.700000, 5.840000, 6.010000, 6.200000, 6.380000, 6.580000, 6.820000, 7.060000, 7.310000, 7.590000, 7.880000, 9.280000, 9.220000, 9.150000, 9.110000, 9.060000, 9.010000, 3.620000, 3.160000, 2.770000, 2.600000, 2.550000, 2.550000, 2.560000, 2.560000, 2.580000, 2.590000, 2.610000, 2.620000, 2.630000, 2.640000, 2.660000, 2.680000, 2.700000, 2.720000, 2.730000, 2.620000, 2.540000, 2.450000, 2.390000, 2.310000, 2.240000, 2.180000, 2.130000, 2.070000, 2.020000, 1.980000, 1.940000, 1.900000, 1.860000, 1.830000, 1.780000, 1.750000, 1.730000, 1.700000, 1.670000, 1.650000, 1.630000, 1.600000, 1.580000, 1.560000, 1.530000, 1.520000, 1.510000, 1.490000, 1.480000, 1.450000, 1.440000, 1.420000, 1.410000, 1.390000, 1.390000, 1.380000, 1.370000, 1.360000, 1.350000, 1.350000, 1.340000, 1.330000, 1.320000, 1.310000, 1.300000, 1.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054826, 613386 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.294000, 10.425000, 2.722468 ], "estimate": [ 4.294000, 10.425000, 2.722468 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.820000, 1.890000, 1.950000, 2.020000, 2.060000, 2.160000, 3.680000, 3.660000, 3.630000, 3.600000, 3.380000, 3.370000, 3.350000, 3.240000, 3.200000, 3.180000, 3.170000, 3.150000, 3.130000, 3.120000, 3.110000, 3.100000, 3.090000, 3.070000, 3.070000, 3.070000, 3.070000, 3.050000, 3.050000, 3.050000, 3.050000, 3.050000, 3.050000, 3.050000, 3.050000, 3.060000, 3.080000, 3.060000, 3.080000, 3.090000, 3.080000, 3.110000, 3.110000, 3.120000, 3.120000, 3.130000, 3.150000, 3.170000, 3.180000, 3.190000, 3.210000, 3.230000, 3.250000, 3.270000, 3.290000, 3.310000, 3.350000, 6.020000, 6.020000, 6.460000, 6.460000, 6.520000, 6.590000, 6.670000, 6.740000, 6.810000, 6.890000, 4.730000, 4.620000, 4.200000, 4.110000, 4.070000, 4.080000, 4.140000, 4.200000, 4.270000, 4.340000, 4.430000, 4.510000, 4.590000, 4.690000, 4.790000, 4.890000, 4.980000, 5.090000, 5.210000, 5.330000, 5.460000, 5.600000, 5.760000, 5.950000, 6.110000, 6.270000, 6.480000, 6.700000, 6.930000, 7.170000, 7.430000, 7.730000, 8.050000, 9.230000, 9.170000, 9.120000, 9.080000, 9.020000, 3.890000, 3.340000, 2.910000, 2.600000, 2.590000, 2.530000, 2.540000, 2.540000, 2.550000, 2.570000, 2.580000, 2.600000, 2.620000, 2.620000, 2.630000, 2.650000, 2.670000, 2.690000, 2.710000, 2.670000, 2.570000, 2.490000, 2.400000, 2.330000, 2.260000, 2.190000, 2.150000, 2.090000, 2.030000, 1.990000, 1.950000, 1.910000, 1.870000, 1.830000, 1.790000, 1.760000, 1.740000, 1.700000, 1.660000, 1.640000, 1.630000, 1.610000, 1.580000, 1.560000, 1.540000, 1.530000, 1.510000, 1.490000, 1.480000, 1.440000, 1.430000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.350000, 1.340000, 1.330000, 1.330000, 1.320000, 1.310000, 1.300000, 1.300000, 1.290000, 1.280000, 1.280000, 1.280000, 1.280000, 1.270000, 1.270000, 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": [ 976054827, 427181 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.256000, 10.440000, 2.777778 ], "estimate": [ 4.256000, 10.440000, 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": [ 2.110000, 3.720000, 3.690000, 3.650000, 3.640000, 3.620000, 3.380000, 3.370000, 3.340000, 3.230000, 3.210000, 3.190000, 3.170000, 3.150000, 3.130000, 3.110000, 3.110000, 3.100000, 3.080000, 3.080000, 3.060000, 3.050000, 3.050000, 3.040000, 3.040000, 3.040000, 3.040000, 3.040000, 3.040000, 3.040000, 3.040000, 3.050000, 3.050000, 3.060000, 3.060000, 3.070000, 3.070000, 3.090000, 3.090000, 3.110000, 3.110000, 3.120000, 3.130000, 3.150000, 3.160000, 3.170000, 3.190000, 3.220000, 3.250000, 3.250000, 3.270000, 3.290000, 3.320000, 5.950000, 6.000000, 6.020000, 6.410000, 6.490000, 6.560000, 6.630000, 6.700000, 6.780000, 6.840000, 4.700000, 4.630000, 4.230000, 4.110000, 4.040000, 4.040000, 4.100000, 4.160000, 4.230000, 4.310000, 4.370000, 4.460000, 4.540000, 4.640000, 4.740000, 4.830000, 4.920000, 5.040000, 5.150000, 5.260000, 5.390000, 5.530000, 5.680000, 5.840000, 6.020000, 6.180000, 6.370000, 6.580000, 6.800000, 7.060000, 7.310000, 7.590000, 7.880000, 9.240000, 9.180000, 9.120000, 9.080000, 9.030000, 8.980000, 3.640000, 3.170000, 2.760000, 2.550000, 2.510000, 2.490000, 2.510000, 2.510000, 2.530000, 2.540000, 2.550000, 2.570000, 2.580000, 2.600000, 2.620000, 2.630000, 2.650000, 2.670000, 2.740000, 2.640000, 2.530000, 2.460000, 2.380000, 2.300000, 2.240000, 2.180000, 2.130000, 2.060000, 2.020000, 1.980000, 1.930000, 1.890000, 1.850000, 1.810000, 1.780000, 1.750000, 1.720000, 1.680000, 1.670000, 1.630000, 1.620000, 1.590000, 1.570000, 1.550000, 1.530000, 1.520000, 1.510000, 1.480000, 1.470000, 1.450000, 1.400000, 1.410000, 1.400000, 1.390000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.320000, 1.310000, 1.310000, 1.300000, 1.300000, 1.290000, 1.280000, 1.280000, 1.280000, 1.270000, 1.270000, 1.260000, 1.260000, 1.260000, 1.260000, 1.250000, 1.250000, 1.250000, 1.250000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054827, 545776 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.190000, 10.464001, 2.777778 ], "estimate": [ 4.190000, 10.464001, 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": [ 3.710000, 3.670000, 3.650000, 3.620000, 3.390000, 3.370000, 3.350000, 3.320000, 3.200000, 3.180000, 3.160000, 3.140000, 3.120000, 3.110000, 3.090000, 3.080000, 3.080000, 3.060000, 3.060000, 3.040000, 3.030000, 3.020000, 3.020000, 3.000000, 3.010000, 3.010000, 3.010000, 3.010000, 3.010000, 3.010000, 3.010000, 3.010000, 3.020000, 3.020000, 3.040000, 3.040000, 3.050000, 3.060000, 3.070000, 3.080000, 3.090000, 3.110000, 3.120000, 3.110000, 3.140000, 3.160000, 3.180000, 3.200000, 3.210000, 3.240000, 3.260000, 3.300000, 5.900000, 5.940000, 6.000000, 6.370000, 6.440000, 6.500000, 6.580000, 6.650000, 6.710000, 6.790000, 6.870000, 4.570000, 4.160000, 4.070000, 3.970000, 3.990000, 4.030000, 4.110000, 4.170000, 4.240000, 4.310000, 4.400000, 4.480000, 4.560000, 4.660000, 4.760000, 4.840000, 4.950000, 5.060000, 5.180000, 5.310000, 5.440000, 5.580000, 5.750000, 5.910000, 6.090000, 6.260000, 6.450000, 6.670000, 6.910000, 7.160000, 7.430000, 7.710000, 8.270000, 9.140000, 9.090000, 9.030000, 8.980000, 8.940000, 8.890000, 3.430000, 2.990000, 2.640000, 2.480000, 2.440000, 2.440000, 2.440000, 2.450000, 2.460000, 2.480000, 2.490000, 2.500000, 2.520000, 2.540000, 2.550000, 2.570000, 2.590000, 2.610000, 2.690000, 2.590000, 2.500000, 2.420000, 2.350000, 2.270000, 2.210000, 2.160000, 2.100000, 2.040000, 2.000000, 1.960000, 1.910000, 1.870000, 1.830000, 1.800000, 1.760000, 1.730000, 1.700000, 1.660000, 1.640000, 1.630000, 1.600000, 1.580000, 1.560000, 1.530000, 1.520000, 1.510000, 1.490000, 1.470000, 1.460000, 1.430000, 1.430000, 1.420000, 1.370000, 1.380000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.310000, 1.310000, 1.290000, 1.290000, 1.280000, 1.280000, 1.280000, 1.280000, 1.270000, 1.260000, 1.260000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054827, 546911 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.119000, 10.491000, 2.777778 ], "estimate": [ 4.119000, 10.491000, 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": [ 3.670000, 3.640000, 3.610000, 3.370000, 3.360000, 3.340000, 3.230000, 3.180000, 3.160000, 3.140000, 3.120000, 3.110000, 3.090000, 3.080000, 3.070000, 3.050000, 3.030000, 3.020000, 3.010000, 3.000000, 3.000000, 2.990000, 2.990000, 2.980000, 2.980000, 2.980000, 2.980000, 2.980000, 2.980000, 2.980000, 2.980000, 2.980000, 2.990000, 2.990000, 3.000000, 3.000000, 3.010000, 3.020000, 3.020000, 3.040000, 3.050000, 3.060000, 3.080000, 3.090000, 3.110000, 3.110000, 3.140000, 3.160000, 3.180000, 3.200000, 3.230000, 6.000000, 5.850000, 5.880000, null, 6.340000, 6.390000, 6.450000, 6.520000, 6.590000, 6.670000, 6.730000, 4.590000, 4.490000, 4.060000, 3.960000, 3.900000, 3.920000, 3.990000, 4.050000, 4.110000, 4.180000, 4.260000, 4.330000, 4.420000, 4.510000, 4.600000, 4.690000, 4.770000, 4.880000, 4.990000, 5.100000, 5.220000, 5.350000, 5.490000, 5.660000, 5.820000, 5.980000, 6.170000, 6.350000, 6.560000, 6.800000, 7.040000, 7.300000, 7.590000, 7.910000, 9.100000, 9.030000, 8.970000, 8.930000, 8.880000, 8.830000, 3.540000, 3.140000, 2.720000, 2.450000, 2.410000, 2.360000, 2.370000, 2.380000, 2.390000, 2.400000, 2.420000, 2.430000, 2.440000, 2.450000, 2.470000, 2.480000, 2.500000, 2.530000, 2.540000, 2.630000, 2.530000, 2.450000, 2.370000, 2.300000, 2.240000, 2.170000, 2.120000, 2.060000, 2.000000, 1.970000, 1.920000, 1.880000, 1.840000, 1.810000, 1.770000, 1.750000, 1.710000, 1.670000, 1.660000, 1.630000, 1.610000, 1.580000, 1.560000, 1.540000, 1.520000, 1.520000, 1.500000, 1.480000, 1.460000, 1.450000, 1.440000, 1.420000, 1.410000, 1.400000, 1.380000, 1.340000, 1.350000, 1.340000, 1.330000, 1.320000, 1.320000, 1.300000, 1.300000, 1.290000, 1.290000, 1.280000, 1.280000, 1.280000, 1.270000, 1.260000, 1.260000, 1.260000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054827, 547850 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.065000, 10.511000, 2.771632 ], "estimate": [ 4.065000, 10.511000, 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": [ 3.670000, 3.630000, 3.600000, 3.380000, 3.360000, 3.340000, 3.210000, 3.180000, 3.150000, 3.130000, 3.110000, 3.090000, 3.070000, 3.060000, 3.040000, 3.020000, 3.010000, 3.000000, 2.990000, 2.990000, 2.970000, 2.980000, 2.970000, 2.960000, 2.960000, 2.960000, 2.950000, 2.950000, 2.960000, 2.960000, 2.960000, 2.960000, 2.960000, 2.960000, 2.980000, 2.970000, 2.980000, 2.980000, 2.990000, 3.000000, 3.010000, 3.020000, 3.030000, 3.040000, 3.060000, 3.070000, 3.090000, 3.110000, 3.120000, 3.150000, 3.170000, 3.230000, 5.820000, 5.820000, 5.850000, 6.000000, 6.310000, 6.360000, 6.430000, 6.480000, 6.550000, 6.630000, 6.700000, 4.510000, 4.390000, 3.980000, 3.860000, 3.840000, 3.890000, 3.950000, 4.000000, 4.070000, 4.140000, 4.210000, 4.290000, 4.370000, 4.450000, 4.540000, 4.640000, 4.730000, 4.840000, 4.940000, 5.060000, 5.180000, 5.300000, 5.440000, 5.590000, 5.760000, 5.930000, 6.100000, 6.280000, 6.490000, 6.740000, 6.970000, 7.230000, 7.510000, 7.820000, 9.040000, 8.970000, 8.920000, 8.870000, 8.820000, 8.780000, 3.680000, 3.190000, 2.810000, 2.520000, 2.360000, 2.310000, 2.300000, 2.310000, 2.320000, 2.330000, 2.340000, 2.360000, 2.370000, 2.390000, 2.400000, 2.420000, 2.440000, 2.450000, 2.470000, 2.490000, 2.570000, 2.470000, 2.390000, 2.320000, 2.250000, 2.190000, 2.130000, 2.080000, 2.020000, 1.990000, 1.930000, 1.890000, 1.850000, 1.820000, 1.780000, 1.750000, 1.720000, 1.680000, 1.660000, 1.640000, 1.620000, 1.590000, 1.570000, 1.540000, 1.520000, 1.520000, 1.500000, 1.490000, 1.470000, 1.460000, 1.440000, 1.430000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.310000, 1.330000, 1.320000, 1.300000, 1.300000, 1.290000, 1.280000, 1.280000, 1.280000, 1.280000, 1.270000, 1.270000, 1.260000, 1.250000, 1.250000, 1.260000, 1.250000, 1.250000, 1.250000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054827, 722072 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.021000, 10.529000, 2.753196 ], "estimate": [ 4.021000, 10.529000, 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": [ 3.660000, 3.630000, 3.500000, 3.370000, 3.350000, 3.320000, 3.190000, 3.170000, 3.140000, 3.110000, 3.100000, 3.090000, 3.060000, 3.040000, 3.030000, 3.010000, 3.000000, 2.990000, 2.980000, 2.980000, 2.970000, 2.960000, 2.950000, 2.940000, 2.940000, 2.940000, 2.940000, 2.940000, 2.950000, 2.940000, 2.940000, 2.940000, 2.950000, 2.940000, 2.950000, 2.950000, 2.950000, 2.970000, 2.980000, 2.980000, 2.980000, 3.000000, 3.010000, 3.010000, 3.030000, 3.050000, 3.060000, 3.080000, 3.100000, 3.120000, 3.140000, 3.200000, 5.770000, 5.790000, 5.770000, 5.930000, 6.260000, 6.320000, 6.370000, 6.430000, 6.500000, 6.580000, 6.650000, 4.470000, 4.370000, 3.940000, 3.840000, 3.810000, 3.850000, 3.900000, 3.950000, 4.030000, 4.090000, 4.150000, 4.230000, 4.310000, 4.390000, 4.480000, 4.570000, 4.670000, 4.760000, 4.870000, 4.960000, 5.090000, 5.210000, 5.360000, 5.500000, 5.650000, 5.820000, 5.990000, 6.170000, 6.370000, 6.590000, 6.840000, 7.080000, 7.340000, 7.640000, 9.010000, 8.950000, 8.900000, 8.850000, 8.790000, 8.750000, 8.700000, 3.320000, 2.940000, 2.600000, 2.360000, 2.300000, 2.260000, 2.270000, 2.270000, 2.290000, 2.300000, 2.300000, 2.320000, 2.340000, 2.350000, 2.370000, 2.390000, 2.400000, 2.430000, 2.440000, 2.460000, 2.510000, 2.420000, 2.340000, 2.280000, 2.200000, 2.150000, 2.090000, 2.040000, 1.990000, 1.950000, 1.910000, 1.860000, 1.830000, 1.790000, 1.760000, 1.730000, 1.690000, 1.660000, 1.640000, 1.630000, 1.600000, 1.580000, 1.550000, 1.530000, 1.530000, 1.510000, 1.490000, 1.470000, 1.450000, 1.450000, 1.430000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.350000, 1.340000, 1.300000, 1.310000, 1.300000, 1.300000, 1.280000, 1.280000, 1.280000, 1.280000, 1.270000, 1.270000, 1.270000, 1.260000, 1.260000, 1.260000, 1.250000, 1.250000, 1.250000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054828, 939960 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.976000, 10.546000, 2.759341 ], "estimate": [ 3.976000, 10.546000, 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": [ 3.620000, 3.370000, 3.340000, 3.330000, 3.200000, 3.170000, 3.140000, 3.110000, 3.100000, 3.080000, 3.060000, 3.050000, 3.020000, 3.000000, 3.000000, 2.990000, 2.980000, 2.970000, 2.960000, 2.950000, 2.940000, 2.930000, 2.930000, 2.920000, 2.920000, 2.920000, 2.920000, 2.920000, 2.920000, 2.920000, 2.920000, 2.930000, 2.920000, 2.930000, 2.940000, 2.940000, 2.950000, 2.950000, 2.960000, 2.980000, 2.980000, 2.980000, 2.990000, 3.010000, 3.020000, 3.030000, 3.060000, 3.080000, 3.100000, 3.110000, 5.740000, 5.690000, 5.740000, 5.770000, 5.920000, 6.230000, 6.290000, 6.340000, 6.410000, 6.470000, 6.540000, 6.620000, 4.410000, 4.070000, 3.880000, 3.790000, 3.760000, 3.810000, 3.880000, 3.930000, 3.990000, 4.040000, 4.120000, 4.200000, 4.270000, 4.350000, 4.440000, 4.530000, 4.630000, 4.720000, 4.820000, 4.940000, 5.050000, 5.170000, 5.300000, 5.450000, 5.580000, 5.770000, 5.940000, 6.110000, 6.300000, 6.520000, 6.770000, 7.000000, 7.270000, 7.560000, 8.970000, 8.920000, 8.860000, 8.800000, 8.760000, 8.700000, 8.660000, 3.380000, 3.040000, 2.650000, 2.390000, 2.260000, 2.230000, 2.210000, 2.230000, 2.230000, 2.250000, 2.260000, 2.280000, 2.290000, 2.300000, 2.320000, 2.340000, 2.350000, 2.370000, 2.390000, 2.410000, 2.420000, 2.430000, 2.360000, 2.290000, 2.220000, 2.160000, 2.110000, 2.050000, 2.000000, 1.960000, 1.910000, 1.870000, 1.840000, 1.800000, 1.760000, 1.730000, 1.700000, 1.670000, 1.650000, 1.630000, 1.610000, 1.580000, 1.560000, 1.530000, 1.520000, 1.510000, 1.490000, 1.470000, 1.460000, 1.450000, 1.430000, 1.420000, 1.410000, 1.390000, 1.380000, 1.370000, 1.370000, 1.350000, 1.340000, 1.330000, 1.320000, 1.290000, 1.290000, 1.290000, 1.280000, 1.280000, 1.280000, 1.270000, 1.270000, 1.260000, 1.260000, 1.260000, 1.250000, 1.260000, 1.250000, 1.250000, 1.250000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054828, 941248 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.919000, 10.569000, 2.753196 ], "estimate": [ 3.919000, 10.569000, 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": [ 3.390000, 3.360000, 3.330000, 3.250000, 3.170000, 3.140000, 3.110000, 3.110000, 3.070000, 3.050000, 3.030000, 3.020000, 3.000000, 2.990000, 2.980000, 2.970000, 2.960000, 2.940000, 2.940000, 2.920000, 2.920000, 2.910000, 2.910000, 2.900000, 2.890000, 2.890000, 2.880000, 2.880000, 2.890000, 2.880000, 2.890000, 2.890000, 2.890000, 2.900000, 2.910000, 2.910000, 2.920000, 2.930000, 2.940000, 2.940000, 2.950000, 2.970000, 2.980000, 2.990000, 2.990000, 3.010000, 3.020000, 3.040000, 3.070000, 3.130000, 5.820000, 5.720000, 5.670000, 5.750000, 6.160000, 6.200000, 6.250000, 6.310000, 6.370000, 6.430000, 6.510000, 6.580000, 4.360000, 3.930000, 3.820000, 3.700000, 3.720000, 3.770000, 3.820000, 3.890000, 3.940000, 4.010000, 4.070000, 4.150000, 4.220000, 4.310000, 4.390000, 4.480000, 4.560000, 4.670000, 4.770000, 4.880000, 4.990000, 5.110000, 5.240000, 5.370000, 5.540000, 5.700000, 5.850000, 6.030000, 6.230000, 6.430000, 6.680000, 6.920000, 7.160000, 7.450000, 7.990000, 8.880000, 8.820000, 8.770000, 8.710000, 8.680000, 8.630000, 3.580000, 3.150000, 2.790000, 2.500000, 2.280000, 2.200000, 2.170000, 2.170000, 2.180000, 2.190000, 2.200000, 2.210000, 2.230000, 2.240000, 2.260000, 2.280000, 2.300000, 2.310000, 2.330000, 2.350000, 2.370000, 2.430000, 2.400000, 2.320000, 2.250000, 2.190000, 2.140000, 2.070000, 2.020000, 1.990000, 1.930000, 1.900000, 1.850000, 1.820000, 1.780000, 1.750000, 1.720000, 1.680000, 1.660000, 1.630000, 1.620000, 1.590000, 1.570000, 1.550000, 1.540000, 1.520000, 1.500000, 1.480000, 1.470000, 1.450000, 1.430000, 1.430000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.310000, 1.280000, 1.280000, 1.280000, 1.280000, 1.280000, 1.270000, 1.270000, 1.260000, 1.260000, 1.260000, 1.260000, 1.250000, 1.250000, 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": [ 976054828, 942229 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.853000, 10.596999, 2.740905 ], "estimate": [ 3.853000, 10.596999, 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": [ 3.370000, 3.340000, 3.310000, 3.180000, 3.150000, 3.120000, 3.100000, 3.070000, 3.050000, 3.020000, 3.010000, 2.990000, 2.980000, 2.970000, 2.950000, 2.930000, 2.920000, 2.910000, 2.900000, 2.890000, 2.880000, 2.870000, 2.860000, 2.860000, 2.850000, 2.860000, 2.850000, 2.850000, 2.850000, 2.850000, 2.850000, 2.850000, 2.860000, 2.860000, 2.860000, 2.860000, 2.870000, 2.880000, 2.880000, 2.900000, 2.900000, 2.920000, 2.920000, 2.940000, 2.950000, 2.960000, 2.970000, 2.990000, 3.000000, 3.070000, 5.890000, 5.740000, 5.670000, 5.670000, null, 6.120000, 6.160000, 6.210000, 6.280000, 6.340000, 6.400000, 6.470000, 4.330000, 4.240000, 3.800000, 3.690000, 3.640000, 3.680000, 3.740000, 3.790000, 3.850000, 3.890000, 3.960000, 4.030000, 4.110000, 4.170000, 4.260000, 4.340000, 4.440000, 4.510000, 4.610000, 4.720000, 4.830000, 4.930000, 5.070000, 5.180000, 5.330000, 5.480000, 5.640000, 5.810000, 5.980000, 6.180000, 6.390000, 6.630000, 6.850000, 7.120000, 7.400000, 8.030000, 8.800000, 8.740000, 8.690000, 8.650000, 8.600000, 8.560000, 3.590000, 3.140000, 2.840000, 2.530000, 2.290000, 2.160000, 2.150000, 2.100000, 2.110000, 2.120000, 2.130000, 2.140000, 2.160000, 2.170000, 2.190000, 2.200000, 2.220000, 2.230000, 2.250000, 2.270000, 2.290000, 2.310000, 2.410000, 2.330000, 2.260000, 2.200000, 2.140000, 2.080000, 2.030000, 1.990000, 1.940000, 1.910000, 1.860000, 1.820000, 1.790000, 1.750000, 1.720000, 1.690000, 1.660000, 1.640000, 1.620000, 1.600000, 1.580000, 1.550000, 1.530000, 1.530000, 1.510000, 1.490000, 1.470000, 1.450000, 1.440000, 1.440000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.350000, 1.340000, 1.330000, 1.320000, 1.320000, 1.310000, 1.300000, 1.290000, 1.270000, 1.260000, 1.280000, 1.270000, 1.260000, 1.260000, 1.260000, 1.260000, 1.250000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054828, 943248 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.800000, 10.619000, 2.728614 ], "estimate": [ 3.800000, 10.619000, 2.728614 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.370000, 3.330000, 3.290000, 3.160000, 3.130000, 3.100000, 3.080000, 3.050000, 3.030000, 3.010000, 2.990000, 2.980000, 2.960000, 2.950000, 2.940000, 2.920000, 2.910000, 2.890000, 2.880000, 2.860000, 2.860000, 2.850000, 2.850000, 2.850000, 2.840000, 2.850000, 2.830000, 2.830000, 2.830000, 2.830000, 2.820000, 2.830000, 2.830000, 2.830000, 2.840000, 2.840000, 2.850000, 2.850000, 2.860000, 2.870000, 2.870000, 2.880000, 2.890000, 2.910000, 2.910000, 2.930000, 2.940000, 2.960000, 2.980000, 3.040000, 5.840000, 5.870000, 5.660000, 5.630000, null, 6.040000, 6.110000, 6.160000, 6.210000, 6.270000, 6.340000, 6.400000, 4.280000, 4.210000, 3.760000, 3.690000, 3.580000, 3.610000, 3.670000, 3.710000, 3.770000, 3.840000, 3.900000, 3.960000, 4.020000, 4.100000, 4.170000, 4.250000, 4.340000, 4.430000, 4.520000, 4.620000, 4.720000, 4.820000, 4.950000, 5.060000, 5.200000, 5.350000, 5.510000, 5.670000, 5.830000, 6.000000, 6.200000, 6.420000, 6.660000, 6.900000, 7.150000, 7.460000, 8.790000, 8.720000, 8.680000, 8.620000, 8.580000, 8.540000, 8.500000, 3.470000, 3.050000, 2.750000, 2.480000, 2.260000, 2.110000, 2.100000, 2.040000, 2.050000, 2.060000, 2.070000, 2.090000, 2.100000, 2.120000, 2.130000, 2.150000, 2.170000, 2.190000, 2.200000, 2.220000, 2.240000, 2.260000, 2.290000, 2.330000, 2.260000, 2.190000, 2.140000, 2.080000, 2.020000, 1.990000, 1.940000, 1.900000, 1.850000, 1.820000, 1.790000, 1.760000, 1.720000, 1.680000, 1.660000, 1.640000, 1.620000, 1.590000, 1.570000, 1.550000, 1.540000, 1.530000, 1.510000, 1.490000, 1.470000, 1.450000, 1.450000, 1.430000, 1.420000, 1.410000, 1.400000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.320000, 1.320000, 1.310000, 1.300000, 1.290000, 1.290000, 1.280000, 1.270000, 1.260000, 1.270000, 1.270000, 1.270000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054828, 944177 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.755000, 10.639000, 2.716322 ], "estimate": [ 3.755000, 10.639000, 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": [ 3.330000, 3.300000, 3.160000, 3.130000, 3.110000, 3.080000, 3.050000, 3.030000, 3.020000, 2.980000, 2.970000, 2.950000, 2.930000, 2.920000, 2.900000, 2.890000, 2.870000, 2.860000, 2.860000, 2.850000, 2.840000, 2.830000, 2.820000, 2.810000, 2.810000, 2.800000, 2.800000, 2.800000, 2.800000, 2.800000, 2.790000, 2.800000, 2.800000, 2.790000, 2.810000, 2.810000, 2.820000, 2.830000, 2.830000, 2.840000, 2.850000, 2.860000, 2.860000, 2.870000, 2.880000, 2.900000, 2.900000, 2.920000, 2.940000, 5.490000, 5.800000, 5.760000, 5.560000, 5.570000, null, 6.010000, 6.060000, 6.120000, 6.180000, 6.230000, 6.290000, 6.350000, 4.280000, 4.160000, 3.710000, 3.620000, 3.550000, 3.580000, 3.620000, 3.670000, 3.730000, 3.790000, 3.840000, 3.910000, 3.970000, 4.040000, 4.120000, 4.200000, 4.290000, 4.390000, 4.450000, 4.540000, 4.650000, 4.770000, 4.880000, 5.010000, 5.130000, 5.260000, 5.400000, 5.580000, 5.740000, 5.920000, 6.110000, 6.320000, 6.550000, 6.780000, 7.050000, 7.340000, 8.750000, 8.690000, 8.640000, 8.590000, 8.540000, 8.500000, 8.460000, 8.410000, 3.160000, 2.830000, 2.560000, 2.330000, 2.150000, 2.040000, 2.020000, 2.000000, 2.010000, 2.030000, 2.040000, 2.050000, 2.060000, 2.080000, 2.090000, 2.110000, 2.130000, 2.140000, 2.160000, 2.180000, 2.200000, 2.220000, 2.250000, 2.280000, 2.220000, 2.160000, 2.100000, 2.040000, 2.000000, 1.960000, 1.910000, 1.870000, 1.840000, 1.800000, 1.760000, 1.740000, 1.700000, 1.670000, 1.650000, 1.630000, 1.610000, 1.580000, 1.560000, 1.530000, 1.520000, 1.510000, 1.490000, 1.480000, 1.460000, 1.450000, 1.440000, 1.430000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.310000, 1.310000, 1.300000, 1.290000, 1.290000, 1.280000, 1.270000, 1.270000, 1.250000, 1.270000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054828, 945086 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.708000, 10.660000, 2.704031 ], "estimate": [ 3.708000, 10.660000, 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": [ 3.320000, 3.270000, 3.150000, 3.110000, 3.090000, 3.060000, 3.030000, 3.010000, 2.990000, 2.980000, 2.950000, 2.940000, 2.910000, 2.900000, 2.880000, 2.870000, 2.860000, 2.850000, 2.840000, 2.820000, 2.810000, 2.800000, 2.800000, 2.790000, 2.790000, 2.780000, 2.780000, 2.770000, 2.770000, 2.770000, 2.780000, 2.780000, 2.770000, 2.780000, 2.780000, 2.780000, 2.800000, 2.790000, 2.800000, 2.810000, 2.820000, 2.830000, 2.830000, 2.840000, 2.860000, 2.870000, 2.870000, 2.900000, 2.920000, 5.410000, 5.770000, 5.670000, 5.530000, 5.530000, null, 5.990000, 6.030000, 6.070000, 6.120000, 6.180000, 6.240000, 6.310000, 4.200000, 4.120000, 3.680000, 3.580000, 3.500000, 3.530000, 3.570000, 3.610000, 3.680000, 3.730000, 3.790000, 3.860000, 3.920000, 3.990000, 4.050000, 4.140000, 4.220000, 4.320000, 4.380000, 4.480000, 4.580000, 4.690000, 4.800000, 4.920000, 5.040000, 5.170000, 5.310000, 5.470000, 5.620000, 5.800000, 5.980000, 6.190000, 6.410000, 6.650000, 6.900000, 7.170000, 7.470000, 8.680000, 8.620000, 8.570000, 8.520000, 8.470000, 8.440000, 8.390000, 3.380000, 2.990000, 2.740000, 2.460000, 2.240000, 2.080000, 2.000000, 1.970000, 1.960000, 1.980000, 1.990000, 2.000000, 2.010000, 2.030000, 2.040000, 2.050000, 2.070000, 2.090000, 2.110000, 2.130000, 2.150000, 2.170000, 2.190000, 2.210000, 2.260000, 2.190000, 2.130000, 2.080000, 2.020000, 1.980000, 1.940000, 1.900000, 1.860000, 1.830000, 1.790000, 1.760000, 1.720000, 1.680000, 1.660000, 1.650000, 1.630000, 1.600000, 1.580000, 1.550000, 1.530000, 1.530000, 1.510000, 1.490000, 1.480000, 1.460000, 1.440000, 1.430000, 1.430000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.320000, 1.310000, 1.300000, 1.290000, 1.290000, 1.280000, 1.280000, 1.270000, 1.270000, 1.260000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054829, 192939 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.652000, 10.686999, 2.691740 ], "estimate": [ 3.652000, 10.686999, 2.691740 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.290000, 3.150000, 3.120000, 3.090000, 3.060000, 3.040000, 3.010000, 2.980000, 2.970000, 2.950000, 2.930000, 2.910000, 2.880000, 2.870000, 2.850000, 2.840000, 2.840000, 2.820000, 2.800000, 2.790000, 2.780000, 2.780000, 2.770000, 2.780000, 2.760000, 2.760000, 2.750000, 2.750000, 2.750000, 2.740000, 2.740000, 2.750000, 2.750000, 2.750000, 2.750000, 2.760000, 2.760000, 2.760000, 2.770000, 2.780000, 2.790000, 2.790000, 2.790000, 2.800000, 2.820000, 2.830000, 2.840000, 2.860000, 2.910000, 5.390000, 5.690000, 5.450000, 5.510000, 5.460000, 5.550000, 5.870000, 5.970000, 6.030000, 6.070000, 6.130000, 6.190000, 6.250000, 4.140000, 4.060000, 3.630000, 3.530000, 3.440000, 3.460000, 3.520000, 3.570000, 3.610000, 3.660000, 3.730000, 3.780000, 3.840000, 3.910000, 3.980000, 4.060000, 4.140000, 4.230000, 4.300000, 4.390000, 4.490000, 4.590000, 4.700000, 4.810000, 4.940000, 5.060000, 5.210000, 5.360000, 5.510000, 5.680000, 5.850000, 6.040000, 6.260000, 6.480000, 6.730000, 6.990000, 7.260000, 8.650000, 8.580000, 8.540000, 8.490000, 8.440000, 8.390000, 8.350000, 8.330000, 3.180000, 2.870000, 2.620000, 2.370000, 2.170000, 2.020000, 1.940000, 1.930000, 1.900000, 1.920000, 1.930000, 1.940000, 1.950000, 1.970000, 1.990000, 2.000000, 2.020000, 2.040000, 2.050000, 2.070000, 2.090000, 2.110000, 2.140000, 2.160000, 2.230000, 2.170000, 2.120000, 2.060000, 2.010000, 1.980000, 1.930000, 1.890000, 1.840000, 1.810000, 1.780000, 1.750000, 1.720000, 1.680000, 1.660000, 1.640000, 1.620000, 1.590000, 1.570000, 1.550000, 1.540000, 1.530000, 1.510000, 1.490000, 1.470000, 1.460000, 1.450000, 1.440000, 1.420000, 1.410000, 1.400000, 1.390000, 1.370000, 1.370000, 1.370000, 1.350000, 1.340000, 1.330000, 1.330000, 1.320000, 1.310000, 1.300000, 1.290000, 1.290000, 1.290000, 1.280000, 1.270000, 1.270000, 1.280000 ], "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": [ 976054829, 364048 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.592000, 10.716000, 2.685595 ], "estimate": [ 3.592000, 10.716000, 2.685595 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.110000, 3.080000, 3.050000, 3.020000, 3.000000, 2.980000, 2.960000, 2.930000, 2.910000, 2.890000, 2.870000, 2.860000, 2.850000, 2.820000, 2.810000, 2.800000, 2.790000, 2.770000, 2.770000, 2.750000, 2.740000, 2.730000, 2.740000, 2.730000, 2.720000, 2.710000, 2.710000, 2.710000, 2.700000, 2.710000, 2.710000, 2.710000, 2.710000, 2.710000, 2.720000, 2.720000, 2.730000, 2.740000, 2.750000, 2.750000, 2.760000, 2.770000, 2.780000, 2.780000, 2.800000, 2.810000, 2.840000, 5.620000, 5.330000, 5.680000, 5.450000, 5.460000, 5.450000, null, 5.890000, 5.930000, 5.980000, 6.040000, 6.090000, 6.150000, 6.220000, 4.090000, 3.730000, 3.520000, 3.430000, 3.400000, 3.420000, 3.480000, 3.530000, 3.570000, 3.620000, 3.690000, 3.750000, 3.810000, 3.870000, 3.930000, 4.020000, 4.090000, 4.180000, 4.250000, 4.340000, 4.440000, 4.540000, 4.640000, 4.760000, 4.870000, 5.010000, 5.150000, 5.300000, 5.440000, 5.610000, 5.780000, 5.970000, 6.190000, 6.420000, 6.650000, 6.900000, 7.180000, 8.580000, 8.530000, 8.470000, 8.430000, 8.390000, 8.340000, 8.300000, 8.260000, 3.250000, 2.910000, 2.660000, 2.420000, 2.220000, 2.060000, 1.930000, 1.890000, 1.870000, 1.850000, 1.870000, 1.880000, 1.890000, 1.900000, 1.920000, 1.940000, 1.950000, 1.970000, 1.980000, 2.010000, 2.030000, 2.040000, 2.060000, 2.090000, 2.110000, 2.200000, 2.130000, 2.080000, 2.030000, 1.990000, 1.950000, 1.900000, 1.860000, 1.830000, 1.790000, 1.760000, 1.720000, 1.690000, 1.670000, 1.640000, 1.630000, 1.600000, 1.580000, 1.560000, 1.540000, 1.530000, 1.520000, 1.500000, 1.480000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.320000, 1.310000, 1.300000, 1.290000, 1.290000, 1.280000, 1.280000, 1.270000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054829, 414446 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.539000, 10.741000, 2.691740 ], "estimate": [ 3.539000, 10.741000, 2.691740 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.100000, 3.060000, 3.030000, 3.010000, 2.990000, 2.970000, 2.940000, 2.910000, 2.880000, 2.870000, 2.860000, 2.830000, 2.810000, 2.790000, 2.790000, 2.770000, 2.760000, 2.750000, 2.740000, 2.730000, 2.720000, 2.710000, 2.700000, 2.690000, 2.690000, 2.680000, 2.690000, 2.690000, 2.680000, 2.680000, 2.680000, 2.690000, 2.680000, 2.680000, 2.690000, 2.690000, 2.700000, 2.700000, 2.700000, 2.710000, 2.720000, 2.730000, 2.740000, 2.750000, 2.760000, 2.770000, 2.820000, 5.570000, 5.580000, 5.640000, 5.580000, 5.390000, 5.380000, null, 5.820000, 5.870000, 5.920000, 5.970000, 6.030000, 6.080000, 6.140000, 4.030000, 3.930000, 3.480000, 3.380000, 3.330000, 3.370000, 3.410000, 3.450000, 3.500000, 3.550000, 3.610000, 3.670000, 3.710000, 3.780000, 3.860000, 3.920000, 3.990000, 4.080000, 4.160000, 4.240000, 4.330000, 4.430000, 4.530000, 4.640000, 4.750000, 4.880000, 5.010000, 5.120000, 5.300000, 5.450000, 5.620000, 5.800000, 5.990000, 6.200000, 6.440000, 6.670000, 6.940000, 7.220000, 8.500000, 8.460000, 8.390000, 8.360000, 8.310000, 8.270000, 8.220000, 8.210000, 3.150000, 2.840000, 2.600000, 2.380000, 2.190000, 2.030000, 1.900000, 1.840000, 1.850000, 1.800000, 1.800000, 1.820000, 1.830000, 1.840000, 1.860000, 1.870000, 1.890000, 1.900000, 1.930000, 1.940000, 1.960000, 1.980000, 2.000000, 2.030000, 2.040000, 2.070000, 2.140000, 2.070000, 2.020000, 1.990000, 1.940000, 1.900000, 1.850000, 1.820000, 1.790000, 1.760000, 1.730000, 1.700000, 1.660000, 1.650000, 1.630000, 1.610000, 1.580000, 1.560000, 1.550000, 1.530000, 1.520000, 1.500000, 1.480000, 1.460000, 1.460000, 1.450000, 1.430000, 1.420000, 1.410000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.340000, 1.330000, 1.320000, 1.310000, 1.300000, 1.290000, 1.290000, 1.290000, 1.280000, 1.280000, 1.280000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054830, 369189 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.493000, 10.763000, 2.691740 ], "estimate": [ 3.493000, 10.763000, 2.691740 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.050000, 3.010000, 2.990000, 2.970000, 2.940000, 2.920000, 2.890000, 2.860000, 2.860000, 2.840000, 2.820000, 2.800000, 2.790000, 2.770000, 2.770000, 2.740000, 2.740000, 2.720000, 2.710000, 2.710000, 2.690000, 2.690000, 2.680000, 2.670000, 2.670000, 2.660000, 2.660000, 2.660000, 2.660000, 2.650000, 2.650000, 2.660000, 2.660000, 2.660000, 2.670000, 2.670000, 2.680000, 2.680000, 2.690000, 2.700000, 2.690000, 2.710000, 2.720000, 2.740000, 2.740000, 5.510000, 5.530000, 5.510000, 5.600000, 5.610000, 5.430000, 5.370000, null, 5.770000, 5.820000, 5.870000, 5.920000, 5.980000, 6.040000, 6.080000, 3.970000, 3.910000, 3.450000, 3.350000, 3.290000, 3.310000, 3.360000, 3.400000, 3.450000, 3.510000, 3.560000, 3.610000, 3.680000, 3.740000, 3.790000, 3.880000, 3.940000, 4.030000, 4.100000, 4.170000, 4.270000, 4.350000, 4.450000, 4.550000, 4.660000, 4.790000, 4.900000, 5.040000, 5.190000, 5.340000, 5.500000, 5.690000, 5.840000, 6.070000, 6.280000, 6.520000, 6.770000, 7.040000, 7.640000, 8.430000, 8.380000, 8.330000, 8.290000, 8.240000, 8.210000, 8.170000, 8.320000, 2.980000, 2.730000, 2.520000, 2.290000, 2.130000, 1.970000, 1.850000, 1.800000, 1.800000, 1.760000, 1.770000, 1.790000, 1.790000, 1.800000, 1.820000, 1.830000, 1.850000, 1.870000, 1.880000, 1.900000, 1.930000, 1.940000, 1.960000, 1.980000, 2.010000, 2.030000, 2.120000, 2.060000, 2.010000, 1.970000, 1.920000, 1.880000, 1.840000, 1.810000, 1.770000, 1.750000, 1.720000, 1.690000, 1.660000, 1.640000, 1.620000, 1.600000, 1.570000, 1.560000, 1.540000, 1.530000, 1.510000, 1.490000, 1.480000, 1.470000, 1.460000, 1.440000, 1.430000, 1.420000, 1.410000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.320000, 1.310000, 1.300000, 1.300000, 1.290000, 1.290000, 1.280000, 1.280000, 1.280000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054830, 380720 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.444000, 10.785999, 2.697886 ], "estimate": [ 3.444000, 10.785999, 2.697886 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.980000, 2.960000, 2.930000, 2.900000, 2.870000, 2.850000, 2.840000, 2.820000, 2.800000, 2.770000, 2.770000, 2.750000, 2.740000, 2.720000, 2.700000, 2.690000, 2.700000, 2.690000, 2.670000, 2.660000, 2.650000, 2.640000, 2.640000, 2.640000, 2.640000, 2.630000, 2.630000, 2.630000, 2.630000, 2.630000, 2.630000, 2.640000, 2.640000, 2.640000, 2.650000, 2.650000, 2.660000, 2.660000, 2.680000, 2.690000, 2.680000, 2.690000, 2.720000, 5.470000, 5.500000, 5.310000, 5.550000, 5.580000, 5.340000, 5.330000, null, 5.760000, 5.780000, 5.820000, 5.870000, 5.930000, 5.980000, 6.030000, 3.950000, 3.860000, 3.410000, 3.320000, 3.240000, 3.260000, 3.300000, 3.350000, 3.400000, 3.450000, 3.500000, 3.550000, 3.610000, 3.670000, 3.730000, 3.790000, 3.870000, 3.940000, 4.040000, 4.100000, 4.190000, 4.270000, 4.350000, 4.460000, 4.570000, 4.680000, 4.800000, 4.930000, 5.070000, 5.220000, 5.360000, 5.540000, 5.710000, 5.900000, 6.130000, 6.340000, 6.600000, 6.860000, 7.150000, 8.400000, 8.360000, 8.310000, 8.250000, 8.210000, 8.170000, 8.130000, 8.120000, 3.180000, 2.870000, 2.630000, 2.430000, 2.240000, 2.070000, 1.920000, 1.820000, 1.760000, 1.750000, 1.700000, 1.710000, 1.730000, 1.740000, 1.750000, 1.770000, 1.790000, 1.800000, 1.810000, 1.830000, 1.850000, 1.870000, 1.890000, 1.910000, 1.930000, 1.950000, 1.980000, 2.000000, 2.040000, 1.990000, 1.940000, 1.910000, 1.870000, 1.840000, 1.800000, 1.770000, 1.750000, 1.720000, 1.680000, 1.660000, 1.640000, 1.610000, 1.600000, 1.580000, 1.560000, 1.540000, 1.530000, 1.510000, 1.490000, 1.480000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.320000, 1.310000, 1.300000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.280000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054830, 390149 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.389000, 10.811999, 2.704031 ], "estimate": [ 3.389000, 10.811999, 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": [ 2.970000, 2.940000, 2.910000, 2.890000, 2.860000, 2.840000, 2.820000, 2.800000, 2.770000, 2.760000, 2.740000, 2.730000, 2.710000, 2.690000, 2.690000, 2.690000, 2.660000, 2.660000, 2.650000, 2.640000, 2.630000, 2.630000, 2.610000, 2.610000, 2.610000, 2.610000, 2.600000, 2.600000, 2.600000, 2.600000, 2.610000, 2.610000, 2.610000, 2.620000, 2.620000, 2.620000, 2.620000, 2.630000, 2.640000, 2.650000, 2.650000, 2.670000, 2.710000, 5.430000, 5.450000, 5.180000, 5.520000, 5.540000, 5.320000, 5.270000, null, 5.700000, 5.730000, 5.770000, 5.810000, 5.870000, 5.920000, 5.980000, 3.930000, 3.820000, 3.350000, 3.260000, 3.200000, 3.220000, 3.260000, 3.290000, 3.340000, 3.390000, 3.430000, 3.490000, 3.540000, 3.610000, 3.670000, 3.730000, 3.790000, 3.870000, 3.940000, 4.030000, 4.100000, 4.180000, 4.270000, 4.370000, 4.470000, 4.580000, 4.700000, 4.820000, 4.960000, 5.100000, 5.240000, 5.410000, 5.580000, 5.760000, 5.960000, 6.180000, 6.410000, 6.650000, 6.920000, 7.470000, 8.330000, 8.280000, 8.220000, 8.190000, 8.140000, 8.110000, 8.060000, 8.100000, 3.060000, 2.770000, 2.560000, 2.370000, 2.170000, 2.010000, 1.880000, 1.780000, 1.720000, 1.700000, 1.670000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.730000, 1.750000, 1.760000, 1.790000, 1.790000, 1.820000, 1.840000, 1.860000, 1.870000, 1.900000, 1.930000, 1.940000, 2.030000, 1.990000, 1.930000, 1.900000, 1.860000, 1.830000, 1.790000, 1.760000, 1.740000, 1.710000, 1.680000, 1.660000, 1.630000, 1.610000, 1.600000, 1.570000, 1.560000, 1.540000, 1.520000, 1.510000, 1.490000, 1.480000, 1.470000, 1.450000, 1.440000, 1.430000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.350000, 1.350000, 1.340000, 1.330000, 1.330000, 1.320000, 1.320000, 1.300000, 1.290000, 1.290000, 1.300000, 1.290000, 1.280000, 1.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054830, 213904 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.335000, 10.837000, 2.697886 ], "estimate": [ 3.335000, 10.837000, 2.697886 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.930000, 2.890000, 2.870000, 2.860000, 2.830000, 2.800000, 2.780000, 2.770000, 2.750000, 2.730000, 2.710000, 2.690000, 2.680000, 2.670000, 2.670000, 2.650000, 2.640000, 2.630000, 2.610000, 2.610000, 2.610000, 2.600000, 2.590000, 2.590000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 2.590000, 2.600000, 2.590000, 2.610000, 2.610000, 2.620000, 2.620000, 2.680000, 5.370000, 5.410000, 5.440000, 5.220000, 5.490000, 5.300000, 5.240000, 5.230000, null, 5.660000, 5.700000, 5.750000, 5.790000, 5.840000, 5.890000, 5.950000, 3.820000, 3.340000, 3.250000, 3.140000, 3.150000, 3.190000, 3.230000, 3.260000, 3.310000, 3.360000, 3.410000, 3.460000, 3.520000, 3.580000, 3.620000, 3.690000, 3.770000, 3.840000, 3.910000, 3.970000, 4.070000, 4.140000, 4.230000, 4.340000, 4.430000, 4.530000, 4.670000, 4.790000, 4.900000, 5.060000, 5.200000, 5.350000, 5.520000, 5.710000, 5.920000, 6.140000, 6.350000, 6.610000, 6.880000, 7.530000, 8.270000, 8.210000, 8.170000, 8.120000, 8.080000, 8.050000, 8.020000, 8.030000, 3.100000, 2.800000, 2.570000, 2.390000, 2.200000, 2.050000, 1.900000, 1.790000, 1.690000, 1.660000, 1.650000, 1.600000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.680000, 1.690000, 1.710000, 1.730000, 1.750000, 1.770000, 1.790000, 1.800000, 1.830000, 1.850000, 1.870000, 1.900000, 1.940000, 1.940000, 1.910000, 1.870000, 1.830000, 1.800000, 1.760000, 1.750000, 1.720000, 1.680000, 1.660000, 1.640000, 1.610000, 1.590000, 1.580000, 1.560000, 1.540000, 1.530000, 1.510000, 1.500000, 1.490000, 1.470000, 1.460000, 1.440000, 1.430000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.340000, 1.330000, 1.320000, 1.310000, 1.310000, 1.300000, 1.290000, 1.290000, 1.290000, 1.280000, 1.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054830, 728945 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.287000, 10.860000, 2.691740 ], "estimate": [ 3.287000, 10.860000, 2.691740 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.910000, 2.880000, 2.860000, 2.840000, 2.810000, 2.780000, 2.770000, 2.750000, 2.730000, 2.710000, 2.690000, 2.690000, 2.670000, 2.660000, 2.650000, 2.620000, 2.610000, 2.610000, 2.600000, 2.600000, 2.580000, 2.570000, 2.570000, 2.570000, 2.560000, 2.550000, 2.550000, 2.550000, 2.550000, 2.550000, 2.550000, 2.550000, 2.550000, 2.560000, 2.560000, 2.560000, 2.570000, 2.580000, 2.590000, 2.600000, 2.610000, 5.330000, 5.350000, 5.380000, 5.410000, 5.140000, 5.440000, 5.280000, 5.200000, 5.210000, null, 5.610000, 5.670000, 5.700000, 5.760000, 5.790000, 5.850000, 5.900000, 3.790000, 3.290000, 3.200000, 3.110000, 3.110000, 3.140000, 3.180000, 3.220000, 3.250000, 3.300000, 3.360000, 3.410000, 3.460000, 3.520000, 3.570000, 3.630000, 3.700000, 3.770000, 3.850000, 3.900000, 4.000000, 4.080000, 4.150000, 4.260000, 4.350000, 4.450000, 4.570000, 4.690000, 4.830000, 4.960000, 5.090000, 5.250000, 5.410000, 5.590000, 5.770000, 6.000000, 6.210000, 6.450000, 6.700000, 7.000000, 8.240000, 8.190000, 8.140000, 8.090000, 8.060000, 8.030000, 7.990000, 7.970000, 8.210000, 2.930000, 2.670000, 2.460000, 2.290000, 2.130000, 1.990000, 1.850000, 1.760000, 1.650000, 1.620000, 1.600000, 1.570000, 1.560000, 1.580000, 1.590000, 1.600000, 1.620000, 1.640000, 1.650000, 1.670000, 1.690000, 1.700000, 1.720000, 1.740000, 1.760000, 1.790000, 1.800000, 1.840000, 1.860000, 1.870000, 1.930000, 1.900000, 1.850000, 1.820000, 1.780000, 1.760000, 1.730000, 1.700000, 1.670000, 1.660000, 1.630000, 1.620000, 1.590000, 1.570000, 1.550000, 1.540000, 1.520000, 1.500000, 1.490000, 1.480000, 1.460000, 1.450000, 1.440000, 1.420000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.330000, 1.320000, 1.310000, 1.300000, 1.300000, 1.290000, 1.290000, 1.290000, 1.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054830, 730100 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.240000, 10.882000, 2.685595 ], "estimate": [ 3.240000, 10.882000, 2.685595 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.880000, 2.860000, 2.830000, 2.800000, 2.770000, 2.760000, 2.740000, 2.720000, 2.700000, 2.680000, 2.670000, 2.650000, 2.650000, 2.630000, 2.610000, 2.610000, 2.590000, 2.580000, 2.570000, 2.560000, 2.550000, 2.550000, 2.540000, 2.540000, 2.520000, 2.530000, 2.530000, 2.520000, 2.530000, 2.520000, 2.520000, 2.520000, 2.530000, 2.530000, 2.530000, 2.540000, 2.550000, 2.550000, 2.570000, 2.570000, 5.010000, 5.310000, 5.330000, 5.350000, 5.180000, 5.400000, 5.420000, 5.200000, 5.160000, null, 5.570000, 5.600000, 5.640000, 5.680000, 5.720000, 5.780000, 5.820000, 3.790000, 3.530000, 3.200000, 3.100000, 3.060000, 3.080000, 3.110000, 3.150000, 3.190000, 3.240000, 3.280000, 3.320000, 3.380000, 3.420000, 3.480000, 3.540000, 3.610000, 3.680000, 3.750000, 3.820000, 3.890000, 3.960000, 4.040000, 4.140000, 4.210000, 4.330000, 4.430000, 4.530000, 4.670000, 4.780000, 4.930000, 5.060000, 5.220000, 5.370000, 5.560000, 5.750000, 5.960000, 6.170000, 6.410000, 6.660000, 6.960000, 8.190000, 8.130000, 8.080000, 8.060000, 8.010000, 7.980000, 7.930000, 7.920000, 8.160000, 2.940000, 2.680000, 2.470000, 2.300000, 2.140000, 1.990000, 1.860000, 1.760000, 1.670000, 1.590000, 1.550000, 1.550000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.580000, 1.590000, 1.610000, 1.630000, 1.640000, 1.660000, 1.680000, 1.700000, 1.710000, 1.740000, 1.770000, 1.790000, 1.820000, 1.830000, 1.910000, 1.860000, 1.830000, 1.790000, 1.770000, 1.740000, 1.710000, 1.680000, 1.660000, 1.630000, 1.610000, 1.590000, 1.580000, 1.550000, 1.540000, 1.530000, 1.510000, 1.490000, 1.490000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.340000, 1.330000, 1.320000, 1.320000, 1.310000, 1.300000, 1.300000, 1.290000, 1.300000, 1.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054830, 814144 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.185000, 10.909000, 2.679449 ], "estimate": [ 3.185000, 10.909000, 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": [ 2.850000, 2.830000, 2.800000, 2.770000, 2.760000, 2.730000, 2.710000, 2.690000, 2.670000, 2.650000, 2.640000, 2.640000, 2.620000, 2.610000, 2.600000, 2.580000, 2.570000, 2.560000, 2.540000, 2.540000, 2.520000, 2.520000, 2.510000, 2.520000, 2.520000, 2.500000, 2.510000, 2.500000, 2.500000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 2.520000, 2.520000, 2.520000, 2.530000, 2.540000, 5.010000, 5.260000, 5.290000, 5.310000, 5.330000, 5.040000, 5.380000, 5.300000, 5.130000, 5.110000, null, 5.460000, 5.570000, 5.600000, 5.650000, 5.700000, 5.750000, 5.790000, 3.690000, 3.210000, 3.110000, 3.030000, 3.010000, 3.050000, 3.080000, 3.120000, 3.160000, 3.200000, 3.240000, 3.290000, 3.340000, 3.400000, 3.450000, 3.510000, 3.570000, 3.630000, 3.700000, 3.780000, 3.850000, 3.910000, 4.000000, 4.090000, 4.180000, 4.290000, 4.390000, 4.490000, 4.610000, 4.750000, 4.870000, 5.020000, 5.160000, 5.320000, 5.500000, 5.690000, 5.900000, 6.110000, 6.340000, 6.610000, 6.890000, 8.130000, 8.080000, 8.040000, 8.010000, 7.960000, 7.920000, 7.890000, 7.850000, 8.080000, 9.050000, 2.720000, 2.500000, 2.330000, 2.170000, 2.020000, 1.890000, 1.790000, 1.690000, 1.620000, 1.540000, 1.510000, 1.520000, 1.470000, 1.480000, 1.490000, 1.500000, 1.520000, 1.530000, 1.550000, 1.560000, 1.580000, 1.600000, 1.620000, 1.630000, 1.660000, 1.680000, 1.690000, 1.720000, 1.750000, 1.770000, 1.800000, 1.870000, 1.840000, 1.800000, 1.770000, 1.750000, 1.720000, 1.680000, 1.670000, 1.640000, 1.620000, 1.600000, 1.580000, 1.560000, 1.540000, 1.530000, 1.510000, 1.490000, 1.480000, 1.480000, 1.460000, 1.450000, 1.430000, 1.420000, 1.410000, 1.390000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.330000, 1.320000, 1.310000, 1.300000, 1.300000, 1.300000, 1.300000, 1.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054831, 328577 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.127000, 10.938001, 2.667158 ], "estimate": [ 3.127000, 10.938001, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.830000, 2.790000, 2.770000, 2.750000, 2.730000, 2.700000, 2.690000, 2.670000, 2.650000, 2.630000, 2.630000, 2.610000, 2.590000, 2.580000, 2.560000, 2.540000, 2.540000, 2.530000, 2.520000, 2.520000, 2.500000, 2.490000, 2.490000, 2.490000, 2.480000, 2.480000, 2.480000, 2.470000, 2.470000, 2.470000, 2.480000, 2.470000, 2.470000, 2.480000, 2.480000, 2.490000, 2.490000, 2.500000, 5.200000, 4.990000, 5.230000, 5.250000, 5.270000, 5.180000, 5.310000, 5.340000, 5.150000, 5.080000, 5.070000, null, 5.480000, 5.520000, 5.560000, 5.600000, 5.650000, 5.700000, 5.740000, 3.620000, 3.130000, 3.010000, 2.940000, 2.980000, 3.000000, 3.030000, 3.070000, 3.100000, 3.150000, 3.200000, 3.240000, 3.290000, 3.340000, 3.400000, 3.450000, 3.520000, 3.570000, 3.640000, 3.710000, 3.770000, 3.850000, 3.930000, 4.010000, 4.100000, 4.200000, 4.300000, 4.400000, 4.520000, 4.650000, 4.780000, 4.910000, 5.050000, 5.210000, 5.380000, 5.570000, 5.760000, 5.980000, 6.200000, 6.440000, 6.730000, 8.090000, 8.040000, 8.000000, 7.950000, 7.910000, 7.880000, 7.830000, 7.800000, 7.790000, 8.980000, 2.840000, 2.600000, 2.420000, 2.250000, 2.110000, 1.980000, 1.850000, 1.750000, 1.650000, 1.580000, 1.510000, 1.480000, 1.440000, 1.450000, 1.410000, 1.420000, 1.440000, 1.450000, 1.470000, 1.480000, 1.500000, 1.520000, 1.540000, 1.550000, 1.570000, 1.590000, 1.610000, 1.630000, 1.660000, 1.680000, 1.700000, 1.730000, 1.750000, 1.830000, 1.800000, 1.770000, 1.740000, 1.710000, 1.680000, 1.660000, 1.630000, 1.610000, 1.590000, 1.570000, 1.560000, 1.540000, 1.530000, 1.510000, 1.490000, 1.480000, 1.470000, 1.460000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.330000, 1.320000, 1.310000, 1.310000, 1.300000, 1.300000, 1.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054831, 329715 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.076000, 10.964001, 2.648721 ], "estimate": [ 3.076000, 10.964001, 2.648721 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.820000, 2.790000, 2.770000, 2.740000, 2.720000, 2.690000, 2.670000, 2.650000, 2.640000, 2.620000, 2.620000, 2.590000, 2.570000, 2.550000, 2.540000, 2.520000, 2.510000, 2.510000, 2.500000, 2.490000, 2.480000, 2.470000, 2.470000, 2.460000, 2.460000, 2.450000, 2.450000, 2.440000, 2.450000, 2.450000, 2.450000, 2.450000, 2.450000, 2.450000, 2.460000, 2.460000, 2.470000, 2.470000, 5.150000, 5.160000, 5.180000, 5.140000, 5.190000, 5.250000, 4.940000, 5.300000, 5.200000, 5.050000, 5.030000, 5.090000, 5.440000, 5.470000, 5.520000, 5.540000, 5.590000, 5.630000, 5.670000, 3.620000, 3.100000, 3.010000, 2.940000, 2.910000, 2.950000, 2.970000, 3.000000, 3.040000, 3.080000, 3.130000, 3.170000, 3.220000, 3.260000, 3.310000, 3.370000, 3.420000, 3.490000, 3.540000, 3.610000, 3.690000, 3.750000, 3.820000, 3.900000, 3.990000, 4.080000, 4.170000, 4.280000, 4.390000, 4.490000, 4.620000, 4.760000, 4.890000, 5.050000, 5.200000, 5.360000, 5.550000, 5.740000, 5.950000, 6.170000, 6.420000, 6.700000, 8.030000, 7.990000, 7.940000, 7.900000, 7.860000, 7.810000, 7.780000, 7.750000, 7.780000, 8.920000, 2.820000, 2.600000, 2.410000, 2.250000, 2.120000, 1.970000, 1.860000, 1.750000, 1.670000, 1.580000, 1.520000, 1.450000, 1.420000, 1.400000, 1.400000, 1.370000, 1.380000, 1.390000, 1.410000, 1.420000, 1.440000, 1.450000, 1.480000, 1.490000, 1.510000, 1.530000, 1.550000, 1.570000, 1.590000, 1.620000, 1.640000, 1.670000, 1.680000, 1.710000, 1.800000, 1.770000, 1.740000, 1.710000, 1.680000, 1.660000, 1.640000, 1.620000, 1.590000, 1.580000, 1.560000, 1.540000, 1.530000, 1.520000, 1.500000, 1.480000, 1.480000, 1.460000, 1.450000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.330000, 1.320000, 1.320000, 1.310000, 1.310000, 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": [ 976054831, 413722 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.029000, 10.989000, 2.642576 ], "estimate": [ 3.029000, 10.989000, 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": [ 2.780000, 2.770000, 2.740000, 2.710000, 2.690000, 2.670000, 2.650000, 2.620000, 2.610000, 2.600000, 2.570000, 2.560000, 2.540000, 2.530000, 2.520000, 2.500000, 2.490000, 2.480000, 2.470000, 2.460000, 2.450000, 2.450000, 2.440000, 2.440000, 2.430000, 2.430000, 2.430000, 2.420000, 2.420000, 2.420000, 2.420000, 2.420000, 2.430000, 2.430000, 2.430000, 2.430000, 2.440000, 5.130000, 5.140000, 5.120000, 5.170000, 5.050000, 5.190000, 4.910000, 5.240000, 5.260000, 5.050000, 5.010000, 5.010000, 5.100000, 5.410000, 5.450000, 5.480000, 5.520000, 5.550000, 5.600000, 5.650000, 3.260000, 3.010000, 2.900000, 2.850000, 2.880000, 2.910000, 2.940000, 2.980000, 3.010000, 3.050000, 3.080000, 3.130000, 3.180000, 3.230000, 3.270000, 3.330000, 3.390000, 3.440000, 3.510000, 3.580000, 3.650000, 3.700000, 3.770000, 3.860000, 3.940000, 4.040000, 4.130000, 4.230000, 4.340000, 4.450000, 4.570000, 4.690000, 4.840000, 4.970000, 5.130000, 5.290000, 5.480000, 5.680000, 5.890000, 6.110000, 6.360000, 6.610000, 7.980000, 7.940000, 7.900000, 7.850000, 7.810000, 7.770000, 7.730000, 7.700000, 7.680000, 8.880000, 8.940000, 2.650000, 2.440000, 2.270000, 2.130000, 2.010000, 1.890000, 1.780000, 1.690000, 1.610000, 1.530000, 1.480000, 1.410000, 1.380000, 1.350000, 1.370000, 1.320000, 1.330000, 1.350000, 1.370000, 1.380000, 1.390000, 1.410000, 1.430000, 1.440000, 1.460000, 1.480000, 1.500000, 1.530000, 1.550000, 1.560000, 1.590000, 1.610000, 1.640000, 1.680000, 1.690000, 1.760000, 1.730000, 1.690000, 1.680000, 1.650000, 1.620000, 1.610000, 1.590000, 1.570000, 1.550000, 1.540000, 1.520000, 1.510000, 1.490000, 1.480000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.400000, 1.390000, 1.390000, 1.380000, 1.380000, 1.370000, 1.360000, 1.350000, 1.340000, 1.340000, 1.320000, 1.320000, 1.320000, 1.310000, 1.310000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054832, 669276 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.980000, 11.016000, 2.630285 ], "estimate": [ 2.980000, 11.016000, 2.630285 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.780000, 2.750000, 2.720000, 2.700000, 2.680000, 2.660000, 2.630000, 2.620000, 2.600000, 2.580000, 2.560000, 2.540000, 2.520000, 2.520000, 2.500000, 2.490000, 2.480000, 2.460000, 2.450000, 2.440000, 2.430000, 2.430000, 2.420000, 2.410000, 2.410000, 2.400000, 2.400000, 2.400000, 2.390000, 2.390000, 2.400000, 2.390000, 2.390000, 2.390000, 2.400000, 2.400000, 2.440000, 5.090000, 5.110000, 4.790000, 5.130000, 5.150000, 5.160000, 5.170000, 4.890000, 5.220000, 5.240000, 4.980000, 4.950000, 5.000000, 5.350000, 5.390000, 5.420000, 5.460000, 5.510000, 5.530000, 5.590000, 3.510000, 2.990000, 2.900000, 2.820000, 2.830000, 2.850000, 2.890000, 2.920000, 2.950000, 2.990000, 3.020000, 3.060000, 3.110000, 3.160000, 3.200000, 3.260000, 3.300000, 3.360000, 3.430000, 3.480000, 3.560000, 3.620000, 3.690000, 3.760000, 3.850000, 3.920000, 4.010000, 4.110000, 4.200000, 4.310000, 4.430000, 4.610000, 4.690000, 4.820000, 4.960000, 5.120000, 5.280000, 5.460000, 5.670000, 5.870000, 6.110000, 6.340000, 6.620000, 7.930000, 7.890000, 7.830000, 7.790000, 7.750000, 7.720000, 7.680000, 7.640000, 7.660000, 8.830000, 9.110000, 2.660000, 2.460000, 2.280000, 2.140000, 2.040000, 1.920000, 1.800000, 1.710000, 1.620000, 1.550000, 1.500000, 1.430000, 1.370000, 1.340000, 1.310000, 1.330000, 1.280000, 1.290000, 1.300000, 1.320000, 1.330000, 1.350000, 1.380000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.490000, 1.510000, 1.530000, 1.550000, 1.580000, 1.600000, 1.640000, 1.670000, 1.730000, 1.700000, 1.680000, 1.660000, 1.630000, 1.610000, 1.590000, 1.580000, 1.550000, 1.540000, 1.520000, 1.510000, 1.500000, 1.490000, 1.470000, 1.460000, 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, 1.330000, 1.330000, 1.320000, 1.320000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054832, 681764 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.926000, 11.046000, 2.624139 ], "estimate": [ 2.926000, 11.046000, 2.624139 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.740000, 2.720000, 2.690000, 2.660000, 2.650000, 2.620000, 2.600000, 2.590000, 2.570000, 2.540000, 2.530000, 2.500000, 2.490000, 2.480000, 2.470000, 2.450000, 2.440000, 2.430000, 2.420000, 2.410000, 2.400000, 2.380000, 2.380000, 2.370000, 2.360000, 2.370000, 2.370000, 2.370000, 2.370000, 2.360000, 2.360000, 2.370000, 2.370000, 2.370000, 2.370000, 2.360000, 5.040000, 5.050000, 5.060000, 4.960000, 5.090000, 5.110000, 5.130000, 4.850000, 5.100000, 5.190000, 5.050000, 4.930000, 4.900000, 4.970000, 5.110000, 5.340000, 5.380000, 5.420000, 5.460000, 5.510000, 5.530000, 3.000000, 2.890000, 2.770000, 2.760000, 2.770000, 2.810000, 2.850000, 2.860000, 2.900000, 2.940000, 2.980000, 3.010000, 3.050000, 3.100000, 3.150000, 3.200000, 3.250000, 3.300000, 3.370000, 3.420000, 3.500000, 3.540000, 3.610000, 3.690000, 3.770000, 3.860000, 3.930000, 4.030000, 4.130000, 4.230000, 4.330000, 4.470000, 4.600000, 4.720000, 4.860000, 5.030000, 5.190000, 5.350000, 5.540000, 5.750000, 5.970000, 6.200000, 6.480000, 6.760000, 7.830000, 7.790000, 7.750000, 7.700000, 7.670000, 7.640000, 7.600000, 7.580000, 8.750000, 8.760000, 9.660000, 2.560000, 2.390000, 2.230000, 2.090000, 1.980000, 1.880000, 1.760000, 1.680000, 1.610000, 1.530000, 1.470000, 1.410000, 1.370000, 1.320000, 1.280000, 1.260000, 1.270000, 1.230000, 1.240000, 1.260000, 1.270000, 1.280000, 1.300000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.470000, 1.490000, 1.510000, 1.550000, 1.560000, 1.600000, 1.620000, 1.700000, 1.670000, 1.650000, 1.630000, 1.620000, 1.590000, 1.570000, 1.550000, 1.540000, 1.520000, 1.520000, 1.500000, 1.490000, 1.480000, 1.460000, 1.450000, 1.430000, 1.430000, 1.420000, 1.410000, 1.390000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.350000, 1.340000, 1.330000, 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": [ 976054832, 682824 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.872000, 11.077000, 2.611848 ], "estimate": [ 2.872000, 11.077000, 2.611848 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.720000, 2.690000, 2.670000, 2.640000, 2.610000, 2.600000, 2.590000, 2.560000, 2.530000, 2.510000, 2.490000, 2.490000, 2.470000, 2.450000, 2.440000, 2.430000, 2.410000, 2.400000, 2.390000, 2.370000, 2.360000, 2.360000, 2.370000, 2.360000, 2.350000, 2.350000, 2.350000, 2.340000, 2.340000, 2.330000, 2.330000, 2.330000, 2.340000, 2.340000, 2.350000, 5.000000, 5.010000, 5.020000, 5.030000, 4.700000, 5.050000, 5.070000, 5.090000, 4.810000, 5.120000, 5.150000, 4.970000, 4.870000, 4.860000, 4.950000, 5.210000, 5.310000, 5.330000, 5.370000, 5.410000, 5.450000, 3.480000, 2.920000, 2.830000, 2.710000, 2.710000, 2.740000, 2.760000, 2.800000, 2.830000, 2.850000, 2.890000, 2.930000, 2.970000, 3.000000, 3.050000, 3.100000, 3.150000, 3.200000, 3.240000, 3.300000, 3.370000, 3.420000, 3.470000, 3.550000, 3.620000, 3.690000, 3.770000, 3.870000, 3.940000, 4.040000, 4.150000, 4.260000, 4.360000, 4.490000, 4.620000, 4.760000, 4.900000, 5.050000, 5.220000, 5.410000, 5.610000, 5.830000, 6.060000, 6.310000, 6.580000, 7.800000, 7.760000, 7.710000, 7.670000, 7.630000, 7.600000, 7.560000, 7.530000, 7.700000, 8.720000, 9.160000, 10.140000, 2.490000, 2.330000, 2.180000, 2.050000, 1.940000, 1.850000, 1.750000, 1.670000, 1.590000, 1.520000, 1.470000, 1.400000, 1.350000, 1.310000, 1.270000, 1.240000, 1.220000, 1.230000, 1.200000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.280000, 1.290000, 1.320000, 1.340000, 1.370000, 1.390000, 1.410000, 1.440000, 1.450000, 1.480000, 1.510000, 1.540000, 1.560000, 1.600000, 1.680000, 1.660000, 1.630000, 1.600000, 1.590000, 1.570000, 1.550000, 1.540000, 1.530000, 1.510000, 1.510000, 1.490000, 1.480000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.360000, 1.350000, 1.340000, 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": [ 976054832, 683789 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.828000, 11.103001, 2.611848 ], "estimate": [ 2.828000, 11.103001, 2.611848 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.700000, 2.660000, 2.640000, 2.620000, 2.600000, 2.580000, 2.550000, 2.530000, 2.520000, 2.490000, 2.470000, 2.460000, 2.440000, 2.430000, 2.410000, 2.400000, 2.380000, 2.370000, 2.360000, 2.360000, 2.350000, 2.350000, 2.340000, 2.330000, 2.330000, 2.310000, 2.310000, 2.310000, 2.310000, 2.300000, 2.300000, 2.300000, 2.310000, 2.310000, 2.330000, 4.970000, 4.980000, 4.980000, 4.960000, 5.010000, 5.030000, 5.040000, 5.050000, 4.980000, 5.090000, 5.120000, 4.890000, 4.830000, 4.830000, 4.940000, 5.210000, 5.260000, 5.300000, 5.340000, 5.360000, 5.410000, 3.390000, 2.840000, 2.740000, 2.650000, 2.660000, 2.690000, 2.720000, 2.760000, 2.780000, 2.810000, 2.840000, 2.870000, 2.910000, 2.960000, 3.000000, 3.050000, 3.090000, 3.140000, 3.190000, 3.250000, 3.300000, 3.370000, 3.410000, 3.490000, 3.550000, 3.620000, 3.700000, 3.790000, 3.880000, 3.960000, 4.060000, 4.170000, 4.280000, 4.460000, 4.530000, 4.670000, 4.790000, 4.940000, 5.110000, 5.290000, 5.480000, 5.690000, 5.920000, 6.160000, 6.410000, 7.760000, 7.720000, 7.670000, 7.630000, 7.590000, 7.560000, 7.530000, 7.490000, 7.490000, 8.670000, 8.660000, 9.680000, 2.560000, 2.400000, 2.250000, 2.120000, 1.990000, 1.900000, 1.810000, 1.730000, 1.640000, 1.570000, 1.510000, 1.450000, 1.390000, 1.340000, 1.300000, 1.260000, 1.230000, 1.190000, 1.180000, 1.190000, 1.160000, 1.150000, 1.170000, 1.190000, 1.210000, 1.220000, 1.240000, 1.270000, 1.280000, 1.290000, 1.320000, 1.350000, 1.380000, 1.390000, 1.420000, 1.440000, 1.480000, 1.500000, 1.540000, 1.560000, 1.650000, 1.630000, 1.610000, 1.590000, 1.570000, 1.550000, 1.540000, 1.530000, 1.520000, 1.500000, 1.490000, 1.480000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.380000, 1.380000, 1.370000, 1.360000, 1.360000, 1.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054832, 684721 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.802000, 11.118000, 2.611848 ], "estimate": [ 2.802000, 11.118000, 2.611848 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.690000, 2.660000, 2.640000, 2.620000, 2.580000, 2.580000, 2.540000, 2.530000, 2.510000, 2.490000, 2.470000, 2.450000, 2.440000, 2.420000, 2.400000, 2.390000, 2.370000, 2.360000, 2.350000, 2.340000, 2.340000, 2.330000, 2.320000, 2.310000, 2.310000, 2.290000, 2.300000, 2.290000, 2.290000, 2.290000, 2.280000, 2.290000, 2.290000, 2.290000, 2.310000, 4.950000, 4.950000, 4.960000, 4.970000, 4.680000, 5.000000, 5.010000, 5.030000, 5.000000, 5.020000, 5.070000, 5.080000, 4.830000, 4.800000, 4.860000, 4.960000, 5.220000, 5.260000, 5.290000, 5.330000, 5.360000, 5.400000, 2.860000, 2.760000, 2.610000, 2.620000, 2.650000, 2.680000, 2.710000, 2.740000, 2.770000, 2.790000, 2.830000, 2.870000, 2.910000, 2.950000, 2.980000, 3.030000, 3.080000, 3.120000, 3.180000, 3.240000, 3.300000, 3.370000, 3.410000, 3.470000, 3.550000, 3.620000, 3.700000, 3.780000, 3.870000, 3.960000, 4.070000, 4.160000, 4.290000, 4.410000, 4.520000, 4.670000, 4.810000, 4.950000, 5.110000, 5.310000, 5.510000, 5.710000, 5.940000, 6.180000, 6.450000, 7.730000, 7.680000, 7.640000, 7.590000, 7.560000, 7.520000, 7.490000, 7.460000, 7.430000, 8.630000, 8.880000, 9.870000, 2.550000, 2.400000, 2.250000, 2.120000, 2.000000, 1.890000, 1.810000, 1.740000, 1.640000, 1.570000, 1.510000, 1.450000, 1.400000, 1.350000, 1.300000, 1.260000, 1.220000, 1.200000, 1.160000, 1.150000, 1.160000, 1.130000, 1.130000, 1.150000, 1.160000, 1.190000, 1.200000, 1.220000, 1.240000, 1.270000, 1.280000, 1.310000, 1.340000, 1.360000, 1.370000, 1.410000, 1.430000, 1.470000, 1.490000, 1.530000, 1.550000, 1.630000, 1.610000, 1.590000, 1.570000, 1.560000, 1.550000, 1.540000, 1.520000, 1.510000, 1.500000, 1.480000, 1.470000, 1.460000, 1.450000, 1.430000, 1.420000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.380000, 1.380000, 1.370000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054832, 685670 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.799000, 11.120000, 2.605703 ], "estimate": [ 2.799000, 11.120000, 2.605703 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.700000, 2.680000, 2.650000, 2.620000, 2.610000, 2.570000, 2.590000, 2.530000, 2.520000, 2.500000, 2.470000, 2.450000, 2.440000, 2.420000, 2.400000, 2.380000, 2.380000, 2.360000, 2.360000, 2.350000, 2.340000, 2.330000, 2.320000, 2.320000, 2.310000, 2.300000, 2.300000, 2.290000, 2.280000, 2.280000, 2.290000, 2.280000, 2.280000, 2.290000, 2.310000, 4.950000, 4.950000, 4.950000, 4.960000, 4.950000, 4.970000, 4.990000, 5.010000, 5.030000, 4.870000, 5.060000, 5.080000, 4.880000, 4.790000, 4.800000, 4.900000, 5.180000, 5.230000, 5.270000, 5.300000, 5.330000, 5.370000, 3.360000, 2.810000, 2.700000, 2.610000, 2.630000, 2.660000, 2.680000, 2.700000, 2.740000, 2.770000, 2.810000, 2.840000, 2.870000, 2.910000, 2.950000, 2.990000, 3.040000, 3.090000, 3.140000, 3.190000, 3.250000, 3.310000, 3.380000, 3.420000, 3.490000, 3.560000, 3.640000, 3.710000, 3.790000, 3.890000, 3.980000, 4.090000, 4.190000, 4.320000, 4.440000, 4.560000, 4.700000, 4.840000, 5.010000, 5.170000, 5.360000, 5.560000, 5.780000, 6.010000, 6.260000, 6.550000, 7.700000, 7.650000, 7.610000, 7.580000, 7.540000, 7.510000, 7.480000, 7.450000, 7.660000, 8.640000, 9.200000, 10.210000, 2.500000, 2.340000, 2.180000, 2.070000, 1.950000, 1.850000, 1.780000, 1.690000, 1.610000, 1.550000, 1.490000, 1.430000, 1.380000, 1.330000, 1.280000, 1.250000, 1.210000, 1.180000, 1.150000, 1.160000, 1.160000, 1.130000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.270000, 1.280000, 1.300000, 1.330000, 1.360000, 1.370000, 1.410000, 1.440000, 1.470000, 1.490000, 1.540000, 1.550000, 1.630000, 1.610000, 1.590000, 1.570000, 1.550000, 1.540000, 1.520000, 1.520000, 1.500000, 1.490000, 1.480000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.400000, 1.390000, 1.380000, 1.380000, 1.370000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054832, 814779 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.800000, 11.119000, 2.605703 ], "estimate": [ 2.800000, 11.119000, 2.605703 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.700000, 2.690000, 2.640000, 2.620000, 2.600000, 2.580000, 2.560000, 2.520000, 2.520000, 2.490000, 2.470000, 2.460000, 2.440000, 2.420000, 2.400000, 2.390000, 2.380000, 2.360000, 2.360000, 2.350000, 2.350000, 2.330000, 2.320000, 2.310000, 2.320000, 2.310000, 2.290000, 2.290000, 2.280000, 2.290000, 2.290000, 2.290000, 2.280000, 2.290000, 2.320000, 4.950000, 4.950000, 4.950000, 4.960000, 4.660000, 4.990000, 5.000000, 5.020000, 5.030000, 4.980000, 5.060000, 5.080000, 4.880000, 4.790000, 4.800000, 4.910000, 5.190000, 5.240000, 5.270000, 5.310000, 5.340000, 5.380000, 3.340000, 2.800000, 2.680000, 2.630000, 2.640000, 2.660000, 2.690000, 2.720000, 2.750000, 2.780000, 2.820000, 2.840000, 2.870000, 2.920000, 2.970000, 3.010000, 3.050000, 3.110000, 3.150000, 3.210000, 3.260000, 3.330000, 3.380000, 3.440000, 3.510000, 3.580000, 3.660000, 3.750000, 3.820000, 3.920000, 4.010000, 4.120000, 4.220000, 4.400000, 4.470000, 4.600000, 4.740000, 4.880000, 5.050000, 5.220000, 5.410000, 5.610000, 5.840000, 6.050000, 6.320000, 6.900000, 7.690000, 7.640000, 7.610000, 7.570000, 7.540000, 7.500000, 7.470000, 7.430000, 7.690000, 8.630000, 9.400000, 10.440000, 2.460000, 2.290000, 2.160000, 2.040000, 1.930000, 1.850000, 1.750000, 1.670000, 1.590000, 1.530000, 1.480000, 1.410000, 1.360000, 1.330000, 1.280000, 1.250000, 1.210000, 1.170000, 1.160000, 1.160000, 1.150000, 1.130000, 1.140000, 1.160000, 1.170000, 1.200000, 1.220000, 1.230000, 1.260000, 1.270000, 1.290000, 1.320000, 1.340000, 1.370000, 1.390000, 1.420000, 1.450000, 1.480000, 1.510000, 1.550000, 1.640000, 1.620000, 1.600000, 1.580000, 1.560000, 1.550000, 1.530000, 1.530000, 1.520000, 1.500000, 1.490000, 1.480000, 1.460000, 1.440000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.380000, 1.380000, 1.370000, 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": [ 976054833, 262436 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.793000, 11.123000, 2.587266 ], "estimate": [ 2.793000, 11.123000, 2.587266 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.700000, 2.670000, 2.650000, 2.620000, 2.600000, 2.580000, 2.560000, 2.530000, 2.510000, 2.490000, 2.470000, 2.460000, 2.440000, 2.420000, 2.410000, 2.390000, 2.380000, 2.370000, 2.360000, 2.350000, 2.330000, 2.330000, 2.320000, 2.310000, 2.310000, 2.300000, 2.290000, 2.290000, 2.280000, 2.280000, 2.290000, 2.280000, 2.290000, 2.290000, 2.320000, 4.950000, 4.950000, 4.950000, 4.960000, 4.640000, 4.980000, 5.000000, 5.020000, 5.030000, 4.980000, 5.060000, 5.080000, 4.860000, 4.790000, 4.810000, 4.900000, 5.190000, 5.240000, 5.270000, 5.310000, 5.330000, 5.380000, 3.280000, 2.790000, 2.690000, 2.620000, 2.630000, 2.660000, 2.680000, 2.720000, 2.750000, 2.780000, 2.820000, 2.840000, 2.880000, 2.920000, 2.970000, 3.000000, 3.050000, 3.100000, 3.150000, 3.200000, 3.260000, 3.320000, 3.380000, 3.440000, 3.510000, 3.580000, 3.660000, 3.740000, 3.830000, 3.910000, 4.010000, 4.110000, 4.230000, 4.400000, 4.480000, 4.590000, 4.730000, 4.880000, 5.040000, 5.220000, 5.410000, 5.600000, 5.820000, 6.050000, 6.320000, 6.850000, 7.690000, 7.640000, 7.600000, 7.560000, 7.530000, 7.500000, 7.470000, 7.430000, 7.680000, 8.630000, 9.390000, 10.410000, 2.460000, 2.300000, 2.160000, 2.040000, 1.930000, 1.850000, 1.750000, 1.660000, 1.600000, 1.530000, 1.480000, 1.410000, 1.360000, 1.330000, 1.270000, 1.250000, 1.200000, 1.170000, 1.160000, 1.150000, 1.150000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.320000, 1.340000, 1.370000, 1.390000, 1.420000, 1.450000, 1.470000, 1.500000, 1.550000, 1.640000, 1.620000, 1.600000, 1.580000, 1.560000, 1.540000, 1.540000, 1.530000, 1.520000, 1.500000, 1.490000, 1.480000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.380000, 1.370000, 1.370000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054833, 263594 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.774000, 11.134000, 2.581121 ], "estimate": [ 2.774000, 11.134000, 2.581121 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.690000, 2.660000, 2.630000, 2.610000, 2.590000, 2.570000, 2.540000, 2.510000, 2.490000, 2.480000, 2.450000, 2.440000, 2.430000, 2.410000, 2.390000, 2.380000, 2.360000, 2.360000, 2.340000, 2.340000, 2.330000, 2.320000, 2.320000, 2.300000, 2.290000, 2.290000, 2.290000, 2.290000, 2.280000, 2.280000, 2.280000, 2.280000, 2.280000, 2.280000, 4.940000, 4.940000, 4.950000, 4.950000, 4.960000, 4.660000, 4.990000, 4.990000, 5.010000, 5.000000, 5.030000, 5.060000, 5.000000, 4.810000, 4.780000, 4.830000, 4.960000, 5.210000, 5.240000, 5.280000, 5.300000, 5.340000, 5.390000, 2.830000, 2.740000, 2.620000, 2.620000, 2.640000, 2.660000, 2.680000, 2.720000, 2.760000, 2.780000, 2.810000, 2.840000, 2.880000, 2.930000, 2.970000, 3.010000, 3.060000, 3.100000, 3.160000, 3.220000, 3.270000, 3.350000, 3.390000, 3.440000, 3.520000, 3.600000, 3.670000, 3.760000, 3.850000, 3.930000, 4.030000, 4.140000, 4.250000, 4.390000, 4.500000, 4.620000, 4.770000, 4.920000, 5.070000, 5.260000, 5.460000, 5.660000, 5.870000, 6.120000, 6.390000, 7.710000, 7.660000, 7.630000, 7.580000, 7.550000, 7.510000, 7.470000, 7.440000, 7.440000, 8.620000, 8.630000, 9.680000, 10.800000, 2.410000, 2.250000, 2.120000, 2.000000, 1.890000, 1.830000, 1.740000, 1.640000, 1.580000, 1.520000, 1.460000, 1.410000, 1.350000, 1.310000, 1.270000, 1.230000, 1.190000, 1.160000, 1.140000, 1.150000, 1.150000, 1.120000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.270000, 1.300000, 1.330000, 1.360000, 1.380000, 1.400000, 1.430000, 1.460000, 1.490000, 1.540000, 1.600000, 1.620000, 1.600000, 1.580000, 1.560000, 1.540000, 1.530000, 1.530000, 1.510000, 1.500000, 1.490000, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.380000, 1.370000, 1.370000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054833, 491793 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.722000, 11.168000, 2.568830 ], "estimate": [ 2.722000, 11.168000, 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": [ 2.670000, 2.630000, 2.620000, 2.590000, 2.580000, 2.530000, 2.520000, 2.500000, 2.470000, 2.460000, 2.440000, 2.420000, 2.400000, 2.380000, 2.370000, 2.360000, 2.350000, 2.340000, 2.340000, 2.310000, 2.310000, 2.290000, 2.280000, 2.270000, 2.280000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.250000, 2.250000, 2.250000, 2.270000, 4.910000, 4.910000, 4.920000, 4.920000, 4.930000, 4.620000, 4.950000, 4.850000, 4.980000, 4.950000, 5.010000, 5.040000, 4.880000, 4.790000, 4.750000, 4.800000, 4.900000, 5.180000, 5.210000, 5.240000, 5.270000, 5.310000, 5.340000, 2.770000, 2.670000, 2.600000, 2.580000, 2.600000, 2.630000, 2.660000, 2.690000, 2.710000, 2.740000, 2.780000, 2.810000, 2.850000, 2.880000, 2.920000, 2.970000, 3.010000, 3.060000, 3.110000, 3.160000, 3.220000, 3.280000, 3.310000, 3.390000, 3.460000, 3.530000, 3.600000, 3.690000, 3.770000, 3.860000, 3.940000, 4.050000, 4.170000, 4.330000, 4.400000, 4.530000, 4.670000, 4.810000, 4.960000, 5.130000, 5.320000, 5.510000, 5.740000, 5.960000, 6.230000, 6.670000, 7.640000, 7.590000, 7.550000, 7.530000, 7.480000, 7.450000, 7.410000, 7.400000, 7.620000, 8.570000, 9.190000, 10.210000, 2.500000, 2.350000, 2.190000, 2.080000, 1.970000, 1.870000, 1.800000, 1.710000, 1.630000, 1.560000, 1.510000, 1.450000, 1.390000, 1.350000, 1.300000, 1.260000, 1.220000, 1.200000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.100000, 1.100000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.300000, 1.330000, 1.360000, 1.380000, 1.410000, 1.450000, 1.480000, 1.520000, 1.610000, 1.600000, 1.580000, 1.560000, 1.550000, 1.530000, 1.530000, 1.520000, 1.500000, 1.490000, 1.480000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.390000, 1.380000, 1.380000, 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": [ 976054833, 870622 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.649000, 11.214001, 2.568830 ], "estimate": [ 2.649000, 11.214001, 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": [ 2.620000, 2.580000, 2.570000, 2.520000, 2.510000, 2.490000, 2.460000, 2.440000, 2.420000, 2.400000, 2.380000, 2.370000, 2.360000, 2.340000, 2.330000, 2.310000, 2.300000, 2.290000, 2.270000, 2.260000, 2.250000, 2.250000, 2.230000, 2.240000, 2.230000, 2.220000, 2.220000, 2.220000, 2.200000, 2.210000, 2.210000, 2.240000, 4.870000, 4.870000, 4.880000, 4.880000, 4.880000, 4.890000, 4.570000, 4.900000, 4.920000, 4.940000, 4.910000, 4.810000, 4.970000, 4.970000, 4.730000, 4.690000, 4.750000, 4.830000, 5.110000, 5.140000, 5.170000, 5.200000, 5.240000, 5.270000, 2.700000, 2.590000, 2.510000, 2.520000, 2.530000, 2.550000, 2.580000, 2.610000, 2.640000, 2.670000, 2.700000, 2.730000, 2.760000, 2.790000, 2.840000, 2.880000, 2.920000, 2.970000, 3.010000, 3.060000, 3.120000, 3.170000, 3.230000, 3.270000, 3.350000, 3.410000, 3.480000, 3.550000, 3.630000, 3.720000, 3.810000, 3.910000, 4.000000, 4.130000, 4.280000, 4.340000, 4.480000, 4.600000, 4.750000, 4.920000, 5.080000, 5.270000, 5.470000, 5.690000, 5.920000, 6.160000, 6.660000, 7.560000, 7.520000, 7.480000, 7.440000, 7.400000, 7.370000, 7.340000, 7.320000, 7.540000, 8.510000, 9.140000, 10.200000, 11.520000, 2.360000, 2.220000, 2.100000, 1.980000, 1.900000, 1.800000, 1.750000, 1.670000, 1.580000, 1.530000, 1.460000, 1.410000, 1.370000, 1.320000, 1.280000, 1.250000, 1.220000, 1.180000, 1.150000, 1.120000, 1.090000, 1.060000, 1.060000, 1.070000, 1.060000, 1.040000, 1.050000, 1.070000, 1.080000, 1.110000, 1.130000, 1.140000, 1.170000, 1.190000, 1.220000, 1.240000, 1.270000, 1.290000, 1.330000, 1.360000, 1.380000, 1.420000, 1.460000, 1.500000, 1.590000, 1.560000, 1.560000, 1.530000, 1.530000, 1.510000, 1.500000, 1.490000, 1.480000, 1.470000, 1.450000, 1.440000, 1.430000, 1.430000, 1.420000, 1.410000, 1.400000, 1.400000, 1.390000, 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": [ 976054833, 882704 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.595000, 11.248000, 2.568830 ], "estimate": [ 2.595000, 11.248000, 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": [ 2.580000, 2.560000, 2.520000, 2.500000, 2.470000, 2.460000, 2.430000, 2.400000, 2.380000, 2.360000, 2.360000, 2.340000, 2.330000, 2.300000, 2.290000, 2.280000, 2.260000, 2.250000, 2.240000, 2.220000, 2.230000, 2.210000, 2.200000, 2.200000, 2.190000, 2.190000, 2.180000, 2.180000, 2.180000, 2.180000, 2.210000, 4.830000, 4.830000, 4.830000, 4.830000, 4.840000, 4.850000, 4.710000, 4.860000, 4.880000, 4.890000, 4.900000, 4.590000, 4.920000, 4.930000, 4.820000, 4.650000, 4.620000, 4.710000, 4.790000, 5.060000, 5.090000, 5.120000, 5.150000, 5.180000, 2.790000, 2.580000, 2.430000, 2.450000, 2.470000, 2.490000, 2.510000, 2.530000, 2.560000, 2.580000, 2.610000, 2.640000, 2.670000, 2.700000, 2.740000, 2.780000, 2.810000, 2.850000, 2.900000, 2.950000, 2.990000, 3.040000, 3.110000, 3.170000, 3.200000, 3.260000, 3.330000, 3.400000, 3.470000, 3.550000, 3.620000, 3.720000, 3.800000, 3.900000, 4.010000, 4.150000, 4.250000, 4.360000, 4.500000, 4.620000, 4.790000, 4.930000, 5.130000, 5.330000, 5.520000, 5.740000, 5.990000, 6.250000, 7.510000, 7.480000, 7.430000, 7.400000, 7.350000, 7.320000, 7.290000, 7.260000, 7.260000, 8.450000, 8.490000, 9.550000, 10.790000, 13.260000, 2.320000, 2.210000, 2.080000, 1.980000, 1.880000, 1.790000, 1.730000, 1.680000, 1.590000, 1.520000, 1.480000, 1.430000, 1.380000, 1.350000, 1.290000, 1.250000, 1.220000, 1.190000, 1.160000, 1.120000, 1.110000, 1.080000, 1.050000, 1.020000, 1.010000, 1.010000, 1.020000, 1.010000, 1.000000, 1.020000, 1.030000, 1.050000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.190000, 1.230000, 1.260000, 1.280000, 1.320000, 1.360000, 1.390000, 1.440000, 1.470000, 1.560000, 1.550000, 1.530000, 1.520000, 1.510000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.420000, 1.420000, 1.410000, 1.400000, 1.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054834, 162400 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.557000, 11.271999, 2.556539 ], "estimate": [ 2.557000, 11.271999, 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": [ 2.580000, 2.530000, 2.510000, 2.480000, 2.460000, 2.430000, 2.410000, 2.390000, 2.370000, 2.360000, 2.340000, 2.310000, 2.300000, 2.280000, 2.270000, 2.260000, 2.240000, 2.230000, 2.210000, 2.200000, 2.190000, 2.190000, 2.180000, 2.170000, 2.170000, 2.160000, 2.160000, 2.150000, 2.150000, 2.190000, 4.800000, 4.800000, 4.810000, 4.800000, 4.800000, 4.800000, 4.820000, 4.770000, 4.810000, 4.830000, 4.850000, 4.860000, 4.540000, 4.890000, 4.900000, 4.790000, 4.650000, 4.600000, 4.670000, 4.750000, 5.020000, 5.040000, 5.070000, 5.100000, 5.140000, 2.650000, 2.530000, 2.390000, 2.410000, 2.420000, 2.440000, 2.470000, 2.480000, 2.500000, 2.530000, 2.560000, 2.590000, 2.620000, 2.660000, 2.680000, 2.720000, 2.750000, 2.800000, 2.840000, 2.870000, 2.930000, 2.970000, 3.020000, 3.090000, 3.130000, 3.190000, 3.250000, 3.310000, 3.390000, 3.460000, 3.540000, 3.610000, 3.710000, 3.790000, 3.890000, 4.010000, 4.140000, 4.250000, 4.360000, 4.490000, 4.630000, 4.780000, 4.940000, 5.140000, 5.340000, 5.540000, 5.770000, 6.020000, 6.460000, 7.450000, 7.400000, 7.370000, 7.330000, 7.300000, 7.270000, 7.240000, 7.210000, 7.240000, 8.390000, 8.820000, 9.870000, 11.190000, 13.100000, 2.290000, 2.150000, 2.040000, 1.950000, 1.850000, 1.770000, 1.700000, 1.650000, 1.580000, 1.510000, 1.470000, 1.420000, 1.360000, 1.330000, 1.290000, 1.260000, 1.220000, 1.190000, 1.150000, 1.130000, 1.110000, 1.080000, 1.060000, 1.040000, 1.010000, 0.990000, 0.980000, 0.990000, 0.990000, 0.970000, 0.970000, 0.990000, 1.010000, 1.030000, 1.060000, 1.080000, 1.110000, 1.130000, 1.150000, 1.180000, 1.210000, 1.250000, 1.280000, 1.310000, 1.350000, 1.400000, 1.450000, 1.550000, 1.540000, 1.530000, 1.510000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054834, 529806 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.519000, 11.298000, 2.556539 ], "estimate": [ 2.519000, 11.298000, 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": [ 2.530000, 2.510000, 2.480000, 2.460000, 2.430000, 2.400000, 2.380000, 2.360000, 2.350000, 2.330000, 2.310000, 2.290000, 2.280000, 2.260000, 2.250000, 2.230000, 2.220000, 2.210000, 2.200000, 2.190000, 2.170000, 2.170000, 2.160000, 2.150000, 2.150000, 2.140000, 2.140000, 2.140000, 2.160000, 4.790000, 4.780000, 4.780000, 4.780000, 4.780000, 4.780000, 4.780000, 4.800000, 4.470000, 4.820000, 4.720000, 4.840000, 4.830000, 4.570000, 4.870000, 4.640000, 4.610000, 4.570000, 4.610000, 4.680000, 4.970000, 5.020000, 5.040000, 5.060000, 5.100000, 2.630000, 2.500000, 2.380000, 2.380000, 2.390000, 2.410000, 2.440000, 2.460000, 2.470000, 2.500000, 2.520000, 2.550000, 2.580000, 2.610000, 2.650000, 2.680000, 2.710000, 2.760000, 2.780000, 2.840000, 2.880000, 2.920000, 2.970000, 3.030000, 3.090000, 3.130000, 3.190000, 3.240000, 3.310000, 3.390000, 3.460000, 3.530000, 3.620000, 3.700000, 3.800000, 3.900000, 4.010000, 4.130000, 4.240000, 4.370000, 4.500000, 4.650000, 4.800000, 4.990000, 5.180000, 5.370000, 5.580000, 5.820000, 6.080000, 7.450000, 7.400000, 7.360000, 7.320000, 7.300000, 7.260000, 7.230000, 7.200000, 7.160000, 7.420000, 8.370000, 9.090000, 10.220000, 11.670000, 13.980000, 2.250000, 2.130000, 2.000000, 1.910000, 1.830000, 1.750000, 1.680000, 1.620000, 1.570000, 1.500000, 1.460000, 1.410000, 1.360000, 1.330000, 1.280000, 1.250000, 1.220000, 1.190000, 1.150000, 1.120000, 1.100000, 1.080000, 1.050000, 1.030000, 1.010000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.960000, 0.980000, 1.010000, 1.030000, 1.060000, 1.090000, 1.100000, 1.130000, 1.170000, 1.200000, 1.240000, 1.260000, 1.300000, 1.350000, 1.380000, 1.440000, 1.540000, 1.530000, 1.510000, 1.500000, 1.490000, 1.480000, 1.470000, 1.450000, 1.440000, 1.440000, 1.430000, 1.430000, 1.420000, 1.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054834, 530977 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.470000, 11.329000, 2.562684 ], "estimate": [ 2.470000, 11.329000, 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": [ 2.480000, 2.450000, 2.420000, 2.400000, 2.380000, 2.360000, 2.330000, 2.320000, 2.300000, 2.290000, 2.260000, 2.250000, 2.230000, 2.220000, 2.210000, 2.200000, 2.190000, 2.180000, 2.160000, 2.160000, 2.150000, 2.140000, 2.130000, 2.130000, 2.120000, 2.110000, 2.160000, 4.770000, 4.770000, 4.770000, 4.770000, 4.770000, 4.770000, 4.770000, 4.770000, 4.540000, 4.790000, 4.650000, 4.670000, 4.810000, 4.820000, 4.830000, 4.640000, 4.550000, 4.560000, 4.530000, 4.620000, 4.700000, 4.970000, 5.000000, 5.020000, 5.040000, 5.070000, 2.520000, 2.390000, 2.350000, 2.350000, 2.370000, 2.380000, 2.410000, 2.440000, 2.450000, 2.480000, 2.500000, 2.530000, 2.560000, 2.600000, 2.630000, 2.660000, 2.690000, 2.740000, 2.760000, 2.810000, 2.860000, 2.900000, 2.950000, 3.000000, 3.040000, 3.100000, 3.160000, 3.220000, 3.280000, 3.360000, 3.430000, 3.510000, 3.600000, 3.690000, 3.770000, 3.880000, 3.990000, 4.110000, 4.230000, 4.340000, 4.480000, 4.620000, 4.780000, 4.960000, 5.150000, 5.340000, 5.560000, 5.780000, 6.060000, 7.400000, 7.350000, 7.310000, 7.290000, 7.250000, 7.210000, 7.180000, 7.160000, 7.130000, 7.380000, 8.330000, 9.100000, 10.220000, 11.700000, 13.990000, 2.250000, 2.130000, 2.020000, 1.930000, 1.830000, 1.760000, 1.690000, 1.630000, 1.580000, 1.520000, 1.470000, 1.420000, 1.370000, 1.330000, 1.280000, 1.250000, 1.230000, 1.200000, 1.160000, 1.130000, 1.110000, 1.080000, 1.060000, 1.040000, 1.010000, 1.000000, 0.980000, 0.950000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.930000, 0.940000, 0.950000, 0.980000, 1.010000, 1.030000, 1.060000, 1.090000, 1.110000, 1.150000, 1.180000, 1.210000, 1.260000, 1.290000, 1.350000, 1.390000, 1.470000, 1.520000, 1.510000, 1.500000, 1.490000, 1.480000, 1.460000, 1.450000, 1.450000, 1.440000, 1.430000, 1.430000, 1.420000, 1.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054834, 594082 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.412000, 11.367000, 2.562684 ], "estimate": [ 2.412000, 11.367000, 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": [ 2.430000, 2.410000, 2.380000, 2.360000, 2.350000, 2.320000, 2.300000, 2.280000, 2.260000, 2.250000, 2.230000, 2.200000, 2.190000, 2.180000, 2.170000, 2.160000, 2.150000, 2.140000, 2.130000, 2.120000, 2.110000, 2.100000, 2.100000, 2.090000, 2.130000, 4.720000, 4.750000, 4.740000, 4.740000, 4.730000, 4.730000, 4.730000, 4.730000, 4.730000, 4.440000, 4.750000, 4.570000, 4.500000, 4.730000, 4.680000, 4.790000, 4.510000, 4.480000, 4.530000, 4.470000, 4.560000, 4.630000, 4.920000, 4.940000, 4.970000, 5.000000, 2.560000, 2.460000, 2.300000, 2.310000, 2.320000, 2.330000, 2.350000, 2.360000, 2.380000, 2.400000, 2.420000, 2.450000, 2.480000, 2.500000, 2.530000, 2.560000, 2.600000, 2.630000, 2.670000, 2.710000, 2.750000, 2.780000, 2.830000, 2.870000, 2.930000, 2.980000, 3.010000, 3.070000, 3.130000, 3.200000, 3.260000, 3.330000, 3.420000, 3.490000, 3.580000, 3.670000, 3.760000, 3.870000, 3.990000, 4.090000, 4.200000, 4.320000, 4.460000, 4.600000, 4.770000, 4.940000, 5.140000, 5.330000, 5.550000, 5.780000, 6.060000, 7.330000, 7.300000, 7.260000, 7.220000, 7.190000, 7.150000, 7.120000, 7.100000, 7.080000, 7.490000, 8.260000, 9.210000, 10.420000, 13.070000, 13.970000, 16.490000, 2.130000, 2.020000, 1.930000, 1.840000, 1.760000, 1.690000, 1.630000, 1.570000, 1.530000, 1.480000, 1.420000, 1.380000, 1.330000, 1.290000, 1.250000, 1.230000, 1.200000, 1.160000, 1.150000, 1.120000, 1.090000, 1.080000, 1.040000, 1.020000, 1.010000, 0.990000, 0.960000, 0.950000, 0.940000, 0.910000, 0.900000, 0.890000, 0.900000, 0.910000, 0.890000, 0.890000, 0.910000, 0.930000, 0.950000, 0.980000, 1.010000, 1.050000, 1.080000, 1.100000, 1.140000, 1.180000, 1.230000, 1.260000, 1.310000, 1.360000, 1.460000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.440000, 1.430000, 1.430000, 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": [ 976054834, 801758 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.274000, 11.459001, 2.525811 ], "estimate": [ 2.274000, 11.459001, 2.525811 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.360000, 2.330000, 2.300000, 2.280000, 2.260000, 2.230000, 2.220000, 2.190000, 2.180000, 2.160000, 2.150000, 2.130000, 2.110000, 2.100000, 2.090000, 2.080000, 2.070000, 2.070000, 2.060000, 2.050000, 2.040000, 2.040000, 2.300000, 4.700000, 4.370000, 4.680000, 4.660000, 4.670000, 4.650000, 4.650000, 4.650000, 4.640000, 4.650000, 4.530000, 4.640000, 4.580000, 4.400000, 4.500000, 4.620000, 4.680000, 4.420000, 4.350000, 4.460000, 4.380000, 4.400000, 4.480000, 4.560000, 4.800000, 4.820000, 4.850000, 2.390000, 2.260000, 2.160000, 2.170000, 2.190000, 2.190000, 2.210000, 2.220000, 2.240000, 2.260000, 2.290000, 2.300000, 2.330000, 2.350000, 2.370000, 2.400000, 2.430000, 2.450000, 2.490000, 2.510000, 2.540000, 2.590000, 2.620000, 2.670000, 2.700000, 2.760000, 2.820000, 2.850000, 2.890000, 2.940000, 3.000000, 3.060000, 3.120000, 3.190000, 3.260000, 3.330000, 3.420000, 3.500000, 3.590000, 3.690000, 3.820000, 3.900000, 4.030000, 4.140000, 4.270000, 4.410000, 4.560000, 4.730000, 4.920000, 5.100000, 5.310000, 5.530000, 5.780000, 7.190000, 7.150000, 7.110000, 7.070000, 7.040000, 7.000000, 6.990000, 6.950000, 6.910000, 6.910000, 8.110000, 8.570000, 9.670000, 11.140000, 13.000000, 16.330000, 16.310000, 18.660000, 2.020000, 1.940000, 1.850000, 1.780000, 1.700000, 1.640000, 1.590000, 1.530000, 1.480000, 1.440000, 1.410000, 1.370000, 1.340000, 1.290000, 1.260000, 1.230000, 1.200000, 1.170000, 1.150000, 1.120000, 1.100000, 1.080000, 1.050000, 1.030000, 1.010000, 0.990000, 0.980000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.840000, 0.850000, 0.850000, 0.830000, 0.830000, 0.860000, 0.900000, 0.930000, 0.980000, 1.020000, 1.060000, 1.120000, 1.180000, 1.240000, 1.330000, 1.480000, 1.470000, 1.460000, 1.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054835, 371826 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.227000, 11.492000, 2.519666 ], "estimate": [ 2.227000, 11.492000, 2.519666 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.310000, 2.280000, 2.260000, 2.240000, 2.220000, 2.190000, 2.180000, 2.160000, 2.130000, 2.120000, 2.100000, 2.090000, 2.080000, 2.070000, 2.060000, 2.050000, 2.040000, 2.030000, 2.030000, 2.040000, 2.220000, 4.700000, 4.680000, 4.640000, 4.650000, 4.640000, 4.640000, 4.630000, 4.620000, 4.620000, 4.620000, 4.620000, 4.320000, 4.620000, 4.510000, 4.380000, 4.530000, 4.420000, 4.650000, 4.410000, 4.370000, 4.430000, 4.330000, 4.360000, 4.460000, 4.520000, 4.770000, 4.780000, 4.810000, 2.320000, 2.180000, 2.120000, 2.130000, 2.150000, 2.160000, 2.170000, 2.190000, 2.210000, 2.220000, 2.240000, 2.260000, 2.290000, 2.300000, 2.330000, 2.350000, 2.380000, 2.410000, 2.430000, 2.470000, 2.500000, 2.540000, 2.580000, 2.610000, 2.660000, 2.700000, 2.740000, 2.770000, 2.830000, 2.870000, 2.930000, 2.980000, 3.040000, 3.110000, 3.190000, 3.250000, 3.330000, 3.420000, 3.500000, 3.600000, 3.700000, 3.810000, 3.910000, 4.020000, 4.150000, 4.280000, 4.420000, 4.590000, 4.770000, 4.960000, 5.140000, 5.350000, 5.590000, 5.860000, 7.130000, 7.090000, 7.050000, 7.010000, 6.980000, 6.960000, 6.920000, 6.900000, 6.880000, 7.140000, 8.070000, 8.930000, 10.190000, 12.910000, 13.810000, 16.300000, 16.280000, 18.650000, 1.980000, 1.920000, 1.830000, 1.760000, 1.700000, 1.640000, 1.580000, 1.520000, 1.480000, 1.440000, 1.390000, 1.370000, 1.330000, 1.290000, 1.260000, 1.230000, 1.210000, 1.170000, 1.150000, 1.130000, 1.100000, 1.080000, 1.060000, 1.030000, 1.010000, 1.000000, 0.980000, 0.960000, 0.950000, 0.940000, 0.920000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.840000, 0.830000, 0.830000, 0.820000, 0.840000, 0.870000, 0.910000, 0.960000, 1.000000, 1.060000, 1.120000, 1.190000, 1.270000, 1.360000, 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": [ 976054836, 595792 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.176000, 11.529000, 2.507374 ], "estimate": [ 2.176000, 11.529000, 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": [ 2.310000, 2.290000, 2.260000, 2.220000, 2.220000, 2.190000, 2.170000, 2.150000, 2.130000, 2.110000, 2.090000, 2.080000, 2.070000, 2.060000, 2.050000, 2.040000, 2.030000, 2.010000, 2.000000, 2.010000, 2.170000, 4.690000, 4.670000, 4.650000, 4.330000, 4.620000, 4.610000, 4.620000, 4.610000, 4.600000, 4.600000, 4.590000, 4.590000, 4.270000, 4.600000, 4.520000, 4.330000, 4.430000, 4.270000, 4.590000, 4.300000, 4.260000, 4.380000, 4.310000, 4.330000, 4.410000, 4.480000, 4.730000, 4.750000, 2.350000, 2.220000, 2.080000, 2.090000, 2.100000, 2.100000, 2.110000, 2.140000, 2.150000, 2.170000, 2.180000, 2.200000, 2.220000, 2.230000, 2.260000, 2.280000, 2.310000, 2.330000, 2.350000, 2.380000, 2.420000, 2.450000, 2.490000, 2.520000, 2.550000, 2.600000, 2.640000, 2.670000, 2.720000, 2.770000, 2.810000, 2.860000, 2.920000, 2.970000, 3.040000, 3.100000, 3.180000, 3.250000, 3.330000, 3.420000, 3.510000, 3.600000, 3.730000, 3.810000, 3.920000, 4.030000, 4.160000, 4.300000, 4.450000, 4.610000, 4.800000, 5.000000, 5.190000, 5.410000, 5.660000, 6.120000, 7.050000, 7.020000, 6.990000, 6.950000, 6.910000, 6.890000, 6.860000, 6.840000, 6.840000, 8.020000, 8.250000, 9.390000, 10.870000, 12.860000, 16.250000, 16.230000, 18.590000, 18.610000, 5.590000, 1.900000, 1.820000, 1.750000, 1.670000, 1.620000, 1.570000, 1.530000, 1.480000, 1.430000, 1.400000, 1.350000, 1.330000, 1.290000, 1.270000, 1.240000, 1.220000, 1.190000, 1.160000, 1.120000, 1.110000, 1.090000, 1.070000, 1.050000, 1.020000, 1.000000, 0.990000, 0.970000, 0.960000, 0.940000, 0.930000, 0.920000, 0.900000, 0.890000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.840000, 0.820000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.820000, 0.820000, 0.810000, 0.810000, 0.830000, 0.870000, 0.910000, 0.970000, 1.020000, 1.110000, 1.200000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054836, 611915 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.127000, 11.565000, 2.495083 ], "estimate": [ 2.127000, 11.565000, 2.495083 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.290000, 2.260000, 2.230000, 2.200000, 2.180000, 2.160000, 2.150000, 2.120000, 2.100000, 2.090000, 2.070000, 2.060000, 2.040000, 2.040000, 2.020000, 2.000000, 1.990000, 1.980000, 2.000000, 2.130000, 2.240000, 4.670000, 4.640000, 4.620000, 4.300000, 4.600000, 4.600000, 4.580000, 4.580000, 4.580000, 4.560000, 4.560000, 4.560000, 4.230000, 4.560000, 4.550000, 4.300000, 4.370000, 4.470000, 4.510000, 4.240000, 4.220000, 4.350000, 4.260000, 4.280000, 4.350000, 4.420000, 4.690000, 4.710000, 2.290000, 2.150000, 2.030000, 2.050000, 2.060000, 2.070000, 2.070000, 2.090000, 2.100000, 2.110000, 2.130000, 2.150000, 2.170000, 2.190000, 2.210000, 2.230000, 2.250000, 2.270000, 2.310000, 2.330000, 2.350000, 2.390000, 2.420000, 2.460000, 2.490000, 2.520000, 2.570000, 2.610000, 2.650000, 2.690000, 2.740000, 2.780000, 2.840000, 2.890000, 2.950000, 3.010000, 3.080000, 3.150000, 3.220000, 3.300000, 3.390000, 3.480000, 3.580000, 3.670000, 3.780000, 3.890000, 4.010000, 4.140000, 4.280000, 4.420000, 4.600000, 4.790000, 4.970000, 5.180000, 5.410000, 5.650000, 7.030000, 7.000000, 6.960000, 6.920000, 6.880000, 6.870000, 6.840000, 6.810000, 6.790000, 6.780000, 7.970000, 8.410000, 9.610000, 11.140000, 13.260000, 16.210000, 16.190000, 18.540000, 18.870000, 5.560000, 1.900000, 1.830000, 1.770000, 1.700000, 1.650000, 1.580000, 1.540000, 1.500000, 1.450000, 1.410000, 1.370000, 1.350000, 1.310000, 1.270000, 1.240000, 1.220000, 1.200000, 1.180000, 1.140000, 1.120000, 1.100000, 1.090000, 1.060000, 1.040000, 1.020000, 1.010000, 0.990000, 0.970000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.860000, 0.860000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.820000, 0.810000, 0.810000, 0.810000, 0.840000, 0.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054836, 612995 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.104000, 11.583000, 2.495083 ], "estimate": [ 2.104000, 11.583000, 2.495083 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.260000, 2.230000, 2.210000, 2.180000, 2.160000, 2.130000, 2.120000, 2.090000, 2.070000, 2.060000, 2.050000, 2.030000, 2.010000, 2.000000, 1.990000, 1.980000, 1.970000, 1.970000, 2.070000, 2.210000, 4.660000, 4.640000, 4.620000, 4.610000, 4.260000, 4.580000, 4.570000, 4.560000, 4.550000, 4.540000, 4.540000, 4.540000, 4.530000, 4.250000, 4.530000, 4.500000, 4.270000, 4.320000, 4.240000, 4.440000, 4.180000, 4.190000, 4.310000, 4.240000, 4.220000, 4.310000, 4.380000, 4.640000, 4.660000, 2.190000, 2.010000, 2.000000, 2.000000, 2.020000, 2.030000, 2.040000, 2.050000, 2.070000, 2.080000, 2.100000, 2.100000, 2.120000, 2.140000, 2.160000, 2.190000, 2.200000, 2.230000, 2.250000, 2.280000, 2.310000, 2.340000, 2.360000, 2.400000, 2.430000, 2.470000, 2.500000, 2.540000, 2.600000, 2.620000, 2.670000, 2.710000, 2.750000, 2.820000, 2.870000, 2.930000, 2.990000, 3.060000, 3.130000, 3.210000, 3.280000, 3.380000, 3.460000, 3.560000, 3.670000, 3.770000, 3.880000, 4.010000, 4.130000, 4.290000, 4.430000, 4.610000, 4.790000, 5.000000, 5.200000, 5.420000, 5.690000, 6.970000, 6.920000, 6.880000, 6.870000, 6.840000, 6.800000, 6.780000, 6.750000, 6.740000, 6.950000, 7.940000, 8.750000, 10.010000, 12.820000, 13.720000, 16.150000, 16.140000, 18.510000, 6.140000, 5.330000, 4.840000, 1.820000, 1.760000, 1.690000, 1.640000, 1.580000, 1.540000, 1.490000, 1.450000, 1.410000, 1.380000, 1.350000, 1.310000, 1.270000, 1.250000, 1.230000, 1.200000, 1.180000, 1.160000, 1.130000, 1.110000, 1.090000, 1.060000, 1.050000, 1.030000, 1.010000, 1.000000, 0.980000, 0.960000, 0.940000, 0.940000, 0.930000, 0.910000, 0.900000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 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": [ 976054836, 613710 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.059000, 11.616000, 2.488938 ], "estimate": [ 2.059000, 11.616000, 2.488938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.220000, 2.200000, 2.170000, 2.140000, 2.120000, 2.090000, 2.080000, 2.070000, 2.050000, 2.030000, 2.020000, 1.990000, 1.980000, 1.970000, 1.950000, 1.950000, 1.950000, 2.130000, 4.670000, 4.650000, 4.620000, 4.610000, 4.590000, 4.350000, 4.560000, 4.540000, 4.540000, 4.530000, 4.530000, 4.510000, 4.510000, 4.500000, 4.440000, 4.490000, 4.500000, 4.230000, 4.280000, 4.420000, 4.230000, 4.190000, 4.160000, 4.280000, 4.220000, 4.210000, 4.240000, 4.330000, 4.530000, 4.620000, 2.150000, 1.950000, 1.960000, 1.960000, 1.970000, 1.990000, 2.000000, 2.000000, 2.020000, 2.040000, 2.050000, 2.070000, 2.080000, 2.090000, 2.110000, 2.130000, 2.160000, 2.170000, 2.200000, 2.220000, 2.250000, 2.280000, 2.310000, 2.340000, 2.370000, 2.400000, 2.440000, 2.480000, 2.510000, 2.550000, 2.600000, 2.640000, 2.680000, 2.730000, 2.780000, 2.840000, 2.890000, 2.970000, 3.020000, 3.090000, 3.170000, 3.250000, 3.340000, 3.440000, 3.570000, 3.630000, 3.740000, 3.850000, 3.970000, 4.110000, 4.240000, 4.400000, 4.580000, 4.770000, 4.950000, 5.170000, 5.400000, 5.660000, 6.910000, 6.880000, 6.840000, 6.820000, 6.790000, 6.760000, 6.730000, 6.710000, 6.690000, 6.910000, 7.890000, 8.740000, 10.040000, 12.800000, 16.110000, 16.100000, 16.120000, 18.470000, 6.280000, 5.400000, 4.880000, 1.820000, 1.780000, 1.710000, 1.660000, 1.600000, 1.560000, 1.520000, 1.460000, 1.430000, 1.390000, 1.370000, 1.330000, 1.290000, 1.260000, 1.240000, 1.210000, 1.200000, 1.170000, 1.150000, 1.120000, 1.110000, 1.080000, 1.070000, 1.040000, 1.020000, 1.010000, 1.000000, 0.980000, 0.960000, 0.950000, 0.940000, 0.930000, 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, 0.800000, 0.800000, 0.790000, 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": [ 976054836, 614639 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.017000, 11.646999, 2.482792 ], "estimate": [ 2.017000, 11.646999, 2.482792 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.200000, 2.170000, 2.140000, 2.120000, 2.090000, 2.080000, 2.060000, 2.040000, 2.020000, 2.010000, 1.980000, 1.970000, 1.960000, 1.950000, 1.940000, 1.950000, 2.080000, 2.200000, 4.660000, 4.630000, 4.610000, 4.590000, 4.570000, 4.230000, 4.530000, 4.530000, 4.520000, 4.510000, 4.500000, 4.490000, 4.480000, 4.470000, 4.170000, 4.470000, 4.470000, 4.220000, 4.270000, 4.390000, 4.340000, 4.190000, 4.140000, 4.240000, 4.180000, 4.170000, 4.210000, 4.290000, 4.510000, 4.580000, 2.070000, 1.910000, 1.930000, 1.940000, 1.950000, 1.950000, 1.960000, 1.970000, 1.990000, 2.000000, 2.020000, 2.030000, 2.040000, 2.060000, 2.080000, 2.080000, 2.110000, 2.130000, 2.150000, 2.180000, 2.200000, 2.230000, 2.260000, 2.290000, 2.330000, 2.350000, 2.380000, 2.420000, 2.470000, 2.510000, 2.530000, 2.580000, 2.620000, 2.670000, 2.710000, 2.770000, 2.830000, 2.890000, 2.950000, 3.010000, 3.100000, 3.170000, 3.250000, 3.340000, 3.440000, 3.530000, 3.640000, 3.750000, 3.860000, 3.990000, 4.130000, 4.270000, 4.430000, 4.610000, 4.790000, 5.000000, 5.210000, 5.450000, 5.930000, 6.860000, 6.830000, 6.790000, 6.760000, 6.730000, 6.710000, 6.680000, 6.660000, 6.640000, 7.360000, 7.880000, 9.200000, 10.770000, 12.710000, 16.070000, 16.060000, 18.420000, 18.210000, 5.930000, 5.220000, 4.770000, 4.440000, 1.770000, 1.710000, 1.660000, 1.600000, 1.550000, 1.510000, 1.480000, 1.430000, 1.400000, 1.360000, 1.330000, 1.300000, 1.270000, 1.240000, 1.220000, 1.180000, 1.180000, 1.150000, 1.130000, 1.110000, 1.090000, 1.070000, 1.050000, 1.040000, 1.010000, 1.010000, 0.990000, 0.970000, 0.950000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.790000 ], "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": [ 976054836, 615545 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.971000, 11.684000, 2.470501 ], "estimate": [ 1.971000, 11.684000, 2.470501 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.170000, 2.150000, 2.120000, 2.100000, 2.070000, 2.050000, 2.030000, 2.020000, 1.990000, 1.970000, 1.960000, 1.950000, 1.930000, 1.930000, 1.920000, 2.060000, 2.180000, 4.660000, 4.630000, 4.610000, 4.580000, 4.570000, 4.250000, 4.510000, 4.510000, 4.500000, 4.490000, 4.480000, 4.470000, 4.460000, 4.450000, 4.450000, 4.420000, 4.440000, 4.340000, 4.170000, 4.200000, 4.100000, 4.320000, 4.110000, 4.120000, 4.210000, 4.130000, 4.110000, 4.220000, 4.280000, 4.540000, 2.090000, 1.890000, 1.880000, 1.900000, 1.900000, 1.910000, 1.920000, 1.930000, 1.940000, 1.950000, 1.960000, 1.970000, 2.000000, 2.010000, 2.030000, 2.040000, 2.060000, 2.070000, 2.090000, 2.120000, 2.140000, 2.160000, 2.190000, 2.220000, 2.250000, 2.270000, 2.310000, 2.340000, 2.370000, 2.420000, 2.470000, 2.480000, 2.520000, 2.580000, 2.620000, 2.660000, 2.710000, 2.770000, 2.830000, 2.890000, 2.960000, 3.020000, 3.100000, 3.190000, 3.260000, 3.370000, 3.480000, 3.560000, 3.660000, 3.770000, 3.890000, 4.020000, 4.160000, 4.320000, 4.490000, 4.680000, 4.880000, 5.090000, 5.320000, 5.580000, 6.840000, 6.800000, 6.760000, 6.730000, 6.700000, 6.670000, 6.640000, 6.620000, 6.600000, 6.810000, 7.800000, 8.690000, 10.120000, 13.450000, 16.040000, 16.040000, 18.380000, 18.300000, 6.400000, 5.510000, 4.940000, 4.600000, 4.300000, 1.750000, 1.690000, 1.640000, 1.580000, 1.530000, 1.500000, 1.470000, 1.420000, 1.380000, 1.360000, 1.320000, 1.290000, 1.260000, 1.240000, 1.220000, 1.200000, 1.170000, 1.160000, 1.130000, 1.110000, 1.100000, 1.080000, 1.060000, 1.040000, 1.020000, 1.010000, 0.990000, 0.980000, 0.970000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.880000, 0.880000, 0.870000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.810000, 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": [ 976054836, 635053 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.922000, 11.721999, 2.464355 ], "estimate": [ 1.922000, 11.721999, 2.464355 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.130000, 2.100000, 2.090000, 2.060000, 2.040000, 2.020000, 2.000000, 1.970000, 1.960000, 1.940000, 1.930000, 1.920000, 1.910000, 1.970000, 2.080000, 2.170000, 4.660000, 4.630000, 4.610000, 4.590000, 4.560000, 4.530000, 4.490000, 4.500000, 4.480000, 4.470000, 4.460000, 4.440000, 4.440000, 4.430000, 4.430000, 4.420000, 4.100000, 4.420000, 4.140000, 4.140000, 4.250000, 4.270000, 4.250000, 4.070000, 4.070000, 4.150000, 4.090000, 4.120000, 4.180000, 4.240000, 2.100000, 1.890000, 1.850000, 1.850000, 1.850000, 1.860000, 1.870000, 1.880000, 1.890000, 1.900000, 1.910000, 1.930000, 1.940000, 1.950000, 1.950000, 1.980000, 2.000000, 2.010000, 2.040000, 2.050000, 2.080000, 2.080000, 2.110000, 2.140000, 2.170000, 2.200000, 2.220000, 2.260000, 2.290000, 2.330000, 2.360000, 2.410000, 2.430000, 2.470000, 2.510000, 2.550000, 2.590000, 2.660000, 2.700000, 2.750000, 2.820000, 2.880000, 2.950000, 3.010000, 3.100000, 3.190000, 3.270000, 3.370000, 3.470000, 3.570000, 3.670000, 3.780000, 3.900000, 4.050000, 4.190000, 4.360000, 4.530000, 4.720000, 4.910000, 5.140000, 5.400000, 6.800000, 6.760000, 6.730000, 6.700000, 6.660000, 6.630000, 6.610000, 6.580000, 6.560000, 6.560000, 7.740000, 7.960000, 9.320000, 10.980000, 13.430000, 15.990000, 15.980000, 18.350000, 18.120000, 5.980000, 5.280000, 4.810000, 4.480000, 4.200000, 1.740000, 1.680000, 1.630000, 1.580000, 1.540000, 1.490000, 1.470000, 1.420000, 1.390000, 1.350000, 1.330000, 1.290000, 1.270000, 1.240000, 1.230000, 1.200000, 1.180000, 1.150000, 1.130000, 1.120000, 1.110000, 1.080000, 1.070000, 1.050000, 1.030000, 1.020000, 1.010000, 0.990000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.870000, 0.860000, 0.850000, 0.850000, 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": [ 976054837, 191030 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.876000, 11.759000, 2.458210 ], "estimate": [ 1.876000, 11.759000, 2.458210 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.110000, 2.090000, 2.060000, 2.040000, 2.020000, 1.980000, 1.980000, 1.960000, 1.930000, 1.920000, 1.910000, 1.910000, 1.960000, 2.060000, 2.140000, 4.670000, 4.640000, 4.610000, 4.590000, 4.560000, 4.530000, 4.510000, 4.200000, 4.470000, 4.460000, 4.450000, 4.430000, 4.430000, 4.420000, 4.410000, 4.400000, 4.380000, 4.210000, 4.390000, 4.110000, 4.090000, 4.090000, 4.000000, 4.090000, 4.050000, 4.030000, 4.100000, 4.060000, 4.090000, 4.140000, 4.200000, 1.930000, 1.810000, 1.810000, 1.810000, 1.820000, 1.830000, 1.840000, 1.840000, 1.840000, 1.860000, 1.870000, 1.880000, 1.900000, 1.920000, 1.930000, 1.940000, 1.950000, 1.970000, 1.990000, 2.010000, 2.030000, 2.050000, 2.070000, 2.080000, 2.110000, 2.140000, 2.180000, 2.200000, 2.230000, 2.270000, 2.300000, 2.340000, 2.370000, 2.400000, 2.440000, 2.490000, 2.530000, 2.570000, 2.620000, 2.670000, 2.730000, 2.800000, 2.860000, 2.930000, 3.000000, 3.080000, 3.170000, 3.260000, 3.360000, 3.460000, 3.550000, 3.660000, 3.780000, 3.910000, 4.050000, 4.200000, 4.360000, 4.570000, 4.750000, 4.950000, 5.190000, 5.440000, 6.730000, 6.700000, 6.660000, 6.630000, 6.600000, 6.570000, 6.550000, 6.530000, 6.510000, 6.480000, 7.680000, 8.420000, 9.790000, 12.910000, 15.940000, 15.940000, 18.280000, 18.170000, 6.780000, 5.730000, 5.140000, 4.720000, 4.400000, 4.140000, 3.900000, 1.700000, 1.630000, 1.580000, 1.530000, 1.510000, 1.460000, 1.420000, 1.390000, 1.370000, 1.330000, 1.300000, 1.270000, 1.260000, 1.230000, 1.210000, 1.180000, 1.160000, 1.140000, 1.120000, 1.110000, 1.100000, 1.080000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 0.990000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 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": [ 976054837, 716519 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.854000, 11.776999, 2.452065 ], "estimate": [ 1.854000, 11.776999, 2.452065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.090000, 2.060000, 2.030000, 2.010000, 1.990000, 1.950000, 1.940000, 1.930000, 1.920000, 1.900000, 1.880000, 1.960000, 2.050000, 2.130000, 4.680000, 4.650000, 4.610000, 4.590000, 4.560000, 4.530000, 4.510000, 4.480000, 4.160000, 4.450000, 4.430000, 4.430000, 4.410000, 4.400000, 4.390000, 4.380000, 4.370000, 4.040000, 4.350000, 4.350000, 4.080000, 4.080000, 4.210000, 4.030000, 4.080000, 4.010000, 4.070000, 4.060000, 4.000000, 4.050000, 4.110000, 1.970000, 1.790000, 1.760000, 1.770000, 1.780000, 1.790000, 1.780000, 1.800000, 1.800000, 1.810000, 1.820000, 1.840000, 1.850000, 1.850000, 1.870000, 1.880000, 1.900000, 1.920000, 1.930000, 1.940000, 1.960000, 1.980000, 2.010000, 2.030000, 2.050000, 2.080000, 2.080000, 2.120000, 2.150000, 2.180000, 2.210000, 2.250000, 2.290000, 2.330000, 2.350000, 2.380000, 2.430000, 2.470000, 2.510000, 2.550000, 2.610000, 2.670000, 2.720000, 2.790000, 2.840000, 2.920000, 3.000000, 3.080000, 3.180000, 3.250000, 3.370000, 3.450000, 3.550000, 3.670000, 3.790000, 3.920000, 4.060000, 4.220000, 4.390000, 4.590000, 4.770000, 5.000000, 5.240000, 5.660000, 6.660000, 6.630000, 6.600000, 6.560000, 6.540000, 6.520000, 6.490000, 6.490000, 6.450000, 6.720000, 7.670000, 8.880000, 10.560000, 12.650000, 15.900000, 15.900000, 18.250000, 18.040000, 6.340000, 5.530000, 5.010000, 4.620000, 4.340000, 4.080000, 3.850000, 3.670000, 1.630000, 1.590000, 1.540000, 1.510000, 1.480000, 1.430000, 1.400000, 1.360000, 1.340000, 1.310000, 1.280000, 1.260000, 1.240000, 1.210000, 1.200000, 1.180000, 1.150000, 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.970000, 0.960000, 0.940000, 0.940000, 0.930000, 0.930000, 0.910000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 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": [ 976054837, 201573 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.810000, 11.813001, 2.452065 ], "estimate": [ 1.810000, 11.813001, 2.452065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.040000, 2.020000, 1.990000, 1.970000, 1.940000, 1.930000, 1.910000, 1.900000, 1.890000, 1.880000, 1.980000, 2.070000, 2.140000, 4.680000, 4.640000, 4.610000, 4.590000, 4.560000, 4.530000, 4.500000, 4.470000, 4.340000, 4.440000, 4.420000, 4.410000, 4.400000, 4.380000, 4.370000, 4.350000, 4.340000, 4.340000, 4.010000, 4.330000, 4.080000, 4.080000, 4.210000, 4.170000, 4.230000, 3.970000, 3.980000, 4.070000, 3.990000, 3.970000, 4.060000, 1.890000, 1.740000, 1.730000, 1.740000, 1.750000, 1.750000, 1.750000, 1.760000, 1.760000, 1.770000, 1.780000, 1.790000, 1.800000, 1.810000, 1.820000, 1.840000, 1.840000, 1.860000, 1.880000, 1.900000, 1.910000, 1.930000, 1.950000, 1.970000, 1.990000, 2.010000, 2.030000, 2.060000, 2.080000, 2.110000, 2.140000, 2.170000, 2.200000, 2.260000, 2.280000, 2.310000, 2.350000, 2.380000, 2.430000, 2.470000, 2.510000, 2.570000, 2.620000, 2.670000, 2.740000, 2.810000, 2.870000, 2.950000, 3.020000, 3.120000, 3.210000, 3.300000, 3.400000, 3.490000, 3.600000, 3.730000, 3.860000, 4.000000, 4.150000, 4.330000, 4.500000, 4.710000, 4.910000, 5.150000, 5.420000, 6.620000, 6.580000, 6.560000, 6.530000, 6.490000, 6.490000, 6.470000, 6.430000, 6.410000, 6.620000, 7.620000, 8.630000, 10.310000, 12.470000, 15.860000, 15.860000, 18.220000, 18.000000, 6.650000, 5.680000, 5.110000, 4.690000, 4.410000, 4.150000, 3.910000, 3.720000, 3.550000, 1.620000, 1.570000, 1.530000, 1.490000, 1.460000, 1.420000, 1.380000, 1.360000, 1.330000, 1.300000, 1.270000, 1.260000, 1.230000, 1.210000, 1.190000, 1.170000, 1.150000, 1.130000, 1.110000, 1.110000, 1.080000, 1.060000, 1.060000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 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": [ 976054837, 684718 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.768000, 11.846999, 2.452065 ], "estimate": [ 1.768000, 11.846999, 2.452065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.010000, 1.980000, 1.950000, 1.930000, 1.920000, 1.900000, 1.880000, 1.900000, 1.960000, 2.010000, 2.090000, 4.720000, 4.680000, 4.640000, 4.610000, 4.580000, 4.550000, 4.520000, 4.490000, 4.470000, 4.420000, 4.430000, 4.420000, 4.400000, 4.380000, 4.360000, 4.350000, 4.340000, 4.320000, 4.320000, 4.180000, 4.300000, 4.180000, 4.030000, 4.110000, 3.980000, 4.180000, 3.960000, 3.940000, 4.050000, 3.970000, 3.960000, 3.990000, 1.750000, 1.710000, 1.710000, 1.710000, 1.710000, 1.710000, 1.720000, 1.730000, 1.730000, 1.740000, 1.750000, 1.760000, 1.770000, 1.780000, 1.780000, 1.800000, 1.810000, 1.830000, 1.840000, 1.850000, 1.870000, 1.880000, 1.910000, 1.930000, 1.940000, 1.960000, 1.980000, 2.010000, 2.030000, 2.060000, 2.080000, 2.110000, 2.150000, 2.180000, 2.220000, 2.240000, 2.280000, 2.320000, 2.350000, 2.400000, 2.430000, 2.490000, 2.530000, 2.590000, 2.650000, 2.710000, 2.770000, 2.840000, 2.920000, 3.000000, 3.100000, 3.210000, 3.270000, 3.370000, 3.460000, 3.580000, 3.690000, 3.830000, 3.960000, 4.130000, 4.310000, 4.480000, 4.680000, 4.880000, 5.130000, 5.410000, 6.570000, 6.530000, 6.500000, 6.480000, 6.470000, 6.430000, 6.410000, 6.390000, 6.380000, 6.580000, 7.590000, 8.710000, 10.430000, 12.590000, 15.820000, 15.810000, 18.190000, 17.970000, 6.630000, 5.660000, 5.110000, 4.700000, 4.410000, 4.150000, 3.910000, 3.730000, 3.550000, 2.710000, 1.580000, 1.540000, 1.500000, 1.470000, 1.430000, 1.410000, 1.370000, 1.340000, 1.310000, 1.280000, 1.270000, 1.240000, 1.210000, 1.200000, 1.180000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.060000, 1.040000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054837, 685853 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.721000, 11.886000, 2.458210 ], "estimate": [ 1.721000, 11.886000, 2.458210 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.950000, 1.930000, 1.910000, 1.890000, 1.880000, 1.890000, 1.950000, 2.010000, 2.070000, 4.740000, 4.700000, 4.670000, 4.620000, 4.600000, 4.560000, 4.540000, 4.510000, 4.490000, 4.450000, 4.400000, 4.410000, 4.390000, 4.380000, 4.360000, 4.340000, 4.320000, 4.310000, 4.300000, 4.290000, 3.960000, 4.270000, 4.060000, 4.030000, 4.170000, 3.960000, 4.250000, 3.960000, 3.940000, 4.040000, 3.930000, 3.920000, 3.970000, 1.660000, 1.670000, 1.670000, 1.680000, 1.680000, 1.680000, 1.690000, 1.700000, 1.700000, 1.710000, 1.710000, 1.720000, 1.730000, 1.730000, 1.750000, 1.760000, 1.770000, 1.780000, 1.790000, 1.810000, 1.830000, 1.840000, 1.860000, 1.880000, 1.900000, 1.930000, 1.940000, 1.960000, 1.980000, 2.010000, 2.040000, 2.060000, 2.080000, 2.120000, 2.170000, 2.180000, 2.220000, 2.250000, 2.290000, 2.330000, 2.370000, 2.420000, 2.460000, 2.520000, 2.560000, 2.620000, 2.670000, 2.750000, 2.820000, 2.900000, 2.980000, 3.070000, 3.140000, 3.260000, 3.350000, 3.450000, 3.560000, 3.680000, 3.810000, 3.970000, 4.130000, 4.320000, 4.490000, 4.690000, 4.920000, 5.150000, 6.540000, 6.520000, 6.490000, 6.460000, 6.430000, 6.390000, 6.380000, 6.360000, 6.340000, 6.300000, 6.620000, 7.570000, 9.120000, 12.370000, 15.780000, 15.770000, 18.110000, 18.070000, 17.930000, 6.320000, 5.540000, 5.030000, 4.630000, 4.350000, 4.110000, 3.900000, 3.700000, 3.550000, 3.120000, 3.000000, 1.530000, 1.510000, 1.470000, 1.440000, 1.410000, 1.370000, 1.350000, 1.320000, 1.290000, 1.270000, 1.250000, 1.230000, 1.210000, 1.180000, 1.170000, 1.140000, 1.130000, 1.110000, 1.100000, 1.080000, 1.080000, 1.060000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.960000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054837, 831845 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.672000, 11.925000, 2.458210 ], "estimate": [ 1.672000, 11.925000, 2.458210 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.920000, 1.890000, 1.870000, 1.880000, 1.940000, 2.010000, 2.070000, 2.550000, 4.730000, 4.690000, 4.650000, 4.610000, 4.580000, 4.560000, 4.530000, 4.500000, 4.470000, 4.430000, 4.110000, 4.390000, 4.370000, 4.350000, 4.330000, 4.310000, 4.300000, 4.280000, 4.260000, 4.260000, 3.950000, 4.240000, 4.090000, 4.130000, 4.230000, 3.920000, 4.230000, 4.230000, 4.030000, 3.990000, 3.910000, 3.870000, 1.640000, 1.630000, 1.610000, 1.630000, 1.630000, 1.630000, 1.640000, 1.650000, 1.650000, 1.660000, 1.660000, 1.680000, 1.690000, 1.700000, 1.690000, 1.700000, 1.710000, 1.730000, 1.740000, 1.760000, 1.760000, 1.780000, 1.800000, 1.820000, 1.830000, 1.840000, 1.870000, 1.880000, 1.910000, 1.920000, 1.940000, 1.970000, 2.010000, 2.030000, 2.060000, 2.100000, 2.110000, 2.150000, 2.180000, 2.220000, 2.260000, 2.300000, 2.350000, 2.380000, 2.430000, 2.480000, 2.530000, 2.590000, 2.650000, 2.720000, 2.790000, 2.870000, 2.950000, 3.030000, 3.120000, 3.230000, 3.300000, 3.410000, 3.530000, 3.650000, 3.780000, 3.930000, 4.110000, 4.280000, 4.460000, 4.660000, 4.890000, 5.140000, 6.480000, 6.460000, 6.420000, 6.390000, 6.370000, 6.340000, 6.320000, 6.300000, 6.280000, 6.270000, 6.810000, 7.770000, 9.330000, 13.120000, 15.710000, 15.720000, 18.070000, 17.890000, 17.880000, 6.300000, 5.530000, 5.030000, 4.630000, 4.360000, 4.110000, 3.910000, 3.710000, 3.560000, 3.430000, 2.620000, 3.180000, 1.520000, 1.480000, 1.450000, 1.420000, 1.390000, 1.370000, 1.330000, 1.310000, 1.280000, 1.270000, 1.240000, 1.220000, 1.200000, 1.180000, 1.160000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.070000, 1.050000, 1.050000, 1.040000, 1.020000, 1.010000, 1.010000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.920000, 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": [ 976054838, 345631 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.626000, 11.960999, 2.464355 ], "estimate": [ 1.626000, 11.960999, 2.464355 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.870000, 1.860000, 1.940000, 2.000000, 2.050000, 2.530000, 4.770000, 4.720000, 4.680000, 4.630000, 4.610000, 4.580000, 4.540000, 4.510000, 4.470000, 4.440000, 4.420000, 4.060000, 4.370000, 4.350000, 4.320000, 4.310000, 4.290000, 4.270000, 4.260000, 4.240000, 4.210000, 4.140000, 4.220000, 4.110000, 4.210000, 4.200000, 4.070000, 4.190000, 4.210000, 4.080000, 3.960000, 3.880000, 1.600000, 1.590000, 1.590000, 1.600000, 1.600000, 1.600000, 1.610000, 1.610000, 1.610000, 1.610000, 1.620000, 1.620000, 1.640000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.730000, 1.740000, 1.760000, 1.770000, 1.780000, 1.790000, 1.820000, 1.830000, 1.860000, 1.870000, 1.900000, 1.920000, 1.940000, 1.970000, 2.010000, 2.050000, 2.070000, 2.080000, 2.120000, 2.150000, 2.180000, 2.230000, 2.270000, 2.320000, 2.360000, 2.410000, 2.460000, 2.510000, 2.560000, 2.620000, 2.690000, 2.760000, 2.840000, 2.940000, 3.040000, 3.100000, 3.200000, 3.300000, 3.410000, 3.520000, 3.640000, 3.780000, 3.930000, 4.110000, 4.280000, 4.460000, 4.670000, 4.910000, 5.170000, 6.430000, 6.390000, 6.370000, 6.340000, 6.310000, 6.280000, 6.270000, 6.250000, 6.230000, 6.230000, 7.410000, 8.170000, 9.810000, 12.270000, 15.680000, 15.680000, 18.040000, 17.820000, 18.170000, 6.080000, 5.410000, 4.940000, 4.570000, 4.310000, 4.080000, 3.870000, 3.700000, 3.540000, 3.400000, 2.890000, 3.060000, 3.070000, 1.510000, 1.450000, 1.420000, 1.390000, 1.370000, 1.340000, 1.310000, 1.290000, 1.270000, 1.250000, 1.230000, 1.200000, 1.190000, 1.170000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054838, 346775 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.585000, 11.995000, 2.452065 ], "estimate": [ 1.585000, 11.995000, 2.452065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.890000, 1.960000, 2.020000, 2.060000, 2.510000, 4.790000, 4.750000, 4.700000, 4.660000, 4.610000, 4.580000, 4.550000, 4.520000, 4.480000, 4.450000, 4.430000, 4.050000, 4.370000, 4.350000, 4.320000, 4.300000, 4.280000, 4.270000, 4.250000, 4.240000, 4.230000, 3.880000, 4.200000, 4.100000, 3.990000, 4.180000, 4.180000, 3.860000, 4.170000, 4.080000, 3.970000, 3.900000, 1.580000, 1.560000, 1.560000, 1.570000, 1.560000, 1.570000, 1.570000, 1.580000, 1.580000, 1.580000, 1.590000, 1.600000, 1.600000, 1.600000, 1.610000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.680000, 1.680000, 1.690000, 1.700000, 1.710000, 1.730000, 1.750000, 1.760000, 1.780000, 1.800000, 1.820000, 1.830000, 1.860000, 1.880000, 1.910000, 1.930000, 1.970000, 2.000000, 2.020000, 2.040000, 2.080000, 2.100000, 2.140000, 2.180000, 2.220000, 2.260000, 2.310000, 2.350000, 2.400000, 2.450000, 2.500000, 2.570000, 2.640000, 2.700000, 2.770000, 2.860000, 2.940000, 3.020000, 3.120000, 3.220000, 3.310000, 3.420000, 3.550000, 3.670000, 3.830000, 3.980000, 4.150000, 4.330000, 4.540000, 4.770000, 5.010000, 6.390000, 6.360000, 6.330000, 6.300000, 6.280000, 6.260000, 6.240000, 6.210000, 6.200000, 6.180000, 6.430000, 7.370000, 9.060000, 12.290000, 15.640000, 15.630000, 18.000000, 17.820000, 17.810000, 6.620000, 5.770000, 5.210000, 4.800000, 4.470000, 4.210000, 4.000000, 3.800000, 3.630000, 3.490000, 3.370000, 3.220000, 2.840000, 3.050000, 2.960000, 1.450000, 1.420000, 1.390000, 1.360000, 1.340000, 1.320000, 1.290000, 1.270000, 1.250000, 1.230000, 1.210000, 1.180000, 1.170000, 1.160000, 1.140000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.930000, 0.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054838, 347772 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.541000, 12.030000, 2.452065 ], "estimate": [ 1.541000, 12.030000, 2.452065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.960000, 2.010000, 2.060000, 2.500000, 2.560000, 4.770000, 4.730000, 4.690000, 4.630000, 4.600000, 4.560000, 4.530000, 4.500000, 4.460000, 4.430000, 4.410000, 4.350000, 4.350000, 4.320000, 4.300000, 4.280000, 4.260000, 4.240000, 4.230000, 4.220000, 4.200000, 4.140000, 4.180000, 4.110000, 4.150000, 4.150000, 4.100000, 4.050000, 4.140000, 4.140000, 4.060000, 1.550000, 1.540000, 1.530000, 1.530000, 1.530000, 1.540000, 1.540000, 1.540000, 1.550000, 1.540000, 1.560000, 1.550000, 1.570000, 1.570000, 1.570000, 1.580000, 1.590000, 1.600000, 1.600000, 1.610000, 1.620000, 1.630000, 1.650000, 1.650000, 1.670000, 1.680000, 1.700000, 1.710000, 1.720000, 1.740000, 1.760000, 1.770000, 1.800000, 1.820000, 1.830000, 1.870000, 1.890000, 1.920000, 1.960000, 1.980000, 1.990000, 2.020000, 2.050000, 2.080000, 2.120000, 2.170000, 2.200000, 2.250000, 2.300000, 2.340000, 2.390000, 2.440000, 2.490000, 2.560000, 2.620000, 2.690000, 2.780000, 2.860000, 2.940000, 3.030000, 3.120000, 3.220000, 3.320000, 3.440000, 3.570000, 3.690000, 3.860000, 4.020000, 4.190000, 4.380000, 4.600000, 4.820000, 5.090000, 6.330000, 6.300000, 6.270000, 6.250000, 6.220000, 6.210000, 6.180000, 6.160000, 6.140000, 6.150000, 7.330000, 8.150000, 10.000000, 12.470000, 15.600000, 15.600000, 17.960000, 17.760000, 18.100000, 6.150000, 5.460000, 5.020000, 4.650000, 4.350000, 4.120000, 3.900000, 3.730000, 3.580000, 3.450000, 3.320000, 3.210000, 2.540000, 3.010000, 2.920000, 1.550000, 1.420000, 1.390000, 1.370000, 1.350000, 1.320000, 1.290000, 1.270000, 1.250000, 1.230000, 1.210000, 1.190000, 1.180000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054838, 514732 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.494000, 12.069000, 2.445919 ], "estimate": [ 1.494000, 12.069000, 2.445919 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.040000, 2.260000, 2.520000, 4.830000, 4.770000, 4.720000, 4.680000, 4.630000, 4.590000, 4.550000, 4.530000, 4.490000, 4.450000, 4.430000, 4.400000, 4.340000, 4.340000, 4.300000, 4.290000, 4.260000, 4.240000, 4.230000, 4.210000, 4.190000, 4.180000, 3.920000, 4.150000, 4.120000, 4.130000, 4.130000, 4.110000, 4.000000, 4.120000, 4.120000, 1.530000, 1.500000, 1.500000, 1.500000, 1.490000, 1.500000, 1.510000, 1.510000, 1.510000, 1.510000, 1.520000, 1.520000, 1.520000, 1.530000, 1.530000, 1.540000, 1.550000, 1.550000, 1.560000, 1.560000, 1.580000, 1.590000, 1.590000, 1.590000, 1.610000, 1.630000, 1.640000, 1.650000, 1.680000, 1.680000, 1.690000, 1.710000, 1.730000, 1.750000, 1.770000, 1.790000, 1.810000, 1.830000, 1.860000, 1.900000, 1.920000, 1.930000, 1.960000, 1.990000, 2.030000, 2.060000, 2.090000, 2.130000, 2.170000, 2.220000, 2.270000, 2.310000, 2.350000, 2.410000, 2.470000, 2.520000, 2.590000, 2.660000, 2.740000, 2.830000, 2.910000, 3.000000, 3.090000, 3.190000, 3.290000, 3.410000, 3.540000, 3.670000, 3.830000, 4.000000, 4.160000, 4.350000, 4.570000, 4.800000, 5.080000, 6.280000, 6.250000, 6.220000, 6.190000, 6.170000, 6.160000, 6.140000, 6.110000, 6.100000, 6.100000, 7.300000, 8.290000, 11.880000, 13.020000, 15.550000, 15.540000, 17.920000, 17.720000, 18.050000, 6.170000, 5.480000, 5.020000, 4.650000, 4.350000, 4.140000, 3.920000, 3.750000, 3.600000, 3.460000, 3.330000, 3.230000, 2.490000, 3.040000, 2.940000, 2.860000, 2.790000, 1.430000, 1.380000, 1.350000, 1.330000, 1.300000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.170000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.980000, 0.970000, 0.960000, 0.960000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054839, 730000 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.446000, 12.109000, 2.439774 ], "estimate": [ 1.446000, 12.109000, 2.439774 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.450000, 2.530000, 4.850000, 4.800000, 4.760000, 4.700000, 4.650000, 4.610000, 4.570000, 4.530000, 4.500000, 4.470000, 4.430000, 4.400000, 4.350000, 4.340000, 4.310000, 4.280000, 4.260000, 4.240000, 4.220000, 4.200000, 4.190000, 4.170000, 4.100000, 4.120000, 4.120000, 4.120000, 4.120000, 4.100000, 3.790000, 4.090000, 1.490000, 1.480000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.480000, 1.470000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.510000, 1.520000, 1.540000, 1.540000, 1.550000, 1.560000, 1.560000, 1.580000, 1.590000, 1.600000, 1.610000, 1.630000, 1.630000, 1.660000, 1.670000, 1.690000, 1.700000, 1.730000, 1.750000, 1.770000, 1.780000, 1.810000, 1.850000, 1.860000, 1.880000, 1.910000, 1.930000, 1.970000, 2.010000, 2.040000, 2.070000, 2.100000, 2.150000, 2.190000, 2.240000, 2.290000, 2.340000, 2.390000, 2.460000, 2.510000, 2.590000, 2.660000, 2.740000, 2.840000, 2.910000, 3.000000, 3.090000, 3.190000, 3.300000, 3.420000, 3.560000, 3.680000, 3.860000, 4.020000, 4.210000, 4.400000, 4.630000, 4.870000, 6.240000, 6.210000, 6.180000, 6.160000, 6.130000, 6.110000, 6.090000, 6.080000, 6.070000, 6.050000, 6.300000, 7.250000, 9.110000, 12.000000, 15.490000, 15.500000, 17.870000, 17.670000, 18.020000, 7.630000, 5.850000, 5.310000, 4.890000, 4.550000, 4.290000, 4.060000, 3.870000, 3.710000, 3.550000, 3.440000, 3.310000, 3.200000, 3.100000, 2.470000, 2.920000, 2.850000, 2.770000, 2.700000, 1.440000, 1.360000, 1.330000, 1.310000, 1.290000, 1.270000, 1.250000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.110000, 1.110000, 1.100000, 1.080000, 1.070000, 1.070000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 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": [ 976054839, 854599 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.402000, 12.145000, 2.445919 ], "estimate": [ 1.402000, 12.145000, 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": [ 4.900000, 4.840000, 4.800000, 4.740000, 4.690000, 4.640000, 4.600000, 4.550000, 4.520000, 4.480000, 4.440000, 4.410000, 4.380000, 3.990000, 4.300000, 4.280000, 4.260000, 4.240000, 4.210000, 4.190000, 4.170000, 4.150000, 4.130000, 3.770000, 4.100000, 4.090000, 4.080000, 4.070000, 4.070000, 4.000000, 1.420000, 1.420000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.440000, 1.440000, 1.430000, 1.440000, 1.440000, 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.480000, 1.490000, 1.510000, 1.500000, 1.510000, 1.530000, 1.540000, 1.550000, 1.560000, 1.580000, 1.580000, 1.600000, 1.620000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.740000, 1.780000, 1.810000, 1.820000, 1.830000, 1.870000, 1.900000, 1.920000, 1.950000, 1.990000, 2.030000, 2.070000, 2.090000, 2.150000, 2.190000, 2.230000, 2.290000, 2.340000, 2.400000, 2.470000, 2.540000, 2.600000, 2.680000, 2.770000, 2.850000, 2.950000, 3.030000, 3.140000, 3.240000, 3.370000, 3.500000, 3.630000, 3.790000, 3.960000, 4.150000, 4.340000, 4.580000, 4.820000, 6.180000, 6.150000, 6.120000, 6.090000, 6.080000, 6.070000, 6.040000, 6.020000, 6.010000, 5.990000, 6.240000, 7.200000, 9.250000, 12.030000, 15.440000, 15.450000, 17.830000, 17.640000, 17.960000, 7.490000, 5.850000, 5.320000, 4.920000, 4.580000, 4.290000, 4.080000, 3.890000, 3.730000, 3.580000, 3.450000, 3.330000, 3.230000, 3.130000, 2.940000, 2.620000, 2.880000, 2.800000, 2.730000, 2.670000, 2.120000, 1.400000, 1.330000, 1.300000, 1.280000, 1.270000, 1.250000, 1.220000, 1.220000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054839, 141924 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.358000, 12.181999, 2.439774 ], "estimate": [ 1.358000, 12.181999, 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": [ 4.870000, 4.810000, 4.770000, 4.700000, 4.660000, 4.610000, 4.560000, 4.530000, 4.490000, 4.450000, 4.420000, 4.390000, 4.350000, 3.970000, 4.280000, 4.250000, 4.240000, 4.210000, 4.190000, 4.160000, 4.130000, 4.120000, 4.110000, 3.760000, 4.080000, 4.060000, 4.050000, 4.050000, 1.430000, 1.400000, 1.410000, 1.410000, 1.400000, 1.400000, 1.400000, 1.400000, 1.400000, 1.400000, 1.400000, 1.410000, 1.410000, 1.410000, 1.410000, 1.420000, 1.420000, 1.430000, 1.420000, 1.420000, 1.430000, 1.440000, 1.440000, 1.450000, 1.460000, 1.460000, 1.460000, 1.480000, 1.490000, 1.500000, 1.500000, 1.510000, 1.530000, 1.540000, 1.550000, 1.580000, 1.590000, 1.590000, 1.610000, 1.640000, 1.660000, 1.670000, 1.690000, 1.710000, 1.770000, 1.760000, 1.780000, 1.800000, 1.820000, 1.850000, 1.880000, 1.920000, 1.950000, 1.990000, 2.010000, 2.060000, 2.100000, 2.150000, 2.190000, 2.240000, 2.300000, 2.350000, 2.420000, 2.490000, 2.550000, 2.630000, 2.730000, 2.790000, 2.880000, 2.970000, 3.080000, 3.180000, 3.290000, 3.410000, 3.550000, 3.720000, 3.880000, 4.060000, 4.260000, 4.480000, 4.720000, 5.240000, 6.100000, 6.080000, 6.060000, 6.040000, 6.020000, 6.000000, 5.980000, 5.970000, 5.960000, 5.950000, 7.160000, 8.810000, 11.790000, 15.420000, 15.410000, 17.780000, 17.590000, 17.920000, 17.930000, 6.090000, 5.470000, 5.030000, 4.700000, 4.390000, 4.150000, 3.940000, 3.780000, 3.630000, 3.500000, 3.390000, 3.270000, 3.160000, 3.070000, 2.880000, 2.630000, 2.830000, 2.750000, 2.700000, 2.640000, 2.570000, 1.940000, 1.370000, 1.300000, 1.270000, 1.260000, 1.250000, 1.230000, 1.210000, 1.200000, 1.180000, 1.160000, 1.150000, 1.140000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.060000, 1.060000, 1.040000, 1.040000, 1.030000, 1.020000, 1.020000, 1.020000, 1.010000, 1.000000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054840, 432067 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.315000, 12.218000, 2.439774 ], "estimate": [ 1.315000, 12.218000, 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": [ 4.820000, 4.760000, 4.710000, 4.660000, 4.610000, 4.560000, 4.520000, 4.490000, 4.440000, 4.410000, 4.380000, 4.330000, 3.990000, 4.270000, 4.240000, 4.220000, 4.190000, 4.170000, 4.140000, 4.120000, 4.100000, 4.080000, 3.740000, 4.050000, 4.030000, 4.020000, 1.400000, 1.370000, 1.370000, 1.370000, 1.370000, 1.360000, 1.360000, 1.350000, 1.360000, 1.360000, 1.370000, 1.370000, 1.370000, 1.360000, 1.370000, 1.380000, 1.370000, 1.380000, 1.380000, 1.390000, 1.390000, 1.390000, 1.400000, 1.410000, 1.410000, 1.420000, 1.420000, 1.430000, 1.440000, 1.450000, 1.450000, 1.460000, 1.470000, 1.480000, 1.500000, 1.500000, 1.520000, 1.530000, 1.550000, 1.570000, 1.580000, 1.590000, 1.610000, 1.640000, 1.650000, 1.690000, 1.700000, 1.720000, 1.740000, 1.750000, 1.790000, 1.810000, 1.840000, 1.870000, 1.910000, 1.940000, 1.980000, 2.010000, 2.050000, 2.100000, 2.150000, 2.190000, 2.240000, 2.310000, 2.360000, 2.430000, 2.490000, 2.580000, 2.680000, 2.720000, 2.820000, 2.910000, 3.000000, 3.100000, 3.230000, 3.360000, 3.500000, 3.640000, 3.820000, 3.980000, 4.180000, 4.390000, 4.630000, 5.070000, 6.060000, 6.040000, 6.010000, 5.990000, 5.980000, 5.950000, 5.930000, 5.920000, 5.910000, 5.900000, 7.110000, 8.530000, 11.620000, 15.360000, 15.360000, 17.740000, 17.560000, 17.880000, 17.880000, 6.200000, 5.560000, 5.100000, 4.760000, 4.450000, 4.190000, 3.990000, 3.820000, 3.670000, 3.540000, 3.410000, 3.300000, 3.210000, 3.100000, 3.030000, 2.760000, 2.580000, 2.790000, 2.720000, 2.660000, 2.600000, 2.550000, 1.910000, 2.430000, 1.350000, 1.280000, 1.260000, 1.240000, 1.230000, 1.220000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 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": [ 976054840, 433230 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.269000, 12.256000, 2.445919 ], "estimate": [ 1.269000, 12.256000, 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": [ 4.780000, 4.730000, 4.690000, 4.620000, 4.580000, 4.540000, 4.500000, 4.450000, 4.420000, 4.380000, 4.340000, 4.320000, 4.270000, 4.240000, 4.220000, 4.190000, 4.170000, 4.140000, 4.120000, 4.090000, 4.080000, 4.040000, 4.030000, 4.020000, 1.380000, 1.340000, 1.350000, 1.340000, 1.340000, 1.340000, 1.340000, 1.330000, 1.330000, 1.340000, 1.340000, 1.330000, 1.340000, 1.340000, 1.340000, 1.340000, 1.350000, 1.340000, 1.350000, 1.350000, 1.360000, 1.360000, 1.370000, 1.360000, 1.360000, 1.380000, 1.380000, 1.380000, 1.400000, 1.400000, 1.410000, 1.410000, 1.420000, 1.430000, 1.440000, 1.460000, 1.460000, 1.470000, 1.490000, 1.500000, 1.510000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, 1.610000, 1.650000, 1.670000, 1.670000, 1.700000, 1.720000, 1.740000, 1.760000, 1.790000, 1.830000, 1.860000, 1.900000, 1.930000, 1.970000, 2.010000, 2.050000, 2.090000, 2.140000, 2.190000, 2.250000, 2.310000, 2.370000, 2.440000, 2.520000, 2.610000, 2.670000, 2.750000, 2.840000, 2.950000, 3.050000, 3.160000, 3.280000, 3.400000, 3.550000, 3.730000, 3.880000, 4.090000, 4.310000, 4.520000, 4.790000, 6.010000, 5.980000, 5.970000, 5.950000, 5.920000, 5.910000, 5.890000, 5.880000, 5.860000, 5.850000, 6.610000, 8.080000, 12.010000, 15.320000, 15.320000, 17.680000, 17.500000, 17.820000, 17.840000, 6.670000, 5.720000, 5.240000, 4.870000, 4.540000, 4.280000, 4.060000, 3.890000, 3.730000, 3.590000, 3.460000, 3.350000, 3.250000, 3.150000, 3.060000, 2.970000, 2.830000, 2.410000, 2.750000, 2.690000, 2.630000, 2.580000, 2.520000, 2.190000, 2.110000, 2.380000, 1.330000, 1.270000, 1.240000, 1.220000, 1.220000, 1.200000, 1.180000, 1.170000, 1.150000, 1.150000, 1.140000, 1.120000, 1.120000, 1.110000, 1.100000, 1.090000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054840, 434272 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.223000, 12.294001, 2.445919 ], "estimate": [ 1.223000, 12.294001, 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": [ 4.740000, 4.690000, 4.620000, 4.580000, 4.530000, 4.490000, 4.440000, 4.410000, 4.380000, 4.330000, 4.310000, 4.260000, 4.230000, 4.200000, 4.170000, 4.140000, 4.120000, 4.100000, 4.080000, 4.050000, 4.020000, 4.010000, 1.340000, 1.320000, 1.320000, 1.310000, 1.310000, 1.310000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.310000, 1.310000, 1.320000, 1.310000, 1.320000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.480000, 1.500000, 1.500000, 1.520000, 1.540000, 1.560000, 1.590000, 1.590000, 1.610000, 1.630000, 1.660000, 1.670000, 1.700000, 1.720000, 1.750000, 1.790000, 1.820000, 1.850000, 1.890000, 1.910000, 1.960000, 2.000000, 2.050000, 2.090000, 2.140000, 2.200000, 2.260000, 2.330000, 2.390000, 2.470000, 2.560000, 2.610000, 2.700000, 2.780000, 2.880000, 2.980000, 3.090000, 3.220000, 3.350000, 3.490000, 3.650000, 3.830000, 4.000000, 4.220000, 4.450000, 4.730000, 5.960000, 5.930000, 5.910000, 5.890000, 5.870000, 5.850000, 5.830000, 5.830000, 5.820000, 5.800000, 6.160000, 7.930000, 12.000000, 15.270000, 15.270000, 17.630000, 17.460000, 17.780000, 17.790000, 7.080000, 5.800000, 5.300000, 4.920000, 4.610000, 4.340000, 4.100000, 3.920000, 3.770000, 3.630000, 3.490000, 3.380000, 3.290000, 3.170000, 3.080000, 3.010000, 2.930000, 2.830000, 2.310000, 2.720000, 2.660000, 2.590000, 2.550000, 2.510000, 2.450000, 1.830000, 2.370000, 2.330000, 1.300000, 1.260000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054840, 435214 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.179000, 12.330000, 2.439774 ], "estimate": [ 1.179000, 12.330000, 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": [ 4.700000, 4.650000, 4.600000, 4.540000, 4.510000, 4.460000, 4.420000, 4.380000, 4.340000, 3.950000, 4.250000, 4.230000, 4.200000, 4.170000, 4.140000, 4.120000, 4.090000, 4.060000, 4.040000, 3.710000, 1.320000, 1.300000, 1.300000, 1.290000, 1.290000, 1.280000, 1.270000, 1.280000, 1.280000, 1.280000, 1.280000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.280000, 1.270000, 1.280000, 1.280000, 1.280000, 1.290000, 1.280000, 1.290000, 1.300000, 1.290000, 1.290000, 1.300000, 1.300000, 1.310000, 1.320000, 1.320000, 1.330000, 1.350000, 1.350000, 1.350000, 1.370000, 1.380000, 1.380000, 1.390000, 1.410000, 1.420000, 1.440000, 1.450000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, 1.610000, 1.640000, 1.670000, 1.690000, 1.720000, 1.750000, 1.780000, 1.810000, 1.840000, 1.870000, 1.910000, 1.950000, 2.000000, 2.040000, 2.100000, 2.150000, 2.200000, 2.270000, 2.340000, 2.410000, 2.500000, 2.550000, 2.640000, 2.720000, 2.820000, 2.920000, 3.010000, 3.140000, 3.260000, 3.400000, 3.570000, 3.740000, 3.910000, 4.130000, 4.350000, 4.600000, 5.910000, 5.890000, 5.870000, 5.850000, 5.830000, 5.810000, 5.790000, 5.780000, 5.770000, 5.750000, 5.970000, 7.260000, 11.790000, 15.220000, 15.220000, 17.590000, 17.420000, 17.570000, 17.760000, 7.570000, 5.990000, 5.430000, 5.040000, 4.700000, 4.420000, 4.160000, 3.990000, 3.810000, 3.680000, 3.550000, 3.430000, 3.320000, 3.220000, 3.130000, 3.040000, 2.970000, 2.890000, 2.810000, 2.290000, 2.690000, 2.630000, 2.580000, 2.520000, 2.480000, 2.440000, 2.050000, 2.060000, 2.310000, 2.270000, 1.290000, 1.270000, 1.220000, 1.200000, 1.190000, 1.170000, 1.170000, 1.150000, 1.150000, 1.140000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.060000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054840, 436143 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.136000, 12.367000, 2.433628 ], "estimate": [ 1.136000, 12.367000, 2.433628 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.670000, 4.610000, 4.560000, 4.520000, 4.470000, 4.430000, 4.390000, 4.340000, 4.290000, 3.950000, 4.230000, 4.200000, 4.160000, 4.130000, 4.110000, 4.080000, 4.050000, 1.330000, 1.290000, 1.270000, 1.270000, 1.270000, 1.270000, 1.250000, 1.250000, 1.250000, 1.250000, 1.240000, 1.240000, 1.240000, 1.240000, 1.230000, 1.230000, 1.240000, 1.230000, 1.240000, 1.230000, 1.240000, 1.240000, 1.240000, 1.250000, 1.240000, 1.240000, 1.250000, 1.250000, 1.260000, 1.260000, 1.260000, 1.270000, 1.280000, 1.280000, 1.280000, 1.290000, 1.300000, 1.310000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.400000, 1.410000, 1.420000, 1.440000, 1.450000, 1.490000, 1.510000, 1.500000, 1.520000, 1.530000, 1.550000, 1.570000, 1.590000, 1.620000, 1.640000, 1.670000, 1.690000, 1.720000, 1.760000, 1.800000, 1.820000, 1.860000, 1.910000, 1.950000, 1.990000, 2.040000, 2.080000, 2.150000, 2.210000, 2.270000, 2.340000, 2.440000, 2.490000, 2.560000, 2.640000, 2.740000, 2.830000, 2.940000, 3.050000, 3.180000, 3.320000, 3.470000, 3.650000, 3.810000, 4.010000, 4.220000, 4.480000, 5.870000, 5.840000, 5.830000, 5.800000, 5.780000, 5.760000, 5.740000, 5.730000, 5.720000, 5.710000, 5.710000, 6.920000, 9.190000, 12.660000, 15.170000, 17.540000, 17.390000, 17.390000, 17.700000, 17.710000, 6.150000, 5.580000, 5.160000, 4.820000, 4.530000, 4.260000, 4.050000, 3.880000, 3.730000, 3.600000, 3.470000, 3.360000, 3.270000, 3.170000, 3.070000, 3.000000, 2.920000, 2.850000, 2.780000, 2.330000, 2.660000, 2.610000, 2.570000, 2.520000, 2.460000, 2.430000, 2.380000, 1.810000, 2.300000, 2.270000, 2.240000, 1.360000, 1.270000, 1.210000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 1.080000, 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": [ 976054840, 437100 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.091000, 12.405000, 2.433628 ], "estimate": [ 1.091000, 12.405000, 2.433628 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.620000, 4.570000, 4.530000, 4.480000, 4.430000, 4.390000, 4.350000, 4.300000, 3.950000, 4.230000, 4.200000, 4.170000, 4.130000, 4.100000, 4.070000, 1.320000, 1.270000, 1.270000, 1.250000, 1.260000, 1.250000, 1.240000, 1.230000, 1.230000, 1.220000, 1.220000, 1.210000, 1.210000, 1.210000, 1.210000, 1.200000, 1.210000, 1.210000, 1.210000, 1.200000, 1.210000, 1.200000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.230000, 1.230000, 1.230000, 1.250000, 1.250000, 1.250000, 1.260000, 1.270000, 1.280000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.390000, 1.410000, 1.420000, 1.430000, 1.450000, 1.460000, 1.480000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.600000, 1.630000, 1.660000, 1.680000, 1.720000, 1.750000, 1.790000, 1.810000, 1.860000, 1.900000, 1.950000, 2.000000, 2.040000, 2.100000, 2.160000, 2.220000, 2.300000, 2.380000, 2.430000, 2.500000, 2.590000, 2.670000, 2.760000, 2.860000, 2.980000, 3.110000, 3.240000, 3.400000, 3.570000, 3.740000, 3.920000, 4.140000, 4.380000, 4.830000, 5.800000, 5.770000, 5.750000, 5.740000, 5.720000, 5.700000, 5.680000, 5.680000, 5.660000, 5.660000, 6.870000, 8.760000, 12.540000, 15.130000, 17.500000, 17.350000, 17.350000, 17.670000, 17.680000, 6.560000, 5.710000, 5.230000, 4.880000, 4.590000, 4.330000, 4.110000, 3.920000, 3.780000, 3.640000, 3.510000, 3.410000, 3.300000, 3.200000, 3.120000, 3.030000, 2.960000, 2.880000, 2.810000, 2.760000, 2.210000, 2.630000, 2.580000, 2.540000, 2.490000, 2.430000, 2.410000, 2.360000, 2.160000, 1.780000, 2.260000, 2.220000, 2.190000, 2.130000, 1.250000, 1.220000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 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": [ 976054840, 514310 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.047000, 12.441999, 2.433628 ], "estimate": [ 1.047000, 12.441999, 2.433628 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.580000, 4.530000, 4.480000, 4.430000, 4.400000, 4.340000, 4.300000, 3.930000, 4.230000, 4.190000, 4.150000, 4.120000, 1.300000, 1.270000, 1.250000, 1.240000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.200000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.180000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.190000, 1.190000, 1.200000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 1.220000, 1.230000, 1.240000, 1.240000, 1.260000, 1.260000, 1.270000, 1.270000, 1.280000, 1.300000, 1.300000, 1.320000, 1.330000, 1.340000, 1.360000, 1.400000, 1.410000, 1.400000, 1.410000, 1.430000, 1.440000, 1.460000, 1.480000, 1.500000, 1.520000, 1.550000, 1.570000, 1.580000, 1.620000, 1.660000, 1.680000, 1.710000, 1.750000, 1.770000, 1.810000, 1.860000, 1.900000, 1.940000, 2.000000, 2.060000, 2.100000, 2.170000, 2.250000, 2.340000, 2.370000, 2.460000, 2.530000, 2.610000, 2.720000, 2.820000, 2.930000, 3.050000, 3.180000, 3.330000, 3.510000, 3.670000, 3.860000, 4.080000, 4.310000, 4.740000, 5.740000, 5.710000, 5.690000, 5.680000, 5.660000, 5.650000, 5.640000, 5.620000, 5.610000, 5.610000, 6.770000, 8.690000, 12.550000, 15.090000, 17.460000, 17.300000, 17.300000, 17.620000, 17.630000, 6.900000, 5.760000, 5.300000, 4.940000, 4.640000, 4.360000, 4.150000, 3.950000, 3.800000, 3.660000, 3.550000, 3.430000, 3.310000, 3.220000, 3.140000, 3.050000, 2.990000, 2.910000, 2.830000, 2.760000, 2.710000, 2.200000, 2.600000, 2.560000, 2.510000, 2.460000, 2.420000, 2.380000, 2.340000, 2.310000, 1.770000, 2.240000, 2.210000, 2.170000, 2.160000, 2.140000, 1.240000, 1.230000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.120000, 1.110000, 1.100000, 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": [ 976054840, 840759 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.004000, 12.478001, 2.427483 ], "estimate": [ 1.004000, 12.478001, 2.427483 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.530000, 4.490000, 4.440000, 4.390000, 4.350000, 4.300000, 3.930000, 4.220000, 4.180000, 4.150000, 1.290000, 1.250000, 1.230000, 1.230000, 1.220000, 1.210000, 1.200000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.170000, 1.160000, 1.160000, 1.160000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.140000, 1.150000, 1.140000, 1.150000, 1.150000, 1.160000, 1.150000, 1.150000, 1.150000, 1.150000, 1.160000, 1.150000, 1.160000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.180000, 1.190000, 1.200000, 1.190000, 1.210000, 1.210000, 1.210000, 1.230000, 1.240000, 1.240000, 1.250000, 1.270000, 1.270000, 1.280000, 1.300000, 1.310000, 1.320000, 1.360000, 1.350000, 1.370000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.460000, 1.490000, 1.510000, 1.540000, 1.570000, 1.570000, 1.610000, 1.650000, 1.670000, 1.700000, 1.740000, 1.780000, 1.810000, 1.870000, 1.910000, 1.960000, 2.010000, 2.070000, 2.130000, 2.200000, 2.290000, 2.340000, 2.410000, 2.490000, 2.580000, 2.670000, 2.770000, 2.880000, 3.000000, 3.140000, 3.280000, 3.450000, 3.610000, 3.820000, 4.020000, 4.260000, 4.720000, 5.690000, 5.660000, 5.640000, 5.630000, 5.610000, 5.600000, 5.580000, 5.580000, 5.560000, 5.560000, 6.270000, 8.770000, 12.550000, 15.030000, 17.390000, 17.250000, 17.380000, 17.570000, 17.590000, 6.890000, 5.790000, 5.320000, 4.960000, 4.660000, 4.390000, 4.170000, 3.960000, 3.820000, 3.680000, 3.570000, 3.450000, 3.340000, 3.240000, 3.160000, 3.070000, 3.000000, 2.920000, 2.850000, 2.790000, 2.730000, 2.670000, 2.160000, 2.580000, 2.530000, 2.480000, 2.440000, 2.400000, 2.360000, 2.320000, 2.290000, 2.090000, 1.730000, 2.190000, 2.170000, 2.150000, 2.130000, 2.100000, 1.280000, 1.220000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.120000, 1.110000, 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": [ 976054840, 914872 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.963000, 12.514000, 2.421337 ], "estimate": [ 0.963000, 12.514000, 2.421337 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.540000, 4.480000, 4.430000, 4.380000, 4.330000, 4.240000, 4.240000, 4.210000, 1.250000, 1.240000, 1.220000, 1.210000, 1.200000, 1.190000, 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, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.160000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.180000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.300000, 1.290000, 1.300000, 1.320000, 1.340000, 1.340000, 1.370000, 1.390000, 1.400000, 1.420000, 1.430000, 1.460000, 1.480000, 1.510000, 1.530000, 1.560000, 1.580000, 1.610000, 1.650000, 1.680000, 1.710000, 1.750000, 1.790000, 1.840000, 1.890000, 1.930000, 1.990000, 2.040000, 2.110000, 2.220000, 2.230000, 2.320000, 2.380000, 2.460000, 2.550000, 2.650000, 2.750000, 2.860000, 2.990000, 3.130000, 3.280000, 3.450000, 3.620000, 3.820000, 4.050000, 4.290000, 5.650000, 5.630000, 5.610000, 5.590000, 5.570000, 5.560000, 5.560000, 5.550000, 5.540000, 5.520000, 5.520000, 6.730000, 11.740000, 14.990000, 15.000000, 17.380000, 17.190000, 17.530000, 17.560000, 19.810000, 6.510000, 5.690000, 5.230000, 4.900000, 4.610000, 4.360000, 4.140000, 3.950000, 3.790000, 3.660000, 3.540000, 3.440000, 3.330000, 3.240000, 3.160000, 3.080000, 2.990000, 2.920000, 2.840000, 2.790000, 2.730000, 2.680000, 2.610000, 2.110000, 2.530000, 2.480000, 2.440000, 2.400000, 2.360000, 2.320000, 2.290000, 2.260000, 2.220000, 1.730000, 2.170000, 2.160000, 2.130000, 2.110000, 2.090000, 2.070000, 1.290000, 1.210000, 1.180000, 1.160000, 1.140000, 1.130000, 1.130000, 1.120000, 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": [ 976054841, 421519 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.922000, 12.549000, 2.415191 ], "estimate": [ 0.922000, 12.549000, 2.415191 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.520000, 4.460000, 4.420000, 4.360000, 4.320000, 3.930000, 1.270000, 1.220000, 1.220000, 1.210000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.090000, 1.090000, 1.100000, 1.090000, 1.100000, 1.090000, 1.090000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.200000, 1.200000, 1.210000, 1.220000, 1.240000, 1.270000, 1.270000, 1.270000, 1.280000, 1.290000, 1.310000, 1.320000, 1.330000, 1.350000, 1.380000, 1.390000, 1.420000, 1.430000, 1.450000, 1.480000, 1.500000, 1.540000, 1.560000, 1.590000, 1.630000, 1.670000, 1.680000, 1.720000, 1.760000, 1.820000, 1.860000, 1.910000, 1.970000, 2.030000, 2.090000, 2.160000, 2.220000, 2.300000, 2.370000, 2.450000, 2.540000, 2.640000, 2.740000, 2.850000, 2.990000, 3.130000, 3.290000, 3.450000, 3.630000, 3.830000, 4.070000, 4.340000, 5.600000, 5.570000, 5.560000, 5.540000, 5.530000, 5.520000, 5.500000, 5.490000, 5.490000, 5.480000, 5.480000, 7.640000, 11.600000, 14.950000, 17.310000, 17.170000, 17.170000, 17.490000, 17.510000, 8.030000, 6.240000, 5.540000, 5.150000, 4.830000, 4.550000, 4.310000, 4.090000, 3.920000, 3.780000, 3.640000, 3.520000, 3.420000, 3.320000, 3.220000, 3.140000, 3.060000, 2.990000, 2.920000, 2.840000, 2.790000, 2.730000, 2.670000, 2.610000, 2.550000, 2.090000, 2.480000, 2.440000, 2.410000, 2.370000, 2.330000, 2.300000, 2.270000, 2.240000, 2.200000, 1.720000, 2.160000, 2.150000, 2.110000, 2.100000, 2.090000, 2.060000, 2.040000, 1.210000, 1.200000, 1.170000, 1.150000, 1.140000, 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": [ 976054841, 423091 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.895000, 12.573001, 2.415191 ], "estimate": [ 0.895000, 12.573001, 2.415191 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.510000, 4.450000, 4.420000, 4.370000, 4.310000, 1.250000, 1.210000, 1.200000, 1.180000, 1.180000, 1.170000, 1.170000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.070000, 1.070000, 1.070000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.110000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.190000, 1.200000, 1.200000, 1.210000, 1.230000, 1.240000, 1.260000, 1.290000, 1.290000, 1.300000, 1.310000, 1.340000, 1.360000, 1.380000, 1.390000, 1.420000, 1.440000, 1.460000, 1.490000, 1.530000, 1.550000, 1.580000, 1.620000, 1.650000, 1.680000, 1.730000, 1.770000, 1.820000, 1.870000, 1.920000, 1.980000, 2.040000, 2.110000, 2.170000, 2.250000, 2.320000, 2.400000, 2.490000, 2.590000, 2.680000, 2.800000, 2.930000, 3.070000, 3.230000, 3.390000, 3.580000, 3.770000, 4.000000, 4.290000, 5.550000, 5.540000, 5.510000, 5.490000, 5.480000, 5.480000, 5.470000, 5.460000, 5.440000, 5.430000, 5.430000, 7.680000, 12.370000, 14.910000, 17.300000, 17.120000, 17.230000, 17.450000, 17.470000, 8.050000, 6.300000, 5.580000, 5.180000, 4.870000, 4.580000, 4.350000, 4.130000, 3.950000, 3.800000, 3.670000, 3.550000, 3.450000, 3.340000, 3.250000, 3.170000, 3.080000, 3.010000, 2.930000, 2.860000, 2.810000, 2.750000, 2.690000, 2.640000, 2.590000, 2.540000, 2.110000, 2.460000, 2.420000, 2.380000, 2.350000, 2.310000, 2.280000, 2.260000, 2.220000, 2.210000, 1.690000, 2.120000, 2.130000, 2.110000, 2.100000, 2.080000, 2.060000, 2.040000, 2.040000, 1.290000, 1.200000, 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": [ 976054841, 515442 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.890000, 12.578000, 2.409046 ], "estimate": [ 0.890000, 12.578000, 2.409046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.550000, 4.500000, 4.430000, 4.400000, 1.270000, 1.220000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.150000, 1.130000, 1.120000, 1.120000, 1.100000, 1.100000, 1.100000, 1.080000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.040000, 1.040000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.140000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.320000, 1.350000, 1.370000, 1.390000, 1.420000, 1.440000, 1.460000, 1.480000, 1.520000, 1.550000, 1.580000, 1.620000, 1.660000, 1.690000, 1.740000, 1.780000, 1.830000, 1.880000, 1.940000, 2.000000, 2.090000, 2.130000, 2.200000, 2.270000, 2.350000, 2.440000, 2.540000, 2.630000, 2.750000, 2.870000, 3.000000, 3.160000, 3.330000, 3.500000, 3.710000, 3.930000, 4.200000, 5.530000, 5.510000, 5.490000, 5.480000, 5.470000, 5.450000, 5.440000, 5.430000, 5.420000, 5.410000, 5.410000, 6.610000, 11.490000, 14.880000, 17.260000, 17.110000, 17.110000, 17.430000, 17.450000, 19.720000, 6.450000, 5.670000, 5.260000, 4.930000, 4.640000, 4.390000, 4.180000, 3.990000, 3.830000, 3.700000, 3.580000, 3.480000, 3.360000, 3.280000, 3.190000, 3.100000, 3.040000, 2.960000, 2.890000, 2.830000, 2.770000, 2.710000, 2.660000, 2.610000, 2.570000, 2.370000, 2.380000, 2.440000, 2.400000, 2.360000, 2.340000, 2.300000, 2.270000, 2.240000, 2.220000, 2.190000, 1.700000, 2.110000, 2.130000, 2.110000, 2.090000, 2.070000, 2.050000, 2.040000, 2.030000, 1.990000 ], "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": [ 976054842, 184239 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.892000, 12.576000, 2.415191 ], "estimate": [ 0.892000, 12.576000, 2.415191 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.550000, 4.490000, 4.430000, 4.400000, 1.260000, 1.220000, 1.210000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.150000, 1.130000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.040000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.100000, 1.110000, 1.120000, 1.130000, 1.130000, 1.150000, 1.160000, 1.160000, 1.180000, 1.180000, 1.190000, 1.200000, 1.220000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.320000, 1.330000, 1.360000, 1.370000, 1.390000, 1.420000, 1.430000, 1.460000, 1.490000, 1.520000, 1.550000, 1.580000, 1.610000, 1.660000, 1.690000, 1.740000, 1.780000, 1.830000, 1.890000, 1.940000, 2.000000, 2.090000, 2.130000, 2.200000, 2.270000, 2.350000, 2.440000, 2.530000, 2.620000, 2.740000, 2.860000, 3.000000, 3.150000, 3.320000, 3.490000, 3.700000, 3.920000, 4.190000, 5.530000, 5.510000, 5.490000, 5.470000, 5.470000, 5.450000, 5.440000, 5.430000, 5.420000, 5.410000, 5.400000, 6.600000, 11.480000, 14.890000, 17.270000, 17.100000, 17.110000, 17.430000, 17.450000, 8.620000, 6.340000, 5.630000, 5.230000, 4.890000, 4.620000, 4.360000, 4.160000, 3.970000, 3.820000, 3.680000, 3.570000, 3.460000, 3.350000, 3.280000, 3.180000, 3.100000, 3.030000, 2.950000, 2.890000, 2.830000, 2.760000, 2.700000, 2.650000, 2.610000, 2.570000, 2.090000, 2.370000, 2.440000, 2.400000, 2.370000, 2.330000, 2.300000, 2.270000, 2.250000, 2.220000, 2.190000, 1.700000, 2.130000, 2.130000, 2.110000, 2.090000, 2.070000, 2.050000, 2.040000, 2.030000, 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": [ 976054842, 195680 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.892000, 12.576000, 2.421337 ], "estimate": [ 0.892000, 12.576000, 2.421337 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.530000, 4.470000, 4.430000, 4.380000, 1.260000, 1.220000, 1.200000, 1.190000, 1.170000, 1.170000, 1.150000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.090000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.050000, 1.040000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.220000, 1.240000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.320000, 1.350000, 1.370000, 1.380000, 1.410000, 1.430000, 1.450000, 1.480000, 1.510000, 1.540000, 1.560000, 1.600000, 1.640000, 1.670000, 1.720000, 1.760000, 1.810000, 1.860000, 1.910000, 1.970000, 2.050000, 2.100000, 2.170000, 2.240000, 2.310000, 2.390000, 2.480000, 2.580000, 2.680000, 2.810000, 2.940000, 3.080000, 3.250000, 3.400000, 3.590000, 3.810000, 4.060000, 4.410000, 5.520000, 5.500000, 5.480000, 5.470000, 5.460000, 5.450000, 5.440000, 5.430000, 5.420000, 5.410000, 5.640000, 11.460000, 14.890000, 14.890000, 17.280000, 17.110000, 17.430000, 17.450000, 17.510000, 7.190000, 5.870000, 5.430000, 5.070000, 4.750000, 4.490000, 4.270000, 4.060000, 3.900000, 3.760000, 3.640000, 3.520000, 3.410000, 3.310000, 3.220000, 3.140000, 3.060000, 2.990000, 2.910000, 2.840000, 2.790000, 2.740000, 2.680000, 2.630000, 2.590000, 2.540000, 2.100000, 2.450000, 2.420000, 2.380000, 2.350000, 2.310000, 2.280000, 2.250000, 2.230000, 2.200000, 2.060000, 1.710000, 2.140000, 2.120000, 2.100000, 2.080000, 2.050000, 2.050000, 2.040000, 2.020000, 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": [ 976054842, 114863 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.892000, 12.576000, 2.433628 ], "estimate": [ 0.892000, 12.576000, 2.433628 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.530000, 4.460000, 4.430000, 4.370000, 1.250000, 1.220000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 1.080000, 1.080000, 1.080000, 1.070000, 1.070000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.040000, 1.050000, 1.050000, 1.050000, 1.040000, 1.050000, 1.040000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.080000, 1.100000, 1.100000, 1.100000, 1.110000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.190000, 1.180000, 1.190000, 1.190000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.280000, 1.290000, 1.310000, 1.330000, 1.340000, 1.370000, 1.390000, 1.410000, 1.440000, 1.460000, 1.480000, 1.510000, 1.540000, 1.570000, 1.610000, 1.650000, 1.680000, 1.720000, 1.770000, 1.820000, 1.870000, 1.920000, 1.980000, 2.100000, 2.100000, 2.180000, 2.250000, 2.330000, 2.410000, 2.500000, 2.600000, 2.700000, 2.820000, 2.960000, 3.110000, 3.270000, 3.430000, 3.620000, 3.840000, 4.090000, 4.540000, 5.520000, 5.490000, 5.480000, 5.470000, 5.460000, 5.440000, 5.430000, 5.430000, 5.420000, 5.410000, 5.760000, 12.330000, 14.870000, 14.890000, 17.280000, 17.110000, 17.430000, 17.450000, 19.720000, 6.780000, 5.820000, 5.360000, 5.030000, 4.720000, 4.460000, 4.230000, 4.050000, 3.870000, 3.730000, 3.610000, 3.500000, 3.390000, 3.310000, 3.210000, 3.130000, 3.060000, 2.980000, 2.910000, 2.850000, 2.780000, 2.730000, 2.680000, 2.620000, 2.580000, 2.520000, 2.090000, 2.450000, 2.420000, 2.370000, 2.340000, 2.310000, 2.280000, 2.250000, 2.230000, 2.200000, 1.740000, 1.710000, 2.130000, 2.120000, 2.090000, 2.080000, 2.050000, 2.040000, 2.040000, 2.010000, 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": [ 976054842, 623769 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.892000, 12.576000, 2.464355 ], "estimate": [ 0.892000, 12.576000, 2.464355 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.480000, 4.430000, 4.380000, 1.260000, 1.220000, 1.210000, 1.190000, 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, 1.070000, 1.070000, 1.060000, 1.060000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.040000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.110000, 1.110000, 1.110000, 1.130000, 1.130000, 1.130000, 1.150000, 1.160000, 1.160000, 1.190000, 1.180000, 1.190000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.320000, 1.340000, 1.360000, 1.380000, 1.410000, 1.430000, 1.450000, 1.470000, 1.510000, 1.540000, 1.570000, 1.600000, 1.640000, 1.670000, 1.710000, 1.750000, 1.810000, 1.860000, 1.910000, 1.970000, 2.070000, 2.100000, 2.160000, 2.230000, 2.320000, 2.390000, 2.480000, 2.580000, 2.680000, 2.800000, 2.930000, 3.080000, 3.240000, 3.390000, 3.580000, 3.790000, 4.040000, 4.310000, 5.520000, 5.500000, 5.480000, 5.470000, 5.460000, 5.450000, 5.440000, 5.420000, 5.420000, 5.400000, 5.450000, 11.440000, 14.880000, 14.880000, 17.270000, 17.110000, 17.430000, 17.440000, 17.510000, 7.220000, 5.930000, 5.450000, 5.070000, 4.780000, 4.500000, 4.270000, 4.070000, 3.900000, 3.760000, 3.640000, 3.520000, 3.410000, 3.310000, 3.230000, 3.140000, 3.060000, 2.990000, 2.920000, 2.840000, 2.800000, 2.730000, 2.680000, 2.620000, 2.590000, 2.540000, 2.240000, 2.450000, 2.420000, 2.380000, 2.340000, 2.310000, 2.280000, 2.250000, 2.220000, 2.200000, 2.060000, 1.690000, 2.130000, 2.120000, 2.100000, 2.080000, 2.060000, 2.040000, 2.030000, 2.020000, 1.200000, 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": [ 976054842, 624876 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.891000, 12.577000, 2.531957 ], "estimate": [ 0.891000, 12.577000, 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": [ 4.360000, 1.250000, 1.230000, 1.200000, 1.200000, 1.180000, 1.170000, 1.170000, 1.150000, 1.140000, 1.130000, 1.130000, 1.130000, 1.100000, 1.110000, 1.100000, 1.090000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.060000, 1.060000, 1.050000, 1.040000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.160000, 1.150000, 1.170000, 1.180000, 1.180000, 1.200000, 1.210000, 1.230000, 1.240000, 1.260000, 1.280000, 1.280000, 1.290000, 1.320000, 1.330000, 1.360000, 1.370000, 1.390000, 1.420000, 1.440000, 1.460000, 1.490000, 1.520000, 1.550000, 1.580000, 1.610000, 1.660000, 1.680000, 1.730000, 1.770000, 1.820000, 1.880000, 1.930000, 1.990000, 2.100000, 2.110000, 2.190000, 2.250000, 2.340000, 2.420000, 2.500000, 2.610000, 2.710000, 2.830000, 2.970000, 3.120000, 3.280000, 3.450000, 3.650000, 3.870000, 4.110000, 4.610000, 5.510000, 5.490000, 5.480000, 5.460000, 5.460000, 5.440000, 5.430000, 5.420000, 5.410000, 5.400000, 5.920000, 14.880000, 14.860000, 14.880000, 17.190000, 17.100000, 17.420000, 17.440000, 19.720000, 6.600000, 5.700000, 5.280000, 4.920000, 4.640000, 4.390000, 4.180000, 3.990000, 3.830000, 3.690000, 3.570000, 3.470000, 3.360000, 3.280000, 3.180000, 3.090000, 3.030000, 2.950000, 2.880000, 2.830000, 2.760000, 2.710000, 2.660000, 2.610000, 2.570000, 2.060000, 2.090000, 2.430000, 2.400000, 2.360000, 2.330000, 2.290000, 2.260000, 2.230000, 2.210000, 2.190000, 1.690000, 1.890000, 2.120000, 2.100000, 2.090000, 2.060000, 2.040000, 2.030000, 2.030000, 1.360000, 1.200000, 1.190000, 1.150000, 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": [ 976054842, 718309 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.890000, 12.577000, 2.605703 ], "estimate": [ 0.890000, 12.577000, 2.605703 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.210000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.090000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.050000, 1.050000, 1.060000, 1.050000, 1.060000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.070000, 1.090000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.150000, 1.150000, 1.160000, 1.190000, 1.200000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.300000, 1.320000, 1.340000, 1.370000, 1.380000, 1.420000, 1.430000, 1.450000, 1.490000, 1.520000, 1.540000, 1.580000, 1.590000, 1.640000, 1.670000, 1.710000, 1.750000, 1.810000, 1.850000, 1.900000, 1.960000, 2.060000, 2.100000, 2.160000, 2.230000, 2.300000, 2.370000, 2.470000, 2.570000, 2.670000, 2.780000, 2.910000, 3.050000, 3.210000, 3.360000, 3.540000, 3.730000, 3.980000, 4.250000, 5.530000, 5.500000, 5.480000, 5.480000, 5.460000, 5.440000, 5.430000, 5.420000, 5.420000, 5.400000, 5.400000, 6.870000, 11.570000, 14.870000, 17.260000, 17.100000, 17.120000, 17.430000, 17.450000, 7.360000, 6.050000, 5.480000, 5.090000, 4.800000, 4.520000, 4.280000, 4.070000, 3.900000, 3.750000, 3.640000, 3.520000, 3.410000, 3.320000, 3.230000, 3.140000, 3.060000, 2.980000, 2.910000, 2.840000, 2.790000, 2.730000, 2.680000, 2.620000, 2.590000, 2.540000, 2.410000, 2.450000, 2.410000, 2.370000, 2.340000, 2.300000, 2.280000, 2.240000, 2.210000, 2.180000, 2.100000, 1.670000, 2.130000, 2.100000, 2.080000, 2.070000, 2.050000, 2.030000, 2.020000, 2.000000, 1.190000, 1.190000, 1.160000, 1.140000, 1.130000, 1.130000, 1.130000, 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": [ 976054843, 971616 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.885000, 12.580000, 2.728614 ], "estimate": [ 0.885000, 12.580000, 2.728614 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.150000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.100000, 1.100000, 1.090000, 1.090000, 1.080000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.150000, 1.190000, 1.190000, 1.190000, 1.200000, 1.220000, 1.220000, 1.240000, 1.260000, 1.280000, 1.280000, 1.290000, 1.320000, 1.320000, 1.350000, 1.370000, 1.390000, 1.420000, 1.440000, 1.460000, 1.490000, 1.520000, 1.540000, 1.570000, 1.600000, 1.650000, 1.680000, 1.720000, 1.760000, 1.820000, 1.860000, 1.910000, 1.970000, 2.100000, 2.110000, 2.170000, 2.230000, 2.310000, 2.380000, 2.470000, 2.570000, 2.660000, 2.790000, 2.910000, 3.060000, 3.210000, 3.370000, 3.550000, 3.760000, 3.990000, 4.260000, 5.510000, 5.490000, 5.490000, 5.470000, 5.450000, 5.440000, 5.420000, 5.410000, 5.400000, 5.390000, 5.400000, 6.920000, 11.530000, 14.870000, 17.250000, 17.100000, 17.110000, 17.420000, 17.450000, 6.960000, 5.830000, 5.390000, 5.040000, 4.720000, 4.460000, 4.230000, 4.040000, 3.870000, 3.720000, 3.600000, 3.490000, 3.380000, 3.290000, 3.200000, 3.110000, 3.040000, 2.960000, 2.890000, 2.840000, 2.770000, 2.710000, 2.650000, 2.610000, 2.560000, 2.510000, 2.460000, 2.440000, 2.400000, 2.360000, 2.320000, 2.290000, 2.260000, 2.230000, 2.210000, 2.190000, 1.920000, 1.850000, 2.120000, 2.090000, 2.070000, 2.060000, 2.040000, 2.030000, 2.010000, 1.990000, 1.180000, 1.180000, 1.150000, 1.130000, 1.130000, 1.130000, 1.120000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 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": [ 976054843, 972802 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.884000, 12.580000, 2.826942 ], "estimate": [ 0.884000, 12.580000, 2.826942 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.120000, 1.120000, 1.110000, 1.120000, 1.100000, 1.100000, 1.090000, 1.090000, 1.080000, 1.080000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.060000, 1.080000, 1.070000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.120000, 1.120000, 1.130000, 1.120000, 1.140000, 1.140000, 1.160000, 1.170000, 1.170000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.250000, 1.260000, 1.270000, 1.280000, 1.300000, 1.310000, 1.330000, 1.370000, 1.380000, 1.400000, 1.430000, 1.440000, 1.470000, 1.490000, 1.530000, 1.560000, 1.570000, 1.610000, 1.660000, 1.700000, 1.730000, 1.780000, 1.820000, 1.870000, 1.920000, 1.990000, 2.090000, 2.090000, 2.180000, 2.240000, 2.320000, 2.390000, 2.480000, 2.580000, 2.680000, 2.790000, 2.920000, 3.060000, 3.220000, 3.370000, 3.550000, 3.750000, 4.000000, 4.260000, 5.500000, 5.490000, 5.480000, 5.460000, 5.440000, 5.430000, 5.410000, 5.400000, 5.400000, 5.380000, 5.390000, 6.730000, 11.440000, 14.870000, 17.230000, 17.090000, 17.090000, 17.410000, 17.420000, 7.220000, 5.890000, 5.410000, 5.040000, 4.730000, 4.470000, 4.240000, 4.040000, 3.870000, 3.730000, 3.600000, 3.490000, 3.380000, 3.290000, 3.200000, 3.120000, 3.040000, 2.950000, 2.900000, 2.830000, 2.760000, 2.700000, 2.650000, 2.600000, 2.560000, 2.510000, 2.440000, 2.430000, 2.390000, 2.350000, 2.310000, 2.280000, 2.250000, 2.220000, 2.190000, 2.180000, 2.100000, 1.990000, 2.110000, 2.080000, 2.060000, 2.030000, 2.030000, 2.020000, 2.010000, 1.980000, 1.200000, 1.170000, 1.160000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 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": [ 976054843, 973855 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.886000, 12.580000, 2.888397 ], "estimate": [ 0.886000, 12.580000, 2.888397 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.110000, 1.110000, 1.100000, 1.100000, 1.090000, 1.100000, 1.090000, 1.090000, 1.090000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.150000, 1.160000, 1.160000, 1.170000, 1.190000, 1.190000, 1.190000, 1.220000, 1.220000, 1.230000, 1.250000, 1.260000, 1.270000, 1.290000, 1.310000, 1.330000, 1.330000, 1.360000, 1.370000, 1.390000, 1.420000, 1.440000, 1.470000, 1.500000, 1.520000, 1.560000, 1.580000, 1.620000, 1.660000, 1.690000, 1.740000, 1.770000, 1.810000, 1.860000, 1.920000, 1.980000, 2.090000, 2.100000, 2.160000, 2.230000, 2.310000, 2.380000, 2.470000, 2.560000, 2.660000, 2.780000, 2.900000, 3.040000, 3.180000, 3.360000, 3.520000, 3.720000, 3.940000, 4.210000, 5.520000, 5.500000, 5.490000, 5.470000, 5.450000, 5.440000, 5.420000, 5.410000, 5.400000, 5.390000, 5.390000, 6.600000, 14.870000, 14.860000, 14.880000, 17.250000, 17.080000, 17.430000, 17.440000, 19.680000, 6.470000, 5.640000, 5.220000, 4.870000, 4.570000, 4.340000, 4.120000, 3.930000, 3.800000, 3.660000, 3.540000, 3.430000, 3.320000, 3.230000, 3.140000, 3.060000, 2.990000, 2.920000, 2.850000, 2.790000, 2.730000, 2.670000, 2.620000, 2.580000, 2.530000, 2.050000, 2.240000, 2.400000, 2.360000, 2.330000, 2.290000, 2.260000, 2.230000, 2.200000, 2.180000, 2.160000, 1.670000, 1.950000, 2.080000, 2.070000, 2.050000, 2.030000, 2.030000, 2.000000, 1.990000, 1.590000, 1.160000, 1.160000, 1.120000, 1.110000, 1.110000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054843, 974800 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.888000, 12.579000, 2.986726 ], "estimate": [ 0.888000, 12.579000, 2.986726 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.080000, 1.090000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.200000, 1.200000, 1.200000, 1.220000, 1.230000, 1.230000, 1.260000, 1.270000, 1.270000, 1.290000, 1.300000, 1.310000, 1.340000, 1.360000, 1.370000, 1.390000, 1.420000, 1.430000, 1.460000, 1.490000, 1.510000, 1.550000, 1.570000, 1.610000, 1.650000, 1.670000, 1.720000, 1.750000, 1.790000, 1.850000, 1.900000, 1.950000, 2.010000, 2.090000, 2.120000, 2.200000, 2.270000, 2.340000, 2.430000, 2.510000, 2.610000, 2.720000, 2.830000, 2.970000, 3.110000, 3.270000, 3.430000, 3.620000, 3.820000, 4.060000, 4.330000, 5.510000, 5.480000, 5.480000, 5.470000, 5.450000, 5.430000, 5.420000, 5.410000, 5.400000, 5.390000, 5.400000, 7.640000, 11.700000, 14.870000, 17.240000, 17.100000, 17.100000, 17.430000, 17.460000, 7.160000, 5.800000, 5.380000, 5.010000, 4.690000, 4.420000, 4.200000, 4.000000, 3.840000, 3.710000, 3.570000, 3.470000, 3.360000, 3.270000, 3.180000, 3.090000, 3.010000, 2.930000, 2.870000, 2.810000, 2.750000, 2.690000, 2.630000, 2.590000, 2.540000, 2.360000, 2.040000, 2.420000, 2.370000, 2.330000, 2.300000, 2.270000, 2.240000, 2.210000, 2.180000, 2.160000, 1.660000, 1.670000, 2.090000, 2.070000, 2.050000, 2.020000, 2.020000, 2.000000, 1.990000, 1.960000, 1.160000, 1.150000, 1.130000, 1.110000, 1.110000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 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": [ 976054843, 975731 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.887000, 12.579000, 3.103490 ], "estimate": [ 0.887000, 12.579000, 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, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.160000, 1.180000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.300000, 1.330000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.460000, 1.490000, 1.520000, 1.540000, 1.570000, 1.600000, 1.640000, 1.660000, 1.710000, 1.740000, 1.790000, 1.830000, 1.880000, 1.920000, 1.990000, 2.090000, 2.100000, 2.170000, 2.240000, 2.320000, 2.390000, 2.490000, 2.580000, 2.670000, 2.790000, 2.910000, 3.040000, 3.200000, 3.370000, 3.530000, 3.730000, 3.940000, 4.200000, 5.520000, 5.490000, 5.490000, 5.470000, 5.450000, 5.440000, 5.420000, 5.410000, 5.400000, 5.390000, 5.390000, 6.060000, 14.880000, 14.880000, 14.870000, 17.150000, 17.120000, 17.430000, 17.440000, 19.680000, 6.270000, 5.550000, 5.150000, 4.800000, 4.510000, 4.280000, 4.070000, 3.880000, 3.750000, 3.620000, 3.500000, 3.400000, 3.310000, 3.200000, 3.110000, 3.030000, 2.960000, 2.890000, 2.830000, 2.760000, 2.700000, 2.640000, 2.600000, 2.550000, 2.500000, 2.430000, 2.420000, 2.380000, 2.340000, 2.300000, 2.280000, 2.240000, 2.210000, 2.180000, 2.160000, 1.900000, 1.900000, 2.090000, 2.070000, 2.050000, 2.020000, 2.010000, 2.000000, 1.990000, 1.970000, 1.150000, 1.150000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.110000, 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": [ 976054843, 976672 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.887000, 12.579000, -3.087512 ], "estimate": [ 0.887000, 12.579000, -3.087512 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.110000, 1.110000, 1.110000, 1.120000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.220000, 1.220000, 1.240000, 1.260000, 1.250000, 1.260000, 1.300000, 1.300000, 1.310000, 1.340000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.480000, 1.510000, 1.530000, 1.570000, 1.590000, 1.630000, 1.670000, 1.690000, 1.740000, 1.770000, 1.810000, 1.870000, 1.910000, 1.970000, 2.030000, 2.100000, 2.150000, 2.210000, 2.280000, 2.350000, 2.440000, 2.520000, 2.620000, 2.730000, 2.840000, 2.960000, 3.110000, 3.250000, 3.440000, 3.600000, 3.810000, 4.020000, 4.290000, 5.520000, 5.490000, 5.490000, 5.470000, 5.450000, 5.440000, 5.420000, 5.410000, 5.400000, 5.390000, 5.390000, 6.600000, 11.210000, 14.870000, 14.880000, 17.100000, 17.100000, 17.420000, 17.450000, 7.370000, 6.030000, 5.450000, 5.050000, 4.700000, 4.450000, 4.210000, 4.000000, 3.840000, 3.710000, 3.580000, 3.470000, 3.360000, 3.260000, 3.170000, 3.090000, 3.010000, 2.930000, 2.860000, 2.800000, 2.730000, 2.690000, 2.620000, 2.580000, 2.530000, 2.040000, 2.050000, 2.400000, 2.360000, 2.320000, 2.290000, 2.250000, 2.220000, 2.190000, 2.170000, 2.150000, 1.640000, 1.650000, 2.080000, 2.050000, 2.040000, 2.030000, 2.010000, 1.990000, 1.970000, 1.350000, 1.140000, 1.130000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054844, 163948 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.884000, 12.579000, -3.087512 ], "estimate": [ 0.884000, 12.579000, -3.087512 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.330000, 1.340000, 1.370000, 1.380000, 1.410000, 1.430000, 1.450000, 1.480000, 1.490000, 1.530000, 1.550000, 1.580000, 1.620000, 1.650000, 1.680000, 1.720000, 1.750000, 1.810000, 1.850000, 1.900000, 1.940000, 2.000000, 2.100000, 2.110000, 2.180000, 2.240000, 2.320000, 2.390000, 2.480000, 2.570000, 2.670000, 2.780000, 2.900000, 3.030000, 3.180000, 3.340000, 3.500000, 3.690000, 3.900000, 4.140000, 4.630000, 5.520000, 5.490000, 5.480000, 5.460000, 5.460000, 5.440000, 5.430000, 5.410000, 5.410000, 5.390000, 5.630000, 7.990000, 11.880000, 14.870000, 17.240000, 17.100000, 17.100000, 17.430000, 17.450000, 7.790000, 6.040000, 5.440000, 5.050000, 4.710000, 4.440000, 4.210000, 4.010000, 3.840000, 3.710000, 3.580000, 3.470000, 3.360000, 3.260000, 3.180000, 3.090000, 3.010000, 2.930000, 2.860000, 2.790000, 2.730000, 2.680000, 2.620000, 2.570000, 2.520000, 2.020000, 2.340000, 2.400000, 2.350000, 2.310000, 2.280000, 2.250000, 2.210000, 2.180000, 2.170000, 2.140000, 1.630000, 2.080000, 2.070000, 2.050000, 2.030000, 2.020000, 2.010000, 1.990000, 1.970000, 1.250000, 1.140000, 1.130000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.060000, 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, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054844, 870478 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.870000, 12.578000, -3.099803 ], "estimate": [ 0.870000, 12.578000, -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": [ 1.120000, 1.130000, 1.130000, 1.120000, 1.140000, 1.130000, 1.140000, 1.150000, 1.140000, 1.150000, 1.150000, 1.150000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.220000, 1.240000, 1.250000, 1.270000, 1.270000, 1.290000, 1.290000, 1.300000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.470000, 1.490000, 1.520000, 1.550000, 1.570000, 1.610000, 1.650000, 1.680000, 1.710000, 1.750000, 1.790000, 1.830000, 1.880000, 1.930000, 1.980000, 2.080000, 2.110000, 2.170000, 2.230000, 2.300000, 2.370000, 2.460000, 2.550000, 2.650000, 2.750000, 2.860000, 3.000000, 3.150000, 3.300000, 3.460000, 3.640000, 3.850000, 4.080000, 4.350000, 5.530000, 5.500000, 5.490000, 5.480000, 5.460000, 5.440000, 5.430000, 5.410000, 5.400000, 5.390000, 5.390000, 6.900000, 11.400000, 14.870000, 14.880000, 17.250000, 17.090000, 17.420000, 17.450000, 19.690000, 6.270000, 5.540000, 5.130000, 4.780000, 4.500000, 4.260000, 4.040000, 3.870000, 3.730000, 3.610000, 3.490000, 3.380000, 3.290000, 3.190000, 3.100000, 3.020000, 2.940000, 2.870000, 2.810000, 2.740000, 2.690000, 2.630000, 2.580000, 2.530000, 2.460000, 2.030000, 2.410000, 2.360000, 2.320000, 2.290000, 2.260000, 2.220000, 2.200000, 2.180000, 2.150000, 1.650000, 1.660000, 2.080000, 2.060000, 2.040000, 2.030000, 2.010000, 1.990000, 1.970000, 1.940000, 1.140000, 1.130000, 1.100000, 1.090000, 1.070000, 1.070000, 1.070000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.040000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.170000, 1.180000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054845, 815899 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.827000, 12.577000, -3.105948 ], "estimate": [ 0.827000, 12.577000, -3.105948 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.140000, 1.140000, 1.150000, 1.160000, 1.150000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.200000, 1.240000, 1.220000, 1.230000, 1.240000, 1.240000, 1.260000, 1.260000, 1.280000, 1.290000, 1.290000, 1.310000, 1.330000, 1.360000, 1.380000, 1.390000, 1.410000, 1.430000, 1.450000, 1.470000, 1.500000, 1.530000, 1.570000, 1.590000, 1.620000, 1.670000, 1.690000, 1.720000, 1.760000, 1.810000, 1.860000, 1.900000, 1.960000, 2.020000, 2.090000, 2.130000, 2.200000, 2.260000, 2.330000, 2.410000, 2.490000, 2.590000, 2.690000, 2.800000, 2.920000, 3.050000, 3.210000, 3.380000, 3.540000, 3.720000, 3.940000, 4.180000, 5.520000, 5.500000, 5.480000, 5.470000, 5.450000, 5.430000, 5.410000, 5.400000, 5.400000, 5.390000, 5.380000, 5.790000, 8.630000, 14.850000, 14.860000, 17.230000, 17.070000, 17.190000, 17.400000, 17.430000, 7.210000, 5.800000, 5.360000, 4.980000, 4.650000, 4.400000, 4.170000, 3.960000, 3.810000, 3.670000, 3.550000, 3.430000, 3.330000, 3.240000, 3.150000, 3.060000, 2.990000, 2.910000, 2.840000, 2.770000, 2.710000, 2.660000, 2.600000, 2.550000, 2.500000, 2.120000, 2.220000, 2.380000, 2.340000, 2.300000, 2.280000, 2.230000, 2.200000, 2.190000, 2.160000, 2.140000, 1.650000, 1.810000, 2.060000, 2.040000, 2.030000, 2.010000, 1.990000, 1.980000, 1.960000, 1.940000, 1.130000, 1.120000, 1.110000, 1.080000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.030000, 1.030000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.160000, 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": [ 976054845, 927500 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.749000, 12.573001, -3.099803 ], "estimate": [ 0.749000, 12.573001, -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": [ 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.150000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.230000, 1.250000, 1.260000, 1.270000, 1.260000, 1.280000, 1.300000, 1.310000, 1.320000, 1.350000, 1.360000, 1.380000, 1.410000, 1.420000, 1.440000, 1.480000, 1.500000, 1.530000, 1.560000, 1.580000, 1.610000, 1.650000, 1.670000, 1.700000, 1.740000, 1.790000, 1.830000, 1.880000, 1.930000, 1.990000, 2.070000, 2.090000, 2.160000, 2.220000, 2.300000, 2.360000, 2.450000, 2.540000, 2.630000, 2.740000, 2.850000, 2.980000, 3.120000, 3.270000, 3.420000, 3.610000, 3.800000, 4.020000, 4.300000, 5.460000, 5.440000, 5.420000, 5.410000, 5.390000, 5.380000, 5.370000, 5.360000, 5.350000, 5.340000, 5.330000, 6.550000, 11.790000, 14.810000, 14.810000, 17.200000, 17.030000, 17.340000, 17.370000, 17.420000, 6.660000, 5.650000, 5.210000, 4.840000, 4.540000, 4.290000, 4.070000, 3.890000, 3.730000, 3.610000, 3.490000, 3.380000, 3.270000, 3.180000, 3.090000, 3.010000, 2.930000, 2.850000, 2.780000, 2.720000, 2.670000, 2.610000, 2.560000, 2.510000, 2.460000, 2.420000, 1.980000, 2.340000, 2.300000, 2.270000, 2.230000, 2.200000, 2.180000, 2.150000, 2.130000, 2.100000, 2.080000, 1.590000, 2.020000, 2.020000, 2.000000, 1.980000, 1.960000, 1.940000, 1.930000, 1.920000, 1.900000, 1.230000, 1.090000, 1.090000, 1.050000, 1.040000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054845, 102180 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.672000, 12.570000, -3.099803 ], "estimate": [ 0.672000, 12.570000, -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": [ 1.150000, 1.150000, 1.150000, 1.150000, 1.160000, 1.150000, 1.170000, 1.170000, 1.160000, 1.170000, 1.180000, 1.190000, 1.190000, 1.180000, 1.190000, 1.200000, 1.200000, 1.210000, 1.230000, 1.230000, 1.240000, 1.250000, 1.270000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.340000, 1.350000, 1.370000, 1.390000, 1.420000, 1.440000, 1.460000, 1.470000, 1.510000, 1.530000, 1.570000, 1.590000, 1.620000, 1.660000, 1.690000, 1.720000, 1.760000, 1.800000, 1.840000, 1.890000, 1.950000, 1.990000, 2.040000, 2.100000, 2.160000, 2.230000, 2.300000, 2.370000, 2.450000, 2.540000, 2.630000, 2.740000, 2.840000, 2.980000, 3.110000, 3.260000, 3.420000, 3.580000, 3.780000, 4.000000, 4.380000, 5.380000, 5.370000, 5.350000, 5.330000, 5.310000, 5.290000, 5.280000, 5.270000, 5.260000, 5.250000, 5.250000, 6.450000, 9.050000, 14.700000, 14.710000, 17.100000, 16.930000, 17.130000, 17.270000, 17.290000, 7.090000, 5.720000, 5.260000, 4.870000, 4.540000, 4.300000, 4.070000, 3.870000, 3.710000, 3.590000, 3.470000, 3.340000, 3.250000, 3.150000, 3.060000, 2.980000, 2.910000, 2.830000, 2.760000, 2.690000, 2.640000, 2.590000, 2.530000, 2.480000, 2.440000, 2.400000, 2.350000, 1.890000, 2.270000, 2.230000, 2.200000, 2.170000, 2.150000, 2.120000, 2.090000, 2.070000, 2.040000, 2.020000, 2.000000, 1.540000, 1.780000, 1.940000, 1.930000, 1.910000, 1.890000, 1.870000, 1.860000, 1.860000, 1.850000, 1.840000, 1.820000, 1.120000, 1.020000, 1.020000, 1.010000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 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": [ 976054845, 162171 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.619000, 12.568001, -3.118239 ], "estimate": [ 0.619000, 12.568001, -3.118239 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.150000, 1.150000, 1.150000, 1.150000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.150000, 1.190000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.260000, 1.280000, 1.290000, 1.310000, 1.320000, 1.340000, 1.350000, 1.380000, 1.400000, 1.420000, 1.430000, 1.460000, 1.480000, 1.510000, 1.530000, 1.550000, 1.590000, 1.610000, 1.660000, 1.680000, 1.710000, 1.760000, 1.800000, 1.840000, 1.910000, 1.950000, 1.980000, 2.030000, 2.080000, 2.140000, 2.200000, 2.280000, 2.340000, 2.430000, 2.500000, 2.600000, 2.700000, 2.820000, 2.940000, 3.070000, 3.220000, 3.370000, 3.530000, 3.720000, 3.920000, 4.260000, 5.340000, 5.310000, 5.290000, 5.270000, 5.250000, 5.240000, 5.220000, 5.200000, 5.190000, 5.180000, 5.180000, 5.510000, 7.710000, 11.260000, 14.650000, 14.670000, 17.060000, 16.870000, 17.200000, 17.220000, 19.470000, 6.310000, 5.440000, 5.010000, 4.660000, 4.370000, 4.140000, 3.920000, 3.760000, 3.600000, 3.480000, 3.360000, 3.270000, 3.160000, 3.070000, 2.980000, 2.900000, 2.830000, 2.760000, 2.690000, 2.630000, 2.590000, 2.530000, 2.470000, 2.430000, 2.380000, 2.340000, 2.300000, 2.210000, 1.930000, 2.190000, 2.160000, 2.140000, 2.100000, 2.080000, 2.050000, 2.020000, 2.010000, 1.980000, 1.960000, 1.940000, 1.650000, 1.550000, 1.890000, 1.880000, 1.860000, 1.850000, 1.840000, 1.830000, 1.820000, 1.800000, 1.800000, 1.790000, 1.780000, 1.760000, 1.000000, 0.980000, 0.980000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054845, 644801 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.575000, 12.566999, -3.124385 ], "estimate": [ 0.575000, 12.566999, -3.124385 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.160000, 1.160000, 1.150000, 1.160000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.210000, 1.230000, 1.230000, 1.250000, 1.260000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.310000, 1.340000, 1.350000, 1.370000, 1.380000, 1.410000, 1.430000, 1.450000, 1.470000, 1.500000, 1.520000, 1.550000, 1.580000, 1.610000, 1.640000, 1.670000, 1.710000, 1.740000, 1.790000, 1.820000, 1.910000, 1.910000, 1.960000, 2.020000, 2.070000, 2.120000, 2.190000, 2.250000, 2.320000, 2.400000, 2.480000, 2.570000, 2.670000, 2.780000, 2.890000, 3.000000, 3.160000, 3.300000, 3.450000, 3.630000, 3.830000, 4.070000, 5.290000, 5.270000, 5.250000, 5.230000, 5.210000, 5.190000, 5.180000, 5.170000, 5.160000, 5.140000, 5.130000, 5.130000, 6.360000, 12.060000, 14.610000, 14.610000, 16.980000, 16.840000, 17.140000, 17.170000, 17.200000, 6.480000, 5.500000, 5.070000, 4.710000, 4.410000, 4.170000, 3.940000, 3.780000, 3.600000, 3.480000, 3.370000, 3.270000, 3.160000, 3.080000, 2.980000, 2.900000, 2.830000, 2.760000, 2.690000, 2.630000, 2.570000, 2.520000, 2.460000, 2.420000, 2.370000, 2.330000, 2.290000, 2.250000, 2.060000, 1.790000, 2.140000, 2.130000, 2.090000, 2.070000, 2.030000, 2.020000, 1.990000, 1.970000, 1.940000, 1.930000, 1.920000, 1.890000, 1.410000, 1.860000, 1.850000, 1.830000, 1.830000, 1.810000, 1.800000, 1.800000, 1.790000, 1.780000, 1.760000, 1.750000, 1.750000, 1.730000, 1.010000, 0.960000, 0.950000, 0.950000, 0.930000, 0.920000, 0.910000, 0.910000, 0.920000, 0.920000, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 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": [ 976054845, 645925 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.524000, 12.566000, -3.130531 ], "estimate": [ 0.524000, 12.566000, -3.130531 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.200000, 1.150000, 1.170000, 1.180000, 1.180000, 1.180000, 1.180000, 1.190000, 1.200000, 1.200000, 1.200000, 1.220000, 1.230000, 1.230000, 1.250000, 1.250000, 1.270000, 1.270000, 1.270000, 1.270000, 1.300000, 1.320000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.430000, 1.450000, 1.480000, 1.500000, 1.520000, 1.560000, 1.580000, 1.610000, 1.650000, 1.670000, 1.720000, 1.740000, 1.790000, 1.850000, 1.900000, 1.910000, 1.960000, 2.010000, 2.060000, 2.120000, 2.180000, 2.250000, 2.320000, 2.390000, 2.470000, 2.560000, 2.660000, 2.770000, 2.890000, 3.000000, 3.150000, 3.270000, 3.450000, 3.620000, 3.820000, 4.040000, 5.260000, 5.230000, 5.210000, 5.190000, 5.180000, 5.160000, 5.150000, 5.130000, 5.120000, 5.110000, 5.100000, 5.100000, 6.300000, 11.130000, 14.560000, 14.570000, 16.950000, 16.780000, 16.900000, 17.140000, 17.140000, 6.940000, 5.580000, 5.140000, 4.750000, 4.440000, 4.180000, 3.960000, 3.790000, 3.610000, 3.480000, 3.370000, 3.270000, 3.170000, 3.070000, 2.980000, 2.900000, 2.830000, 2.750000, 2.680000, 2.610000, 2.570000, 2.510000, 2.450000, 2.410000, 2.370000, 2.320000, 2.280000, 2.240000, 2.200000, 1.790000, 2.090000, 2.110000, 2.080000, 2.050000, 2.020000, 2.010000, 1.980000, 1.960000, 1.930000, 1.930000, 1.910000, 1.880000, 1.860000, 1.410000, 1.800000, 1.820000, 1.810000, 1.800000, 1.800000, 1.790000, 1.780000, 1.760000, 1.750000, 1.740000, 1.730000, 1.720000, 1.710000, 1.700000, 0.990000, 0.940000, 0.950000, 0.940000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054845, 715409 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.455000, 12.565000, -3.136677 ], "estimate": [ 0.455000, 12.565000, -3.136677 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.160000, 1.160000, 1.180000, 1.180000, 1.170000, 1.170000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.260000, 1.270000, 1.270000, 1.270000, 1.290000, 1.310000, 1.320000, 1.330000, 1.350000, 1.370000, 1.380000, 1.410000, 1.420000, 1.440000, 1.470000, 1.480000, 1.510000, 1.540000, 1.570000, 1.600000, 1.630000, 1.660000, 1.690000, 1.730000, 1.760000, 1.840000, 1.830000, 1.890000, 1.930000, 1.970000, 2.030000, 2.080000, 2.150000, 2.200000, 2.280000, 2.340000, 2.420000, 2.500000, 2.590000, 2.690000, 2.810000, 2.930000, 3.040000, 3.180000, 3.340000, 3.490000, 3.670000, 3.880000, 5.220000, 5.190000, 5.180000, 5.150000, 5.130000, 5.110000, 5.090000, 5.080000, 5.070000, 5.060000, 5.050000, 5.030000, 5.270000, 6.890000, 11.960000, 14.520000, 14.530000, 16.900000, 16.730000, 17.050000, 17.070000, 17.120000, 6.470000, 5.410000, 5.010000, 4.640000, 4.350000, 4.110000, 3.890000, 3.710000, 3.550000, 3.430000, 3.320000, 3.210000, 3.110000, 3.020000, 2.920000, 2.840000, 2.770000, 2.700000, 2.640000, 2.580000, 2.520000, 2.470000, 2.420000, 2.370000, 2.330000, 2.280000, 2.240000, 2.200000, 2.170000, 2.140000, 1.700000, 2.070000, 2.050000, 2.020000, 2.000000, 1.970000, 1.950000, 1.930000, 1.910000, 1.890000, 1.870000, 1.860000, 1.840000, 1.830000, 1.660000, 1.360000, 1.790000, 1.780000, 1.770000, 1.750000, 1.740000, 1.730000, 1.720000, 1.710000, 1.700000, 1.700000, 1.700000, 1.690000, 1.680000, 1.670000, 1.670000, 0.960000, 0.910000, 0.910000, 0.910000, 0.890000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054846, 130668 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.388000, 12.564000, 3.140363 ], "estimate": [ 0.388000, 12.564000, 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": [ 1.170000, 1.170000, 1.170000, 1.180000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.250000, 1.270000, 1.270000, 1.280000, 1.290000, 1.290000, 1.320000, 1.330000, 1.340000, 1.360000, 1.370000, 1.400000, 1.420000, 1.430000, 1.450000, 1.480000, 1.500000, 1.540000, 1.560000, 1.580000, 1.620000, 1.650000, 1.680000, 1.720000, 1.810000, 1.800000, 1.820000, 1.860000, 1.900000, 1.960000, 2.000000, 2.050000, 2.100000, 2.170000, 2.240000, 2.310000, 2.370000, 2.450000, 2.540000, 2.630000, 2.740000, 2.860000, 2.970000, 3.090000, 3.240000, 3.390000, 3.540000, 3.730000, 3.950000, 5.150000, 5.120000, 5.090000, 5.070000, 5.060000, 5.040000, 5.030000, 5.020000, 4.990000, 4.990000, 4.980000, 4.980000, 5.630000, 7.620000, 11.000000, 14.450000, 14.460000, 16.830000, 16.670000, 17.010000, 17.020000, 19.260000, 6.290000, 5.310000, 4.880000, 4.530000, 4.240000, 4.010000, 3.800000, 3.630000, 3.480000, 3.360000, 3.250000, 3.140000, 3.060000, 2.960000, 2.880000, 2.800000, 2.720000, 2.660000, 2.590000, 2.540000, 2.480000, 2.430000, 2.380000, 2.330000, 2.280000, 2.250000, 2.200000, 2.170000, 2.140000, 2.100000, 2.060000, 1.620000, 2.020000, 1.990000, 1.960000, 1.930000, 1.920000, 1.900000, 1.870000, 1.860000, 1.850000, 1.830000, 1.810000, 1.790000, 1.790000, 1.770000, 1.380000, 1.340000, 1.740000, 1.730000, 1.710000, 1.700000, 1.700000, 1.690000, 1.680000, 1.670000, 1.660000, 1.650000, 1.650000, 1.640000, 1.640000, 1.640000, 1.630000, 1.630000, 0.980000, 0.880000, 0.870000, 0.880000, 0.880000, 0.860000, 0.860000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054846, 152063 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.332000, 12.564000, 3.140363 ], "estimate": [ 0.332000, 12.564000, 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": [ 1.180000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.200000, 1.190000, 1.200000, 1.220000, 1.220000, 1.220000, 1.240000, 1.250000, 1.260000, 1.270000, 1.270000, 1.270000, 1.290000, 1.310000, 1.310000, 1.330000, 1.340000, 1.350000, 1.370000, 1.380000, 1.410000, 1.430000, 1.440000, 1.460000, 1.490000, 1.510000, 1.540000, 1.570000, 1.590000, 1.630000, 1.660000, 1.730000, 1.740000, 1.740000, 1.790000, 1.830000, 1.860000, 1.900000, 1.950000, 2.000000, 2.050000, 2.100000, 2.170000, 2.240000, 2.300000, 2.370000, 2.450000, 2.540000, 2.640000, 2.740000, 2.840000, 2.970000, 3.090000, 3.220000, 3.380000, 3.540000, 3.720000, 4.040000, 5.070000, 5.050000, 5.030000, 5.010000, 4.990000, 4.970000, 4.970000, 4.950000, 4.940000, 4.930000, 4.920000, 4.910000, 5.470000, 7.260000, 10.810000, 14.390000, 14.390000, 16.760000, 16.600000, 16.940000, 16.950000, 16.970000, 6.300000, 5.290000, 4.890000, 4.520000, 4.240000, 4.000000, 3.780000, 3.620000, 3.460000, 3.340000, 3.220000, 3.120000, 3.030000, 2.930000, 2.850000, 2.770000, 2.700000, 2.620000, 2.570000, 2.510000, 2.450000, 2.410000, 2.350000, 2.310000, 2.270000, 2.220000, 2.180000, 2.140000, 2.110000, 2.070000, 2.040000, 2.020000, 1.600000, 1.900000, 1.940000, 1.920000, 1.890000, 1.870000, 1.850000, 1.840000, 1.820000, 1.800000, 1.790000, 1.780000, 1.760000, 1.740000, 1.740000, 1.720000, 1.610000, 1.270000, 1.690000, 1.690000, 1.670000, 1.660000, 1.650000, 1.640000, 1.640000, 1.630000, 1.620000, 1.620000, 1.620000, 1.610000, 1.610000, 1.600000, 1.600000, 1.600000, 1.540000, 1.110000, 0.910000, 0.870000, 0.860000, 0.860000, 0.860000, 0.850000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 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": [ 976054846, 315917 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.283000, 12.564000, 3.140363 ], "estimate": [ 0.283000, 12.564000, 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": [ 1.180000, 1.180000, 1.180000, 1.190000, 1.180000, 1.190000, 1.190000, 1.190000, 1.200000, 1.190000, 1.200000, 1.210000, 1.220000, 1.220000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.350000, 1.370000, 1.380000, 1.400000, 1.420000, 1.430000, 1.460000, 1.480000, 1.510000, 1.530000, 1.560000, 1.580000, 1.610000, 1.660000, 1.720000, 1.720000, 1.740000, 1.780000, 1.820000, 1.850000, 1.910000, 1.950000, 1.990000, 2.050000, 2.090000, 2.160000, 2.210000, 2.290000, 2.350000, 2.430000, 2.510000, 2.600000, 2.710000, 2.820000, 2.920000, 3.050000, 3.170000, 3.310000, 3.470000, 3.650000, 3.850000, 5.040000, 5.020000, 4.990000, 4.970000, 4.950000, 4.930000, 4.930000, 4.920000, 4.910000, 4.890000, 4.880000, 4.870000, 5.080000, 6.130000, 8.900000, 14.340000, 14.330000, 16.710000, 16.550000, 16.550000, 16.880000, 16.920000, 7.250000, 5.680000, 5.020000, 4.630000, 4.310000, 4.060000, 3.840000, 3.660000, 3.490000, 3.340000, 3.240000, 3.140000, 3.040000, 2.940000, 2.850000, 2.780000, 2.700000, 2.630000, 2.570000, 2.510000, 2.450000, 2.400000, 2.350000, 2.300000, 2.260000, 2.210000, 2.180000, 2.140000, 2.100000, 2.070000, 2.030000, 2.010000, 1.980000, 1.890000, 1.570000, 1.910000, 1.880000, 1.850000, 1.830000, 1.830000, 1.810000, 1.790000, 1.780000, 1.760000, 1.740000, 1.730000, 1.720000, 1.700000, 1.700000, 1.690000, 1.520000, 1.250000, 1.660000, 1.650000, 1.640000, 1.630000, 1.620000, 1.620000, 1.610000, 1.600000, 1.600000, 1.600000, 1.590000, 1.590000, 1.580000, 1.570000, 1.580000, 1.590000, 1.540000, 1.200000, 1.050000, 0.910000, 0.850000, 0.840000, 0.850000, 0.850000, 0.850000, 0.820000, 0.810000, 0.820000, 0.820000, 0.820000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054847, 637562 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.228000, 12.564000, 3.134218 ], "estimate": [ 0.228000, 12.564000, 3.134218 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.180000, 1.190000, 1.190000, 1.190000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.210000, 1.200000, 1.210000, 1.220000, 1.230000, 1.250000, 1.250000, 1.250000, 1.270000, 1.270000, 1.280000, 1.280000, 1.300000, 1.310000, 1.310000, 1.340000, 1.350000, 1.360000, 1.380000, 1.400000, 1.410000, 1.430000, 1.460000, 1.470000, 1.500000, 1.520000, 1.550000, 1.580000, 1.610000, 1.690000, 1.680000, 1.690000, 1.730000, 1.760000, 1.800000, 1.830000, 1.870000, 1.910000, 1.960000, 2.010000, 2.060000, 2.120000, 2.170000, 2.240000, 2.310000, 2.380000, 2.460000, 2.550000, 2.650000, 2.740000, 2.850000, 2.970000, 3.090000, 3.220000, 3.380000, 3.530000, 3.720000, 5.010000, 4.980000, 4.960000, 4.930000, 4.920000, 4.900000, 4.880000, 4.880000, 4.860000, 4.850000, 4.830000, 4.820000, 4.820000, 5.420000, 6.990000, 11.760000, 14.280000, 14.280000, 16.670000, 16.490000, 16.800000, 16.840000, 16.870000, 6.640000, 5.360000, 4.870000, 4.510000, 4.200000, 3.960000, 3.750000, 3.580000, 3.430000, 3.280000, 3.190000, 3.080000, 2.980000, 2.890000, 2.800000, 2.730000, 2.660000, 2.590000, 2.520000, 2.470000, 2.420000, 2.360000, 2.310000, 2.260000, 2.220000, 2.180000, 2.140000, 2.100000, 2.060000, 2.030000, 2.010000, 1.970000, 1.960000, 1.930000, 1.550000, 1.570000, 1.850000, 1.830000, 1.820000, 1.800000, 1.790000, 1.770000, 1.750000, 1.740000, 1.720000, 1.700000, 1.700000, 1.690000, 1.680000, 1.660000, 1.650000, 1.640000, 1.210000, 1.330000, 1.620000, 1.610000, 1.600000, 1.590000, 1.580000, 1.580000, 1.580000, 1.570000, 1.570000, 1.570000, 1.560000, 1.560000, 1.570000, 1.560000, 1.560000, 1.560000, 1.350000, 1.190000, 1.070000, 0.980000, 0.880000, 0.840000, 0.820000, 0.820000, 0.830000, 0.840000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 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": [ 976054847, 638733 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.166000, 12.564000, 3.134218 ], "estimate": [ 0.166000, 12.564000, 3.134218 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.210000, 1.200000, 1.200000, 1.210000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.400000, 1.420000, 1.430000, 1.450000, 1.460000, 1.490000, 1.530000, 1.560000, 1.570000, 1.650000, 1.660000, 1.650000, 1.680000, 1.720000, 1.750000, 1.790000, 1.820000, 1.870000, 1.900000, 1.950000, 1.990000, 2.040000, 2.090000, 2.160000, 2.220000, 2.280000, 2.350000, 2.430000, 2.510000, 2.590000, 2.700000, 2.800000, 2.910000, 3.030000, 3.160000, 3.290000, 3.450000, 3.620000, 3.980000, 4.950000, 4.920000, 4.900000, 4.880000, 4.860000, 4.850000, 4.830000, 4.810000, 4.810000, 4.800000, 4.780000, 4.760000, 4.780000, 5.980000, 7.990000, 11.120000, 14.240000, 14.240000, 16.620000, 16.440000, 16.770000, 16.790000, 19.040000, 5.980000, 5.080000, 4.680000, 4.330000, 4.060000, 3.850000, 3.640000, 3.490000, 3.330000, 3.210000, 3.100000, 3.000000, 2.910000, 2.820000, 2.740000, 2.670000, 2.600000, 2.530000, 2.470000, 2.420000, 2.360000, 2.310000, 2.270000, 2.210000, 2.180000, 2.140000, 2.100000, 2.060000, 2.020000, 2.000000, 1.970000, 1.930000, 1.920000, 1.890000, 1.870000, 1.480000, 1.830000, 1.810000, 1.790000, 1.780000, 1.750000, 1.740000, 1.720000, 1.700000, 1.690000, 1.680000, 1.670000, 1.660000, 1.650000, 1.640000, 1.630000, 1.620000, 1.610000, 1.490000, 1.190000, 1.580000, 1.570000, 1.570000, 1.560000, 1.560000, 1.560000, 1.560000, 1.550000, 1.550000, 1.540000, 1.530000, 1.540000, 1.550000, 1.550000, 1.540000, 1.540000, 1.540000, 1.280000, 1.170000, 1.070000, 0.990000, 0.910000, 0.850000, 0.830000, 0.810000, 0.810000, 0.820000, 0.830000, 0.800000, 0.790000, 0.800000, 0.800000, 0.800000, 0.820000, 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": [ 976054847, 639701 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.103000, 12.564000, 3.140363 ], "estimate": [ 0.103000, 12.564000, 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": [ 1.200000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.210000, 1.220000, 1.230000, 1.240000, 1.230000, 1.250000, 1.240000, 1.260000, 1.270000, 1.270000, 1.280000, 1.280000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.380000, 1.410000, 1.420000, 1.430000, 1.450000, 1.480000, 1.500000, 1.530000, 1.560000, 1.650000, 1.630000, 1.630000, 1.660000, 1.680000, 1.720000, 1.750000, 1.780000, 1.820000, 1.860000, 1.910000, 1.930000, 1.990000, 2.040000, 2.090000, 2.150000, 2.200000, 2.270000, 2.330000, 2.410000, 2.490000, 2.590000, 2.670000, 2.770000, 2.870000, 3.000000, 3.110000, 3.240000, 3.410000, 3.570000, 3.870000, 4.900000, 4.870000, 4.840000, 4.830000, 4.810000, 4.790000, 4.770000, 4.750000, 4.730000, 4.730000, 4.720000, 4.710000, 4.700000, 5.910000, 7.100000, 11.650000, 14.170000, 14.180000, 16.550000, 16.370000, 16.600000, 16.730000, 16.750000, 6.510000, 5.300000, 4.790000, 4.410000, 4.130000, 3.880000, 3.670000, 3.500000, 3.340000, 3.210000, 3.110000, 3.000000, 2.910000, 2.820000, 2.740000, 2.660000, 2.590000, 2.520000, 2.460000, 2.410000, 2.350000, 2.300000, 2.250000, 2.200000, 2.160000, 2.120000, 2.080000, 2.040000, 2.010000, 1.980000, 1.950000, 1.920000, 1.900000, 1.870000, 1.850000, 1.820000, 1.800000, 1.420000, 1.780000, 1.750000, 1.730000, 1.710000, 1.690000, 1.690000, 1.670000, 1.660000, 1.640000, 1.640000, 1.630000, 1.610000, 1.600000, 1.590000, 1.590000, 1.580000, 1.570000, 1.560000, 1.450000, 1.140000, 1.540000, 1.540000, 1.530000, 1.540000, 1.530000, 1.520000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.520000, 1.510000, 1.520000, 1.510000, 1.520000, 1.520000, 1.290000, 1.190000, 1.110000, 1.050000, 0.980000, 0.930000, 0.880000, 0.840000, 0.810000, 0.790000, 0.800000, 0.810000, 0.820000, 0.790000, 0.780000, 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": [ 976054847, 640740 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.046000, 12.564000, 3.140363 ], "estimate": [ 0.046000, 12.564000, 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": [ 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.230000, 1.240000, 1.240000, 1.230000, 1.240000, 1.250000, 1.260000, 1.260000, 1.280000, 1.270000, 1.290000, 1.290000, 1.310000, 1.310000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.410000, 1.430000, 1.430000, 1.450000, 1.480000, 1.510000, 1.560000, 1.600000, 1.590000, 1.600000, 1.620000, 1.660000, 1.680000, 1.720000, 1.740000, 1.790000, 1.820000, 1.860000, 1.900000, 1.940000, 1.980000, 2.030000, 2.080000, 2.140000, 2.190000, 2.260000, 2.330000, 2.410000, 2.490000, 2.600000, 2.670000, 2.750000, 2.860000, 2.980000, 3.100000, 3.230000, 3.380000, 3.540000, 3.980000, 4.840000, 4.810000, 4.810000, 4.780000, 4.760000, 4.740000, 4.730000, 4.700000, 4.690000, 4.670000, 4.660000, 4.650000, 4.650000, 5.410000, 6.650000, 8.990000, 14.130000, 14.120000, 16.480000, 16.350000, 16.330000, 16.670000, 16.690000, 18.920000, 5.520000, 4.850000, 4.470000, 4.160000, 3.900000, 3.690000, 3.510000, 3.350000, 3.210000, 3.100000, 3.000000, 2.910000, 2.810000, 2.720000, 2.650000, 2.580000, 2.510000, 2.440000, 2.390000, 2.340000, 2.280000, 2.230000, 2.180000, 2.140000, 2.100000, 2.060000, 2.020000, 2.000000, 1.960000, 1.920000, 1.900000, 1.880000, 1.850000, 1.830000, 1.810000, 1.780000, 1.780000, 1.430000, 1.400000, 1.710000, 1.690000, 1.680000, 1.660000, 1.650000, 1.630000, 1.630000, 1.620000, 1.600000, 1.590000, 1.580000, 1.570000, 1.560000, 1.560000, 1.550000, 1.540000, 1.540000, 1.530000, 1.520000, 1.120000, 1.130000, 1.510000, 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.500000, 1.490000, 1.500000, 1.500000, 1.510000, 1.340000, 1.240000, 1.170000, 1.100000, 1.050000, 0.990000, 0.940000, 0.910000, 0.860000, 0.840000, 0.800000, 0.790000, 0.800000, 0.800000, 0.810000, 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": [ 976054847, 641811 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.009000, 12.564000, 3.134218 ], "estimate": [ -0.009000, 12.564000, 3.134218 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.250000, 1.250000, 1.260000, 1.260000, 1.280000, 1.280000, 1.280000, 1.290000, 1.290000, 1.310000, 1.320000, 1.330000, 1.330000, 1.350000, 1.350000, 1.370000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.480000, 1.530000, 1.570000, 1.560000, 1.570000, 1.590000, 1.610000, 1.650000, 1.670000, 1.700000, 1.730000, 1.770000, 1.810000, 1.840000, 1.880000, 1.920000, 1.970000, 2.010000, 2.060000, 2.100000, 2.170000, 2.230000, 2.300000, 2.360000, 2.450000, 2.560000, 2.610000, 2.700000, 2.800000, 2.910000, 3.010000, 3.150000, 3.270000, 3.420000, 3.600000, 4.800000, 4.790000, 4.770000, 4.740000, 4.720000, 4.700000, 4.680000, 4.660000, 4.650000, 4.630000, 4.620000, 4.610000, 4.590000, 4.600000, 5.800000, 7.060000, 9.670000, 14.060000, 14.070000, 16.430000, 16.250000, 16.310000, 16.610000, 16.630000, 6.880000, 5.410000, 4.760000, 4.380000, 4.070000, 3.820000, 3.620000, 3.450000, 3.290000, 3.160000, 3.050000, 2.940000, 2.850000, 2.760000, 2.680000, 2.600000, 2.540000, 2.470000, 2.420000, 2.350000, 2.300000, 2.250000, 2.200000, 2.150000, 2.110000, 2.070000, 2.020000, 2.000000, 1.960000, 1.920000, 1.900000, 1.880000, 1.850000, 1.820000, 1.800000, 1.780000, 1.760000, 1.750000, 1.720000, 1.650000, 1.330000, 1.670000, 1.650000, 1.630000, 1.620000, 1.620000, 1.600000, 1.590000, 1.580000, 1.560000, 1.560000, 1.550000, 1.540000, 1.530000, 1.530000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.330000, 1.070000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.480000, 1.490000, 1.490000, 1.500000, 1.380000, 1.260000, 1.200000, 1.130000, 1.080000, 1.040000, 1.000000, 0.940000, 0.920000, 0.890000, 0.860000, 0.830000, 0.800000, 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": [ 976054847, 642737 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.063000, 12.564000, 3.140363 ], "estimate": [ -0.063000, 12.564000, 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": [ 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.240000, 1.250000, 1.250000, 1.260000, 1.270000, 1.270000, 1.280000, 1.280000, 1.280000, 1.290000, 1.300000, 1.320000, 1.330000, 1.330000, 1.340000, 1.360000, 1.360000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.480000, 1.570000, 1.530000, 1.530000, 1.560000, 1.580000, 1.600000, 1.640000, 1.660000, 1.680000, 1.720000, 1.740000, 1.780000, 1.820000, 1.860000, 1.890000, 1.940000, 1.980000, 2.030000, 2.070000, 2.130000, 2.190000, 2.250000, 2.330000, 2.390000, 2.470000, 2.550000, 2.630000, 2.730000, 2.830000, 2.940000, 3.050000, 3.180000, 3.320000, 3.470000, 4.780000, 4.760000, 4.730000, 4.710000, 4.690000, 4.660000, 4.650000, 4.630000, 4.610000, 4.600000, 4.580000, 4.570000, 4.560000, 4.530000, 4.800000, 5.760000, 7.480000, 10.520000, 14.010000, 14.020000, 16.390000, 16.220000, 16.540000, 16.560000, 16.580000, 6.330000, 5.080000, 4.610000, 4.260000, 3.950000, 3.730000, 3.530000, 3.380000, 3.230000, 3.100000, 2.990000, 2.900000, 2.800000, 2.700000, 2.630000, 2.560000, 2.490000, 2.430000, 2.360000, 2.310000, 2.260000, 2.210000, 2.160000, 2.120000, 2.070000, 2.030000, 2.000000, 1.960000, 1.930000, 1.900000, 1.860000, 1.840000, 1.820000, 1.790000, 1.780000, 1.760000, 1.730000, 1.720000, 1.690000, 1.680000, 1.640000, 1.300000, 1.620000, 1.610000, 1.590000, 1.590000, 1.580000, 1.560000, 1.560000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.240000, 1.050000, 1.440000, 1.440000, 1.440000, 1.450000, 1.440000, 1.450000, 1.440000, 1.440000, 1.440000, 1.450000, 1.460000, 1.460000, 1.470000, 1.480000, 1.480000, 1.480000, 1.320000, 1.240000, 1.200000, 1.140000, 1.090000, 1.050000, 1.000000, 0.960000, 0.930000, 0.910000, 0.880000, 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": [ 976054847, 739228 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.120000, 12.563001, -3.136677 ], "estimate": [ -0.120000, 12.563001, -3.136677 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.240000, 1.250000, 1.250000, 1.260000, 1.260000, 1.270000, 1.280000, 1.290000, 1.280000, 1.290000, 1.300000, 1.310000, 1.310000, 1.320000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.400000, 1.420000, 1.420000, 1.450000, 1.540000, 1.530000, 1.510000, 1.520000, 1.540000, 1.560000, 1.590000, 1.610000, 1.640000, 1.660000, 1.690000, 1.720000, 1.750000, 1.780000, 1.820000, 1.860000, 1.900000, 1.940000, 1.980000, 2.040000, 2.080000, 2.140000, 2.190000, 2.260000, 2.330000, 2.390000, 2.450000, 2.550000, 2.620000, 2.720000, 2.820000, 2.920000, 3.020000, 3.140000, 3.270000, 3.420000, 4.740000, 4.710000, 4.680000, 4.650000, 4.640000, 4.620000, 4.600000, 4.570000, 4.560000, 4.540000, 4.530000, 4.520000, 4.510000, 4.490000, 4.520000, 5.700000, 6.880000, 9.210000, 13.960000, 13.950000, 16.320000, 16.170000, 16.180000, 16.490000, 16.510000, 18.770000, 5.360000, 4.700000, 4.340000, 4.030000, 3.770000, 3.570000, 3.390000, 3.250000, 3.100000, 2.980000, 2.890000, 2.790000, 2.700000, 2.620000, 2.550000, 2.480000, 2.410000, 2.350000, 2.290000, 2.250000, 2.190000, 2.140000, 2.100000, 2.050000, 2.010000, 1.980000, 1.940000, 1.910000, 1.880000, 1.840000, 1.820000, 1.810000, 1.780000, 1.760000, 1.730000, 1.710000, 1.680000, 1.670000, 1.660000, 1.640000, 1.620000, 1.530000, 1.260000, 1.590000, 1.570000, 1.560000, 1.530000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.480000, 1.470000, 1.470000, 1.460000, 1.450000, 1.440000, 1.440000, 1.440000, 1.440000, 1.430000, 1.420000, 1.420000, 1.370000, 1.010000, 1.420000, 1.430000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.430000, 1.430000, 1.440000, 1.440000, 1.440000, 1.450000, 1.450000, 1.470000, 1.470000, 1.300000, 1.240000, 1.190000, 1.140000, 1.090000, 1.070000, 1.030000, 0.990000, 0.960000, 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": [ 976054847, 969746 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.182000, 12.563001, -3.130531 ], "estimate": [ -0.182000, 12.563001, -3.130531 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.270000, 1.270000, 1.280000, 1.280000, 1.280000, 1.290000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.330000, 1.350000, 1.360000, 1.380000, 1.390000, 1.400000, 1.420000, 1.430000, 1.530000, 1.490000, 1.490000, 1.500000, 1.510000, 1.540000, 1.560000, 1.580000, 1.600000, 1.620000, 1.670000, 1.680000, 1.710000, 1.740000, 1.770000, 1.810000, 1.850000, 1.880000, 1.920000, 1.970000, 2.010000, 2.070000, 2.120000, 2.180000, 2.230000, 2.310000, 2.360000, 2.440000, 2.520000, 2.600000, 2.680000, 2.770000, 2.870000, 2.970000, 3.100000, 3.220000, 3.360000, 3.690000, 4.670000, 4.650000, 4.620000, 4.600000, 4.570000, 4.560000, 4.540000, 4.520000, 4.490000, 4.480000, 4.470000, 4.460000, 4.450000, 4.460000, 5.040000, 5.900000, 7.760000, 10.480000, 13.900000, 13.910000, 16.290000, 16.100000, 16.440000, 16.450000, 16.470000, 6.200000, 4.950000, 4.490000, 4.160000, 3.880000, 3.630000, 3.440000, 3.280000, 3.140000, 3.030000, 2.910000, 2.810000, 2.720000, 2.630000, 2.570000, 2.490000, 2.430000, 2.370000, 2.310000, 2.250000, 2.190000, 2.140000, 2.100000, 2.050000, 2.010000, 1.970000, 1.930000, 1.910000, 1.880000, 1.850000, 1.820000, 1.790000, 1.770000, 1.740000, 1.730000, 1.700000, 1.690000, 1.670000, 1.640000, 1.620000, 1.610000, 1.600000, 1.570000, 1.530000, 1.220000, 1.550000, 1.530000, 1.520000, 1.490000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.440000, 1.430000, 1.420000, 1.420000, 1.420000, 1.410000, 1.410000, 1.410000, 1.400000, 1.390000, 1.400000, 1.400000, 1.400000, 0.990000, 1.350000, 1.400000, 1.390000, 1.400000, 1.400000, 1.400000, 1.410000, 1.410000, 1.420000, 1.430000, 1.430000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.280000, 1.240000, 1.190000, 1.150000, 1.100000, 1.080000, 1.040000, 1.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054848, 122205 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.241000, 12.561999, -3.130531 ], "estimate": [ -0.241000, 12.561999, -3.130531 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.270000, 1.280000, 1.280000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.300000, 1.300000, 1.320000, 1.320000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.400000, 1.410000, 1.490000, 1.480000, 1.470000, 1.470000, 1.490000, 1.500000, 1.520000, 1.540000, 1.570000, 1.570000, 1.600000, 1.630000, 1.660000, 1.690000, 1.710000, 1.740000, 1.770000, 1.810000, 1.840000, 1.880000, 1.920000, 1.970000, 2.010000, 2.070000, 2.110000, 2.180000, 2.240000, 2.300000, 2.380000, 2.430000, 2.500000, 2.580000, 2.660000, 2.760000, 2.850000, 2.950000, 3.070000, 3.190000, 3.330000, 3.460000, 4.620000, 4.590000, 4.570000, 4.540000, 4.520000, 4.500000, 4.470000, 4.460000, 4.450000, 4.430000, 4.420000, 4.400000, 4.390000, 4.380000, 4.650000, 5.590000, 7.030000, 9.380000, 13.840000, 13.840000, 16.210000, 16.070000, 16.050000, 16.370000, 16.390000, 18.640000, 5.250000, 4.580000, 4.220000, 3.910000, 3.670000, 3.460000, 3.290000, 3.140000, 3.020000, 2.890000, 2.800000, 2.700000, 2.620000, 2.550000, 2.470000, 2.410000, 2.340000, 2.280000, 2.220000, 2.180000, 2.130000, 2.080000, 2.030000, 2.000000, 1.950000, 1.920000, 1.880000, 1.850000, 1.820000, 1.790000, 1.780000, 1.740000, 1.720000, 1.690000, 1.680000, 1.660000, 1.640000, 1.620000, 1.600000, 1.580000, 1.570000, 1.560000, 1.550000, 1.540000, 1.520000, 1.160000, 1.430000, 1.490000, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.420000, 1.420000, 1.410000, 1.400000, 1.400000, 1.390000, 1.380000, 1.380000, 1.380000, 1.370000, 1.370000, 1.360000, 1.360000, 1.370000, 1.370000, 1.370000, 1.360000, 1.360000, 1.280000, 0.970000, 1.370000, 1.370000, 1.380000, 1.380000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.410000, 1.420000, 1.430000, 1.430000, 1.450000, 1.460000, 1.290000, 1.240000, 1.200000, 1.160000, 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": [ 976054848, 456962 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.299000, 12.561000, -3.130531 ], "estimate": [ -0.299000, 12.561000, -3.130531 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.290000, 1.280000, 1.290000, 1.300000, 1.300000, 1.300000, 1.300000, 1.310000, 1.320000, 1.320000, 1.330000, 1.350000, 1.340000, 1.370000, 1.380000, 1.390000, 1.400000, 1.480000, 1.480000, 1.450000, 1.460000, 1.470000, 1.480000, 1.510000, 1.520000, 1.530000, 1.560000, 1.580000, 1.600000, 1.630000, 1.660000, 1.680000, 1.710000, 1.740000, 1.760000, 1.800000, 1.840000, 1.880000, 1.910000, 1.960000, 2.000000, 2.050000, 2.090000, 2.150000, 2.210000, 2.270000, 2.330000, 2.400000, 2.470000, 2.540000, 2.620000, 2.700000, 2.800000, 2.900000, 3.000000, 3.120000, 3.250000, 3.480000, 4.590000, 4.560000, 4.530000, 4.500000, 4.470000, 4.460000, 4.440000, 4.420000, 4.400000, 4.390000, 4.370000, 4.360000, 4.340000, 4.330000, 4.330000, 5.540000, 6.120000, 7.710000, 10.340000, 13.790000, 13.790000, 16.170000, 15.980000, 16.090000, 16.320000, 16.330000, 6.110000, 4.930000, 4.420000, 4.080000, 3.790000, 3.550000, 3.360000, 3.200000, 3.060000, 2.940000, 2.820000, 2.730000, 2.640000, 2.560000, 2.490000, 2.420000, 2.350000, 2.280000, 2.230000, 2.180000, 2.130000, 2.080000, 2.030000, 1.990000, 1.950000, 1.910000, 1.870000, 1.850000, 1.820000, 1.780000, 1.770000, 1.730000, 1.710000, 1.680000, 1.670000, 1.650000, 1.630000, 1.610000, 1.590000, 1.570000, 1.550000, 1.540000, 1.530000, 1.520000, 1.500000, 1.490000, 1.480000, 1.320000, 1.110000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.390000, 1.380000, 1.380000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.340000, 1.330000, 1.340000, 1.340000, 1.340000, 1.340000, 1.330000, 1.330000, 1.340000, 1.340000, 0.960000, 0.940000, 1.350000, 1.360000, 1.370000, 1.370000, 1.380000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.280000, 1.250000, 1.210000, 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": [ 976054848, 571951 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.354000, 12.560000, -3.130531 ], "estimate": [ -0.354000, 12.560000, -3.130531 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.300000, 1.300000, 1.310000, 1.300000, 1.300000, 1.300000, 1.320000, 1.320000, 1.330000, 1.340000, 1.340000, 1.350000, 1.370000, 1.370000, 1.380000, 1.460000, 1.460000, 1.440000, 1.440000, 1.440000, 1.450000, 1.470000, 1.490000, 1.510000, 1.520000, 1.540000, 1.570000, 1.580000, 1.600000, 1.630000, 1.660000, 1.680000, 1.710000, 1.740000, 1.760000, 1.800000, 1.830000, 1.870000, 1.910000, 1.940000, 1.990000, 2.040000, 2.080000, 2.140000, 2.190000, 2.260000, 2.320000, 2.370000, 2.450000, 2.520000, 2.600000, 2.680000, 2.760000, 2.850000, 2.970000, 3.070000, 3.210000, 3.360000, 4.540000, 4.510000, 4.480000, 4.460000, 4.440000, 4.410000, 4.400000, 4.370000, 4.350000, 4.330000, 4.320000, 4.300000, 4.290000, 4.280000, 4.280000, 4.610000, 5.490000, 6.820000, 8.840000, 13.730000, 13.730000, 16.090000, 16.120000, 15.930000, 16.260000, 16.280000, 16.360000, 5.410000, 4.580000, 4.190000, 3.890000, 3.620000, 3.420000, 3.250000, 3.090000, 2.960000, 2.840000, 2.730000, 2.650000, 2.560000, 2.490000, 2.420000, 2.350000, 2.280000, 2.220000, 2.170000, 2.120000, 2.070000, 2.020000, 1.970000, 1.930000, 1.900000, 1.860000, 1.830000, 1.800000, 1.780000, 1.750000, 1.720000, 1.690000, 1.670000, 1.650000, 1.620000, 1.610000, 1.590000, 1.570000, 1.550000, 1.540000, 1.520000, 1.510000, 1.500000, 1.490000, 1.470000, 1.460000, 1.440000, 1.430000, 1.420000, 1.070000, 1.100000, 1.390000, 1.380000, 1.380000, 1.380000, 1.370000, 1.350000, 1.350000, 1.350000, 1.340000, 1.330000, 1.330000, 1.320000, 1.320000, 1.300000, 1.300000, 1.300000, 1.310000, 1.320000, 1.330000, 1.310000, 1.310000, 1.300000, 1.310000, 1.310000, 1.320000, 1.320000, 1.330000, 0.910000, 0.930000, 1.350000, 1.350000, 1.360000, 1.370000, 1.380000, 1.380000, 1.380000, 1.400000, 1.410000, 1.410000, 1.430000, 1.440000, 1.450000, 1.300000, 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": [ 976054848, 732027 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.411000, 12.559000, -3.136677 ], "estimate": [ -0.411000, 12.559000, -3.136677 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.300000, 1.300000, 1.310000, 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.360000, 1.380000, 1.410000, 1.450000, 1.430000, 1.420000, 1.440000, 1.440000, 1.450000, 1.470000, 1.490000, 1.500000, 1.520000, 1.540000, 1.560000, 1.570000, 1.590000, 1.620000, 1.650000, 1.670000, 1.690000, 1.720000, 1.740000, 1.780000, 1.820000, 1.850000, 1.890000, 1.920000, 1.970000, 2.010000, 2.060000, 2.110000, 2.160000, 2.220000, 2.270000, 2.340000, 2.400000, 2.470000, 2.540000, 2.620000, 2.700000, 2.780000, 2.880000, 2.990000, 3.100000, 3.230000, 4.520000, 4.490000, 4.460000, 4.440000, 4.410000, 4.380000, 4.360000, 4.340000, 4.320000, 4.300000, 4.280000, 4.280000, 4.260000, 4.250000, 4.230000, 4.230000, 4.990000, 5.420000, 6.940000, 8.930000, 13.690000, 13.680000, 16.040000, 16.080000, 15.870000, 16.210000, 16.220000, 16.300000, 5.360000, 4.520000, 4.150000, 3.840000, 3.580000, 3.380000, 3.200000, 3.050000, 2.910000, 2.800000, 2.690000, 2.600000, 2.520000, 2.440000, 2.380000, 2.310000, 2.250000, 2.190000, 2.140000, 2.090000, 2.030000, 2.000000, 1.950000, 1.910000, 1.860000, 1.830000, 1.810000, 1.780000, 1.750000, 1.720000, 1.680000, 1.670000, 1.640000, 1.610000, 1.590000, 1.570000, 1.560000, 1.550000, 1.530000, 1.510000, 1.490000, 1.490000, 1.470000, 1.460000, 1.440000, 1.430000, 1.420000, 1.400000, 1.390000, 1.390000, 1.380000, 1.030000, 1.200000, 1.350000, 1.340000, 1.340000, 1.330000, 1.320000, 1.320000, 1.310000, 1.300000, 1.300000, 1.290000, 1.290000, 1.280000, 1.280000, 1.280000, 1.300000, 1.300000, 1.300000, 1.290000, 1.290000, 1.280000, 1.280000, 1.280000, 1.280000, 1.290000, 1.300000, 1.310000, 1.310000, 1.320000, 0.930000, 0.870000, 1.340000, 1.340000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.450000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054849, 618139 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.470000, 12.558001, -3.136677 ], "estimate": [ -0.470000, 12.558001, -3.136677 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.310000, 1.310000, 1.320000, 1.320000, 1.330000, 1.340000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.450000, 1.430000, 1.410000, 1.420000, 1.420000, 1.440000, 1.440000, 1.450000, 1.470000, 1.480000, 1.500000, 1.510000, 1.520000, 1.550000, 1.570000, 1.580000, 1.610000, 1.640000, 1.660000, 1.680000, 1.710000, 1.740000, 1.760000, 1.800000, 1.830000, 1.860000, 1.900000, 1.940000, 1.980000, 2.030000, 2.070000, 2.130000, 2.190000, 2.230000, 2.300000, 2.340000, 2.410000, 2.490000, 2.560000, 2.640000, 2.730000, 2.820000, 2.900000, 3.010000, 3.130000, 3.260000, 4.460000, 4.430000, 4.400000, 4.370000, 4.340000, 4.320000, 4.300000, 4.280000, 4.270000, 4.250000, 4.230000, 4.210000, 4.200000, 4.190000, 4.170000, 4.160000, 5.370000, 5.580000, 7.000000, 8.950000, 13.640000, 13.630000, 15.980000, 16.020000, 15.810000, 16.160000, 16.170000, 16.240000, 5.270000, 4.440000, 4.080000, 3.770000, 3.520000, 3.320000, 3.150000, 3.010000, 2.880000, 2.760000, 2.650000, 2.560000, 2.480000, 2.420000, 2.340000, 2.270000, 2.210000, 2.160000, 2.110000, 2.050000, 2.000000, 1.960000, 1.910000, 1.870000, 1.840000, 1.800000, 1.780000, 1.750000, 1.710000, 1.680000, 1.660000, 1.630000, 1.610000, 1.590000, 1.570000, 1.550000, 1.540000, 1.520000, 1.500000, 1.480000, 1.480000, 1.460000, 1.440000, 1.430000, 1.420000, 1.400000, 1.390000, 1.380000, 1.380000, 1.360000, 1.350000, 1.340000, 1.330000, 1.150000, 0.990000, 1.310000, 1.300000, 1.290000, 1.290000, 1.280000, 1.280000, 1.270000, 1.270000, 1.270000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.270000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.270000, 1.270000, 1.270000, 1.280000, 1.280000, 1.290000, 1.300000, 1.310000, 1.310000, 0.880000, 1.110000, 1.340000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 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": [ 976054849, 141664 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.529000, 12.558001, -3.136677 ], "estimate": [ -0.529000, 12.558001, -3.136677 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.340000, 1.350000, 1.350000, 1.360000, 1.370000, 1.460000, 1.410000, 1.400000, 1.410000, 1.420000, 1.420000, 1.440000, 1.440000, 1.450000, 1.460000, 1.480000, 1.490000, 1.510000, 1.520000, 1.540000, 1.560000, 1.570000, 1.600000, 1.630000, 1.650000, 1.670000, 1.700000, 1.720000, 1.750000, 1.780000, 1.820000, 1.850000, 1.890000, 1.920000, 1.960000, 2.010000, 2.050000, 2.100000, 2.160000, 2.200000, 2.260000, 2.330000, 2.370000, 2.450000, 2.510000, 2.600000, 2.670000, 2.760000, 2.840000, 2.960000, 3.060000, 3.180000, 4.430000, 4.400000, 4.360000, 4.340000, 4.310000, 4.280000, 4.260000, 4.240000, 4.220000, 4.200000, 4.180000, 4.160000, 4.150000, 4.140000, 4.130000, 4.120000, 4.360000, 5.320000, 6.080000, 7.470000, 9.930000, 13.580000, 13.580000, 15.930000, 15.810000, 15.760000, 16.110000, 16.120000, 6.380000, 4.940000, 4.290000, 3.940000, 3.660000, 3.420000, 3.230000, 3.060000, 2.920000, 2.800000, 2.680000, 2.570000, 2.500000, 2.430000, 2.360000, 2.280000, 2.210000, 2.160000, 2.110000, 2.050000, 2.010000, 1.960000, 1.920000, 1.870000, 1.830000, 1.790000, 1.760000, 1.740000, 1.700000, 1.680000, 1.650000, 1.620000, 1.600000, 1.570000, 1.560000, 1.540000, 1.520000, 1.500000, 1.490000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.350000, 1.340000, 1.330000, 1.320000, 1.310000, 1.300000, 1.290000, 1.290000, 1.230000, 0.940000, 1.270000, 1.270000, 1.260000, 1.250000, 1.250000, 1.250000, 1.240000, 1.240000, 1.230000, 1.230000, 1.250000, 1.250000, 1.240000, 1.240000, 1.240000, 1.230000, 1.240000, 1.230000, 1.240000, 1.240000, 1.250000, 1.250000, 1.260000, 1.270000, 1.270000, 1.270000, 1.280000, 1.290000, 1.290000, 1.310000, 1.320000, 0.890000, 0.930000, 1.350000, 1.360000, 1.370000, 1.380000, 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": [ 976054849, 580180 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.587000, 12.558001, -3.136677 ], "estimate": [ -0.587000, 12.558001, -3.136677 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.340000, 1.340000, 1.340000, 1.350000, 1.350000, 1.360000, 1.430000, 1.410000, 1.390000, 1.400000, 1.400000, 1.410000, 1.410000, 1.430000, 1.430000, 1.440000, 1.450000, 1.470000, 1.480000, 1.490000, 1.510000, 1.530000, 1.550000, 1.560000, 1.570000, 1.600000, 1.630000, 1.650000, 1.670000, 1.690000, 1.720000, 1.740000, 1.770000, 1.800000, 1.830000, 1.870000, 1.910000, 1.950000, 1.990000, 2.040000, 2.080000, 2.140000, 2.180000, 2.230000, 2.290000, 2.340000, 2.400000, 2.470000, 2.540000, 2.610000, 2.700000, 2.790000, 2.880000, 2.990000, 3.100000, 4.400000, 4.350000, 4.320000, 4.290000, 4.270000, 4.250000, 4.220000, 4.200000, 4.170000, 4.150000, 4.140000, 4.120000, 4.110000, 4.090000, 4.070000, 4.060000, 4.060000, 4.650000, 5.270000, 6.290000, 7.820000, 10.080000, 13.520000, 13.510000, 15.870000, 15.700000, 15.720000, 16.040000, 16.060000, 5.950000, 4.700000, 4.170000, 3.840000, 3.550000, 3.320000, 3.140000, 3.000000, 2.860000, 2.730000, 2.630000, 2.530000, 2.440000, 2.380000, 2.300000, 2.230000, 2.170000, 2.120000, 2.060000, 2.010000, 1.960000, 1.920000, 1.870000, 1.830000, 1.790000, 1.760000, 1.720000, 1.680000, 1.670000, 1.640000, 1.610000, 1.580000, 1.560000, 1.540000, 1.530000, 1.510000, 1.490000, 1.470000, 1.450000, 1.430000, 1.430000, 1.410000, 1.400000, 1.380000, 1.380000, 1.360000, 1.340000, 1.330000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.270000, 1.270000, 1.270000, 1.260000, 1.250000, 1.240000, 0.950000, 0.900000, 1.220000, 1.220000, 1.220000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.220000, 1.220000, 1.230000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.270000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.300000, 0.870000, 1.190000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054849, 601546 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.642000, 12.556999, 3.140363 ], "estimate": [ -0.642000, 12.556999, 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": [ 1.350000, 1.350000, 1.360000, 1.370000, 1.440000, 1.400000, 1.400000, 1.390000, 1.390000, 1.400000, 1.410000, 1.420000, 1.420000, 1.440000, 1.450000, 1.450000, 1.470000, 1.480000, 1.490000, 1.510000, 1.520000, 1.540000, 1.560000, 1.570000, 1.590000, 1.610000, 1.640000, 1.660000, 1.680000, 1.710000, 1.730000, 1.760000, 1.790000, 1.820000, 1.860000, 1.900000, 1.930000, 1.970000, 2.010000, 2.060000, 2.090000, 2.150000, 2.200000, 2.250000, 2.310000, 2.360000, 2.430000, 2.500000, 2.570000, 2.660000, 2.730000, 2.820000, 2.910000, 3.010000, 3.250000, 4.330000, 4.300000, 4.270000, 4.240000, 4.210000, 4.190000, 4.160000, 4.140000, 4.120000, 4.100000, 4.090000, 4.060000, 4.040000, 4.040000, 4.020000, 4.020000, 4.110000, 5.220000, 5.290000, 6.500000, 8.090000, 10.310000, 13.460000, 13.470000, 15.840000, 15.640000, 15.670000, 15.990000, 16.000000, 5.760000, 4.490000, 4.070000, 3.750000, 3.470000, 3.270000, 3.080000, 2.930000, 2.800000, 2.680000, 2.570000, 2.480000, 2.410000, 2.330000, 2.260000, 2.180000, 2.130000, 2.070000, 2.010000, 1.970000, 1.920000, 1.870000, 1.830000, 1.790000, 1.760000, 1.720000, 1.680000, 1.670000, 1.640000, 1.610000, 1.580000, 1.550000, 1.530000, 1.520000, 1.490000, 1.480000, 1.460000, 1.440000, 1.420000, 1.410000, 1.400000, 1.390000, 1.370000, 1.360000, 1.340000, 1.340000, 1.320000, 1.300000, 1.290000, 1.280000, 1.270000, 1.270000, 1.260000, 1.250000, 1.240000, 1.240000, 1.230000, 1.230000, 1.220000, 1.220000, 1.210000, 1.210000, 0.900000, 1.050000, 1.180000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.220000, 1.230000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.270000, 1.290000, 1.290000, 1.310000, 1.320000, 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": [ 976054849, 772233 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.700000, 12.556999, 3.134218 ], "estimate": [ -0.700000, 12.556999, 3.134218 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.370000, 1.430000, 1.410000, 1.390000, 1.400000, 1.400000, 1.400000, 1.400000, 1.410000, 1.420000, 1.430000, 1.430000, 1.450000, 1.450000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.540000, 1.540000, 1.570000, 1.570000, 1.600000, 1.630000, 1.640000, 1.670000, 1.690000, 1.710000, 1.740000, 1.760000, 1.800000, 1.830000, 1.860000, 1.900000, 1.940000, 1.970000, 2.020000, 2.060000, 2.100000, 2.160000, 2.200000, 2.260000, 2.320000, 2.370000, 2.430000, 2.500000, 2.570000, 2.650000, 2.740000, 2.830000, 2.910000, 3.020000, 4.310000, 4.280000, 4.250000, 4.220000, 4.190000, 4.150000, 4.140000, 4.110000, 4.090000, 4.060000, 4.040000, 4.030000, 4.020000, 4.010000, 4.000000, 3.980000, 3.970000, 4.080000, 5.160000, 5.150000, 6.300000, 7.760000, 9.960000, 13.410000, 13.410000, 15.770000, 15.650000, 15.590000, 15.920000, 15.930000, 6.160000, 4.720000, 4.110000, 3.770000, 3.490000, 3.260000, 3.080000, 2.910000, 2.790000, 2.660000, 2.560000, 2.460000, 2.380000, 2.300000, 2.230000, 2.170000, 2.110000, 2.050000, 2.000000, 1.940000, 1.900000, 1.850000, 1.810000, 1.770000, 1.740000, 1.690000, 1.680000, 1.640000, 1.610000, 1.580000, 1.550000, 1.530000, 1.510000, 1.500000, 1.480000, 1.460000, 1.430000, 1.420000, 1.400000, 1.380000, 1.380000, 1.370000, 1.340000, 1.330000, 1.320000, 1.300000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.230000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.170000, 1.160000, 0.890000, 0.850000, 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.270000, 1.280000, 1.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054851, 265519 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.758000, 12.558001, 3.128072 ], "estimate": [ -0.758000, 12.558001, 3.128072 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.390000, 1.390000, 1.390000, 1.400000, 1.400000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.440000, 1.440000, 1.450000, 1.460000, 1.480000, 1.490000, 1.510000, 1.520000, 1.530000, 1.550000, 1.560000, 1.580000, 1.610000, 1.620000, 1.660000, 1.670000, 1.690000, 1.720000, 1.740000, 1.770000, 1.800000, 1.820000, 1.870000, 1.910000, 1.920000, 1.970000, 2.020000, 2.050000, 2.100000, 2.140000, 2.190000, 2.250000, 2.300000, 2.350000, 2.420000, 2.480000, 2.550000, 2.630000, 2.700000, 2.790000, 2.890000, 2.990000, 4.280000, 4.240000, 4.210000, 4.180000, 4.140000, 4.120000, 4.090000, 4.060000, 4.040000, 4.020000, 4.010000, 4.000000, 3.980000, 3.960000, 3.950000, 3.930000, 3.910000, 3.910000, 4.560000, 5.120000, 5.890000, 7.110000, 8.890000, 13.350000, 13.370000, 13.360000, 15.740000, 15.550000, 15.860000, 15.880000, 15.890000, 5.140000, 4.210000, 3.850000, 3.550000, 3.290000, 3.110000, 2.940000, 2.790000, 2.680000, 2.560000, 2.460000, 2.380000, 2.300000, 2.230000, 2.160000, 2.090000, 2.040000, 1.990000, 1.930000, 1.890000, 1.840000, 1.800000, 1.770000, 1.720000, 1.680000, 1.650000, 1.630000, 1.590000, 1.570000, 1.540000, 1.520000, 1.500000, 1.480000, 1.460000, 1.440000, 1.420000, 1.400000, 1.380000, 1.370000, 1.360000, 1.340000, 1.330000, 1.320000, 1.300000, 1.290000, 1.270000, 1.270000, 1.260000, 1.240000, 1.240000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 0.830000, 1.120000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.220000, 1.240000, 1.250000, 1.260000, 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": [ 976054851, 277009 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.817000, 12.558001, 3.115781 ], "estimate": [ -0.817000, 12.558001, 3.115781 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.400000, 1.400000, 1.410000, 1.420000, 1.420000, 1.430000, 1.430000, 1.440000, 1.460000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.550000, 1.560000, 1.570000, 1.600000, 1.610000, 1.640000, 1.650000, 1.670000, 1.700000, 1.730000, 1.750000, 1.780000, 1.810000, 1.840000, 1.880000, 1.910000, 1.940000, 1.980000, 2.020000, 2.060000, 2.100000, 2.160000, 2.200000, 2.250000, 2.310000, 2.360000, 2.430000, 2.490000, 2.550000, 2.630000, 2.720000, 2.800000, 2.900000, 3.090000, 4.220000, 4.180000, 4.150000, 4.120000, 4.090000, 4.050000, 4.030000, 4.010000, 3.990000, 3.970000, 3.950000, 3.930000, 3.920000, 3.900000, 3.890000, 3.880000, 3.860000, 3.850000, 5.050000, 5.070000, 5.820000, 6.990000, 8.670000, 10.800000, 13.310000, 13.300000, 15.680000, 15.460000, 15.730000, 15.820000, 15.840000, 5.150000, 4.180000, 3.840000, 3.540000, 3.270000, 3.080000, 2.910000, 2.770000, 2.640000, 2.550000, 2.440000, 2.350000, 2.280000, 2.200000, 2.130000, 2.060000, 2.010000, 1.960000, 1.900000, 1.860000, 1.810000, 1.770000, 1.730000, 1.690000, 1.660000, 1.630000, 1.600000, 1.570000, 1.550000, 1.520000, 1.500000, 1.470000, 1.460000, 1.430000, 1.410000, 1.390000, 1.380000, 1.360000, 1.350000, 1.330000, 1.320000, 1.300000, 1.280000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.120000, 1.120000, 1.120000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.030000, 0.800000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.220000, 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": [ 976054851, 287469 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.876000, 12.560000, 3.109636 ], "estimate": [ -0.876000, 12.560000, 3.109636 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.390000, 1.400000, 1.410000, 1.400000, 1.410000, 1.410000, 1.410000, 1.420000, 1.430000, 1.430000, 1.450000, 1.440000, 1.460000, 1.460000, 1.470000, 1.480000, 1.500000, 1.510000, 1.520000, 1.530000, 1.550000, 1.570000, 1.570000, 1.600000, 1.620000, 1.640000, 1.660000, 1.670000, 1.700000, 1.720000, 1.750000, 1.780000, 1.810000, 1.850000, 1.870000, 1.910000, 1.940000, 1.980000, 2.020000, 2.060000, 2.100000, 2.150000, 2.190000, 2.250000, 2.310000, 2.360000, 2.420000, 2.480000, 2.550000, 2.630000, 2.700000, 2.780000, 2.880000, 4.210000, 4.170000, 4.140000, 4.110000, 4.060000, 4.040000, 4.010000, 3.990000, 3.960000, 3.940000, 3.920000, 3.890000, 3.890000, 3.880000, 3.860000, 3.840000, 3.820000, 3.810000, 3.800000, 4.530000, 5.010000, 5.620000, 6.680000, 8.200000, 10.680000, 13.250000, 13.250000, 15.620000, 15.420000, 15.450000, 15.760000, 15.780000, 5.550000, 4.350000, 3.880000, 3.550000, 3.290000, 3.090000, 2.910000, 2.770000, 2.650000, 2.530000, 2.420000, 2.330000, 2.250000, 2.180000, 2.110000, 2.050000, 2.000000, 1.940000, 1.880000, 1.840000, 1.790000, 1.760000, 1.710000, 1.670000, 1.640000, 1.600000, 1.570000, 1.550000, 1.530000, 1.500000, 1.480000, 1.450000, 1.420000, 1.410000, 1.390000, 1.380000, 1.360000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.280000, 1.260000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.120000, 1.120000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 0.820000, 0.790000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 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": [ 976054851, 296949 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.930000, 12.561000, 3.103490 ], "estimate": [ -0.930000, 12.561000, 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": [ 1.410000, 1.410000, 1.410000, 1.420000, 1.410000, 1.420000, 1.420000, 1.430000, 1.440000, 1.440000, 1.450000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.510000, 1.520000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.600000, 1.620000, 1.650000, 1.670000, 1.690000, 1.720000, 1.750000, 1.760000, 1.800000, 1.830000, 1.860000, 1.900000, 1.920000, 1.960000, 2.000000, 2.040000, 2.080000, 2.110000, 2.170000, 2.210000, 2.260000, 2.320000, 2.370000, 2.430000, 2.500000, 2.570000, 2.640000, 2.710000, 2.810000, 2.910000, 4.150000, 4.110000, 4.070000, 4.040000, 4.010000, 3.980000, 3.960000, 3.930000, 3.910000, 3.890000, 3.870000, 3.850000, 3.830000, 3.810000, 3.800000, 3.780000, 3.770000, 3.750000, 3.880000, 4.950000, 4.950000, 5.650000, 6.700000, 8.170000, 10.630000, 13.200000, 13.200000, 15.570000, 15.370000, 15.370000, 15.720000, 15.720000, 5.510000, 4.320000, 3.820000, 3.520000, 3.260000, 3.030000, 2.870000, 2.720000, 2.600000, 2.490000, 2.400000, 2.300000, 2.220000, 2.140000, 2.070000, 2.010000, 1.950000, 1.910000, 1.850000, 1.810000, 1.770000, 1.720000, 1.680000, 1.640000, 1.610000, 1.580000, 1.540000, 1.530000, 1.500000, 1.470000, 1.440000, 1.420000, 1.400000, 1.380000, 1.370000, 1.350000, 1.320000, 1.320000, 1.300000, 1.280000, 1.270000, 1.260000, 1.250000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 1.090000, 1.080000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.070000, 1.080000, 1.080000, 1.070000, 1.080000, 1.070000, 1.060000, 1.070000, 1.070000, 1.070000, 0.790000, 0.770000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 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": [ 976054851, 306429 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.989000, 12.563001, 3.103490 ], "estimate": [ -0.989000, 12.563001, 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": [ 1.410000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.440000, 1.440000, 1.450000, 1.450000, 1.460000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.520000, 1.520000, 1.540000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.640000, 1.660000, 1.670000, 1.700000, 1.730000, 1.750000, 1.780000, 1.810000, 1.830000, 1.880000, 1.910000, 1.930000, 1.970000, 2.000000, 2.040000, 2.090000, 2.120000, 2.170000, 2.210000, 2.270000, 2.320000, 2.370000, 2.430000, 2.510000, 2.570000, 2.650000, 2.730000, 2.810000, 4.140000, 4.090000, 4.050000, 4.020000, 3.990000, 3.960000, 3.930000, 3.900000, 3.890000, 3.870000, 3.840000, 3.820000, 3.800000, 3.780000, 3.760000, 3.750000, 3.730000, 3.720000, 3.710000, 3.900000, 4.910000, 4.920000, 5.630000, 6.670000, 8.120000, 10.540000, 13.140000, 13.130000, 15.510000, 15.330000, 15.320000, 15.660000, 15.670000, 5.480000, 4.300000, 3.780000, 3.470000, 3.210000, 3.010000, 2.830000, 2.690000, 2.560000, 2.460000, 2.360000, 2.270000, 2.180000, 2.110000, 2.040000, 1.990000, 1.930000, 1.870000, 1.830000, 1.770000, 1.740000, 1.690000, 1.660000, 1.620000, 1.580000, 1.550000, 1.530000, 1.500000, 1.470000, 1.450000, 1.420000, 1.390000, 1.380000, 1.370000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.270000, 1.250000, 1.240000, 1.220000, 1.210000, 1.190000, 1.180000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.070000, 1.060000, 1.060000, 1.070000, 0.760000, 0.860000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054851, 316570 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.049000, 12.566000, 3.103490 ], "estimate": [ -1.049000, 12.566000, 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": [ 1.410000, 1.430000, 1.430000, 1.430000, 1.440000, 1.440000, 1.440000, 1.450000, 1.460000, 1.460000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.540000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.630000, 1.650000, 1.670000, 1.690000, 1.720000, 1.750000, 1.770000, 1.790000, 1.830000, 1.850000, 1.880000, 1.920000, 1.940000, 1.990000, 2.030000, 2.060000, 2.090000, 2.140000, 2.190000, 2.240000, 2.300000, 2.350000, 2.400000, 2.470000, 2.530000, 2.600000, 2.690000, 2.770000, 4.100000, 4.050000, 4.020000, 3.990000, 3.950000, 3.930000, 3.890000, 3.880000, 3.850000, 3.820000, 3.800000, 3.780000, 3.750000, 3.730000, 3.720000, 3.700000, 3.680000, 3.670000, 3.650000, 3.670000, 3.920000, 4.850000, 4.950000, 5.840000, 6.960000, 8.510000, 10.570000, 13.080000, 13.100000, 15.450000, 15.250000, 15.280000, 15.610000, 15.620000, 5.010000, 4.010000, 3.680000, 3.380000, 3.120000, 2.920000, 2.760000, 2.620000, 2.510000, 2.410000, 2.310000, 2.220000, 2.130000, 2.060000, 1.990000, 1.930000, 1.880000, 1.830000, 1.780000, 1.740000, 1.690000, 1.660000, 1.610000, 1.580000, 1.540000, 1.530000, 1.500000, 1.470000, 1.440000, 1.410000, 1.390000, 1.380000, 1.350000, 1.330000, 1.310000, 1.290000, 1.280000, 1.270000, 1.250000, 1.230000, 1.220000, 1.210000, 1.190000, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.030000, 1.030000, 1.020000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.030000, 1.030000, 1.020000, 1.020000, 1.030000, 1.030000, 1.020000, 1.030000, 1.030000, 1.040000, 1.060000, 1.050000, 1.050000, 1.060000, 1.070000, 0.750000, 0.760000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 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": [ 976054851, 162219 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.108000, 12.568001, 3.097345 ], "estimate": [ -1.108000, 12.568001, 3.097345 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.430000, 1.440000, 1.440000, 1.450000, 1.440000, 1.460000, 1.470000, 1.460000, 1.470000, 1.470000, 1.480000, 1.490000, 1.500000, 1.520000, 1.530000, 1.530000, 1.550000, 1.570000, 1.580000, 1.580000, 1.600000, 1.630000, 1.650000, 1.670000, 1.680000, 1.710000, 1.730000, 1.750000, 1.780000, 1.830000, 1.840000, 1.870000, 1.910000, 1.920000, 1.970000, 1.990000, 2.040000, 2.070000, 2.110000, 2.170000, 2.210000, 2.260000, 2.310000, 2.360000, 2.420000, 2.490000, 2.550000, 2.630000, 2.710000, 2.920000, 4.040000, 4.000000, 3.960000, 3.920000, 3.890000, 3.880000, 3.840000, 3.810000, 3.790000, 3.760000, 3.730000, 3.720000, 3.700000, 3.680000, 3.660000, 3.650000, 3.630000, 3.630000, 3.600000, 3.680000, 4.790000, 4.810000, 5.180000, 5.990000, 7.130000, 8.750000, 13.040000, 13.040000, 13.030000, 15.400000, 15.200000, 15.260000, 15.550000, 15.580000, 4.870000, 3.910000, 3.590000, 3.290000, 3.040000, 2.860000, 2.700000, 2.560000, 2.450000, 2.350000, 2.260000, 2.170000, 2.090000, 2.010000, 1.950000, 1.900000, 1.840000, 1.800000, 1.750000, 1.700000, 1.660000, 1.620000, 1.570000, 1.550000, 1.510000, 1.490000, 1.470000, 1.430000, 1.400000, 1.380000, 1.370000, 1.350000, 1.320000, 1.300000, 1.280000, 1.270000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.100000, 1.100000, 1.080000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.000000, 1.010000, 1.000000, 1.000000, 1.010000, 1.010000, 1.000000, 1.000000, 1.010000, 1.000000, 1.010000, 1.000000, 1.010000, 1.010000, 1.000000, 1.010000, 1.020000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 0.740000, 0.770000, 1.100000, 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": [ 976054851, 450551 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.164000, 12.570000, 3.097345 ], "estimate": [ -1.164000, 12.570000, 3.097345 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.440000, 1.440000, 1.450000, 1.460000, 1.450000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.550000, 1.570000, 1.580000, 1.590000, 1.610000, 1.620000, 1.640000, 1.660000, 1.670000, 1.700000, 1.720000, 1.750000, 1.770000, 1.810000, 1.830000, 1.850000, 1.880000, 1.920000, 1.950000, 1.970000, 2.010000, 2.050000, 2.090000, 2.130000, 2.180000, 2.230000, 2.270000, 2.330000, 2.380000, 2.440000, 2.510000, 2.580000, 2.650000, 2.740000, 4.010000, 3.970000, 3.930000, 3.890000, 3.860000, 3.830000, 3.810000, 3.780000, 3.750000, 3.730000, 3.700000, 3.680000, 3.660000, 3.640000, 3.620000, 3.610000, 3.580000, 3.570000, 3.560000, 3.560000, 3.790000, 4.750000, 4.740000, 5.320000, 6.160000, 7.360000, 9.110000, 12.990000, 12.970000, 12.980000, 15.350000, 15.140000, 15.330000, 15.490000, 15.510000, 4.740000, 3.830000, 3.480000, 3.210000, 2.970000, 2.780000, 2.630000, 2.510000, 2.400000, 2.300000, 2.210000, 2.120000, 2.040000, 1.960000, 1.910000, 1.860000, 1.810000, 1.760000, 1.700000, 1.670000, 1.620000, 1.580000, 1.540000, 1.510000, 1.480000, 1.450000, 1.420000, 1.400000, 1.380000, 1.370000, 1.340000, 1.310000, 1.280000, 1.270000, 1.260000, 1.230000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.120000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.040000, 1.030000, 1.040000, 1.050000, 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": [ 976054851, 516082 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.219000, 12.572000, 3.091199 ], "estimate": [ -1.219000, 12.572000, 3.091199 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.510000, 1.510000, 1.530000, 1.540000, 1.560000, 1.580000, 1.580000, 1.600000, 1.620000, 1.630000, 1.650000, 1.670000, 1.690000, 1.710000, 1.730000, 1.760000, 1.780000, 1.810000, 1.830000, 1.860000, 1.900000, 1.920000, 1.950000, 1.990000, 2.030000, 2.060000, 2.100000, 2.150000, 2.190000, 2.240000, 2.290000, 2.340000, 2.390000, 2.460000, 2.520000, 2.590000, 2.660000, 4.000000, 3.960000, 3.910000, 3.880000, 3.840000, 3.800000, 3.790000, 3.750000, 3.730000, 3.700000, 3.680000, 3.650000, 3.630000, 3.610000, 3.580000, 3.570000, 3.550000, 3.550000, 3.530000, 3.520000, 3.520000, 3.740000, 4.700000, 4.700000, 5.340000, 6.170000, 7.340000, 9.080000, 12.940000, 12.940000, 12.930000, 15.290000, 15.090000, 15.200000, 15.440000, 15.460000, 4.730000, 3.780000, 3.450000, 3.170000, 2.930000, 2.750000, 2.600000, 2.470000, 2.370000, 2.260000, 2.170000, 2.090000, 2.010000, 1.940000, 1.870000, 1.830000, 1.770000, 1.730000, 1.670000, 1.640000, 1.590000, 1.550000, 1.520000, 1.490000, 1.450000, 1.420000, 1.400000, 1.370000, 1.350000, 1.330000, 1.310000, 1.290000, 1.270000, 1.250000, 1.230000, 1.210000, 1.210000, 1.190000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.960000, 0.970000, 0.970000, 0.950000, 0.950000, 0.960000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.970000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000 ], "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": [ 976054852, 241799 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.278000, 12.575000, 3.078908 ], "estimate": [ -1.278000, 12.575000, 3.078908 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.460000, 1.470000, 1.460000, 1.470000, 1.470000, 1.470000, 1.480000, 1.490000, 1.490000, 1.510000, 1.520000, 1.520000, 1.540000, 1.550000, 1.570000, 1.580000, 1.580000, 1.600000, 1.630000, 1.630000, 1.660000, 1.670000, 1.690000, 1.710000, 1.760000, 1.750000, 1.780000, 1.810000, 1.830000, 1.870000, 1.890000, 1.920000, 1.960000, 1.990000, 2.030000, 2.060000, 2.100000, 2.140000, 2.180000, 2.240000, 2.290000, 2.340000, 2.400000, 2.450000, 2.510000, 2.590000, 2.760000, 3.950000, 3.900000, 3.870000, 3.820000, 3.790000, 3.760000, 3.730000, 3.710000, 3.670000, 3.650000, 3.630000, 3.600000, 3.580000, 3.550000, 3.540000, 3.520000, 3.510000, 3.500000, 3.480000, 3.460000, 3.460000, 3.680000, 4.650000, 4.660000, 5.200000, 5.980000, 7.020000, 8.530000, 10.380000, 12.870000, 12.880000, 15.240000, 15.040000, 15.050000, 15.390000, 15.390000, 5.000000, 3.840000, 3.480000, 3.190000, 2.950000, 2.760000, 2.590000, 2.460000, 2.360000, 2.250000, 2.150000, 2.070000, 1.990000, 1.910000, 1.850000, 1.800000, 1.750000, 1.700000, 1.660000, 1.610000, 1.570000, 1.530000, 1.500000, 1.470000, 1.440000, 1.410000, 1.380000, 1.360000, 1.340000, 1.310000, 1.280000, 1.260000, 1.250000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.150000, 1.130000, 1.120000, 1.120000, 1.100000, 1.080000, 1.080000, 1.070000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 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": [ 976054852, 343899 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.336000, 12.579000, 3.078908 ], "estimate": [ -1.336000, 12.579000, 3.078908 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.480000, 1.490000, 1.490000, 1.500000, 1.520000, 1.520000, 1.540000, 1.540000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.630000, 1.650000, 1.660000, 1.670000, 1.700000, 1.720000, 1.740000, 1.750000, 1.790000, 1.810000, 1.830000, 1.870000, 1.900000, 1.920000, 1.950000, 1.990000, 2.030000, 2.060000, 2.100000, 2.140000, 2.180000, 2.230000, 2.280000, 2.340000, 2.390000, 2.450000, 2.500000, 2.580000, 3.940000, 3.890000, 3.860000, 3.810000, 3.780000, 3.740000, 3.720000, 3.690000, 3.650000, 3.630000, 3.600000, 3.570000, 3.540000, 3.530000, 3.510000, 3.490000, 3.480000, 3.460000, 3.440000, 3.420000, 3.410000, 3.410000, 3.640000, 4.600000, 4.600000, 5.050000, 5.760000, 6.720000, 8.090000, 10.290000, 12.840000, 12.820000, 15.180000, 15.190000, 14.990000, 15.320000, 15.340000, 5.380000, 4.040000, 3.510000, 3.200000, 2.950000, 2.750000, 2.580000, 2.450000, 2.350000, 2.240000, 2.150000, 2.050000, 1.980000, 1.900000, 1.830000, 1.780000, 1.730000, 1.680000, 1.640000, 1.590000, 1.550000, 1.520000, 1.480000, 1.440000, 1.420000, 1.390000, 1.360000, 1.330000, 1.310000, 1.280000, 1.260000, 1.250000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.920000, 0.930000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.920000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.980000, 0.980000, 0.990000, 1.000000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054852, 142043 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.395000, 12.582000, 3.085054 ], "estimate": [ -1.395000, 12.582000, 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": [ 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.520000, 1.530000, 1.540000, 1.550000, 1.570000, 1.580000, 1.590000, 1.610000, 1.630000, 1.630000, 1.660000, 1.670000, 1.720000, 1.710000, 1.730000, 1.750000, 1.760000, 1.790000, 1.820000, 1.840000, 1.870000, 1.910000, 1.930000, 1.960000, 2.000000, 2.040000, 2.070000, 2.110000, 2.150000, 2.200000, 2.230000, 2.300000, 2.340000, 2.390000, 2.450000, 2.520000, 2.800000, 3.870000, 3.830000, 3.790000, 3.750000, 3.720000, 3.680000, 3.650000, 3.630000, 3.590000, 3.560000, 3.540000, 3.520000, 3.490000, 3.470000, 3.460000, 3.430000, 3.420000, 3.400000, 3.380000, 3.370000, 3.360000, 3.350000, 3.590000, 4.550000, 4.540000, 5.000000, 5.680000, 6.610000, 7.920000, 9.560000, 12.760000, 12.760000, 15.120000, 15.140000, 14.920000, 15.270000, 15.290000, 15.290000, 4.090000, 3.480000, 3.180000, 2.920000, 2.710000, 2.550000, 2.420000, 2.300000, 2.190000, 2.100000, 2.020000, 1.950000, 1.870000, 1.800000, 1.750000, 1.700000, 1.650000, 1.610000, 1.560000, 1.520000, 1.480000, 1.450000, 1.410000, 1.390000, 1.360000, 1.330000, 1.300000, 1.270000, 1.250000, 1.240000, 1.210000, 1.200000, 1.180000, 1.170000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.900000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054852, 500882 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.453000, 12.585000, 3.085054 ], "estimate": [ -1.453000, 12.585000, 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": [ 1.490000, 1.490000, 1.490000, 1.500000, 1.500000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.570000, 1.570000, 1.580000, 1.600000, 1.620000, 1.630000, 1.640000, 1.660000, 1.690000, 1.690000, 1.710000, 1.730000, 1.740000, 1.770000, 1.800000, 1.820000, 1.840000, 1.870000, 1.900000, 1.910000, 1.950000, 1.990000, 2.030000, 2.060000, 2.090000, 2.130000, 2.170000, 2.220000, 2.270000, 2.330000, 2.370000, 2.430000, 2.490000, 3.880000, 3.840000, 3.790000, 3.750000, 3.720000, 3.680000, 3.650000, 3.620000, 3.580000, 3.550000, 3.530000, 3.500000, 3.480000, 3.460000, 3.430000, 3.410000, 3.390000, 3.380000, 3.360000, 3.340000, 3.330000, 3.310000, 3.310000, 3.550000, 4.490000, 4.490000, 4.740000, 5.330000, 6.120000, 7.200000, 8.760000, 12.720000, 12.720000, 12.720000, 15.070000, 14.870000, 14.880000, 15.230000, 15.240000, 4.560000, 3.570000, 3.270000, 2.990000, 2.760000, 2.590000, 2.440000, 2.310000, 2.210000, 2.120000, 2.030000, 1.950000, 1.870000, 1.800000, 1.750000, 1.690000, 1.640000, 1.590000, 1.550000, 1.510000, 1.470000, 1.430000, 1.400000, 1.360000, 1.350000, 1.310000, 1.280000, 1.250000, 1.250000, 1.220000, 1.200000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.080000, 1.070000, 1.060000, 1.040000, 1.030000, 1.010000, 1.010000, 1.000000, 0.980000, 0.980000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.900000, 0.890000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.940000, 0.950000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054852, 522218 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.509000, 12.588000, 3.091199 ], "estimate": [ -1.509000, 12.588000, 3.091199 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.490000, 1.500000, 1.510000, 1.510000, 1.510000, 1.510000, 1.520000, 1.530000, 1.540000, 1.540000, 1.560000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.630000, 1.650000, 1.660000, 1.680000, 1.690000, 1.700000, 1.730000, 1.740000, 1.750000, 1.780000, 1.810000, 1.820000, 1.850000, 1.890000, 1.910000, 1.940000, 1.960000, 2.010000, 2.040000, 2.080000, 2.120000, 2.150000, 2.200000, 2.250000, 2.300000, 2.350000, 2.410000, 2.460000, 3.850000, 3.800000, 3.760000, 3.720000, 3.670000, 3.640000, 3.600000, 3.560000, 3.540000, 3.520000, 3.480000, 3.460000, 3.420000, 3.400000, 3.380000, 3.370000, 3.350000, 3.330000, 3.310000, 3.290000, 3.270000, 3.260000, 3.220000, 3.400000, 4.450000, 4.430000, 4.450000, 4.970000, 5.610000, 6.470000, 7.680000, 9.220000, 12.660000, 12.660000, 12.660000, 15.030000, 14.820000, 14.930000, 15.170000, 15.170000, 4.050000, 3.420000, 3.110000, 2.840000, 2.640000, 2.470000, 2.340000, 2.230000, 2.120000, 2.030000, 1.960000, 1.870000, 1.800000, 1.740000, 1.670000, 1.620000, 1.580000, 1.540000, 1.500000, 1.460000, 1.420000, 1.380000, 1.360000, 1.320000, 1.290000, 1.270000, 1.240000, 1.220000, 1.210000, 1.180000, 1.160000, 1.140000, 1.130000, 1.120000, 1.100000, 1.080000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.850000, 0.850000, 0.850000, 0.840000, 0.850000, 0.840000, 0.850000, 0.850000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054852, 732033 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.567000, 12.590000, 3.097345 ], "estimate": [ -1.567000, 12.590000, 3.097345 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.510000, 1.510000, 1.510000, 1.520000, 1.520000, 1.540000, 1.540000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.620000, 1.630000, 1.660000, 1.680000, 1.670000, 1.690000, 1.700000, 1.730000, 1.750000, 1.760000, 1.800000, 1.810000, 1.830000, 1.860000, 1.890000, 1.910000, 1.940000, 1.980000, 2.010000, 2.040000, 2.080000, 2.110000, 2.160000, 2.200000, 2.240000, 2.290000, 2.350000, 2.400000, 2.630000, 3.800000, 3.760000, 3.720000, 3.670000, 3.640000, 3.590000, 3.560000, 3.530000, 3.500000, 3.470000, 3.440000, 3.410000, 3.380000, 3.370000, 3.350000, 3.320000, 3.300000, 3.280000, 3.260000, 3.240000, 3.230000, 3.210000, 3.190000, 3.330000, 4.410000, 4.390000, 4.390000, 4.780000, 5.390000, 6.160000, 7.210000, 8.690000, 12.620000, 12.600000, 12.600000, 14.960000, 14.770000, 14.760000, 15.120000, 15.140000, 4.450000, 3.470000, 3.150000, 2.880000, 2.660000, 2.490000, 2.340000, 2.230000, 2.130000, 2.030000, 1.940000, 1.860000, 1.800000, 1.730000, 1.650000, 1.610000, 1.560000, 1.520000, 1.480000, 1.440000, 1.400000, 1.360000, 1.340000, 1.300000, 1.260000, 1.260000, 1.220000, 1.200000, 1.190000, 1.160000, 1.140000, 1.120000, 1.100000, 1.090000, 1.080000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 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": [ 976054853, 108878 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.628000, 12.593000, 3.091199 ], "estimate": [ -1.628000, 12.593000, 3.091199 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.520000, 1.520000, 1.520000, 1.530000, 1.550000, 1.550000, 1.550000, 1.570000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.650000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.710000, 1.740000, 1.750000, 1.770000, 1.800000, 1.820000, 1.830000, 1.860000, 1.890000, 1.910000, 1.940000, 1.970000, 2.010000, 2.040000, 2.080000, 2.110000, 2.160000, 2.200000, 2.250000, 2.290000, 2.350000, 2.400000, 3.800000, 3.760000, 3.720000, 3.670000, 3.620000, 3.580000, 3.540000, 3.510000, 3.470000, 3.440000, 3.410000, 3.380000, 3.360000, 3.330000, 3.310000, 3.290000, 3.260000, 3.250000, 3.230000, 3.210000, 3.190000, 3.170000, 3.150000, 3.140000, 3.250000, 3.420000, 4.320000, 4.330000, 4.620000, 5.140000, 5.840000, 6.730000, 7.970000, 9.990000, 12.560000, 12.540000, 14.900000, 14.920000, 14.700000, 15.050000, 15.060000, 15.080000, 3.800000, 3.230000, 2.930000, 2.680000, 2.500000, 2.350000, 2.210000, 2.110000, 2.010000, 1.930000, 1.850000, 1.780000, 1.710000, 1.650000, 1.590000, 1.530000, 1.500000, 1.460000, 1.410000, 1.370000, 1.350000, 1.310000, 1.270000, 1.250000, 1.220000, 1.200000, 1.180000, 1.160000, 1.130000, 1.110000, 1.100000, 1.080000, 1.070000, 1.050000, 1.030000, 1.010000, 1.000000, 0.990000, 0.980000, 0.960000, 0.940000, 0.940000, 0.930000, 0.920000, 0.900000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 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": [ 976054853, 121902 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.687000, 12.596000, 3.085054 ], "estimate": [ -1.687000, 12.596000, 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": [ 1.540000, 1.550000, 1.550000, 1.550000, 1.560000, 1.560000, 1.570000, 1.580000, 1.590000, 1.590000, 1.600000, 1.630000, 1.630000, 1.640000, 1.660000, 1.670000, 1.680000, 1.700000, 1.710000, 1.730000, 1.740000, 1.770000, 1.780000, 1.810000, 1.820000, 1.850000, 1.880000, 1.910000, 1.930000, 1.960000, 1.990000, 2.030000, 2.050000, 2.100000, 2.130000, 2.170000, 2.220000, 2.260000, 2.310000, 2.370000, 3.800000, 3.730000, 3.690000, 3.640000, 3.600000, 3.560000, 3.520000, 3.480000, 3.440000, 3.420000, 3.380000, 3.360000, 3.330000, 3.300000, 3.270000, 3.260000, 3.240000, 3.210000, 3.190000, 3.170000, 3.140000, 3.130000, 3.120000, 3.110000, 3.090000, 3.290000, 4.300000, 4.290000, 4.290000, 4.690000, 5.220000, 5.930000, 6.830000, 8.080000, 9.970000, 12.500000, 12.490000, 14.850000, 14.880000, 14.650000, 15.000000, 15.010000, 15.020000, 3.630000, 3.150000, 2.840000, 2.610000, 2.430000, 2.290000, 2.160000, 2.050000, 1.960000, 1.880000, 1.800000, 1.740000, 1.650000, 1.600000, 1.550000, 1.500000, 1.460000, 1.410000, 1.370000, 1.340000, 1.300000, 1.260000, 1.240000, 1.220000, 1.190000, 1.170000, 1.130000, 1.120000, 1.100000, 1.080000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 0.990000, 0.970000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 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": [ 976054854, 486067 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.743000, 12.599000, 3.072763 ], "estimate": [ -1.743000, 12.599000, 3.072763 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.540000, 1.550000, 1.560000, 1.560000, 1.570000, 1.570000, 1.580000, 1.590000, 1.590000, 1.600000, 1.620000, 1.630000, 1.640000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.720000, 1.750000, 1.750000, 1.770000, 1.790000, 1.810000, 1.830000, 1.860000, 1.890000, 1.910000, 1.940000, 1.970000, 2.000000, 2.030000, 2.060000, 2.100000, 2.140000, 2.180000, 2.230000, 2.280000, 2.330000, 3.790000, 3.730000, 3.680000, 3.630000, 3.580000, 3.540000, 3.500000, 3.460000, 3.420000, 3.380000, 3.370000, 3.330000, 3.300000, 3.270000, 3.240000, 3.230000, 3.200000, 3.170000, 3.150000, 3.140000, 3.110000, 3.100000, 3.080000, 3.060000, 3.040000, 3.030000, 3.270000, 4.250000, 4.220000, 4.230000, 4.640000, 5.170000, 5.840000, 6.700000, 7.880000, 9.840000, 12.450000, 12.440000, 12.440000, 14.810000, 14.590000, 14.660000, 14.940000, 14.960000, 3.720000, 3.120000, 2.830000, 2.590000, 2.400000, 2.250000, 2.120000, 2.020000, 1.920000, 1.840000, 1.770000, 1.700000, 1.640000, 1.570000, 1.520000, 1.470000, 1.420000, 1.380000, 1.350000, 1.310000, 1.260000, 1.240000, 1.210000, 1.180000, 1.160000, 1.130000, 1.120000, 1.100000, 1.080000, 1.050000, 1.040000, 1.020000, 1.010000, 0.980000, 0.980000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.750000, 0.750000, 0.750000, 0.740000, 0.750000, 0.750000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 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": [ 976054854, 542057 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.799000, 12.603001, 3.060472 ], "estimate": [ -1.799000, 12.603001, 3.060472 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.560000, 1.560000, 1.570000, 1.580000, 1.580000, 1.600000, 1.600000, 1.650000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.700000, 1.710000, 1.730000, 1.760000, 1.760000, 1.790000, 1.800000, 1.820000, 1.850000, 1.870000, 1.890000, 1.910000, 1.950000, 1.980000, 2.010000, 2.040000, 2.080000, 2.110000, 2.150000, 2.190000, 2.240000, 2.280000, 3.790000, 3.720000, 3.670000, 3.630000, 3.570000, 3.540000, 3.490000, 3.450000, 3.400000, 3.370000, 3.350000, 3.310000, 3.280000, 3.250000, 3.220000, 3.190000, 3.180000, 3.150000, 3.130000, 3.110000, 3.090000, 3.070000, 3.050000, 3.030000, 3.010000, 2.990000, 3.100000, 3.230000, 4.200000, 4.170000, 4.180000, 4.640000, 5.150000, 5.810000, 6.650000, 7.790000, 9.330000, 12.400000, 12.380000, 12.390000, 14.750000, 14.540000, 14.560000, 14.890000, 14.910000, 3.700000, 3.090000, 2.790000, 2.540000, 2.360000, 2.210000, 2.090000, 1.980000, 1.890000, 1.810000, 1.740000, 1.660000, 1.600000, 1.530000, 1.500000, 1.430000, 1.380000, 1.350000, 1.310000, 1.270000, 1.240000, 1.210000, 1.180000, 1.160000, 1.130000, 1.110000, 1.090000, 1.070000, 1.050000, 1.020000, 1.010000, 1.000000, 0.980000, 0.960000, 0.950000, 0.930000, 0.910000, 0.910000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.780000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 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": [ 976054854, 543079 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.857000, 12.608001, 3.054326 ], "estimate": [ -1.857000, 12.608001, 3.054326 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.570000, 1.570000, 1.590000, 1.590000, 1.600000, 1.590000, 1.610000, 1.610000, 1.620000, 1.630000, 1.640000, 1.650000, 1.670000, 1.680000, 1.680000, 1.700000, 1.710000, 1.730000, 1.750000, 1.760000, 1.780000, 1.800000, 1.830000, 1.840000, 1.860000, 1.880000, 1.900000, 1.930000, 1.960000, 2.000000, 2.030000, 2.060000, 2.100000, 2.140000, 2.180000, 2.210000, 2.270000, 3.760000, 3.710000, 3.650000, 3.600000, 3.540000, 3.500000, 3.460000, 3.410000, 3.370000, 3.340000, 3.310000, 3.270000, 3.240000, 3.220000, 3.180000, 3.150000, 3.140000, 3.110000, 3.090000, 3.060000, 3.040000, 3.020000, 3.000000, 2.980000, 2.970000, 2.950000, 2.930000, 3.140000, 4.170000, 4.120000, 4.130000, 4.310000, 4.760000, 5.290000, 5.970000, 6.870000, 8.030000, 9.810000, 12.340000, 12.330000, 14.670000, 14.700000, 14.490000, 14.560000, 14.830000, 4.620000, 3.330000, 2.960000, 2.660000, 2.440000, 2.270000, 2.130000, 2.010000, 1.910000, 1.820000, 1.740000, 1.670000, 1.610000, 1.540000, 1.490000, 1.440000, 1.390000, 1.340000, 1.300000, 1.260000, 1.230000, 1.190000, 1.180000, 1.150000, 1.110000, 1.100000, 1.080000, 1.050000, 1.020000, 1.010000, 0.990000, 0.980000, 0.960000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.710000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 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": [ 976054854, 543948 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.917000, 12.613001, 3.048181 ], "estimate": [ -1.917000, 12.613001, 3.048181 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.590000, 1.590000, 1.600000, 1.600000, 1.600000, 1.610000, 1.620000, 1.620000, 1.630000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.720000, 1.740000, 1.750000, 1.760000, 1.770000, 1.800000, 1.820000, 1.830000, 1.860000, 1.880000, 1.900000, 1.930000, 1.960000, 1.990000, 2.020000, 2.050000, 2.080000, 2.120000, 2.150000, 2.200000, 2.250000, 3.740000, 3.680000, 3.630000, 3.570000, 3.520000, 3.480000, 3.430000, 3.380000, 3.350000, 3.320000, 3.280000, 3.250000, 3.210000, 3.170000, 3.150000, 3.130000, 3.110000, 3.070000, 3.050000, 3.030000, 3.000000, 2.980000, 2.970000, 2.950000, 2.940000, 2.920000, 2.900000, 3.050000, 3.160000, 4.100000, 4.080000, 4.070000, 4.440000, 4.890000, 5.450000, 6.180000, 7.100000, 8.370000, 9.800000, 12.290000, 12.270000, 14.640000, 14.660000, 14.430000, 14.790000, 14.790000, 4.160000, 3.120000, 2.820000, 2.540000, 2.350000, 2.190000, 2.050000, 1.940000, 1.840000, 1.750000, 1.680000, 1.610000, 1.550000, 1.490000, 1.430000, 1.390000, 1.340000, 1.290000, 1.250000, 1.220000, 1.180000, 1.160000, 1.130000, 1.110000, 1.080000, 1.060000, 1.040000, 1.010000, 0.990000, 0.970000, 0.960000, 0.940000, 0.930000, 0.910000, 0.890000, 0.880000, 0.860000, 0.860000, 0.840000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 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, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.680000, 0.670000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 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": [ 976054854, 544857 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.975000, 12.618000, 3.035890 ], "estimate": [ -1.975000, 12.618000, 3.035890 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.610000, 1.630000, 1.620000, 1.610000, 1.620000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.680000, 1.680000, 1.690000, 1.700000, 1.720000, 1.730000, 1.760000, 1.760000, 1.770000, 1.790000, 1.820000, 1.830000, 1.860000, 1.870000, 1.900000, 1.920000, 1.950000, 1.980000, 2.010000, 2.040000, 2.070000, 2.100000, 2.140000, 2.180000, 3.770000, 3.720000, 3.650000, 3.600000, 3.540000, 3.500000, 3.440000, 3.390000, 3.360000, 3.320000, 3.280000, 3.240000, 3.210000, 3.170000, 3.130000, 3.110000, 3.090000, 3.060000, 3.030000, 3.000000, 2.980000, 2.960000, 2.940000, 2.920000, 2.890000, 2.880000, 2.870000, 2.850000, 2.920000, 3.070000, 4.080000, 4.020000, 4.030000, 4.110000, 4.560000, 5.040000, 5.630000, 6.380000, 7.350000, 8.720000, 12.240000, 12.230000, 12.230000, 14.580000, 14.590000, 14.380000, 14.720000, 14.730000, 3.970000, 2.990000, 2.690000, 2.430000, 2.250000, 2.100000, 1.970000, 1.860000, 1.770000, 1.690000, 1.630000, 1.550000, 1.500000, 1.440000, 1.380000, 1.340000, 1.290000, 1.250000, 1.200000, 1.170000, 1.130000, 1.110000, 1.090000, 1.060000, 1.030000, 1.020000, 1.000000, 0.980000, 0.960000, 0.940000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.730000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.670000, 0.660000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054854, 545691 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.032000, 12.624001, 3.029744 ], "estimate": [ -2.032000, 12.624001, 3.029744 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.610000, 1.620000, 1.620000, 1.630000, 1.630000, 1.630000, 1.650000, 1.660000, 1.670000, 1.680000, 1.680000, 1.700000, 1.710000, 1.720000, 1.740000, 1.750000, 1.760000, 1.770000, 1.800000, 1.810000, 1.840000, 1.860000, 1.880000, 1.900000, 1.920000, 1.950000, 1.980000, 2.020000, 2.040000, 2.080000, 2.100000, 2.140000, 2.220000, 3.720000, 3.670000, 3.620000, 3.550000, 3.500000, 3.450000, 3.400000, 3.360000, 3.310000, 3.270000, 3.230000, 3.200000, 3.160000, 3.130000, 3.090000, 3.060000, 3.040000, 3.010000, 2.980000, 2.960000, 2.940000, 2.910000, 2.880000, 2.870000, 2.850000, 2.840000, 2.820000, 2.780000, 2.900000, 3.030000, 4.000000, 3.980000, 3.980000, 3.960000, 4.450000, 4.900000, 5.450000, 6.140000, 7.010000, 8.210000, 9.620000, 12.180000, 12.170000, 14.520000, 14.540000, 14.330000, 14.380000, 14.680000, 4.260000, 3.030000, 2.720000, 2.460000, 2.250000, 2.090000, 1.960000, 1.850000, 1.750000, 1.670000, 1.600000, 1.530000, 1.480000, 1.410000, 1.370000, 1.320000, 1.260000, 1.230000, 1.190000, 1.140000, 1.110000, 1.100000, 1.070000, 1.050000, 1.020000, 1.000000, 0.970000, 0.950000, 0.930000, 0.920000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.750000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 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, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 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": [ 976054854, 546623 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.087000, 12.630000, 3.023599 ], "estimate": [ -2.087000, 12.630000, 3.023599 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.620000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.690000, 1.700000, 1.720000, 1.730000, 1.740000, 1.760000, 1.770000, 1.780000, 1.800000, 1.820000, 1.830000, 1.870000, 1.890000, 1.910000, 1.920000, 1.950000, 1.980000, 2.010000, 2.040000, 2.070000, 2.100000, 2.160000, 3.740000, 3.680000, 3.620000, 3.560000, 3.500000, 3.450000, 3.390000, 3.350000, 3.300000, 3.260000, 3.230000, 3.180000, 3.140000, 3.110000, 3.080000, 3.040000, 3.020000, 2.980000, 2.970000, 2.940000, 2.910000, 2.880000, 2.860000, 2.830000, 2.820000, 2.810000, 2.780000, 2.760000, 2.750000, 2.870000, 2.980000, 3.960000, 3.920000, 3.920000, 3.920000, 4.340000, 4.750000, 5.260000, 5.890000, 6.680000, 7.730000, 9.550000, 12.120000, 12.110000, 12.120000, 14.480000, 14.300000, 14.290000, 14.620000, 14.630000, 3.280000, 2.770000, 2.480000, 2.260000, 2.090000, 1.950000, 1.840000, 1.730000, 1.660000, 1.580000, 1.510000, 1.460000, 1.400000, 1.350000, 1.300000, 1.240000, 1.200000, 1.170000, 1.130000, 1.090000, 1.070000, 1.040000, 1.010000, 0.990000, 0.970000, 0.950000, 0.930000, 0.910000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 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, 0.650000, 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": [ 976054854, 715688 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.144000, 12.636999, 3.023599 ], "estimate": [ -2.144000, 12.636999, 3.023599 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.620000, 1.630000, 1.630000, 1.630000, 1.640000, 1.650000, 1.650000, 1.660000, 1.680000, 1.680000, 1.690000, 1.690000, 1.700000, 1.730000, 1.730000, 1.750000, 1.760000, 1.770000, 1.800000, 1.810000, 1.830000, 1.840000, 1.870000, 1.890000, 1.910000, 1.940000, 1.960000, 1.990000, 2.020000, 2.040000, 2.080000, 2.140000, 3.750000, 3.680000, 3.620000, 3.560000, 3.510000, 3.440000, 3.390000, 3.340000, 3.290000, 3.250000, 3.200000, 3.170000, 3.130000, 3.090000, 3.060000, 3.020000, 2.980000, 2.970000, 2.940000, 2.910000, 2.880000, 2.860000, 2.830000, 2.810000, 2.790000, 2.770000, 2.750000, 2.730000, 2.720000, 2.680000, 2.850000, 2.920000, 3.970000, 3.880000, 3.880000, 3.880000, 4.310000, 4.700000, 5.190000, 5.810000, 6.570000, 7.550000, 8.780000, 12.080000, 12.060000, 12.070000, 14.430000, 14.450000, 14.230000, 14.570000, 14.580000, 3.370000, 2.740000, 2.460000, 2.240000, 2.070000, 1.920000, 1.800000, 1.700000, 1.620000, 1.560000, 1.480000, 1.430000, 1.370000, 1.320000, 1.270000, 1.220000, 1.190000, 1.140000, 1.100000, 1.070000, 1.050000, 1.010000, 0.990000, 0.970000, 0.940000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 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": [ 976054855, 392680 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.193000, 12.641999, 3.017453 ], "estimate": [ -2.193000, 12.641999, 3.017453 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.630000, 1.630000, 1.640000, 1.650000, 1.650000, 1.650000, 1.660000, 1.670000, 1.690000, 1.690000, 1.690000, 1.700000, 1.710000, 1.720000, 1.740000, 1.750000, 1.770000, 1.780000, 1.800000, 1.810000, 1.820000, 1.850000, 1.870000, 1.900000, 1.920000, 1.940000, 1.960000, 1.990000, 2.020000, 2.050000, 2.100000, 3.770000, 3.700000, 3.630000, 3.560000, 3.510000, 3.450000, 3.390000, 3.340000, 3.290000, 3.240000, 3.190000, 3.150000, 3.120000, 3.080000, 3.040000, 3.000000, 2.960000, 2.940000, 2.910000, 2.880000, 2.860000, 2.830000, 2.810000, 2.780000, 2.750000, 2.730000, 2.720000, 2.710000, 2.680000, 2.650000, 2.630000, 2.830000, 2.920000, 3.850000, 3.820000, 3.830000, 3.830000, 4.200000, 4.570000, 5.020000, 5.600000, 6.280000, 7.160000, 8.440000, 9.590000, 12.010000, 12.000000, 14.350000, 14.370000, 14.170000, 14.230000, 14.510000, 3.890000, 2.820000, 2.500000, 2.260000, 2.060000, 1.920000, 1.790000, 1.700000, 1.620000, 1.540000, 1.480000, 1.400000, 1.350000, 1.290000, 1.240000, 1.200000, 1.150000, 1.120000, 1.090000, 1.050000, 1.010000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 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": [ 976054855, 224426 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.214000, 12.645000, 3.005162 ], "estimate": [ -2.214000, 12.645000, 3.005162 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.630000, 1.630000, 1.640000, 1.650000, 1.650000, 1.650000, 1.660000, 1.670000, 1.690000, 1.690000, 1.690000, 1.700000, 1.710000, 1.720000, 1.740000, 1.750000, 1.760000, 1.780000, 1.790000, 1.810000, 1.820000, 1.840000, 1.860000, 1.880000, 1.900000, 1.920000, 1.940000, 1.970000, 2.010000, 2.030000, 2.090000, 3.770000, 3.710000, 3.630000, 3.560000, 3.510000, 3.440000, 3.380000, 3.340000, 3.280000, 3.220000, 3.180000, 3.130000, 3.100000, 3.060000, 3.020000, 2.980000, 2.950000, 2.920000, 2.890000, 2.870000, 2.830000, 2.810000, 2.780000, 2.750000, 2.720000, 2.720000, 2.700000, 2.670000, 2.650000, 2.640000, 2.630000, 2.740000, 2.840000, 5.190000, 3.790000, 3.780000, 3.790000, 3.990000, 4.310000, 4.710000, 5.200000, 5.780000, 6.520000, 7.470000, 8.650000, 11.990000, 11.970000, 11.960000, 14.320000, 14.340000, 14.120000, 14.470000, 14.480000, 3.320000, 2.670000, 2.400000, 2.170000, 1.980000, 1.840000, 1.730000, 1.640000, 1.550000, 1.500000, 1.430000, 1.370000, 1.310000, 1.250000, 1.210000, 1.160000, 1.130000, 1.090000, 1.060000, 1.010000, 0.990000, 0.950000, 0.930000, 0.920000, 0.890000, 0.880000, 0.860000, 0.840000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 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": [ 976054855, 470098 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.212000, 12.645000, 2.980580 ], "estimate": [ -2.212000, 12.645000, 2.980580 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.630000, 1.630000, 1.640000, 1.640000, 1.650000, 1.650000, 1.650000, 1.650000, 1.670000, 1.680000, 1.680000, 1.690000, 1.690000, 1.710000, 1.720000, 1.730000, 1.750000, 1.760000, 1.770000, 1.780000, 1.790000, 1.810000, 1.830000, 1.850000, 1.870000, 1.890000, 1.910000, 1.940000, 1.970000, 1.990000, 2.020000, 2.050000, 3.790000, 3.720000, 3.650000, 3.580000, 3.520000, 3.460000, 3.390000, 3.350000, 3.290000, 3.240000, 3.190000, 3.140000, 3.110000, 3.070000, 3.030000, 2.990000, 2.960000, 2.920000, 2.890000, 2.870000, 2.830000, 2.810000, 2.780000, 2.750000, 2.730000, 2.720000, 2.700000, 2.670000, 2.650000, 2.640000, 2.610000, 2.660000, 2.810000, 2.860000, 3.810000, 3.780000, 3.760000, 3.780000, 4.120000, 4.490000, 4.900000, 5.430000, 6.070000, 6.910000, 7.980000, 9.420000, 11.970000, 11.960000, 11.970000, 14.330000, 14.110000, 14.130000, 14.460000, 4.220000, 2.830000, 2.530000, 2.270000, 2.070000, 1.920000, 1.780000, 1.690000, 1.600000, 1.520000, 1.450000, 1.390000, 1.340000, 1.280000, 1.240000, 1.180000, 1.140000, 1.110000, 1.070000, 1.040000, 1.000000, 0.970000, 0.940000, 0.930000, 0.890000, 0.870000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.560000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 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": [ 976054855, 521780 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.211000, 12.644000, 2.949852 ], "estimate": [ -2.211000, 12.644000, 2.949852 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.630000, 1.630000, 1.630000, 1.630000, 1.640000, 1.640000, 1.640000, 1.650000, 1.660000, 1.660000, 1.680000, 1.680000, 1.690000, 1.690000, 1.710000, 1.710000, 1.730000, 1.740000, 1.750000, 1.760000, 1.790000, 1.800000, 1.820000, 1.830000, 1.850000, 1.880000, 1.900000, 1.910000, 1.940000, 1.970000, 1.990000, 2.030000, 2.080000, 3.780000, 3.710000, 3.630000, 3.560000, 3.510000, 3.450000, 3.380000, 3.330000, 3.280000, 3.230000, 3.180000, 3.140000, 3.100000, 3.060000, 3.020000, 2.980000, 2.950000, 2.920000, 2.880000, 2.860000, 2.830000, 2.800000, 2.780000, 2.750000, 2.720000, 2.720000, 2.690000, 2.670000, 2.650000, 2.640000, 2.610000, 2.700000, 2.840000, 5.190000, 3.820000, 3.770000, 3.780000, 3.870000, 4.250000, 4.620000, 5.080000, 5.640000, 6.360000, 7.250000, 8.480000, 11.980000, 11.960000, 11.950000, 14.320000, 14.330000, 14.130000, 14.270000, 14.470000, 3.830000, 2.760000, 2.460000, 2.210000, 2.020000, 1.880000, 1.770000, 1.670000, 1.580000, 1.510000, 1.440000, 1.380000, 1.330000, 1.260000, 1.230000, 1.180000, 1.140000, 1.100000, 1.070000, 1.030000, 0.990000, 0.960000, 0.930000, 0.930000, 0.890000, 0.880000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 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": [ 976054856, 458750 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.211000, 12.644000, 2.919124 ], "estimate": [ -2.211000, 12.644000, 2.919124 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.630000, 1.630000, 1.630000, 1.620000, 1.630000, 1.630000, 1.630000, 1.640000, 1.640000, 1.650000, 1.660000, 1.660000, 1.670000, 1.680000, 1.680000, 1.700000, 1.700000, 1.720000, 1.730000, 1.750000, 1.760000, 1.770000, 1.780000, 1.800000, 1.820000, 1.830000, 1.860000, 1.880000, 1.900000, 1.920000, 1.950000, 1.980000, 2.000000, 2.040000, 2.100000, 3.760000, 3.690000, 3.620000, 3.560000, 3.490000, 3.430000, 3.370000, 3.320000, 3.270000, 3.220000, 3.170000, 3.120000, 3.090000, 3.050000, 3.010000, 2.970000, 2.950000, 2.920000, 2.880000, 2.860000, 2.820000, 2.800000, 2.770000, 2.750000, 2.730000, 2.720000, 2.690000, 2.670000, 2.650000, 2.640000, 2.620000, 2.740000, 2.830000, 5.080000, 3.810000, 3.780000, 3.780000, 3.990000, 4.320000, 4.720000, 5.200000, 5.800000, 6.560000, 7.510000, 8.780000, 11.990000, 11.960000, 11.960000, 14.320000, 14.340000, 14.120000, 14.460000, 14.470000, 3.370000, 2.700000, 2.410000, 2.180000, 2.000000, 1.860000, 1.750000, 1.650000, 1.570000, 1.500000, 1.440000, 1.380000, 1.330000, 1.270000, 1.230000, 1.180000, 1.140000, 1.100000, 1.070000, 1.030000, 0.990000, 0.960000, 0.940000, 0.920000, 0.890000, 0.880000, 0.860000, 0.860000, 0.840000, 0.820000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 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": [ 976054856, 470620 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.210000, 12.644000, 2.876106 ], "estimate": [ -2.210000, 12.644000, 2.876106 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.620000, 1.620000, 1.620000, 1.630000, 1.620000, 1.620000, 1.620000, 1.630000, 1.630000, 1.640000, 1.640000, 1.650000, 1.650000, 1.660000, 1.680000, 1.690000, 1.690000, 1.700000, 1.710000, 1.720000, 1.740000, 1.750000, 1.760000, 1.770000, 1.790000, 1.820000, 1.830000, 1.840000, 1.870000, 1.890000, 1.910000, 1.940000, 1.960000, 1.980000, 2.020000, 2.060000, 3.790000, 3.710000, 3.640000, 3.580000, 3.520000, 3.450000, 3.390000, 3.340000, 3.290000, 3.230000, 3.190000, 3.140000, 3.110000, 3.070000, 3.030000, 2.990000, 2.960000, 2.920000, 2.890000, 2.870000, 2.830000, 2.810000, 2.780000, 2.750000, 2.740000, 2.720000, 2.700000, 2.670000, 2.650000, 2.640000, 2.620000, 2.670000, 2.810000, 5.050000, 3.810000, 3.780000, 3.790000, 3.770000, 4.190000, 4.560000, 5.010000, 5.560000, 6.240000, 7.140000, 8.400000, 9.550000, 11.970000, 11.960000, 14.320000, 14.330000, 14.120000, 14.150000, 14.470000, 4.110000, 2.820000, 2.520000, 2.270000, 2.070000, 1.920000, 1.790000, 1.700000, 1.610000, 1.520000, 1.460000, 1.400000, 1.340000, 1.290000, 1.240000, 1.190000, 1.160000, 1.120000, 1.080000, 1.050000, 1.010000, 0.970000, 0.950000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 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": [ 976054856, 116397 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.210000, 12.644000, 2.820796 ], "estimate": [ -2.210000, 12.644000, 2.820796 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.610000, 1.620000, 1.610000, 1.610000, 1.620000, 1.620000, 1.620000, 1.610000, 1.610000, 1.610000, 1.620000, 1.630000, 1.630000, 1.640000, 1.640000, 1.660000, 1.660000, 1.680000, 1.680000, 1.690000, 1.690000, 1.710000, 1.720000, 1.730000, 1.750000, 1.760000, 1.770000, 1.780000, 1.810000, 1.830000, 1.850000, 1.870000, 1.890000, 1.920000, 1.940000, 1.960000, 1.990000, 2.030000, 2.080000, 3.780000, 3.700000, 3.640000, 3.560000, 3.500000, 3.440000, 3.370000, 3.330000, 3.270000, 3.220000, 3.170000, 3.120000, 3.090000, 3.060000, 3.020000, 2.980000, 2.950000, 2.920000, 2.880000, 2.860000, 2.830000, 2.800000, 2.770000, 2.750000, 2.720000, 2.720000, 2.690000, 2.670000, 2.650000, 2.640000, 2.590000, 2.710000, 2.830000, 5.170000, 3.820000, 3.770000, 3.780000, 3.940000, 4.290000, 4.660000, 5.160000, 5.730000, 6.510000, 7.440000, 8.580000, 11.990000, 11.970000, 11.960000, 14.310000, 14.340000, 14.120000, 14.470000, 14.470000, 3.830000, 2.780000, 2.490000, 2.250000, 2.050000, 1.910000, 1.790000, 1.690000, 1.610000, 1.520000, 1.460000, 1.400000, 1.350000, 1.290000, 1.240000, 1.190000, 1.160000, 1.120000, 1.080000, 1.050000, 1.010000, 0.990000, 0.950000, 0.930000, 0.910000, 0.890000, 0.880000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054856, 530830 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.211000, 12.644000, 2.759341 ], "estimate": [ -2.211000, 12.644000, 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": [ 1.600000, 1.610000, 1.610000, 1.600000, 1.610000, 1.630000, 1.620000, 1.610000, 1.610000, 1.610000, 1.600000, 1.600000, 1.610000, 1.610000, 1.620000, 1.620000, 1.630000, 1.640000, 1.640000, 1.660000, 1.660000, 1.670000, 1.680000, 1.680000, 1.700000, 1.700000, 1.720000, 1.740000, 1.750000, 1.760000, 1.780000, 1.800000, 1.820000, 1.830000, 1.860000, 1.880000, 1.900000, 1.920000, 1.950000, 1.980000, 2.010000, 2.040000, 3.790000, 3.710000, 3.640000, 3.580000, 3.520000, 3.450000, 3.390000, 3.350000, 3.290000, 3.230000, 3.190000, 3.140000, 3.110000, 3.070000, 3.030000, 2.980000, 2.960000, 2.930000, 2.890000, 2.870000, 2.840000, 2.810000, 2.780000, 2.750000, 2.740000, 2.720000, 2.700000, 2.670000, 2.650000, 2.640000, 2.610000, 2.650000, 2.810000, 2.880000, 6.240000, 3.790000, 3.780000, 3.780000, 4.150000, 4.530000, 4.980000, 5.540000, 6.210000, 7.110000, 8.330000, 9.550000, 11.970000, 11.960000, 14.310000, 14.320000, 14.110000, 14.160000, 14.470000, 14.480000, 3.010000, 2.600000, 2.350000, 2.140000, 1.970000, 1.840000, 1.730000, 1.630000, 1.570000, 1.500000, 1.440000, 1.380000, 1.320000, 1.260000, 1.230000, 1.180000, 1.140000, 1.100000, 1.070000, 1.030000, 0.990000, 0.970000, 0.940000, 0.930000, 0.910000, 0.880000, 0.880000, 0.860000, 0.850000, 0.830000, 0.820000, 0.800000, 0.780000, 0.770000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.580000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.580000, 0.570000, 0.570000, 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": [ 976054856, 552252 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.214000, 12.646000, 2.716322 ], "estimate": [ -2.214000, 12.646000, 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": [ 1.600000, 1.600000, 1.600000, 1.590000, 1.600000, 1.600000, 1.590000, 1.590000, 1.590000, 1.610000, 1.590000, 1.610000, 1.600000, 1.600000, 1.600000, 1.600000, 1.600000, 1.600000, 1.620000, 1.620000, 1.630000, 1.640000, 1.630000, 1.640000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.740000, 1.760000, 1.770000, 1.780000, 1.810000, 1.830000, 1.840000, 1.860000, 1.880000, 1.910000, 1.930000, 1.950000, 1.980000, 2.010000, 2.060000, 3.760000, 3.680000, 3.630000, 3.550000, 3.490000, 3.420000, 3.370000, 3.320000, 3.260000, 3.210000, 3.160000, 3.130000, 3.090000, 3.050000, 3.000000, 2.970000, 2.930000, 2.910000, 2.880000, 2.850000, 2.810000, 2.800000, 2.770000, 2.750000, 2.730000, 2.710000, 2.690000, 2.660000, 2.640000, 2.630000, 2.590000, 2.690000, 2.820000, 5.200000, 3.810000, 3.760000, 3.770000, 3.920000, 4.270000, 4.650000, 5.130000, 5.720000, 6.470000, 7.460000, 8.630000, 11.980000, 11.960000, 11.950000, 14.310000, 14.340000, 14.120000, 14.470000, 14.470000, 3.840000, 2.800000, 2.520000, 2.280000, 2.080000, 1.930000, 1.810000, 1.710000, 1.620000, 1.550000, 1.480000, 1.420000, 1.370000, 1.310000, 1.250000, 1.220000, 1.170000, 1.140000, 1.100000, 1.070000, 1.040000, 1.000000, 0.970000, 0.940000, 0.930000, 0.910000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.800000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.580000, 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": [ 976054856, 720473 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.227000, 12.651999, 2.685595 ], "estimate": [ -2.227000, 12.651999, 2.685595 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.600000, 1.600000, 1.600000, 1.590000, 1.580000, 1.590000, 1.590000, 1.580000, 1.590000, 1.590000, 1.590000, 1.590000, 1.590000, 1.590000, 1.600000, 1.600000, 1.600000, 1.590000, 1.600000, 1.600000, 1.610000, 1.610000, 1.630000, 1.630000, 1.640000, 1.650000, 1.670000, 1.680000, 1.680000, 1.690000, 1.710000, 1.720000, 1.740000, 1.750000, 1.760000, 1.780000, 1.800000, 1.820000, 1.830000, 1.860000, 1.880000, 1.900000, 1.920000, 1.950000, 1.970000, 2.010000, 2.060000, 3.740000, 3.670000, 3.600000, 3.540000, 3.470000, 3.410000, 3.360000, 3.300000, 3.250000, 3.200000, 3.160000, 3.120000, 3.080000, 3.030000, 2.990000, 2.960000, 2.940000, 2.900000, 2.880000, 2.840000, 2.810000, 2.780000, 2.760000, 2.740000, 2.730000, 2.700000, 2.680000, 2.650000, 2.640000, 2.620000, 2.590000, 2.680000, 2.820000, 5.050000, 3.800000, 3.750000, 3.780000, 3.920000, 4.270000, 4.650000, 5.140000, 5.740000, 6.510000, 7.500000, 8.790000, 11.970000, 11.960000, 11.950000, 14.320000, 14.330000, 14.110000, 14.460000, 14.470000, 3.790000, 2.780000, 2.500000, 2.270000, 2.080000, 1.920000, 1.800000, 1.700000, 1.610000, 1.550000, 1.480000, 1.420000, 1.370000, 1.310000, 1.260000, 1.220000, 1.170000, 1.130000, 1.100000, 1.070000, 1.030000, 0.990000, 0.980000, 0.950000, 0.930000, 0.920000, 0.890000, 0.880000, 0.860000, 0.860000, 0.840000, 0.820000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.580000, 0.580000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054857, 916669 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.266000, 12.671000, 2.654867 ], "estimate": [ -2.266000, 12.671000, 2.654867 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.610000, 1.600000, 1.600000, 1.590000, 1.590000, 1.590000, 1.590000, 1.580000, 1.580000, 1.580000, 1.580000, 1.590000, 1.610000, 1.600000, 1.590000, 1.590000, 1.590000, 1.600000, 1.600000, 1.600000, 1.590000, 1.600000, 1.600000, 1.610000, 1.610000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.680000, 1.700000, 1.720000, 1.730000, 1.750000, 1.760000, 1.780000, 1.800000, 1.820000, 1.840000, 1.860000, 1.870000, 1.890000, 1.920000, 1.940000, 1.970000, 2.000000, 2.060000, 3.710000, 3.640000, 3.580000, 3.520000, 3.450000, 3.390000, 3.340000, 3.280000, 3.230000, 3.180000, 3.140000, 3.100000, 3.060000, 3.010000, 2.970000, 2.950000, 2.920000, 2.880000, 2.850000, 2.820000, 2.790000, 2.760000, 2.750000, 2.730000, 2.710000, 2.680000, 2.650000, 2.640000, 2.620000, 2.600000, 2.580000, 2.660000, 2.780000, 5.020000, 3.800000, 3.740000, 3.750000, 3.760000, 4.200000, 4.580000, 5.050000, 5.650000, 6.380000, 7.340000, 8.500000, 11.950000, 11.950000, 11.930000, 14.290000, 14.310000, 14.100000, 14.420000, 14.430000, 4.140000, 2.870000, 2.580000, 2.330000, 2.120000, 1.970000, 1.840000, 1.730000, 1.650000, 1.570000, 1.500000, 1.440000, 1.380000, 1.330000, 1.270000, 1.240000, 1.190000, 1.150000, 1.120000, 1.090000, 1.050000, 1.010000, 0.990000, 0.970000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.770000, 0.760000, 0.740000, 0.730000, 0.730000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.590000, 0.580000, 0.580000, 0.590000, 0.590000, 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": [ 976054857, 972326 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.333000, 12.705999, 2.661012 ], "estimate": [ -2.333000, 12.705999, 2.661012 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.600000, 1.600000, 1.590000, 1.590000, 1.580000, 1.570000, 1.580000, 1.580000, 1.580000, 1.570000, 1.580000, 1.580000, 1.570000, 1.590000, 1.580000, 1.580000, 1.580000, 1.580000, 1.580000, 1.580000, 1.590000, 1.590000, 1.590000, 1.600000, 1.590000, 1.600000, 1.610000, 1.630000, 1.620000, 1.640000, 1.650000, 1.660000, 1.680000, 1.680000, 1.690000, 1.700000, 1.720000, 1.730000, 1.760000, 1.760000, 1.780000, 1.800000, 1.820000, 1.830000, 1.860000, 1.890000, 1.910000, 1.930000, 1.950000, 2.010000, 3.710000, 3.650000, 3.570000, 3.510000, 3.440000, 3.370000, 3.320000, 3.260000, 3.210000, 3.160000, 3.130000, 3.080000, 3.030000, 2.990000, 2.950000, 2.920000, 2.880000, 2.850000, 2.820000, 2.790000, 2.770000, 2.740000, 2.720000, 2.690000, 2.660000, 2.640000, 2.630000, 2.600000, 2.580000, 2.560000, 2.540000, 2.490000, 2.620000, 2.760000, 4.970000, 3.730000, 3.690000, 3.700000, 3.690000, 4.130000, 4.500000, 4.950000, 5.520000, 6.240000, 7.150000, 8.390000, 11.910000, 11.890000, 11.890000, 14.250000, 14.270000, 14.050000, 14.360000, 14.390000, 4.180000, 3.020000, 2.590000, 2.350000, 2.140000, 1.970000, 1.840000, 1.730000, 1.650000, 1.570000, 1.500000, 1.440000, 1.380000, 1.340000, 1.280000, 1.240000, 1.190000, 1.160000, 1.120000, 1.090000, 1.050000, 1.020000, 1.000000, 0.970000, 0.940000, 0.920000, 0.900000, 0.890000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.770000, 0.760000, 0.740000, 0.740000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 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": [ 976054857, 973435 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.400000, 12.741000, 2.667158 ], "estimate": [ -2.400000, 12.741000, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.590000, 1.580000, 1.580000, 1.570000, 1.570000, 1.560000, 1.560000, 1.560000, 1.580000, 1.560000, 1.550000, 1.550000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.570000, 1.570000, 1.570000, 1.570000, 1.580000, 1.580000, 1.590000, 1.590000, 1.590000, 1.590000, 1.600000, 1.610000, 1.620000, 1.630000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.720000, 1.740000, 1.760000, 1.770000, 1.790000, 1.810000, 1.830000, 1.860000, 1.880000, 1.910000, 1.950000, 3.710000, 3.630000, 3.560000, 3.480000, 3.410000, 3.350000, 3.290000, 3.230000, 3.180000, 3.120000, 3.090000, 3.030000, 2.990000, 2.950000, 2.910000, 2.870000, 2.840000, 2.810000, 2.770000, 2.740000, 2.720000, 2.680000, 2.650000, 2.640000, 2.610000, 2.590000, 2.560000, 2.540000, 2.520000, 2.500000, 2.490000, 2.470000, 2.440000, 2.500000, 2.640000, 2.700000, 6.090000, 3.630000, 3.600000, 3.620000, 3.880000, 4.210000, 4.620000, 5.130000, 5.730000, 6.550000, 7.560000, 9.290000, 11.810000, 11.810000, 11.810000, 14.160000, 14.020000, 13.970000, 14.300000, 14.310000, 3.980000, 2.920000, 2.510000, 2.290000, 2.090000, 1.940000, 1.810000, 1.710000, 1.630000, 1.550000, 1.490000, 1.430000, 1.370000, 1.320000, 1.270000, 1.230000, 1.180000, 1.150000, 1.110000, 1.080000, 1.040000, 1.010000, 0.990000, 0.960000, 0.930000, 0.920000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 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": [ 976054857, 974382 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.451000, 12.766000, 2.661012 ], "estimate": [ -2.451000, 12.766000, 2.661012 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.570000, 1.570000, 1.560000, 1.560000, 1.570000, 1.550000, 1.560000, 1.560000, 1.540000, 1.550000, 1.540000, 1.550000, 1.540000, 1.540000, 1.550000, 1.550000, 1.540000, 1.550000, 1.550000, 1.560000, 1.550000, 1.560000, 1.560000, 1.570000, 1.570000, 1.580000, 1.590000, 1.590000, 1.590000, 1.610000, 1.610000, 1.640000, 1.640000, 1.650000, 1.660000, 1.680000, 1.680000, 1.710000, 1.710000, 1.730000, 1.750000, 1.760000, 1.790000, 1.810000, 1.840000, 1.860000, 1.900000, 3.720000, 3.640000, 3.550000, 3.490000, 3.410000, 3.350000, 3.280000, 3.220000, 3.160000, 3.110000, 3.060000, 3.020000, 2.960000, 2.920000, 2.880000, 2.840000, 2.810000, 2.770000, 2.740000, 2.710000, 2.670000, 2.650000, 2.630000, 2.600000, 2.570000, 2.550000, 2.530000, 2.500000, 2.480000, 2.470000, 2.450000, 2.430000, 2.400000, 2.380000, 2.410000, 2.560000, 2.620000, 4.850000, 3.570000, 3.540000, 3.550000, 3.720000, 4.040000, 4.410000, 4.870000, 5.420000, 6.160000, 7.060000, 8.280000, 11.760000, 11.750000, 11.740000, 14.090000, 14.110000, 13.910000, 14.240000, 14.240000, 14.260000, 3.530000, 2.700000, 2.420000, 2.210000, 2.030000, 1.890000, 1.770000, 1.680000, 1.600000, 1.520000, 1.460000, 1.410000, 1.340000, 1.300000, 1.250000, 1.210000, 1.170000, 1.140000, 1.100000, 1.060000, 1.030000, 1.000000, 0.980000, 0.960000, 0.930000, 0.920000, 0.890000, 0.870000, 0.850000, 0.860000, 0.830000, 0.820000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 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": [ 976054857, 975314 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.489000, 12.785999, 2.661012 ], "estimate": [ -2.489000, 12.785999, 2.661012 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.560000, 1.560000, 1.560000, 1.560000, 1.550000, 1.560000, 1.540000, 1.550000, 1.540000, 1.540000, 1.540000, 1.530000, 1.530000, 1.540000, 1.540000, 1.540000, 1.530000, 1.530000, 1.540000, 1.540000, 1.550000, 1.550000, 1.550000, 1.550000, 1.560000, 1.560000, 1.570000, 1.580000, 1.590000, 1.590000, 1.600000, 1.610000, 1.620000, 1.630000, 1.640000, 1.670000, 1.680000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.770000, 1.790000, 1.820000, 1.830000, 3.780000, 3.680000, 3.590000, 3.520000, 3.450000, 3.370000, 3.310000, 3.240000, 3.180000, 3.120000, 3.070000, 3.010000, 2.970000, 2.930000, 2.870000, 2.840000, 2.800000, 2.760000, 2.730000, 2.700000, 2.660000, 2.630000, 2.610000, 2.580000, 2.550000, 2.530000, 2.500000, 2.490000, 2.460000, 2.440000, 2.420000, 2.400000, 2.380000, 2.360000, 2.340000, 2.330000, 2.460000, 2.560000, 5.010000, 3.530000, 3.490000, 3.500000, 3.500000, 3.830000, 4.170000, 4.590000, 5.090000, 5.720000, 6.520000, 7.590000, 9.180000, 11.700000, 11.690000, 11.710000, 14.050000, 13.840000, 13.870000, 14.200000, 14.200000, 4.380000, 3.060000, 2.510000, 2.320000, 2.120000, 1.950000, 1.840000, 1.730000, 1.640000, 1.560000, 1.500000, 1.440000, 1.380000, 1.330000, 1.280000, 1.240000, 1.190000, 1.160000, 1.120000, 1.080000, 1.050000, 1.020000, 0.990000, 0.970000, 0.940000, 0.920000, 0.900000, 0.890000, 0.870000, 0.850000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 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": [ 976054857, 976292 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.534000, 12.809000, 2.661012 ], "estimate": [ -2.534000, 12.809000, 2.661012 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.560000, 1.560000, 1.540000, 1.540000, 1.530000, 1.540000, 1.540000, 1.540000, 1.530000, 1.530000, 1.530000, 1.520000, 1.530000, 1.520000, 1.520000, 1.530000, 1.530000, 1.530000, 1.530000, 1.540000, 1.540000, 1.540000, 1.540000, 1.550000, 1.550000, 1.560000, 1.580000, 1.580000, 1.590000, 1.580000, 1.600000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.680000, 1.680000, 1.710000, 1.720000, 1.740000, 1.760000, 1.780000, 1.790000, 1.830000, 3.750000, 3.660000, 3.570000, 3.500000, 3.420000, 3.350000, 3.280000, 3.210000, 3.150000, 3.090000, 3.040000, 2.990000, 2.950000, 2.900000, 2.850000, 2.810000, 2.780000, 2.730000, 2.700000, 2.670000, 2.630000, 2.600000, 2.580000, 2.550000, 2.520000, 2.490000, 2.480000, 2.460000, 2.440000, 2.410000, 2.390000, 2.370000, 2.340000, 2.330000, 2.320000, 2.300000, 2.390000, 2.510000, 2.590000, 5.090000, 3.490000, 3.460000, 3.470000, 3.670000, 3.980000, 4.360000, 4.810000, 5.370000, 6.100000, 7.000000, 8.200000, 11.670000, 11.660000, 11.660000, 14.020000, 14.040000, 13.820000, 14.150000, 14.160000, 14.170000, 3.460000, 2.810000, 2.430000, 2.220000, 2.040000, 1.900000, 1.780000, 1.690000, 1.610000, 1.530000, 1.470000, 1.410000, 1.350000, 1.300000, 1.250000, 1.210000, 1.180000, 1.130000, 1.090000, 1.070000, 1.040000, 1.000000, 0.990000, 0.960000, 0.930000, 0.920000, 0.900000, 0.870000, 0.850000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.600000, 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": [ 976054858, 116852 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.593000, 12.839001, 2.667158 ], "estimate": [ -2.593000, 12.839001, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.540000, 1.560000, 1.530000, 1.530000, 1.530000, 1.530000, 1.530000, 1.520000, 1.520000, 1.510000, 1.510000, 1.510000, 1.520000, 1.510000, 1.520000, 1.520000, 1.530000, 1.520000, 1.530000, 1.530000, 1.530000, 1.530000, 1.540000, 1.550000, 1.540000, 1.560000, 1.560000, 1.570000, 1.580000, 1.590000, 1.580000, 1.610000, 1.620000, 1.620000, 1.650000, 1.660000, 1.670000, 1.680000, 1.700000, 1.710000, 1.740000, 1.750000, 1.770000, 3.800000, 3.710000, 3.630000, 3.530000, 3.450000, 3.380000, 3.310000, 3.240000, 3.170000, 3.110000, 3.050000, 2.990000, 2.940000, 2.900000, 2.850000, 2.800000, 2.760000, 2.730000, 2.690000, 2.650000, 2.620000, 2.580000, 2.550000, 2.530000, 2.500000, 2.480000, 2.450000, 2.430000, 2.400000, 2.380000, 2.360000, 2.340000, 2.320000, 2.300000, 2.280000, 2.260000, 2.230000, 2.280000, 2.400000, 2.470000, 5.010000, 3.430000, 3.400000, 3.410000, 3.410000, 3.740000, 4.060000, 4.460000, 4.960000, 5.550000, 6.320000, 7.340000, 9.070000, 11.620000, 11.610000, 11.610000, 13.970000, 13.840000, 13.780000, 14.100000, 14.110000, 14.120000, 3.390000, 2.740000, 2.370000, 2.180000, 2.010000, 1.870000, 1.760000, 1.670000, 1.580000, 1.520000, 1.460000, 1.400000, 1.340000, 1.290000, 1.240000, 1.200000, 1.170000, 1.130000, 1.090000, 1.060000, 1.030000, 1.010000, 0.980000, 0.960000, 0.920000, 0.920000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 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": [ 976054858, 447929 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.655000, 12.870999, 2.667158 ], "estimate": [ -2.655000, 12.870999, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.530000, 1.540000, 1.530000, 1.530000, 1.520000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.500000, 1.510000, 1.520000, 1.510000, 1.510000, 1.510000, 1.520000, 1.520000, 1.520000, 1.520000, 1.520000, 1.530000, 1.530000, 1.540000, 1.540000, 1.540000, 1.570000, 1.570000, 1.580000, 1.590000, 1.580000, 1.600000, 1.620000, 1.630000, 1.650000, 1.660000, 1.680000, 1.690000, 1.710000, 1.720000, 1.780000, 3.780000, 3.680000, 3.590000, 3.500000, 3.410000, 3.350000, 3.270000, 3.200000, 3.120000, 3.060000, 3.000000, 2.950000, 2.900000, 2.860000, 2.800000, 2.760000, 2.710000, 2.680000, 2.640000, 2.600000, 2.570000, 2.530000, 2.500000, 2.490000, 2.460000, 2.430000, 2.400000, 2.370000, 2.350000, 2.330000, 2.310000, 2.280000, 2.270000, 2.240000, 2.220000, 2.220000, 2.190000, 2.190000, 2.270000, 2.380000, 2.430000, 4.640000, 3.370000, 3.330000, 3.350000, 3.340000, 3.740000, 4.070000, 4.470000, 4.960000, 5.560000, 6.370000, 7.430000, 9.020000, 11.540000, 11.540000, 11.540000, 13.900000, 13.720000, 13.720000, 14.040000, 14.050000, 14.060000, 3.350000, 2.810000, 2.370000, 2.190000, 2.020000, 1.880000, 1.760000, 1.680000, 1.600000, 1.520000, 1.460000, 1.400000, 1.340000, 1.290000, 1.240000, 1.200000, 1.170000, 1.130000, 1.090000, 1.060000, 1.030000, 1.000000, 0.980000, 0.960000, 0.930000, 0.920000, 0.900000, 0.870000, 0.860000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.760000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 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, 0.580000, 0.580000, 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": [ 976054858, 516646 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.681000, 12.884000, 2.667158 ], "estimate": [ -2.681000, 12.884000, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.530000, 1.520000, 1.520000, 1.510000, 1.510000, 1.500000, 1.500000, 1.500000, 1.490000, 1.500000, 1.500000, 1.500000, 1.490000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.510000, 1.510000, 1.520000, 1.520000, 1.530000, 1.540000, 1.540000, 1.550000, 1.570000, 1.580000, 1.580000, 1.580000, 1.600000, 1.620000, 1.620000, 1.640000, 1.660000, 1.680000, 1.690000, 3.920000, 3.810000, 3.700000, 3.600000, 3.510000, 3.420000, 3.340000, 3.270000, 3.190000, 3.120000, 3.060000, 2.990000, 2.940000, 2.870000, 2.820000, 2.780000, 2.730000, 2.690000, 2.640000, 2.620000, 2.570000, 2.530000, 2.490000, 2.470000, 2.440000, 2.420000, 2.390000, 2.360000, 2.340000, 2.310000, 2.290000, 2.260000, 2.240000, 2.220000, 2.200000, 2.180000, 2.170000, 2.150000, 2.130000, 2.100000, 2.180000, 2.310000, 2.360000, 4.590000, 3.310000, 3.270000, 3.270000, 3.280000, 3.530000, 3.850000, 4.200000, 4.630000, 5.190000, 5.870000, 6.770000, 7.960000, 11.480000, 11.470000, 11.470000, 13.830000, 13.840000, 13.630000, 13.740000, 13.990000, 13.990000, 16.250000, 3.230000, 2.660000, 2.290000, 2.110000, 1.950000, 1.830000, 1.730000, 1.640000, 1.560000, 1.500000, 1.430000, 1.370000, 1.330000, 1.280000, 1.230000, 1.190000, 1.160000, 1.110000, 1.080000, 1.050000, 1.010000, 1.000000, 0.970000, 0.940000, 0.920000, 0.910000, 0.890000, 0.860000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 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": [ 976054858, 965649 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.748000, 12.918000, 2.667158 ], "estimate": [ -2.748000, 12.918000, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.510000, 1.510000, 1.510000, 1.500000, 1.500000, 1.500000, 1.500000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.500000, 1.490000, 1.500000, 1.500000, 1.500000, 1.500000, 1.510000, 1.510000, 1.510000, 1.520000, 1.530000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.580000, 1.590000, 1.610000, 1.630000, 1.650000, 1.660000, 1.710000, 3.890000, 3.780000, 3.680000, 3.570000, 3.490000, 3.390000, 3.310000, 3.230000, 3.160000, 3.090000, 3.020000, 2.950000, 2.890000, 2.830000, 2.790000, 2.740000, 2.700000, 2.640000, 2.610000, 2.570000, 2.530000, 2.490000, 2.460000, 2.430000, 2.400000, 2.360000, 2.340000, 2.320000, 2.290000, 2.270000, 2.240000, 2.220000, 2.200000, 2.180000, 2.160000, 2.140000, 2.120000, 2.100000, 2.090000, 2.060000, 2.110000, 2.230000, 2.300000, 5.720000, 4.710000, 3.250000, 3.220000, 3.230000, 3.360000, 3.660000, 3.980000, 4.370000, 4.850000, 5.460000, 6.230000, 7.280000, 8.900000, 11.430000, 11.430000, 11.430000, 13.790000, 13.640000, 13.610000, 13.930000, 13.930000, 13.940000, 3.760000, 2.970000, 2.520000, 2.210000, 2.040000, 1.910000, 1.790000, 1.690000, 1.600000, 1.530000, 1.470000, 1.400000, 1.350000, 1.290000, 1.250000, 1.200000, 1.160000, 1.140000, 1.090000, 1.060000, 1.020000, 1.000000, 0.990000, 0.950000, 0.930000, 0.920000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.570000, 0.580000, 0.580000, 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": [ 976054858, 982496 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.771000, 12.930000, 2.673303 ], "estimate": [ -2.771000, 12.930000, 2.673303 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.490000, 1.490000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 1.520000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.630000, 1.680000, 3.950000, 3.830000, 3.720000, 3.610000, 3.510000, 3.420000, 3.340000, 3.260000, 3.170000, 3.100000, 3.030000, 2.960000, 2.900000, 2.840000, 2.780000, 2.730000, 2.690000, 2.630000, 2.600000, 2.550000, 2.510000, 2.480000, 2.450000, 2.410000, 2.380000, 2.350000, 2.330000, 2.310000, 2.270000, 2.240000, 2.210000, 2.200000, 2.170000, 2.150000, 2.130000, 2.110000, 2.090000, 2.070000, 2.050000, 2.040000, 2.020000, 2.070000, 2.170000, 2.250000, 5.690000, 4.430000, 3.210000, 3.180000, 3.180000, 3.200000, 3.540000, 3.850000, 4.200000, 4.660000, 5.210000, 5.940000, 6.860000, 7.980000, 11.390000, 11.380000, 11.380000, 13.730000, 13.760000, 13.540000, 13.880000, 13.880000, 13.890000, 16.160000, 3.200000, 2.710000, 2.290000, 2.100000, 1.950000, 1.820000, 1.730000, 1.630000, 1.550000, 1.490000, 1.420000, 1.370000, 1.320000, 1.270000, 1.220000, 1.190000, 1.150000, 1.110000, 1.070000, 1.040000, 1.010000, 0.990000, 0.960000, 0.930000, 0.930000, 0.900000, 0.880000, 0.860000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 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": [ 976054859, 973629 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.823000, 12.955999, 2.667158 ], "estimate": [ -2.823000, 12.955999, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.500000, 1.500000, 1.500000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.480000, 1.490000, 1.480000, 1.470000, 1.480000, 1.480000, 1.490000, 1.480000, 1.490000, 1.500000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.590000, 1.640000, 4.060000, 3.930000, 3.810000, 3.700000, 3.590000, 3.480000, 3.380000, 3.300000, 3.220000, 3.130000, 3.070000, 2.990000, 2.920000, 2.860000, 2.800000, 2.740000, 2.690000, 2.640000, 2.610000, 2.550000, 2.510000, 2.470000, 2.440000, 2.400000, 2.370000, 2.330000, 2.310000, 2.280000, 2.250000, 2.220000, 2.200000, 2.170000, 2.150000, 2.130000, 2.110000, 2.090000, 2.060000, 2.050000, 2.030000, 2.010000, 2.000000, 1.980000, 1.960000, 2.090000, 2.170000, 2.250000, 4.390000, 3.180000, 3.150000, 3.140000, 3.140000, 3.340000, 3.630000, 3.940000, 4.320000, 4.810000, 5.400000, 6.200000, 7.220000, 8.800000, 11.340000, 11.330000, 11.330000, 13.690000, 13.560000, 13.510000, 13.830000, 13.850000, 13.850000, 4.130000, 3.120000, 2.640000, 2.250000, 2.060000, 1.920000, 1.800000, 1.700000, 1.610000, 1.530000, 1.480000, 1.410000, 1.360000, 1.300000, 1.250000, 1.210000, 1.180000, 1.130000, 1.090000, 1.070000, 1.030000, 1.010000, 0.980000, 0.950000, 0.930000, 0.920000, 0.900000, 0.870000, 0.850000, 0.860000, 0.840000, 0.810000, 0.790000, 0.790000, 0.770000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 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": [ 976054859, 543437 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.882000, 12.986000, 2.667158 ], "estimate": [ -2.882000, 12.986000, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.500000, 1.490000, 1.490000, 1.480000, 1.480000, 1.480000, 1.470000, 1.480000, 1.470000, 1.480000, 1.470000, 1.480000, 1.480000, 1.480000, 1.470000, 1.480000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.510000, 1.530000, 1.530000, 1.550000, 1.550000, 1.570000, 1.580000, 1.630000, 4.230000, 3.990000, 3.870000, 3.750000, 3.630000, 3.530000, 3.430000, 3.340000, 3.240000, 3.150000, 3.090000, 3.000000, 2.930000, 2.860000, 2.800000, 2.740000, 2.690000, 2.620000, 2.580000, 2.540000, 2.490000, 2.460000, 2.420000, 2.380000, 2.350000, 2.310000, 2.280000, 2.240000, 2.210000, 2.200000, 2.170000, 2.150000, 2.120000, 2.090000, 2.070000, 2.050000, 2.030000, 2.010000, 1.990000, 1.970000, 1.960000, 1.940000, 1.920000, 1.920000, 2.010000, 2.110000, 2.170000, 5.580000, 4.330000, 3.100000, 3.070000, 3.080000, 3.090000, 3.410000, 3.700000, 4.030000, 4.450000, 4.980000, 5.630000, 6.480000, 7.730000, 8.820000, 11.280000, 11.270000, 13.620000, 13.650000, 13.440000, 13.440000, 13.780000, 13.770000, 13.850000, 3.990000, 3.000000, 2.550000, 2.210000, 2.010000, 1.880000, 1.760000, 1.670000, 1.580000, 1.510000, 1.450000, 1.390000, 1.340000, 1.270000, 1.240000, 1.190000, 1.150000, 1.120000, 1.080000, 1.050000, 1.020000, 0.990000, 0.970000, 0.940000, 0.930000, 0.900000, 0.880000, 0.860000, 0.850000, 0.850000, 0.830000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.580000, 0.570000, 0.560000, 0.560000, 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": [ 976054859, 544577 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.938000, 13.014000, 2.673303 ], "estimate": [ -2.938000, 13.014000, 2.673303 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.490000, 1.480000, 1.480000, 1.480000, 1.470000, 1.480000, 1.470000, 1.470000, 1.470000, 1.470000, 1.480000, 1.470000, 1.470000, 1.480000, 1.480000, 1.470000, 1.470000, 1.490000, 1.480000, 1.490000, 1.490000, 1.500000, 1.500000, 1.500000, 1.510000, 1.530000, 1.540000, 1.540000, 1.570000, 4.410000, 4.240000, 3.480000, 3.940000, 3.810000, 3.680000, 3.570000, 3.470000, 3.350000, 3.270000, 3.180000, 3.090000, 3.010000, 2.940000, 2.860000, 2.800000, 2.740000, 2.680000, 2.620000, 2.570000, 2.520000, 2.480000, 2.440000, 2.400000, 2.350000, 2.320000, 2.290000, 2.250000, 2.210000, 2.190000, 2.160000, 2.140000, 2.110000, 2.080000, 2.060000, 2.040000, 2.010000, 1.990000, 1.970000, 1.960000, 1.930000, 1.910000, 1.890000, 1.880000, 1.870000, 1.850000, 1.950000, 2.050000, 2.090000, 5.550000, 4.650000, 3.040000, 3.010000, 3.020000, 3.010000, 3.260000, 3.530000, 3.830000, 4.200000, 4.660000, 5.240000, 5.980000, 6.980000, 8.680000, 11.220000, 11.210000, 11.210000, 13.580000, 13.600000, 13.370000, 13.710000, 13.720000, 13.740000, 16.000000, 3.460000, 2.780000, 2.410000, 2.120000, 1.940000, 1.820000, 1.710000, 1.620000, 1.550000, 1.480000, 1.420000, 1.360000, 1.310000, 1.260000, 1.210000, 1.180000, 1.130000, 1.100000, 1.060000, 1.030000, 1.000000, 0.970000, 0.950000, 0.920000, 0.920000, 0.890000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 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": [ 976054859, 656751 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.985000, 13.037000, 2.673303 ], "estimate": [ -2.985000, 13.037000, 2.673303 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.480000, 1.480000, 1.480000, 1.470000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.470000, 1.470000, 1.480000, 1.480000, 1.470000, 1.470000, 1.480000, 1.490000, 1.500000, 1.500000, 1.500000, 1.510000, 1.510000, 1.530000, 1.570000, 4.380000, 4.270000, 3.520000, 3.950000, 3.820000, 3.690000, 3.580000, 3.460000, 3.350000, 3.250000, 3.170000, 3.080000, 3.000000, 2.920000, 2.850000, 2.780000, 2.710000, 2.650000, 2.600000, 2.540000, 2.490000, 2.450000, 2.410000, 2.360000, 2.320000, 2.290000, 2.260000, 2.220000, 2.190000, 2.160000, 2.120000, 2.100000, 2.080000, 2.050000, 2.030000, 2.000000, 1.980000, 1.960000, 1.940000, 1.910000, 1.890000, 1.880000, 1.860000, 1.840000, 1.830000, 1.810000, 1.870000, 1.960000, 2.050000, 2.080000, 5.490000, 4.230000, 2.980000, 2.960000, 2.970000, 2.980000, 3.270000, 3.550000, 3.860000, 4.240000, 4.710000, 5.320000, 6.070000, 7.100000, 8.630000, 11.170000, 11.170000, 11.160000, 13.530000, 13.450000, 13.330000, 13.660000, 13.670000, 13.690000, 15.950000, 3.440000, 2.810000, 2.450000, 2.160000, 1.930000, 1.810000, 1.720000, 1.610000, 1.550000, 1.480000, 1.420000, 1.360000, 1.310000, 1.260000, 1.210000, 1.170000, 1.130000, 1.090000, 1.060000, 1.020000, 0.990000, 0.980000, 0.950000, 0.920000, 0.910000, 0.890000, 0.870000, 0.860000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.700000, 0.700000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 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": [ 976054860, 123769 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.030000, 13.060000, 2.667158 ], "estimate": [ -3.030000, 13.060000, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.470000, 1.470000, 1.480000, 1.470000, 1.460000, 1.470000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.470000, 1.480000, 1.470000, 1.480000, 1.480000, 1.490000, 1.490000, 1.500000, 1.510000, 1.530000, 4.330000, 4.350000, 4.360000, 3.440000, 3.990000, 3.850000, 3.720000, 3.590000, 3.480000, 3.370000, 3.270000, 3.170000, 3.080000, 2.990000, 2.920000, 2.850000, 2.770000, 2.700000, 2.640000, 2.580000, 2.530000, 2.470000, 2.430000, 2.380000, 2.340000, 2.300000, 2.260000, 2.220000, 2.200000, 2.160000, 2.130000, 2.090000, 2.060000, 2.050000, 2.020000, 1.990000, 1.970000, 1.950000, 1.930000, 1.900000, 1.880000, 1.870000, 1.840000, 1.830000, 1.810000, 1.800000, 1.780000, 1.760000, 1.850000, 1.940000, 1.990000, 5.490000, 5.450000, 2.980000, 2.950000, 2.910000, 2.920000, 2.930000, 3.250000, 3.530000, 3.830000, 4.220000, 4.690000, 5.280000, 6.030000, 7.080000, 8.600000, 11.120000, 11.120000, 11.130000, 13.490000, 13.400000, 13.280000, 13.620000, 13.630000, 13.640000, 15.910000, 3.420000, 2.880000, 2.440000, 2.200000, 1.940000, 1.820000, 1.710000, 1.630000, 1.550000, 1.480000, 1.420000, 1.360000, 1.300000, 1.250000, 1.220000, 1.170000, 1.130000, 1.090000, 1.060000, 1.020000, 1.000000, 0.980000, 0.940000, 0.920000, 0.900000, 0.890000, 0.870000, 0.850000, 0.850000, 0.820000, 0.810000, 0.790000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 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": [ 976054860, 124887 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.083000, 13.087000, 2.673303 ], "estimate": [ -3.083000, 13.087000, 2.673303 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.460000, 1.450000, 1.460000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.500000, 4.150000, 4.310000, 4.330000, 4.350000, 3.410000, 3.980000, 3.820000, 3.690000, 3.570000, 3.450000, 3.340000, 3.230000, 3.130000, 3.050000, 2.950000, 2.880000, 2.800000, 2.730000, 2.660000, 2.610000, 2.550000, 2.480000, 2.440000, 2.390000, 2.340000, 2.300000, 2.260000, 2.210000, 2.180000, 2.150000, 2.120000, 2.090000, 2.050000, 2.020000, 2.000000, 1.980000, 1.960000, 1.930000, 1.900000, 1.880000, 1.860000, 1.840000, 1.820000, 1.800000, 1.790000, 1.770000, 1.750000, 1.720000, 1.710000, 1.790000, 1.870000, 1.950000, 2.010000, 5.410000, 4.130000, 2.900000, 2.870000, 2.870000, 2.880000, 3.070000, 3.310000, 3.590000, 3.910000, 4.320000, 4.810000, 5.460000, 6.260000, 7.460000, 8.620000, 11.080000, 11.060000, 11.070000, 13.440000, 13.230000, 13.230000, 13.570000, 13.590000, 13.590000, 15.870000, 3.340000, 2.780000, 2.390000, 2.150000, 1.920000, 1.790000, 1.700000, 1.610000, 1.530000, 1.460000, 1.400000, 1.340000, 1.290000, 1.250000, 1.200000, 1.150000, 1.120000, 1.090000, 1.050000, 1.020000, 0.990000, 0.970000, 0.930000, 0.930000, 0.900000, 0.880000, 0.870000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 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": [ 976054860, 216866 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.141000, 13.116000, 2.667158 ], "estimate": [ -3.141000, 13.116000, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.470000, 1.470000, 1.480000, 1.470000, 4.230000, 4.250000, 4.040000, 4.290000, 4.320000, 3.380000, 3.990000, 3.830000, 3.690000, 3.560000, 3.430000, 3.330000, 3.220000, 3.100000, 3.020000, 2.930000, 2.840000, 2.770000, 2.700000, 2.620000, 2.570000, 2.500000, 2.450000, 2.400000, 2.350000, 2.290000, 2.260000, 2.210000, 2.170000, 2.140000, 2.100000, 2.070000, 2.040000, 2.010000, 1.970000, 1.950000, 1.930000, 1.900000, 1.880000, 1.860000, 1.830000, 1.810000, 1.800000, 1.780000, 1.760000, 1.740000, 1.710000, 1.700000, 1.690000, 1.660000, 1.720000, 1.790000, 1.870000, 1.890000, 5.390000, 5.360000, 4.400000, 2.840000, 2.810000, 2.820000, 2.820000, 3.060000, 3.300000, 3.580000, 3.900000, 4.300000, 4.790000, 5.440000, 6.240000, 7.470000, 8.590000, 11.020000, 11.010000, 11.030000, 13.370000, 13.170000, 13.170000, 13.520000, 13.530000, 13.550000, 15.810000, 3.470000, 2.840000, 2.470000, 2.190000, 1.950000, 1.800000, 1.700000, 1.610000, 1.530000, 1.470000, 1.400000, 1.340000, 1.290000, 1.240000, 1.200000, 1.160000, 1.120000, 1.090000, 1.050000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.820000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.560000, 0.550000, 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": [ 976054861, 471557 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.195000, 13.143001, 2.661012 ], "estimate": [ -3.195000, 13.143001, 2.661012 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.440000, 1.450000, 1.440000, 1.450000, 1.460000, 1.450000, 1.450000, 1.460000, 1.460000, 1.470000, 4.180000, 4.210000, 4.220000, 4.070000, 4.270000, 4.290000, 3.350000, 4.000000, 3.830000, 3.680000, 3.540000, 3.420000, 3.310000, 3.190000, 3.090000, 2.980000, 2.900000, 2.810000, 2.730000, 2.660000, 2.600000, 2.520000, 2.460000, 2.410000, 2.350000, 2.300000, 2.250000, 2.200000, 2.170000, 2.130000, 2.080000, 2.050000, 2.030000, 1.990000, 1.950000, 1.930000, 1.900000, 1.870000, 1.850000, 1.830000, 1.800000, 1.790000, 1.770000, 1.740000, 1.720000, 1.700000, 1.690000, 1.670000, 1.650000, 1.630000, 1.600000, 1.630000, 1.700000, 1.760000, 1.830000, 1.890000, 5.330000, 5.290000, 2.810000, 2.780000, 2.750000, 2.760000, 2.770000, 3.040000, 3.270000, 3.550000, 3.870000, 4.290000, 4.770000, 5.420000, 6.230000, 7.430000, 8.510000, 10.950000, 10.950000, 10.980000, 13.320000, 13.110000, 13.120000, 13.460000, 13.470000, 13.490000, 15.750000, 3.690000, 2.820000, 2.490000, 2.230000, 1.980000, 1.800000, 1.700000, 1.610000, 1.530000, 1.470000, 1.400000, 1.350000, 1.290000, 1.240000, 1.200000, 1.160000, 1.120000, 1.090000, 1.050000, 1.010000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 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": [ 976054861, 472712 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.218000, 13.155000, 2.661012 ], "estimate": [ -3.218000, 13.155000, 2.661012 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.440000, 1.450000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.450000, 1.450000, 1.460000, 4.150000, 4.150000, 4.170000, 4.190000, 4.000000, 4.240000, 4.260000, 4.280000, 3.350000, 3.900000, 3.730000, 3.580000, 3.450000, 3.320000, 3.200000, 3.100000, 2.990000, 2.900000, 2.800000, 2.710000, 2.650000, 2.580000, 2.520000, 2.450000, 2.390000, 2.330000, 2.280000, 2.220000, 2.190000, 2.150000, 2.100000, 2.060000, 2.030000, 1.990000, 1.950000, 1.930000, 1.890000, 1.870000, 1.840000, 1.820000, 1.800000, 1.780000, 1.750000, 1.720000, 1.700000, 1.690000, 1.670000, 1.650000, 1.630000, 1.610000, 1.590000, 1.570000, 1.570000, 1.620000, 1.680000, 1.740000, 1.780000, 5.310000, 5.280000, 5.240000, 2.800000, 2.730000, 2.700000, 2.700000, 2.710000, 3.000000, 3.220000, 3.500000, 3.810000, 4.200000, 4.680000, 5.290000, 6.090000, 7.250000, 8.400000, 10.910000, 10.910000, 10.910000, 13.270000, 13.070000, 13.090000, 13.410000, 13.410000, 13.430000, 15.710000, 3.860000, 3.040000, 2.590000, 2.260000, 2.040000, 1.860000, 1.720000, 1.620000, 1.550000, 1.480000, 1.420000, 1.350000, 1.300000, 1.240000, 1.200000, 1.160000, 1.120000, 1.090000, 1.060000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.860000, 0.830000, 0.820000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.710000, 0.700000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 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": [ 976054861, 473564 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.263000, 13.178000, 2.661012 ], "estimate": [ -3.263000, 13.178000, 2.661012 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.440000, 1.440000, 1.430000, 1.430000, 1.440000, 1.430000, 1.430000, 1.430000, 1.430000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.490000, 4.140000, 4.140000, 4.150000, 4.170000, 4.180000, 4.000000, 4.240000, 4.260000, 3.340000, 3.910000, 3.730000, 3.580000, 3.430000, 3.310000, 3.180000, 3.080000, 2.970000, 2.870000, 2.780000, 2.690000, 2.610000, 2.550000, 2.480000, 2.420000, 2.360000, 2.300000, 2.240000, 2.190000, 2.150000, 2.100000, 2.060000, 2.030000, 1.990000, 1.950000, 1.920000, 1.890000, 1.870000, 1.830000, 1.800000, 1.780000, 1.760000, 1.740000, 1.710000, 1.690000, 1.670000, 1.650000, 1.630000, 1.610000, 1.590000, 1.570000, 1.560000, 1.550000, 1.520000, 1.570000, 1.620000, 1.690000, 1.750000, 1.780000, 5.260000, 5.220000, 3.990000, 2.690000, 2.660000, 2.660000, 2.660000, 2.810000, 3.020000, 3.270000, 3.540000, 3.860000, 4.290000, 4.770000, 5.450000, 6.270000, 7.380000, 10.880000, 10.860000, 10.860000, 13.210000, 13.230000, 13.010000, 13.030000, 13.360000, 13.380000, 13.400000, 15.670000, 3.610000, 2.960000, 2.540000, 2.220000, 2.020000, 1.840000, 1.700000, 1.610000, 1.540000, 1.470000, 1.400000, 1.350000, 1.290000, 1.240000, 1.200000, 1.160000, 1.120000, 1.080000, 1.050000, 1.010000, 0.990000, 0.960000, 0.930000, 0.920000, 0.900000, 0.870000, 0.850000, 0.840000, 0.830000, 0.810000, 0.790000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054861, 474501 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.313000, 13.204000, 2.654867 ], "estimate": [ -3.313000, 13.204000, 2.654867 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.440000, 1.440000, 1.430000, 1.440000, 1.440000, 1.440000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.470000, 4.100000, 4.120000, 4.130000, 4.140000, 4.160000, 4.160000, 4.020000, 4.210000, 4.230000, 3.270000, 3.960000, 3.780000, 3.610000, 3.460000, 3.320000, 3.200000, 3.090000, 2.970000, 2.870000, 2.770000, 2.690000, 2.600000, 2.540000, 2.460000, 2.400000, 2.340000, 2.280000, 2.220000, 2.160000, 2.120000, 2.070000, 2.020000, 2.000000, 1.960000, 1.920000, 1.880000, 1.850000, 1.820000, 1.790000, 1.770000, 1.740000, 1.720000, 1.700000, 1.680000, 1.650000, 1.630000, 1.610000, 1.590000, 1.570000, 1.560000, 1.540000, 1.530000, 1.510000, 1.480000, 1.470000, 1.560000, 1.620000, 1.670000, 1.710000, 5.250000, 5.210000, 5.180000, 3.870000, 2.640000, 2.620000, 2.630000, 2.620000, 2.800000, 3.000000, 3.250000, 3.520000, 3.830000, 4.250000, 4.730000, 5.380000, 6.210000, 7.330000, 10.830000, 10.820000, 10.800000, 10.860000, 13.190000, 12.980000, 12.980000, 13.320000, 13.330000, 13.350000, 15.620000, 4.350000, 3.070000, 2.610000, 2.320000, 2.070000, 1.880000, 1.740000, 1.620000, 1.540000, 1.470000, 1.410000, 1.350000, 1.300000, 1.240000, 1.200000, 1.160000, 1.120000, 1.090000, 1.050000, 1.010000, 0.990000, 0.960000, 0.930000, 0.920000, 0.890000, 0.880000, 0.860000, 0.860000, 0.840000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 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, 0.550000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054861, 475486 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.368000, 13.234000, 2.648721 ], "estimate": [ -3.368000, 13.234000, 2.648721 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.430000, 1.430000, 1.440000, 1.430000, 1.430000, 1.430000, 1.420000, 1.430000, 1.420000, 1.420000, 1.420000, 1.420000, 1.430000, 4.080000, 4.080000, 4.100000, 4.110000, 4.120000, 4.140000, 4.140000, 3.940000, 3.990000, 4.200000, 3.290000, 3.290000, 3.820000, 3.640000, 3.480000, 3.330000, 3.200000, 3.080000, 2.970000, 2.850000, 2.760000, 2.670000, 2.590000, 2.510000, 2.450000, 2.380000, 2.310000, 2.250000, 2.190000, 2.140000, 2.080000, 2.040000, 2.000000, 1.950000, 1.920000, 1.880000, 1.850000, 1.810000, 1.780000, 1.760000, 1.730000, 1.690000, 1.680000, 1.660000, 1.630000, 1.610000, 1.590000, 1.570000, 1.550000, 1.530000, 1.510000, 1.500000, 1.480000, 1.460000, 1.440000, 1.430000, 1.480000, 1.540000, 1.600000, 1.640000, 1.680000, 5.200000, 5.160000, 5.120000, 3.810000, 2.590000, 2.560000, 2.570000, 2.560000, 2.750000, 2.950000, 3.190000, 3.440000, 3.760000, 4.150000, 4.650000, 5.270000, 6.060000, 7.250000, 8.290000, 10.750000, 10.760000, 10.780000, 13.130000, 12.920000, 12.920000, 13.260000, 13.270000, 13.280000, 15.560000, 4.480000, 3.220000, 2.680000, 2.380000, 2.110000, 1.930000, 1.760000, 1.650000, 1.560000, 1.480000, 1.420000, 1.370000, 1.310000, 1.250000, 1.210000, 1.160000, 1.130000, 1.090000, 1.060000, 1.030000, 0.990000, 0.970000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.720000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054861, 476394 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.421000, 13.261999, 2.642576 ], "estimate": [ -3.421000, 13.261999, 2.642576 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.430000, 1.430000, 1.430000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.410000, 1.420000, 1.420000, 4.050000, 4.060000, 4.070000, 4.080000, 4.090000, 4.100000, 4.110000, 4.130000, 4.130000, 3.940000, 4.170000, 4.160000, 3.230000, 3.880000, 3.680000, 3.500000, 3.340000, 3.210000, 3.080000, 2.970000, 2.840000, 2.750000, 2.650000, 2.570000, 2.480000, 2.410000, 2.340000, 2.290000, 2.210000, 2.160000, 2.100000, 2.050000, 2.000000, 1.950000, 1.910000, 1.870000, 1.840000, 1.800000, 1.780000, 1.740000, 1.710000, 1.690000, 1.660000, 1.630000, 1.610000, 1.590000, 1.570000, 1.550000, 1.530000, 1.500000, 1.490000, 1.470000, 1.440000, 1.430000, 1.410000, 1.390000, 1.380000, 1.420000, 1.460000, 1.520000, 1.570000, 1.590000, 5.180000, 5.140000, 5.090000, 5.070000, 2.570000, 2.540000, 2.510000, 2.510000, 2.510000, 2.720000, 2.920000, 3.140000, 3.410000, 3.710000, 4.110000, 4.570000, 5.200000, 5.980000, 7.130000, 8.230000, 10.710000, 10.710000, 10.710000, 13.070000, 12.940000, 12.870000, 13.210000, 13.220000, 13.230000, 15.510000, 15.550000, 3.450000, 2.810000, 2.430000, 2.180000, 1.980000, 1.810000, 1.660000, 1.560000, 1.500000, 1.430000, 1.370000, 1.320000, 1.260000, 1.220000, 1.170000, 1.140000, 1.090000, 1.060000, 1.020000, 0.990000, 0.970000, 0.950000, 0.930000, 0.900000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054861, 622069 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.471000, 13.289001, 2.642576 ], "estimate": [ -3.471000, 13.289001, 2.642576 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.430000, 1.420000, 1.420000, 1.410000, 1.420000, 1.410000, 1.410000, 1.410000, 1.410000, 4.050000, 4.050000, 4.050000, 4.050000, 4.060000, 4.070000, 4.080000, 4.100000, 4.110000, 4.120000, 3.960000, 4.130000, 4.160000, 3.230000, 3.930000, 3.710000, 3.540000, 3.360000, 3.220000, 3.070000, 2.950000, 2.830000, 2.730000, 2.630000, 2.540000, 2.460000, 2.390000, 2.300000, 2.250000, 2.190000, 2.130000, 2.070000, 2.020000, 1.970000, 1.920000, 1.870000, 1.830000, 1.800000, 1.780000, 1.730000, 1.690000, 1.680000, 1.650000, 1.620000, 1.590000, 1.560000, 1.540000, 1.520000, 1.490000, 1.470000, 1.450000, 1.440000, 1.420000, 1.400000, 1.390000, 1.370000, 1.350000, 1.320000, 1.360000, 1.410000, 1.450000, 1.510000, 1.550000, 1.570000, 5.120000, 5.080000, 5.050000, 5.010000, 2.500000, 2.480000, 2.460000, 2.460000, 2.460000, 2.670000, 2.880000, 3.090000, 3.350000, 3.650000, 4.060000, 4.510000, 5.100000, 5.870000, 6.960000, 8.120000, 10.670000, 10.650000, 10.660000, 13.020000, 12.940000, 12.830000, 13.150000, 13.160000, 13.170000, 15.460000, 15.490000, 3.430000, 2.930000, 2.500000, 2.230000, 2.020000, 1.840000, 1.690000, 1.590000, 1.500000, 1.440000, 1.370000, 1.330000, 1.270000, 1.230000, 1.180000, 1.140000, 1.100000, 1.070000, 1.030000, 1.000000, 0.980000, 0.950000, 0.920000, 0.900000, 0.890000, 0.860000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 0.760000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 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, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054861, 856855 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.495000, 13.301999, 2.642576 ], "estimate": [ -3.495000, 13.301999, 2.642576 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.420000, 1.420000, 1.410000, 1.420000, 1.410000, 1.410000, 1.420000, 3.770000, 4.030000, 4.050000, 4.050000, 4.040000, 4.050000, 4.050000, 4.060000, 4.080000, 4.090000, 4.100000, 3.920000, 3.990000, 4.140000, 3.230000, 3.960000, 3.740000, 3.550000, 3.360000, 3.200000, 3.070000, 2.930000, 2.810000, 2.690000, 2.600000, 2.510000, 2.430000, 2.350000, 2.280000, 2.190000, 2.150000, 2.080000, 2.020000, 1.970000, 1.920000, 1.870000, 1.830000, 1.790000, 1.750000, 1.720000, 1.680000, 1.660000, 1.620000, 1.600000, 1.570000, 1.550000, 1.520000, 1.500000, 1.470000, 1.440000, 1.430000, 1.410000, 1.380000, 1.370000, 1.350000, 1.330000, 1.310000, 1.290000, 1.280000, 1.300000, 1.360000, 1.400000, 1.440000, 1.480000, 1.520000, 5.090000, 5.060000, 5.020000, 4.980000, 4.960000, 2.440000, 2.410000, 2.410000, 2.410000, 2.440000, 2.670000, 2.890000, 3.100000, 3.370000, 3.680000, 4.080000, 4.550000, 5.170000, 5.940000, 7.090000, 8.140000, 10.610000, 10.610000, 10.610000, 12.970000, 12.780000, 12.780000, 13.100000, 13.120000, 13.120000, 15.410000, 15.450000, 3.420000, 2.880000, 2.460000, 2.230000, 2.020000, 1.850000, 1.700000, 1.580000, 1.500000, 1.440000, 1.370000, 1.330000, 1.260000, 1.220000, 1.180000, 1.140000, 1.100000, 1.070000, 1.030000, 0.990000, 0.970000, 0.940000, 0.920000, 0.910000, 0.880000, 0.860000, 0.850000, 0.830000, 0.810000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054861, 896803 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.543000, 13.327000, 2.648721 ], "estimate": [ -3.543000, 13.327000, 2.648721 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.420000, 1.410000, 1.410000, 1.400000, 1.420000, 3.780000, 3.770000, 4.030000, 4.030000, 4.040000, 4.050000, 4.050000, 4.040000, 4.050000, 4.060000, 4.070000, 4.090000, 3.920000, 4.090000, 4.090000, 3.170000, 3.920000, 3.700000, 3.490000, 3.300000, 3.140000, 3.010000, 2.870000, 2.740000, 2.640000, 2.540000, 2.440000, 2.360000, 2.290000, 2.210000, 2.140000, 2.070000, 2.020000, 1.970000, 1.910000, 1.860000, 1.820000, 1.770000, 1.740000, 1.700000, 1.670000, 1.630000, 1.600000, 1.580000, 1.550000, 1.520000, 1.490000, 1.470000, 1.450000, 1.420000, 1.390000, 1.380000, 1.360000, 1.340000, 1.310000, 1.300000, 1.280000, 1.270000, 1.250000, 1.260000, 1.280000, 1.320000, 1.370000, 1.410000, 1.450000, 1.480000, 5.070000, 5.030000, 4.990000, 4.950000, 4.920000, 2.410000, 2.390000, 2.360000, 2.350000, 2.360000, 2.580000, 2.760000, 2.980000, 3.210000, 3.500000, 3.850000, 4.280000, 4.810000, 5.510000, 6.410000, 8.040000, 10.570000, 10.560000, 10.570000, 12.920000, 12.960000, 12.730000, 12.870000, 13.060000, 13.060000, 13.100000, 15.380000, 4.290000, 3.300000, 2.730000, 2.400000, 2.150000, 1.950000, 1.790000, 1.660000, 1.540000, 1.480000, 1.410000, 1.350000, 1.290000, 1.240000, 1.200000, 1.150000, 1.120000, 1.090000, 1.050000, 1.020000, 0.980000, 0.970000, 0.930000, 0.930000, 0.890000, 0.870000, 0.850000, 0.840000, 0.820000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054862, 248505 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.594000, 13.355000, 2.642576 ], "estimate": [ -3.594000, 13.355000, 2.642576 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.420000, 1.420000, 1.670000, 3.790000, 3.770000, 3.770000, 4.020000, 4.030000, 4.030000, 4.030000, 4.040000, 4.050000, 4.050000, 4.050000, 4.060000, 4.070000, 3.880000, 3.930000, 4.110000, 3.200000, 3.960000, 3.720000, 3.510000, 3.320000, 3.130000, 3.010000, 2.870000, 2.720000, 2.600000, 2.500000, 2.420000, 2.320000, 2.240000, 2.180000, 2.110000, 2.030000, 1.990000, 1.920000, 1.870000, 1.820000, 1.770000, 1.740000, 1.690000, 1.670000, 1.620000, 1.580000, 1.550000, 1.540000, 1.500000, 1.470000, 1.450000, 1.410000, 1.390000, 1.380000, 1.350000, 1.330000, 1.310000, 1.280000, 1.270000, 1.250000, 1.230000, 1.220000, 1.200000, 1.200000, 1.240000, 1.270000, 1.320000, 1.360000, 1.390000, 1.430000, 5.050000, 5.000000, 4.960000, 4.930000, 4.910000, 4.870000, 2.330000, 2.310000, 2.310000, 2.310000, 2.330000, 2.580000, 2.760000, 2.970000, 3.210000, 3.500000, 3.860000, 4.290000, 4.840000, 5.540000, 6.460000, 7.990000, 10.510000, 10.510000, 10.500000, 12.870000, 12.890000, 12.670000, 12.940000, 13.010000, 13.030000, 13.070000, 15.320000, 15.360000, 3.290000, 2.770000, 2.370000, 2.180000, 1.980000, 1.810000, 1.680000, 1.560000, 1.460000, 1.410000, 1.350000, 1.290000, 1.240000, 1.200000, 1.160000, 1.120000, 1.090000, 1.050000, 1.010000, 0.990000, 0.960000, 0.940000, 0.920000, 0.890000, 0.870000, 0.850000, 0.840000, 0.820000, 0.790000, 0.780000, 0.760000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054862, 297078 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.649000, 13.384000, 2.642576 ], "estimate": [ -3.649000, 13.384000, 2.642576 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.620000, 3.780000, 3.770000, 3.770000, 3.750000, 3.900000, 4.020000, 4.020000, 4.020000, 4.030000, 4.030000, 4.040000, 4.050000, 4.050000, 4.050000, 4.000000, 3.890000, 4.090000, 3.170000, 4.010000, 3.750000, 3.540000, 3.340000, 3.130000, 2.990000, 2.840000, 2.700000, 2.560000, 2.470000, 2.370000, 2.280000, 2.200000, 2.120000, 2.060000, 1.990000, 1.920000, 1.870000, 1.820000, 1.770000, 1.720000, 1.680000, 1.640000, 1.600000, 1.570000, 1.540000, 1.510000, 1.470000, 1.450000, 1.420000, 1.390000, 1.380000, 1.340000, 1.320000, 1.300000, 1.280000, 1.260000, 1.240000, 1.220000, 1.200000, 1.190000, 1.170000, 1.150000, 1.140000, 1.190000, 1.220000, 1.270000, 1.300000, 1.340000, 1.360000, 5.030000, 4.980000, 4.940000, 4.910000, 4.870000, 4.840000, 2.330000, 2.290000, 2.250000, 2.260000, 2.260000, 2.410000, 2.560000, 2.740000, 2.960000, 3.190000, 3.480000, 3.840000, 4.260000, 4.810000, 5.510000, 6.440000, 7.940000, 10.480000, 10.470000, 10.450000, 12.810000, 12.840000, 12.620000, 12.840000, 12.950000, 12.970000, 13.000000, 15.280000, 15.310000, 3.300000, 2.750000, 2.460000, 2.190000, 2.000000, 1.840000, 1.680000, 1.580000, 1.480000, 1.390000, 1.350000, 1.290000, 1.250000, 1.200000, 1.150000, 1.120000, 1.090000, 1.050000, 1.010000, 0.990000, 0.960000, 0.930000, 0.910000, 0.900000, 0.870000, 0.860000, 0.840000, 0.820000, 0.800000, 0.780000, 0.770000, 0.750000, 0.750000, 0.740000, 0.720000, 0.710000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 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, 0.540000, 0.550000, 0.540000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 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": [ 976054862, 784214 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.700000, 13.410999, 2.642576 ], "estimate": [ -3.700000, 13.410999, 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": [ 3.780000, 3.780000, 3.770000, 3.760000, 3.790000, 4.020000, 4.020000, 4.020000, 4.020000, 4.020000, 4.030000, 4.030000, 4.040000, 4.050000, 4.050000, 3.840000, 4.080000, 3.170000, 4.060000, 3.780000, 3.540000, 3.340000, 3.120000, 2.970000, 2.820000, 2.680000, 2.520000, 2.420000, 2.320000, 2.230000, 2.160000, 2.070000, 2.000000, 1.940000, 1.870000, 1.810000, 1.770000, 1.710000, 1.670000, 1.620000, 1.580000, 1.540000, 1.520000, 1.480000, 1.440000, 1.410000, 1.390000, 1.380000, 1.340000, 1.310000, 1.280000, 1.270000, 1.240000, 1.220000, 1.200000, 1.180000, 1.160000, 1.140000, 1.130000, 1.120000, 1.090000, 1.110000, 1.150000, 1.180000, 1.230000, 1.260000, 1.280000, 1.300000, 1.390000, 4.960000, 4.930000, 4.890000, 4.860000, 4.820000, 4.780000, 2.240000, 2.220000, 2.220000, 2.200000, 2.210000, 2.400000, 2.560000, 2.740000, 2.960000, 3.200000, 3.500000, 3.860000, 4.290000, 4.840000, 5.560000, 6.540000, 7.880000, 10.410000, 10.400000, 10.410000, 12.760000, 12.790000, 12.580000, 12.890000, 12.900000, 12.910000, 15.210000, 15.230000, 15.260000, 3.450000, 2.830000, 2.470000, 2.200000, 2.010000, 1.840000, 1.700000, 1.590000, 1.480000, 1.400000, 1.340000, 1.290000, 1.250000, 1.200000, 1.150000, 1.120000, 1.080000, 1.040000, 1.010000, 0.990000, 0.960000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.830000, 0.820000, 0.790000, 0.770000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054862, 785334 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.748000, 13.436999, 2.636431 ], "estimate": [ -3.748000, 13.436999, 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": [ 3.770000, 3.770000, 3.770000, 3.760000, 4.010000, 4.010000, 4.010000, 4.010000, 4.010000, 4.010000, 4.020000, 4.030000, 4.030000, 4.040000, 3.870000, 4.060000, 3.170000, 4.060000, 3.880000, 3.610000, 3.380000, 3.170000, 2.940000, 2.830000, 2.680000, 2.500000, 2.390000, 2.290000, 2.210000, 2.120000, 2.040000, 1.970000, 1.890000, 1.840000, 1.780000, 1.720000, 1.670000, 1.630000, 1.580000, 1.540000, 1.500000, 1.480000, 1.440000, 1.400000, 1.370000, 1.360000, 1.320000, 1.290000, 1.270000, 1.240000, 1.220000, 1.190000, 1.180000, 1.150000, 1.130000, 1.110000, 1.100000, 1.080000, 1.070000, 1.050000, 1.080000, 1.110000, 1.140000, 1.170000, 1.210000, 1.250000, 1.270000, 1.290000, 4.950000, 4.920000, 4.870000, 4.830000, 4.810000, 4.770000, 2.220000, 2.190000, 2.160000, 2.170000, 2.160000, 2.190000, 2.390000, 2.540000, 2.720000, 2.920000, 3.170000, 3.470000, 3.820000, 4.250000, 4.810000, 5.510000, 6.480000, 7.840000, 10.360000, 10.350000, 10.360000, 12.720000, 12.740000, 12.520000, 12.830000, 12.850000, 12.870000, 12.920000, 15.180000, 15.210000, 3.620000, 2.910000, 2.530000, 2.220000, 2.040000, 1.870000, 1.750000, 1.610000, 1.510000, 1.430000, 1.350000, 1.280000, 1.250000, 1.200000, 1.160000, 1.120000, 1.090000, 1.050000, 1.010000, 0.990000, 0.970000, 0.930000, 0.920000, 0.900000, 0.870000, 0.850000, 0.850000, 0.830000, 0.800000, 0.780000, 0.760000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.540000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 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": [ 976054862, 891922 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.798000, 13.465000, 2.624139 ], "estimate": [ -3.798000, 13.465000, 2.624139 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.770000, 3.770000, 3.750000, 3.910000, 4.010000, 4.010000, 4.010000, 4.010000, 4.010000, 4.010000, 4.020000, 4.020000, 4.020000, 4.010000, 3.860000, 3.130000, 3.150000, 4.040000, 3.750000, 3.490000, 3.270000, 3.050000, 2.870000, 2.720000, 2.510000, 2.400000, 2.280000, 2.190000, 2.100000, 2.020000, 1.950000, 1.870000, 1.800000, 1.760000, 1.690000, 1.640000, 1.590000, 1.540000, 1.510000, 1.470000, 1.430000, 1.400000, 1.370000, 1.330000, 1.310000, 1.270000, 1.260000, 1.230000, 1.200000, 1.180000, 1.150000, 1.130000, 1.110000, 1.100000, 1.070000, 1.060000, 1.040000, 1.030000, 1.010000, 1.030000, 1.060000, 1.090000, 1.130000, 1.150000, 1.190000, 1.210000, 1.260000, 4.890000, 4.890000, 4.880000, 4.830000, 4.800000, 4.760000, 4.730000, 2.150000, 2.140000, 2.120000, 2.110000, 2.110000, 2.150000, 2.330000, 2.480000, 2.640000, 2.850000, 3.070000, 3.350000, 3.690000, 4.090000, 4.600000, 5.240000, 6.040000, 7.740000, 10.320000, 10.310000, 10.300000, 12.660000, 12.690000, 12.470000, 12.490000, 12.800000, 12.820000, 12.840000, 15.130000, 15.150000, 4.140000, 3.090000, 2.660000, 2.370000, 2.140000, 1.940000, 1.780000, 1.690000, 1.560000, 1.470000, 1.390000, 1.330000, 1.260000, 1.220000, 1.180000, 1.140000, 1.100000, 1.060000, 1.030000, 0.990000, 0.980000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.840000, 0.830000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.690000, 0.690000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.540000, 0.530000, 0.530000, 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": [ 976054863, 285763 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.853000, 13.495999, 2.630285 ], "estimate": [ -3.853000, 13.495999, 2.630285 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.770000, 3.750000, 3.770000, 4.010000, 4.010000, 4.010000, 4.010000, 4.010000, 4.010000, 4.010000, 4.020000, 4.020000, 4.020000, 3.830000, 3.110000, 3.140000, 4.050000, 3.780000, 3.500000, 3.260000, 3.050000, 2.820000, 2.690000, 2.460000, 2.340000, 2.230000, 2.130000, 2.030000, 1.950000, 1.880000, 1.810000, 1.750000, 1.670000, 1.630000, 1.570000, 1.540000, 1.490000, 1.440000, 1.400000, 1.370000, 1.340000, 1.300000, 1.270000, 1.240000, 1.220000, 1.190000, 1.160000, 1.130000, 1.120000, 1.090000, 1.080000, 1.050000, 1.030000, 1.010000, 0.990000, 0.980000, 0.970000, 0.980000, 1.000000, 1.030000, 1.050000, 1.090000, 1.110000, 1.150000, 1.170000, 1.210000, 4.850000, 4.840000, 4.850000, 4.810000, 4.760000, 4.740000, 4.700000, 4.660000, 2.100000, 2.090000, 2.060000, 2.050000, 2.050000, 2.150000, 2.310000, 2.450000, 2.630000, 2.830000, 3.040000, 3.330000, 3.650000, 4.060000, 4.570000, 5.210000, 6.050000, 7.680000, 10.260000, 10.260000, 10.250000, 12.600000, 12.620000, 12.420000, 12.440000, 12.750000, 12.760000, 12.780000, 15.060000, 15.100000, 15.130000, 3.260000, 2.740000, 2.410000, 2.170000, 1.960000, 1.810000, 1.680000, 1.580000, 1.480000, 1.410000, 1.340000, 1.280000, 1.220000, 1.170000, 1.140000, 1.100000, 1.060000, 1.030000, 1.000000, 0.970000, 0.940000, 0.920000, 0.910000, 0.880000, 0.860000, 0.850000, 0.830000, 0.810000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.540000, 0.530000, 0.530000, 0.540000, 0.530000, 0.530000, 0.530000, 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": [ 976054863, 286903 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.906000, 13.526000, 2.624139 ], "estimate": [ -3.906000, 13.526000, 2.624139 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.750000, 3.860000, 4.010000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.010000, 4.010000, 4.010000, 4.010000, 3.820000, 3.130000, 3.150000, 4.050000, 3.740000, 3.460000, 3.200000, 2.980000, 2.770000, 2.520000, 2.380000, 2.240000, 2.130000, 2.030000, 1.940000, 1.860000, 1.790000, 1.730000, 1.660000, 1.590000, 1.540000, 1.490000, 1.450000, 1.400000, 1.370000, 1.320000, 1.280000, 1.260000, 1.220000, 1.200000, 1.170000, 1.140000, 1.120000, 1.090000, 1.070000, 1.040000, 1.020000, 1.000000, 0.980000, 0.960000, 0.940000, 0.920000, 0.920000, 0.930000, 0.960000, 0.980000, 1.000000, 1.020000, 1.050000, 1.080000, 1.120000, 1.130000, 4.960000, 4.810000, 4.860000, 4.820000, 4.790000, 4.740000, 4.700000, 4.660000, 4.620000, 2.070000, 2.040000, 2.010000, 2.000000, 2.000000, 2.020000, 2.200000, 2.330000, 2.500000, 2.660000, 2.850000, 3.100000, 3.390000, 3.730000, 4.150000, 4.680000, 5.360000, 6.300000, 7.670000, 10.200000, 10.190000, 10.190000, 12.560000, 12.580000, 12.360000, 12.440000, 12.700000, 12.710000, 12.760000, 15.010000, 15.050000, 4.860000, 3.210000, 2.710000, 2.400000, 2.160000, 1.950000, 1.800000, 1.680000, 1.600000, 1.480000, 1.410000, 1.340000, 1.280000, 1.220000, 1.170000, 1.130000, 1.100000, 1.050000, 1.020000, 0.990000, 0.970000, 0.940000, 0.920000, 0.900000, 0.870000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 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": [ 976054863, 417132 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.931000, 13.540000, 2.624139 ], "estimate": [ -3.931000, 13.540000, 2.624139 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.760000, 4.010000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.010000, 3.810000, 3.110000, 3.130000, 4.030000, 3.800000, 3.500000, 3.210000, 2.960000, 2.660000, 2.480000, 2.320000, 2.180000, 2.070000, 1.960000, 1.870000, 1.780000, 1.710000, 1.650000, 1.580000, 1.520000, 1.480000, 1.420000, 1.360000, 1.340000, 1.280000, 1.250000, 1.210000, 1.180000, 1.150000, 1.120000, 1.110000, 1.070000, 1.040000, 1.020000, 1.000000, 0.980000, 0.950000, 0.930000, 0.910000, 0.880000, 0.870000, 0.870000, 0.880000, 0.900000, 0.920000, 0.950000, 0.970000, 1.000000, 1.020000, 1.040000, 1.070000, 1.100000, 4.800000, 4.820000, 4.850000, 4.810000, 4.760000, 4.720000, 4.670000, 4.640000, 4.600000, 4.560000, 1.980000, 1.970000, 1.950000, 1.950000, 1.940000, 1.990000, 2.180000, 2.320000, 2.460000, 2.640000, 2.840000, 3.070000, 3.360000, 3.680000, 4.110000, 4.640000, 5.310000, 6.220000, 7.620000, 10.140000, 10.130000, 10.140000, 12.490000, 12.520000, 12.300000, 12.370000, 12.660000, 12.680000, 12.710000, 14.950000, 14.980000, 15.020000, 3.380000, 2.790000, 2.450000, 2.200000, 2.000000, 1.830000, 1.700000, 1.600000, 1.520000, 1.420000, 1.360000, 1.300000, 1.230000, 1.190000, 1.140000, 1.100000, 1.060000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 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": [ 976054864, 693382 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.977000, 13.566000, 2.611848 ], "estimate": [ -3.977000, 13.566000, 2.611848 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.990000, 4.000000, 4.000000, 4.000000, 3.990000, 3.990000, 3.990000, 3.990000, 4.000000, 4.000000, 3.960000, 3.780000, 3.090000, 4.010000, 4.010000, 3.680000, 3.360000, 3.080000, 2.830000, 2.510000, 2.340000, 2.200000, 2.050000, 1.940000, 1.840000, 1.750000, 1.670000, 1.610000, 1.530000, 1.480000, 1.420000, 1.380000, 1.340000, 1.290000, 1.250000, 1.200000, 1.160000, 1.120000, 1.100000, 1.080000, 1.050000, 1.020000, 1.000000, 0.970000, 0.940000, 0.920000, 0.900000, 0.870000, 0.860000, 0.830000, 0.850000, 0.830000, 0.850000, 0.870000, 0.900000, 0.910000, 0.930000, 0.960000, 0.980000, 1.010000, 1.020000, 1.040000, 4.930000, 4.770000, 4.860000, 4.810000, 4.760000, 4.710000, 4.670000, 4.640000, 4.600000, 4.560000, 4.520000, 1.930000, 1.920000, 1.890000, 1.900000, 1.890000, 1.920000, 2.110000, 2.240000, 2.380000, 2.530000, 2.730000, 2.960000, 3.220000, 3.520000, 3.900000, 4.380000, 4.990000, 5.780000, 6.800000, 10.100000, 10.080000, 10.080000, 10.110000, 12.450000, 12.280000, 12.260000, 12.610000, 12.620000, 12.640000, 14.900000, 14.920000, 14.950000, 3.800000, 3.060000, 2.630000, 2.350000, 2.120000, 1.950000, 1.770000, 1.660000, 1.560000, 1.500000, 1.400000, 1.340000, 1.280000, 1.220000, 1.170000, 1.130000, 1.080000, 1.040000, 1.000000, 0.990000, 0.960000, 0.930000, 0.910000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 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": [ 976054864, 694514 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.024000, 13.593000, 2.611848 ], "estimate": [ -4.024000, 13.593000, 2.611848 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.010000, 4.000000, 4.000000, 3.990000, 3.990000, 3.980000, 3.980000, 3.990000, 3.990000, 3.990000, 3.780000, 3.040000, 3.950000, 4.000000, 3.870000, 3.490000, 3.170000, 2.880000, 2.630000, 2.350000, 2.220000, 2.030000, 1.910000, 1.800000, 1.700000, 1.620000, 1.550000, 1.490000, 1.430000, 1.380000, 1.330000, 1.270000, 1.230000, 1.190000, 1.150000, 1.110000, 1.080000, 1.050000, 1.020000, 1.000000, 0.970000, 0.930000, 0.920000, 0.890000, 0.870000, 0.850000, 0.830000, 0.800000, 0.800000, 0.810000, 0.810000, 0.830000, 0.840000, 0.850000, 0.880000, 0.900000, 0.910000, 0.940000, 0.980000, 0.990000, 1.010000, 4.980000, 4.930000, 4.710000, 4.710000, 4.760000, 4.710000, 4.660000, 4.640000, 4.590000, 4.550000, 4.510000, 1.930000, 1.880000, 1.860000, 1.860000, 1.850000, 1.860000, 1.920000, 2.080000, 2.200000, 2.340000, 2.500000, 2.680000, 2.880000, 3.140000, 3.440000, 3.800000, 4.260000, 4.840000, 5.570000, 6.560000, 10.060000, 10.040000, 10.030000, 10.040000, 12.410000, 12.350000, 12.210000, 12.550000, 12.550000, 12.570000, 14.850000, 14.880000, 14.900000, 4.710000, 3.290000, 2.760000, 2.420000, 2.190000, 1.990000, 1.820000, 1.690000, 1.590000, 1.500000, 1.450000, 1.360000, 1.310000, 1.250000, 1.190000, 1.140000, 1.100000, 1.060000, 1.020000, 0.990000, 0.960000, 0.930000, 0.920000, 0.900000, 0.880000, 0.850000, 0.840000, 0.820000, 0.800000, 0.780000, 0.760000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.690000, 0.690000, 0.670000, 0.670000, 0.660000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 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, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 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": [ 976054864, 695510 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.071000, 13.620000, 2.611848 ], "estimate": [ -4.071000, 13.620000, 2.611848 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.000000, 4.000000, 3.990000, 3.980000, 3.970000, 3.980000, 3.980000, 3.980000, 3.980000, 3.780000, 3.050000, 3.990000, 4.000000, 3.850000, 3.450000, 3.100000, 2.810000, 2.550000, 2.260000, 2.130000, 1.940000, 1.820000, 1.710000, 1.610000, 1.530000, 1.470000, 1.410000, 1.340000, 1.300000, 1.230000, 1.200000, 1.160000, 1.110000, 1.070000, 1.030000, 1.000000, 0.980000, 0.940000, 0.930000, 0.900000, 0.870000, 0.850000, 0.830000, 0.800000, 0.780000, 0.770000, 0.780000, 0.770000, 0.790000, 0.800000, 0.820000, 0.830000, 0.840000, 0.870000, 0.880000, 0.910000, 0.930000, 0.930000, 0.950000, 0.990000, 4.970000, 4.920000, 4.850000, 4.640000, 4.650000, 4.690000, 4.650000, 4.610000, 4.570000, 4.520000, 4.480000, 4.450000, 1.840000, 1.830000, 1.810000, 1.810000, 1.800000, 1.840000, 1.980000, 2.090000, 2.220000, 2.360000, 2.520000, 2.710000, 2.940000, 3.210000, 3.510000, 3.890000, 4.390000, 5.020000, 5.810000, 7.090000, 10.000000, 10.000000, 10.000000, 12.350000, 12.360000, 12.160000, 12.160000, 12.500000, 12.510000, 12.530000, 14.790000, 14.830000, 14.860000, 4.630000, 3.180000, 2.680000, 2.390000, 2.170000, 1.970000, 1.800000, 1.680000, 1.590000, 1.500000, 1.420000, 1.360000, 1.300000, 1.240000, 1.190000, 1.140000, 1.100000, 1.060000, 1.020000, 0.980000, 0.960000, 0.930000, 0.920000, 0.890000, 0.870000, 0.850000, 0.840000, 0.820000, 0.800000, 0.780000, 0.760000, 0.760000, 0.740000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 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": [ 976054864, 696529 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.122000, 13.650000, 2.599557 ], "estimate": [ -4.122000, 13.650000, 2.599557 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.000000, 3.990000, 3.980000, 3.980000, 3.980000, 3.970000, 3.970000, 3.970000, 3.760000, 3.060000, 3.050000, 3.990000, 3.990000, 3.630000, 3.230000, 2.890000, 2.610000, 2.260000, 2.180000, 1.930000, 1.770000, 1.660000, 1.560000, 1.470000, 1.400000, 1.330000, 1.280000, 1.220000, 1.170000, 1.120000, 1.080000, 1.050000, 1.010000, 0.970000, 0.930000, 0.910000, 0.870000, 0.860000, 0.840000, 0.810000, 0.780000, 0.760000, 0.740000, 0.740000, 0.740000, 0.750000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.830000, 0.840000, 0.850000, 0.870000, 0.890000, 0.900000, 0.930000, 3.760000, 3.740000, 4.930000, 4.870000, 4.810000, 4.750000, 4.600000, 4.650000, 4.610000, 4.560000, 4.520000, 4.470000, 4.440000, 1.810000, 1.800000, 1.770000, 1.760000, 1.760000, 1.750000, 1.790000, 1.950000, 2.060000, 2.180000, 2.320000, 2.470000, 2.650000, 2.860000, 3.120000, 3.410000, 3.770000, 4.230000, 4.800000, 5.560000, 6.490000, 9.960000, 9.940000, 9.950000, 9.950000, 12.310000, 12.270000, 12.110000, 12.450000, 12.460000, 12.470000, 12.600000, 14.780000, 14.800000, 14.840000, 3.520000, 2.850000, 2.510000, 2.260000, 2.050000, 1.870000, 1.730000, 1.620000, 1.540000, 1.460000, 1.390000, 1.330000, 1.270000, 1.230000, 1.170000, 1.120000, 1.090000, 1.050000, 1.000000, 0.980000, 0.930000, 0.930000, 0.900000, 0.870000, 0.860000, 0.840000, 0.820000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054864, 697461 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.174000, 13.681000, 2.587266 ], "estimate": [ -4.174000, 13.681000, 2.587266 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.000000, 3.990000, 3.980000, 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 3.050000, 3.050000, 3.980000, 3.980000, 3.860000, 3.360000, 2.960000, 2.620000, 2.250000, 2.040000, 1.950000, 1.710000, 1.580000, 1.480000, 1.390000, 1.310000, 1.260000, 1.200000, 1.140000, 1.090000, 1.050000, 1.000000, 0.960000, 0.920000, 0.890000, 0.850000, 0.830000, 0.800000, 0.780000, 0.750000, 0.740000, 0.710000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.750000, 0.760000, 0.760000, 0.780000, 0.780000, 0.800000, 0.810000, 0.830000, 0.860000, 0.850000, 0.860000, 0.910000, null, 3.690000, 4.900000, 4.880000, 4.810000, 4.750000, 4.700000, 4.550000, 4.600000, 4.560000, 4.510000, 4.470000, 4.430000, 4.390000, 1.760000, 1.740000, 1.720000, 1.710000, 1.700000, 1.700000, 1.720000, 1.900000, 2.010000, 2.120000, 2.250000, 2.400000, 2.580000, 2.770000, 3.010000, 3.290000, 3.630000, 4.050000, 4.610000, 5.290000, 6.320000, 7.340000, 9.890000, 9.890000, 9.880000, 12.260000, 12.270000, 12.060000, 12.160000, 12.410000, 12.410000, 12.450000, 14.710000, 14.740000, 14.790000, 4.220000, 3.140000, 2.690000, 2.370000, 2.150000, 1.960000, 1.800000, 1.690000, 1.600000, 1.500000, 1.440000, 1.360000, 1.310000, 1.260000, 1.200000, 1.150000, 1.110000, 1.070000, 1.040000, 0.990000, 0.960000, 0.930000, 0.910000, 0.880000, 0.860000, 0.850000, 0.830000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976054864, 698364 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.227000, 13.714001, 2.581121 ], "estimate": [ -4.227000, 13.714001, 2.581121 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.990000, 3.990000, 3.970000, 3.970000, 3.970000, 3.960000, 3.960000, 3.920000, 3.030000, 3.950000, 3.970000, 3.970000, 3.600000, 3.090000, 2.690000, 2.230000, 2.000000, 1.930000, 1.660000, 1.510000, 1.390000, 1.290000, 1.210000, 1.150000, 1.090000, 1.040000, 1.000000, 0.950000, 0.910000, 0.860000, 0.840000, 0.800000, 0.770000, 0.740000, 0.710000, 0.680000, 0.660000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.770000, 0.780000, 0.800000, 0.800000, 0.820000, 0.800000, 5.180000, 5.100000, null, 3.640000, 4.890000, 4.830000, 4.760000, 4.710000, 4.650000, 4.490000, 4.560000, 4.510000, 4.470000, 4.420000, 4.380000, 4.340000, 1.710000, 1.690000, 1.660000, 1.650000, 1.640000, 1.650000, 1.700000, 1.840000, 1.940000, 2.050000, 2.170000, 2.320000, 2.480000, 2.660000, 2.880000, 3.150000, 3.450000, 3.840000, 4.340000, 4.950000, 5.780000, 7.300000, 9.840000, 9.840000, 9.830000, 12.190000, 12.210000, 12.000000, 12.010000, 12.340000, 12.350000, 12.370000, 14.660000, 14.670000, 14.710000, 14.750000, 3.530000, 2.900000, 2.530000, 2.280000, 2.070000, 1.910000, 1.760000, 1.640000, 1.550000, 1.480000, 1.410000, 1.340000, 1.280000, 1.240000, 1.180000, 1.140000, 1.100000, 1.060000, 1.020000, 0.990000, 0.950000, 0.920000, 0.910000, 0.880000, 0.850000, 0.840000, 0.820000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054864, 736750 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.276000, 13.744000, 2.581121 ], "estimate": [ -4.276000, 13.744000, 2.581121 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.980000, 3.970000, 3.970000, 3.960000, 3.960000, 3.950000, 3.030000, 3.050000, 3.950000, 3.960000, 3.960000, 3.600000, 3.000000, 2.350000, 2.050000, 1.830000, 1.750000, 1.470000, 1.340000, 1.220000, 1.130000, 1.060000, 1.000000, 0.940000, 0.900000, 0.840000, 0.810000, 0.760000, 0.740000, 0.700000, 0.670000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.720000, 0.720000, 0.740000, 0.750000, 0.770000, 0.760000, 0.760000, 0.770000, 4.740000, 4.450000, 4.440000, 5.090000, 5.060000, 3.600000, null, 4.810000, 4.750000, 4.680000, 4.630000, 4.430000, 4.450000, 4.480000, 4.440000, 4.390000, 4.340000, 4.300000, 1.670000, 1.630000, 1.600000, 1.590000, 1.590000, 1.580000, 1.600000, 1.730000, 1.830000, 1.920000, 2.030000, 2.160000, 2.290000, 2.450000, 2.630000, 2.850000, 3.110000, 3.410000, 3.780000, 4.280000, 4.900000, 5.720000, 7.250000, 9.780000, 9.770000, 9.770000, 12.130000, 12.150000, 11.940000, 11.940000, 12.280000, 12.290000, 12.300000, 14.580000, 14.610000, 14.650000, 14.680000, 3.520000, 3.020000, 2.590000, 2.340000, 2.100000, 1.940000, 1.800000, 1.680000, 1.580000, 1.500000, 1.430000, 1.370000, 1.320000, 1.260000, 1.220000, 1.170000, 1.120000, 1.090000, 1.050000, 1.010000, 0.980000, 0.950000, 0.920000, 0.890000, 0.870000, 0.850000, 0.840000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.700000, 0.700000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054865, 528699 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.320000, 13.771999, 2.568830 ], "estimate": [ -4.320000, 13.771999, 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": [ 3.980000, 3.970000, 3.960000, 3.960000, 3.950000, 3.910000, 3.020000, 3.930000, 3.950000, 3.950000, 3.900000, 3.150000, 2.340000, 2.000000, 1.730000, 1.540000, 1.370000, 1.240000, 1.120000, 1.020000, 0.940000, 0.880000, 0.830000, 0.790000, 0.730000, 0.690000, 0.660000, 0.620000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.690000, 0.700000, 0.710000, 0.710000, 0.730000, 0.720000, 0.720000, 0.740000, 0.760000, 4.330000, 4.420000, 4.490000, 4.370000, 5.080000, 5.040000, 3.640000, null, 3.540000, 4.760000, 4.700000, 4.640000, 4.580000, 4.390000, 4.420000, 4.440000, 4.390000, 4.340000, 4.300000, 4.260000, 1.590000, 1.580000, 1.560000, 1.550000, 1.550000, 1.540000, 1.580000, 1.700000, 1.790000, 1.890000, 1.990000, 2.110000, 2.240000, 2.400000, 2.580000, 2.790000, 3.050000, 3.350000, 3.710000, 4.180000, 4.770000, 5.550000, 6.610000, 9.730000, 9.730000, 9.730000, 9.720000, 12.090000, 11.990000, 11.900000, 12.220000, 12.240000, 12.260000, 14.540000, 14.570000, 14.590000, 14.630000, 4.390000, 3.210000, 2.750000, 2.430000, 2.200000, 2.010000, 1.850000, 1.730000, 1.610000, 1.530000, 1.470000, 1.400000, 1.340000, 1.290000, 1.240000, 1.190000, 1.140000, 1.100000, 1.070000, 1.040000, 1.000000, 0.960000, 0.920000, 0.920000, 0.890000, 0.860000, 0.850000, 0.840000, 0.810000, 0.790000, 0.770000, 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, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054865, 137248 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.367000, 13.801999, 2.568830 ], "estimate": [ -4.367000, 13.801999, 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": [ 3.970000, 3.960000, 3.950000, 3.950000, 3.950000, 3.010000, 3.060000, 3.940000, 3.940000, 3.940000, 3.450000, 2.330000, 1.900000, 1.600000, 1.370000, 1.220000, 1.080000, 0.960000, 0.870000, 0.780000, 0.720000, 0.660000, 0.610000, 0.590000, 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, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.680000, 0.680000, 0.680000, 0.700000, 0.740000, 4.080000, 4.230000, 4.300000, 4.380000, 4.430000, 4.320000, 4.990000, 4.990000, null, null, 4.730000, 4.710000, 4.650000, 4.580000, 4.480000, 4.350000, 4.430000, 4.380000, 4.330000, 4.300000, 4.250000, 1.560000, 1.540000, 1.510000, 1.500000, 1.500000, 1.490000, 1.500000, 1.510000, 1.660000, 1.740000, 1.830000, 1.920000, 2.050000, 2.180000, 2.320000, 2.480000, 2.680000, 2.920000, 3.200000, 3.530000, 3.960000, 4.490000, 5.190000, 6.160000, 7.230000, 9.670000, 9.670000, 9.680000, 12.030000, 12.050000, 11.840000, 11.950000, 12.180000, 12.200000, 12.230000, 14.500000, 14.530000, 14.570000, 14.610000, 3.420000, 2.950000, 2.580000, 2.330000, 2.110000, 1.940000, 1.800000, 1.680000, 1.590000, 1.510000, 1.440000, 1.390000, 1.330000, 1.270000, 1.220000, 1.180000, 1.130000, 1.100000, 1.060000, 1.020000, 0.990000, 0.960000, 0.930000, 0.910000, 0.880000, 0.870000, 0.850000, 0.830000, 0.810000, 0.790000, 0.770000, 0.770000, 0.730000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 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, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054865, 471114 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.418000, 13.835000, 2.556539 ], "estimate": [ -4.418000, 13.835000, 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": [ 3.960000, 3.950000, 3.950000, 3.940000, 3.010000, 3.020000, 3.930000, 3.930000, 3.930000, 3.700000, 2.230000, 1.680000, 1.360000, 1.150000, 0.990000, 0.880000, 0.780000, 0.690000, 0.600000, 0.560000, 0.560000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.600000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 4.240000, 4.160000, 4.100000, 3.940000, 4.220000, 4.290000, 4.360000, 4.310000, 4.310000, 5.010000, 3.570000, null, 3.460000, 4.720000, 4.650000, 4.590000, 4.530000, 4.400000, 4.300000, 4.370000, 4.330000, 4.290000, 4.240000, 4.190000, 1.500000, 1.480000, 1.450000, 1.450000, 1.440000, 1.440000, 1.440000, 1.560000, 1.630000, 1.700000, 1.800000, 1.900000, 2.020000, 2.140000, 2.280000, 2.440000, 2.620000, 2.870000, 3.130000, 3.450000, 3.870000, 4.380000, 5.060000, 6.040000, 7.070000, 9.610000, 9.610000, 9.600000, 11.980000, 12.010000, 11.790000, 11.820000, 12.130000, 12.130000, 12.160000, 14.450000, 14.480000, 14.520000, 14.560000, 4.100000, 3.140000, 2.710000, 2.430000, 2.190000, 2.010000, 1.860000, 1.740000, 1.630000, 1.540000, 1.480000, 1.410000, 1.350000, 1.300000, 1.240000, 1.200000, 1.150000, 1.110000, 1.090000, 1.040000, 1.000000, 0.980000, 0.950000, 0.930000, 0.900000, 0.880000, 0.860000, 0.850000, 0.830000, 0.810000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054865, 582152 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.469000, 13.868000, 2.556539 ], "estimate": [ -4.469000, 13.868000, 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": [ 3.960000, 3.950000, 3.940000, 3.020000, 3.020000, 3.920000, 3.920000, 3.920000, 3.910000, 1.900000, 1.250000, 0.910000, 0.680000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.580000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.640000, 4.690000, 4.740000, 4.560000, 4.850000, 4.180000, 4.090000, 3.890000, 4.090000, 4.170000, 4.260000, 4.400000, 4.290000, 4.220000, 4.950000, 4.930000, null, null, 4.650000, 4.590000, 4.530000, 4.460000, 4.260000, 4.280000, 4.310000, 4.280000, 4.220000, 4.170000, 1.550000, 1.430000, 1.410000, 1.400000, 1.390000, 1.390000, 1.380000, 1.410000, 1.510000, 1.580000, 1.660000, 1.740000, 1.830000, 1.940000, 2.050000, 2.190000, 2.350000, 2.520000, 2.730000, 2.990000, 3.270000, 3.650000, 4.150000, 4.750000, 5.550000, 7.020000, 9.560000, 9.560000, 9.560000, 11.920000, 11.930000, 11.750000, 11.740000, 12.060000, 12.070000, 12.100000, 14.380000, 14.400000, 14.440000, 14.490000, 14.510000, 3.450000, 2.960000, 2.610000, 2.320000, 2.120000, 1.960000, 1.830000, 1.700000, 1.600000, 1.520000, 1.460000, 1.390000, 1.350000, 1.290000, 1.240000, 1.200000, 1.150000, 1.120000, 1.090000, 1.050000, 1.010000, 0.980000, 0.950000, 0.930000, 0.910000, 0.880000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054865, 922924 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.518000, 13.900000, 2.550393 ], "estimate": [ -4.518000, 13.900000, 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": [ 3.950000, 3.940000, 3.010000, 3.000000, 3.720000, 3.910000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.570000, 0.580000, 0.580000, 0.590000, 2.540000, 4.540000, 4.560000, 4.600000, 4.670000, 4.500000, 4.580000, 4.400000, 4.100000, 4.010000, 3.860000, 4.110000, 4.170000, 4.250000, 4.320000, 4.210000, 4.720000, 4.890000, null, null, 4.630000, 4.590000, 4.530000, 4.460000, 4.400000, 4.210000, 4.300000, 4.260000, 4.210000, 4.160000, 4.120000, 1.380000, 1.380000, 1.340000, 1.340000, 1.330000, 1.330000, 1.320000, 1.410000, 1.480000, 1.550000, 1.620000, 1.710000, 1.800000, 1.910000, 2.030000, 2.160000, 2.300000, 2.480000, 2.680000, 2.940000, 3.240000, 3.590000, 4.060000, 4.650000, 5.420000, 6.960000, 9.510000, 9.500000, 9.500000, 9.510000, 11.870000, 11.750000, 11.680000, 12.000000, 12.020000, 12.040000, 12.150000, 14.350000, 14.380000, 14.410000, 14.470000, 3.780000, 3.090000, 2.710000, 2.420000, 2.190000, 2.010000, 1.870000, 1.750000, 1.640000, 1.570000, 1.480000, 1.430000, 1.370000, 1.320000, 1.270000, 1.220000, 1.180000, 1.140000, 1.100000, 1.060000, 1.030000, 1.000000, 0.970000, 0.950000, 0.930000, 0.900000, 0.880000, 0.860000, 0.850000, 0.830000, 0.810000, 0.790000, 0.770000, 0.770000, 0.750000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054865, 942602 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.561000, 13.929000, 2.544248 ], "estimate": [ -4.561000, 13.929000, 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": [ 3.940000, 0.570000, 0.540000, 0.550000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.560000, 0.570000, 0.550000, 0.550000, 0.550000, 0.560000, 0.570000, 4.310000, 4.350000, null, 2.490000, 2.520000, 4.520000, 4.530000, 4.610000, 4.660000, 4.220000, 4.770000, 4.130000, 4.040000, 3.880000, 3.860000, 4.090000, 4.150000, 4.240000, 4.200000, 4.180000, 4.910000, 4.870000, null, 3.290000, 4.610000, 4.530000, 4.460000, 4.420000, 4.350000, 4.140000, 4.150000, 4.200000, 4.160000, 4.100000, 1.340000, 1.320000, 1.300000, 1.290000, 1.280000, 1.270000, 1.280000, 1.310000, 1.390000, 1.440000, 1.500000, 1.570000, 1.660000, 1.750000, 1.850000, 1.950000, 2.080000, 2.220000, 2.410000, 2.610000, 2.850000, 3.140000, 3.480000, 3.920000, 4.470000, 5.200000, 6.050000, 9.460000, 9.460000, 9.450000, 9.430000, 11.830000, 11.820000, 11.620000, 11.930000, 11.950000, 11.970000, 12.020000, 14.300000, 14.330000, 14.370000, 14.410000, 4.170000, 3.200000, 2.860000, 2.550000, 2.290000, 2.080000, 1.930000, 1.810000, 1.690000, 1.610000, 1.540000, 1.470000, 1.390000, 1.350000, 1.300000, 1.250000, 1.200000, 1.170000, 1.120000, 1.090000, 1.060000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.850000, 0.830000, 0.810000, 0.790000, 0.770000, 0.770000, 0.750000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054866, 162232 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.608000, 13.960999, 2.538102 ], "estimate": [ -4.608000, 13.960999, 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": [ 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.530000, 0.530000, 0.530000, 0.540000, 0.620000, 0.720000, 4.200000, 4.240000, 3.390000, 4.290000, 4.290000, null, 2.460000, 4.420000, 4.490000, 3.670000, 4.580000, 4.630000, 4.190000, 4.750000, 4.070000, 3.960000, 3.740000, 4.000000, 4.060000, 4.150000, 4.200000, 4.150000, 4.130000, 4.860000, 4.800000, null, null, 4.560000, 4.480000, 4.430000, 4.360000, 4.300000, 4.100000, 4.210000, 4.160000, 4.100000, 1.320000, 1.290000, 1.280000, 1.240000, 1.240000, 1.240000, 1.230000, 1.230000, 1.260000, 1.340000, 1.410000, 1.460000, 1.540000, 1.620000, 1.710000, 1.800000, 1.910000, 2.030000, 2.170000, 2.340000, 2.530000, 2.760000, 3.030000, 3.360000, 3.760000, 4.290000, 4.940000, 5.900000, 6.950000, 9.410000, 9.400000, 9.400000, 11.760000, 11.790000, 11.560000, 11.610000, 11.910000, 11.930000, 11.940000, 14.240000, 14.280000, 14.300000, 14.340000, 14.390000, 3.660000, 3.040000, 2.650000, 2.390000, 2.190000, 2.010000, 1.860000, 1.780000, 1.660000, 1.580000, 1.500000, 1.440000, 1.380000, 1.330000, 1.270000, 1.230000, 1.180000, 1.150000, 1.110000, 1.080000, 1.040000, 1.010000, 0.980000, 0.950000, 0.930000, 0.920000, 0.900000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.560000, 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, 0, 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 ], "timestamp": [ 976054866, 538321 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.656000, 13.995000, 2.525811 ], "estimate": [ -4.656000, 13.995000, 2.525811 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.530000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.530000, 0.530000, 0.530000, 0.510000, 0.510000, 0.510000, 0.520000, 0.600000, 0.700000, 0.700000, 0.700000, 4.100000, 4.130000, 4.170000, 4.190000, 3.390000, 4.250000, 4.270000, null, 2.430000, 4.410000, 4.440000, 3.600000, 4.520000, 4.570000, 4.440000, 4.280000, 4.430000, 3.990000, 3.910000, 3.730000, 3.970000, 4.040000, 4.110000, 4.340000, 4.110000, 4.060000, 4.800000, null, null, 3.210000, 4.490000, 4.430000, 4.360000, 4.300000, 4.250000, 4.170000, 4.040000, 4.100000, 4.040000, 1.230000, 1.220000, 1.190000, 1.180000, 1.190000, 1.180000, 1.180000, 1.210000, 1.260000, 1.310000, 1.360000, 1.420000, 1.490000, 1.570000, 1.650000, 1.740000, 1.840000, 1.960000, 2.080000, 2.250000, 2.430000, 2.650000, 2.920000, 3.210000, 3.580000, 4.070000, 4.670000, 5.540000, 6.820000, 9.350000, 9.340000, 9.350000, 11.700000, 11.720000, 11.510000, 11.520000, 11.840000, 11.850000, 11.860000, 14.170000, 14.200000, 14.240000, 14.270000, 14.320000, 4.030000, 3.280000, 2.860000, 2.550000, 2.300000, 2.090000, 1.940000, 1.830000, 1.710000, 1.630000, 1.560000, 1.490000, 1.420000, 1.360000, 1.320000, 1.260000, 1.220000, 1.170000, 1.140000, 1.100000, 1.070000, 1.040000, 1.010000, 0.990000, 0.960000, 0.930000, 0.920000, 0.900000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.610000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 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, 0, 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": [ 976054866, 552428 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.706000, 14.030000, 2.519666 ], "estimate": [ -4.706000, 14.030000, 2.519666 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.530000, 0.530000, 0.500000, 0.490000, 0.500000, 0.500000, 0.500000, 0.540000, 0.670000, 0.680000, 0.640000, 0.680000, 4.000000, 4.030000, 4.040000, 4.060000, 4.090000, 3.970000, 4.140000, 4.170000, 3.320000, 4.200000, null, 2.400000, 4.330000, 4.370000, 4.410000, 3.590000, 4.490000, 4.540000, 4.070000, 4.630000, 4.000000, 3.920000, 3.840000, 3.680000, 3.950000, 4.010000, 4.090000, 4.380000, 4.030000, 4.060000, 3.270000, null, 3.180000, 4.480000, 4.450000, 4.380000, 4.310000, 4.260000, 4.210000, 4.030000, 3.990000, 4.050000, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.160000, 1.220000, 1.260000, 1.330000, 1.390000, 1.450000, 1.530000, 1.600000, 1.690000, 1.780000, 1.900000, 2.010000, 2.180000, 2.340000, 2.550000, 2.780000, 3.080000, 3.420000, 3.860000, 4.430000, 5.180000, 6.220000, 9.300000, 9.290000, 9.290000, 9.280000, 11.670000, 11.690000, 11.460000, 11.780000, 11.790000, 11.810000, 11.890000, 14.140000, 14.170000, 14.220000, 14.250000, 14.300000, 3.700000, 3.060000, 2.720000, 2.440000, 2.220000, 2.030000, 1.890000, 1.780000, 1.690000, 1.620000, 1.540000, 1.480000, 1.410000, 1.350000, 1.300000, 1.260000, 1.200000, 1.170000, 1.140000, 1.100000, 1.070000, 1.030000, 1.000000, 0.990000, 0.960000, 0.930000, 0.930000, 0.900000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000, 0.600000, 0.580000, 0.580000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054866, 742025 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.754000, 14.063001, 2.525811 ], "estimate": [ -4.754000, 14.063001, 2.525811 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.520000, 0.520000, 0.520000, 0.520000, 0.490000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.550000, 0.620000, 0.670000, 0.670000, 0.650000, 0.640000, 1.020000, 3.930000, 3.950000, 3.970000, 3.980000, 4.000000, 4.010000, 4.040000, 4.050000, 4.070000, 4.060000, 4.130000, 3.720000, 4.190000, null, 2.390000, 4.260000, 4.310000, 4.350000, 3.640000, 4.440000, 4.480000, 4.530000, 4.040000, 4.620000, 3.920000, 3.830000, 3.710000, 3.880000, 3.940000, 4.010000, 4.070000, 3.980000, 4.000000, 4.710000, 3.240000, null, 3.130000, 4.440000, 4.370000, 4.300000, 4.250000, 4.190000, 4.130000, 3.920000, 3.930000, 1.130000, 1.120000, 1.090000, 1.080000, 1.080000, 1.080000, 1.070000, 1.070000, 1.100000, 1.150000, 1.180000, 1.250000, 1.290000, 1.360000, 1.420000, 1.480000, 1.560000, 1.650000, 1.730000, 1.840000, 1.960000, 2.120000, 2.280000, 2.480000, 2.710000, 2.990000, 3.320000, 3.750000, 4.280000, 5.000000, 5.820000, 9.240000, 9.230000, 9.220000, 9.230000, 11.600000, 11.620000, 11.410000, 11.640000, 11.730000, 11.740000, 11.760000, 14.070000, 14.110000, 14.150000, 14.200000, 14.230000, 3.920000, 3.260000, 2.840000, 2.500000, 2.310000, 2.110000, 1.950000, 1.840000, 1.730000, 1.650000, 1.580000, 1.500000, 1.450000, 1.390000, 1.350000, 1.280000, 1.250000, 1.190000, 1.160000, 1.120000, 1.100000, 1.060000, 1.020000, 1.000000, 0.980000, 0.960000, 0.930000, 0.920000, 0.900000, 0.880000, 0.860000, 0.860000, 0.850000, 0.810000, 0.810000, 0.790000, 0.780000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054867, 813155 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.797000, 14.093000, 2.513520 ], "estimate": [ -4.797000, 14.093000, 2.513520 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.510000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.510000, 0.560000, 0.610000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.790000, 0.960000, 1.220000, 1.500000, 3.910000, 3.930000, 3.950000, 3.960000, 3.970000, 3.990000, 4.000000, 4.030000, 4.040000, 4.020000, 4.090000, 3.340000, 4.150000, null, 2.340000, 4.250000, 4.220000, 4.310000, 4.310000, 4.380000, 4.430000, 4.470000, 4.030000, 4.570000, 3.900000, 3.820000, 3.630000, 3.740000, 3.870000, 3.940000, 4.000000, 4.260000, 3.950000, 3.940000, 3.190000, null, 3.080000, 4.440000, 4.380000, 4.300000, 4.240000, 4.190000, 4.130000, 4.060000, 3.870000, 1.090000, 1.070000, 1.040000, 1.030000, 1.040000, 1.020000, 1.020000, 1.020000, 1.040000, 1.090000, 1.130000, 1.180000, 1.230000, 1.270000, 1.330000, 1.400000, 1.470000, 1.550000, 1.640000, 1.720000, 1.830000, 1.950000, 2.090000, 2.260000, 2.460000, 2.680000, 2.960000, 3.280000, 3.730000, 4.250000, 4.990000, 5.810000, 9.210000, 9.190000, 9.190000, 9.170000, 11.550000, 11.580000, 11.350000, 11.610000, 11.690000, 11.710000, 11.720000, 14.030000, 14.060000, 14.110000, 14.150000, 14.190000, 4.420000, 3.410000, 2.920000, 2.620000, 2.370000, 2.180000, 2.050000, 1.880000, 1.770000, 1.690000, 1.610000, 1.540000, 1.480000, 1.410000, 1.360000, 1.310000, 1.260000, 1.220000, 1.180000, 1.150000, 1.100000, 1.080000, 1.040000, 1.020000, 1.000000, 0.970000, 0.940000, 0.930000, 0.910000, 0.890000, 0.880000, 0.870000, 0.860000, 0.840000, 0.820000, 0.800000, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054867, 862462 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.843000, 14.127000, 2.501229 ], "estimate": [ -4.843000, 14.127000, 2.501229 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.490000, 0.520000, 0.550000, 0.570000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.670000, 0.710000, 0.780000, 0.870000, 0.990000, 1.140000, 1.380000, 3.890000, 3.890000, 3.900000, 3.920000, 3.930000, 3.950000, 3.960000, 3.970000, 3.990000, 4.000000, 4.030000, 4.050000, 4.070000, 3.520000, 4.080000, 2.290000, 2.310000, 4.210000, 4.200000, 4.270000, 3.490000, 4.350000, 4.400000, 4.440000, 3.980000, 4.530000, 3.870000, 3.790000, 3.580000, 3.710000, 3.840000, 3.890000, 3.950000, 4.210000, 3.950000, 3.890000, 3.160000, null, 3.030000, 4.400000, 4.340000, 4.280000, 4.210000, 4.160000, 4.090000, 4.030000, 1.040000, 1.020000, 1.000000, 0.980000, 0.980000, 0.980000, 0.960000, 0.970000, 0.960000, 1.000000, 1.050000, 1.080000, 1.140000, 1.170000, 1.240000, 1.290000, 1.340000, 1.410000, 1.480000, 1.560000, 1.650000, 1.730000, 1.830000, 1.980000, 2.120000, 2.310000, 2.500000, 2.740000, 3.030000, 3.400000, 3.850000, 4.450000, 5.230000, 6.600000, 9.130000, 9.130000, 9.120000, 11.490000, 11.510000, 11.350000, 11.300000, 11.620000, 11.630000, 11.650000, 11.780000, 13.990000, 14.020000, 14.050000, 14.100000, 14.150000, 4.020000, 3.350000, 2.890000, 2.590000, 2.360000, 2.160000, 1.990000, 1.870000, 1.770000, 1.680000, 1.610000, 1.540000, 1.480000, 1.420000, 1.370000, 1.320000, 1.270000, 1.230000, 1.180000, 1.150000, 1.110000, 1.080000, 1.050000, 1.030000, 1.000000, 0.980000, 0.950000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.800000, 0.780000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054867, 863551 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.893000, 14.164001, 2.501229 ], "estimate": [ -4.893000, 14.164001, 2.501229 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.640000, 0.640000, 0.640000, 0.640000, 0.660000, 0.690000, 0.730000, 0.800000, 0.840000, 0.900000, 0.980000, 1.060000, 1.190000, 1.360000, 1.540000, 3.870000, 3.880000, 3.880000, 3.890000, 3.900000, 3.920000, 3.930000, 3.940000, 3.960000, 3.980000, 3.990000, 3.990000, 4.040000, 3.230000, 4.060000, 2.260000, 2.290000, 4.140000, 4.200000, 4.230000, 4.270000, 3.430000, 4.330000, 4.380000, 4.420000, 3.930000, 4.510000, 3.820000, 3.720000, 3.580000, 3.750000, 3.820000, 3.870000, 3.930000, 3.960000, 3.830000, 4.260000, 3.120000, null, 3.000000, 4.350000, 4.280000, 4.210000, 4.160000, 4.080000, 1.020000, 0.980000, 0.970000, 0.940000, 0.930000, 0.930000, 0.930000, 0.910000, 0.910000, 0.910000, 0.950000, 0.990000, 1.010000, 1.050000, 1.100000, 1.150000, 1.190000, 1.260000, 1.300000, 1.370000, 1.430000, 1.510000, 1.590000, 1.690000, 1.780000, 1.910000, 2.060000, 2.220000, 2.410000, 2.650000, 2.920000, 3.260000, 3.680000, 4.220000, 4.960000, 5.980000, 9.080000, 9.080000, 9.070000, 9.050000, 11.440000, 11.470000, 11.250000, 11.570000, 11.570000, 11.590000, 11.620000, 13.920000, 13.960000, 14.000000, 14.030000, 14.080000, 4.770000, 3.600000, 3.070000, 2.720000, 2.460000, 2.250000, 2.080000, 1.920000, 1.830000, 1.730000, 1.660000, 1.580000, 1.510000, 1.460000, 1.400000, 1.350000, 1.300000, 1.260000, 1.220000, 1.180000, 1.140000, 1.100000, 1.080000, 1.050000, 1.020000, 1.000000, 0.970000, 0.960000, 0.940000, 0.920000, 0.900000, 0.890000, 0.870000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 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, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054867, 864514 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.922000, 14.185000, 2.507374 ], "estimate": [ -4.922000, 14.185000, 2.507374 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.700000, 0.730000, 0.760000, 0.810000, 0.850000, 0.910000, 0.960000, 1.020000, 1.080000, 1.170000, 1.270000, 1.380000, 3.850000, 3.860000, 3.860000, 3.860000, 3.870000, 3.880000, 3.880000, 3.890000, 3.910000, 3.920000, 3.930000, 3.950000, 3.960000, 3.930000, 4.000000, 3.930000, 4.050000, 2.240000, 2.270000, 4.130000, 4.120000, 4.180000, 4.220000, 3.450000, 4.280000, 4.310000, 4.360000, 3.890000, 4.440000, 3.830000, 3.730000, 3.500000, 3.640000, 3.760000, 3.800000, 3.860000, 3.930000, 3.820000, 3.840000, 3.060000, null, 2.940000, 4.330000, 4.290000, 4.210000, 4.140000, 4.080000, 0.940000, 0.920000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.870000, 0.890000, 0.920000, 0.950000, 0.990000, 1.020000, 1.060000, 1.130000, 1.150000, 1.220000, 1.270000, 1.330000, 1.400000, 1.460000, 1.550000, 1.630000, 1.730000, 1.850000, 1.990000, 2.150000, 2.340000, 2.550000, 2.810000, 3.120000, 3.530000, 4.050000, 4.710000, 5.530000, 9.020000, 9.010000, 9.010000, 9.020000, 11.380000, 11.400000, 11.190000, 11.230000, 11.510000, 11.530000, 11.550000, 13.850000, 13.890000, 13.930000, 13.970000, 14.010000, 14.060000, 4.020000, 3.320000, 2.900000, 2.600000, 2.370000, 2.190000, 2.030000, 1.890000, 1.790000, 1.710000, 1.630000, 1.560000, 1.500000, 1.450000, 1.390000, 1.350000, 1.300000, 1.250000, 1.210000, 1.180000, 1.140000, 1.100000, 1.070000, 1.040000, 1.030000, 1.000000, 0.980000, 0.960000, 0.940000, 0.920000, 0.910000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054867, 865443 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.925000, 14.186999, 2.507374 ], "estimate": [ -4.925000, 14.186999, 2.507374 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.760000, 0.780000, 0.830000, 0.870000, 0.910000, 0.970000, 1.030000, 1.100000, 1.170000, 1.260000, 1.360000, 1.500000, 3.850000, 3.850000, 3.850000, 3.860000, 3.860000, 3.870000, 3.880000, 3.890000, 3.900000, 3.910000, 3.930000, 3.940000, 3.960000, 3.950000, 4.000000, 3.180000, null, 2.220000, 2.280000, 4.120000, 4.110000, 4.180000, 4.210000, 3.390000, 4.280000, 4.310000, 4.350000, 4.110000, 4.440000, 3.800000, 3.690000, 3.450000, 3.690000, 3.760000, 3.790000, 3.860000, 4.000000, 3.840000, 3.780000, 4.540000, null, 2.920000, 4.330000, 4.250000, 4.180000, 4.110000, 0.980000, 0.910000, 0.910000, 0.880000, 0.860000, 0.870000, 0.860000, 0.840000, 0.840000, 0.830000, 0.860000, 0.880000, 0.910000, 0.940000, 0.980000, 1.010000, 1.060000, 1.100000, 1.150000, 1.200000, 1.250000, 1.310000, 1.380000, 1.450000, 1.530000, 1.610000, 1.710000, 1.830000, 1.970000, 2.140000, 2.310000, 2.520000, 2.790000, 3.090000, 3.510000, 4.000000, 4.660000, 5.500000, 9.000000, 9.000000, 8.990000, 8.990000, 11.360000, 11.370000, 11.180000, 11.200000, 11.500000, 11.520000, 11.530000, 13.830000, 13.870000, 13.890000, 13.950000, 13.980000, 14.040000, 4.100000, 3.360000, 2.920000, 2.600000, 2.400000, 2.200000, 2.040000, 1.910000, 1.810000, 1.720000, 1.630000, 1.560000, 1.500000, 1.450000, 1.400000, 1.350000, 1.300000, 1.250000, 1.220000, 1.190000, 1.150000, 1.110000, 1.090000, 1.050000, 1.030000, 1.020000, 0.990000, 0.970000, 0.940000, 0.930000, 0.920000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054867, 937862 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.920000, 14.184000, 2.531957 ], "estimate": [ -4.920000, 14.184000, 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": [ 0.730000, 0.750000, 0.790000, 0.840000, 0.880000, 0.930000, 1.000000, 1.060000, 1.120000, 1.190000, 1.300000, 1.410000, 3.850000, 3.850000, 3.860000, 3.860000, 3.860000, 3.870000, 3.880000, 3.880000, 3.900000, 3.910000, 3.930000, 3.940000, 3.950000, 3.920000, 4.000000, 3.270000, 4.030000, 2.230000, 2.270000, 4.120000, 4.110000, 4.170000, 4.210000, 3.470000, 4.280000, 4.300000, 4.350000, 3.890000, 4.430000, 3.780000, 3.710000, 3.490000, 3.520000, 3.740000, 3.780000, 3.850000, 3.900000, 3.800000, 3.830000, 3.050000, null, 2.940000, 4.300000, 4.290000, 4.210000, 4.130000, 0.950000, 0.920000, 0.910000, 0.890000, 0.870000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.860000, 0.880000, 0.910000, 0.930000, 0.970000, 1.010000, 1.050000, 1.100000, 1.150000, 1.190000, 1.260000, 1.310000, 1.370000, 1.440000, 1.530000, 1.610000, 1.690000, 1.810000, 1.950000, 2.100000, 2.280000, 2.490000, 2.740000, 3.040000, 3.420000, 3.900000, 4.520000, 5.450000, 6.460000, 9.010000, 9.000000, 9.000000, 11.370000, 11.380000, 11.180000, 11.200000, 11.500000, 11.510000, 11.530000, 13.840000, 13.880000, 13.890000, 13.960000, 13.990000, 14.040000, 4.180000, 3.390000, 2.940000, 2.630000, 2.390000, 2.210000, 2.040000, 1.910000, 1.810000, 1.710000, 1.650000, 1.570000, 1.500000, 1.450000, 1.400000, 1.350000, 1.300000, 1.250000, 1.220000, 1.190000, 1.140000, 1.110000, 1.080000, 1.050000, 1.020000, 1.000000, 0.990000, 0.970000, 0.940000, 0.930000, 0.910000, 0.890000, 0.880000, 0.870000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.780000, 0.780000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054868, 325559 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.921000, 14.184000, 2.544248 ], "estimate": [ -4.921000, 14.184000, 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": [ 0.750000, 0.790000, 0.830000, 0.870000, 0.930000, 0.980000, 1.050000, 1.120000, 1.200000, 1.280000, 1.390000, 3.850000, 3.860000, 3.860000, 3.860000, 3.860000, 3.870000, 3.880000, 3.890000, 3.900000, 3.910000, 3.930000, 3.940000, 3.950000, 3.960000, 3.970000, 4.000000, 3.990000, 2.230000, 2.250000, 4.120000, 4.140000, 4.140000, 4.220000, 3.400000, 4.270000, 4.300000, 4.340000, 3.900000, 4.390000, 3.870000, 3.720000, 3.540000, 3.490000, 3.740000, 3.780000, 3.840000, 3.900000, 3.800000, 3.830000, 3.050000, null, 2.940000, 4.350000, 4.290000, 4.220000, 4.150000, 4.070000, 0.930000, 0.910000, 0.880000, 0.870000, 0.880000, 0.870000, 0.860000, 0.850000, 0.850000, 0.870000, 0.890000, 0.910000, 0.940000, 0.980000, 1.020000, 1.050000, 1.100000, 1.150000, 1.200000, 1.260000, 1.310000, 1.380000, 1.440000, 1.530000, 1.600000, 1.710000, 1.810000, 1.950000, 2.090000, 2.280000, 2.490000, 2.740000, 3.030000, 3.410000, 3.890000, 4.530000, 5.460000, 6.460000, 9.010000, 9.000000, 8.980000, 11.360000, 11.380000, 11.180000, 11.190000, 11.500000, 11.510000, 11.530000, 13.850000, 13.870000, 13.910000, 13.960000, 13.990000, 14.050000, 4.280000, 3.410000, 2.960000, 2.640000, 2.410000, 2.210000, 2.050000, 1.900000, 1.810000, 1.710000, 1.640000, 1.570000, 1.500000, 1.450000, 1.400000, 1.350000, 1.300000, 1.250000, 1.210000, 1.180000, 1.150000, 1.110000, 1.080000, 1.040000, 1.030000, 1.000000, 0.980000, 0.960000, 0.940000, 0.920000, 0.910000, 0.890000, 0.870000, 0.870000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054868, 337638 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.920000, 14.184000, 2.581121 ], "estimate": [ -4.920000, 14.184000, 2.581121 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.770000, 0.820000, 0.860000, 0.910000, 0.980000, 1.030000, 1.100000, 1.180000, 1.260000, 1.360000, 1.510000, 3.860000, 3.860000, 3.870000, 3.870000, 3.880000, 3.880000, 3.890000, 3.900000, 3.910000, 3.930000, 3.940000, 3.950000, 3.970000, 3.880000, 4.000000, 3.200000, 2.220000, 2.220000, 4.070000, 4.140000, 4.100000, 4.200000, 3.410000, 4.230000, 4.300000, 4.340000, 4.110000, 3.920000, 4.120000, 3.740000, 3.660000, 3.450000, 3.730000, 3.780000, 3.830000, 3.900000, 3.850000, 3.800000, 4.260000, null, null, 2.940000, 4.290000, 4.230000, 4.150000, 4.090000, 0.930000, 0.910000, 0.880000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.860000, 0.880000, 0.920000, 0.950000, 0.970000, 1.010000, 1.050000, 1.100000, 1.150000, 1.190000, 1.250000, 1.300000, 1.360000, 1.430000, 1.500000, 1.590000, 1.680000, 1.790000, 1.920000, 2.070000, 2.240000, 2.440000, 2.670000, 2.970000, 3.320000, 3.770000, 4.350000, 5.190000, 6.470000, 9.010000, 9.000000, 8.990000, 11.360000, 11.380000, 11.190000, 11.190000, 11.490000, 11.510000, 11.530000, 11.650000, 13.870000, 13.890000, 13.950000, 13.970000, 14.020000, 4.570000, 3.490000, 3.000000, 2.670000, 2.430000, 2.230000, 2.060000, 1.920000, 1.850000, 1.720000, 1.650000, 1.570000, 1.510000, 1.450000, 1.410000, 1.350000, 1.300000, 1.250000, 1.210000, 1.190000, 1.140000, 1.110000, 1.080000, 1.050000, 1.020000, 1.010000, 0.990000, 0.960000, 0.940000, 0.920000, 0.910000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054868, 794605 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.919000, 14.183001, 2.654867 ], "estimate": [ -4.919000, 14.183001, 2.654867 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.900000, 0.960000, 1.030000, 1.090000, 1.170000, 1.240000, 1.340000, 1.490000, 3.860000, 3.870000, 3.870000, 3.880000, 3.880000, 3.880000, 3.890000, 3.900000, 3.920000, 3.930000, 3.950000, 3.960000, 3.970000, 3.950000, 4.010000, 3.620000, 2.240000, 2.240000, 2.290000, 4.140000, 4.140000, 4.200000, 3.480000, 3.430000, 4.290000, 4.340000, 4.160000, 3.910000, 4.080000, 3.760000, 3.660000, 3.500000, 3.720000, 3.770000, 3.830000, 3.880000, 3.820000, 3.810000, 3.880000, 3.060000, null, 2.940000, 4.300000, 4.230000, 4.160000, 0.970000, 0.930000, 0.910000, 0.880000, 0.880000, 0.880000, 0.870000, 0.860000, 0.870000, 0.860000, 0.870000, 0.880000, 0.910000, 0.940000, 0.980000, 1.020000, 1.050000, 1.100000, 1.150000, 1.200000, 1.260000, 1.310000, 1.370000, 1.440000, 1.510000, 1.590000, 1.690000, 1.800000, 1.920000, 2.070000, 2.240000, 2.440000, 2.670000, 2.950000, 3.300000, 3.740000, 4.300000, 5.100000, 6.470000, 9.000000, 9.010000, 8.990000, 9.000000, 11.370000, 11.190000, 11.180000, 11.500000, 11.510000, 11.520000, 11.590000, 13.860000, 13.890000, 13.940000, 13.970000, 14.020000, 4.400000, 3.440000, 2.960000, 2.630000, 2.400000, 2.200000, 2.040000, 1.890000, 1.800000, 1.700000, 1.630000, 1.560000, 1.500000, 1.440000, 1.390000, 1.340000, 1.290000, 1.250000, 1.200000, 1.170000, 1.130000, 1.100000, 1.070000, 1.030000, 1.020000, 0.990000, 0.970000, 0.950000, 0.930000, 0.920000, 0.900000, 0.880000, 0.870000, 0.860000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054868, 795917 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.919000, 14.183001, 2.722468 ], "estimate": [ -4.919000, 14.183001, 2.722468 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.250000, 1.350000, 1.500000, 3.860000, 3.870000, 3.870000, 3.880000, 3.890000, 3.900000, 3.900000, 3.900000, 3.920000, 3.940000, 3.950000, 3.970000, 3.990000, 3.960000, 4.020000, 3.740000, 2.240000, 2.250000, 2.300000, 4.140000, 4.130000, 4.200000, 3.490000, 3.490000, 4.300000, 4.350000, 4.200000, 3.910000, 4.100000, 3.760000, 3.650000, 3.480000, 3.730000, 3.790000, 3.840000, 3.890000, 3.820000, 3.810000, 3.080000, null, null, 2.940000, 4.310000, 4.240000, 4.160000, 1.030000, 0.930000, 0.920000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.880000, 0.900000, 0.930000, 0.970000, 0.990000, 1.030000, 1.070000, 1.130000, 1.170000, 1.210000, 1.270000, 1.330000, 1.390000, 1.460000, 1.530000, 1.620000, 1.710000, 1.820000, 1.960000, 2.100000, 2.290000, 2.480000, 2.720000, 3.000000, 3.360000, 3.800000, 4.370000, 5.170000, 6.470000, 9.020000, 9.020000, 8.980000, 9.030000, 11.370000, 11.180000, 11.180000, 11.500000, 11.510000, 11.520000, 11.610000, 13.870000, 13.890000, 13.920000, 13.980000, 14.020000, 4.300000, 3.400000, 2.930000, 2.600000, 2.370000, 2.180000, 2.010000, 1.880000, 1.780000, 1.700000, 1.620000, 1.540000, 1.490000, 1.430000, 1.370000, 1.330000, 1.270000, 1.230000, 1.180000, 1.160000, 1.110000, 1.090000, 1.050000, 1.030000, 1.010000, 0.980000, 0.960000, 0.940000, 0.920000, 0.900000, 0.890000, 0.870000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000 ], "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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054868, 937443 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.923000, 14.184000, 2.845378 ], "estimate": [ -4.923000, 14.184000, 2.845378 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.870000, 3.870000, 3.880000, 3.890000, 3.890000, 3.900000, 3.910000, 3.920000, 3.940000, 3.950000, 3.960000, 3.980000, 3.980000, 3.950000, 3.740000, 3.250000, 2.250000, 2.250000, 2.340000, 4.130000, 4.110000, 4.220000, 3.540000, 4.230000, 4.310000, 4.360000, 3.920000, 3.920000, 3.840000, 3.730000, 3.480000, 3.480000, 3.750000, 3.790000, 3.840000, 3.900000, 3.890000, 3.870000, 4.620000, null, 2.950000, 4.360000, 4.290000, 4.210000, 1.000000, 0.940000, 0.920000, 0.890000, 0.890000, 0.890000, 0.880000, 0.870000, 0.860000, 0.870000, 0.870000, 0.900000, 0.910000, 0.950000, 0.980000, 1.010000, 1.050000, 1.090000, 1.140000, 1.190000, 1.250000, 1.290000, 1.350000, 1.410000, 1.490000, 1.570000, 1.660000, 1.740000, 1.870000, 1.990000, 2.150000, 2.330000, 2.520000, 2.770000, 3.060000, 3.430000, 3.870000, 4.480000, 5.330000, 6.470000, 9.000000, 9.000000, 9.010000, 11.370000, 11.370000, 11.190000, 11.190000, 11.500000, 11.510000, 11.530000, 13.830000, 13.860000, 13.900000, 13.930000, 13.980000, 14.020000, 3.710000, 3.210000, 2.780000, 2.490000, 2.290000, 2.100000, 1.940000, 1.860000, 1.730000, 1.660000, 1.570000, 1.510000, 1.450000, 1.390000, 1.350000, 1.290000, 1.250000, 1.200000, 1.170000, 1.120000, 1.100000, 1.060000, 1.020000, 1.000000, 0.990000, 0.960000, 0.940000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.820000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054869, 389896 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.928000, 14.186000, 2.968289 ], "estimate": [ -4.928000, 14.186000, 2.968289 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.960000, 3.970000, 3.990000, 4.010000, 4.020000, 4.040000, 4.050000, 2.270000, 2.280000, 2.310000, 4.160000, 4.180000, 4.220000, 3.420000, 3.440000, 4.320000, 4.350000, 4.030000, 4.130000, 3.990000, 3.750000, 3.610000, 3.610000, 3.730000, 3.780000, 3.840000, 3.890000, 3.830000, 3.830000, 3.850000, 3.090000, 2.940000, 2.950000, 4.290000, 4.230000, 1.040000, 0.940000, 0.920000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.880000, 0.900000, 0.930000, 0.960000, 0.990000, 1.030000, 1.060000, 1.110000, 1.150000, 1.210000, 1.250000, 1.310000, 1.360000, 1.420000, 1.490000, 1.570000, 1.650000, 1.750000, 1.880000, 2.000000, 2.150000, 2.320000, 2.510000, 2.740000, 3.020000, 3.360000, 3.780000, 4.320000, 5.070000, 6.450000, 9.010000, 9.000000, 8.980000, 8.970000, 11.380000, 11.180000, 11.180000, 11.470000, 11.510000, 11.520000, 11.540000, 13.840000, 13.880000, 13.920000, 13.960000, 14.000000, 3.760000, 3.250000, 2.780000, 2.490000, 2.260000, 2.080000, 1.920000, 1.860000, 1.720000, 1.630000, 1.560000, 1.490000, 1.430000, 1.370000, 1.320000, 1.270000, 1.220000, 1.180000, 1.140000, 1.100000, 1.070000, 1.030000, 1.010000, 0.990000, 0.970000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 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, 0.560000, 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": [ 976054869, 391111 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.945000, 14.188001, 2.999017 ], "estimate": [ -4.945000, 14.188001, 2.999017 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.230000, null, 2.310000, 2.300000, 4.160000, 4.190000, 4.210000, 4.260000, 4.280000, 4.310000, 4.350000, 4.390000, 4.230000, 4.470000, 3.830000, 3.730000, 3.530000, 3.720000, 3.780000, 3.840000, 3.880000, 4.090000, 3.870000, 3.830000, 4.590000, null, null, 4.350000, 4.280000, 0.990000, 0.950000, 0.950000, 0.900000, 0.880000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.890000, 0.910000, 0.940000, 0.970000, 0.990000, 1.030000, 1.070000, 1.120000, 1.150000, 1.210000, 1.250000, 1.310000, 1.370000, 1.420000, 1.500000, 1.570000, 1.650000, 1.730000, 1.870000, 1.990000, 2.130000, 2.290000, 2.480000, 2.690000, 2.950000, 3.260000, 3.660000, 4.170000, 4.830000, 5.580000, 9.020000, 9.020000, 9.000000, 9.000000, 11.360000, 11.380000, 11.180000, 11.180000, 11.490000, 11.510000, 11.530000, 13.830000, 13.860000, 13.900000, 13.930000, 13.980000, 14.030000, 3.600000, 2.990000, 2.630000, 2.370000, 2.180000, 1.990000, 1.860000, 1.750000, 1.660000, 1.580000, 1.500000, 1.450000, 1.390000, 1.340000, 1.290000, 1.240000, 1.190000, 1.150000, 1.110000, 1.080000, 1.040000, 1.010000, 0.980000, 0.970000, 0.940000, 0.910000, 0.900000, 0.880000, 0.870000, 0.850000, 0.830000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054869, 538156 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.980000, 14.193001, 3.011308 ], "estimate": [ -4.980000, 14.193001, 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": [ 2.330000, 4.150000, 4.180000, 4.080000, 4.250000, 3.430000, 4.290000, 4.340000, 4.390000, 4.060000, 3.960000, 4.020000, 3.760000, 3.580000, 3.510000, 3.760000, 3.820000, 3.870000, 3.920000, 3.840000, 3.850000, 4.210000, null, 2.950000, 4.390000, 4.290000, 0.960000, 0.940000, 0.890000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.870000, 0.900000, 0.910000, 0.940000, 0.970000, 1.000000, 1.030000, 1.070000, 1.120000, 1.150000, 1.200000, 1.250000, 1.300000, 1.360000, 1.410000, 1.470000, 1.550000, 1.640000, 1.720000, 1.820000, 1.940000, 2.070000, 2.230000, 2.400000, 2.600000, 2.840000, 3.130000, 3.480000, 3.910000, 4.470000, 5.240000, 6.450000, 8.980000, 8.980000, 8.980000, 8.960000, 11.350000, 11.280000, 11.150000, 11.470000, 11.470000, 11.500000, 11.520000, 13.830000, 13.860000, 13.890000, 13.930000, 13.990000, 4.390000, 3.300000, 2.740000, 2.510000, 2.270000, 2.090000, 1.920000, 1.830000, 1.700000, 1.620000, 1.540000, 1.470000, 1.410000, 1.350000, 1.300000, 1.250000, 1.200000, 1.170000, 1.120000, 1.090000, 1.050000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.890000, 0.880000, 0.860000, 0.850000, 0.830000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.590000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054869, 927687 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.052000, 14.201000, 3.017453 ], "estimate": [ -5.052000, 14.201000, 3.017453 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.170000, 4.200000, 4.230000, 4.240000, 3.490000, 4.320000, 4.360000, 4.400000, 3.960000, 4.470000, 3.810000, 3.690000, 3.510000, 3.740000, 3.780000, 3.840000, 3.890000, 3.930000, 3.810000, 3.060000, null, 2.940000, 0.940000, 0.930000, 0.900000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.830000, 0.840000, 0.860000, 0.870000, 0.890000, 0.910000, 0.950000, 0.980000, 1.000000, 1.030000, 1.080000, 1.110000, 1.150000, 1.190000, 1.240000, 1.290000, 1.340000, 1.400000, 1.450000, 1.520000, 1.600000, 1.680000, 1.770000, 1.890000, 2.010000, 2.160000, 2.300000, 2.490000, 2.680000, 2.930000, 3.240000, 3.590000, 4.050000, 4.620000, 5.420000, 6.410000, 8.950000, 8.940000, 8.940000, 11.280000, 11.310000, 11.160000, 11.100000, 11.430000, 11.440000, 11.460000, 11.490000, 13.780000, 13.810000, 13.840000, 13.890000, 13.940000, 4.100000, 3.200000, 2.710000, 2.440000, 2.220000, 2.030000, 1.870000, 1.790000, 1.660000, 1.570000, 1.500000, 1.430000, 1.360000, 1.320000, 1.260000, 1.220000, 1.170000, 1.130000, 1.100000, 1.060000, 1.010000, 0.990000, 0.960000, 0.930000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.820000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.680000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000 ], "valid": [ 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, 1 ], "timestamp": [ 976054869, 937343 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.131000, 14.210000, 3.023599 ], "estimate": [ -5.131000, 14.210000, 3.023599 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.220000, 4.250000, 3.470000, 4.300000, 4.320000, 4.370000, 3.900000, 4.410000, 3.790000, 3.720000, 3.470000, 3.710000, 3.750000, 3.800000, 3.850000, 3.910000, 3.840000, 0.930000, 0.890000, 0.850000, 0.830000, 0.830000, 0.830000, 0.800000, 0.790000, 0.790000, 0.800000, 0.830000, 0.830000, 0.850000, 0.880000, 0.900000, 0.910000, 0.930000, 0.950000, 0.990000, 1.020000, 1.050000, 1.080000, 1.120000, 1.150000, 1.190000, 1.250000, 1.290000, 1.340000, 1.380000, 1.430000, 1.490000, 1.560000, 1.630000, 1.720000, 1.820000, 1.910000, 2.050000, 2.170000, 2.320000, 2.490000, 2.690000, 2.920000, 3.200000, 3.510000, 3.930000, 4.440000, 5.130000, 6.330000, 8.860000, 8.870000, 8.860000, 8.860000, 11.200000, 11.230000, 11.000000, 11.030000, 11.350000, 11.360000, 11.380000, 13.670000, 13.720000, 13.750000, 13.780000, 13.820000, 13.870000, 3.500000, 2.890000, 2.500000, 2.250000, 2.050000, 1.870000, 1.720000, 1.640000, 1.540000, 1.470000, 1.400000, 1.340000, 1.270000, 1.230000, 1.180000, 1.130000, 1.100000, 1.060000, 1.020000, 0.990000, 0.950000, 0.920000, 0.900000, 0.870000, 0.860000, 0.820000, 0.820000, 0.790000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 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": [ 976054871, 136651 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.187000, 14.216999, 3.011308 ], "estimate": [ -5.187000, 14.216999, 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": [ 4.220000, 3.440000, 4.290000, 4.310000, 4.330000, 4.370000, 4.130000, 4.450000, 3.800000, 3.660000, 3.450000, 3.720000, 3.760000, 3.800000, 0.900000, 0.850000, 0.820000, 0.810000, 0.820000, 0.780000, 0.780000, 0.770000, 0.780000, 0.800000, 0.800000, 0.820000, 0.830000, 0.840000, 0.860000, 0.880000, 0.900000, 0.930000, 0.940000, 0.960000, 0.990000, 1.010000, 1.040000, 1.080000, 1.100000, 1.150000, 1.180000, 1.230000, 1.260000, 1.300000, 1.350000, 1.410000, 1.460000, 1.520000, 1.580000, 1.650000, 1.740000, 1.830000, 1.930000, 2.050000, 2.180000, 2.320000, 2.490000, 2.670000, 2.870000, 3.140000, 3.440000, 3.820000, 4.270000, 4.860000, 5.680000, 6.440000, 8.810000, 8.790000, 8.790000, 11.140000, 11.160000, 11.170000, 10.940000, 11.270000, 11.280000, 11.300000, 11.320000, 13.630000, 13.660000, 13.690000, 13.720000, 13.780000, 13.780000, 3.110000, 2.590000, 2.330000, 2.080000, 1.910000, 1.750000, 1.630000, 1.540000, 1.460000, 1.380000, 1.330000, 1.260000, 1.220000, 1.160000, 1.120000, 1.080000, 1.040000, 0.990000, 0.960000, 0.920000, 0.900000, 0.870000, 0.850000, 0.840000, 0.810000, 0.780000, 0.780000, 0.760000, 0.750000, 0.730000, 0.710000, 0.690000, 0.680000, 0.670000, 0.660000, 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, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.490000, 0.480000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 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": [ 976054871, 192466 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.232000, 14.223001, 2.980580 ], "estimate": [ -5.232000, 14.223001, 2.980580 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.220000, 4.200000, 4.260000, 4.300000, 4.320000, 4.350000, 3.900000, 4.430000, 3.790000, 3.680000, 3.480000, 3.690000, 0.880000, 0.820000, 0.790000, 0.800000, 0.800000, 0.770000, 0.760000, 0.760000, 0.760000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.850000, 0.850000, 0.870000, 0.900000, 0.900000, 0.910000, 0.940000, 0.960000, 0.990000, 1.010000, 1.040000, 1.070000, 1.110000, 1.140000, 1.170000, 1.210000, 1.260000, 1.290000, 1.340000, 1.390000, 1.440000, 1.500000, 1.560000, 1.640000, 1.700000, 1.790000, 1.880000, 2.000000, 2.100000, 2.230000, 2.380000, 2.550000, 2.730000, 2.970000, 3.240000, 3.540000, 3.910000, 4.390000, 5.000000, 6.210000, 8.780000, 8.760000, 8.750000, 8.750000, 11.110000, 11.110000, 11.050000, 10.910000, 11.220000, 11.240000, 11.250000, 11.270000, 13.570000, 13.610000, 13.640000, 13.680000, 13.730000, 3.930000, 2.980000, 2.510000, 2.240000, 2.020000, 1.840000, 1.690000, 1.580000, 1.490000, 1.420000, 1.340000, 1.290000, 1.220000, 1.170000, 1.130000, 1.090000, 1.050000, 1.000000, 0.960000, 0.930000, 0.900000, 0.870000, 0.850000, 0.830000, 0.810000, 0.780000, 0.770000, 0.750000, 0.740000, 0.710000, 0.700000, 0.690000, 0.680000, 0.660000, 0.650000, 0.650000, 0.640000, 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, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.490000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 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, 0.480000, 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": [ 976054871, 193541 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.278000, 14.231000, 2.962143 ], "estimate": [ -5.278000, 14.231000, 2.962143 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.230000, 4.180000, 4.290000, 4.310000, 4.330000, 4.370000, 3.910000, 4.440000, 3.750000, 3.460000, 0.870000, 0.810000, 0.790000, 0.800000, 0.780000, 0.760000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.840000, 0.860000, 0.870000, 0.890000, 0.900000, 0.930000, 0.940000, 0.980000, 1.000000, 1.020000, 1.040000, 1.070000, 1.100000, 1.140000, 1.160000, 1.200000, 1.260000, 1.280000, 1.320000, 1.380000, 1.430000, 1.470000, 1.530000, 1.600000, 1.680000, 1.750000, 1.840000, 1.930000, 2.040000, 2.150000, 2.280000, 2.420000, 2.590000, 2.790000, 3.010000, 3.280000, 3.590000, 3.970000, 4.440000, 5.080000, 6.190000, 8.730000, 8.710000, 8.710000, 8.700000, 11.070000, 11.080000, 10.970000, 10.880000, 11.200000, 11.200000, 11.220000, 11.250000, 13.540000, 13.570000, 13.600000, 13.650000, 13.680000, 3.750000, 2.940000, 2.480000, 2.210000, 1.980000, 1.820000, 1.670000, 1.540000, 1.460000, 1.390000, 1.320000, 1.250000, 1.200000, 1.150000, 1.110000, 1.060000, 1.020000, 0.990000, 0.940000, 0.910000, 0.880000, 0.860000, 0.840000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.720000, 0.700000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054871, 194545 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.343000, 14.243000, 2.949852 ], "estimate": [ -5.343000, 14.243000, 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": [ 4.220000, 4.200000, 4.280000, 4.300000, 4.330000, 4.360000, 3.930000, 0.870000, 0.790000, 0.780000, 0.790000, 0.750000, 0.730000, 0.740000, 0.730000, 0.740000, 0.780000, 0.780000, 0.780000, 0.800000, 0.800000, 0.800000, 0.820000, 0.840000, 0.840000, 0.860000, 0.860000, 0.880000, 0.900000, 0.920000, 0.930000, 0.950000, 0.980000, 1.010000, 1.020000, 1.040000, 1.070000, 1.100000, 1.140000, 1.160000, 1.210000, 1.240000, 1.270000, 1.320000, 1.370000, 1.420000, 1.450000, 1.510000, 1.580000, 1.660000, 1.720000, 1.810000, 1.900000, 1.990000, 2.090000, 2.210000, 2.360000, 2.500000, 2.660000, 2.870000, 3.110000, 3.370000, 3.710000, 4.100000, 4.590000, 5.190000, 6.150000, 8.680000, 8.660000, 8.660000, 8.640000, 11.010000, 11.040000, 10.850000, 10.830000, 11.150000, 11.160000, 11.170000, 11.200000, 13.490000, 13.520000, 13.560000, 13.590000, 13.630000, 3.390000, 2.830000, 2.410000, 2.140000, 1.910000, 1.750000, 1.600000, 1.480000, 1.410000, 1.340000, 1.270000, 1.230000, 1.170000, 1.110000, 1.070000, 1.020000, 0.990000, 0.940000, 0.910000, 0.880000, 0.850000, 0.830000, 0.800000, 0.780000, 0.770000, 0.740000, 0.720000, 0.700000, 0.680000, 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, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.440000, 0.440000, 0.460000, 0.450000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.440000, 0.440000, 0.440000, 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": [ 976054871, 195562 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.411000, 14.256000, 2.949852 ], "estimate": [ -5.411000, 14.256000, 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": [ 4.180000, 4.250000, 4.280000, 0.840000, 0.790000, 0.770000, 0.770000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.790000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.870000, 0.890000, 0.910000, 0.910000, 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.050000, 1.070000, 1.090000, 1.120000, 1.160000, 1.180000, 1.210000, 1.260000, 1.290000, 1.330000, 1.370000, 1.430000, 1.470000, 1.530000, 1.600000, 1.670000, 1.730000, 1.820000, 1.910000, 1.990000, 2.080000, 2.200000, 2.340000, 2.480000, 2.630000, 2.830000, 3.050000, 3.310000, 3.590000, 3.960000, 4.410000, 5.000000, 6.080000, 8.620000, 8.610000, 8.610000, 8.590000, 8.600000, 10.950000, 10.980000, 10.770000, 10.790000, 11.090000, 11.100000, 11.120000, 13.400000, 13.440000, 13.460000, 13.500000, 13.550000, 13.580000, 3.040000, 2.500000, 2.190000, 1.960000, 1.770000, 1.620000, 1.500000, 1.420000, 1.320000, 1.260000, 1.200000, 1.150000, 1.090000, 1.050000, 1.010000, 0.960000, 0.930000, 0.890000, 0.860000, 0.840000, 0.810000, 0.790000, 0.770000, 0.750000, 0.730000, 0.700000, 0.690000, 0.670000, 0.650000, 0.640000, 0.640000, 0.620000, 0.610000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 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, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.430000, 0.420000, 0.430000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054871, 196521 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.469000, 14.266999, 2.943707 ], "estimate": [ -5.469000, 14.266999, 2.943707 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.770000, 0.730000, 0.710000, 0.710000, 0.710000, 0.730000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.960000, 0.980000, 1.010000, 1.020000, 1.030000, 1.070000, 1.100000, 1.120000, 1.150000, 1.170000, 1.210000, 1.250000, 1.270000, 1.310000, 1.350000, 1.400000, 1.450000, 1.510000, 1.570000, 1.620000, 1.690000, 1.760000, 1.850000, 1.930000, 2.020000, 2.120000, 2.230000, 2.350000, 2.490000, 2.660000, 2.850000, 3.060000, 3.310000, 3.590000, 3.940000, 4.370000, 4.920000, 6.010000, 8.560000, 8.550000, 8.540000, 8.530000, 8.510000, 10.900000, 10.900000, 10.700000, 10.700000, 11.020000, 11.020000, 11.050000, 11.170000, 13.360000, 13.390000, 13.430000, 13.460000, 13.510000, 3.180000, 2.530000, 2.180000, 1.950000, 1.750000, 1.600000, 1.460000, 1.360000, 1.290000, 1.210000, 1.170000, 1.120000, 1.060000, 1.020000, 0.970000, 0.930000, 0.880000, 0.860000, 0.840000, 0.810000, 0.780000, 0.770000, 0.740000, 0.720000, 0.700000, 0.680000, 0.660000, 0.640000, 0.640000, 0.630000, 0.610000, 0.600000, 0.590000, 0.580000, 0.560000, 0.560000, 0.540000, 0.540000, 0.520000, 0.530000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 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, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.400000, 0.410000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.400000, 0.400000, 0.410000, 0.410000, 0.410000, 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": [ 976054871, 338085 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.517000, 14.276999, 2.925270 ], "estimate": [ -5.517000, 14.276999, 2.925270 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.720000, 0.720000, 0.730000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.810000, 0.810000, 0.800000, 0.810000, 0.810000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.960000, 0.980000, 0.990000, 1.010000, 1.040000, 1.060000, 1.070000, 1.110000, 1.130000, 1.170000, 1.190000, 1.220000, 1.260000, 1.290000, 1.320000, 1.370000, 1.420000, 1.480000, 1.530000, 1.580000, 1.640000, 1.710000, 1.780000, 1.850000, 1.940000, 2.040000, 2.130000, 2.250000, 2.370000, 2.500000, 2.670000, 2.850000, 3.070000, 3.310000, 3.600000, 3.940000, 4.350000, 4.880000, 5.970000, 6.230000, 8.510000, 8.500000, 8.490000, 8.500000, 10.840000, 10.860000, 10.640000, 10.660000, 10.980000, 10.990000, 11.000000, 11.060000, 13.310000, 13.330000, 13.370000, 13.400000, 13.450000, 3.170000, 2.590000, 2.190000, 1.950000, 1.740000, 1.590000, 1.450000, 1.350000, 1.300000, 1.210000, 1.160000, 1.100000, 1.040000, 1.000000, 0.960000, 0.920000, 0.880000, 0.850000, 0.830000, 0.790000, 0.760000, 0.740000, 0.730000, 0.710000, 0.680000, 0.670000, 0.650000, 0.640000, 0.620000, 0.610000, 0.590000, 0.590000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.400000, 0.390000, 0.380000, 0.370000, 0.380000, 0.380000, 0.380000, 0.390000, 0.390000, 0.390000, 0.400000, 0.400000, 0.400000, 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": [ 976054871, 669157 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.567000, 14.289001, 2.888397 ], "estimate": [ -5.567000, 14.289001, 2.888397 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.900000, 0.910000, 0.930000, 0.940000, 0.950000, 0.980000, 0.990000, 1.010000, 1.030000, 1.060000, 1.080000, 1.100000, 1.130000, 1.170000, 1.180000, 1.220000, 1.260000, 1.280000, 1.310000, 1.360000, 1.400000, 1.450000, 1.500000, 1.560000, 1.610000, 1.680000, 1.750000, 1.820000, 1.890000, 1.990000, 2.080000, 2.180000, 2.300000, 2.410000, 2.560000, 2.730000, 2.920000, 3.140000, 3.380000, 3.670000, 4.010000, 4.440000, 4.980000, 5.930000, 8.480000, 8.460000, 8.450000, 8.440000, 8.420000, 10.800000, 10.810000, 10.610000, 10.620000, 10.930000, 10.940000, 10.950000, 11.020000, 13.260000, 13.300000, 13.320000, 13.360000, 13.400000, 3.130000, 2.520000, 2.150000, 1.900000, 1.710000, 1.560000, 1.430000, 1.310000, 1.250000, 1.180000, 1.120000, 1.080000, 1.010000, 0.980000, 0.920000, 0.890000, 0.850000, 0.820000, 0.790000, 0.770000, 0.750000, 0.720000, 0.710000, 0.680000, 0.660000, 0.650000, 0.640000, 0.620000, 0.610000, 0.600000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.360000, 0.360000, 0.380000, 0.390000, 0.390000, 0.370000, 0.360000, 0.370000, 0.370000, 0.380000, 0.380000, 0.380000, 0.380000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054871, 738389 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.628000, 14.306000, 2.833087 ], "estimate": [ -5.628000, 14.306000, 2.833087 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.860000, 0.870000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.960000, 0.970000, 1.000000, 1.010000, 1.030000, 1.050000, 1.070000, 1.100000, 1.130000, 1.160000, 1.170000, 1.200000, 1.250000, 1.270000, 1.300000, 1.350000, 1.390000, 1.440000, 1.490000, 1.530000, 1.580000, 1.660000, 1.720000, 1.790000, 1.870000, 1.940000, 2.030000, 2.120000, 2.230000, 2.360000, 2.480000, 2.620000, 2.800000, 3.000000, 3.220000, 3.480000, 3.780000, 4.160000, 4.620000, 5.340000, 5.890000, 8.430000, 8.410000, 8.400000, 8.390000, 8.420000, 10.760000, 10.770000, 10.580000, 10.570000, 10.870000, 10.890000, 10.900000, 11.020000, 13.220000, 13.250000, 13.280000, 13.310000, 13.350000, 3.060000, 2.430000, 2.080000, 1.850000, 1.650000, 1.510000, 1.390000, 1.280000, 1.210000, 1.150000, 1.090000, 1.040000, 0.990000, 0.940000, 0.910000, 0.870000, 0.830000, 0.800000, 0.760000, 0.750000, 0.730000, 0.700000, 0.690000, 0.670000, 0.650000, 0.640000, 0.630000, 0.610000, 0.600000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.440000, 0.450000, 0.430000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.350000, 0.360000, 0.370000, 0.380000, 0.370000, 0.350000, 0.350000, 0.360000, 0.360000, 0.360000, 0.370000, 0.370000, 0.380000, 0.380000, 0.380000, 0.380000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054872, 244019 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.688000, 14.327000, 2.765487 ], "estimate": [ -5.688000, 14.327000, 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": [ 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.050000, 1.070000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.240000, 1.270000, 1.300000, 1.340000, 1.390000, 1.440000, 1.470000, 1.530000, 1.580000, 1.640000, 1.700000, 1.760000, 1.840000, 1.920000, 2.000000, 2.080000, 2.180000, 2.310000, 2.410000, 2.570000, 2.730000, 2.910000, 3.100000, 3.340000, 3.610000, 3.960000, 4.350000, 4.840000, 5.820000, 8.370000, 8.360000, 8.340000, 8.330000, 8.320000, 10.670000, 10.690000, 10.720000, 10.510000, 10.810000, 10.820000, 10.830000, 10.840000, 13.120000, 13.150000, 13.190000, 13.220000, 13.260000, 13.310000, 2.960000, 2.330000, 2.020000, 1.790000, 1.610000, 1.470000, 1.360000, 1.260000, 1.180000, 1.120000, 1.060000, 1.010000, 0.970000, 0.920000, 0.890000, 0.840000, 0.820000, 0.770000, 0.750000, 0.730000, 0.710000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.600000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.380000, 0.370000, 0.380000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.350000, 0.360000, 0.360000, 0.360000, 0.350000, 0.340000, 0.350000, 0.350000, 0.350000, 0.360000, 0.360000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054872, 245149 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.741000, 14.349000, 2.716322 ], "estimate": [ -5.741000, 14.349000, 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": [ 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000, 0.830000, 0.840000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.020000, 1.050000, 1.070000, 1.080000, 1.110000, 1.140000, 1.160000, 1.190000, 1.220000, 1.260000, 1.280000, 1.330000, 1.370000, 1.400000, 1.440000, 1.500000, 1.550000, 1.610000, 1.670000, 1.740000, 1.800000, 1.870000, 1.950000, 2.040000, 2.140000, 2.230000, 2.360000, 2.480000, 2.630000, 2.800000, 2.990000, 3.220000, 3.460000, 3.750000, 4.110000, 4.550000, 5.710000, 5.770000, 8.310000, 8.280000, 8.280000, 8.280000, 8.230000, 10.630000, 10.640000, 10.430000, 10.430000, 10.760000, 10.770000, 10.780000, 10.840000, 13.080000, 13.120000, 13.140000, 13.180000, 13.220000, 13.260000, 2.660000, 2.190000, 1.910000, 1.720000, 1.560000, 1.420000, 1.310000, 1.220000, 1.140000, 1.100000, 1.040000, 0.990000, 0.940000, 0.900000, 0.860000, 0.830000, 0.790000, 0.760000, 0.740000, 0.720000, 0.690000, 0.670000, 0.650000, 0.640000, 0.640000, 0.620000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.390000, 0.380000, 0.390000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000, 0.340000, 0.340000, 0.350000, 0.360000, 0.360000, 0.350000, 0.340000, 0.340000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054872, 337573 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.788000, 14.372000, 2.673303 ], "estimate": [ -5.788000, 14.372000, 2.673303 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.760000, 0.760000, 0.780000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.960000, 0.960000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.260000, 1.300000, 1.340000, 1.380000, 1.420000, 1.470000, 1.520000, 1.570000, 1.620000, 1.680000, 1.750000, 1.820000, 1.890000, 1.970000, 2.060000, 2.160000, 2.260000, 2.380000, 2.510000, 2.670000, 2.850000, 3.030000, 3.270000, 3.510000, 3.820000, 4.180000, 4.660000, 5.700000, 5.700000, 8.250000, 8.240000, 8.220000, 8.210000, 8.250000, 10.580000, 10.600000, 10.400000, 10.390000, 10.690000, 10.710000, 10.720000, 10.830000, 13.040000, 13.050000, 13.100000, 13.130000, 13.180000, 13.210000, 2.630000, 2.190000, 1.900000, 1.710000, 1.550000, 1.420000, 1.310000, 1.220000, 1.140000, 1.080000, 1.020000, 0.980000, 0.940000, 0.900000, 0.860000, 0.830000, 0.790000, 0.760000, 0.740000, 0.720000, 0.700000, 0.680000, 0.660000, 0.630000, 0.630000, 0.610000, 0.600000, 0.600000, 0.580000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 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, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.370000, 0.370000, 0.340000, 0.370000, 0.360000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054872, 843489 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.838000, 14.396999, 2.661012 ], "estimate": [ -5.838000, 14.396999, 2.661012 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.740000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.790000, 0.800000, 0.810000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.990000, 1.000000, 1.020000, 1.040000, 1.040000, 1.070000, 1.100000, 1.120000, 1.150000, 1.170000, 1.190000, 1.230000, 1.270000, 1.300000, 1.330000, 1.370000, 1.420000, 1.460000, 1.510000, 1.570000, 1.620000, 1.680000, 1.750000, 1.820000, 1.890000, 1.980000, 2.060000, 2.150000, 2.270000, 2.380000, 2.510000, 2.660000, 2.840000, 3.020000, 3.260000, 3.510000, 3.810000, 4.180000, 4.660000, 5.660000, 5.750000, 8.190000, 8.190000, 8.180000, 8.170000, 8.190000, 10.520000, 10.550000, 10.350000, 10.340000, 10.650000, 10.670000, 10.670000, 10.770000, 12.980000, 13.020000, 13.040000, 13.080000, 13.120000, 13.170000, 2.640000, 2.210000, 1.900000, 1.720000, 1.560000, 1.440000, 1.320000, 1.230000, 1.150000, 1.090000, 1.030000, 0.980000, 0.950000, 0.910000, 0.870000, 0.840000, 0.800000, 0.770000, 0.740000, 0.730000, 0.700000, 0.680000, 0.660000, 0.640000, 0.630000, 0.630000, 0.610000, 0.590000, 0.560000, 0.570000, 0.560000, 0.550000, 0.530000, 0.530000, 0.530000, 0.520000, 0.510000, 0.500000, 0.480000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.340000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054872, 844694 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.892000, 14.425000, 2.673303 ], "estimate": [ -5.892000, 14.425000, 2.673303 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.750000, 0.760000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.900000, 0.910000, 0.940000, 0.940000, 0.960000, 0.960000, 0.990000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.090000, 1.100000, 1.130000, 1.160000, 1.190000, 1.210000, 1.260000, 1.270000, 1.310000, 1.360000, 1.400000, 1.440000, 1.480000, 1.540000, 1.590000, 1.650000, 1.710000, 1.770000, 1.840000, 1.930000, 2.010000, 2.090000, 2.200000, 2.310000, 2.430000, 2.580000, 2.740000, 2.910000, 3.110000, 3.360000, 3.610000, 3.950000, 4.340000, 4.920000, 5.610000, 8.150000, 8.140000, 8.120000, 8.120000, 8.100000, 10.460000, 10.480000, 10.490000, 10.290000, 10.350000, 10.590000, 10.600000, 10.620000, 12.920000, 12.940000, 12.960000, 13.000000, 13.050000, 13.070000, 3.290000, 2.500000, 2.110000, 1.850000, 1.670000, 1.510000, 1.380000, 1.280000, 1.190000, 1.130000, 1.080000, 1.020000, 0.970000, 0.920000, 0.890000, 0.850000, 0.820000, 0.780000, 0.750000, 0.740000, 0.720000, 0.690000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.350000, 0.350000, 0.340000, 0.350000, 0.360000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054872, 937999 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.945000, 14.451000, 2.667158 ], "estimate": [ -5.945000, 14.451000, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.900000, 0.910000, 0.910000, 0.940000, 0.940000, 0.950000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.140000, 1.170000, 1.190000, 1.220000, 1.250000, 1.280000, 1.320000, 1.360000, 1.410000, 1.440000, 1.490000, 1.550000, 1.590000, 1.650000, 1.710000, 1.770000, 1.840000, 1.930000, 2.000000, 2.090000, 2.210000, 2.310000, 2.450000, 2.580000, 2.740000, 2.900000, 3.110000, 3.340000, 3.610000, 3.940000, 4.340000, 5.050000, 5.550000, 8.090000, 8.080000, 8.060000, 8.060000, 8.030000, 10.400000, 10.420000, 10.430000, 10.240000, 10.240000, 10.540000, 10.550000, 10.560000, 12.860000, 12.870000, 12.900000, 12.950000, 12.970000, 13.020000, 13.060000, 2.610000, 2.200000, 1.890000, 1.690000, 1.540000, 1.410000, 1.340000, 1.210000, 1.140000, 1.080000, 1.040000, 0.990000, 0.930000, 0.900000, 0.860000, 0.830000, 0.790000, 0.750000, 0.730000, 0.730000, 0.690000, 0.680000, 0.660000, 0.640000, 0.640000, 0.620000, 0.600000, 0.590000, 0.580000, 0.560000, 0.560000, 0.540000, 0.540000, 0.530000, 0.510000, 0.500000, 0.490000, 0.490000, 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, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.340000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054873, 458250 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.994000, 14.476000, 2.667158 ], "estimate": [ -5.994000, 14.476000, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.040000, 1.040000, 1.060000, 1.080000, 1.100000, 1.130000, 1.160000, 1.180000, 1.210000, 1.250000, 1.280000, 1.310000, 1.360000, 1.390000, 1.440000, 1.480000, 1.530000, 1.580000, 1.640000, 1.690000, 1.760000, 1.830000, 1.900000, 1.980000, 2.070000, 2.180000, 2.280000, 2.400000, 2.530000, 2.680000, 2.840000, 3.050000, 3.270000, 3.530000, 3.830000, 4.200000, 4.640000, 5.490000, 8.040000, 8.020000, 8.010000, 8.000000, 7.990000, 8.010000, 10.350000, 10.370000, 10.170000, 10.180000, 10.470000, 10.480000, 10.500000, 10.540000, 12.820000, 12.840000, 12.860000, 12.910000, 12.940000, 12.980000, 2.940000, 2.380000, 2.040000, 1.770000, 1.600000, 1.470000, 1.360000, 1.280000, 1.190000, 1.110000, 1.070000, 1.010000, 0.970000, 0.920000, 0.870000, 0.840000, 0.810000, 0.770000, 0.750000, 0.730000, 0.710000, 0.690000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 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, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.400000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.360000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054873, 459445 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.020000, 14.490000, 2.673303 ], "estimate": [ -6.020000, 14.490000, 2.673303 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.750000, 0.750000, 0.750000, 0.770000, 0.760000, 0.770000, 0.760000, 0.760000, 0.770000, 0.770000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.870000, 0.880000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.110000, 1.120000, 1.160000, 1.180000, 1.210000, 1.260000, 1.280000, 1.310000, 1.360000, 1.400000, 1.440000, 1.480000, 1.530000, 1.580000, 1.640000, 1.690000, 1.760000, 1.830000, 1.910000, 1.980000, 2.080000, 2.190000, 2.290000, 2.410000, 2.550000, 2.690000, 2.860000, 3.060000, 3.280000, 3.540000, 3.850000, 4.210000, 4.730000, 5.450000, 8.000000, 7.980000, 7.970000, 7.960000, 7.940000, 10.260000, 10.310000, 10.320000, 10.140000, 10.130000, 10.430000, 10.440000, 10.460000, 10.490000, 12.770000, 12.790000, 12.820000, 12.860000, 12.890000, 12.940000, 3.020000, 2.390000, 2.050000, 1.810000, 1.610000, 1.470000, 1.370000, 1.270000, 1.190000, 1.110000, 1.060000, 1.020000, 0.960000, 0.910000, 0.870000, 0.840000, 0.810000, 0.770000, 0.750000, 0.730000, 0.710000, 0.680000, 0.670000, 0.640000, 0.630000, 0.630000, 0.620000, 0.600000, 0.580000, 0.570000, 0.570000, 0.560000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.360000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054873, 537747 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.024000, 14.491000, 2.673303 ], "estimate": [ -6.024000, 14.491000, 2.673303 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.740000, 0.750000, 0.760000, 0.750000, 0.760000, 0.770000, 0.770000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.910000, 0.920000, 0.920000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.020000, 1.030000, 1.070000, 1.080000, 1.110000, 1.120000, 1.160000, 1.170000, 1.210000, 1.250000, 1.270000, 1.310000, 1.350000, 1.380000, 1.440000, 1.470000, 1.520000, 1.580000, 1.620000, 1.670000, 1.750000, 1.810000, 1.890000, 1.960000, 2.050000, 2.150000, 2.260000, 2.370000, 2.500000, 2.650000, 2.830000, 3.000000, 3.230000, 3.480000, 3.760000, 4.120000, 4.480000, 5.420000, 5.680000, 7.970000, 7.950000, 7.940000, 7.920000, 7.900000, 10.300000, 10.300000, 10.090000, 10.090000, 10.420000, 10.420000, 10.440000, 10.450000, 12.740000, 12.770000, 12.800000, 12.840000, 12.870000, 12.920000, 3.450000, 2.580000, 2.140000, 1.880000, 1.670000, 1.520000, 1.400000, 1.290000, 1.200000, 1.140000, 1.080000, 1.030000, 0.990000, 0.930000, 0.900000, 0.850000, 0.830000, 0.790000, 0.760000, 0.730000, 0.710000, 0.690000, 0.670000, 0.650000, 0.630000, 0.640000, 0.630000, 0.610000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.340000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054874, 914378 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.031000, 14.495000, 2.654867 ], "estimate": [ -6.031000, 14.495000, 2.654867 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.740000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.140000, 1.170000, 1.190000, 1.230000, 1.260000, 1.290000, 1.330000, 1.360000, 1.400000, 1.450000, 1.500000, 1.540000, 1.590000, 1.660000, 1.710000, 1.770000, 1.850000, 1.920000, 2.000000, 2.100000, 2.200000, 2.320000, 2.440000, 2.570000, 2.720000, 2.890000, 3.100000, 3.320000, 3.590000, 3.910000, 4.290000, 5.430000, 5.430000, 7.980000, 7.970000, 7.960000, 7.940000, 7.910000, 10.260000, 10.300000, 10.320000, 10.100000, 10.090000, 10.420000, 10.420000, 10.440000, 10.540000, 12.760000, 12.780000, 12.820000, 12.850000, 12.890000, 12.930000, 2.850000, 2.340000, 2.010000, 1.780000, 1.590000, 1.450000, 1.340000, 1.250000, 1.190000, 1.110000, 1.060000, 1.000000, 0.960000, 0.910000, 0.870000, 0.840000, 0.810000, 0.770000, 0.740000, 0.720000, 0.710000, 0.680000, 0.660000, 0.640000, 0.630000, 0.630000, 0.610000, 0.600000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.510000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.340000, 0.340000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054874, 915528 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.064000, 14.513000, 2.642576 ], "estimate": [ -6.064000, 14.513000, 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": [ 0.740000, 0.750000, 0.760000, 0.760000, 0.750000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.860000, 0.860000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.920000, 0.920000, 0.940000, 0.940000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.040000, 1.050000, 1.070000, 1.100000, 1.110000, 1.150000, 1.170000, 1.200000, 1.230000, 1.270000, 1.290000, 1.330000, 1.370000, 1.420000, 1.460000, 1.490000, 1.550000, 1.600000, 1.660000, 1.720000, 1.790000, 1.850000, 1.940000, 2.010000, 2.110000, 2.210000, 2.330000, 2.450000, 2.590000, 2.750000, 2.920000, 3.120000, 3.350000, 3.610000, 3.940000, 4.330000, 5.430000, 5.430000, 7.970000, 7.950000, 7.930000, 7.920000, 7.900000, 10.270000, 10.290000, 10.310000, 10.100000, 10.090000, 10.410000, 10.420000, 10.420000, 10.550000, 12.750000, 12.770000, 12.800000, 12.850000, 12.880000, 12.930000, 2.830000, 2.330000, 2.010000, 1.770000, 1.590000, 1.450000, 1.340000, 1.250000, 1.200000, 1.110000, 1.060000, 1.000000, 0.950000, 0.910000, 0.870000, 0.840000, 0.800000, 0.770000, 0.750000, 0.730000, 0.700000, 0.680000, 0.660000, 0.640000, 0.640000, 0.620000, 0.610000, 0.600000, 0.580000, 0.560000, 0.560000, 0.540000, 0.540000, 0.540000, 0.520000, 0.510000, 0.490000, 0.500000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.440000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054874, 916566 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.134000, 14.551000, 2.636431 ], "estimate": [ -6.134000, 14.551000, 2.636431 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.740000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.870000, 0.870000, 0.890000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.950000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.160000, 1.170000, 1.210000, 1.240000, 1.270000, 1.300000, 1.340000, 1.380000, 1.420000, 1.460000, 1.510000, 1.570000, 1.610000, 1.680000, 1.730000, 1.800000, 1.870000, 1.940000, 2.040000, 2.120000, 2.240000, 2.350000, 2.470000, 2.610000, 2.770000, 2.950000, 3.160000, 3.400000, 3.670000, 4.010000, 4.380000, 5.380000, 5.380000, 7.910000, 7.890000, 7.890000, 7.880000, 7.880000, 10.230000, 10.240000, 10.200000, 10.050000, 10.080000, 10.360000, 10.350000, 10.380000, 12.680000, 12.700000, 12.720000, 12.760000, 12.800000, 12.850000, 12.870000, 2.800000, 2.310000, 2.000000, 1.760000, 1.590000, 1.440000, 1.330000, 1.240000, 1.170000, 1.110000, 1.050000, 1.010000, 0.960000, 0.910000, 0.870000, 0.840000, 0.800000, 0.760000, 0.740000, 0.700000, 0.700000, 0.670000, 0.670000, 0.640000, 0.630000, 0.630000, 0.600000, 0.600000, 0.580000, 0.570000, 0.550000, 0.540000, 0.530000, 0.530000, 0.510000, 0.500000, 0.510000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054874, 917508 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.203000, 14.588000, 2.642576 ], "estimate": [ -6.203000, 14.588000, 2.642576 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.870000, 0.890000, 0.880000, 0.900000, 0.900000, 0.920000, 0.930000, 0.940000, 0.940000, 0.950000, 0.970000, 0.990000, 1.010000, 1.030000, 1.040000, 1.050000, 1.080000, 1.090000, 1.130000, 1.160000, 1.170000, 1.190000, 1.240000, 1.260000, 1.290000, 1.330000, 1.370000, 1.410000, 1.460000, 1.490000, 1.540000, 1.590000, 1.650000, 1.710000, 1.760000, 1.830000, 1.920000, 1.990000, 2.090000, 2.190000, 2.290000, 2.410000, 2.540000, 2.680000, 2.850000, 3.040000, 3.260000, 3.520000, 3.820000, 4.180000, 5.270000, 5.290000, 7.820000, 7.810000, 7.790000, 7.780000, 7.780000, 7.810000, 10.140000, 10.150000, 9.970000, 9.940000, 10.260000, 10.270000, 10.280000, 10.300000, 12.590000, 12.620000, 12.650000, 12.680000, 12.720000, 12.760000, 12.620000, 2.720000, 2.260000, 1.970000, 1.740000, 1.560000, 1.420000, 1.310000, 1.230000, 1.150000, 1.100000, 1.050000, 1.000000, 0.950000, 0.910000, 0.860000, 0.840000, 0.800000, 0.760000, 0.740000, 0.710000, 0.690000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.570000, 0.550000, 0.530000, 0.530000, 0.530000, 0.510000, 0.510000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.380000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.350000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054874, 918434 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.253000, 14.615000, 2.630285 ], "estimate": [ -6.253000, 14.615000, 2.630285 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.040000, 1.070000, 1.080000, 1.110000, 1.140000, 1.160000, 1.180000, 1.210000, 1.250000, 1.270000, 1.310000, 1.340000, 1.390000, 1.430000, 1.460000, 1.510000, 1.560000, 1.610000, 1.680000, 1.730000, 1.800000, 1.870000, 1.950000, 2.040000, 2.120000, 2.230000, 2.350000, 2.470000, 2.600000, 2.760000, 2.930000, 3.130000, 3.370000, 3.620000, 3.950000, 4.260000, 5.210000, 5.180000, 7.750000, 7.730000, 7.720000, 7.720000, 7.670000, 10.050000, 10.080000, 10.090000, 9.880000, 9.880000, 10.200000, 10.200000, 10.220000, 10.270000, 12.530000, 12.560000, 12.590000, 12.630000, 12.660000, 12.710000, 12.340000, 2.690000, 2.240000, 1.940000, 1.750000, 1.570000, 1.450000, 1.300000, 1.220000, 1.160000, 1.100000, 1.050000, 1.000000, 0.950000, 0.910000, 0.860000, 0.840000, 0.810000, 0.770000, 0.740000, 0.720000, 0.690000, 0.680000, 0.660000, 0.640000, 0.630000, 0.620000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.490000, 0.490000, 0.490000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054874, 919389 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.289000, 14.636000, 2.611848 ], "estimate": [ -6.289000, 14.636000, 2.611848 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.770000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.870000, 0.880000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.930000, 0.950000, 0.970000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.060000, 1.090000, 1.100000, 1.120000, 1.160000, 1.180000, 1.200000, 1.240000, 1.270000, 1.290000, 1.330000, 1.380000, 1.420000, 1.460000, 1.490000, 1.540000, 1.600000, 1.670000, 1.710000, 1.760000, 1.840000, 1.920000, 2.010000, 2.090000, 2.200000, 2.300000, 2.410000, 2.540000, 2.690000, 2.860000, 3.040000, 3.260000, 3.520000, 3.820000, 4.190000, 5.170000, 5.180000, 7.710000, 7.700000, 7.680000, 7.670000, 7.670000, 7.680000, 10.030000, 10.040000, 9.840000, 9.830000, 10.150000, 10.160000, 10.170000, 10.190000, 12.470000, 12.500000, 12.530000, 12.560000, 12.610000, 12.650000, 12.660000, 3.080000, 2.370000, 2.070000, 1.850000, 1.650000, 1.480000, 1.350000, 1.270000, 1.190000, 1.120000, 1.070000, 1.020000, 0.960000, 0.920000, 0.890000, 0.850000, 0.830000, 0.780000, 0.750000, 0.730000, 0.710000, 0.690000, 0.670000, 0.650000, 0.640000, 0.620000, 0.610000, 0.590000, 0.580000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.490000, 0.480000, 0.480000, 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, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.360000, 0.350000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054874, 937917 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.329000, 14.659000, 2.611848 ], "estimate": [ -6.329000, 14.659000, 2.611848 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.880000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.240000, 1.260000, 1.290000, 1.320000, 1.370000, 1.410000, 1.450000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.760000, 1.830000, 1.910000, 1.980000, 2.070000, 2.180000, 2.270000, 2.390000, 2.510000, 2.660000, 2.820000, 3.010000, 3.210000, 3.460000, 3.740000, 4.080000, 5.140000, 5.130000, 7.700000, 7.670000, 7.650000, 7.640000, 7.640000, 7.600000, 9.990000, 10.010000, 9.880000, 9.820000, 9.900000, 10.120000, 10.130000, 10.150000, 10.260000, 12.450000, 12.480000, 12.530000, 12.560000, 12.610000, 12.640000, 3.390000, 2.550000, 2.160000, 1.900000, 1.690000, 1.530000, 1.410000, 1.290000, 1.190000, 1.130000, 1.070000, 1.020000, 0.980000, 0.940000, 0.890000, 0.850000, 0.830000, 0.790000, 0.760000, 0.730000, 0.720000, 0.690000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.590000, 0.580000, 0.570000, 0.550000, 0.550000, 0.520000, 0.530000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 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, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.390000, 0.380000, 0.380000, 0.370000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.340000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054875, 268347 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.387000, 14.693001, 2.599557 ], "estimate": [ -6.387000, 14.693001, 2.599557 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.890000, 0.880000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.950000, 0.970000, 0.990000, 0.990000, 1.000000, 1.030000, 1.030000, 1.040000, 1.070000, 1.080000, 1.110000, 1.130000, 1.150000, 1.170000, 1.210000, 1.240000, 1.270000, 1.310000, 1.340000, 1.370000, 1.420000, 1.450000, 1.490000, 1.540000, 1.580000, 1.650000, 1.700000, 1.760000, 1.820000, 1.910000, 1.980000, 2.070000, 2.180000, 2.270000, 2.390000, 2.530000, 2.680000, 2.840000, 3.020000, 3.250000, 3.510000, 3.770000, 4.130000, 5.090000, 5.100000, 7.630000, 7.610000, 7.590000, 7.580000, 7.580000, 7.540000, 9.930000, 9.950000, 9.780000, 9.760000, 10.040000, 10.060000, 10.080000, 10.090000, 12.380000, 12.410000, 12.430000, 12.460000, 12.500000, 12.550000, 12.580000, 11.930000, 2.640000, 2.200000, 1.930000, 1.720000, 1.540000, 1.410000, 1.320000, 1.210000, 1.150000, 1.090000, 1.040000, 0.980000, 0.940000, 0.900000, 0.870000, 0.830000, 0.800000, 0.770000, 0.740000, 0.720000, 0.700000, 0.680000, 0.660000, 0.640000, 0.630000, 0.620000, 0.590000, 0.580000, 0.580000, 0.570000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.490000, 0.490000, 0.500000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.340000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054875, 338368 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.449000, 14.731000, 2.587266 ], "estimate": [ -6.449000, 14.731000, 2.587266 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.880000, 0.880000, 0.890000, 0.890000, 0.910000, 0.920000, 0.940000, 0.940000, 0.950000, 0.970000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.070000, 1.090000, 1.100000, 1.130000, 1.160000, 1.170000, 1.200000, 1.250000, 1.270000, 1.290000, 1.330000, 1.370000, 1.410000, 1.460000, 1.490000, 1.530000, 1.580000, 1.630000, 1.680000, 1.740000, 1.810000, 1.880000, 1.960000, 2.060000, 2.150000, 2.250000, 2.370000, 2.500000, 2.630000, 2.800000, 2.980000, 3.190000, 3.430000, 3.700000, 4.050000, 5.010000, 5.010000, 7.560000, 7.540000, 7.520000, 7.520000, 7.510000, 7.510000, 9.850000, 9.880000, 9.900000, 9.700000, 9.680000, 10.000000, 10.010000, 10.020000, 10.070000, 12.320000, 12.360000, 12.390000, 12.420000, 12.460000, 12.500000, 12.170000, 3.020000, 2.360000, 2.060000, 1.810000, 1.630000, 1.470000, 1.350000, 1.270000, 1.180000, 1.120000, 1.070000, 1.010000, 0.970000, 0.920000, 0.880000, 0.840000, 0.820000, 0.780000, 0.750000, 0.730000, 0.700000, 0.680000, 0.670000, 0.650000, 0.640000, 0.620000, 0.610000, 0.590000, 0.580000, 0.570000, 0.560000, 0.540000, 0.530000, 0.530000, 0.510000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.470000, 0.470000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054875, 728713 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.499000, 14.761000, 2.581121 ], "estimate": [ -6.499000, 14.761000, 2.581121 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.870000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.160000, 1.200000, 1.230000, 1.260000, 1.280000, 1.320000, 1.360000, 1.400000, 1.450000, 1.470000, 1.520000, 1.580000, 1.610000, 1.670000, 1.730000, 1.790000, 1.870000, 1.940000, 2.030000, 2.120000, 2.220000, 2.350000, 2.460000, 2.590000, 2.750000, 2.920000, 3.120000, 3.360000, 3.610000, 3.930000, 4.950000, 4.970000, 5.230000, 7.480000, 7.460000, 7.450000, 7.440000, 7.420000, 9.760000, 9.810000, 9.830000, 9.630000, 9.620000, 9.930000, 9.930000, 9.930000, 9.950000, 12.250000, 12.270000, 12.310000, 12.340000, 12.370000, 12.410000, 12.450000, 11.660000, 2.690000, 2.170000, 1.940000, 1.730000, 1.560000, 1.440000, 1.310000, 1.210000, 1.160000, 1.100000, 1.040000, 0.990000, 0.950000, 0.910000, 0.870000, 0.830000, 0.810000, 0.770000, 0.760000, 0.720000, 0.690000, 0.670000, 0.660000, 0.640000, 0.640000, 0.620000, 0.610000, 0.590000, 0.580000, 0.570000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.440000, 0.440000, 0.440000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054875, 738116 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.540000, 14.787000, 2.574975 ], "estimate": [ -6.540000, 14.787000, 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, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.880000, 0.900000, 0.910000, 0.930000, 0.940000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.070000, 1.090000, 1.100000, 1.130000, 1.150000, 1.160000, 1.200000, 1.230000, 1.270000, 1.290000, 1.330000, 1.370000, 1.400000, 1.440000, 1.480000, 1.520000, 1.580000, 1.620000, 1.660000, 1.740000, 1.800000, 1.870000, 1.950000, 2.030000, 2.130000, 2.230000, 2.350000, 2.460000, 2.600000, 2.750000, 2.940000, 3.140000, 3.370000, 3.640000, 3.930000, 4.900000, 4.910000, 7.450000, 7.440000, 7.410000, 7.400000, 7.390000, 7.370000, 9.710000, 9.750000, 9.780000, 9.580000, 9.580000, 9.880000, 9.890000, 9.900000, 9.910000, 12.190000, 12.230000, 12.260000, 12.290000, 12.320000, 12.370000, 12.410000, 11.580000, 2.730000, 2.260000, 1.960000, 1.740000, 1.580000, 1.460000, 1.320000, 1.230000, 1.180000, 1.100000, 1.050000, 0.990000, 0.950000, 0.910000, 0.860000, 0.840000, 0.810000, 0.780000, 0.750000, 0.720000, 0.700000, 0.680000, 0.670000, 0.650000, 0.640000, 0.630000, 0.610000, 0.590000, 0.580000, 0.570000, 0.560000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 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, 0.420000, 0.410000, 0.420000, 0.430000, 0.410000, 0.430000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.380000, 0.370000, 0.370000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054876, 167036 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.580000, 14.813001, 2.562684 ], "estimate": [ -6.580000, 14.813001, 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": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.920000, 0.920000, 0.940000, 0.950000, 0.950000, 0.970000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.080000, 1.100000, 1.130000, 1.150000, 1.170000, 1.200000, 1.230000, 1.270000, 1.300000, 1.330000, 1.360000, 1.400000, 1.450000, 1.470000, 1.530000, 1.570000, 1.630000, 1.680000, 1.750000, 1.800000, 1.870000, 1.950000, 2.040000, 2.120000, 2.230000, 2.350000, 2.470000, 2.600000, 2.750000, 2.940000, 3.130000, 3.370000, 3.630000, 3.910000, 4.860000, 4.860000, 7.410000, 7.390000, 7.360000, 7.360000, 7.350000, 7.340000, 9.670000, 9.710000, 9.720000, 9.540000, 9.500000, 9.830000, 9.840000, 9.850000, 9.860000, 12.150000, 12.180000, 12.200000, 12.240000, 12.280000, 12.310000, 12.380000, 11.660000, 2.920000, 2.370000, 2.030000, 1.790000, 1.630000, 1.480000, 1.360000, 1.270000, 1.180000, 1.130000, 1.070000, 1.010000, 0.970000, 0.920000, 0.880000, 0.840000, 0.820000, 0.800000, 0.760000, 0.740000, 0.710000, 0.700000, 0.670000, 0.660000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.400000, 0.390000, 0.410000, 0.400000, 0.380000, 0.370000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.380000, 0.370000, 0.370000, 0.360000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054876, 168300 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.633000, 14.846999, 2.556539 ], "estimate": [ -6.633000, 14.846999, 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": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.930000, 0.930000, 0.950000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.160000, 1.190000, 1.230000, 1.260000, 1.290000, 1.320000, 1.350000, 1.390000, 1.430000, 1.470000, 1.510000, 1.570000, 1.600000, 1.670000, 1.720000, 1.780000, 1.850000, 1.920000, 2.010000, 2.090000, 2.200000, 2.310000, 2.420000, 2.550000, 2.700000, 2.870000, 3.060000, 3.290000, 3.540000, 3.830000, 4.820000, 4.820000, 5.100000, 7.340000, 7.330000, 7.310000, 7.300000, 7.300000, 7.320000, 9.650000, 9.660000, 9.510000, 9.490000, 9.680000, 9.780000, 9.800000, 9.810000, 9.920000, 12.120000, 12.140000, 12.190000, 12.210000, 12.260000, 12.300000, 11.930000, 3.600000, 2.610000, 2.180000, 1.900000, 1.710000, 1.560000, 1.430000, 1.310000, 1.210000, 1.150000, 1.080000, 1.050000, 0.990000, 0.950000, 0.910000, 0.860000, 0.840000, 0.810000, 0.770000, 0.750000, 0.730000, 0.700000, 0.680000, 0.670000, 0.660000, 0.640000, 0.630000, 0.610000, 0.600000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 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, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.380000, 0.390000, 0.390000, 0.390000, 0.390000, 0.370000, 0.370000, 0.360000, 0.360000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054876, 338665 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.690000, 14.885000, 2.544248 ], "estimate": [ -6.690000, 14.885000, 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": [ 0.780000, 0.780000, 0.790000, 0.780000, 0.800000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.920000, 0.920000, 0.940000, 0.940000, 0.950000, 0.960000, 0.990000, 0.990000, 1.000000, 1.020000, 1.040000, 1.040000, 1.060000, 1.080000, 1.110000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.270000, 1.290000, 1.320000, 1.350000, 1.400000, 1.430000, 1.470000, 1.520000, 1.570000, 1.610000, 1.670000, 1.730000, 1.790000, 1.850000, 1.930000, 2.020000, 2.100000, 2.210000, 2.320000, 2.430000, 2.560000, 2.720000, 2.880000, 3.100000, 3.300000, 3.550000, 3.790000, 4.750000, 4.740000, 7.290000, 7.270000, 7.250000, 7.240000, 7.230000, 7.230000, 9.560000, 9.590000, 9.610000, 9.420000, 9.420000, 9.700000, 9.710000, 9.720000, 9.740000, 9.850000, 12.050000, 12.080000, 12.120000, 12.150000, 12.190000, 12.230000, 11.870000, 11.070000, 2.740000, 2.280000, 1.940000, 1.740000, 1.600000, 1.460000, 1.350000, 1.250000, 1.180000, 1.120000, 1.070000, 1.000000, 0.960000, 0.910000, 0.880000, 0.850000, 0.820000, 0.790000, 0.760000, 0.740000, 0.710000, 0.690000, 0.680000, 0.660000, 0.640000, 0.640000, 0.620000, 0.610000, 0.600000, 0.580000, 0.570000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054876, 735720 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.739000, 14.917000, 2.550393 ], "estimate": [ -6.739000, 14.917000, 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": [ 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.790000, 0.800000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.890000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.040000, 1.030000, 1.060000, 1.070000, 1.090000, 1.110000, 1.140000, 1.160000, 1.190000, 1.210000, 1.240000, 1.270000, 1.290000, 1.340000, 1.370000, 1.420000, 1.460000, 1.500000, 1.530000, 1.600000, 1.650000, 1.700000, 1.760000, 1.820000, 1.890000, 1.980000, 2.070000, 2.160000, 2.250000, 2.360000, 2.500000, 2.640000, 2.810000, 2.990000, 3.200000, 3.430000, 3.700000, 4.690000, 4.690000, 4.800000, 7.220000, 7.190000, 7.180000, 7.170000, 7.150000, 7.150000, 9.500000, 9.540000, 9.570000, 9.360000, 9.360000, 9.650000, 9.660000, 9.680000, 9.680000, 11.980000, 12.010000, 12.040000, 12.070000, 12.110000, 12.140000, 12.200000, 11.430000, 3.350000, 2.530000, 2.180000, 1.880000, 1.700000, 1.560000, 1.430000, 1.330000, 1.240000, 1.170000, 1.100000, 1.060000, 1.000000, 0.950000, 0.910000, 0.890000, 0.850000, 0.820000, 0.790000, 0.760000, 0.730000, 0.720000, 0.700000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.610000, 0.600000, 0.580000, 0.580000, 0.560000, 0.560000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.470000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.400000, 0.390000, 0.400000, 0.390000, 0.390000, 0.400000, 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": [ 976054876, 738371 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.780000, 14.945000, 2.550393 ], "estimate": [ -6.780000, 14.945000, 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": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 1.000000, 1.000000, 1.020000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.150000, 1.160000, 1.180000, 1.210000, 1.250000, 1.270000, 1.310000, 1.350000, 1.380000, 1.420000, 1.480000, 1.510000, 1.560000, 1.610000, 1.670000, 1.710000, 1.780000, 1.850000, 1.920000, 2.000000, 2.080000, 2.180000, 2.290000, 2.400000, 2.540000, 2.690000, 2.860000, 3.050000, 3.270000, 3.520000, 3.690000, 4.630000, 4.620000, 7.170000, 7.150000, 7.140000, 7.130000, 7.120000, 7.110000, 7.150000, 9.460000, 9.470000, 9.390000, 9.310000, 9.310000, 9.600000, 9.620000, 9.630000, 9.670000, 11.930000, 11.960000, 11.990000, 12.020000, 12.060000, 12.100000, 11.980000, 11.160000, 3.230000, 2.520000, 2.170000, 1.900000, 1.700000, 1.560000, 1.430000, 1.360000, 1.250000, 1.190000, 1.120000, 1.070000, 1.010000, 0.960000, 0.920000, 0.900000, 0.850000, 0.830000, 0.790000, 0.760000, 0.740000, 0.730000, 0.710000, 0.690000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054878, 237419 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.823000, 14.974000, 2.544248 ], "estimate": [ -6.823000, 14.974000, 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": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.780000, 0.800000, 0.790000, 0.800000, 0.800000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.030000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.170000, 1.170000, 1.200000, 1.240000, 1.270000, 1.300000, 1.340000, 1.380000, 1.420000, 1.460000, 1.500000, 1.540000, 1.590000, 1.640000, 1.690000, 1.750000, 1.820000, 1.890000, 1.970000, 2.050000, 2.150000, 2.240000, 2.360000, 2.490000, 2.630000, 2.800000, 2.990000, 3.180000, 3.420000, 3.640000, 4.600000, 4.600000, 4.840000, 7.130000, 7.110000, 7.090000, 7.070000, 7.070000, 7.070000, 9.410000, 9.430000, 9.460000, 9.250000, 9.270000, 9.550000, 9.560000, 9.570000, 9.590000, 11.880000, 11.900000, 11.930000, 11.960000, 12.000000, 12.040000, 12.090000, 11.500000, 10.730000, 2.700000, 2.360000, 2.060000, 1.780000, 1.640000, 1.510000, 1.400000, 1.300000, 1.230000, 1.170000, 1.110000, 1.050000, 1.010000, 0.950000, 0.910000, 0.870000, 0.840000, 0.820000, 0.780000, 0.750000, 0.740000, 0.720000, 0.700000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.610000, 0.590000, 0.580000, 0.580000, 0.570000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054878, 248950 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.875000, 15.009000, 2.538102 ], "estimate": [ -6.875000, 15.009000, 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": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.840000, 0.860000, 0.860000, 0.870000, 0.890000, 0.890000, 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, 1.060000, 1.080000, 1.100000, 1.110000, 1.150000, 1.170000, 1.190000, 1.230000, 1.260000, 1.280000, 1.330000, 1.360000, 1.400000, 1.440000, 1.480000, 1.530000, 1.580000, 1.630000, 1.680000, 1.740000, 1.780000, 1.860000, 1.940000, 2.020000, 2.100000, 2.200000, 2.320000, 2.430000, 2.580000, 2.740000, 2.910000, 3.110000, 3.320000, 3.550000, 4.530000, 4.530000, 4.540000, 7.070000, 7.050000, 7.040000, 7.020000, 7.010000, 7.010000, 9.340000, 9.370000, 9.390000, 9.200000, 9.210000, 9.500000, 9.500000, 9.510000, 9.520000, 9.630000, 11.830000, 11.870000, 11.900000, 11.920000, 11.960000, 12.010000, 11.800000, 11.010000, 3.870000, 2.610000, 2.240000, 1.980000, 1.720000, 1.590000, 1.460000, 1.360000, 1.300000, 1.210000, 1.150000, 1.090000, 1.040000, 0.990000, 0.950000, 0.910000, 0.870000, 0.840000, 0.810000, 0.780000, 0.750000, 0.750000, 0.720000, 0.700000, 0.680000, 0.660000, 0.650000, 0.650000, 0.640000, 0.620000, 0.600000, 0.600000, 0.580000, 0.580000, 0.560000, 0.560000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 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": [ 976054878, 259150 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.928000, 15.044001, 2.531957 ], "estimate": [ -6.928000, 15.044001, 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": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.790000, 0.800000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.920000, 0.920000, 0.940000, 0.940000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.040000, 1.050000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.190000, 1.220000, 1.260000, 1.290000, 1.310000, 1.360000, 1.400000, 1.440000, 1.470000, 1.510000, 1.570000, 1.620000, 1.670000, 1.730000, 1.790000, 1.850000, 1.920000, 2.010000, 2.090000, 2.190000, 2.300000, 2.420000, 2.560000, 2.710000, 2.880000, 3.070000, 3.290000, 3.540000, 4.470000, 4.480000, 4.470000, 7.020000, 6.990000, 6.970000, 6.960000, 6.960000, 6.940000, 9.280000, 9.310000, 9.320000, 9.160000, 9.150000, 9.220000, 9.440000, 9.460000, 9.470000, 9.510000, 11.770000, 11.790000, 11.830000, 11.870000, 11.910000, 11.950000, 11.950000, 11.130000, 10.380000, 2.900000, 2.390000, 2.090000, 1.850000, 1.680000, 1.510000, 1.420000, 1.330000, 1.260000, 1.200000, 1.130000, 1.080000, 1.030000, 0.980000, 0.940000, 0.900000, 0.870000, 0.830000, 0.810000, 0.780000, 0.770000, 0.740000, 0.710000, 0.690000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.590000, 0.580000, 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, 0.460000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.410000, 0.420000, 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": [ 976054878, 268800 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.975000, 15.077000, 2.531957 ], "estimate": [ -6.975000, 15.077000, 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": [ 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.910000, 0.920000, 0.920000, 0.940000, 0.950000, 0.960000, 0.960000, 0.980000, 0.990000, 1.020000, 1.030000, 1.040000, 1.040000, 1.070000, 1.090000, 1.100000, 1.130000, 1.160000, 1.170000, 1.200000, 1.240000, 1.270000, 1.300000, 1.330000, 1.370000, 1.400000, 1.450000, 1.490000, 1.540000, 1.580000, 1.640000, 1.680000, 1.760000, 1.810000, 1.880000, 1.950000, 2.040000, 2.120000, 2.230000, 2.350000, 2.470000, 2.620000, 2.780000, 2.940000, 3.160000, 3.380000, 4.310000, 4.420000, 4.400000, 4.730000, 6.940000, 6.930000, 6.910000, 6.890000, 6.880000, 6.880000, 9.220000, 9.250000, 9.270000, 9.080000, 9.060000, 9.370000, 9.380000, 9.390000, 9.410000, 11.690000, 11.720000, 11.750000, 11.770000, 11.810000, 11.850000, 11.900000, 11.600000, 10.830000, 10.150000, 2.850000, 2.340000, 2.070000, 1.830000, 1.670000, 1.510000, 1.420000, 1.340000, 1.260000, 1.210000, 1.140000, 1.090000, 1.040000, 0.990000, 0.950000, 0.910000, 0.880000, 0.840000, 0.820000, 0.790000, 0.750000, 0.730000, 0.720000, 0.700000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 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, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000 ], "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": [ 976054878, 278130 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.019000, 15.108001, 2.531957 ], "estimate": [ -7.019000, 15.108001, 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": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.130000, 1.150000, 1.160000, 1.200000, 1.230000, 1.260000, 1.290000, 1.320000, 1.370000, 1.400000, 1.440000, 1.480000, 1.530000, 1.580000, 1.630000, 1.670000, 1.740000, 1.800000, 1.870000, 1.950000, 2.030000, 2.110000, 2.220000, 2.320000, 2.450000, 2.600000, 2.760000, 2.920000, 3.120000, 3.350000, 4.350000, 4.360000, 4.340000, 4.650000, 6.880000, 6.870000, 6.850000, 6.840000, 6.840000, 6.840000, 9.160000, 9.200000, 9.220000, 9.030000, 9.010000, 9.330000, 9.330000, 9.340000, 9.350000, 9.470000, 11.660000, 11.700000, 11.730000, 11.760000, 11.800000, 11.840000, 11.630000, 10.870000, 10.170000, 3.010000, 2.430000, 2.160000, 1.920000, 1.720000, 1.560000, 1.460000, 1.370000, 1.310000, 1.220000, 1.160000, 1.110000, 1.060000, 1.020000, 0.970000, 0.930000, 0.900000, 0.860000, 0.840000, 0.810000, 0.770000, 0.750000, 0.730000, 0.720000, 0.700000, 0.690000, 0.670000, 0.650000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 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": [ 976054878, 287209 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.065000, 15.140000, 2.525811 ], "estimate": [ -7.065000, 15.140000, 2.525811 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.940000, 0.970000, 0.980000, 0.990000, 1.010000, 1.030000, 1.040000, 1.040000, 1.050000, 1.080000, 1.100000, 1.120000, 1.150000, 1.160000, 1.190000, 1.220000, 1.260000, 1.280000, 1.320000, 1.360000, 1.400000, 1.450000, 1.470000, 1.530000, 1.570000, 1.610000, 1.680000, 1.730000, 1.790000, 1.850000, 1.940000, 2.020000, 2.100000, 2.210000, 2.320000, 2.440000, 2.590000, 2.750000, 2.900000, 3.120000, 3.330000, 4.330000, 4.320000, 4.330000, 6.850000, 6.840000, 6.820000, 6.800000, 6.790000, 6.780000, 6.780000, 9.110000, 9.140000, 9.160000, 8.970000, 8.960000, 9.270000, 9.270000, 9.280000, 9.290000, 9.380000, 11.610000, 11.630000, 11.670000, 11.710000, 11.750000, 11.780000, 11.740000, 10.940000, 10.220000, 3.440000, 2.620000, 2.250000, 2.000000, 1.790000, 1.640000, 1.530000, 1.410000, 1.330000, 1.260000, 1.200000, 1.140000, 1.090000, 1.040000, 1.000000, 0.960000, 0.910000, 0.890000, 0.860000, 0.830000, 0.800000, 0.770000, 0.760000, 0.730000, 0.720000, 0.690000, 0.670000, 0.660000, 0.650000, 0.660000, 0.640000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 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, 0.460000, 0.460000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.450000, 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": [ 976054878, 232311 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.113000, 15.174000, 2.519666 ], "estimate": [ -7.113000, 15.174000, 2.519666 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.030000, 1.050000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.210000, 1.250000, 1.280000, 1.310000, 1.350000, 1.390000, 1.430000, 1.470000, 1.510000, 1.560000, 1.590000, 1.660000, 1.710000, 1.780000, 1.840000, 1.920000, 2.000000, 2.080000, 2.180000, 2.300000, 2.410000, 2.550000, 2.700000, 2.870000, 3.070000, 3.270000, 4.250000, 4.260000, 4.260000, 4.540000, 6.780000, 6.760000, 6.750000, 6.730000, 6.720000, 6.730000, 9.070000, 9.090000, 9.110000, 8.960000, 8.930000, 8.950000, 9.220000, 9.230000, 9.250000, 9.260000, 11.550000, 11.580000, 11.610000, 11.640000, 11.680000, 11.730000, 11.770000, 11.100000, 10.360000, 9.800000, 2.870000, 2.390000, 2.110000, 1.900000, 1.720000, 1.590000, 1.480000, 1.380000, 1.310000, 1.240000, 1.180000, 1.120000, 1.080000, 1.040000, 0.990000, 0.950000, 0.920000, 0.890000, 0.850000, 0.830000, 0.790000, 0.770000, 0.760000, 0.740000, 0.710000, 0.690000, 0.680000, 0.660000, 0.650000, 0.650000, 0.630000, 0.630000, 0.620000, 0.600000, 0.590000, 0.590000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.510000, 0.510000, 0.500000, 0.490000, 0.500000, 0.480000, 0.490000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054878, 477126 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.163000, 15.210000, 2.513520 ], "estimate": [ -7.163000, 15.210000, 2.513520 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.880000, 0.880000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.950000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.010000, 1.040000, 1.040000, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.170000, 1.180000, 1.220000, 1.260000, 1.280000, 1.310000, 1.360000, 1.390000, 1.440000, 1.470000, 1.510000, 1.560000, 1.600000, 1.680000, 1.720000, 1.790000, 1.850000, 1.930000, 2.010000, 2.090000, 2.200000, 2.310000, 2.430000, 2.580000, 2.730000, 2.900000, 3.100000, 3.250000, 4.210000, 4.200000, 4.210000, 6.730000, 6.710000, 6.700000, 6.690000, 6.680000, 6.670000, 6.670000, 8.990000, 9.020000, 9.040000, 8.860000, 8.850000, 9.140000, 9.170000, 9.180000, 9.180000, 9.230000, 11.490000, 11.510000, 11.550000, 11.580000, 11.620000, 11.670000, 11.720000, 10.970000, 10.250000, 9.660000, 2.990000, 2.430000, 2.140000, 1.920000, 1.760000, 1.610000, 1.470000, 1.420000, 1.330000, 1.260000, 1.200000, 1.140000, 1.090000, 1.060000, 1.000000, 0.960000, 0.930000, 0.910000, 0.860000, 0.840000, 0.810000, 0.790000, 0.750000, 0.750000, 0.730000, 0.710000, 0.690000, 0.670000, 0.670000, 0.650000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.580000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 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, 0.450000, 0.440000, 0.440000, 0.440000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054878, 538331 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.213000, 15.245000, 2.507374 ], "estimate": [ -7.213000, 15.245000, 2.507374 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.790000, 0.790000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.190000, 1.220000, 1.260000, 1.290000, 1.320000, 1.350000, 1.400000, 1.430000, 1.470000, 1.520000, 1.560000, 1.620000, 1.670000, 1.720000, 1.790000, 1.860000, 1.920000, 2.010000, 2.100000, 2.210000, 2.330000, 2.440000, 2.590000, 2.740000, 2.920000, 3.110000, 3.400000, 4.150000, 4.140000, 4.140000, 6.680000, 6.660000, 6.630000, 6.630000, 6.610000, 6.600000, 6.600000, 8.940000, 8.970000, 8.990000, 8.800000, 8.800000, 9.110000, 9.110000, 9.130000, 9.140000, 9.200000, 11.440000, 11.460000, 11.490000, 11.530000, 11.570000, 11.610000, 11.660000, 10.910000, 10.200000, 9.640000, 3.130000, 2.550000, 2.190000, 1.970000, 1.780000, 1.650000, 1.520000, 1.410000, 1.360000, 1.280000, 1.220000, 1.170000, 1.110000, 1.070000, 1.020000, 0.990000, 0.950000, 0.920000, 0.880000, 0.850000, 0.830000, 0.800000, 0.780000, 0.760000, 0.740000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.650000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 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, 0.440000, 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": [ 976054878, 863883 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.256000, 15.276999, 2.501229 ], "estimate": [ -7.256000, 15.276999, 2.501229 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.770000, 0.770000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.780000, 0.780000, 0.790000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.840000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.950000, 0.970000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.100000, 1.120000, 1.150000, 1.170000, 1.190000, 1.230000, 1.270000, 1.280000, 1.310000, 1.360000, 1.390000, 1.440000, 1.480000, 1.530000, 1.570000, 1.610000, 1.670000, 1.730000, 1.800000, 1.860000, 1.940000, 2.020000, 2.120000, 2.220000, 2.340000, 2.470000, 2.600000, 2.750000, 2.930000, 3.110000, 4.050000, 4.080000, 4.090000, 4.300000, 6.610000, 6.590000, 6.580000, 6.570000, 6.550000, 6.550000, 6.530000, 8.880000, 8.920000, 8.940000, 8.750000, 8.720000, 9.040000, 9.050000, 9.070000, 9.080000, 9.200000, 11.380000, 11.400000, 11.440000, 11.470000, 11.510000, 11.550000, 11.570000, 10.830000, 10.110000, 9.550000, 3.220000, 2.660000, 2.230000, 2.000000, 1.820000, 1.680000, 1.550000, 1.450000, 1.360000, 1.300000, 1.230000, 1.180000, 1.130000, 1.090000, 1.040000, 1.000000, 0.970000, 0.920000, 0.890000, 0.870000, 0.840000, 0.820000, 0.790000, 0.770000, 0.760000, 0.740000, 0.720000, 0.710000, 0.690000, 0.670000, 0.660000, 0.650000, 0.650000, 0.630000, 0.620000, 0.620000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 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": [ 976054878, 938266 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.300000, 15.310000, 2.488938 ], "estimate": [ -7.300000, 15.310000, 2.488938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.780000, 0.790000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.950000, 0.950000, 0.970000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.190000, 1.220000, 1.250000, 1.280000, 1.310000, 1.360000, 1.400000, 1.430000, 1.480000, 1.520000, 1.570000, 1.610000, 1.670000, 1.730000, 1.800000, 1.860000, 1.930000, 2.010000, 2.110000, 2.220000, 2.330000, 2.450000, 2.600000, 2.750000, 2.920000, 3.100000, 4.010000, 4.040000, 4.040000, 4.280000, 6.570000, 6.550000, 6.530000, 6.510000, 6.500000, 6.500000, 6.500000, 8.840000, 8.860000, 8.890000, 8.700000, 8.690000, 9.000000, 9.010000, 9.020000, 9.030000, 9.090000, 11.330000, 11.350000, 11.380000, 11.430000, 11.470000, 11.500000, 11.550000, 10.870000, 10.170000, 9.610000, 3.660000, 2.790000, 2.360000, 2.070000, 1.900000, 1.740000, 1.600000, 1.490000, 1.400000, 1.320000, 1.270000, 1.210000, 1.160000, 1.100000, 1.070000, 1.020000, 0.990000, 0.950000, 0.920000, 0.880000, 0.860000, 0.840000, 0.810000, 0.790000, 0.770000, 0.750000, 0.740000, 0.720000, 0.700000, 0.690000, 0.670000, 0.670000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.510000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054879, 320162 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.346000, 15.345000, 2.476647 ], "estimate": [ -7.346000, 15.345000, 2.476647 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.910000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.010000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.110000, 1.140000, 1.160000, 1.180000, 1.210000, 1.250000, 1.270000, 1.310000, 1.350000, 1.390000, 1.420000, 1.460000, 1.500000, 1.560000, 1.600000, 1.670000, 1.720000, 1.780000, 1.840000, 1.920000, 2.010000, 2.080000, 2.200000, 2.310000, 2.440000, 2.570000, 2.730000, 2.890000, 3.030000, 3.970000, 3.980000, 3.990000, 4.210000, 6.510000, 6.490000, 6.470000, 6.450000, 6.440000, 6.430000, 6.430000, 8.770000, 8.810000, 8.820000, 8.640000, 8.650000, 8.770000, 8.950000, 8.960000, 8.980000, 8.990000, 11.260000, 11.300000, 11.330000, 11.350000, 11.400000, 11.440000, 11.480000, 10.960000, 10.260000, 9.670000, 9.170000, 3.000000, 2.550000, 2.210000, 1.970000, 1.810000, 1.680000, 1.550000, 1.450000, 1.380000, 1.310000, 1.240000, 1.190000, 1.130000, 1.100000, 1.050000, 1.020000, 0.980000, 0.940000, 0.910000, 0.870000, 0.860000, 0.830000, 0.800000, 0.790000, 0.760000, 0.760000, 0.740000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 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 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054879, 342821 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.395000, 15.383000, 2.470501 ], "estimate": [ -7.395000, 15.383000, 2.470501 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.780000, 0.790000, 0.780000, 0.790000, 0.780000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.930000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.020000, 1.040000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.160000, 1.180000, 1.220000, 1.240000, 1.270000, 1.300000, 1.350000, 1.390000, 1.420000, 1.460000, 1.510000, 1.560000, 1.610000, 1.660000, 1.710000, 1.770000, 1.840000, 1.920000, 2.000000, 2.080000, 2.190000, 2.300000, 2.430000, 2.560000, 2.710000, 2.870000, 3.000000, 3.940000, 3.930000, 3.920000, 4.190000, 6.450000, 6.430000, 6.420000, 6.400000, 6.390000, 6.390000, 6.390000, 8.720000, 8.750000, 8.760000, 8.580000, 8.590000, 8.630000, 8.900000, 8.910000, 8.920000, 8.940000, 11.200000, 11.230000, 11.260000, 11.300000, 11.340000, 11.380000, 11.430000, 10.990000, 10.280000, 9.700000, 9.180000, 3.280000, 2.670000, 2.330000, 2.050000, 1.860000, 1.720000, 1.610000, 1.490000, 1.410000, 1.330000, 1.270000, 1.220000, 1.150000, 1.110000, 1.070000, 1.040000, 0.990000, 0.960000, 0.920000, 0.900000, 0.860000, 0.850000, 0.830000, 0.800000, 0.780000, 0.770000, 0.740000, 0.740000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.650000, 0.660000, 0.650000, 0.640000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 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, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054879, 539039 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.441000, 15.420000, 2.458210 ], "estimate": [ -7.441000, 15.420000, 2.458210 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.910000, 0.930000, 0.940000, 0.940000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.160000, 1.180000, 1.210000, 1.240000, 1.270000, 1.310000, 1.340000, 1.380000, 1.420000, 1.460000, 1.500000, 1.550000, 1.600000, 1.660000, 1.710000, 1.770000, 1.840000, 1.930000, 2.010000, 2.090000, 2.200000, 2.290000, 2.410000, 2.550000, 2.700000, 2.850000, 3.170000, 3.880000, 3.870000, 3.870000, 4.160000, 6.410000, 6.390000, 6.370000, 6.360000, 6.350000, 6.340000, 6.340000, 8.670000, 8.700000, 8.710000, 8.560000, 8.530000, 8.510000, 8.840000, 8.850000, 8.860000, 8.880000, 11.150000, 11.180000, 11.200000, 11.240000, 11.280000, 11.330000, 11.370000, 11.070000, 10.370000, 9.750000, 9.220000, 3.710000, 2.860000, 2.450000, 2.180000, 1.940000, 1.790000, 1.670000, 1.550000, 1.460000, 1.390000, 1.320000, 1.250000, 1.190000, 1.150000, 1.120000, 1.070000, 1.020000, 0.990000, 0.950000, 0.920000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.700000, 0.700000, 0.680000, 0.680000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 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": [ 976054879, 921632 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.485000, 15.455000, 2.445919 ], "estimate": [ -7.485000, 15.455000, 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": [ 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.900000, 0.900000, 0.920000, 0.930000, 0.950000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.090000, 1.100000, 1.130000, 1.160000, 1.170000, 1.200000, 1.240000, 1.270000, 1.290000, 1.330000, 1.370000, 1.410000, 1.450000, 1.500000, 1.540000, 1.590000, 1.640000, 1.700000, 1.760000, 1.830000, 1.900000, 1.990000, 2.080000, 2.180000, 2.280000, 2.390000, 2.510000, 2.660000, 2.820000, 3.290000, 3.830000, 3.820000, 3.810000, 4.090000, 6.350000, 6.340000, 6.320000, 6.310000, 6.300000, 6.280000, 6.290000, 8.600000, 8.640000, 8.660000, 8.680000, 8.480000, 8.470000, 8.770000, 8.780000, 8.800000, 8.810000, 11.100000, 11.130000, 11.150000, 11.190000, 11.220000, 11.260000, 11.300000, 11.220000, 10.520000, 9.860000, 9.310000, 8.840000, 3.130000, 2.640000, 2.320000, 2.070000, 1.860000, 1.720000, 1.610000, 1.510000, 1.430000, 1.350000, 1.300000, 1.240000, 1.180000, 1.130000, 1.090000, 1.050000, 1.010000, 0.980000, 0.940000, 0.930000, 0.890000, 0.860000, 0.840000, 0.830000, 0.810000, 0.790000, 0.770000, 0.750000, 0.750000, 0.730000, 0.710000, 0.700000, 0.670000, 0.680000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054879, 942515 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.527000, 15.491000, 2.433628 ], "estimate": [ -7.527000, 15.491000, 2.433628 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.770000, 0.780000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.840000, 0.860000, 0.860000, 0.880000, 0.880000, 0.890000, 0.900000, 0.920000, 0.920000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.040000, 1.050000, 1.050000, 1.080000, 1.100000, 1.120000, 1.140000, 1.170000, 1.190000, 1.220000, 1.260000, 1.280000, 1.320000, 1.360000, 1.400000, 1.440000, 1.470000, 1.510000, 1.570000, 1.620000, 1.680000, 1.740000, 1.820000, 1.890000, 1.970000, 2.050000, 2.140000, 2.250000, 2.350000, 2.490000, 2.620000, 2.780000, 3.350000, 3.780000, 3.760000, 3.760000, 3.990000, 6.300000, 6.290000, 6.260000, 6.250000, 6.240000, 6.240000, 6.230000, 8.560000, 8.580000, 8.600000, 8.620000, 8.410000, 8.420000, 8.730000, 8.730000, 8.740000, 8.750000, 8.830000, 11.050000, 11.090000, 11.120000, 11.150000, 11.200000, 11.230000, 11.270000, 10.650000, 9.990000, 9.440000, 8.940000, 3.590000, 2.850000, 2.480000, 2.210000, 1.980000, 1.790000, 1.680000, 1.580000, 1.480000, 1.410000, 1.340000, 1.280000, 1.230000, 1.170000, 1.120000, 1.090000, 1.040000, 1.010000, 0.970000, 0.930000, 0.920000, 0.890000, 0.860000, 0.860000, 0.830000, 0.810000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.700000, 0.690000, 0.670000, 0.670000, 0.660000, 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, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 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": [ 976054881, 393949 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.570000, 15.526999, 2.427483 ], "estimate": [ -7.570000, 15.526999, 2.427483 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.770000, 0.780000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.100000, 1.110000, 1.140000, 1.160000, 1.180000, 1.210000, 1.250000, 1.280000, 1.310000, 1.340000, 1.390000, 1.420000, 1.460000, 1.500000, 1.570000, 1.610000, 1.680000, 1.720000, 1.790000, 1.870000, 1.950000, 2.040000, 2.130000, 2.220000, 2.340000, 2.450000, 2.590000, 2.740000, 3.640000, 3.730000, 3.710000, 3.710000, 3.930000, 6.260000, 6.240000, 6.230000, 6.210000, 6.200000, 6.190000, 6.180000, 6.190000, 8.510000, 8.550000, 8.560000, 8.380000, 8.350000, 8.670000, 8.680000, 8.690000, 8.700000, 8.720000, 11.010000, 11.030000, 11.070000, 11.110000, 11.140000, 11.180000, 11.220000, 10.770000, 10.130000, 9.540000, 9.030000, 4.360000, 3.130000, 2.640000, 2.310000, 2.100000, 1.870000, 1.740000, 1.620000, 1.530000, 1.460000, 1.380000, 1.330000, 1.270000, 1.220000, 1.160000, 1.120000, 1.080000, 1.030000, 1.000000, 0.970000, 0.940000, 0.920000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.740000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 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, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054881, 395128 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.615000, 15.566000, 2.421337 ], "estimate": [ -7.615000, 15.566000, 2.421337 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.950000, 0.970000, 0.990000, 0.990000, 1.010000, 1.020000, 1.040000, 1.040000, 1.070000, 1.090000, 1.100000, 1.130000, 1.160000, 1.170000, 1.210000, 1.250000, 1.270000, 1.300000, 1.340000, 1.370000, 1.410000, 1.460000, 1.500000, 1.550000, 1.600000, 1.650000, 1.720000, 1.780000, 1.850000, 1.940000, 2.020000, 2.100000, 2.200000, 2.310000, 2.430000, 2.560000, 2.720000, 3.630000, 3.670000, 3.650000, 3.650000, 3.880000, 6.210000, 6.180000, 6.170000, 6.140000, 6.130000, 6.130000, 6.110000, 6.180000, 8.450000, 8.490000, 8.490000, 8.300000, 8.310000, 8.420000, 8.620000, 8.630000, 8.640000, 8.660000, 10.950000, 10.970000, 11.000000, 11.030000, 11.070000, 11.120000, 11.150000, 10.890000, 10.250000, 9.630000, 9.110000, 8.660000, 3.470000, 2.860000, 2.490000, 2.230000, 2.020000, 1.830000, 1.690000, 1.600000, 1.510000, 1.440000, 1.370000, 1.320000, 1.250000, 1.200000, 1.150000, 1.110000, 1.080000, 1.040000, 1.000000, 0.960000, 0.940000, 0.910000, 0.880000, 0.870000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 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, 0.630000, 0.620000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 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": [ 976054881, 396155 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.661000, 15.606000, 2.409046 ], "estimate": [ -7.661000, 15.606000, 2.409046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.910000, 0.910000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.040000, 1.040000, 1.070000, 1.090000, 1.110000, 1.140000, 1.170000, 1.190000, 1.220000, 1.250000, 1.280000, 1.300000, 1.340000, 1.390000, 1.420000, 1.460000, 1.510000, 1.560000, 1.600000, 1.680000, 1.740000, 1.810000, 1.870000, 1.960000, 2.030000, 2.140000, 2.230000, 2.340000, 2.480000, 2.600000, 2.800000, 3.570000, 3.600000, 3.590000, 3.600000, 6.160000, 6.140000, 6.120000, 6.100000, 6.090000, 6.070000, 6.060000, 6.050000, 8.390000, 8.410000, 8.430000, 8.450000, 8.250000, 8.230000, 8.560000, 8.570000, 8.590000, 8.600000, 8.640000, 10.890000, 10.920000, 10.950000, 10.990000, 11.020000, 11.070000, 11.120000, 10.670000, 10.030000, 9.450000, 8.950000, 8.510000, 3.410000, 2.870000, 2.490000, 2.210000, 2.030000, 1.850000, 1.710000, 1.610000, 1.530000, 1.460000, 1.380000, 1.340000, 1.260000, 1.220000, 1.180000, 1.130000, 1.100000, 1.050000, 1.010000, 0.980000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.840000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.720000, 0.710000, 0.690000, 0.690000, 0.680000, 0.660000, 0.660000, 0.650000, 0.650000, 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, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054881, 397194 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.704000, 15.644000, 2.402900 ], "estimate": [ -7.704000, 15.644000, 2.402900 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.090000, 1.110000, 1.140000, 1.170000, 1.180000, 1.220000, 1.260000, 1.280000, 1.310000, 1.340000, 1.380000, 1.420000, 1.470000, 1.520000, 1.570000, 1.620000, 1.680000, 1.750000, 1.810000, 1.880000, 1.960000, 2.050000, 2.140000, 2.240000, 2.360000, 2.490000, 2.600000, 3.530000, 3.560000, 3.530000, 3.540000, 3.660000, 6.090000, 6.070000, 6.060000, 6.040000, 6.020000, 6.010000, 6.010000, 6.010000, 8.330000, 8.360000, 8.380000, 8.400000, 8.190000, 8.190000, 8.500000, 8.520000, 8.520000, 8.540000, 8.620000, 10.850000, 10.870000, 10.890000, 10.950000, 10.990000, 11.010000, 11.060000, 10.550000, 9.910000, 9.350000, 8.870000, 8.430000, 3.540000, 2.950000, 2.550000, 2.300000, 2.090000, 1.910000, 1.750000, 1.630000, 1.550000, 1.490000, 1.420000, 1.350000, 1.290000, 1.250000, 1.190000, 1.150000, 1.120000, 1.080000, 1.040000, 1.000000, 0.970000, 0.940000, 0.930000, 0.890000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 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, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054881, 398123 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.745000, 15.681000, 2.396755 ], "estimate": [ -7.745000, 15.681000, 2.396755 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.760000, 0.770000, 0.770000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.030000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.180000, 1.210000, 1.240000, 1.270000, 1.290000, 1.330000, 1.370000, 1.410000, 1.460000, 1.490000, 1.550000, 1.600000, 1.670000, 1.720000, 1.800000, 1.870000, 1.930000, 2.030000, 2.110000, 2.210000, 2.330000, 2.440000, 2.540000, 3.470000, 3.510000, 3.480000, 3.490000, 3.520000, 6.040000, 6.020000, 6.010000, 5.990000, 5.980000, 5.960000, 5.950000, 5.940000, 8.270000, 8.300000, 8.320000, 8.340000, 8.150000, 8.120000, 8.440000, 8.460000, 8.470000, 8.490000, 8.500000, 10.790000, 10.810000, 10.850000, 10.870000, 10.910000, 10.960000, 11.000000, 10.690000, 10.050000, 9.450000, 8.960000, 8.520000, 4.190000, 3.190000, 2.740000, 2.410000, 2.200000, 2.010000, 1.840000, 1.710000, 1.610000, 1.520000, 1.460000, 1.400000, 1.340000, 1.290000, 1.240000, 1.190000, 1.150000, 1.110000, 1.080000, 1.040000, 1.000000, 0.970000, 0.950000, 0.930000, 0.890000, 0.870000, 0.860000, 0.830000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 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": [ 976054881, 399029 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.785000, 15.719000, 2.390610 ], "estimate": [ -7.785000, 15.719000, 2.390610 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.770000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.780000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.810000, 0.810000, 0.830000, 0.830000, 0.840000, 0.840000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.080000, 1.100000, 1.140000, 1.160000, 1.180000, 1.210000, 1.250000, 1.280000, 1.310000, 1.350000, 1.390000, 1.440000, 1.470000, 1.520000, 1.580000, 1.630000, 1.690000, 1.760000, 1.830000, 1.910000, 1.970000, 2.070000, 2.160000, 2.270000, 2.390000, 2.500000, 3.420000, 3.470000, 3.430000, 3.420000, 3.440000, 6.000000, 5.980000, 5.950000, 5.930000, 5.930000, 5.910000, 5.900000, 5.900000, 5.960000, 8.230000, 8.260000, 8.280000, 8.090000, 8.100000, 8.100000, 8.400000, 8.400000, 8.430000, 8.440000, 10.730000, 10.750000, 10.780000, 10.810000, 10.840000, 10.880000, 10.930000, 10.950000, 10.260000, 9.660000, 9.140000, 8.660000, 8.260000, 3.640000, 3.030000, 2.630000, 2.370000, 2.150000, 1.970000, 1.820000, 1.690000, 1.630000, 1.520000, 1.460000, 1.400000, 1.340000, 1.290000, 1.240000, 1.200000, 1.150000, 1.120000, 1.080000, 1.040000, 1.010000, 0.980000, 0.960000, 0.930000, 0.910000, 0.880000, 0.870000, 0.850000, 0.840000, 0.810000, 0.800000, 0.780000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054881, 399963 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.830000, 15.759000, 2.396755 ], "estimate": [ -7.830000, 15.759000, 2.396755 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.760000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.210000, 1.230000, 1.280000, 1.290000, 1.340000, 1.380000, 1.410000, 1.460000, 1.510000, 1.560000, 1.610000, 1.680000, 1.740000, 1.810000, 1.880000, 1.950000, 2.050000, 2.140000, 2.240000, 2.360000, 2.440000, 3.370000, 3.400000, 3.380000, 3.380000, 3.390000, 5.940000, 5.920000, 5.910000, 5.890000, 5.860000, 5.850000, 5.840000, 5.830000, 5.820000, 8.170000, 8.210000, 8.210000, 8.080000, 8.040000, 8.020000, 8.350000, 8.350000, 8.370000, 8.390000, 8.490000, 10.690000, 10.710000, 10.750000, 10.790000, 10.830000, 10.860000, 10.900000, 10.340000, 9.730000, 9.200000, 8.720000, 8.310000, 4.150000, 3.240000, 2.810000, 2.480000, 2.250000, 2.060000, 1.910000, 1.770000, 1.660000, 1.590000, 1.510000, 1.440000, 1.380000, 1.330000, 1.270000, 1.240000, 1.180000, 1.150000, 1.110000, 1.080000, 1.040000, 1.000000, 0.980000, 0.960000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.790000, 0.770000, 0.770000, 0.760000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 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": [ 976054881, 602365 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.874000, 15.800000, 2.390610 ], "estimate": [ -7.874000, 15.800000, 2.390610 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.920000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 1.030000, 1.030000, 1.050000, 1.080000, 1.090000, 1.120000, 1.140000, 1.170000, 1.200000, 1.230000, 1.260000, 1.290000, 1.330000, 1.370000, 1.420000, 1.460000, 1.500000, 1.550000, 1.610000, 1.670000, 1.740000, 1.800000, 1.870000, 1.950000, 2.050000, 2.140000, 2.240000, 2.370000, 2.510000, 3.310000, 3.340000, 3.320000, 3.320000, 3.340000, 5.880000, 5.850000, 5.830000, 5.810000, 5.800000, 5.790000, 5.790000, 5.780000, 5.790000, 8.110000, 8.150000, 8.160000, 8.030000, 7.990000, 7.950000, 8.290000, 8.300000, 8.310000, 8.330000, 8.430000, 10.630000, 10.660000, 10.690000, 10.720000, 10.770000, 10.810000, 10.850000, 10.330000, 9.730000, 9.190000, 8.710000, 8.300000, 7.930000, 3.440000, 2.940000, 2.600000, 2.340000, 2.140000, 1.970000, 1.830000, 1.720000, 1.620000, 1.540000, 1.480000, 1.420000, 1.370000, 1.310000, 1.260000, 1.220000, 1.180000, 1.140000, 1.110000, 1.070000, 1.040000, 1.010000, 0.990000, 0.960000, 0.930000, 0.920000, 0.900000, 0.880000, 0.860000, 0.850000, 0.830000, 0.820000, 0.800000, 0.780000, 0.770000, 0.760000, 0.740000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054881, 873278 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.918000, 15.840000, 2.390610 ], "estimate": [ -7.918000, 15.840000, 2.390610 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.750000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.860000, 0.860000, 0.880000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.930000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 1.040000, 1.040000, 1.060000, 1.090000, 1.100000, 1.120000, 1.160000, 1.180000, 1.210000, 1.250000, 1.270000, 1.310000, 1.360000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.650000, 1.700000, 1.760000, 1.850000, 1.920000, 2.000000, 2.090000, 2.190000, 2.310000, 2.450000, 3.260000, 3.290000, 3.260000, 3.260000, 3.280000, 5.830000, 5.800000, 5.790000, 5.780000, 5.760000, 5.750000, 5.740000, 5.730000, 5.730000, 8.060000, 8.090000, 8.100000, 8.120000, 7.920000, 7.910000, 8.240000, 8.250000, 8.250000, 8.260000, 8.280000, 10.570000, 10.600000, 10.620000, 10.670000, 10.690000, 10.740000, 10.780000, 10.540000, 9.930000, 9.350000, 8.870000, 8.440000, 8.060000, 4.000000, 3.210000, 2.830000, 2.520000, 2.290000, 2.100000, 1.940000, 1.820000, 1.700000, 1.620000, 1.530000, 1.490000, 1.420000, 1.360000, 1.320000, 1.260000, 1.220000, 1.190000, 1.150000, 1.110000, 1.080000, 1.050000, 1.010000, 1.000000, 0.970000, 0.940000, 0.930000, 0.910000, 0.890000, 0.860000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 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": [ 976054881, 939136 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.958000, 15.877000, 2.390610 ], "estimate": [ -7.958000, 15.877000, 2.390610 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.740000, 0.740000, 0.740000, 0.730000, 0.740000, 0.730000, 0.730000, 0.750000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.960000, 0.970000, 0.980000, 1.010000, 1.020000, 1.040000, 1.050000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.210000, 1.240000, 1.270000, 1.300000, 1.340000, 1.380000, 1.430000, 1.470000, 1.520000, 1.580000, 1.640000, 1.690000, 1.760000, 1.830000, 1.910000, 1.990000, 2.080000, 2.180000, 2.290000, 3.220000, 3.200000, 3.230000, 3.200000, 3.210000, 3.220000, 5.770000, 5.750000, 5.730000, 5.710000, 5.700000, 5.680000, 5.660000, 5.660000, 5.660000, 8.000000, 8.030000, 8.040000, 8.070000, 7.860000, 7.840000, 8.170000, 8.190000, 8.190000, 8.200000, 8.230000, 10.510000, 10.540000, 10.570000, 10.590000, 10.630000, 10.670000, 10.720000, 10.590000, 9.970000, 9.410000, 8.920000, 8.480000, 8.080000, 7.720000, 3.470000, 2.990000, 2.650000, 2.410000, 2.190000, 2.030000, 1.900000, 1.770000, 1.680000, 1.600000, 1.520000, 1.460000, 1.410000, 1.350000, 1.310000, 1.250000, 1.220000, 1.180000, 1.150000, 1.110000, 1.080000, 1.050000, 1.030000, 1.000000, 0.970000, 0.940000, 0.940000, 0.920000, 0.890000, 0.870000, 0.860000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 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": [ 976054882, 207705 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.000000, 15.915999, 2.384464 ], "estimate": [ -8.000000, 15.915999, 2.384464 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.740000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.810000, 0.820000, 0.830000, 0.850000, 0.860000, 0.870000, 0.880000, 0.870000, 0.900000, 0.920000, 0.930000, 0.930000, 0.950000, 0.960000, 0.970000, 1.000000, 1.010000, 1.030000, 1.040000, 1.070000, 1.080000, 1.100000, 1.140000, 1.170000, 1.190000, 1.220000, 1.260000, 1.280000, 1.320000, 1.360000, 1.410000, 1.450000, 1.500000, 1.560000, 1.610000, 1.680000, 1.730000, 1.800000, 1.870000, 1.940000, 2.050000, 2.140000, 2.240000, 3.160000, 3.130000, 3.180000, 3.160000, 3.160000, 3.170000, 3.490000, 5.700000, 5.680000, 5.660000, 5.650000, 5.640000, 5.620000, 5.620000, 5.610000, 7.950000, 7.960000, 8.000000, 8.000000, 7.820000, 7.820000, 7.890000, 8.140000, 8.140000, 8.160000, 8.170000, 10.450000, 10.480000, 10.510000, 10.540000, 10.570000, 10.610000, 10.660000, 10.700000, 10.120000, 9.550000, 9.030000, 8.580000, 8.180000, 7.820000, 3.900000, 3.230000, 2.840000, 2.550000, 2.290000, 2.120000, 1.990000, 1.860000, 1.760000, 1.670000, 1.580000, 1.510000, 1.440000, 1.400000, 1.360000, 1.290000, 1.250000, 1.220000, 1.180000, 1.140000, 1.110000, 1.080000, 1.050000, 1.030000, 1.010000, 0.980000, 0.950000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.860000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.690000, 0.680000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 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": [ 976054882, 339411 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.043000, 15.955999, 2.378319 ], "estimate": [ -8.043000, 15.955999, 2.378319 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.740000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.930000, 0.950000, 0.970000, 0.980000, 0.990000, 1.020000, 1.040000, 1.040000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.190000, 1.230000, 1.270000, 1.300000, 1.350000, 1.390000, 1.440000, 1.470000, 1.530000, 1.580000, 1.630000, 1.700000, 1.760000, 1.830000, 1.920000, 2.000000, 2.090000, 2.170000, 3.120000, 3.090000, 3.130000, 3.100000, 3.100000, 3.110000, 3.350000, 5.660000, 5.630000, 5.600000, 5.590000, 5.580000, 5.570000, 5.570000, 5.550000, 5.600000, 7.890000, 7.920000, 7.950000, 7.880000, 7.760000, 7.750000, 8.070000, 8.080000, 8.100000, 8.110000, 8.140000, 10.420000, 10.440000, 10.480000, 10.510000, 10.550000, 10.580000, 10.630000, 10.340000, 9.770000, 9.210000, 8.750000, 8.330000, 7.950000, 7.610000, 3.650000, 3.100000, 2.760000, 2.510000, 2.290000, 2.110000, 1.970000, 1.850000, 1.760000, 1.660000, 1.590000, 1.520000, 1.460000, 1.400000, 1.360000, 1.300000, 1.260000, 1.230000, 1.190000, 1.150000, 1.110000, 1.090000, 1.060000, 1.040000, 1.010000, 0.990000, 0.970000, 0.950000, 0.940000, 0.910000, 0.890000, 0.870000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.790000, 0.780000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.730000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 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": [ 976054882, 666496 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.085000, 15.995999, 2.366027 ], "estimate": [ -8.085000, 15.995999, 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": [ 0.740000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.740000, 0.730000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.930000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.040000, 1.050000, 1.070000, 1.110000, 1.120000, 1.160000, 1.180000, 1.210000, 1.250000, 1.280000, 1.320000, 1.360000, 1.400000, 1.460000, 1.500000, 1.550000, 1.600000, 1.670000, 1.720000, 1.800000, 1.870000, 1.960000, 2.040000, 2.120000, 3.070000, 3.040000, 3.080000, 3.050000, 3.050000, 3.050000, 3.280000, 5.600000, 5.580000, 5.560000, 5.540000, 5.530000, 5.510000, 5.510000, 5.500000, 5.480000, 7.840000, 7.870000, 7.890000, 7.900000, 7.710000, 7.690000, 8.020000, 8.030000, 8.040000, 8.050000, 8.070000, 10.350000, 10.380000, 10.410000, 10.440000, 10.480000, 10.520000, 10.560000, 10.570000, 9.970000, 9.390000, 8.920000, 8.480000, 8.080000, 7.720000, 7.410000, 3.450000, 2.990000, 2.670000, 2.460000, 2.250000, 2.070000, 1.950000, 1.840000, 1.770000, 1.660000, 1.590000, 1.520000, 1.460000, 1.410000, 1.350000, 1.300000, 1.260000, 1.230000, 1.190000, 1.150000, 1.120000, 1.100000, 1.070000, 1.050000, 1.020000, 1.000000, 0.980000, 0.960000, 0.940000, 0.920000, 0.900000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.670000, 0.660000, 0.660000, 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": [ 976054882, 742598 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.125999, 16.035999, 2.366027 ], "estimate": [ -8.125999, 16.035999, 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": [ 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.760000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.960000, 0.980000, 1.000000, 1.010000, 1.030000, 1.040000, 1.060000, 1.090000, 1.120000, 1.150000, 1.170000, 1.200000, 1.240000, 1.270000, 1.310000, 1.350000, 1.400000, 1.450000, 1.480000, 1.530000, 1.590000, 1.650000, 1.710000, 1.780000, 1.860000, 1.940000, 2.030000, 2.070000, 3.000000, 2.970000, 3.020000, 2.990000, 2.990000, 3.000000, 3.250000, 5.540000, 5.510000, 5.510000, 5.490000, 5.470000, 5.460000, 5.450000, 5.440000, 5.430000, 7.790000, 7.800000, 7.820000, 7.850000, 7.640000, 7.620000, 7.960000, 7.970000, 7.980000, 7.990000, 8.010000, 10.280000, 10.310000, 10.340000, 10.380000, 10.420000, 10.450000, 10.510000, 10.560000, 9.970000, 9.420000, 8.930000, 8.500000, 8.090000, 7.730000, 7.400000, 3.670000, 3.150000, 2.810000, 2.550000, 2.350000, 2.160000, 2.010000, 1.900000, 1.800000, 1.720000, 1.640000, 1.560000, 1.520000, 1.450000, 1.390000, 1.360000, 1.290000, 1.260000, 1.220000, 1.190000, 1.150000, 1.120000, 1.110000, 1.080000, 1.050000, 1.020000, 1.000000, 0.990000, 0.970000, 0.940000, 0.930000, 0.900000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.760000, 0.760000, 0.750000, 0.740000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 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": [ 976054883, 114184 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.167000, 16.076000, 2.359882 ], "estimate": [ -8.167000, 16.076000, 2.359882 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.720000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.930000, 0.940000, 0.940000, 0.950000, 0.980000, 0.980000, 1.010000, 1.030000, 1.040000, 1.060000, 1.080000, 1.110000, 1.150000, 1.160000, 1.190000, 1.230000, 1.270000, 1.310000, 1.340000, 1.390000, 1.440000, 1.480000, 1.530000, 1.590000, 1.640000, 1.700000, 1.780000, 1.850000, 1.940000, 2.020000, 2.410000, 2.940000, 2.930000, 2.970000, 2.930000, 2.930000, 2.950000, 3.200000, 5.490000, 5.470000, 5.450000, 5.430000, 5.420000, 5.410000, 5.400000, 5.390000, 5.370000, 7.720000, 7.750000, 7.770000, 7.790000, 7.600000, 7.570000, 7.910000, 7.920000, 7.940000, 7.950000, 7.960000, 10.240000, 10.260000, 10.300000, 10.330000, 10.370000, 10.410000, 10.440000, 10.490000, 9.970000, 9.420000, 8.930000, 8.490000, 8.100000, 7.740000, 7.420000, 3.840000, 3.280000, 2.910000, 2.630000, 2.420000, 2.240000, 2.070000, 1.950000, 1.850000, 1.750000, 1.680000, 1.610000, 1.530000, 1.480000, 1.430000, 1.370000, 1.340000, 1.280000, 1.240000, 1.210000, 1.170000, 1.140000, 1.110000, 1.100000, 1.070000, 1.050000, 1.030000, 1.010000, 0.990000, 0.960000, 0.940000, 0.930000, 0.920000, 0.900000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 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": [ 976054883, 139253 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.208000, 16.115999, 2.366027 ], "estimate": [ -8.208000, 16.115999, 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": [ 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.740000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.770000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.850000, 0.850000, 0.880000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.930000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.060000, 1.090000, 1.120000, 1.140000, 1.170000, 1.200000, 1.240000, 1.270000, 1.310000, 1.350000, 1.390000, 1.440000, 1.480000, 1.540000, 1.590000, 1.660000, 1.720000, 1.780000, 1.860000, 1.940000, 2.010000, 2.900000, 2.880000, 2.920000, 2.890000, 2.880000, 2.880000, 3.050000, 5.440000, 5.420000, 5.400000, 5.380000, 5.370000, 5.350000, 5.340000, 5.330000, 5.320000, 5.360000, 7.670000, 7.710000, 7.730000, 7.740000, 7.530000, 7.530000, 7.850000, 7.860000, 7.870000, 7.880000, 7.910000, 10.190000, 10.210000, 10.250000, 10.270000, 10.310000, 10.360000, 10.400000, 10.410000, 9.810000, 9.250000, 8.800000, 8.380000, 7.990000, 7.640000, 7.330000, 3.850000, 3.310000, 2.920000, 2.660000, 2.440000, 2.260000, 2.100000, 1.970000, 1.870000, 1.790000, 1.710000, 1.650000, 1.570000, 1.510000, 1.450000, 1.400000, 1.360000, 1.310000, 1.270000, 1.230000, 1.200000, 1.160000, 1.130000, 1.110000, 1.090000, 1.060000, 1.050000, 1.020000, 1.000000, 0.980000, 0.960000, 0.940000, 0.940000, 0.920000, 0.900000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 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": [ 976054884, 582839 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.250999, 16.157000, 2.359882 ], "estimate": [ -8.250999, 16.157000, 2.359882 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.710000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.750000, 0.770000, 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, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.030000, 1.060000, 1.090000, 1.110000, 1.140000, 1.160000, 1.190000, 1.230000, 1.270000, 1.300000, 1.340000, 1.390000, 1.430000, 1.480000, 1.530000, 1.590000, 1.650000, 1.710000, 1.780000, 1.860000, 1.890000, 2.860000, 2.830000, 2.820000, 2.860000, 2.820000, 2.820000, 2.830000, 3.050000, 5.380000, 5.360000, 5.340000, 5.320000, 5.310000, 5.300000, 5.290000, 5.280000, 5.280000, 5.300000, 7.620000, 7.650000, 7.660000, 7.690000, 7.480000, 7.470000, 7.800000, 7.810000, 7.820000, 7.840000, 7.840000, 10.130000, 10.160000, 10.190000, 10.220000, 10.270000, 10.300000, 10.350000, 10.390000, 9.800000, 9.260000, 8.790000, 8.380000, 7.990000, 7.630000, 7.330000, 7.250000, 3.460000, 3.040000, 2.760000, 2.520000, 2.340000, 2.170000, 2.030000, 1.920000, 1.830000, 1.750000, 1.670000, 1.600000, 1.540000, 1.500000, 1.440000, 1.390000, 1.350000, 1.310000, 1.260000, 1.220000, 1.190000, 1.160000, 1.120000, 1.110000, 1.080000, 1.060000, 1.040000, 1.020000, 1.000000, 0.990000, 0.970000, 0.950000, 0.940000, 0.920000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.800000, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054884, 584004 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.292000, 16.198999, 2.353736 ], "estimate": [ -8.292000, 16.198999, 2.353736 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.700000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.690000, 0.690000, 0.710000, 0.710000, 0.710000, 0.700000, 0.710000, 0.710000, 0.720000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.860000, 0.870000, 0.880000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.040000, 1.070000, 1.090000, 1.110000, 1.150000, 1.180000, 1.210000, 1.250000, 1.280000, 1.310000, 1.360000, 1.410000, 1.460000, 1.490000, 1.560000, 1.610000, 1.680000, 1.740000, 1.820000, 1.840000, 2.800000, 2.780000, 2.750000, 2.800000, 2.770000, 2.760000, 2.760000, 2.950000, 5.320000, 5.310000, 5.300000, 5.270000, 5.260000, 5.240000, 5.230000, 5.220000, 5.210000, 5.210000, 7.550000, 7.580000, 7.600000, 7.620000, 7.420000, 7.410000, 7.450000, 7.740000, 7.760000, 7.770000, 7.780000, 7.830000, 10.090000, 10.110000, 10.150000, 10.190000, 10.220000, 10.270000, 10.310000, 10.030000, 9.470000, 8.970000, 8.550000, 8.140000, 7.780000, 7.460000, 7.160000, 3.800000, 3.340000, 2.980000, 2.700000, 2.490000, 2.310000, 2.160000, 2.030000, 1.920000, 1.830000, 1.750000, 1.680000, 1.620000, 1.550000, 1.500000, 1.450000, 1.410000, 1.360000, 1.320000, 1.270000, 1.240000, 1.200000, 1.170000, 1.150000, 1.120000, 1.100000, 1.070000, 1.060000, 1.030000, 1.010000, 0.990000, 0.980000, 0.970000, 0.950000, 0.940000, 0.920000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 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": [ 976054884, 584965 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.332000, 16.239000, 2.341445 ], "estimate": [ -8.332000, 16.239000, 2.341445 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.690000, 0.690000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.700000, 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, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.860000, 0.870000, 0.870000, 0.890000, 0.890000, 0.910000, 0.930000, 0.930000, 0.960000, 0.980000, 0.990000, 1.010000, 1.030000, 1.060000, 1.080000, 1.100000, 1.130000, 1.160000, 1.190000, 1.230000, 1.270000, 1.300000, 1.340000, 1.380000, 1.430000, 1.470000, 1.530000, 1.590000, 1.650000, 1.710000, 1.770000, 1.810000, 2.750000, 2.730000, 2.690000, 2.750000, 2.720000, 2.720000, 2.710000, 2.880000, 5.280000, 5.270000, 5.240000, 5.220000, 5.210000, 5.190000, 5.180000, 5.160000, 5.160000, 5.160000, 7.500000, 7.510000, 7.540000, 7.560000, 7.400000, 7.370000, 7.360000, 7.690000, 7.700000, 7.710000, 7.730000, 7.740000, 10.030000, 10.060000, 10.090000, 10.120000, 10.160000, 10.200000, 10.240000, 10.210000, 9.620000, 9.130000, 8.670000, 8.240000, 7.880000, 7.560000, 7.240000, 7.120000, 3.630000, 3.210000, 2.890000, 2.630000, 2.420000, 2.260000, 2.120000, 2.010000, 1.930000, 1.810000, 1.740000, 1.670000, 1.620000, 1.560000, 1.510000, 1.460000, 1.400000, 1.360000, 1.330000, 1.280000, 1.250000, 1.210000, 1.180000, 1.140000, 1.120000, 1.110000, 1.080000, 1.060000, 1.040000, 1.020000, 1.000000, 0.990000, 0.970000, 0.950000, 0.950000, 0.930000, 0.910000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 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": [ 976054884, 585909 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.373000, 16.281000, 2.335300 ], "estimate": [ -8.373000, 16.281000, 2.335300 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 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, 0.820000, 0.840000, 0.840000, 0.860000, 0.870000, 0.870000, 0.890000, 0.900000, 0.910000, 0.930000, 0.930000, 0.950000, 0.980000, 1.010000, 1.020000, 1.030000, 1.070000, 1.090000, 1.110000, 1.140000, 1.160000, 1.200000, 1.250000, 1.270000, 1.320000, 1.350000, 1.410000, 1.450000, 1.500000, 1.560000, 1.620000, 1.680000, 1.730000, 1.840000, 2.690000, 2.660000, 2.650000, 2.690000, 2.650000, 2.650000, 2.650000, 2.780000, 5.230000, 5.200000, 5.180000, 5.160000, 5.150000, 5.140000, 5.130000, 5.110000, 5.110000, 5.100000, 5.130000, 7.450000, 7.470000, 7.490000, 7.510000, 7.300000, 7.300000, 7.620000, 7.640000, 7.650000, 7.660000, 7.680000, 9.960000, 9.980000, 10.010000, 10.050000, 10.090000, 10.130000, 10.170000, 10.220000, 9.820000, 9.300000, 8.820000, 8.390000, 8.010000, 7.670000, 7.350000, 7.060000, 7.120000, 3.510000, 3.120000, 2.830000, 2.590000, 2.390000, 2.250000, 2.110000, 2.000000, 1.900000, 1.810000, 1.740000, 1.680000, 1.620000, 1.560000, 1.510000, 1.460000, 1.410000, 1.360000, 1.340000, 1.300000, 1.260000, 1.220000, 1.190000, 1.160000, 1.130000, 1.120000, 1.090000, 1.080000, 1.050000, 1.030000, 1.010000, 1.000000, 0.980000, 0.960000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.880000, 0.870000, 0.870000, 0.860000, 0.840000, 0.840000, 0.820000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054884, 586913 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.414001, 16.323999, 2.316863 ], "estimate": [ -8.414001, 16.323999, 2.316863 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.720000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.980000, 1.000000, 1.020000, 1.030000, 1.060000, 1.090000, 1.110000, 1.150000, 1.170000, 1.200000, 1.250000, 1.280000, 1.310000, 1.360000, 1.410000, 1.460000, 1.500000, 1.570000, 1.620000, 1.680000, 1.790000, 2.650000, 2.630000, 2.600000, 2.640000, 2.640000, 2.600000, 2.600000, 2.620000, 2.850000, 5.150000, 5.130000, 5.120000, 5.110000, 5.090000, 5.080000, 5.060000, 5.060000, 5.050000, 5.050000, 7.400000, 7.390000, 7.410000, 7.440000, 7.280000, 7.260000, 7.240000, 7.590000, 7.590000, 7.600000, 7.620000, 7.630000, 9.910000, 9.930000, 9.970000, 10.010000, 10.050000, 10.090000, 10.130000, 10.160000, 9.590000, 9.090000, 8.640000, 8.220000, 7.870000, 7.510000, 7.220000, 7.050000, 7.090000, 3.460000, 3.090000, 2.810000, 2.570000, 2.390000, 2.240000, 2.110000, 2.010000, 1.920000, 1.860000, 1.750000, 1.700000, 1.640000, 1.570000, 1.520000, 1.470000, 1.420000, 1.390000, 1.350000, 1.310000, 1.270000, 1.240000, 1.200000, 1.180000, 1.160000, 1.130000, 1.110000, 1.080000, 1.070000, 1.050000, 1.020000, 1.010000, 1.000000, 0.980000, 0.960000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 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": [ 976054884, 587826 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.451000, 16.364000, 2.310718 ], "estimate": [ -8.451000, 16.364000, 2.310718 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.680000, 0.680000, 0.680000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.680000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 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, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 1.000000, 1.010000, 1.040000, 1.060000, 1.090000, 1.120000, 1.160000, 1.170000, 1.220000, 1.260000, 1.290000, 1.330000, 1.370000, 1.430000, 1.460000, 1.530000, 1.580000, 1.640000, 1.850000, 2.600000, 2.570000, 2.550000, 2.530000, 2.570000, 2.550000, 2.550000, 2.550000, 2.760000, 5.110000, 5.090000, 5.070000, 5.060000, 5.040000, 5.020000, 5.010000, 4.990000, 4.990000, 4.990000, 5.030000, 7.330000, 7.360000, 7.370000, 7.420000, 7.190000, 7.190000, 7.520000, 7.530000, 7.550000, 7.570000, 7.580000, 7.670000, 9.880000, 9.910000, 9.940000, 9.980000, 10.010000, 10.060000, 10.090000, 9.800000, 9.280000, 8.800000, 8.380000, 7.990000, 7.640000, 7.350000, 7.050000, 7.000000, 7.070000, 3.330000, 3.000000, 2.750000, 2.520000, 2.370000, 2.220000, 2.100000, 1.990000, 1.920000, 1.820000, 1.750000, 1.690000, 1.630000, 1.580000, 1.540000, 1.480000, 1.430000, 1.390000, 1.360000, 1.320000, 1.280000, 1.250000, 1.220000, 1.200000, 1.160000, 1.130000, 1.120000, 1.090000, 1.070000, 1.060000, 1.030000, 1.020000, 1.000000, 0.980000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.810000, 0.810000, 0.800000, 0.790000, 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": [ 976054884, 588736 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.470000, 16.385000, 2.310718 ], "estimate": [ -8.470000, 16.385000, 2.310718 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.670000, 0.670000, 0.680000, 0.670000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.690000, 0.700000, 0.700000, 0.710000, 0.700000, 0.710000, 0.710000, 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, 0.800000, 0.800000, 0.820000, 0.830000, 0.850000, 0.860000, 0.860000, 0.880000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.970000, 0.990000, 1.020000, 1.030000, 1.050000, 1.080000, 1.110000, 1.150000, 1.160000, 1.200000, 1.230000, 1.280000, 1.330000, 1.360000, 1.400000, 1.460000, 1.510000, 1.560000, 1.600000, 2.560000, 2.540000, 2.520000, 2.510000, 2.520000, 2.520000, 2.520000, 2.510000, 2.520000, 2.720000, 5.060000, 5.040000, 5.020000, 5.000000, 4.990000, 4.980000, 4.950000, 4.960000, 4.950000, 4.940000, 4.960000, 7.280000, 7.310000, 7.330000, 7.350000, 7.160000, 7.140000, 7.250000, 7.490000, 7.500000, 7.510000, 7.520000, 7.570000, 9.820000, 9.850000, 9.890000, 9.920000, 9.960000, 10.000000, 10.050000, 9.900000, 9.370000, 8.870000, 8.440000, 8.070000, 7.720000, 7.390000, 7.090000, 6.940000, 7.010000, 3.530000, 3.170000, 2.870000, 2.640000, 2.450000, 2.300000, 2.180000, 2.070000, 1.970000, 1.880000, 1.810000, 1.740000, 1.670000, 1.610000, 1.570000, 1.520000, 1.480000, 1.430000, 1.380000, 1.360000, 1.310000, 1.280000, 1.260000, 1.230000, 1.200000, 1.170000, 1.150000, 1.120000, 1.100000, 1.070000, 1.060000, 1.040000, 1.020000, 1.020000, 0.990000, 0.970000, 0.950000, 0.940000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.810000, 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": [ 976054884, 722362 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.511000, 16.430000, 2.298427 ], "estimate": [ -8.511000, 16.430000, 2.298427 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.670000, 0.670000, 0.660000, 0.660000, 0.670000, 0.660000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 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, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.910000, 0.920000, 0.930000, 0.950000, 0.970000, 0.990000, 1.010000, 1.030000, 1.050000, 1.090000, 1.110000, 1.140000, 1.170000, 1.210000, 1.250000, 1.280000, 1.320000, 1.370000, 1.420000, 1.460000, 1.510000, 1.570000, 2.510000, 2.500000, 2.470000, 2.450000, 2.430000, 2.480000, 2.460000, 2.460000, 2.470000, 2.620000, 5.010000, 4.990000, 4.980000, 4.960000, 4.930000, 4.910000, 4.910000, 4.900000, 4.880000, 4.890000, 4.890000, 7.240000, 7.240000, 7.270000, 7.280000, 7.170000, 7.110000, 7.090000, 7.440000, 7.440000, 7.450000, 7.460000, 7.480000, 9.750000, 9.780000, 9.810000, 9.850000, 9.890000, 9.930000, 9.970000, 10.030000, 9.600000, 9.110000, 8.630000, 8.230000, 7.870000, 7.540000, 7.230000, 6.950000, 6.920000, 6.980000, 3.440000, 3.120000, 2.850000, 2.620000, 2.450000, 2.300000, 2.180000, 2.080000, 1.980000, 1.890000, 1.810000, 1.760000, 1.680000, 1.630000, 1.580000, 1.540000, 1.490000, 1.440000, 1.410000, 1.370000, 1.330000, 1.290000, 1.270000, 1.250000, 1.210000, 1.190000, 1.160000, 1.130000, 1.120000, 1.090000, 1.070000, 1.060000, 1.040000, 1.020000, 1.010000, 0.990000, 1.000000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 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": [ 976054885, 177710 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.549000, 16.473000, 2.279990 ], "estimate": [ -8.549000, 16.473000, 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": [ 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.660000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.670000, 0.670000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.770000, 0.760000, 0.780000, 0.790000, 0.800000, 0.800000, 0.820000, 0.820000, 0.840000, 0.860000, 0.860000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.950000, 0.970000, 0.990000, 1.020000, 1.030000, 1.050000, 1.080000, 1.110000, 1.150000, 1.180000, 1.210000, 1.260000, 1.280000, 1.340000, 1.380000, 1.420000, 1.470000, 1.510000, 2.470000, 2.450000, 2.430000, 2.400000, 2.400000, 2.440000, 2.420000, 2.410000, 2.410000, 2.430000, 2.640000, 4.950000, 4.940000, 4.920000, 4.890000, 4.880000, 4.870000, 4.860000, 4.850000, 4.840000, 4.840000, 4.840000, 7.180000, 7.210000, 7.220000, 7.260000, 7.040000, 7.040000, 7.050000, 7.370000, 7.390000, 7.410000, 7.420000, 7.440000, 9.710000, 9.750000, 9.770000, 9.810000, 9.850000, 9.900000, 9.940000, 9.990000, 9.420000, 8.960000, 8.510000, 8.110000, 7.760000, 7.440000, 7.150000, 6.860000, 6.890000, 6.930000, 3.460000, 3.130000, 2.870000, 2.640000, 2.470000, 2.330000, 2.210000, 2.110000, 2.010000, 1.920000, 1.840000, 1.770000, 1.720000, 1.650000, 1.610000, 1.550000, 1.510000, 1.460000, 1.430000, 1.390000, 1.360000, 1.320000, 1.290000, 1.270000, 1.240000, 1.200000, 1.180000, 1.150000, 1.130000, 1.120000, 1.090000, 1.080000, 1.060000, 1.040000, 1.020000, 1.010000, 0.990000, 0.980000, 0.970000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 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": [ 976054885, 827200 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.588000, 16.517000, 2.279990 ], "estimate": [ -8.588000, 16.517000, 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": [ 0.660000, 0.650000, 0.650000, 0.660000, 0.650000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.730000, 0.730000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.830000, 0.840000, 0.860000, 0.860000, 0.880000, 0.890000, 0.910000, 0.930000, 0.940000, 0.960000, 0.970000, 1.010000, 1.020000, 1.040000, 1.070000, 1.090000, 1.130000, 1.160000, 1.200000, 1.250000, 1.270000, 1.320000, 1.360000, 1.410000, 1.450000, 1.830000, 2.410000, 2.400000, 2.370000, 2.340000, 2.340000, 2.380000, 2.360000, 2.350000, 2.350000, 2.400000, 2.590000, 4.900000, 4.870000, 4.850000, 4.850000, 4.840000, 4.820000, 4.810000, 4.800000, 4.790000, 4.780000, 4.790000, 7.140000, 7.160000, 7.160000, 7.200000, 6.990000, 7.000000, 6.990000, 7.330000, 7.340000, 7.350000, 7.360000, 7.380000, 9.660000, 9.690000, 9.720000, 9.760000, 9.790000, 9.840000, 9.890000, 9.920000, 9.430000, 8.960000, 8.510000, 8.110000, 7.760000, 7.440000, 7.150000, 6.870000, 6.820000, 6.900000, 6.910000, 3.240000, 2.960000, 2.730000, 2.550000, 2.380000, 2.260000, 2.150000, 2.060000, 1.970000, 1.890000, 1.820000, 1.750000, 1.690000, 1.640000, 1.590000, 1.540000, 1.500000, 1.470000, 1.420000, 1.390000, 1.360000, 1.320000, 1.290000, 1.270000, 1.240000, 1.210000, 1.190000, 1.160000, 1.130000, 1.120000, 1.110000, 1.090000, 1.070000, 1.050000, 1.030000, 1.020000, 1.010000, 0.990000, 0.970000, 0.960000, 0.960000, 0.950000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.880000, 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": [ 976054885, 397830 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.624001, 16.559999, 2.267699 ], "estimate": [ -8.624001, 16.559999, 2.267699 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.660000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.730000, 0.720000, 0.730000, 0.730000, 0.750000, 0.750000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.810000, 0.820000, 0.830000, 0.850000, 0.860000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.950000, 0.970000, 1.010000, 1.020000, 1.050000, 1.070000, 1.090000, 1.130000, 1.160000, 1.200000, 1.240000, 1.270000, 1.310000, 1.370000, 1.410000, 1.750000, 2.370000, 2.350000, 2.320000, 2.310000, 2.290000, 2.340000, 2.330000, 2.310000, 2.300000, 2.310000, 2.490000, 4.860000, 4.850000, 4.830000, 4.810000, 4.790000, 4.770000, 4.760000, 4.750000, 4.740000, 4.740000, 4.730000, 4.800000, 7.080000, 7.120000, 7.140000, 7.160000, 6.940000, 6.950000, 7.210000, 7.280000, 7.300000, 7.310000, 7.330000, 7.370000, 9.620000, 9.650000, 9.680000, 9.730000, 9.760000, 9.810000, 9.860000, 9.800000, 9.270000, 8.820000, 8.380000, 8.010000, 7.670000, 7.360000, 7.070000, 6.790000, 6.800000, 6.850000, 10.740000, 3.260000, 2.980000, 2.760000, 2.570000, 2.400000, 2.280000, 2.180000, 2.090000, 1.990000, 1.920000, 1.840000, 1.790000, 1.730000, 1.670000, 1.610000, 1.560000, 1.520000, 1.480000, 1.440000, 1.410000, 1.370000, 1.350000, 1.320000, 1.280000, 1.260000, 1.230000, 1.200000, 1.180000, 1.160000, 1.130000, 1.120000, 1.110000, 1.090000, 1.070000, 1.060000, 1.040000, 1.020000, 1.010000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.960000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054885, 492491 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.659000, 16.601999, 2.261553 ], "estimate": [ -8.659000, 16.601999, 2.261553 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.650000, 0.640000, 0.650000, 0.640000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.840000, 0.860000, 0.870000, 0.880000, 0.900000, 0.920000, 0.930000, 0.950000, 0.980000, 1.000000, 1.020000, 1.030000, 1.060000, 1.090000, 1.130000, 1.150000, 1.190000, 1.230000, 1.260000, 1.300000, 1.360000, 1.560000, 2.330000, 2.320000, 2.290000, 2.270000, 2.240000, 2.290000, 2.290000, 2.250000, 2.250000, 2.250000, 2.350000, 2.500000, 4.800000, 4.770000, 4.750000, 4.740000, 4.730000, 4.720000, 4.710000, 4.700000, 4.690000, 4.680000, 4.690000, 7.020000, 7.050000, 7.060000, 7.090000, 7.030000, 6.900000, 6.890000, 7.230000, 7.240000, 7.250000, 7.270000, 7.280000, 7.370000, 9.580000, 9.620000, 9.650000, 9.680000, 9.730000, 9.770000, 9.830000, 9.570000, 9.090000, 8.650000, 8.220000, 7.870000, 7.540000, 7.240000, 6.960000, 6.720000, 6.770000, 6.830000, 10.730000, 3.240000, 2.980000, 2.760000, 2.580000, 2.420000, 2.290000, 2.200000, 2.100000, 2.010000, 1.930000, 1.860000, 1.800000, 1.740000, 1.670000, 1.630000, 1.570000, 1.540000, 1.490000, 1.470000, 1.420000, 1.390000, 1.360000, 1.340000, 1.300000, 1.270000, 1.250000, 1.220000, 1.200000, 1.180000, 1.160000, 1.130000, 1.120000, 1.120000, 1.090000, 1.070000, 1.060000, 1.040000, 1.030000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.920000, 0.910000, 0.900000, 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": [ 976054885, 764451 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.677999, 16.624001, 2.261553 ], "estimate": [ -8.677999, 16.624001, 2.261553 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.640000, 0.630000, 0.640000, 0.640000, 0.630000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.690000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.910000, 0.920000, 0.940000, 0.960000, 0.980000, 1.010000, 1.030000, 1.060000, 1.090000, 1.120000, 1.140000, 1.190000, 1.230000, 1.270000, 1.300000, 1.410000, 2.290000, 2.270000, 2.250000, 2.220000, 2.210000, 2.200000, 2.240000, 2.220000, 2.210000, 2.200000, 2.210000, 2.370000, 4.770000, 4.740000, 4.730000, 4.710000, 4.700000, 4.680000, 4.660000, 4.650000, 4.640000, 4.640000, 4.630000, 4.630000, 6.980000, 7.000000, 7.020000, 7.060000, 6.880000, 6.850000, 6.860000, 7.190000, 7.200000, 7.220000, 7.230000, 7.240000, 9.500000, 9.540000, 9.570000, 9.610000, 9.650000, 9.690000, 9.740000, 9.790000, 9.460000, 9.000000, 8.570000, 8.160000, 7.800000, 7.480000, 7.190000, 6.920000, 6.680000, 6.730000, 6.790000, 10.700000, 3.280000, 3.030000, 2.810000, 2.620000, 2.460000, 2.330000, 2.230000, 2.140000, 2.040000, 1.960000, 1.890000, 1.820000, 1.770000, 1.710000, 1.660000, 1.610000, 1.550000, 1.530000, 1.490000, 1.450000, 1.410000, 1.390000, 1.370000, 1.330000, 1.300000, 1.270000, 1.250000, 1.220000, 1.200000, 1.180000, 1.160000, 1.140000, 1.130000, 1.120000, 1.100000, 1.080000, 1.070000, 1.050000, 1.030000, 1.020000, 1.010000, 1.010000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054885, 799693 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.717999, 16.673000, 2.261553 ], "estimate": [ -8.717999, 16.673000, 2.261553 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.630000, 0.620000, 0.640000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.640000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.660000, 0.680000, 0.690000, 0.680000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.840000, 0.850000, 0.850000, 0.880000, 0.900000, 0.910000, 0.920000, 0.950000, 0.970000, 1.000000, 1.010000, 1.040000, 1.070000, 1.100000, 1.140000, 1.150000, 1.200000, 1.240000, 1.280000, 2.260000, 2.230000, 2.210000, 2.190000, 2.170000, 2.150000, 2.150000, 2.190000, 2.160000, 2.160000, 2.160000, 2.160000, 2.330000, 4.710000, 4.700000, 4.670000, 4.650000, 4.640000, 4.620000, 4.610000, 4.600000, 4.590000, 4.580000, 4.570000, 4.570000, 6.920000, 6.950000, 6.970000, 6.980000, 6.940000, 6.790000, 6.790000, 7.130000, 7.150000, 7.150000, 7.170000, 7.180000, 7.230000, 9.480000, 9.510000, 9.550000, 9.590000, 9.630000, 9.660000, 9.730000, 9.540000, 9.060000, 8.620000, 8.200000, 7.850000, 7.530000, 7.230000, 6.960000, 6.700000, 6.640000, 6.720000, 6.750000, 10.730000, 3.160000, 2.920000, 2.720000, 2.550000, 2.410000, 2.300000, 2.200000, 2.110000, 2.030000, 1.950000, 1.890000, 1.830000, 1.750000, 1.710000, 1.660000, 1.610000, 1.570000, 1.530000, 1.490000, 1.450000, 1.410000, 1.390000, 1.370000, 1.330000, 1.310000, 1.270000, 1.260000, 1.230000, 1.210000, 1.190000, 1.170000, 1.150000, 1.140000, 1.130000, 1.110000, 1.090000, 1.070000, 1.060000, 1.040000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.980000, 0.980000, 0.960000, 0.950000, 0.950000, 0.940000 ], "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": [ 976054886, 288478 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.755000, 16.718000, 2.249262 ], "estimate": [ -8.755000, 16.718000, 2.249262 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.630000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.760000, 0.760000, 0.770000, 0.790000, 0.790000, 0.800000, 0.820000, 0.830000, 0.850000, 0.860000, 0.880000, 0.900000, 0.920000, 0.930000, 0.950000, 0.970000, 1.000000, 1.020000, 1.050000, 1.080000, 1.110000, 1.150000, 1.190000, 1.210000, 1.840000, 2.210000, 2.170000, 2.150000, 2.140000, 2.110000, 2.090000, 2.090000, 2.130000, 2.110000, 2.100000, 2.100000, 2.100000, 2.270000, 4.650000, 4.640000, 4.620000, 4.610000, 4.590000, 4.570000, 4.560000, 4.550000, 4.540000, 4.530000, 4.530000, 4.520000, 4.580000, 6.880000, 6.920000, 6.940000, 6.960000, 6.750000, 6.730000, 6.950000, 7.090000, 7.100000, 7.120000, 7.130000, 7.150000, 9.410000, 9.460000, 9.490000, 9.530000, 9.570000, 9.620000, 9.660000, 9.670000, 9.180000, 8.730000, 8.320000, 7.950000, 7.620000, 7.310000, 7.030000, 6.760000, 6.600000, 6.660000, 6.690000, 10.660000, 10.770000, 3.080000, 2.860000, 2.680000, 2.520000, 2.390000, 2.280000, 2.180000, 2.100000, 2.020000, 1.940000, 1.880000, 1.820000, 1.760000, 1.710000, 1.670000, 1.610000, 1.570000, 1.540000, 1.490000, 1.460000, 1.430000, 1.400000, 1.380000, 1.350000, 1.320000, 1.290000, 1.270000, 1.240000, 1.220000, 1.200000, 1.180000, 1.170000, 1.150000, 1.130000, 1.130000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.970000, 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": [ 976054886, 289505 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.790000, 16.761000, 2.243117 ], "estimate": [ -8.790000, 16.761000, 2.243117 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.750000, 0.750000, 0.770000, 0.770000, 0.790000, 0.800000, 0.820000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.920000, 0.950000, 0.980000, 1.000000, 1.020000, 1.060000, 1.090000, 1.110000, 1.150000, 1.170000, 2.170000, 2.160000, 2.120000, 2.100000, 2.080000, 2.070000, 2.050000, 2.030000, 2.080000, 2.060000, 2.060000, 2.050000, 2.060000, 2.190000, 2.350000, 4.590000, 4.560000, 4.560000, 4.550000, 4.530000, 4.510000, 4.500000, 4.490000, 4.490000, 4.480000, 4.480000, 4.480000, 6.830000, 6.850000, 6.870000, 6.900000, 6.690000, 6.680000, 6.700000, 7.050000, 7.040000, 7.060000, 7.070000, 7.080000, 9.360000, 9.390000, 9.420000, 9.470000, 9.500000, 9.550000, 9.590000, 9.650000, 9.330000, 8.880000, 8.460000, 8.070000, 7.730000, 7.420000, 7.140000, 6.860000, 6.620000, 6.570000, 6.650000, 6.660000, 10.670000, 3.230000, 3.010000, 2.810000, 2.640000, 2.500000, 2.380000, 2.270000, 2.170000, 2.100000, 2.010000, 1.940000, 1.880000, 1.820000, 1.760000, 1.720000, 1.670000, 1.620000, 1.580000, 1.550000, 1.520000, 1.470000, 1.440000, 1.410000, 1.380000, 1.360000, 1.320000, 1.300000, 1.270000, 1.260000, 1.230000, 1.210000, 1.190000, 1.190000, 1.170000, 1.140000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.060000, 1.060000, 1.050000, 1.040000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054886, 359598 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.824000, 16.803001, 2.236971 ], "estimate": [ -8.824000, 16.803001, 2.236971 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 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, 0.900000, 0.920000, 0.940000, 0.960000, 0.990000, 1.010000, 1.040000, 1.080000, 1.130000, 1.140000, 2.150000, 2.120000, 2.090000, 2.070000, 2.060000, 2.030000, 2.010000, 1.980000, 2.040000, 2.040000, 2.010000, 2.010000, 2.010000, 2.010000, 2.180000, 4.570000, 4.550000, 4.530000, 4.510000, 4.490000, 4.480000, 4.470000, 4.450000, 4.440000, 4.430000, 4.420000, 4.430000, 4.460000, 6.780000, 6.810000, 6.830000, 6.850000, 6.640000, 6.640000, 6.650000, 7.000000, 7.010000, 7.030000, 7.040000, 7.040000, 9.320000, 9.350000, 9.380000, 9.410000, 9.460000, 9.500000, 9.550000, 9.610000, 9.300000, 8.840000, 8.440000, 8.050000, 7.720000, 7.390000, 7.120000, 6.860000, 6.610000, 6.500000, 6.590000, 6.630000, 10.630000, 10.750000, 3.080000, 2.860000, 2.700000, 2.540000, 2.420000, 2.330000, 2.220000, 2.130000, 2.060000, 1.990000, 1.910000, 1.840000, 1.800000, 1.750000, 1.700000, 1.660000, 1.610000, 1.570000, 1.530000, 1.500000, 1.470000, 1.430000, 1.400000, 1.380000, 1.360000, 1.330000, 1.300000, 1.270000, 1.260000, 1.240000, 1.210000, 1.200000, 1.190000, 1.170000, 1.150000, 1.130000, 1.130000, 1.120000, 1.090000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.030000, 1.020000, 1.020000, 1.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054887, 704694 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.861000, 16.850000, 2.236971 ], "estimate": [ -8.861000, 16.850000, 2.236971 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.590000, 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, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.600000, 0.600000, 0.600000, 0.620000, 0.610000, 0.620000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.780000, 0.780000, 0.800000, 0.810000, 0.830000, 0.840000, 0.870000, 0.880000, 0.900000, 0.920000, 0.940000, 0.960000, 1.000000, 1.010000, 1.070000, 1.080000, 1.380000, 2.100000, 2.070000, 2.050000, 2.020000, 2.010000, 1.990000, 1.960000, 1.950000, 1.990000, 1.990000, 1.960000, 1.960000, 1.960000, 1.970000, 2.100000, 2.250000, 4.510000, 4.490000, 4.470000, 4.450000, 4.430000, 4.420000, 4.400000, 4.390000, 4.380000, 4.390000, 4.390000, 4.380000, 6.730000, 6.750000, 6.770000, 6.800000, 6.910000, 6.600000, 6.600000, 6.910000, 6.940000, 6.960000, 6.970000, 7.000000, 7.020000, 9.290000, 9.320000, 9.350000, 9.400000, 9.430000, 9.480000, 9.530000, 9.530000, 9.060000, 8.620000, 8.210000, 7.870000, 7.540000, 7.240000, 6.970000, 6.720000, 6.470000, 6.520000, 6.570000, 6.620000, 10.640000, 9.210000, 3.030000, 2.850000, 2.680000, 2.530000, 2.420000, 2.320000, 2.230000, 2.140000, 2.060000, 1.990000, 1.920000, 1.860000, 1.810000, 1.770000, 1.710000, 1.670000, 1.620000, 1.580000, 1.550000, 1.510000, 1.470000, 1.440000, 1.410000, 1.390000, 1.370000, 1.350000, 1.310000, 1.290000, 1.270000, 1.260000, 1.230000, 1.220000, 1.200000, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.120000, 1.100000, 1.090000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000, 1.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054887, 722898 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.899000, 16.896999, 2.236971 ], "estimate": [ -8.899000, 16.896999, 2.236971 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.590000, 0.580000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.640000, 0.660000, 0.660000, 0.670000, 0.670000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.850000, 0.880000, 0.890000, 0.910000, 0.930000, 0.950000, 0.980000, 1.010000, 1.030000, 2.080000, 2.060000, 2.020000, 2.000000, 1.980000, 1.960000, 1.940000, 1.920000, 1.900000, 1.900000, 1.930000, 1.930000, 1.900000, 1.910000, 1.900000, 1.930000, 2.090000, 4.470000, 4.440000, 4.420000, 4.400000, 4.390000, 4.380000, 4.370000, 4.360000, 4.340000, 4.330000, 4.330000, 4.330000, 4.330000, 6.690000, 6.710000, 6.730000, 6.750000, 6.730000, 6.530000, 6.550000, 6.890000, 6.890000, 6.910000, 6.930000, 6.940000, 6.950000, 9.250000, 9.270000, 9.310000, 9.350000, 9.400000, 9.430000, 9.490000, 9.450000, 8.970000, 8.560000, 8.170000, 7.810000, 7.500000, 7.200000, 6.940000, 6.700000, 6.460000, 6.470000, 6.530000, 6.580000, 10.600000, 10.720000, 3.110000, 2.890000, 2.730000, 2.590000, 2.470000, 2.370000, 2.270000, 2.170000, 2.100000, 2.020000, 1.970000, 1.910000, 1.840000, 1.790000, 1.750000, 1.700000, 1.660000, 1.610000, 1.570000, 1.550000, 1.510000, 1.480000, 1.440000, 1.410000, 1.380000, 1.370000, 1.340000, 1.310000, 1.290000, 1.270000, 1.260000, 1.230000, 1.220000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.110000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.050000 ], "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": [ 976054887, 723935 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.933000, 16.940001, 2.255408 ], "estimate": [ -8.933000, 16.940001, 2.255408 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.570000, 0.570000, 0.570000, 0.580000, 0.570000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.700000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.860000, 0.870000, 0.890000, 0.910000, 0.950000, 0.970000, 0.980000, 2.050000, 2.020000, 1.980000, 1.960000, 1.940000, 1.920000, 1.900000, 1.880000, 1.860000, 1.840000, 1.880000, 1.880000, 1.850000, 1.850000, 1.840000, 1.850000, 1.880000, 2.060000, 4.400000, 4.380000, 4.380000, 4.350000, 4.330000, 4.320000, 4.310000, 4.300000, 4.280000, 4.280000, 4.280000, 4.270000, 4.270000, 6.620000, 6.650000, 6.680000, 6.700000, 6.840000, 6.480000, 6.500000, 6.800000, 6.840000, 6.860000, 6.870000, 6.890000, 6.910000, 9.180000, 9.220000, 9.250000, 9.290000, 9.330000, 9.380000, 9.430000, 9.480000, 8.990000, 8.580000, 8.200000, 7.830000, 7.530000, 7.220000, 6.970000, 6.710000, 6.480000, 6.380000, 6.470000, 6.510000, 10.540000, 9.210000, 5.300000, 2.990000, 2.810000, 2.670000, 2.530000, 2.430000, 2.330000, 2.240000, 2.150000, 2.070000, 2.010000, 1.950000, 1.890000, 1.840000, 1.780000, 1.740000, 1.680000, 1.660000, 1.620000, 1.570000, 1.550000, 1.510000, 1.480000, 1.450000, 1.420000, 1.390000, 1.380000, 1.350000, 1.320000, 1.300000, 1.280000, 1.270000, 1.260000, 1.230000, 1.220000, 1.200000, 1.190000, 1.170000, 1.160000, 1.140000, 1.130000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 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": [ 976054887, 724925 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.955000, 16.966000, 2.286135 ], "estimate": [ -8.955000, 16.966000, 2.286135 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.670000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.740000, 0.750000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.820000, 0.840000, 0.860000, 0.880000, 0.920000, 0.930000, 0.990000, 2.010000, 1.980000, 1.960000, 1.930000, 1.900000, 1.890000, 1.860000, 1.840000, 1.830000, 1.810000, 1.810000, 1.840000, 1.830000, 1.810000, 1.810000, 1.810000, 1.820000, 1.920000, 2.030000, 4.370000, 4.340000, 4.320000, 4.300000, 4.280000, 4.270000, 4.270000, 4.250000, 4.250000, 4.240000, 4.230000, 4.230000, 4.220000, 6.590000, 6.600000, 6.630000, 6.640000, 6.740000, 6.440000, 6.450000, 6.650000, 6.810000, 6.810000, 6.830000, 6.840000, 6.860000, 9.140000, 9.160000, 9.210000, 9.250000, 9.280000, 9.320000, 9.380000, 9.440000, 8.970000, 8.550000, 8.160000, 7.800000, 7.500000, 7.200000, 6.940000, 6.700000, 6.460000, 6.380000, 6.420000, 6.470000, 10.480000, 10.600000, 5.280000, 3.060000, 2.860000, 2.700000, 2.570000, 2.460000, 2.360000, 2.260000, 2.180000, 2.100000, 2.030000, 1.970000, 1.910000, 1.850000, 1.810000, 1.770000, 1.720000, 1.680000, 1.630000, 1.600000, 1.560000, 1.530000, 1.500000, 1.470000, 1.450000, 1.420000, 1.400000, 1.370000, 1.340000, 1.320000, 1.300000, 1.270000, 1.280000, 1.260000, 1.230000, 1.220000, 1.210000, 1.190000, 1.170000, 1.160000, 1.150000, 1.130000, 1.140000, 1.130000, 1.120000, 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": [ 976054887, 725877 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.960000, 16.971001, 2.292281 ], "estimate": [ -8.960000, 16.971001, 2.292281 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.590000, 0.600000, 0.610000, 0.600000, 0.600000, 0.600000, 0.610000, 0.630000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.720000, 0.720000, 0.750000, 0.760000, 0.780000, 0.770000, 0.790000, 0.800000, 0.830000, 0.840000, 0.850000, 0.890000, 0.900000, 0.920000, 2.020000, 1.990000, 1.960000, 1.930000, 1.900000, 1.890000, 1.860000, 1.840000, 1.820000, 1.810000, 1.790000, 1.790000, 1.820000, 1.810000, 1.790000, 1.780000, 1.780000, 1.780000, 1.900000, 2.010000, 4.340000, 4.320000, 4.300000, 4.280000, 4.260000, 4.250000, 4.240000, 4.230000, 4.220000, 4.220000, 4.220000, 4.220000, 4.210000, 4.230000, 6.570000, 6.590000, 6.610000, 6.650000, 6.410000, 6.420000, 6.440000, 6.780000, 6.790000, 6.800000, 6.810000, 6.830000, 9.110000, 9.140000, 9.170000, 9.210000, 9.250000, 9.300000, 9.340000, 9.400000, 9.080000, 8.660000, 8.260000, 7.890000, 7.580000, 7.280000, 7.010000, 6.760000, 6.520000, 6.330000, 6.380000, 6.440000, 10.440000, 10.550000, 10.680000, 5.190000, 2.950000, 2.780000, 2.640000, 2.520000, 2.420000, 2.320000, 2.230000, 2.150000, 2.080000, 2.010000, 1.950000, 1.900000, 1.850000, 1.790000, 1.750000, 1.700000, 1.660000, 1.630000, 1.590000, 1.560000, 1.520000, 1.490000, 1.460000, 1.440000, 1.410000, 1.390000, 1.370000, 1.340000, 1.320000, 1.290000, 1.270000, 1.270000, 1.250000, 1.230000, 1.220000, 1.210000, 1.190000, 1.170000, 1.170000, 1.150000, 1.150000, 1.140000, 1.130000, 1.130000, 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": [ 976054887, 726549 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.958000, 16.969000, 2.292281 ], "estimate": [ -8.958000, 16.969000, 2.292281 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.700000, 0.720000, 0.740000, 0.750000, 0.760000, 0.780000, 0.770000, 0.790000, 0.800000, 0.840000, 0.840000, 0.860000, 0.900000, 0.900000, 0.930000, 2.020000, 1.980000, 1.950000, 1.930000, 1.910000, 1.880000, 1.860000, 1.840000, 1.820000, 1.810000, 1.780000, 1.770000, 1.820000, 1.810000, 1.790000, 1.800000, 1.780000, 1.790000, 1.920000, 2.020000, 4.340000, 4.320000, 4.300000, 4.280000, 4.260000, 4.250000, 4.240000, 4.230000, 4.220000, 4.220000, 4.220000, 4.210000, 4.210000, 4.260000, 6.580000, 6.590000, 6.610000, 6.670000, 6.420000, 6.420000, 6.540000, 6.780000, 6.790000, 6.800000, 6.820000, 6.840000, 9.110000, 9.140000, 9.170000, 9.220000, 9.250000, 9.300000, 9.340000, 9.400000, 9.040000, 8.610000, 8.220000, 7.880000, 7.550000, 7.260000, 6.980000, 6.740000, 6.510000, 6.330000, 6.380000, 6.450000, 10.450000, 10.560000, 10.690000, 5.170000, 2.920000, 2.770000, 2.630000, 2.510000, 2.410000, 2.310000, 2.210000, 2.140000, 2.070000, 2.010000, 1.940000, 1.890000, 1.840000, 1.780000, 1.740000, 1.700000, 1.650000, 1.620000, 1.580000, 1.560000, 1.520000, 1.490000, 1.460000, 1.440000, 1.410000, 1.400000, 1.360000, 1.340000, 1.310000, 1.290000, 1.280000, 1.270000, 1.250000, 1.230000, 1.220000, 1.200000, 1.190000, 1.180000, 1.160000, 1.150000, 1.150000, 1.140000, 1.130000, 1.120000, 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": [ 976054887, 727455 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.958000, 16.969000, 2.298427 ], "estimate": [ -8.958000, 16.969000, 2.298427 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.600000, 0.590000, 0.600000, 0.610000, 0.610000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.700000, 0.700000, 0.710000, 0.720000, 0.740000, 0.750000, 0.770000, 0.770000, 0.780000, 0.800000, 0.820000, 0.830000, 0.840000, 0.870000, 0.910000, 0.900000, 0.930000, 2.020000, 1.990000, 1.950000, 1.930000, 1.910000, 1.890000, 1.860000, 1.840000, 1.810000, 1.810000, 1.790000, 1.760000, 1.830000, 1.820000, 1.790000, 1.790000, 1.790000, 1.780000, 1.930000, 2.030000, 4.350000, 4.320000, 4.300000, 4.280000, 4.260000, 4.250000, 4.240000, 4.230000, 4.220000, 4.220000, 4.220000, 4.210000, 4.210000, 6.560000, 6.590000, 6.600000, 6.620000, 6.720000, 6.420000, 6.430000, 6.650000, 6.790000, 6.790000, 6.800000, 6.820000, 6.840000, 9.110000, 9.150000, 9.180000, 9.220000, 9.260000, 9.310000, 9.350000, 9.400000, 9.010000, 8.580000, 8.190000, 7.830000, 7.520000, 7.230000, 6.970000, 6.720000, 6.490000, 6.350000, 6.390000, 6.450000, 10.460000, 10.580000, 8.940000, 5.160000, 2.900000, 2.750000, 2.600000, 2.490000, 2.400000, 2.300000, 2.200000, 2.130000, 2.060000, 1.990000, 1.930000, 1.880000, 1.830000, 1.770000, 1.740000, 1.690000, 1.660000, 1.610000, 1.580000, 1.550000, 1.510000, 1.480000, 1.450000, 1.430000, 1.400000, 1.390000, 1.360000, 1.330000, 1.310000, 1.280000, 1.270000, 1.270000, 1.250000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.140000, 1.140000, 1.140000, 1.130000, 1.120000, 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": [ 976054887, 879713 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.958000, 16.969000, 2.304572 ], "estimate": [ -8.958000, 16.969000, 2.304572 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.570000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.600000, 0.600000, 0.620000, 0.610000, 0.620000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.690000, 0.710000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.810000, 0.830000, 0.840000, 0.870000, 0.910000, 0.910000, 0.960000, 2.010000, 1.980000, 1.960000, 1.930000, 1.900000, 1.890000, 1.850000, 1.840000, 1.820000, 1.810000, 1.790000, 1.770000, 1.830000, 1.800000, 1.790000, 1.790000, 1.780000, 1.790000, 1.930000, 2.040000, 4.340000, 4.320000, 4.290000, 4.270000, 4.260000, 4.250000, 4.240000, 4.230000, 4.220000, 4.220000, 4.220000, 4.210000, 4.210000, 6.560000, 6.580000, 6.600000, 6.630000, 6.630000, 6.410000, 6.430000, 6.770000, 6.790000, 6.790000, 6.810000, 6.830000, 6.850000, 9.110000, 9.150000, 9.180000, 9.220000, 9.260000, 9.310000, 9.360000, 9.410000, 8.950000, 8.530000, 8.140000, 7.790000, 7.480000, 7.190000, 6.930000, 6.690000, 6.450000, 6.360000, 6.400000, 6.440000, 10.480000, 10.580000, 5.290000, 5.150000, 2.870000, 2.720000, 2.590000, 2.480000, 2.370000, 2.280000, 2.200000, 2.120000, 2.050000, 1.980000, 1.920000, 1.870000, 1.820000, 1.770000, 1.730000, 1.690000, 1.640000, 1.600000, 1.570000, 1.550000, 1.520000, 1.480000, 1.450000, 1.430000, 1.400000, 1.380000, 1.360000, 1.330000, 1.300000, 1.280000, 1.270000, 1.260000, 1.240000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.140000, 1.140000, 1.130000, 1.120000, 1.120000, 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": [ 976054888, 861350 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.958000, 16.969000, 2.329154 ], "estimate": [ -8.958000, 16.969000, 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": [ 0.560000, 0.570000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.580000, 0.580000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.580000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.660000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.810000, 0.830000, 0.840000, 0.860000, 0.900000, 0.910000, 0.930000, 2.020000, 1.990000, 1.960000, 1.930000, 1.900000, 1.890000, 1.860000, 1.840000, 1.810000, 1.810000, 1.790000, 1.770000, 1.820000, 1.820000, 1.790000, 1.800000, 1.790000, 1.780000, 1.920000, 2.020000, 4.350000, 4.320000, 4.300000, 4.280000, 4.260000, 4.250000, 4.240000, 4.240000, 4.230000, 4.230000, 4.220000, 4.210000, 4.220000, 4.280000, 6.570000, 6.590000, 6.620000, 6.660000, 6.420000, 6.420000, 6.460000, 6.780000, 6.790000, 6.800000, 6.820000, 6.840000, 9.110000, 9.150000, 9.170000, 9.220000, 9.250000, 9.300000, 9.350000, 9.410000, 9.030000, 8.600000, 8.210000, 7.850000, 7.540000, 7.240000, 6.980000, 6.730000, 6.500000, 6.350000, 6.380000, 6.440000, 10.430000, 10.560000, 10.680000, 5.160000, 2.910000, 2.750000, 2.620000, 2.490000, 2.390000, 2.300000, 2.200000, 2.130000, 2.060000, 1.990000, 1.930000, 1.880000, 1.830000, 1.770000, 1.730000, 1.690000, 1.660000, 1.620000, 1.570000, 1.550000, 1.500000, 1.470000, 1.460000, 1.440000, 1.400000, 1.390000, 1.360000, 1.330000, 1.310000, 1.290000, 1.280000, 1.270000, 1.240000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.140000, 1.140000, 1.140000, 1.130000, 1.120000, 1.110000, 1.090000, 1.090000, 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": [ 976054888, 243118 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.958000, 16.969000, 2.372173 ], "estimate": [ -8.958000, 16.969000, 2.372173 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.570000, 0.560000, 0.570000, 0.570000, 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, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.610000, 0.630000, 0.630000, 0.620000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.750000, 0.760000, 0.780000, 0.790000, 0.790000, 0.810000, 0.820000, 0.840000, 0.850000, 0.900000, 0.910000, 0.920000, 1.290000, 1.990000, 1.970000, 1.940000, 1.920000, 1.890000, 1.870000, 1.850000, 1.830000, 1.820000, 1.800000, 1.780000, 1.830000, 1.810000, 1.800000, 1.800000, 1.780000, 1.790000, 1.790000, 1.990000, 4.290000, 4.340000, 4.310000, 4.290000, 4.270000, 4.260000, 4.250000, 4.240000, 4.230000, 4.230000, 4.220000, 4.220000, 4.210000, 4.240000, 6.560000, 6.590000, 6.610000, 6.630000, 6.420000, 6.420000, 6.440000, 6.780000, 6.790000, 6.800000, 6.810000, 6.830000, 6.900000, 9.130000, 9.160000, 9.200000, 9.250000, 9.280000, 9.330000, 9.380000, 9.210000, 8.770000, 8.360000, 7.990000, 7.660000, 7.360000, 7.080000, 6.830000, 6.590000, 6.370000, 6.310000, 6.420000, 6.460000, 10.510000, 10.630000, 5.220000, 2.970000, 2.800000, 2.650000, 2.540000, 2.430000, 2.330000, 2.240000, 2.160000, 2.080000, 2.010000, 1.940000, 1.900000, 1.850000, 1.790000, 1.750000, 1.690000, 1.660000, 1.620000, 1.590000, 1.560000, 1.520000, 1.500000, 1.460000, 1.440000, 1.410000, 1.400000, 1.360000, 1.340000, 1.310000, 1.290000, 1.280000, 1.270000, 1.250000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.140000, 1.130000, 1.110000, 1.110000, 1.090000, 1.090000, 1.080000, 1.070000, 1.060000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054888, 550420 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.958000, 16.969000, 2.396755 ], "estimate": [ -8.958000, 16.969000, 2.396755 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 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, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.760000, 0.770000, 0.790000, 0.790000, 0.810000, 0.810000, 0.840000, 0.840000, 0.870000, 0.910000, 0.910000, 0.990000, 2.020000, 1.980000, 1.960000, 1.930000, 1.900000, 1.890000, 1.860000, 1.840000, 1.820000, 1.810000, 1.790000, 1.770000, 1.820000, 1.810000, 1.800000, 1.790000, 1.790000, 1.790000, 1.930000, 2.030000, 4.340000, 4.320000, 4.300000, 4.270000, 4.260000, 4.250000, 4.240000, 4.230000, 4.230000, 4.230000, 4.220000, 4.210000, 4.210000, 4.250000, 6.580000, 6.600000, 6.620000, 6.670000, 6.420000, 6.420000, 6.480000, 6.780000, 6.790000, 6.800000, 6.830000, 6.840000, 9.100000, 9.140000, 9.180000, 9.220000, 9.250000, 9.300000, 9.340000, 9.400000, 8.990000, 8.560000, 8.170000, 7.810000, 7.510000, 7.200000, 6.940000, 6.690000, 6.460000, 6.360000, 6.380000, 6.440000, 10.440000, 10.560000, 5.300000, 5.150000, 2.870000, 2.710000, 2.590000, 2.470000, 2.370000, 2.270000, 2.190000, 2.110000, 2.040000, 1.980000, 1.930000, 1.860000, 1.810000, 1.770000, 1.710000, 1.670000, 1.640000, 1.600000, 1.570000, 1.530000, 1.510000, 1.470000, 1.450000, 1.410000, 1.390000, 1.370000, 1.340000, 1.320000, 1.300000, 1.280000, 1.260000, 1.250000, 1.230000, 1.220000, 1.200000, 1.190000, 1.170000, 1.160000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.100000, 1.100000, 1.080000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054888, 602581 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.959001, 16.969999, 2.470501 ], "estimate": [ -8.959001, 16.969999, 2.470501 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.710000, 0.730000, 0.750000, 0.760000, 0.770000, 0.790000, 0.780000, 0.810000, 0.810000, 0.830000, 0.850000, 0.860000, 0.910000, 0.920000, 0.940000, 2.030000, 1.990000, 1.960000, 1.940000, 1.910000, 1.890000, 1.870000, 1.850000, 1.830000, 1.810000, 1.800000, 1.790000, 1.830000, 1.820000, 1.800000, 1.790000, 1.790000, 1.790000, 1.870000, 1.990000, 4.270000, 4.330000, 4.310000, 4.290000, 4.270000, 4.250000, 4.240000, 4.240000, 4.230000, 4.230000, 4.220000, 4.210000, 4.210000, 4.210000, 6.550000, 6.590000, 6.600000, 6.620000, 6.410000, 6.420000, 6.440000, 6.780000, 6.790000, 6.800000, 6.810000, 6.820000, 6.870000, 9.110000, 9.150000, 9.190000, 9.230000, 9.270000, 9.320000, 9.370000, 9.170000, 8.730000, 8.330000, 7.960000, 7.640000, 7.320000, 7.050000, 6.800000, 6.560000, 6.330000, 6.320000, 6.400000, 6.430000, 10.480000, 10.590000, 5.200000, 2.940000, 2.780000, 2.640000, 2.510000, 2.410000, 2.300000, 2.220000, 2.140000, 2.070000, 1.990000, 1.930000, 1.880000, 1.840000, 1.780000, 1.730000, 1.690000, 1.650000, 1.610000, 1.570000, 1.550000, 1.510000, 1.470000, 1.450000, 1.420000, 1.400000, 1.390000, 1.350000, 1.320000, 1.300000, 1.280000, 1.270000, 1.250000, 1.230000, 1.220000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000, 1.110000, 1.110000, 1.100000, 1.080000, 1.080000, 1.070000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000, 1.040000, 1.030000, 1.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054889, 872110 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.963000, 16.972000, 2.605703 ], "estimate": [ -8.963000, 16.972000, 2.605703 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.720000, 0.720000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.790000, 0.790000, 0.820000, 0.820000, 0.850000, 0.850000, 0.870000, 0.910000, 0.910000, 0.930000, 2.040000, 2.000000, 1.970000, 1.950000, 1.920000, 1.900000, 1.870000, 1.860000, 1.830000, 1.810000, 1.800000, 1.800000, 1.830000, 1.820000, 1.800000, 1.800000, 1.800000, 1.790000, 1.800000, 1.960000, 2.080000, 4.330000, 4.320000, 4.300000, 4.280000, 4.260000, 4.250000, 4.230000, 4.240000, 4.230000, 4.220000, 4.210000, 4.210000, 4.210000, 4.250000, 6.570000, 6.600000, 6.610000, 6.430000, 6.420000, 6.410000, 6.440000, 6.790000, 6.800000, 6.810000, 6.820000, 6.830000, 9.100000, 9.140000, 9.170000, 9.210000, 9.250000, 9.290000, 9.340000, 9.320000, 8.870000, 8.470000, 8.090000, 7.740000, 7.430000, 7.140000, 6.880000, 6.620000, 6.400000, 6.360000, 6.350000, 6.430000, 10.410000, 10.520000, 5.260000, 2.990000, 2.800000, 2.650000, 2.540000, 2.430000, 2.320000, 2.230000, 2.150000, 2.080000, 2.010000, 1.940000, 1.870000, 1.820000, 1.770000, 1.730000, 1.680000, 1.640000, 1.600000, 1.570000, 1.540000, 1.510000, 1.480000, 1.440000, 1.420000, 1.390000, 1.380000, 1.340000, 1.310000, 1.290000, 1.280000, 1.270000, 1.250000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.020000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.990000, 0.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054889, 883000 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.964001, 16.973000, 2.728614 ], "estimate": [ -8.964001, 16.973000, 2.728614 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.840000, 0.850000, 0.880000, 0.910000, 0.920000, 0.950000, 2.050000, 2.020000, 1.990000, 1.960000, 1.940000, 1.910000, 1.890000, 1.870000, 1.840000, 1.820000, 1.800000, 1.780000, 1.780000, 1.830000, 1.810000, 1.800000, 1.790000, 1.790000, 1.800000, 1.950000, 2.030000, 4.300000, 4.330000, 4.310000, 4.290000, 4.270000, 4.260000, 4.240000, 4.240000, 4.240000, 4.230000, 4.220000, 4.210000, 4.220000, 4.240000, 6.550000, 6.590000, 6.600000, 6.620000, 6.410000, 6.410000, 6.440000, 6.770000, 6.790000, 6.800000, 6.810000, 6.830000, 6.880000, 9.120000, 9.160000, 9.190000, 9.240000, 9.270000, 9.320000, 9.360000, 9.120000, 8.690000, 8.300000, 7.910000, 7.610000, 7.300000, 7.010000, 6.750000, 6.520000, 6.300000, 6.300000, 6.390000, 6.440000, 10.460000, 10.580000, 5.160000, 2.880000, 2.710000, 2.580000, 2.450000, 2.360000, 2.270000, 2.160000, 2.090000, 2.030000, 1.960000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.650000, 1.620000, 1.570000, 1.550000, 1.500000, 1.480000, 1.440000, 1.410000, 1.390000, 1.370000, 1.350000, 1.310000, 1.290000, 1.270000, 1.250000, 1.240000, 1.220000, 1.210000, 1.190000, 1.170000, 1.160000, 1.140000, 1.140000, 1.130000, 1.110000, 1.100000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.970000, 0.960000, 0.970000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054889, 232679 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.964001, 16.973000, 2.790069 ], "estimate": [ -8.964001, 16.973000, 2.790069 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.830000, 0.830000, 0.860000, 0.880000, 0.920000, 0.930000, 0.940000, 1.190000, 2.050000, 2.020000, 1.980000, 1.960000, 1.930000, 1.910000, 1.880000, 1.860000, 1.830000, 1.820000, 1.810000, 1.800000, 1.840000, 1.830000, 1.810000, 1.800000, 1.800000, 1.800000, 1.910000, 2.010000, 4.180000, 4.350000, 4.330000, 4.310000, 4.290000, 4.270000, 4.250000, 4.240000, 4.230000, 4.230000, 4.230000, 4.210000, 4.220000, 4.220000, 6.560000, 6.570000, 6.590000, 6.610000, 6.640000, 6.420000, 6.420000, 6.440000, 6.780000, 6.800000, 6.810000, 6.820000, 6.830000, 9.110000, 9.140000, 9.170000, 9.210000, 9.250000, 9.290000, 9.340000, 9.390000, 9.010000, 8.580000, 8.200000, 7.830000, 7.530000, 7.210000, 6.950000, 6.700000, 6.450000, 6.330000, 6.350000, 6.410000, 10.400000, 10.500000, 5.260000, 3.010000, 2.820000, 2.670000, 2.540000, 2.430000, 2.320000, 2.230000, 2.140000, 2.070000, 2.000000, 1.930000, 1.860000, 1.800000, 1.770000, 1.710000, 1.670000, 1.620000, 1.590000, 1.560000, 1.520000, 1.480000, 1.450000, 1.420000, 1.400000, 1.380000, 1.350000, 1.320000, 1.300000, 1.280000, 1.270000, 1.250000, 1.230000, 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, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 1.000000, 0.980000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.960000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 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": [ 976054889, 620823 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.970000, 16.975000, 2.790069 ], "estimate": [ -8.970000, 16.975000, 2.790069 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.800000, 0.800000, 0.820000, 0.830000, 0.830000, 0.850000, 0.880000, 0.890000, 0.930000, 0.940000, 1.010000, 2.060000, 2.040000, 2.000000, 1.980000, 1.960000, 1.930000, 1.900000, 1.880000, 1.850000, 1.830000, 1.810000, 1.790000, 1.840000, 1.850000, 1.810000, 1.810000, 1.810000, 1.810000, 1.810000, 1.970000, 2.050000, 4.310000, 4.350000, 4.320000, 4.300000, 4.290000, 4.270000, 4.250000, 4.240000, 4.240000, 4.230000, 4.230000, 4.220000, 4.210000, 4.240000, 6.560000, 6.600000, 6.600000, 6.610000, 6.430000, 6.410000, 6.450000, 6.780000, 6.790000, 6.800000, 6.810000, 6.830000, 6.880000, 9.120000, 9.160000, 9.180000, 9.230000, 9.270000, 9.310000, 9.360000, 9.370000, 8.890000, 8.470000, 8.080000, 7.740000, 7.420000, 7.140000, 6.870000, 6.620000, 6.390000, 6.310000, 6.380000, 6.440000, 10.450000, 10.560000, 5.250000, 2.940000, 2.770000, 2.640000, 2.500000, 2.400000, 2.290000, 2.200000, 2.120000, 2.040000, 1.970000, 1.900000, 1.850000, 1.800000, 1.750000, 1.700000, 1.660000, 1.610000, 1.580000, 1.550000, 1.510000, 1.480000, 1.440000, 1.410000, 1.390000, 1.370000, 1.360000, 1.310000, 1.290000, 1.270000, 1.250000, 1.240000, 1.220000, 1.200000, 1.180000, 1.170000, 1.150000, 1.140000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.980000, 0.960000, 0.970000, 0.970000, 0.970000, 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": [ 976054889, 621961 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.992001, 16.983000, 2.777778 ], "estimate": [ -8.992001, 16.983000, 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, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.760000, 0.780000, 0.790000, 0.790000, 0.790000, 0.810000, 0.830000, 0.830000, 0.850000, 0.870000, 0.880000, 0.930000, 0.920000, 0.940000, 2.080000, 2.050000, 2.020000, 1.990000, 1.960000, 1.940000, 1.900000, 1.890000, 1.860000, 1.830000, 1.820000, 1.810000, 1.800000, 1.840000, 1.830000, 1.800000, 1.800000, 1.790000, 1.800000, 1.890000, 2.000000, 4.130000, 4.350000, 4.330000, 4.310000, 4.290000, 4.270000, 4.250000, 4.240000, 4.230000, 4.220000, 4.230000, 4.220000, 4.210000, 4.200000, 4.230000, 6.550000, 6.600000, 6.600000, 6.610000, 6.410000, 6.410000, 6.420000, 6.770000, 6.790000, 6.790000, 6.810000, 6.820000, 6.900000, 9.120000, 9.160000, 9.190000, 9.230000, 9.270000, 9.310000, 9.360000, 9.210000, 8.750000, 8.350000, 7.980000, 7.660000, 7.340000, 7.060000, 6.790000, 6.550000, 6.320000, 6.320000, 6.390000, 6.420000, 10.460000, 10.580000, 5.180000, 2.890000, 2.720000, 2.590000, 2.460000, 2.370000, 2.270000, 2.170000, 2.100000, 2.020000, 1.950000, 1.880000, 1.830000, 1.780000, 1.730000, 1.680000, 1.640000, 1.590000, 1.570000, 1.530000, 1.500000, 1.460000, 1.440000, 1.400000, 1.390000, 1.360000, 1.350000, 1.300000, 1.280000, 1.260000, 1.250000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.120000, 1.100000, 1.090000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.030000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.980000, 0.970000, 0.960000, 0.970000, 0.960000, 0.960000, 0.960000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.980000, 0.960000, 0.960000, 0.970000, 0.970000, 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": [ 976054889, 725270 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.048000, 17.004999, 2.765487 ], "estimate": [ -9.048000, 17.004999, 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": [ 0.670000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.830000, 0.840000, 0.850000, 0.850000, 0.880000, 0.910000, 0.920000, 0.930000, 2.080000, 2.050000, 2.020000, 1.990000, 1.960000, 1.930000, 1.900000, 1.880000, 1.860000, 1.830000, 1.810000, 1.800000, 1.770000, 1.770000, 1.810000, 1.780000, 1.780000, 1.780000, 1.770000, 1.770000, 1.900000, 2.000000, 4.080000, 4.330000, 4.310000, 4.290000, 4.260000, 4.240000, 4.230000, 4.220000, 4.210000, 4.210000, 4.190000, 4.180000, 4.180000, 4.180000, 4.210000, 6.530000, 6.560000, 6.570000, 6.590000, 6.400000, 6.390000, 6.400000, 6.730000, 6.740000, 6.760000, 6.780000, 6.790000, 6.800000, 9.080000, 9.110000, 9.150000, 9.180000, 9.230000, 9.260000, 9.310000, 9.370000, 8.930000, 8.500000, 8.110000, 7.760000, 7.450000, 7.150000, 6.880000, 6.640000, 6.400000, 6.280000, 6.340000, 6.370000, 10.390000, 10.500000, 5.220000, 5.090000, 2.790000, 2.650000, 2.520000, 2.410000, 2.300000, 2.210000, 2.120000, 2.050000, 1.980000, 1.910000, 1.850000, 1.790000, 1.750000, 1.690000, 1.650000, 1.620000, 1.580000, 1.540000, 1.510000, 1.470000, 1.440000, 1.420000, 1.390000, 1.370000, 1.340000, 1.310000, 1.280000, 1.270000, 1.240000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.950000, 0.950000, 0.950000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054891, 275589 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.128000, 17.035000, 2.771632 ], "estimate": [ -9.128000, 17.035000, 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, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.800000, 0.820000, 0.830000, 0.850000, 0.850000, 0.880000, 0.890000, 0.880000, 0.930000, 2.130000, 2.080000, 2.050000, 2.020000, 1.990000, 1.950000, 1.920000, 1.890000, 1.860000, 1.830000, 1.800000, 1.790000, 1.770000, 1.740000, 1.720000, 1.710000, 1.770000, 1.740000, 1.730000, 1.730000, 1.720000, 1.730000, 1.820000, 1.920000, 2.000000, 4.020000, 4.240000, 4.250000, 4.230000, 4.220000, 4.200000, 4.180000, 4.170000, 4.150000, 4.140000, 4.140000, 4.120000, 4.120000, 4.110000, 4.120000, 6.470000, 6.460000, 6.500000, 6.520000, 6.540000, 6.320000, 6.320000, 6.360000, 6.680000, 6.690000, 6.690000, 6.710000, 6.730000, 6.830000, 9.030000, 9.060000, 9.090000, 9.130000, 9.170000, 9.220000, 9.260000, 9.140000, 8.680000, 8.280000, 7.920000, 7.580000, 7.270000, 6.990000, 6.730000, 6.480000, 6.260000, 6.200000, 6.270000, 6.330000, 10.340000, 10.470000, 5.150000, 2.900000, 2.710000, 2.580000, 2.460000, 2.350000, 2.260000, 2.170000, 2.070000, 2.010000, 1.930000, 1.870000, 1.800000, 1.760000, 1.710000, 1.660000, 1.620000, 1.580000, 1.560000, 1.510000, 1.480000, 1.450000, 1.420000, 1.390000, 1.380000, 1.350000, 1.320000, 1.290000, 1.270000, 1.270000, 1.230000, 1.210000, 1.190000, 1.170000, 1.160000, 1.140000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.950000, 0.940000, 0.940000, 0.930000, 0.950000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 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": [ 976054891, 428750 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.191000, 17.059000, 2.777778 ], "estimate": [ -9.191000, 17.059000, 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": [ 0.740000, 0.730000, 0.730000, 0.750000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.840000, 0.840000, 0.860000, 0.870000, 0.870000, 0.880000, 2.240000, 2.200000, 2.150000, 2.100000, 2.060000, 2.020000, 1.970000, 1.940000, 1.910000, 1.870000, 1.840000, 1.820000, 1.790000, 1.770000, 1.740000, 1.710000, 1.690000, 1.680000, 1.680000, 1.710000, 1.690000, 1.670000, 1.670000, 1.660000, 1.670000, 1.700000, 1.820000, 1.870000, 3.710000, 3.890000, 4.110000, 4.210000, 4.180000, 4.160000, 4.130000, 4.120000, 4.090000, 4.090000, 4.080000, 4.070000, 4.060000, 4.050000, 4.040000, 4.030000, 4.050000, 6.400000, 6.380000, 6.420000, 6.430000, 6.550000, 6.250000, 6.230000, 6.380000, 6.600000, 6.610000, 6.620000, 6.630000, 6.660000, 8.910000, 8.940000, 8.980000, 9.010000, 9.050000, 9.090000, 9.130000, 9.170000, 9.090000, 8.640000, 8.230000, 7.860000, 7.530000, 7.220000, 6.930000, 6.690000, 6.440000, 6.230000, 6.130000, 6.190000, 6.220000, 10.260000, 10.370000, 8.710000, 4.960000, 2.710000, 2.580000, 2.450000, 2.340000, 2.240000, 2.160000, 2.070000, 2.000000, 1.920000, 1.850000, 1.800000, 1.760000, 1.700000, 1.650000, 1.610000, 1.570000, 1.540000, 1.500000, 1.460000, 1.440000, 1.410000, 1.390000, 1.360000, 1.320000, 1.300000, 1.280000, 1.260000, 1.230000, 1.210000, 1.200000, 1.190000, 1.170000, 1.140000, 1.140000, 1.130000, 1.110000, 1.100000, 1.080000, 1.080000, 1.070000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.930000, 0.930000, 0.930000, 0.920000, 0.930000, 0.930000, 0.940000, 0.930000, 0.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054891, 438969 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.236000, 17.076000, 2.765487 ], "estimate": [ -9.236000, 17.076000, 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": [ 0.760000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.820000, 0.820000, 0.820000, 0.820000, 0.840000, 0.850000, 0.850000, 0.850000, 0.890000, 2.560000, 2.310000, 2.240000, 2.190000, 2.140000, 2.090000, 2.050000, 2.000000, 1.950000, 1.920000, 1.880000, 1.850000, 1.810000, 1.790000, 1.760000, 1.730000, 1.710000, 1.690000, 1.650000, 1.630000, 1.650000, 1.670000, 1.660000, 1.630000, 1.630000, 1.610000, 1.610000, 1.640000, 1.750000, 1.810000, 1.890000, 3.620000, 3.790000, 3.990000, 4.160000, 4.130000, 4.100000, 4.090000, 4.070000, 4.060000, 4.030000, 4.020000, 4.010000, 4.000000, 3.990000, 3.980000, 3.980000, 3.980000, 6.350000, 6.330000, 6.330000, 6.360000, 6.370000, 6.190000, 6.200000, 6.180000, 6.520000, 6.530000, 6.540000, 6.550000, 6.580000, 6.600000, 8.850000, 8.880000, 8.920000, 8.960000, 8.990000, 9.030000, 9.070000, 9.120000, 8.990000, 8.520000, 8.140000, 7.760000, 7.440000, 7.140000, 6.860000, 6.610000, 6.370000, 6.150000, 6.070000, 6.130000, 6.160000, 10.190000, 10.300000, 8.650000, 4.900000, 2.690000, 2.560000, 2.430000, 2.320000, 2.220000, 2.130000, 2.050000, 1.980000, 1.910000, 1.840000, 1.780000, 1.730000, 1.680000, 1.640000, 1.590000, 1.570000, 1.520000, 1.490000, 1.460000, 1.420000, 1.400000, 1.380000, 1.350000, 1.320000, 1.290000, 1.270000, 1.250000, 1.220000, 1.200000, 1.190000, 1.170000, 1.150000, 1.150000, 1.130000, 1.110000, 1.100000, 1.080000, 1.070000, 1.060000, 1.060000, 1.040000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.930000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054891, 447690 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.275000, 17.091999, 2.753196 ], "estimate": [ -9.275000, 17.091999, 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": [ 0.750000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.820000, 0.840000, 0.840000, 0.840000, 0.850000, 0.910000, 2.610000, 2.560000, 2.320000, 2.230000, 2.180000, 2.130000, 2.080000, 2.030000, 1.980000, 1.950000, 1.900000, 1.860000, 1.830000, 1.790000, 1.760000, 1.740000, 1.710000, 1.690000, 1.660000, 1.630000, 1.620000, 1.620000, 1.650000, 1.630000, 1.600000, 1.610000, 1.600000, 1.600000, 1.610000, 1.700000, 1.770000, 1.910000, 3.570000, 3.660000, 3.850000, 4.040000, 4.120000, 4.090000, 4.070000, 4.060000, 4.040000, 4.020000, 4.000000, 3.980000, 3.980000, 3.970000, 3.960000, 3.950000, 3.950000, 3.970000, 6.320000, 6.290000, 6.290000, 6.320000, 6.340000, 6.170000, 6.170000, 6.150000, 6.490000, 6.500000, 6.520000, 6.530000, 6.540000, 6.560000, 8.820000, 8.850000, 8.880000, 8.920000, 8.950000, 9.000000, 9.030000, 9.090000, 8.880000, 8.450000, 8.070000, 7.700000, 7.370000, 7.060000, 6.800000, 6.550000, 6.310000, 6.110000, 6.040000, 6.090000, 6.130000, 10.160000, 10.270000, 8.610000, 4.880000, 2.670000, 2.540000, 2.410000, 2.310000, 2.210000, 2.110000, 2.040000, 1.970000, 1.900000, 1.830000, 1.770000, 1.720000, 1.680000, 1.630000, 1.590000, 1.550000, 1.520000, 1.480000, 1.450000, 1.420000, 1.390000, 1.370000, 1.340000, 1.310000, 1.280000, 1.260000, 1.240000, 1.210000, 1.210000, 1.190000, 1.170000, 1.150000, 1.140000, 1.130000, 1.110000, 1.090000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.920000, 0.930000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054891, 456240 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.325000, 17.112000, 2.753196 ], "estimate": [ -9.325000, 17.112000, 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": [ 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.820000, 0.840000, 0.850000, 2.780000, 2.700000, 2.630000, 2.580000, 2.510000, 2.240000, 2.180000, 2.120000, 2.080000, 2.030000, 1.970000, 1.940000, 1.890000, 1.850000, 1.810000, 1.790000, 1.760000, 1.720000, 1.700000, 1.670000, 1.640000, 1.610000, 1.590000, 1.580000, 1.620000, 1.600000, 1.580000, 1.580000, 1.570000, 1.560000, 1.580000, 1.680000, 1.720000, 1.790000, 3.520000, 3.530000, 3.660000, 3.830000, 4.030000, 4.080000, 4.060000, 4.040000, 4.010000, 3.990000, 3.970000, 3.970000, 3.960000, 3.950000, 3.930000, 3.920000, 3.910000, 3.910000, 3.940000, 6.270000, 6.280000, 6.260000, 6.260000, 6.300000, 6.120000, 6.130000, 6.100000, 6.450000, 6.450000, 6.470000, 6.480000, 6.490000, 6.510000, 8.770000, 8.800000, 8.840000, 8.860000, 8.900000, 8.950000, 8.990000, 9.030000, 9.000000, 8.530000, 8.130000, 7.770000, 7.430000, 7.140000, 6.840000, 6.600000, 6.360000, 6.140000, 5.970000, 6.040000, 6.080000, 6.180000, 10.190000, 10.310000, 4.880000, 4.780000, 2.560000, 2.450000, 2.340000, 2.230000, 2.130000, 2.050000, 1.980000, 1.910000, 1.840000, 1.780000, 1.740000, 1.680000, 1.630000, 1.590000, 1.560000, 1.520000, 1.480000, 1.460000, 1.420000, 1.390000, 1.360000, 1.340000, 1.300000, 1.280000, 1.260000, 1.230000, 1.210000, 1.200000, 1.180000, 1.160000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.070000, 1.060000, 1.060000, 1.050000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 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": [ 976054891, 465350 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.357000, 17.125000, 2.753196 ], "estimate": [ -9.357000, 17.125000, 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": [ 0.810000, 0.810000, 0.830000, 0.830000, 0.840000, 0.820000, 0.820000, 0.830000, 2.980000, 2.900000, 2.810000, 2.740000, 2.670000, 2.600000, 2.530000, 2.250000, 2.180000, 2.130000, 2.070000, 2.030000, 1.970000, 1.920000, 1.880000, 1.840000, 1.790000, 1.770000, 1.730000, 1.700000, 1.670000, 1.630000, 1.610000, 1.590000, 1.560000, 1.570000, 1.610000, 1.590000, 1.550000, 1.540000, 1.540000, 1.530000, 1.530000, 1.600000, 1.670000, 1.720000, 1.790000, 3.480000, 3.490000, 3.590000, 3.760000, 3.950000, 4.050000, 4.020000, 4.000000, 3.970000, 3.960000, 3.950000, 3.930000, 3.910000, 3.900000, 3.880000, 3.870000, 3.870000, 3.850000, 3.860000, 6.230000, 6.230000, 6.220000, 6.210000, 6.230000, 6.260000, 6.070000, 6.090000, 6.070000, 6.390000, 6.410000, 6.420000, 6.430000, 6.450000, 6.460000, 8.720000, 8.750000, 8.790000, 8.830000, 8.850000, 8.900000, 8.950000, 8.990000, 8.810000, 8.370000, 7.980000, 7.630000, 7.300000, 7.000000, 6.730000, 6.480000, 6.250000, 6.050000, 5.950000, 5.980000, 6.040000, 10.050000, 10.150000, 8.720000, 4.820000, 4.700000, 2.530000, 2.410000, 2.290000, 2.200000, 2.100000, 2.020000, 1.950000, 1.880000, 1.820000, 1.760000, 1.710000, 1.660000, 1.610000, 1.560000, 1.530000, 1.500000, 1.460000, 1.420000, 1.400000, 1.380000, 1.350000, 1.310000, 1.290000, 1.270000, 1.250000, 1.220000, 1.200000, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.110000, 1.090000, 1.080000, 1.060000, 1.060000, 1.050000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.900000, 0.900000, 0.910000, 0.900000, 0.900000, 0.910000, 0.910000, 0.900000, 0.900000, 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": [ 976054891, 915840 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.425000, 17.152000, 2.753196 ], "estimate": [ -9.425000, 17.152000, 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": [ 0.820000, 0.820000, 0.820000, 3.360000, 3.240000, 3.120000, 3.030000, 2.940000, 2.850000, 2.760000, 2.680000, 2.610000, 2.530000, 2.240000, 2.170000, 2.110000, 2.040000, 2.000000, 1.950000, 1.890000, 1.850000, 1.800000, 1.780000, 1.730000, 1.700000, 1.660000, 1.620000, 1.600000, 1.580000, 1.550000, 1.540000, 1.550000, 1.560000, 1.530000, 1.500000, 1.510000, 1.480000, 1.490000, 1.500000, 1.570000, 1.620000, 1.670000, 1.790000, 3.440000, 3.440000, 3.440000, 3.540000, 3.700000, 3.870000, 4.000000, 3.970000, 3.950000, 3.930000, 3.910000, 3.890000, 3.870000, 3.860000, 3.830000, 3.830000, 3.820000, 3.810000, 3.810000, 3.800000, 3.800000, 6.170000, 6.170000, 6.160000, 6.150000, 6.160000, 6.040000, 6.020000, 5.990000, 6.260000, 6.330000, 6.340000, 6.350000, 6.370000, 6.380000, 6.450000, 8.670000, 8.690000, 8.740000, 8.760000, 8.800000, 8.850000, 8.890000, 8.940000, 8.640000, 8.230000, 7.830000, 7.490000, 7.180000, 6.880000, 6.610000, 6.380000, 6.150000, 5.950000, 5.870000, 5.920000, 5.970000, 10.000000, 10.100000, 10.220000, 4.760000, 4.640000, 2.480000, 2.370000, 2.260000, 2.160000, 2.080000, 2.000000, 1.930000, 1.850000, 1.780000, 1.740000, 1.680000, 1.640000, 1.590000, 1.550000, 1.520000, 1.480000, 1.440000, 1.400000, 1.390000, 1.360000, 1.320000, 1.300000, 1.280000, 1.250000, 1.230000, 1.200000, 1.190000, 1.160000, 1.150000, 1.140000, 1.130000, 1.110000, 1.090000, 1.080000, 1.070000, 1.050000, 1.040000, 1.020000, 1.020000, 1.030000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 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": [ 976054891, 414268 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.482000, 17.174999, 2.759341 ], "estimate": [ -9.482000, 17.174999, 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": [ 3.630000, 3.480000, 3.350000, 3.230000, 3.110000, 3.000000, 2.920000, 2.810000, 2.730000, 2.650000, 2.570000, 2.490000, 2.200000, 2.120000, 2.050000, 2.000000, 1.940000, 1.880000, 1.840000, 1.790000, 1.760000, 1.710000, 1.680000, 1.630000, 1.600000, 1.580000, 1.550000, 1.520000, 1.510000, 1.520000, 1.530000, 1.510000, 1.470000, 1.470000, 1.450000, 1.450000, 1.460000, 1.510000, 1.570000, 1.610000, 1.670000, 3.430000, 3.410000, 3.400000, 3.400000, 3.450000, 3.600000, 3.750000, 3.930000, 3.940000, 3.910000, 3.890000, 3.860000, 3.840000, 3.830000, 3.810000, 3.800000, 3.780000, 3.770000, 3.750000, 3.740000, 3.750000, 3.740000, 6.080000, 6.110000, 6.120000, 6.120000, 6.100000, 6.110000, 5.950000, 5.940000, 5.920000, 6.260000, 6.280000, 6.290000, 6.300000, 6.310000, 6.330000, 6.390000, 8.600000, 8.630000, 8.670000, 8.700000, 8.740000, 8.780000, 8.830000, 8.870000, 8.590000, 8.170000, 7.790000, 7.450000, 7.130000, 6.840000, 6.580000, 6.330000, 6.120000, 5.910000, 5.820000, 5.850000, 5.910000, 9.930000, 10.030000, 10.150000, 4.730000, 4.600000, 2.500000, 2.360000, 2.260000, 2.160000, 2.080000, 1.990000, 1.920000, 1.840000, 1.780000, 1.730000, 1.680000, 1.630000, 1.580000, 1.540000, 1.500000, 1.470000, 1.430000, 1.400000, 1.380000, 1.350000, 1.320000, 1.280000, 1.270000, 1.240000, 1.220000, 1.200000, 1.180000, 1.160000, 1.140000, 1.140000, 1.120000, 1.100000, 1.080000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 1.000000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 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, 0.890000, 0.880000, 0.890000, 0.880000, 0.890000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.880000, 0.890000, 0.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054891, 480250 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.527000, 17.194000, 2.747050 ], "estimate": [ -9.527000, 17.194000, 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": [ 3.540000, 3.400000, 3.270000, 3.150000, 3.040000, 2.930000, 2.840000, 2.750000, 2.660000, 2.580000, 2.500000, 2.190000, 2.120000, 2.030000, 1.980000, 1.930000, 1.870000, 1.830000, 1.790000, 1.730000, 1.700000, 1.650000, 1.610000, 1.580000, 1.550000, 1.510000, 1.480000, 1.480000, 1.500000, 1.500000, 1.470000, 1.440000, 1.440000, 1.430000, 1.420000, 1.440000, 1.500000, 1.550000, 1.590000, 1.640000, 3.420000, 3.400000, 3.370000, 3.370000, 3.370000, 3.470000, 3.620000, 3.780000, 3.930000, 3.900000, 3.880000, 3.850000, 3.820000, 3.810000, 3.810000, 3.780000, 3.760000, 3.740000, 3.730000, 3.720000, 3.720000, 3.710000, 3.720000, 6.080000, 6.070000, 6.080000, 6.080000, 6.080000, 6.070000, 5.910000, 5.920000, 5.890000, 6.220000, 6.230000, 6.240000, 6.260000, 6.270000, 6.280000, 6.360000, 8.560000, 8.590000, 8.620000, 8.650000, 8.690000, 8.740000, 8.770000, 8.830000, 8.610000, 8.170000, 7.800000, 7.450000, 7.130000, 6.840000, 6.560000, 6.330000, 6.100000, 5.900000, 5.740000, 5.800000, 5.850000, 5.910000, 9.970000, 8.550000, 4.680000, 4.600000, 4.490000, 2.380000, 2.260000, 2.160000, 2.080000, 1.990000, 1.910000, 1.850000, 1.780000, 1.730000, 1.670000, 1.630000, 1.580000, 1.540000, 1.500000, 1.470000, 1.430000, 1.400000, 1.380000, 1.340000, 1.310000, 1.280000, 1.260000, 1.240000, 1.210000, 1.190000, 1.180000, 1.160000, 1.140000, 1.130000, 1.110000, 1.090000, 1.080000, 1.070000, 1.050000, 1.040000, 1.020000, 1.020000, 1.010000, 0.990000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.890000, 0.880000, 0.890000, 0.880000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.880000, 0.880000, 0.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054891, 893069 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.570000, 17.211000, 2.747050 ], "estimate": [ -9.570000, 17.211000, 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": [ 3.430000, 3.300000, 3.160000, 3.050000, 2.940000, 2.840000, 2.740000, 2.650000, 2.570000, 2.500000, 2.160000, 2.090000, 2.020000, 1.960000, 1.900000, 1.850000, 1.790000, 1.760000, 1.700000, 1.670000, 1.610000, 1.580000, 1.560000, 1.520000, 1.480000, 1.460000, 1.470000, 1.490000, 1.480000, 1.430000, 1.420000, 1.410000, 1.410000, 1.410000, 1.430000, 1.490000, 1.530000, 1.580000, 1.630000, 3.410000, 3.390000, 3.360000, 3.340000, 3.350000, 3.400000, 3.540000, 3.670000, 3.850000, 3.890000, 3.860000, 3.830000, 3.800000, 3.790000, 3.780000, 3.750000, 3.730000, 3.720000, 3.710000, 3.690000, 3.690000, 3.670000, 3.670000, 3.690000, 6.050000, 6.040000, 6.040000, 6.050000, 6.030000, 6.060000, 5.880000, 5.880000, 5.870000, 6.190000, 6.200000, 6.210000, 6.220000, 6.230000, 6.250000, 8.500000, 8.520000, 8.560000, 8.590000, 8.620000, 8.660000, 8.700000, 8.740000, 8.790000, 8.480000, 8.080000, 7.680000, 7.350000, 7.030000, 6.760000, 6.490000, 6.250000, 6.050000, 5.830000, 5.730000, 5.770000, 5.820000, 9.840000, 9.950000, 8.500000, 4.670000, 4.550000, 4.440000, 2.340000, 2.240000, 2.140000, 2.050000, 1.980000, 1.900000, 1.830000, 1.760000, 1.700000, 1.670000, 1.610000, 1.560000, 1.520000, 1.490000, 1.450000, 1.410000, 1.380000, 1.360000, 1.330000, 1.300000, 1.280000, 1.250000, 1.220000, 1.200000, 1.180000, 1.170000, 1.150000, 1.140000, 1.120000, 1.100000, 1.080000, 1.070000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.950000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.880000, 0.880000, 0.880000, 0.880000, 0.870000, 0.880000, 0.880000, 0.870000, 0.860000, 0.870000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054891, 894212 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.625000, 17.234001, 2.740905 ], "estimate": [ -9.625000, 17.234001, 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": [ 3.330000, 3.200000, 3.060000, 2.940000, 2.850000, 2.740000, 2.660000, 2.580000, 2.310000, 2.140000, 2.060000, 1.990000, 1.930000, 1.860000, 1.810000, 1.770000, 1.710000, 1.670000, 1.620000, 1.580000, 1.560000, 1.520000, 1.480000, 1.440000, 1.440000, 1.460000, 1.460000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.400000, 1.440000, 1.490000, 1.530000, 1.570000, 1.600000, 3.400000, 3.370000, 3.330000, 3.310000, 3.320000, 3.320000, 3.430000, 3.570000, 3.720000, 3.860000, 3.840000, 3.800000, 3.790000, 3.760000, 3.740000, 3.720000, 3.710000, 3.690000, 3.680000, 3.660000, 3.650000, 3.650000, 3.630000, 3.640000, 6.030000, 5.990000, 6.000000, 6.000000, 6.010000, 5.980000, 6.030000, 5.820000, 5.830000, 5.830000, 6.150000, 6.150000, 6.160000, 6.170000, 6.180000, 6.200000, 8.450000, 8.480000, 8.510000, 8.540000, 8.580000, 8.610000, 8.650000, 8.700000, 8.740000, 8.460000, 8.030000, 7.660000, 7.320000, 7.010000, 6.730000, 6.450000, 6.230000, 6.010000, 5.810000, 5.670000, 5.720000, 5.780000, 5.820000, 9.890000, 10.000000, 4.640000, 4.530000, 4.420000, 2.340000, 2.230000, 2.140000, 2.040000, 1.970000, 1.900000, 1.830000, 1.760000, 1.700000, 1.650000, 1.600000, 1.560000, 1.520000, 1.480000, 1.440000, 1.400000, 1.380000, 1.360000, 1.320000, 1.290000, 1.270000, 1.240000, 1.220000, 1.190000, 1.170000, 1.160000, 1.140000, 1.130000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000, 1.020000, 1.020000, 1.000000, 1.000000, 0.980000, 0.980000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.910000, 0.920000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.860000, 0.870000, 0.860000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.860000, 0.870000, 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": [ 976054892, 400930 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.689000, 17.260000, 2.740905 ], "estimate": [ -9.689000, 17.260000, 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": [ 3.190000, 3.060000, 2.940000, 2.830000, 2.740000, 2.630000, 2.550000, 2.180000, 2.090000, 2.020000, 1.950000, 1.880000, 1.820000, 1.770000, 1.710000, 1.670000, 1.610000, 1.580000, 1.530000, 1.490000, 1.460000, 1.420000, 1.420000, 1.430000, 1.440000, 1.400000, 1.380000, 1.370000, 1.350000, 1.350000, 1.370000, 1.400000, 1.440000, 1.470000, 1.500000, 1.530000, 3.420000, 3.380000, 3.340000, 3.310000, 3.280000, 3.270000, 3.280000, 3.350000, 3.470000, 3.600000, 3.750000, 3.810000, 3.780000, 3.760000, 3.730000, 3.710000, 3.690000, 3.670000, 3.650000, 3.640000, 3.620000, 3.600000, 3.590000, 3.590000, 3.580000, 3.580000, 5.940000, 5.940000, 5.940000, 5.950000, 5.950000, 5.930000, 5.960000, 5.780000, 5.780000, 5.770000, 6.100000, 6.100000, 6.110000, 6.120000, 6.140000, 6.150000, 8.400000, 8.410000, 8.450000, 8.480000, 8.510000, 8.550000, 8.590000, 8.630000, 8.670000, 8.470000, 8.040000, 7.660000, 7.320000, 7.000000, 6.730000, 6.450000, 6.220000, 6.010000, 5.800000, 5.620000, 5.640000, 5.700000, 5.740000, 9.800000, 9.910000, 10.020000, 4.520000, 4.410000, 4.320000, 2.250000, 2.150000, 2.060000, 1.970000, 1.900000, 1.830000, 1.760000, 1.700000, 1.660000, 1.600000, 1.560000, 1.520000, 1.470000, 1.440000, 1.400000, 1.380000, 1.340000, 1.320000, 1.290000, 1.260000, 1.230000, 1.210000, 1.190000, 1.170000, 1.150000, 1.140000, 1.120000, 1.110000, 1.090000, 1.070000, 1.060000, 1.040000, 1.020000, 1.020000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.950000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.890000, 0.890000, 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, 0.860000, 0.850000, 0.850000, 0.850000, 0.860000, 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": [ 976054892, 528195 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.748000, 17.285000, 2.740905 ], "estimate": [ -9.748000, 17.285000, 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": [ 3.040000, 2.920000, 2.790000, 2.700000, 2.600000, 2.220000, 2.110000, 2.020000, 1.930000, 1.860000, 1.800000, 1.740000, 1.680000, 1.630000, 1.580000, 1.540000, 1.500000, 1.450000, 1.420000, 1.400000, 1.410000, 1.420000, 1.390000, 1.350000, 1.340000, 1.310000, 1.310000, 1.320000, 1.340000, 1.380000, 1.420000, 1.450000, 1.470000, 1.540000, 3.430000, 3.380000, 3.350000, 3.310000, 3.270000, 3.240000, 3.230000, 3.230000, 3.260000, 3.390000, 3.510000, 3.650000, 3.770000, 3.740000, 3.710000, 3.680000, 3.660000, 3.640000, 3.630000, 3.600000, 3.580000, 3.570000, 3.560000, 3.550000, 3.530000, 3.530000, 3.510000, 3.540000, 5.880000, 5.880000, 5.880000, 5.880000, 5.890000, 5.870000, 5.900000, 5.710000, 5.710000, 5.700000, 6.030000, 6.030000, 6.040000, 6.050000, 6.060000, 6.080000, 8.320000, 8.340000, 8.370000, 8.400000, 8.440000, 8.470000, 8.510000, 8.550000, 8.590000, 8.450000, 8.030000, 7.650000, 7.300000, 6.980000, 6.700000, 6.420000, 6.190000, 5.970000, 5.770000, 5.580000, 5.520000, 5.610000, 5.640000, 9.700000, 9.810000, 8.290000, 4.490000, 4.370000, 4.290000, 2.250000, 2.150000, 2.060000, 1.970000, 1.900000, 1.830000, 1.760000, 1.700000, 1.650000, 1.600000, 1.560000, 1.510000, 1.470000, 1.440000, 1.400000, 1.370000, 1.350000, 1.310000, 1.280000, 1.260000, 1.230000, 1.200000, 1.180000, 1.160000, 1.140000, 1.130000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.910000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.890000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.880000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.840000, 0.850000, 0.840000, 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": [ 976054892, 529340 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.795000, 17.305000, 2.740905 ], "estimate": [ -9.795000, 17.305000, 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": [ 2.910000, 2.790000, 2.680000, 2.580000, 2.160000, 2.050000, 1.970000, 1.890000, 1.820000, 1.750000, 1.690000, 1.630000, 1.570000, 1.530000, 1.490000, 1.440000, 1.400000, 1.390000, 1.400000, 1.410000, 1.370000, 1.330000, 1.320000, 1.310000, 1.290000, 1.300000, 1.320000, 1.340000, 1.370000, 1.400000, 1.430000, 1.470000, 1.530000, 3.410000, 3.360000, 3.320000, 3.280000, 3.250000, 3.220000, 3.180000, 3.190000, 3.200000, 3.310000, 3.430000, 3.550000, 3.700000, 3.710000, 3.690000, 3.660000, 3.640000, 3.610000, 3.590000, 3.570000, 3.560000, 3.540000, 3.520000, 3.500000, 3.480000, 3.480000, 3.480000, 3.480000, 8.190000, 5.820000, 5.830000, 5.830000, 5.830000, 5.850000, 5.810000, 5.760000, 5.650000, 5.650000, 5.650000, 5.980000, 5.980000, 5.990000, 6.010000, 6.020000, 6.020000, 8.270000, 8.290000, 8.320000, 8.350000, 8.390000, 8.420000, 8.460000, 8.500000, 8.540000, 8.390000, 7.980000, 7.610000, 7.260000, 6.940000, 6.650000, 6.380000, 6.140000, 5.940000, 5.720000, 5.540000, 5.490000, 5.550000, 5.610000, 9.640000, 9.760000, 8.830000, 4.440000, 4.340000, 4.260000, 4.210000, 2.150000, 2.040000, 1.970000, 1.900000, 1.830000, 1.760000, 1.700000, 1.640000, 1.590000, 1.560000, 1.510000, 1.470000, 1.430000, 1.390000, 1.360000, 1.340000, 1.300000, 1.280000, 1.250000, 1.220000, 1.200000, 1.170000, 1.160000, 1.140000, 1.130000, 1.110000, 1.090000, 1.070000, 1.050000, 1.040000, 1.020000, 1.020000, 1.000000, 1.000000, 0.980000, 0.980000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.860000, 0.860000, 0.840000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.830000, 0.840000 ], "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": [ 976054892, 639422 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.840000, 17.323999, 2.734759 ], "estimate": [ -9.840000, 17.323999, 2.734759 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.830000, 2.690000, 2.590000, 2.150000, 2.050000, 1.960000, 1.870000, 1.790000, 1.730000, 1.660000, 1.590000, 1.550000, 1.500000, 1.450000, 1.400000, 1.370000, 1.370000, 1.390000, 1.380000, 1.320000, 1.300000, 1.300000, 1.280000, 1.270000, 1.300000, 1.310000, 1.340000, 1.360000, 1.390000, 1.430000, 1.480000, 3.450000, 3.410000, 3.370000, 3.320000, 3.280000, 3.240000, 3.210000, 3.170000, 3.160000, 3.160000, 3.200000, 3.310000, 3.430000, 3.550000, 3.680000, 3.670000, 3.640000, 3.620000, 3.590000, 3.570000, 3.550000, 3.530000, 3.510000, 3.480000, 3.470000, 3.470000, 3.460000, 3.440000, 3.440000, 3.430000, 8.140000, 5.790000, 5.790000, 5.790000, 5.790000, 5.800000, 5.790000, 5.850000, 5.610000, 5.620000, 5.600000, 5.930000, 5.930000, 5.940000, 5.950000, 5.970000, 5.970000, 6.060000, 8.230000, 8.260000, 8.290000, 8.320000, 8.360000, 8.400000, 8.440000, 8.480000, 8.470000, 8.020000, 7.650000, 7.300000, 6.970000, 6.690000, 6.410000, 6.170000, 5.950000, 5.740000, 5.560000, 5.430000, 5.480000, 5.530000, 5.560000, 9.670000, 9.780000, 8.190000, 4.340000, 4.250000, 4.150000, 4.200000, 2.070000, 1.990000, 1.910000, 1.840000, 1.770000, 1.710000, 1.650000, 1.600000, 1.560000, 1.510000, 1.470000, 1.440000, 1.390000, 1.370000, 1.340000, 1.300000, 1.280000, 1.250000, 1.220000, 1.200000, 1.170000, 1.150000, 1.140000, 1.130000, 1.110000, 1.080000, 1.070000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.840000, 0.840000, 0.850000, 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": [ 976054893, 152441 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.893000, 17.346001, 2.734759 ], "estimate": [ -9.893000, 17.346001, 2.734759 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.690000, 2.580000, 2.120000, 2.010000, 1.920000, 1.820000, 1.750000, 1.670000, 1.600000, 1.550000, 1.490000, 1.440000, 1.400000, 1.360000, 1.360000, 1.380000, 1.360000, 1.310000, 1.300000, 1.290000, 1.270000, 1.250000, 1.290000, 1.290000, 1.310000, 1.340000, 1.370000, 1.390000, 1.420000, 1.480000, 3.430000, 3.390000, 3.350000, 3.310000, 3.260000, 3.220000, 3.180000, 3.150000, 3.130000, 3.120000, 3.150000, 3.260000, 3.360000, 3.480000, 3.610000, 3.640000, 3.620000, 3.600000, 3.560000, 3.550000, 3.520000, 3.500000, 3.480000, 3.470000, 3.450000, 3.430000, 3.420000, 3.410000, 3.410000, 3.390000, 3.410000, 8.100000, 5.750000, 5.740000, 5.740000, 5.750000, 5.760000, 5.730000, 5.580000, 5.570000, 5.570000, 5.680000, 5.890000, 5.890000, 5.900000, 5.910000, 5.920000, 5.930000, 8.170000, 8.200000, 8.220000, 8.250000, 8.280000, 8.320000, 8.360000, 8.400000, 8.440000, 8.370000, 7.940000, 7.560000, 7.210000, 6.900000, 6.610000, 6.350000, 6.110000, 5.900000, 5.680000, 5.520000, 5.390000, 5.450000, 5.500000, 5.540000, 9.640000, 9.750000, 8.150000, 4.310000, 4.210000, 4.120000, 4.130000, 2.050000, 1.970000, 1.890000, 1.830000, 1.760000, 1.690000, 1.640000, 1.590000, 1.550000, 1.500000, 1.460000, 1.420000, 1.390000, 1.360000, 1.320000, 1.300000, 1.270000, 1.240000, 1.210000, 1.190000, 1.170000, 1.140000, 1.130000, 1.120000, 1.090000, 1.080000, 1.060000, 1.040000, 1.030000, 1.020000, 1.000000, 1.000000, 0.990000, 0.970000, 0.960000, 0.950000, 0.950000, 0.930000, 0.930000, 0.920000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.820000, 0.820000, 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": [ 976054893, 162933 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.955000, 17.372000, 2.740905 ], "estimate": [ -9.955000, 17.372000, 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": [ 2.170000, 2.030000, 1.930000, 1.840000, 1.750000, 1.660000, 1.590000, 1.530000, 1.470000, 1.410000, 1.370000, 1.350000, 1.350000, 1.360000, 1.320000, 1.280000, 1.270000, 1.250000, 1.240000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.340000, 1.360000, 1.390000, 1.440000, 3.460000, 3.420000, 3.380000, 3.320000, 3.280000, 3.240000, 3.190000, 3.150000, 3.120000, 3.090000, 3.100000, 3.090000, 3.180000, 3.280000, 3.390000, 3.510000, 3.620000, 3.580000, 3.560000, 3.530000, 3.500000, 3.480000, 3.470000, 3.450000, 3.420000, 3.400000, 3.380000, 3.370000, 3.350000, 3.340000, 3.340000, 3.340000, 3.570000, 8.040000, 5.690000, 5.690000, 5.690000, 5.690000, 5.700000, 5.670000, 5.500000, 5.510000, 5.510000, 5.640000, 5.830000, 5.840000, 5.840000, 5.850000, 5.860000, 5.880000, 8.110000, 8.130000, 8.150000, 8.180000, 8.220000, 8.240000, 8.290000, 8.320000, 8.360000, 8.390000, 7.950000, 7.570000, 7.220000, 6.890000, 6.610000, 6.340000, 6.100000, 5.890000, 5.680000, 5.500000, 5.340000, 5.350000, 5.420000, 5.450000, 9.540000, 9.650000, 7.920000, 4.290000, 4.190000, 4.100000, 4.060000, 4.460000, 1.980000, 1.900000, 1.840000, 1.760000, 1.700000, 1.650000, 1.580000, 1.550000, 1.500000, 1.460000, 1.420000, 1.390000, 1.360000, 1.330000, 1.290000, 1.270000, 1.240000, 1.210000, 1.190000, 1.160000, 1.140000, 1.130000, 1.110000, 1.090000, 1.080000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.970000, 0.970000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.820000, 0.820000, 0.830000, 0.820000, 0.820000, 0.820000, 0.810000, 0.820000, 0.840000, 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": [ 976054893, 240092 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.012000, 17.396000, 2.740905 ], "estimate": [ -10.012000, 17.396000, 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": [ 1.960000, 1.840000, 1.760000, 1.660000, 1.580000, 1.510000, 1.440000, 1.370000, 1.330000, 1.340000, 1.340000, 1.350000, 1.280000, 1.270000, 1.230000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.320000, 1.340000, 1.360000, 3.560000, 3.510000, 3.450000, 3.410000, 3.350000, 3.300000, 3.250000, 3.210000, 3.160000, 3.130000, 3.100000, 3.060000, 3.050000, 3.040000, 3.120000, 3.230000, 3.330000, 3.430000, 3.550000, 3.550000, 3.520000, 3.490000, 3.470000, 3.440000, 3.410000, 3.410000, 3.380000, 3.360000, 3.340000, 3.330000, 3.320000, 3.310000, 3.300000, 3.290000, 3.310000, 8.010000, 5.640000, 5.630000, 5.640000, 5.640000, 5.640000, 5.640000, 5.650000, 5.460000, 5.460000, 5.450000, 5.770000, 5.770000, 5.780000, 5.780000, 5.790000, 5.800000, 5.820000, 8.040000, 8.070000, 8.090000, 8.110000, 8.140000, 8.180000, 8.220000, 8.250000, 8.300000, 8.340000, 7.900000, 7.520000, 7.170000, 6.850000, 6.570000, 6.290000, 6.060000, 5.850000, 5.640000, 5.460000, 5.290000, 5.280000, 5.330000, 5.400000, 9.450000, 9.560000, 8.010000, 9.790000, 4.170000, 4.070000, 3.990000, 4.150000, 1.950000, 1.900000, 1.830000, 1.760000, 1.700000, 1.640000, 1.590000, 1.550000, 1.500000, 1.460000, 1.410000, 1.380000, 1.360000, 1.320000, 1.290000, 1.260000, 1.230000, 1.210000, 1.180000, 1.160000, 1.130000, 1.130000, 1.110000, 1.090000, 1.070000, 1.050000, 1.040000, 1.020000, 1.010000, 0.990000, 0.970000, 0.970000, 0.950000, 0.950000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.900000, 0.880000, 0.880000, 0.880000, 0.870000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.810000, 0.810000, 0.820000, 0.810000, 0.810000, 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": [ 976054894, 744649 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.060000, 17.416000, 2.734759 ], "estimate": [ -10.060000, 17.416000, 2.734759 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.780000, 1.670000, 1.580000, 1.500000, 1.440000, 1.360000, 1.330000, 1.330000, 1.330000, 1.310000, 1.260000, 1.250000, 1.210000, 1.210000, 1.220000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.300000, 1.320000, 1.340000, 1.410000, 3.560000, 3.490000, 3.430000, 3.390000, 3.330000, 3.280000, 3.240000, 3.190000, 3.140000, 3.110000, 3.070000, 3.040000, 3.030000, 3.010000, 3.050000, 3.140000, 3.240000, 3.350000, 3.450000, 3.530000, 3.490000, 3.460000, 3.450000, 3.410000, 3.380000, 3.370000, 3.350000, 3.330000, 3.320000, 3.300000, 3.290000, 3.270000, 3.260000, 3.240000, 3.250000, 3.340000, 7.960000, 5.580000, 5.590000, 5.580000, 5.580000, 5.580000, 5.590000, 5.590000, 5.390000, 5.400000, 5.400000, 5.710000, 5.710000, 5.720000, 5.720000, 5.740000, 5.750000, 5.760000, 7.980000, 8.000000, 8.020000, 8.050000, 8.090000, 8.110000, 8.140000, 8.190000, 8.220000, 8.270000, 7.950000, 7.540000, 7.190000, 6.870000, 6.580000, 6.300000, 6.060000, 5.840000, 5.650000, 5.460000, 5.300000, 5.220000, 5.250000, 5.300000, 9.360000, 9.460000, 9.570000, 7.830000, 4.160000, 4.050000, 3.970000, 3.930000, 4.360000, 1.910000, 1.830000, 1.770000, 1.710000, 1.650000, 1.590000, 1.560000, 1.500000, 1.460000, 1.420000, 1.370000, 1.360000, 1.320000, 1.280000, 1.260000, 1.220000, 1.200000, 1.180000, 1.150000, 1.130000, 1.120000, 1.100000, 1.080000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 0.980000, 0.970000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 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": [ 976054894, 745792 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.106000, 17.437000, 2.722468 ], "estimate": [ -10.106000, 17.437000, 2.722468 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.650000, 1.540000, 1.470000, 1.390000, 1.330000, 1.330000, 1.330000, 1.330000, 1.260000, 1.250000, 1.220000, 1.200000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.300000, 1.320000, 1.360000, 3.660000, 3.580000, 3.510000, 3.460000, 3.410000, 3.340000, 3.290000, 3.240000, 3.190000, 3.150000, 3.100000, 3.060000, 3.030000, 3.000000, 3.000000, 3.000000, 3.060000, 3.140000, 3.240000, 3.340000, 3.450000, 3.490000, 3.450000, 3.430000, 3.400000, 3.370000, 3.350000, 3.320000, 3.310000, 3.300000, 3.280000, 3.260000, 3.250000, 3.220000, 3.220000, 3.210000, 3.210000, 3.370000, 7.920000, 5.520000, 5.550000, 5.540000, 5.540000, 5.550000, 5.550000, 5.540000, 5.350000, 5.350000, 5.350000, 5.420000, 5.670000, 5.680000, 5.680000, 5.680000, 5.690000, 5.710000, 5.780000, 7.950000, 7.980000, 8.000000, 8.030000, 8.060000, 8.100000, 8.130000, 8.170000, 8.220000, 8.000000, 7.590000, 7.240000, 6.900000, 6.600000, 6.330000, 6.080000, 5.860000, 5.670000, 5.470000, 5.310000, 5.160000, 5.190000, 5.250000, 5.290000, 9.390000, 9.490000, 8.580000, 4.140000, 4.040000, 3.970000, 3.900000, 4.100000, 4.350000, 1.850000, 1.770000, 1.720000, 1.660000, 1.600000, 1.550000, 1.510000, 1.460000, 1.430000, 1.380000, 1.360000, 1.330000, 1.280000, 1.260000, 1.230000, 1.200000, 1.180000, 1.160000, 1.130000, 1.130000, 1.110000, 1.080000, 1.070000, 1.040000, 1.040000, 1.030000, 1.010000, 1.000000, 0.990000, 0.970000, 0.950000, 0.950000, 0.930000, 0.920000, 0.910000, 0.910000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.800000, 0.800000, 0.800000, 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": [ 976054894, 746757 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.160999, 17.461000, 2.716322 ], "estimate": [ -10.160999, 17.461000, 2.716322 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.460000, 1.370000, 1.320000, 1.320000, 1.330000, 1.320000, 1.240000, 1.230000, 1.200000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.300000, 1.340000, 3.720000, 3.650000, 3.570000, 3.510000, 3.440000, 3.400000, 3.340000, 3.270000, 3.230000, 3.170000, 3.140000, 3.090000, 3.040000, 3.000000, 2.980000, 2.970000, 2.950000, 2.980000, 3.070000, 3.160000, 3.250000, 3.370000, 3.460000, 3.440000, 3.400000, 3.370000, 3.340000, 3.310000, 3.310000, 3.290000, 3.270000, 3.250000, 3.220000, 3.200000, 3.200000, 3.180000, 3.170000, 3.170000, 3.150000, 3.410000, 7.880000, 5.480000, 5.500000, 5.490000, 5.490000, 5.490000, 5.500000, 5.500000, 5.300000, 5.300000, 5.300000, 5.260000, 5.610000, 5.620000, 5.620000, 5.630000, 5.640000, 5.660000, 5.720000, 7.900000, 7.910000, 7.940000, 7.970000, 8.000000, 8.030000, 8.070000, 8.100000, 8.150000, 8.030000, 7.620000, 7.250000, 6.920000, 6.610000, 6.340000, 6.090000, 5.850000, 5.670000, 5.470000, 5.300000, 5.140000, 5.120000, 5.160000, 5.210000, 9.300000, 9.400000, 7.840000, 7.540000, 4.040000, 3.960000, 3.870000, 3.830000, 4.270000, 4.320000, 1.780000, 1.730000, 1.670000, 1.610000, 1.550000, 1.520000, 1.470000, 1.430000, 1.390000, 1.360000, 1.320000, 1.290000, 1.270000, 1.220000, 1.200000, 1.170000, 1.160000, 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.040000, 1.040000, 1.030000, 1.010000, 0.990000, 0.980000, 0.970000, 0.950000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 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 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054894, 747699 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.221000, 17.488001, 2.716322 ], "estimate": [ -10.221000, 17.488001, 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": [ 1.320000, 1.330000, 1.320000, 1.250000, 1.230000, 1.200000, 1.180000, 1.190000, 1.210000, 1.230000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.300000, 1.330000, 3.800000, 3.710000, 3.650000, 3.570000, 3.500000, 3.430000, 3.380000, 3.310000, 3.260000, 3.210000, 3.160000, 3.110000, 3.070000, 3.020000, 2.980000, 2.950000, 2.940000, 2.920000, 2.950000, 3.020000, 3.110000, 3.200000, 3.300000, 3.410000, 3.410000, 3.380000, 3.340000, 3.310000, 3.290000, 3.280000, 3.240000, 3.230000, 3.210000, 3.180000, 3.170000, 3.150000, 3.140000, 3.130000, 3.120000, 3.110000, 3.170000, 7.850000, 7.820000, 5.430000, 5.440000, 5.440000, 5.440000, 5.440000, 5.450000, 5.450000, 5.250000, 5.250000, 5.250000, 5.560000, 5.560000, 5.570000, 5.570000, 5.580000, 5.590000, 5.590000, 5.660000, 7.840000, 7.860000, 7.890000, 7.910000, 7.940000, 7.970000, 8.010000, 8.050000, 8.100000, 7.980000, 7.560000, 7.200000, 6.870000, 6.560000, 6.290000, 6.050000, 5.820000, 5.610000, 5.430000, 5.270000, 5.100000, 5.040000, 5.110000, 5.160000, 9.240000, 9.330000, 8.410000, 7.490000, 4.020000, 3.930000, 3.840000, 3.790000, 4.190000, 4.260000, 1.780000, 1.720000, 1.670000, 1.600000, 1.550000, 1.510000, 1.460000, 1.420000, 1.380000, 1.360000, 1.320000, 1.290000, 1.260000, 1.220000, 1.190000, 1.180000, 1.150000, 1.130000, 1.120000, 1.100000, 1.080000, 1.060000, 1.040000, 1.030000, 1.020000, 1.000000, 0.990000, 0.970000, 0.960000, 0.950000, 0.950000, 0.930000, 0.920000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 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": [ 976054894, 749114 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.276999, 17.513000, 2.710176 ], "estimate": [ -10.276999, 17.513000, 2.710176 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.210000, 1.190000, 1.170000, 1.180000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.290000, 1.320000, 3.950000, 3.860000, 3.760000, 3.680000, 3.600000, 3.530000, 3.460000, 3.400000, 3.340000, 3.270000, 3.220000, 3.150000, 3.100000, 3.050000, 3.010000, 2.970000, 2.930000, 2.900000, 2.890000, 2.890000, 2.920000, 3.000000, 3.090000, 3.170000, 3.260000, 3.370000, 3.360000, 3.320000, 3.310000, 3.270000, 3.240000, 3.220000, 3.190000, 3.180000, 3.160000, 3.140000, 3.110000, 3.100000, 3.070000, 3.060000, 3.070000, 3.040000, 3.080000, 7.790000, 7.780000, 5.410000, 5.360000, 5.390000, 5.380000, 5.380000, 5.380000, 5.390000, 5.260000, 5.190000, 5.180000, 5.190000, 5.500000, 5.500000, 5.510000, 5.510000, 5.520000, 5.520000, 5.530000, 7.760000, 7.780000, 7.800000, 7.820000, 7.860000, 7.890000, 7.920000, 7.950000, 8.000000, 8.030000, 7.810000, 7.400000, 7.060000, 6.730000, 6.440000, 6.170000, 5.930000, 5.730000, 5.530000, 5.350000, 5.190000, 5.020000, 4.990000, 5.040000, 5.090000, 9.180000, 9.290000, 7.750000, 7.420000, 3.960000, 3.870000, 3.780000, 3.730000, 4.050000, 4.190000, 4.270000, 1.710000, 1.650000, 1.590000, 1.540000, 1.500000, 1.450000, 1.400000, 1.380000, 1.350000, 1.310000, 1.270000, 1.250000, 1.210000, 1.180000, 1.160000, 1.140000, 1.130000, 1.100000, 1.090000, 1.070000, 1.040000, 1.040000, 1.020000, 1.010000, 0.990000, 0.980000, 0.970000, 0.950000, 0.940000, 0.930000, 0.920000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 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": [ 976054894, 750079 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.323001, 17.534000, 2.710176 ], "estimate": [ -10.323001, 17.534000, 2.710176 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.170000, 1.190000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.300000, 1.300000, 5.340000, 3.980000, 3.870000, 3.770000, 3.680000, 3.610000, 3.530000, 3.460000, 3.380000, 3.320000, 3.260000, 3.200000, 3.140000, 3.090000, 3.050000, 3.000000, 2.950000, 2.910000, 2.880000, 2.870000, 2.850000, 2.880000, 2.970000, 3.040000, 3.130000, 3.220000, 3.300000, 3.340000, 3.310000, 3.280000, 3.250000, 3.210000, 3.190000, 3.170000, 3.150000, 3.120000, 3.100000, 3.080000, 3.060000, 3.060000, 3.040000, 3.020000, 3.020000, 3.010000, 3.240000, 7.750000, 7.720000, 5.310000, 5.330000, 5.340000, 5.330000, 5.330000, 5.330000, 5.340000, 5.150000, 5.150000, 5.150000, 5.150000, 5.450000, 5.460000, 5.450000, 5.460000, 5.470000, 5.480000, 5.500000, 7.710000, 7.730000, 7.750000, 7.780000, 7.800000, 7.840000, 7.870000, 7.910000, 7.940000, 7.980000, 7.730000, 7.340000, 6.990000, 6.680000, 6.390000, 6.120000, 5.880000, 5.680000, 5.480000, 5.300000, 5.140000, 4.980000, 4.930000, 5.000000, 5.050000, 9.120000, 7.750000, 7.930000, 7.400000, 3.910000, 3.830000, 3.750000, 3.670000, 3.690000, 4.130000, 4.200000, 4.280000, 1.640000, 1.580000, 1.540000, 1.490000, 1.450000, 1.400000, 1.380000, 1.340000, 1.300000, 1.270000, 1.240000, 1.210000, 1.190000, 1.150000, 1.140000, 1.120000, 1.110000, 1.080000, 1.060000, 1.040000, 1.030000, 1.030000, 1.010000, 0.990000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 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": [ 976054894, 750995 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.369000, 17.555000, 2.704031 ], "estimate": [ -10.369000, 17.555000, 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": [ 1.200000, 1.220000, 1.230000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 5.240000, 5.310000, 5.290000, 3.890000, 3.790000, 3.700000, 3.610000, 3.530000, 3.460000, 3.390000, 3.330000, 3.260000, 3.200000, 3.140000, 3.090000, 3.030000, 2.980000, 2.930000, 2.890000, 2.850000, 2.850000, 2.830000, 2.850000, 2.910000, 3.000000, 3.080000, 3.150000, 3.250000, 3.330000, 3.290000, 3.260000, 3.220000, 3.190000, 3.160000, 3.130000, 3.120000, 3.100000, 3.080000, 3.050000, 3.040000, 3.020000, 3.010000, 2.990000, 2.970000, 2.970000, 3.050000, 7.680000, 7.700000, 7.680000, 5.270000, 5.280000, 5.300000, 5.290000, 5.290000, 5.290000, 5.290000, 5.100000, 5.100000, 5.090000, 5.180000, 5.410000, 5.410000, 5.410000, 5.410000, 5.430000, 5.430000, 5.490000, 7.660000, 7.690000, 7.710000, 7.730000, 7.760000, 7.790000, 7.820000, 7.860000, 7.900000, 7.940000, 7.690000, 7.280000, 6.950000, 6.620000, 6.340000, 6.070000, 5.830000, 5.630000, 5.450000, 5.260000, 5.100000, 4.950000, 4.880000, 4.940000, 4.990000, 9.070000, 7.690000, 8.310000, 7.340000, null, 3.800000, 3.720000, 3.640000, 3.640000, 4.060000, 4.140000, 4.210000, 1.600000, 1.570000, 1.530000, 1.490000, 1.450000, 1.400000, 1.370000, 1.340000, 1.290000, 1.270000, 1.230000, 1.200000, 1.170000, 1.150000, 1.130000, 1.120000, 1.100000, 1.080000, 1.060000, 1.040000, 1.020000, 1.020000, 1.000000, 0.980000, 0.970000, 0.950000, 0.950000, 0.930000, 0.920000, 0.910000, 0.890000, 0.880000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054894, 839844 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.424000, 17.580999, 2.710176 ], "estimate": [ -10.424000, 17.580999, 2.710176 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.240000, 1.240000, 1.240000, 1.260000, 1.270000, 1.280000, 1.290000, 5.120000, 5.180000, 5.220000, 5.270000, 5.330000, 3.890000, 3.790000, 3.690000, 3.620000, 3.530000, 3.450000, 3.380000, 3.310000, 3.250000, 3.180000, 3.130000, 3.070000, 3.020000, 2.970000, 2.910000, 2.880000, 2.830000, 2.820000, 2.810000, 2.820000, 2.890000, 2.970000, 3.030000, 3.110000, 3.210000, 3.290000, 3.270000, 3.230000, 3.190000, 3.160000, 3.130000, 3.110000, 3.090000, 3.070000, 3.050000, 3.030000, 3.000000, 2.990000, 2.970000, 2.950000, 2.940000, 2.930000, 2.930000, 3.170000, 7.680000, 7.650000, 5.280000, 5.230000, 5.250000, 5.260000, 5.250000, 5.250000, 5.250000, 5.250000, 5.050000, 5.040000, 5.050000, 5.370000, 5.370000, 5.360000, 5.370000, 5.370000, 5.390000, 5.400000, 5.440000, 7.620000, 7.650000, 7.670000, 7.690000, 7.720000, 7.740000, 7.780000, 7.810000, 7.850000, 7.900000, 7.570000, 7.180000, 6.860000, 6.530000, 6.250000, 6.000000, 5.770000, 5.560000, 5.370000, 5.190000, 5.060000, 4.900000, 4.820000, 4.890000, 4.950000, 9.030000, 9.140000, 8.230000, 9.370000, null, 3.760000, 3.680000, 3.610000, 3.580000, 4.020000, 4.090000, 4.150000, 4.230000, 1.560000, 1.520000, 1.470000, 1.430000, 1.390000, 1.360000, 1.320000, 1.280000, 1.260000, 1.220000, 1.190000, 1.170000, 1.150000, 1.120000, 1.110000, 1.090000, 1.070000, 1.050000, 1.030000, 1.020000, 1.010000, 0.990000, 0.980000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.780000, 0.790000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.760000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054895, 162453 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.483001, 17.608000, 2.704031 ], "estimate": [ -10.483001, 17.608000, 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": [ 1.250000, 1.260000, 1.260000, 1.270000, 1.280000, 5.020000, 5.060000, 5.110000, 5.160000, 5.210000, 5.240000, 5.300000, 3.890000, 3.780000, 3.670000, 3.600000, 3.510000, 3.420000, 3.360000, 3.290000, 3.220000, 3.140000, 3.090000, 3.030000, 2.970000, 2.930000, 2.880000, 2.820000, 2.800000, 2.790000, 2.760000, 2.800000, 2.870000, 2.930000, 3.000000, 3.080000, 3.160000, 3.250000, 3.230000, 3.190000, 3.160000, 3.130000, 3.090000, 3.060000, 3.040000, 3.020000, 3.000000, 2.980000, 2.960000, 2.940000, 2.930000, 2.900000, 2.890000, 2.880000, 2.870000, 3.080000, 6.860000, 7.620000, 7.590000, 5.190000, 5.170000, 5.200000, 5.200000, 5.190000, 5.190000, 5.190000, 5.000000, 5.000000, 4.990000, 4.990000, 5.300000, 5.300000, 5.310000, 5.310000, 5.310000, 5.320000, 5.330000, 5.420000, 7.570000, 7.590000, 7.610000, 7.630000, 7.650000, 7.680000, 7.720000, 7.760000, 7.800000, 7.830000, 7.500000, 7.130000, 6.780000, 6.460000, 6.190000, 5.930000, 5.710000, 5.510000, 5.330000, 5.160000, 5.000000, 4.840000, 4.790000, 4.820000, 4.870000, 4.940000, 9.060000, 7.600000, 9.310000, 7.240000, 3.720000, 3.650000, 3.570000, 3.530000, 3.890000, 4.000000, 4.070000, 4.140000, 4.210000, 1.520000, 1.470000, 1.430000, 1.380000, 1.360000, 1.320000, 1.280000, 1.250000, 1.220000, 1.190000, 1.160000, 1.130000, 1.120000, 1.110000, 1.080000, 1.060000, 1.050000, 1.030000, 1.020000, 1.000000, 0.990000, 0.970000, 0.950000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.790000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 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": [ 976054895, 243150 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.537000, 17.633001, 2.697886 ], "estimate": [ -10.537000, 17.633001, 2.697886 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.280000, 1.280000, 4.960000, 4.990000, 5.040000, 5.070000, 5.120000, 5.170000, 5.210000, 5.260000, 3.920000, 3.790000, 3.690000, 3.610000, 3.520000, 3.440000, 3.360000, 3.280000, 3.220000, 3.140000, 3.090000, 3.030000, 2.970000, 2.910000, 2.860000, 2.820000, 2.770000, 2.760000, 2.740000, 2.760000, 2.820000, 2.880000, 2.960000, 3.030000, 3.100000, 3.180000, 3.210000, 3.170000, 3.130000, 3.100000, 3.060000, 3.030000, 3.010000, 3.000000, 2.970000, 2.950000, 2.930000, 2.910000, 2.880000, 2.870000, 2.850000, 2.840000, 2.840000, 2.880000, 3.090000, 6.830000, 7.560000, 7.540000, 5.140000, 5.140000, 5.150000, 5.140000, 5.150000, 5.140000, 5.140000, 4.950000, 4.950000, 4.940000, 4.930000, 5.250000, 5.250000, 5.250000, 5.260000, 5.260000, 5.270000, 5.280000, 5.360000, 7.510000, 7.530000, 7.560000, 7.570000, 7.600000, 7.620000, 7.650000, 7.690000, 7.730000, 7.770000, 7.510000, 7.120000, 6.790000, 6.470000, 6.190000, 5.930000, 5.700000, 5.510000, 5.320000, 5.140000, 4.980000, 4.840000, 4.700000, 4.750000, 4.810000, 4.860000, 8.990000, 9.090000, 7.620000, 7.140000, 3.680000, 3.640000, 3.550000, 3.490000, 3.470000, 3.910000, 3.980000, 4.050000, 4.130000, 4.190000, 1.470000, 1.430000, 1.380000, 1.360000, 1.320000, 1.280000, 1.250000, 1.220000, 1.190000, 1.160000, 1.140000, 1.130000, 1.110000, 1.090000, 1.070000, 1.050000, 1.030000, 1.020000, 0.990000, 0.990000, 0.970000, 0.950000, 0.950000, 0.930000, 0.920000, 0.910000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 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": [ 976054895, 696977 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.584001, 17.655001, 2.685595 ], "estimate": [ -10.584001, 17.655001, 2.685595 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 4.890000, 4.930000, 4.960000, 5.000000, 5.040000, 5.070000, 5.120000, 5.170000, 5.210000, 5.260000, 3.870000, 3.750000, 3.650000, 3.560000, 3.470000, 3.390000, 3.310000, 3.240000, 3.160000, 3.100000, 3.030000, 2.970000, 2.910000, 2.860000, 2.800000, 2.760000, 2.740000, 2.730000, 2.730000, 2.750000, 2.810000, 2.880000, 2.950000, 3.020000, 3.090000, 3.170000, 3.170000, 3.130000, 3.090000, 3.050000, 3.030000, 3.000000, 2.970000, 2.950000, 2.920000, 2.900000, 2.880000, 2.860000, 2.840000, 2.830000, 2.810000, 2.780000, 2.780000, 2.900000, 6.750000, 6.770000, 7.460000, 7.510000, 5.110000, 5.070000, 5.100000, 5.110000, 5.100000, 5.090000, 5.090000, 4.960000, 4.900000, 4.890000, 4.880000, 5.180000, 5.200000, 5.210000, 5.210000, 5.210000, 5.220000, 5.230000, 5.280000, 7.450000, 7.470000, 7.490000, 7.510000, 7.550000, 7.560000, 7.600000, 7.620000, 7.650000, 7.690000, 7.650000, 7.240000, 6.900000, 6.580000, 6.270000, 6.010000, 5.780000, 5.560000, 5.370000, 5.190000, 5.020000, 4.870000, 4.720000, 4.660000, 4.720000, 4.770000, 4.840000, 8.970000, 8.060000, 9.210000, null, 3.640000, 3.560000, 3.490000, 3.420000, 3.440000, 3.880000, 3.940000, 4.010000, 4.080000, 4.150000, 4.240000, 1.400000, 1.370000, 1.330000, 1.290000, 1.270000, 1.240000, 1.200000, 1.170000, 1.160000, 1.130000, 1.110000, 1.080000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 0.980000, 0.980000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.770000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.740000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054895, 698200 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.633000, 17.679001, 2.685595 ], "estimate": [ -10.633000, 17.679001, 2.685595 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.880000, 4.910000, 4.940000, 4.970000, 5.010000, 5.050000, 5.080000, 5.130000, 5.180000, 5.220000, 3.940000, 3.780000, 3.670000, 3.580000, 3.490000, 3.400000, 3.320000, 3.240000, 3.170000, 3.090000, 3.030000, 2.970000, 2.910000, 2.860000, 2.800000, 2.750000, 2.720000, 2.720000, 2.700000, 2.730000, 2.780000, 2.840000, 2.910000, 2.970000, 3.050000, 3.120000, 3.160000, 3.120000, 3.070000, 3.040000, 3.010000, 2.980000, 2.950000, 2.920000, 2.910000, 2.880000, 2.860000, 2.840000, 2.810000, 2.790000, 2.780000, 2.760000, 2.750000, 2.740000, 2.970000, 6.710000, 6.740000, 7.480000, 7.460000, 5.070000, 5.030000, 5.060000, 5.060000, 5.060000, 5.040000, 5.050000, 4.860000, 4.860000, 4.850000, 4.840000, 5.160000, 5.150000, 5.160000, 5.160000, 5.170000, 5.170000, 5.180000, 5.240000, 7.400000, 7.420000, 7.450000, 7.470000, 7.500000, 7.520000, 7.550000, 7.580000, 7.610000, 7.650000, 7.610000, 7.200000, 6.850000, 6.530000, 6.240000, 5.970000, 5.740000, 5.520000, 5.330000, 5.160000, 4.990000, 4.840000, 4.690000, 4.630000, 4.660000, 4.730000, 4.760000, 8.920000, 8.080000, 7.260000, 7.070000, 3.590000, 3.540000, 3.470000, 3.400000, 3.380000, 3.810000, 3.880000, 3.950000, 4.030000, 4.090000, 4.180000, 4.210000, 1.370000, 1.340000, 1.290000, 1.270000, 1.230000, 1.200000, 1.170000, 1.150000, 1.130000, 1.110000, 1.080000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 0.990000, 0.970000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.880000, 0.880000, 0.870000, 0.860000, 0.860000, 0.840000, 0.830000, 0.830000, 0.810000, 0.800000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 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": [ 976054895, 873193 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.688001, 17.705000, 2.685595 ], "estimate": [ -10.688001, 17.705000, 2.685595 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.910000, 4.940000, 4.970000, 5.000000, 5.040000, 5.080000, 5.120000, 5.170000, 5.220000, 3.890000, 3.760000, 3.650000, 3.560000, 3.460000, 3.380000, 3.290000, 3.210000, 3.140000, 3.070000, 3.000000, 2.940000, 2.870000, 2.820000, 2.760000, 2.720000, 2.690000, 2.660000, 2.670000, 2.720000, 2.770000, 2.830000, 2.890000, 2.960000, 3.030000, 3.100000, 3.120000, 3.080000, 3.040000, 3.000000, 2.970000, 2.940000, 2.910000, 2.880000, 2.860000, 2.840000, 2.810000, 2.790000, 2.770000, 2.750000, 2.730000, 2.720000, 2.710000, 2.700000, 2.900000, 6.710000, 6.680000, 7.460000, 7.440000, 5.040000, 4.990000, 4.990000, 5.010000, 5.010000, 5.010000, 5.000000, 5.000000, 4.800000, 4.800000, 4.790000, 4.950000, 5.100000, 5.100000, 5.110000, 5.110000, 5.110000, 5.110000, 5.120000, 7.340000, 7.360000, 7.380000, 7.400000, 7.420000, 7.440000, 7.480000, 7.510000, 7.540000, 7.550000, 7.600000, 7.450000, 7.050000, 6.720000, 6.400000, 6.110000, 5.860000, 5.630000, 5.430000, 5.240000, 5.070000, 4.920000, 4.760000, 4.620000, 4.550000, 4.610000, 4.670000, 4.690000, 7.500000, 7.300000, 7.040000, 7.050000, 3.560000, 3.490000, 3.420000, 3.360000, 3.320000, 3.750000, 3.820000, 3.890000, 3.960000, 4.030000, 4.120000, 4.170000, 4.110000, 1.320000, 1.280000, 1.260000, 1.220000, 1.190000, 1.160000, 1.140000, 1.130000, 1.100000, 1.080000, 1.070000, 1.040000, 1.030000, 1.010000, 0.990000, 0.970000, 0.960000, 0.960000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.750000, 0.740000, 0.740000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054896, 365407 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.743000, 17.733000, 2.667158 ], "estimate": [ -10.743000, 17.733000, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.920000, 4.950000, 4.980000, 5.020000, 5.060000, 5.100000, 5.140000, 5.190000, 5.230000, 3.790000, 3.670000, 3.560000, 3.470000, 3.390000, 3.290000, 3.210000, 3.130000, 3.060000, 2.990000, 2.920000, 2.860000, 2.800000, 2.740000, 2.700000, 2.660000, 2.650000, 2.650000, 2.690000, 2.740000, 2.790000, 2.860000, 2.920000, 2.980000, 3.050000, 3.100000, 3.050000, 3.020000, 2.990000, 2.950000, 2.910000, 2.870000, 2.860000, 2.830000, 2.810000, 2.790000, 2.760000, 2.730000, 2.710000, 2.700000, 2.690000, 2.670000, 2.660000, 2.780000, 2.910000, 6.650000, 6.610000, 7.410000, 7.370000, 4.990000, 4.950000, 4.940000, 4.960000, 4.960000, 4.960000, 4.950000, 4.950000, 4.750000, 4.750000, 4.730000, 5.050000, 5.040000, 5.040000, 5.050000, 5.050000, 5.050000, 5.060000, 5.070000, 7.290000, 7.310000, 7.320000, 7.340000, 7.370000, 7.400000, 7.410000, 7.450000, 7.470000, 7.490000, 7.530000, 7.450000, 7.050000, 6.720000, 6.400000, 6.110000, 5.840000, 5.630000, 5.420000, 5.230000, 5.060000, 4.910000, 4.750000, 4.610000, 4.510000, 4.540000, 4.590000, 4.640000, 8.800000, 7.300000, 7.140000, 6.980000, 6.720000, 3.470000, 3.400000, 3.340000, 3.270000, 3.280000, 3.730000, 3.790000, 3.880000, 3.940000, 4.020000, 4.110000, 4.080000, 4.040000, 1.280000, 1.250000, 1.220000, 1.190000, 1.160000, 1.140000, 1.130000, 1.100000, 1.080000, 1.060000, 1.040000, 1.020000, 1.010000, 1.000000, 0.980000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.830000, 0.820000, 0.820000, 0.810000, 0.800000, 0.790000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.740000, 0.730000, 0.740000, 0.730000, 0.730000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054896, 366538 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.794001, 17.759001, 2.667158 ], "estimate": [ -10.794001, 17.759001, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.940000, 4.960000, 4.990000, 5.030000, 5.080000, 5.110000, 5.150000, 5.200000, 3.830000, 3.700000, 3.590000, 3.490000, 3.390000, 3.300000, 3.220000, 3.140000, 3.060000, 2.980000, 2.910000, 2.850000, 2.780000, 2.720000, 2.680000, 2.650000, 2.640000, 2.630000, 2.650000, 2.710000, 2.750000, 2.810000, 2.870000, 2.930000, 2.990000, 3.060000, 3.040000, 3.000000, 2.960000, 2.920000, 2.880000, 2.860000, 2.820000, 2.790000, 2.780000, 2.750000, 2.720000, 2.710000, 2.680000, 2.660000, 2.640000, 2.630000, 2.620000, 2.620000, 2.810000, 6.680000, 6.580000, 6.570000, 7.360000, 7.320000, 4.940000, 4.890000, 4.880000, 4.910000, 4.900000, 4.900000, 4.890000, 4.900000, 4.690000, 4.680000, 4.680000, 5.000000, 4.990000, 4.990000, 4.990000, 4.990000, 5.000000, 5.000000, 5.000000, 5.100000, 7.240000, 7.260000, 7.280000, 7.310000, 7.320000, 7.350000, 7.390000, 7.410000, 7.450000, 7.470000, 7.480000, 7.080000, 6.730000, 6.410000, 6.120000, 5.850000, 5.620000, 5.420000, 5.220000, 5.060000, 4.900000, 4.740000, 4.600000, 4.460000, 4.460000, 4.500000, 4.560000, 8.700000, 7.220000, 7.080000, 6.910000, null, 3.420000, 3.390000, 3.320000, 3.250000, 3.220000, 3.370000, 3.710000, 3.770000, 3.840000, 3.920000, 4.000000, 4.080000, 4.030000, 3.970000, 3.930000, 1.230000, 1.190000, 1.170000, 1.140000, 1.130000, 1.100000, 1.080000, 1.060000, 1.040000, 1.020000, 1.010000, 1.000000, 0.980000, 0.960000, 0.950000, 0.950000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.850000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 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, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054896, 502800 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.845000, 17.784000, 2.673303 ], "estimate": [ -10.845000, 17.784000, 2.673303 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.980000, 5.000000, 5.040000, 5.080000, 5.120000, 5.150000, 5.200000, 3.780000, 3.650000, 3.530000, 3.430000, 3.340000, 3.250000, 3.160000, 3.090000, 3.010000, 2.940000, 2.870000, 2.800000, 2.730000, 2.670000, 2.640000, 2.630000, 2.600000, 2.610000, 2.660000, 2.710000, 2.750000, 2.810000, 2.870000, 2.940000, 2.990000, 3.040000, 2.990000, 2.950000, 2.920000, 2.870000, 2.850000, 2.810000, 2.780000, 2.750000, 2.720000, 2.700000, 2.680000, 2.650000, 2.640000, 2.620000, 2.600000, 2.580000, 2.570000, 2.650000, 2.810000, 6.640000, 6.570000, 6.530000, 7.330000, 7.290000, 4.900000, 4.860000, 4.840000, 4.860000, 4.860000, 4.840000, 4.840000, 4.850000, 4.650000, 4.640000, 4.630000, 4.690000, 4.950000, 4.950000, 4.950000, 4.950000, 4.950000, 4.950000, 4.960000, 5.030000, 7.190000, 7.200000, 7.220000, 7.240000, 7.270000, 7.290000, 7.320000, 7.350000, 7.380000, 7.410000, 7.450000, 7.180000, 6.810000, 6.490000, 6.190000, 5.920000, 5.670000, 5.460000, 5.270000, 5.080000, 4.920000, 4.770000, 4.620000, 4.480000, 4.400000, 4.430000, 4.490000, 4.530000, 8.700000, 7.190000, 7.020000, 6.870000, 6.600000, 3.400000, 3.320000, 3.260000, 3.200000, 3.170000, 3.610000, 3.670000, 3.740000, 3.810000, 3.890000, 3.970000, 4.020000, 3.960000, 3.930000, 3.900000, 1.220000, 1.170000, 1.140000, 1.130000, 1.110000, 1.080000, 1.070000, 1.050000, 1.030000, 1.020000, 0.990000, 0.980000, 0.970000, 0.960000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.860000, 0.850000, 0.850000, 0.830000, 0.820000, 0.820000, 0.800000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054896, 957463 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.894000, 17.809000, 2.667158 ], "estimate": [ -10.894000, 17.809000, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.990000, 5.030000, 5.070000, 5.100000, 5.150000, 5.180000, 3.780000, 3.650000, 3.530000, 3.410000, 3.330000, 3.230000, 3.140000, 3.060000, 2.980000, 2.910000, 2.840000, 2.760000, 2.710000, 2.640000, 2.610000, 2.600000, 2.580000, 2.610000, 2.650000, 2.700000, 2.740000, 2.800000, 2.860000, 2.910000, 2.970000, 3.020000, 2.970000, 2.920000, 2.880000, 2.850000, 2.810000, 2.770000, 2.740000, 2.710000, 2.700000, 2.670000, 2.640000, 2.630000, 2.600000, 2.570000, 2.550000, 2.550000, 2.530000, 2.600000, 2.760000, 6.620000, 6.580000, 6.490000, 6.520000, 7.210000, 4.840000, 4.850000, 4.800000, 4.790000, 4.810000, 4.810000, 4.800000, 4.800000, 4.600000, 4.590000, 4.590000, 4.550000, 4.900000, 4.890000, 4.890000, 4.890000, 4.890000, 4.890000, 4.900000, 4.910000, 5.010000, 7.140000, 7.150000, 7.170000, 7.190000, 7.210000, 7.240000, 7.270000, 7.310000, 7.330000, 7.370000, 7.400000, 7.080000, 6.720000, 6.400000, 6.100000, 5.830000, 5.590000, 5.390000, 5.190000, 5.030000, 4.860000, 4.720000, 4.560000, 4.430000, 4.340000, 4.380000, 4.420000, 4.470000, 7.450000, 7.120000, 6.970000, 6.830000, 6.540000, 3.330000, 3.290000, 3.230000, 3.160000, 3.120000, 3.200000, 3.610000, 3.670000, 3.740000, 3.820000, 3.890000, 3.990000, 3.930000, 3.880000, 3.830000, 3.910000, 4.470000, 1.140000, 1.120000, 1.110000, 1.080000, 1.060000, 1.040000, 1.030000, 1.010000, 0.990000, 0.980000, 0.960000, 0.950000, 0.940000, 0.930000, 0.910000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 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, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.730000, 0.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054896, 958590 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.946000, 17.836000, 2.667158 ], "estimate": [ -10.946000, 17.836000, 2.667158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.010000, 5.060000, 5.090000, 5.130000, 5.160000, 3.790000, 3.650000, 3.540000, 3.420000, 3.320000, 3.220000, 3.140000, 3.050000, 2.970000, 2.890000, 2.820000, 2.740000, 2.680000, 2.630000, 2.590000, 2.570000, 2.570000, 2.600000, 2.630000, 2.680000, 2.730000, 2.770000, 2.830000, 2.880000, 2.940000, 2.990000, 2.940000, 2.890000, 2.860000, 2.820000, 2.780000, 2.750000, 2.710000, 2.680000, 2.650000, 2.630000, 2.610000, 2.580000, 2.560000, 2.540000, 2.520000, 2.500000, 2.500000, 2.500000, 2.690000, 6.610000, 6.580000, 6.500000, 6.450000, null, 7.210000, 4.820000, 4.790000, 4.740000, 4.750000, 4.760000, 4.760000, 4.760000, 4.740000, 4.550000, 4.540000, 4.530000, 4.530000, 4.840000, 4.840000, 4.840000, 4.840000, 4.840000, 4.840000, 4.850000, 4.860000, 7.070000, 7.090000, 7.100000, 7.120000, 7.140000, 7.170000, 7.190000, 7.220000, 7.250000, 7.280000, 7.320000, 7.350000, 7.000000, 6.640000, 6.330000, 6.030000, 5.760000, 5.530000, 5.330000, 5.140000, 4.970000, 4.810000, 4.660000, 4.510000, 4.380000, 4.290000, 4.310000, 4.370000, 4.420000, 8.600000, 8.720000, 6.930000, 6.750000, 6.540000, null, 3.250000, 3.200000, 3.130000, 3.080000, 3.080000, 3.540000, 3.600000, 3.670000, 3.740000, 3.830000, 3.900000, 3.910000, 3.860000, 3.820000, 3.790000, 4.380000, 4.500000, 1.160000, 1.100000, 1.070000, 1.060000, 1.040000, 1.030000, 1.000000, 0.990000, 0.970000, 0.960000, 0.950000, 0.940000, 0.920000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.730000, 0.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054897, 410580 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.999001, 17.863001, 2.654867 ], "estimate": [ -10.999001, 17.863001, 2.654867 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.030000, 5.070000, 5.100000, 5.150000, 3.820000, 3.670000, 3.560000, 3.430000, 3.330000, 3.230000, 3.140000, 3.050000, 2.960000, 2.880000, 2.800000, 2.730000, 2.660000, 2.610000, 2.570000, 2.550000, 2.550000, 2.580000, 2.610000, 2.650000, 2.700000, 2.750000, 2.800000, 2.850000, 2.910000, 2.960000, 2.920000, 2.870000, 2.830000, 2.790000, 2.760000, 2.710000, 2.680000, 2.640000, 2.620000, 2.600000, 2.580000, 2.550000, 2.530000, 2.510000, 2.480000, 2.460000, 2.440000, 2.440000, 2.600000, 2.710000, 6.560000, 6.510000, 6.460000, 6.370000, null, 7.160000, 4.750000, 4.720000, 4.690000, 4.680000, 4.700000, 4.700000, 4.700000, 4.690000, 4.470000, 4.470000, 4.480000, 4.490000, 4.780000, 4.780000, 4.780000, 4.780000, 4.780000, 4.780000, 4.790000, 4.800000, 7.020000, 7.030000, 7.040000, 7.060000, 7.070000, 7.100000, 7.120000, 7.160000, 7.190000, 7.210000, 7.240000, 7.290000, 7.010000, 6.650000, 6.340000, 6.040000, 5.770000, 5.530000, 5.330000, 5.140000, 4.960000, 4.800000, 4.650000, 4.500000, 4.370000, 4.250000, 4.230000, 4.280000, 4.340000, 4.420000, 8.600000, 6.850000, 8.840000, null, null, 3.230000, 3.160000, 3.110000, 3.060000, 3.000000, 3.050000, 3.500000, 3.560000, 3.640000, 3.710000, 3.800000, 3.880000, 3.840000, 3.790000, 3.750000, 3.750000, 4.360000, 4.470000, 4.610000, 4.640000, 1.050000, 1.040000, 1.030000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.720000, 0.720000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976054898, 522992 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.053000, 17.890999, 2.654867 ], "estimate": [ -11.053000, 17.890999, 2.654867 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.060000, 5.090000, 5.130000, 3.900000, 3.700000, 3.550000, 3.430000, 3.330000, 3.210000, 3.120000, 3.040000, 2.940000, 2.860000, 2.780000, 2.700000, 2.630000, 2.570000, 2.560000, 2.530000, 2.530000, 2.570000, 2.610000, 2.630000, 2.680000, 2.720000, 2.780000, 2.820000, 2.880000, 2.940000, 2.890000, 2.860000, 2.810000, 2.760000, 2.720000, 2.690000, 2.640000, 2.610000, 2.590000, 2.550000, 2.520000, 2.510000, 2.490000, 2.460000, 2.450000, 2.420000, 2.410000, 2.430000, 2.530000, 2.650000, 6.540000, 6.490000, 6.470000, 6.350000, 6.370000, 7.150000, 4.730000, 4.700000, 4.660000, 4.640000, 4.630000, 4.640000, 4.640000, 4.650000, 4.560000, 4.410000, 4.410000, 4.420000, 4.570000, 4.730000, 4.730000, 4.730000, 4.730000, 4.730000, 4.730000, 4.740000, 4.750000, 6.970000, 6.980000, 7.000000, 7.010000, 7.030000, 7.040000, 7.070000, 7.100000, 7.120000, 7.160000, 7.200000, 7.220000, 6.950000, 6.600000, 6.270000, 5.990000, 5.710000, 5.490000, 5.280000, 5.090000, 4.920000, 4.760000, 4.610000, 4.450000, 4.330000, 4.200000, 4.170000, 4.220000, 4.260000, 4.310000, 8.550000, 6.800000, 8.760000, null, null, null, 3.140000, 3.080000, 3.030000, 2.970000, 2.970000, 3.430000, 3.490000, 3.550000, 3.640000, 3.710000, 3.780000, 3.820000, 3.770000, 3.720000, 3.710000, 4.270000, 4.380000, 4.500000, 4.600000, 4.560000, 4.510000, 1.020000, 1.000000, 0.980000, 0.970000, 0.950000, 0.950000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.720000, 0.710000, 0.700000, 0.710000, 0.710000, 0.720000, 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, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054898, 524250 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.103001, 17.918001, 2.648721 ], "estimate": [ -11.103001, 17.918001, 2.648721 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.080000, 5.120000, 3.890000, 3.680000, 3.550000, 3.420000, 3.300000, 3.190000, 3.090000, 2.980000, 2.900000, 2.810000, 2.740000, 2.660000, 2.600000, 2.540000, 2.540000, 2.510000, 2.530000, 2.560000, 2.600000, 2.650000, 2.670000, 2.720000, 2.760000, 2.810000, 2.870000, 2.910000, 2.860000, 2.810000, 2.770000, 2.720000, 2.690000, 2.650000, 2.620000, 2.580000, 2.540000, 2.510000, 2.490000, 2.470000, 2.440000, 2.420000, 2.410000, 2.380000, 2.360000, 2.370000, 2.510000, 2.620000, 6.520000, 6.480000, 6.430000, 6.340000, 6.280000, 6.330000, 7.080000, 4.670000, 4.640000, 4.600000, 4.570000, 4.580000, 4.590000, 4.590000, 4.590000, 4.360000, 4.360000, 4.370000, 4.370000, 4.670000, 4.670000, 4.670000, 4.660000, 4.670000, 4.670000, 4.680000, 4.680000, 4.750000, 6.900000, 6.920000, 6.940000, 6.960000, 6.980000, 7.000000, 7.020000, 7.040000, 7.070000, 7.100000, 7.140000, 7.180000, 6.830000, 6.480000, 6.180000, 5.890000, 5.620000, 5.410000, 5.200000, 5.030000, 4.850000, 4.700000, 4.550000, 4.410000, 4.280000, 4.160000, 4.100000, 4.160000, 4.210000, 4.260000, 8.480000, 6.720000, 8.710000, null, null, null, 3.100000, 3.040000, 2.990000, 2.940000, 2.910000, 3.250000, 3.410000, 3.480000, 3.550000, 3.640000, 3.710000, 3.790000, 3.740000, 3.690000, 3.660000, 3.680000, 4.290000, 4.420000, 4.560000, 4.520000, 4.490000, 4.460000, 5.160000, 0.990000, 0.970000, 0.950000, 0.940000, 0.920000, 0.910000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.720000, 0.710000, 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, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054898, 525221 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.151999, 17.944000, 2.636431 ], "estimate": [ -11.151999, 17.944000, 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": [ 5.100000, 5.140000, 3.720000, 3.560000, 3.430000, 3.310000, 3.190000, 3.100000, 2.990000, 2.890000, 2.800000, 2.730000, 2.650000, 2.590000, 2.530000, 2.520000, 2.500000, 2.520000, 2.540000, 2.590000, 2.630000, 2.650000, 2.710000, 2.740000, 2.780000, 2.830000, 2.890000, 2.840000, 2.790000, 2.750000, 2.710000, 2.670000, 2.620000, 2.590000, 2.550000, 2.520000, 2.490000, 2.460000, 2.430000, 2.410000, 2.390000, 2.370000, 2.350000, 2.330000, 2.340000, 2.450000, 2.550000, 6.510000, 6.480000, 6.430000, 6.390000, 6.320000, 6.270000, null, 7.020000, 4.610000, 4.580000, 4.560000, 4.540000, 4.530000, 4.530000, 4.550000, 4.550000, 4.310000, 4.290000, 4.310000, 4.330000, 4.630000, 4.620000, 4.620000, 4.620000, 4.620000, 4.620000, 4.620000, 4.630000, 4.700000, 6.860000, 6.870000, 6.890000, 6.900000, 6.920000, 6.950000, 6.980000, 7.000000, 7.010000, 7.050000, 7.090000, 7.120000, 6.780000, 6.440000, 6.130000, 5.840000, 5.580000, 5.370000, 5.160000, 4.980000, 4.820000, 4.660000, 4.510000, 4.370000, 4.240000, 4.110000, 4.070000, 4.100000, 4.150000, 4.200000, 8.420000, 8.530000, 8.650000, null, null, null, 3.080000, 3.020000, 2.960000, 2.910000, 2.860000, 2.880000, 3.340000, 3.400000, 3.480000, 3.550000, 3.640000, 3.710000, 3.720000, 3.680000, 3.630000, 3.610000, 4.210000, 4.320000, 4.440000, 4.510000, 4.470000, 4.430000, 4.430000, 5.260000, 5.230000, 0.950000, 0.940000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.790000, 0.780000, 0.770000, 0.760000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.710000, 0.700000, 0.710000, 0.710000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054898, 526165 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.201000, 17.971001, 2.630285 ], "estimate": [ -11.201000, 17.971001, 2.630285 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.130000, 3.740000, 3.570000, 3.430000, 3.320000, 3.190000, 3.090000, 2.980000, 2.890000, 2.800000, 2.720000, 2.630000, 2.560000, 2.520000, 2.490000, 2.490000, 2.510000, 2.540000, 2.570000, 2.610000, 2.630000, 2.670000, 2.740000, 2.770000, 2.810000, 2.860000, 2.840000, 2.780000, 2.730000, 2.690000, 2.650000, 2.610000, 2.560000, 2.530000, 2.510000, 2.470000, 2.440000, 2.420000, 2.400000, 2.370000, 2.330000, 2.320000, 2.300000, 2.310000, 2.410000, 2.510000, 6.520000, 6.470000, 6.410000, 6.370000, 6.350000, 6.210000, 6.240000, 7.010000, 4.580000, 4.570000, 4.540000, 4.520000, 4.500000, 4.500000, 4.490000, 4.500000, 4.370000, 4.270000, 4.250000, 4.260000, 4.410000, 4.580000, 4.570000, 4.570000, 4.570000, 4.570000, 4.570000, 4.570000, 4.580000, 4.680000, 6.800000, 6.820000, 6.830000, 6.850000, 6.870000, 6.900000, 6.910000, 6.950000, 6.980000, 7.010000, 7.030000, 7.060000, 6.740000, 6.380000, 6.090000, 5.810000, 5.550000, 5.330000, 5.130000, 4.940000, 4.770000, 4.620000, 4.460000, 4.330000, 4.210000, 4.080000, 4.010000, 4.050000, 4.100000, 4.140000, 8.360000, 7.440000, 6.640000, 6.480000, 6.310000, null, 5.040000, 2.990000, 2.950000, 2.900000, 2.840000, 2.810000, 3.160000, 3.340000, 3.410000, 3.460000, 3.550000, 3.630000, 3.690000, 3.650000, 3.600000, 3.570000, 3.580000, 4.210000, 4.340000, 4.500000, 4.450000, 4.410000, 4.390000, 5.140000, 5.210000, 5.160000, 5.150000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.700000, 0.710000, 0.710000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054898, 527153 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.252000, 18.000000, 2.617994 ], "estimate": [ -11.252000, 18.000000, 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": [ 3.790000, 3.610000, 3.460000, 3.330000, 3.200000, 3.090000, 2.970000, 2.890000, 2.790000, 2.700000, 2.620000, 2.540000, 2.510000, 2.480000, 2.480000, 2.510000, 2.530000, 2.570000, 2.600000, 2.640000, 2.670000, 2.710000, 2.750000, 2.800000, 2.850000, 2.820000, 2.770000, 2.710000, 2.670000, 2.630000, 2.590000, 2.540000, 2.510000, 2.470000, 2.440000, 2.410000, 2.390000, 2.360000, 2.340000, 2.310000, 2.280000, 2.260000, 2.300000, 2.370000, 2.450000, 6.510000, 6.460000, 6.410000, 6.380000, 6.310000, 6.260000, 6.180000, 6.200000, 6.970000, 4.540000, 4.520000, 4.490000, 4.480000, 4.460000, 4.440000, 4.430000, 4.450000, 4.230000, 4.230000, 4.220000, 4.210000, 4.540000, 4.530000, 4.530000, 4.520000, 4.520000, 4.520000, 4.520000, 4.520000, 4.530000, 6.760000, 6.760000, 6.770000, 6.780000, 6.800000, 6.820000, 6.850000, 6.870000, 6.900000, 6.920000, 6.960000, 6.980000, 7.010000, 6.700000, 6.330000, 6.040000, 5.760000, 5.510000, 5.280000, 5.080000, 4.900000, 4.730000, 4.570000, 4.430000, 4.300000, 4.170000, 4.050000, 3.950000, 3.980000, 4.040000, 4.080000, 8.310000, 7.380000, 6.600000, 8.650000, null, null, null, 2.970000, 2.910000, 2.870000, 2.810000, 2.770000, 2.770000, 3.260000, 3.330000, 3.390000, 3.470000, 3.540000, 3.630000, 3.630000, 3.590000, 3.550000, 3.530000, 4.110000, 4.250000, 4.370000, 4.430000, 4.390000, 4.350000, 4.350000, 5.190000, 5.150000, 5.110000, 5.110000, 5.080000, 5.050000, 0.880000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.820000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054898, 528063 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.305000, 18.030001, 2.605703 ], "estimate": [ -11.305000, 18.030001, 2.605703 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.640000, 3.480000, 3.330000, 3.200000, 3.090000, 2.960000, 2.870000, 2.770000, 2.670000, 2.580000, 2.510000, 2.500000, 2.460000, 2.480000, 2.500000, 2.520000, 2.560000, 2.590000, 2.630000, 2.650000, 2.700000, 2.750000, 2.770000, 2.820000, 2.790000, 2.740000, 2.690000, 2.640000, 2.600000, 2.550000, 2.520000, 2.480000, 2.440000, 2.400000, 2.380000, 2.350000, 2.320000, 2.290000, 2.270000, 2.250000, 2.230000, 2.220000, 2.320000, 2.410000, 6.510000, 6.460000, 6.390000, 6.360000, 6.320000, 6.270000, 6.180000, 6.120000, 6.160000, 4.490000, 4.470000, 4.470000, 4.440000, 4.420000, 4.410000, 4.390000, 4.390000, 4.410000, 4.200000, 4.180000, 4.160000, 4.180000, 4.480000, 4.470000, 4.470000, 4.470000, 4.470000, 4.470000, 4.470000, 4.480000, 4.470000, 6.700000, 6.710000, 6.720000, 6.730000, 6.740000, 6.760000, 6.780000, 6.800000, 6.830000, 6.860000, 6.890000, 6.920000, 6.960000, 6.670000, 6.310000, 6.020000, 5.730000, 5.470000, 5.250000, 5.060000, 4.870000, 4.700000, 4.550000, 4.400000, 4.280000, 4.140000, 4.030000, 3.910000, 3.910000, 3.950000, 4.000000, 4.040000, 8.330000, 6.540000, 8.570000, null, null, 6.560000, 4.880000, 2.890000, 2.850000, 2.800000, 2.740000, 2.710000, 2.740000, 3.240000, 3.300000, 3.370000, 3.440000, 3.530000, 3.610000, 3.570000, 3.530000, 3.490000, 3.470000, 4.120000, 4.250000, 4.400000, 4.370000, 4.340000, 4.310000, 5.020000, 5.120000, 5.090000, 5.060000, 5.060000, 5.030000, 5.010000, 4.980000, 4.960000, 0.860000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.710000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.710000, 0.700000, 0.710000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976054898, 528967 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.356999, 18.060999, 2.605703 ], "estimate": [ -11.356999, 18.060999, 2.605703 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.520000, 3.360000, 3.230000, 3.100000, 2.980000, 2.870000, 2.770000, 2.670000, 2.580000, 2.500000, 2.490000, 2.450000, 2.470000, 2.500000, 2.520000, 2.540000, 2.570000, 2.620000, 2.650000, 2.680000, 2.730000, 2.750000, 2.800000, 2.780000, 2.720000, 2.670000, 2.630000, 2.580000, 2.530000, 2.490000, 2.460000, 2.410000, 2.380000, 2.360000, 2.320000, 2.300000, 2.260000, 2.230000, 2.220000, 2.200000, 2.210000, 2.290000, 2.350000, 2.430000, 6.460000, 6.400000, 6.340000, 6.300000, 6.270000, 6.220000, 6.150000, 6.110000, null, 4.460000, 4.440000, 4.410000, 4.390000, 4.380000, 4.360000, 4.340000, 4.340000, 4.360000, 4.140000, 4.130000, 4.100000, 4.120000, 4.430000, 4.420000, 4.420000, 4.420000, 4.420000, 4.420000, 4.420000, 4.420000, 4.420000, 6.640000, 6.640000, 6.660000, 6.670000, 6.690000, 6.710000, 6.730000, 6.750000, 6.770000, 6.800000, 6.820000, 6.860000, 6.900000, 6.690000, 6.320000, 6.020000, 5.730000, 5.480000, 5.240000, 5.050000, 4.870000, 4.700000, 4.540000, 4.390000, 4.260000, 4.130000, 4.010000, 3.890000, 3.850000, 3.890000, 3.940000, 3.980000, 8.240000, 7.140000, 8.470000, null, null, null, 6.530000, 2.880000, 2.820000, 2.770000, 2.730000, 2.690000, 2.660000, 3.070000, 3.200000, 3.260000, 3.340000, 3.410000, 3.500000, 3.550000, 3.520000, 3.470000, 3.440000, 3.440000, 4.110000, 4.240000, 4.360000, 4.330000, 4.290000, 4.270000, 5.090000, 5.070000, 5.030000, 5.020000, 5.020000, 4.990000, 4.970000, 4.940000, 4.920000, 4.890000, 4.870000, 4.850000, 0.820000, 0.790000, 0.790000, 0.780000, 0.780000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054898, 678133 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.404000, 18.089001, 2.605703 ], "estimate": [ -11.404000, 18.089001, 2.605703 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.360000, 3.220000, 3.090000, 2.960000, 2.850000, 2.730000, 2.640000, 2.560000, 2.490000, 2.460000, 2.440000, 2.460000, 2.490000, 2.520000, 2.530000, 2.570000, 2.600000, 2.640000, 2.670000, 2.700000, 2.740000, 2.780000, 2.750000, 2.700000, 2.650000, 2.590000, 2.550000, 2.500000, 2.460000, 2.410000, 2.380000, 2.350000, 2.320000, 2.280000, 2.250000, 2.220000, 2.200000, 2.180000, 2.150000, 2.140000, 2.260000, 2.310000, 2.400000, 6.460000, 6.410000, 6.350000, 6.300000, 6.260000, 6.200000, 6.180000, 6.030000, 6.060000, 6.800000, 4.410000, 4.380000, 4.360000, 4.340000, 4.330000, 4.310000, 4.290000, 4.280000, 4.100000, 4.080000, 4.080000, 4.050000, 4.160000, 4.370000, 4.370000, 4.360000, 4.350000, 4.350000, 4.350000, 4.360000, 4.360000, 4.400000, 6.580000, 6.590000, 6.610000, 6.620000, 6.640000, 6.650000, 6.670000, 6.690000, 6.720000, 6.740000, 6.770000, 6.800000, 6.840000, 6.620000, 6.260000, 5.960000, 5.680000, 5.440000, 5.190000, 5.010000, 4.820000, 4.660000, 4.490000, 4.350000, 4.220000, 4.090000, 3.970000, 3.860000, 3.790000, 3.810000, 3.860000, 3.920000, 8.160000, 7.330000, 6.410000, 8.530000, null, null, 6.460000, 4.770000, 2.800000, 2.750000, 2.710000, 2.660000, 2.630000, 2.610000, 3.110000, 3.180000, 3.250000, 3.330000, 3.400000, 3.490000, 3.500000, 3.450000, 3.420000, 3.380000, 3.960000, 4.110000, 4.260000, 4.300000, 4.260000, 4.230000, 4.230000, 5.050000, 5.010000, 4.980000, 5.000000, 4.980000, 4.950000, 4.930000, 4.900000, 4.880000, 4.850000, 4.840000, 4.820000, 4.800000, 4.880000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976054898, 977031 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.450000, 18.115999, 2.599557 ], "estimate": [ -11.450000, 18.115999, 2.599557 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.250000, 3.120000, 2.990000, 2.860000, 2.740000, 2.630000, 2.550000, 2.480000, 2.470000, 2.430000, 2.450000, 2.480000, 2.500000, 2.530000, 2.550000, 2.580000, 2.620000, 2.650000, 2.680000, 2.720000, 2.750000, 2.750000, 2.700000, 2.630000, 2.580000, 2.540000, 2.490000, 2.440000, 2.400000, 2.370000, 2.330000, 2.300000, 2.260000, 2.230000, 2.200000, 2.170000, 2.140000, 2.120000, 2.150000, 2.210000, 2.280000, 2.350000, 6.730000, 6.410000, 6.360000, 6.300000, 6.250000, 6.230000, 6.160000, 6.140000, 6.010000, 6.040000, 6.800000, 4.360000, 4.340000, 4.320000, 4.300000, 4.280000, 4.270000, 4.240000, 4.240000, 4.060000, 4.050000, 4.030000, 4.010000, 4.240000, 4.330000, 4.330000, 4.330000, 4.330000, 4.320000, 4.320000, 4.320000, 4.320000, 4.370000, 6.540000, 6.550000, 6.560000, 6.570000, 6.590000, 6.610000, 6.630000, 6.640000, 6.670000, 6.690000, 6.730000, 6.760000, 6.780000, 6.610000, 6.260000, 5.950000, 5.680000, 5.420000, 5.170000, 4.990000, 4.790000, 4.630000, 4.470000, 4.340000, 4.210000, 4.070000, 3.960000, 3.850000, 3.740000, 3.770000, 3.810000, 3.850000, 3.860000, 7.240000, 6.380000, 8.440000, null, null, 6.420000, 4.730000, 2.810000, 2.730000, 2.690000, 2.640000, 2.610000, 2.570000, 2.600000, 3.100000, 3.160000, 3.240000, 3.320000, 3.400000, 3.480000, 3.450000, 3.410000, 3.380000, 3.350000, 4.020000, 4.140000, 4.300000, 4.250000, 4.220000, 4.190000, 5.020000, 5.000000, 4.970000, 4.960000, 4.960000, 4.940000, 4.910000, 4.880000, 4.860000, 4.840000, 4.810000, 4.810000, 4.780000, 4.850000, 4.860000, 4.860000, 4.840000, 0.780000, 0.770000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.690000, 0.690000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976054899, 828699 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.499001, 18.145000, 2.587266 ], "estimate": [ -11.499001, 18.145000, 2.587266 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.180000, 3.040000, 2.910000, 2.780000, 2.670000, 2.560000, 2.490000, 2.460000, 2.420000, 2.440000, 2.460000, 2.490000, 2.520000, 2.540000, 2.560000, 2.590000, 2.640000, 2.650000, 2.680000, 2.740000, 2.750000, 2.690000, 2.630000, 2.580000, 2.530000, 2.480000, 2.430000, 2.390000, 2.360000, 2.320000, 2.280000, 2.240000, 2.220000, 2.180000, 2.140000, 2.110000, 2.100000, 2.080000, 2.150000, 2.220000, 2.290000, 7.380000, 7.310000, 6.390000, 6.330000, 6.270000, 6.230000, 6.190000, 6.130000, 6.100000, 5.960000, 5.980000, 6.670000, 4.320000, 4.290000, 4.280000, 4.260000, 4.240000, 4.230000, 4.220000, 4.190000, 4.010000, 4.000000, 3.980000, 3.950000, 4.080000, 4.280000, 4.280000, 4.270000, 4.270000, 4.260000, 4.260000, 4.260000, 4.270000, 4.270000, 6.480000, 6.490000, 6.490000, 6.500000, 6.530000, 6.550000, 6.560000, 6.580000, 6.610000, 6.640000, 6.660000, 6.680000, 6.720000, 6.740000, 6.370000, 6.040000, 5.750000, 5.490000, 5.250000, 5.040000, 4.860000, 4.670000, 4.510000, 4.370000, 4.230000, 4.100000, 3.980000, 3.870000, 3.750000, 3.690000, 3.720000, 3.770000, 3.820000, 8.090000, 8.200000, 8.330000, null, null, null, 6.360000, 4.680000, 2.760000, 2.680000, 2.640000, 2.600000, 2.560000, 2.520000, 2.530000, 3.050000, 3.120000, 3.190000, 3.270000, 3.360000, 3.440000, 3.400000, 3.370000, 3.330000, 3.320000, 3.970000, 4.110000, 4.250000, 4.220000, 4.190000, 4.160000, 4.990000, 4.970000, 4.950000, 4.930000, 4.930000, 4.900000, 4.880000, 4.840000, 4.830000, 4.810000, 4.800000, 4.780000, 4.750000, 4.810000, 4.840000, 4.830000, 4.810000, 4.800000, 4.790000, 4.780000, 4.780000, 0.740000, 0.740000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.690000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 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, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054899, 536046 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.554000, 18.179001, 2.581121 ], "estimate": [ -11.554000, 18.179001, 2.581121 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.100000, 2.960000, 2.820000, 2.700000, 2.590000, 2.490000, 2.450000, 2.410000, 2.420000, 2.450000, 2.470000, 2.500000, 2.520000, 2.550000, 2.570000, 2.600000, 2.630000, 2.650000, 2.690000, 2.730000, 2.700000, 2.630000, 2.580000, 2.530000, 2.480000, 2.430000, 2.380000, 2.340000, 2.300000, 2.260000, 2.230000, 2.200000, 2.160000, 2.120000, 2.100000, 2.070000, 2.070000, 2.080000, 2.160000, 2.230000, 2.290000, 7.350000, 7.280000, 6.350000, 6.300000, 6.240000, 6.180000, 6.130000, 6.090000, 6.050000, 5.950000, 5.920000, null, 4.260000, 4.240000, 4.220000, 4.220000, 4.200000, 4.190000, 4.180000, 4.150000, 3.980000, 3.960000, 3.940000, 3.900000, 3.940000, 4.220000, 4.230000, 4.220000, 4.210000, 4.210000, 4.210000, 4.210000, 4.210000, 4.220000, 4.250000, 6.430000, 6.440000, 6.450000, 6.470000, 6.480000, 6.490000, 6.510000, 6.540000, 6.560000, 6.600000, 6.620000, 6.650000, 6.680000, 6.510000, 6.150000, 5.840000, 5.570000, 5.320000, 5.100000, 4.910000, 4.720000, 4.550000, 4.410000, 4.270000, 4.130000, 4.010000, 3.890000, 3.780000, 3.680000, 3.630000, 3.670000, 3.720000, 3.770000, 8.080000, 6.280000, 8.310000, null, null, null, 6.330000, 4.630000, 2.760000, 2.630000, 2.600000, 2.550000, 2.510000, 2.480000, 2.490000, 3.000000, 3.060000, 3.130000, 3.230000, 3.310000, 3.400000, 3.360000, 3.320000, 3.290000, 3.260000, 3.910000, 4.060000, 4.220000, 4.190000, 4.160000, 4.120000, 4.890000, 4.930000, 4.910000, 4.890000, 4.890000, 4.870000, 4.840000, 4.820000, 4.810000, 4.790000, 4.780000, 4.750000, 4.720000, 4.770000, 4.810000, 4.800000, 4.790000, 4.780000, 4.770000, 4.760000, 4.750000, 4.750000, 2.120000, 1.240000, 0.800000, 0.730000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054899, 555593 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.605000, 18.211000, 2.581121 ], "estimate": [ -11.605000, 18.211000, 2.581121 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.020000, 2.870000, 2.740000, 2.610000, 2.500000, 2.440000, 2.410000, 2.400000, 2.430000, 2.450000, 2.480000, 2.500000, 2.520000, 2.550000, 2.570000, 2.600000, 2.630000, 2.670000, 2.700000, 2.710000, 2.630000, 2.580000, 2.530000, 2.470000, 2.420000, 2.370000, 2.320000, 2.280000, 2.230000, 2.220000, 2.170000, 2.130000, 2.100000, 2.070000, 2.040000, 2.010000, 2.020000, 2.100000, 2.150000, 2.230000, 7.420000, 7.350000, 7.260000, 6.320000, 6.270000, 6.210000, 6.160000, 6.110000, 6.060000, 6.000000, 5.930000, 5.860000, 5.900000, 4.210000, 4.200000, 4.190000, 4.170000, 4.150000, 4.140000, 4.110000, 4.100000, 4.090000, 3.910000, 3.890000, 3.870000, 3.830000, 4.180000, 4.170000, 4.160000, 4.150000, 4.160000, 4.150000, 4.150000, 4.150000, 4.160000, 4.180000, 6.370000, 6.380000, 6.390000, 6.400000, 6.410000, 6.420000, 6.440000, 6.470000, 6.480000, 6.500000, 6.540000, 6.560000, 6.580000, 6.620000, 6.320000, 5.980000, 5.690000, 5.440000, 5.200000, 4.980000, 4.800000, 4.620000, 4.450000, 4.310000, 4.180000, 4.050000, 3.930000, 3.810000, 3.720000, 3.610000, 3.570000, 3.610000, 3.650000, 3.710000, 8.030000, 6.210000, 8.250000, null, null, null, 6.270000, 4.570000, 4.390000, 2.600000, 2.550000, 2.510000, 2.480000, 2.450000, 2.430000, 2.500000, 2.980000, 3.050000, 3.130000, 3.230000, 3.310000, 3.320000, 3.290000, 3.270000, 3.230000, 3.230000, 3.960000, 4.110000, 4.150000, 4.120000, 4.100000, 4.080000, 4.900000, 4.870000, 4.840000, 4.860000, 4.830000, 4.810000, 4.800000, 4.780000, 4.760000, 4.740000, 4.730000, 4.720000, 4.700000, 4.790000, 4.780000, 4.770000, 4.750000, 4.750000, 4.730000, 4.730000, 4.730000, 4.730000, 2.450000, 1.700000, 1.360000, 1.130000, 0.960000, 0.820000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 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, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054900, 134217 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.651999, 18.240000, 2.574975 ], "estimate": [ -11.651999, 18.240000, 2.574975 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.860000, 2.720000, 2.590000, 2.470000, 2.440000, 2.400000, 2.410000, 2.430000, 2.450000, 2.470000, 2.500000, 2.520000, 2.550000, 2.570000, 2.600000, 2.640000, 2.650000, 2.680000, 2.670000, 2.620000, 2.550000, 2.490000, 2.450000, 2.390000, 2.350000, 2.300000, 2.250000, 2.220000, 2.180000, 2.130000, 2.110000, 2.060000, 2.030000, 2.010000, 1.990000, 2.030000, 2.090000, 2.160000, 2.210000, 7.440000, 7.350000, 7.280000, 7.170000, 6.270000, 6.210000, 6.150000, 6.100000, 6.060000, 6.000000, 5.970000, 5.820000, 5.830000, 4.200000, 4.170000, 4.160000, 4.130000, 4.120000, 4.110000, 4.090000, 4.070000, 4.040000, 3.870000, 3.860000, 3.840000, 3.800000, 3.890000, 4.120000, 4.120000, 4.110000, 4.110000, 4.110000, 4.090000, 4.100000, 4.100000, 4.100000, 4.170000, 6.320000, 6.330000, 6.340000, 6.350000, 6.360000, 6.390000, 6.410000, 6.420000, 6.440000, 6.460000, 6.490000, 6.510000, 6.550000, 6.570000, 6.240000, 5.920000, 5.630000, 5.370000, 5.140000, 4.930000, 4.740000, 4.560000, 4.410000, 4.270000, 4.140000, 4.000000, 3.890000, 3.770000, 3.670000, 3.570000, 3.520000, 3.570000, 3.600000, 3.670000, 7.980000, 6.170000, 8.210000, null, null, null, 5.800000, 4.530000, 4.360000, 2.570000, 2.530000, 2.490000, 2.460000, 2.420000, 2.390000, 2.390000, 2.910000, 2.970000, 3.050000, 3.140000, 3.220000, 3.300000, 3.280000, 3.240000, 3.200000, 3.170000, 3.850000, 4.000000, 4.130000, 4.100000, 4.070000, 4.040000, 4.890000, 4.850000, 4.830000, 4.820000, 4.820000, 4.800000, 4.790000, 4.760000, 4.740000, 4.730000, 4.710000, 4.690000, 4.680000, 4.740000, 4.760000, 4.750000, 4.740000, 4.730000, 4.710000, 4.710000, 4.720000, 4.710000, 4.720000, 2.510000, 1.940000, 1.610000, 1.370000, 1.190000, 1.050000, 0.920000, 0.830000, 0.760000, 0.720000, 0.710000, 0.700000, 0.700000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054900, 135434 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.697000, 18.269001, 2.562684 ], "estimate": [ -11.697000, 18.269001, 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": [ 2.800000, 2.660000, 2.520000, 2.440000, 2.410000, 2.390000, 2.410000, 2.430000, 2.450000, 2.480000, 2.500000, 2.520000, 2.540000, 2.570000, 2.590000, 2.620000, 2.650000, 2.670000, 2.640000, 2.570000, 2.510000, 2.450000, 2.400000, 2.350000, 2.300000, 2.250000, 2.220000, 2.170000, 2.120000, 2.100000, 2.050000, 2.020000, 1.990000, 1.960000, 1.980000, 2.020000, 2.070000, 2.140000, 2.190000, 7.440000, 7.340000, 7.280000, 7.210000, 6.240000, 6.200000, 6.120000, 6.080000, 6.030000, 5.990000, 5.940000, 5.850000, 5.780000, 5.810000, 4.130000, 4.110000, 4.090000, 4.080000, 4.060000, 4.060000, 4.030000, 4.010000, 3.990000, 3.810000, 3.800000, 3.780000, 3.750000, 4.080000, 4.070000, 4.070000, 4.060000, 4.060000, 4.060000, 4.060000, 4.060000, 4.060000, 4.060000, 6.270000, 6.270000, 6.280000, 6.290000, 6.300000, 6.310000, 6.330000, 6.340000, 6.370000, 6.400000, 6.400000, 6.440000, 6.470000, 6.490000, 6.480000, 6.110000, 5.810000, 5.530000, 5.280000, 5.050000, 4.850000, 4.670000, 4.500000, 4.340000, 4.200000, 4.070000, 3.950000, 3.830000, 3.720000, 3.620000, 3.520000, 3.470000, 3.490000, 3.550000, 3.580000, 7.930000, 6.120000, 8.160000, null, null, null, 5.720000, 4.480000, 4.340000, 4.280000, 2.500000, 2.470000, 2.430000, 2.390000, 2.360000, 2.320000, 2.350000, 2.900000, 2.970000, 3.060000, 3.130000, 3.230000, 3.250000, 3.210000, 3.180000, 3.170000, 3.140000, 3.910000, 4.090000, 4.080000, 4.050000, 4.020000, 4.020000, 4.830000, 4.810000, 4.790000, 4.800000, 4.790000, 4.750000, 4.740000, 4.730000, 4.700000, 4.690000, 4.670000, 4.660000, 4.650000, 4.730000, 4.720000, 4.710000, 4.710000, 4.700000, 4.710000, 4.710000, 4.700000, 4.700000, 3.180000, 2.520000, 2.070000, 1.770000, 1.550000, 1.360000, 1.230000, 1.100000, 1.000000, 0.920000, 0.850000, 0.790000, 0.750000, 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, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054900, 136401 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.745000, 18.299999, 2.556539 ], "estimate": [ -11.745000, 18.299999, 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": [ 2.720000, 2.570000, 2.460000, 2.430000, 2.390000, 2.400000, 2.420000, 2.440000, 2.460000, 2.480000, 2.500000, 2.520000, 2.550000, 2.580000, 2.600000, 2.630000, 2.650000, 2.660000, 2.590000, 2.530000, 2.460000, 2.410000, 2.360000, 2.300000, 2.250000, 2.210000, 2.160000, 2.120000, 2.080000, 2.040000, 2.010000, 1.970000, 1.950000, 1.920000, 1.980000, 2.040000, 2.070000, 2.130000, 5.940000, 7.420000, 7.340000, 7.260000, 7.190000, 6.240000, 6.190000, 6.120000, 6.050000, 6.000000, 5.970000, 5.900000, 5.870000, 5.760000, 5.780000, 4.090000, 4.070000, 4.060000, 4.040000, 4.030000, 4.010000, 3.990000, 3.980000, 3.970000, 3.770000, 3.760000, 3.750000, 3.710000, 3.950000, 4.030000, 4.020000, 4.020000, 4.010000, 4.010000, 4.010000, 4.000000, 4.000000, 4.010000, 4.060000, 6.230000, 6.230000, 6.240000, 6.250000, 6.260000, 6.280000, 6.300000, 6.310000, 6.330000, 6.360000, 6.380000, 6.400000, 6.430000, 6.470000, 6.250000, 5.910000, 5.620000, 5.360000, 5.130000, 4.910000, 4.720000, 4.550000, 4.390000, 4.250000, 4.110000, 3.980000, 3.860000, 3.750000, 3.650000, 3.550000, 3.450000, 3.420000, 3.470000, 3.500000, 3.570000, 6.820000, 6.060000, 8.150000, null, null, 6.120000, 5.940000, 4.430000, 4.280000, 4.230000, 2.460000, 2.430000, 2.390000, 2.350000, 2.320000, 2.300000, 2.300000, 2.860000, 2.930000, 3.010000, 3.090000, 3.190000, 3.210000, 3.170000, 3.150000, 3.120000, 3.120000, 3.860000, 4.040000, 4.050000, 4.020000, 3.990000, 3.970000, 4.810000, 4.770000, 4.770000, 4.780000, 4.760000, 4.740000, 4.720000, 4.700000, 4.680000, 4.660000, 4.660000, 4.640000, 4.630000, 4.710000, 4.710000, 4.700000, 4.690000, 4.680000, 4.690000, 4.690000, 4.690000, 4.690000, 4.700000, 2.810000, 2.340000, 2.030000, 1.780000, 1.590000, 1.430000, 1.300000, 1.170000, 1.090000, 1.020000, 0.960000, 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, 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 ], "timestamp": [ 976054900, 348593 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.798000, 18.334999, 2.556539 ], "estimate": [ -11.798000, 18.334999, 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": [ 2.610000, 2.470000, 2.430000, 2.380000, 2.390000, 2.410000, 2.430000, 2.440000, 2.470000, 2.490000, 2.510000, 2.530000, 2.550000, 2.580000, 2.610000, 2.630000, 2.650000, 2.600000, 2.530000, 2.460000, 2.400000, 2.350000, 2.290000, 2.240000, 2.190000, 2.140000, 2.110000, 2.060000, 2.020000, 1.980000, 1.950000, 1.910000, 1.890000, 1.940000, 1.990000, 2.030000, 2.070000, 2.120000, 5.900000, 7.410000, 7.320000, 7.240000, 7.160000, 6.240000, 6.130000, 6.090000, 6.020000, 5.970000, 5.930000, 5.860000, 5.850000, 5.700000, 5.710000, 4.040000, 4.030000, 4.010000, 3.980000, 3.970000, 3.960000, 3.950000, 3.930000, 3.910000, 3.720000, 3.700000, 3.700000, 3.640000, 3.790000, 3.970000, 3.970000, 3.960000, 3.950000, 3.940000, 3.950000, 3.950000, 3.940000, 3.940000, 3.960000, 6.160000, 6.160000, 6.160000, 6.180000, 6.190000, 6.210000, 6.220000, 6.240000, 6.260000, 6.290000, 6.300000, 6.320000, 6.350000, 6.380000, 6.390000, 6.060000, 5.730000, 5.480000, 5.220000, 4.990000, 4.790000, 4.620000, 4.450000, 4.300000, 4.140000, 4.020000, 3.890000, 3.780000, 3.670000, 3.580000, 3.480000, 3.400000, 3.360000, 3.400000, 3.450000, 3.510000, 7.900000, 6.030000, 8.140000, null, null, 6.070000, 5.670000, 4.370000, 4.230000, 4.190000, 2.430000, 2.390000, 2.350000, 2.320000, 2.300000, 2.260000, 2.240000, 2.320000, 2.850000, 2.930000, 3.010000, 3.110000, 3.180000, 3.150000, 3.120000, 3.090000, 3.070000, 3.210000, 3.930000, 4.020000, 3.990000, 3.970000, 3.950000, 4.770000, 4.750000, 4.730000, 4.750000, 4.730000, 4.710000, 4.690000, 4.670000, 4.660000, 4.650000, 4.630000, 4.620000, 4.610000, 4.700000, 4.680000, 4.680000, 4.680000, 4.670000, 4.670000, 4.670000, 4.670000, 4.680000, 4.680000, 3.180000, 2.740000, 2.380000, 2.090000, 1.880000, 1.690000, 1.550000, 1.420000, 1.310000, 1.220000, 1.150000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976054900, 819676 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.848001, 18.368000, 2.544248 ], "estimate": [ -11.848001, 18.368000, 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": [ 2.490000, 2.420000, 2.370000, 2.380000, 2.400000, 2.420000, 2.440000, 2.450000, 2.470000, 2.500000, 2.520000, 2.530000, 2.560000, 2.580000, 2.610000, 2.630000, 2.600000, 2.530000, 2.460000, 2.390000, 2.330000, 2.270000, 2.220000, 2.170000, 2.120000, 2.080000, 2.040000, 2.000000, 1.960000, 1.920000, 1.880000, 1.860000, 1.910000, 1.950000, 1.990000, 2.040000, 2.080000, 7.590000, 5.860000, 7.390000, 7.290000, 7.210000, 7.130000, 6.390000, 6.100000, 6.040000, 5.990000, 5.940000, 5.890000, 5.820000, 5.790000, 5.640000, 5.650000, 3.990000, 3.980000, 3.950000, 3.950000, 3.930000, 3.920000, 3.910000, 3.890000, 3.870000, 3.670000, 3.640000, 3.650000, 3.610000, 3.690000, 3.930000, 3.920000, 3.910000, 3.900000, 3.890000, 3.890000, 3.900000, 3.890000, 3.880000, 3.900000, 3.990000, 6.110000, 6.120000, 6.130000, 6.140000, 6.150000, 6.150000, 6.170000, 6.190000, 6.210000, 6.240000, 6.260000, 6.290000, 6.300000, 6.340000, 6.170000, 5.830000, 5.550000, 5.290000, 5.060000, 4.840000, 4.670000, 4.490000, 4.320000, 4.180000, 4.050000, 3.930000, 3.800000, 3.690000, 3.580000, 3.490000, 3.410000, 3.320000, 3.310000, 3.360000, 3.400000, 3.460000, 6.750000, 8.000000, 5.820000, null, 5.700000, 6.020000, 4.420000, 4.330000, 4.180000, 4.140000, 2.400000, 2.350000, 2.320000, 2.290000, 2.260000, 2.220000, 2.200000, 2.210000, 2.790000, 2.870000, 2.950000, 3.040000, 3.140000, 3.120000, 3.090000, 3.060000, 3.040000, 3.040000, 3.880000, 3.990000, 3.960000, 3.940000, 3.920000, 4.740000, 4.720000, 4.690000, 4.720000, 4.700000, 4.690000, 4.660000, 4.650000, 4.640000, 4.620000, 4.610000, 4.600000, 4.580000, 4.670000, 4.670000, 4.650000, 4.660000, 4.650000, 4.650000, 4.660000, 4.650000, 4.670000, 4.680000, 4.690000, 2.970000, 2.610000, 2.330000, 2.090000, 1.900000, 1.740000, 1.600000, 1.480000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054900, 820827 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.891000, 18.396999, 2.531957 ], "estimate": [ -11.891000, 18.396999, 2.531957 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.430000, 2.380000, 2.370000, 2.390000, 2.400000, 2.420000, 2.440000, 2.460000, 2.480000, 2.500000, 2.520000, 2.540000, 2.560000, 2.590000, 2.620000, 2.630000, 2.540000, 2.470000, 2.400000, 2.340000, 2.280000, 2.220000, 2.170000, 2.110000, 2.070000, 2.020000, 1.980000, 1.950000, 1.900000, 1.870000, 1.850000, 1.820000, 1.910000, 1.950000, 1.990000, 2.030000, 7.680000, 7.570000, 5.830000, 7.380000, 7.290000, 7.200000, 7.120000, 7.050000, 6.090000, 6.020000, 5.960000, 5.910000, 5.850000, 5.800000, 5.740000, 5.670000, 5.620000, 3.950000, 3.930000, 3.910000, 3.900000, 3.890000, 3.870000, 3.850000, 3.850000, 3.810000, 3.620000, 3.610000, 3.600000, 3.570000, 3.550000, 3.880000, 3.870000, 3.860000, 3.840000, 3.840000, 3.840000, 3.840000, 3.830000, 3.840000, 3.840000, 3.900000, 6.050000, 6.060000, 6.060000, 6.080000, 6.090000, 6.100000, 6.110000, 6.130000, 6.140000, 6.160000, 6.190000, 6.210000, 6.240000, 6.260000, 6.290000, 6.030000, 5.700000, 5.440000, 5.180000, 4.950000, 4.760000, 4.580000, 4.420000, 4.260000, 4.110000, 3.980000, 3.860000, 3.740000, 3.640000, 3.540000, 3.440000, 3.350000, 3.260000, 3.260000, 3.310000, 3.340000, 3.410000, 5.900000, 7.950000, null, null, null, 5.970000, 4.390000, 4.280000, 4.140000, 4.100000, 4.090000, 2.330000, 2.290000, 2.260000, 2.220000, 2.200000, 2.170000, 2.150000, 2.190000, 2.790000, 2.860000, 2.950000, 3.050000, 3.090000, 3.060000, 3.040000, 3.010000, 3.000000, 3.770000, 3.960000, 3.930000, 3.920000, 3.890000, 3.910000, 4.690000, 4.680000, 4.670000, 4.680000, 4.660000, 4.650000, 4.630000, 4.620000, 4.600000, 4.590000, 4.580000, 4.580000, 4.560000, 4.650000, 4.650000, 4.640000, 4.640000, 4.630000, 4.650000, 4.640000, 4.650000, 4.650000, 4.680000, 4.660000, 2.900000, 2.610000, 2.340000, 2.130000, 1.950000, 1.800000, 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, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054900, 841032 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.936999, 18.429001, 2.531957 ], "estimate": [ -11.936999, 18.429001, 2.531957 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.420000, 2.370000, 2.380000, 2.390000, 2.410000, 2.420000, 2.440000, 2.460000, 2.480000, 2.500000, 2.520000, 2.540000, 2.550000, 2.590000, 2.610000, 2.590000, 2.510000, 2.420000, 2.370000, 2.300000, 2.240000, 2.180000, 2.120000, 2.070000, 2.030000, 1.980000, 1.940000, 1.900000, 1.860000, 1.820000, 1.840000, 1.860000, 1.910000, 1.950000, 1.980000, 2.040000, 7.690000, 7.590000, 5.730000, 7.390000, 7.300000, 7.200000, 7.120000, 7.050000, 6.080000, 6.000000, 5.960000, 5.890000, 5.830000, 5.780000, 5.720000, 5.670000, 5.590000, 3.930000, 3.900000, 3.880000, 3.870000, 3.850000, 3.830000, 3.820000, 3.800000, 3.790000, 3.650000, 3.570000, 3.560000, 3.550000, 3.520000, 3.700000, 3.820000, 3.820000, 3.810000, 3.800000, 3.790000, 3.790000, 3.790000, 3.790000, 3.790000, 3.790000, 3.890000, 6.000000, 6.010000, 6.020000, 6.040000, 6.050000, 6.060000, 6.080000, 6.100000, 6.110000, 6.130000, 6.150000, 6.180000, 6.200000, 6.230000, 6.200000, 5.860000, 5.560000, 5.310000, 5.060000, 4.840000, 4.650000, 4.480000, 4.310000, 4.180000, 4.040000, 3.900000, 3.790000, 3.680000, 3.570000, 3.480000, 3.390000, 3.290000, 3.220000, 3.220000, 3.270000, 3.310000, 3.360000, 5.880000, 7.940000, 5.750000, 5.720000, 5.930000, 5.930000, 4.350000, 4.230000, 4.090000, 4.060000, 4.060000, 2.300000, 2.260000, 2.230000, 2.210000, 2.190000, 2.150000, 2.130000, 2.120000, 2.720000, 2.800000, 2.900000, 2.980000, 3.070000, 3.040000, 3.010000, 2.990000, 2.970000, 2.980000, 3.930000, 3.920000, 3.900000, 3.870000, 3.860000, 4.680000, 4.650000, 4.650000, 4.660000, 4.650000, 4.630000, 4.610000, 4.590000, 4.590000, 4.580000, 4.570000, 4.560000, 4.540000, 4.640000, 4.640000, 4.630000, 4.630000, 4.640000, 4.640000, 4.630000, 4.640000, 4.650000, 4.660000, 4.680000, 3.070000, 2.760000, 2.490000, 2.280000, 2.090000, 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": [ 976054902, 456735 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.987000, 18.464001, 2.519666 ], "estimate": [ -11.987000, 18.464001, 2.519666 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.370000, 2.380000, 2.390000, 2.410000, 2.420000, 2.440000, 2.460000, 2.480000, 2.500000, 2.520000, 2.530000, 2.550000, 2.580000, 2.600000, 2.540000, 2.470000, 2.390000, 2.320000, 2.240000, 2.190000, 2.140000, 2.070000, 2.030000, 1.980000, 1.930000, 1.890000, 1.850000, 1.810000, 1.790000, 1.830000, 1.860000, 1.900000, 1.930000, 1.980000, 7.460000, 7.620000, 7.630000, 5.690000, 5.740000, 7.300000, 7.220000, 7.140000, 7.050000, 6.980000, 6.000000, 5.950000, 5.890000, 5.820000, 5.770000, 5.710000, 5.670000, 5.590000, 5.530000, 3.870000, 3.840000, 3.820000, 3.800000, 3.780000, 3.780000, 3.770000, 3.740000, 3.730000, 3.530000, 3.510000, 3.500000, 3.460000, 3.450000, 3.780000, 3.760000, 3.760000, 3.750000, 3.740000, 3.750000, 3.730000, 3.730000, 3.730000, 3.730000, 3.740000, 5.940000, 5.950000, 5.960000, 5.960000, 5.970000, 5.990000, 6.000000, 6.020000, 6.030000, 6.060000, 6.080000, 6.100000, 6.120000, 6.140000, 6.170000, 6.150000, 5.820000, 5.520000, 5.260000, 5.020000, 4.810000, 4.610000, 4.450000, 4.290000, 4.140000, 4.010000, 3.890000, 3.760000, 3.640000, 3.550000, 3.440000, 3.360000, 3.270000, 3.190000, 3.160000, 3.200000, 3.240000, 3.280000, 3.340000, 7.870000, 5.730000, null, 5.870000, 5.860000, 5.490000, 4.220000, 4.090000, 4.040000, 4.010000, 4.090000, 2.230000, 2.210000, 2.190000, 2.160000, 2.140000, 2.110000, 2.090000, 2.080000, 2.690000, 2.780000, 2.860000, 2.970000, 3.020000, 3.000000, 2.980000, 2.950000, 2.930000, 2.980000, 3.900000, 3.880000, 3.850000, 3.850000, 3.860000, 4.630000, 4.610000, 4.640000, 4.630000, 4.610000, 4.600000, 4.580000, 4.580000, 4.570000, 4.560000, 4.550000, 4.530000, 4.550000, 4.620000, 4.610000, 4.620000, 4.620000, 4.620000, 4.630000, 4.630000, 4.630000, 4.650000, 4.660000, 4.640000, 3.100000, 2.810000, 2.560000, 2.360000, 2.170000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054902, 457909 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.039001, 18.500999, 2.507374 ], "estimate": [ -12.039001, 18.500999, 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": [ 2.380000, 2.390000, 2.400000, 2.410000, 2.430000, 2.450000, 2.470000, 2.480000, 2.500000, 2.520000, 2.540000, 2.560000, 2.580000, 2.560000, 2.470000, 2.390000, 2.320000, 2.240000, 2.180000, 2.120000, 2.070000, 2.010000, 1.960000, 1.920000, 1.870000, 1.830000, 1.790000, 1.730000, 1.800000, 1.830000, 1.870000, 1.900000, 1.930000, 1.950000, 7.410000, 7.570000, 7.620000, 5.650000, 5.670000, 7.280000, 7.210000, 7.130000, 7.020000, 6.960000, 5.980000, 5.920000, 5.860000, 5.790000, 5.730000, 5.690000, 5.630000, 5.570000, 5.460000, 3.820000, 3.800000, 3.780000, 3.770000, 3.750000, 3.730000, 3.710000, 3.700000, 3.680000, 3.480000, 3.470000, 3.450000, 3.440000, 3.400000, 3.670000, 3.710000, 3.710000, 3.700000, 3.680000, 3.690000, 3.690000, 3.690000, 3.690000, 3.690000, 3.690000, 3.790000, 5.890000, 5.890000, 5.900000, 5.900000, 5.910000, 5.940000, 5.960000, 5.970000, 5.990000, 6.000000, 6.020000, 6.050000, 6.080000, 6.100000, 6.130000, 5.960000, 5.640000, 5.360000, 5.120000, 4.890000, 4.680000, 4.510000, 4.350000, 4.200000, 4.040000, 3.920000, 3.800000, 3.680000, 3.560000, 3.480000, 3.390000, 3.300000, 3.210000, 3.140000, 3.090000, 3.140000, 3.190000, 3.230000, 3.290000, 7.840000, null, null, 5.870000, 5.820000, 5.410000, 4.190000, 4.050000, 3.990000, 3.950000, 4.040000, 2.220000, 2.190000, 2.150000, 2.140000, 2.110000, 2.090000, 2.060000, 2.050000, 2.050000, 2.700000, 2.780000, 2.880000, 2.990000, 2.980000, 2.950000, 2.930000, 2.910000, 2.900000, 3.880000, 3.850000, 3.830000, 3.810000, 3.800000, 4.610000, 4.600000, 4.600000, 4.600000, 4.590000, 4.580000, 4.570000, 4.550000, 4.540000, 4.530000, 4.520000, 4.530000, 4.500000, 4.610000, 4.600000, 4.600000, 4.610000, 4.600000, 4.610000, 4.620000, 4.630000, 4.640000, 4.650000, 4.670000, 4.560000, 3.000000, 2.750000, 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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054902, 458873 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.085000, 18.534000, 2.501229 ], "estimate": [ -12.085000, 18.534000, 2.501229 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.380000, 2.400000, 2.410000, 2.430000, 2.440000, 2.450000, 2.480000, 2.490000, 2.510000, 2.520000, 2.540000, 2.570000, 2.540000, 2.450000, 2.390000, 2.300000, 2.220000, 2.150000, 2.090000, 2.030000, 1.970000, 1.930000, 1.870000, 1.830000, 1.780000, 1.730000, 1.710000, 1.780000, 1.810000, 1.850000, 1.880000, 1.900000, 7.110000, 7.240000, 7.370000, 7.520000, 7.580000, 5.610000, 5.670000, 7.250000, 7.160000, 7.080000, 6.980000, 6.920000, 5.930000, 5.880000, 5.800000, 5.750000, 5.690000, 5.650000, 5.580000, 5.500000, 5.430000, 3.760000, 3.750000, 3.730000, 3.700000, 3.690000, 3.680000, 3.660000, 3.640000, 3.630000, 3.420000, 3.410000, 3.390000, 3.370000, 3.330000, 3.610000, 3.660000, 3.650000, 3.650000, 3.640000, 3.630000, 3.620000, 3.620000, 3.620000, 3.620000, 3.610000, 3.680000, 5.840000, 5.840000, 5.850000, 5.850000, 5.860000, 5.860000, 5.880000, 5.890000, 5.910000, 5.930000, 5.960000, 5.980000, 6.000000, 6.030000, 6.060000, 6.040000, 5.700000, 5.410000, 5.170000, 4.920000, 4.720000, 4.540000, 4.370000, 4.210000, 4.060000, 3.940000, 3.820000, 3.700000, 3.580000, 3.490000, 3.390000, 3.290000, 3.220000, 3.140000, 3.060000, 3.050000, 3.080000, 3.150000, 3.200000, 5.700000, 7.840000, null, 5.860000, 5.800000, 5.520000, 7.220000, 4.120000, 3.990000, 3.930000, 3.910000, 3.990000, 4.090000, 2.160000, 2.130000, 2.100000, 2.080000, 2.060000, 2.030000, 2.010000, 2.000000, 2.040000, 2.710000, 2.810000, 2.920000, 2.940000, 2.910000, 2.900000, 2.880000, 2.860000, 3.050000, 3.820000, 3.800000, 3.780000, 3.760000, 4.600000, 4.570000, 4.570000, 4.580000, 4.570000, 4.560000, 4.540000, 4.530000, 4.520000, 4.520000, 4.500000, 4.510000, 4.480000, 4.590000, 4.590000, 4.590000, 4.590000, 4.590000, 4.600000, 4.610000, 4.620000, 4.630000, 4.640000, 4.660000, 4.550000, 3.150000, 2.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054902, 459815 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.127000, 18.566000, 2.488938 ], "estimate": [ -12.127000, 18.566000, 2.488938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.390000, 2.410000, 2.420000, 2.430000, 2.440000, 2.460000, 2.480000, 2.490000, 2.510000, 2.530000, 2.550000, 2.570000, 2.490000, 2.390000, 2.310000, 2.240000, 2.170000, 2.100000, 2.030000, 1.980000, 1.930000, 1.870000, 1.830000, 1.770000, 1.730000, 1.730000, 1.750000, 1.790000, 1.810000, 1.850000, 1.880000, 1.900000, 7.060000, 7.190000, 7.310000, 7.460000, 7.580000, 5.580000, 5.610000, 7.290000, 7.150000, 7.070000, 6.910000, 6.890000, 5.910000, 5.840000, 5.790000, 5.720000, 5.670000, 5.610000, 5.560000, 5.490000, 5.400000, 3.730000, 3.710000, 3.680000, 3.660000, 3.660000, 3.640000, 3.620000, 3.610000, 3.600000, 3.390000, 3.370000, 3.360000, 3.340000, 3.310000, 3.490000, 3.620000, 3.610000, 3.600000, 3.600000, 3.590000, 3.590000, 3.580000, 3.580000, 3.570000, 3.570000, 3.590000, 5.780000, 5.790000, 5.800000, 5.810000, 5.810000, 5.830000, 5.830000, 5.850000, 5.860000, 5.870000, 5.890000, 5.920000, 5.940000, 5.960000, 5.990000, 6.020000, 5.840000, 5.530000, 5.270000, 5.030000, 4.810000, 4.610000, 4.440000, 4.270000, 4.120000, 3.990000, 3.850000, 3.730000, 3.630000, 3.510000, 3.420000, 3.330000, 3.250000, 3.160000, 3.090000, 3.010000, 3.000000, 3.040000, 3.100000, 3.160000, 5.670000, 7.840000, null, 5.810000, 5.750000, 5.310000, 4.180000, 4.050000, 3.950000, 3.900000, 3.880000, 3.960000, 4.070000, 2.140000, 2.100000, 2.080000, 2.060000, 2.040000, 2.010000, 1.990000, 1.980000, 1.970000, 2.640000, 2.760000, 2.860000, 2.920000, 2.900000, 2.880000, 2.850000, 2.840000, 2.830000, 3.800000, 3.780000, 3.760000, 3.740000, 4.580000, 4.550000, 4.540000, 4.560000, 4.550000, 4.540000, 4.520000, 4.510000, 4.500000, 4.500000, 4.500000, 4.490000, 4.480000, 4.570000, 4.570000, 4.580000, 4.580000, 4.580000, 4.590000, 4.600000, 4.620000, 4.630000, 4.640000, 4.650000, 4.550000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054902, 460824 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.172000, 18.600000, 2.488938 ], "estimate": [ -12.172000, 18.600000, 2.488938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.400000, 2.420000, 2.430000, 2.450000, 2.460000, 2.480000, 2.490000, 2.510000, 2.520000, 2.540000, 2.540000, 2.450000, 2.360000, 2.270000, 2.190000, 2.110000, 2.040000, 1.980000, 1.930000, 1.870000, 1.820000, 1.770000, 1.720000, 1.680000, 1.730000, 1.760000, 1.780000, 1.800000, 1.830000, 1.860000, 6.860000, 6.970000, 7.100000, 7.220000, 7.340000, 7.480000, 7.490000, 5.590000, 5.620000, 7.180000, 7.070000, 6.980000, 6.910000, 6.180000, 5.840000, 5.770000, 5.700000, 5.650000, 5.600000, 5.550000, 5.490000, 5.410000, 3.700000, 3.680000, 3.650000, 3.620000, 3.620000, 3.600000, 3.580000, 3.570000, 3.560000, 3.510000, 3.330000, 3.310000, 3.300000, 3.280000, 3.290000, 3.570000, 3.560000, 3.560000, 3.550000, 3.540000, 3.540000, 3.530000, 3.530000, 3.520000, 3.520000, 3.520000, 3.590000, 5.740000, 5.740000, 5.740000, 5.750000, 5.760000, 5.770000, 5.780000, 5.800000, 5.810000, 5.830000, 5.850000, 5.870000, 5.890000, 5.920000, 5.940000, 5.970000, 5.770000, 5.450000, 5.190000, 4.960000, 4.750000, 4.550000, 4.380000, 4.220000, 4.070000, 3.940000, 3.810000, 3.690000, 3.580000, 3.480000, 3.390000, 3.290000, 3.210000, 3.130000, 3.050000, 2.980000, 2.950000, 3.000000, 3.040000, 3.080000, 3.130000, 7.790000, null, 5.770000, 5.710000, 5.680000, 7.170000, 4.050000, 3.940000, 3.850000, 3.830000, 3.830000, 3.970000, 4.080000, 2.080000, 2.060000, 2.040000, 2.020000, 1.990000, 1.970000, 1.960000, 1.940000, 1.940000, 2.630000, 2.740000, 2.860000, 2.880000, 2.850000, 2.840000, 2.820000, 2.810000, 2.900000, 3.770000, 3.750000, 3.730000, 3.720000, 4.530000, 4.520000, 4.550000, 4.530000, 4.520000, 4.510000, 4.500000, 4.490000, 4.500000, 4.480000, 4.490000, 4.470000, 4.480000, 4.560000, 4.560000, 4.560000, 4.570000, 4.580000, 4.590000, 4.610000, 4.630000, 4.630000, 4.640000, 4.630000, 4.550000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054902, 461738 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.221000, 18.636999, 2.476647 ], "estimate": [ -12.221000, 18.636999, 2.476647 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.420000, 2.430000, 2.450000, 2.460000, 2.470000, 2.490000, 2.500000, 2.520000, 2.530000, 2.540000, 2.430000, 2.340000, 2.240000, 2.160000, 2.080000, 2.010000, 1.950000, 1.890000, 1.840000, 1.790000, 1.730000, 1.680000, 1.660000, 1.710000, 1.740000, 1.770000, 1.800000, 1.820000, 1.860000, 6.760000, 6.860000, 6.990000, 7.100000, 7.230000, 7.340000, 7.480000, 7.500000, 5.530000, 7.190000, 7.130000, 7.030000, 6.950000, 6.850000, 5.850000, 5.790000, 5.720000, 5.660000, 5.600000, 5.550000, 5.480000, 5.450000, 5.330000, 3.650000, 3.620000, 3.600000, 3.580000, 3.560000, 3.540000, 3.530000, 3.530000, 3.500000, 3.300000, 3.290000, 3.270000, 3.250000, 3.200000, 3.310000, 3.520000, 3.520000, 3.510000, 3.500000, 3.490000, 3.480000, 3.480000, 3.470000, 3.470000, 3.470000, 3.460000, 3.530000, 5.680000, 5.680000, 5.690000, 5.700000, 5.710000, 5.720000, 5.730000, 5.740000, 5.750000, 5.770000, 5.790000, 5.820000, 5.840000, 5.860000, 5.890000, 5.910000, 5.780000, 5.460000, 5.200000, 4.960000, 4.750000, 4.550000, 4.380000, 4.230000, 4.070000, 3.930000, 3.800000, 3.680000, 3.570000, 3.480000, 3.380000, 3.290000, 3.210000, 3.130000, 3.050000, 2.980000, 2.900000, 2.920000, 2.960000, 3.010000, 3.070000, 7.700000, null, 5.760000, 5.680000, 5.640000, 5.260000, 4.070000, 3.980000, 3.860000, 3.820000, 3.790000, 3.880000, 3.980000, 4.090000, 2.070000, 2.030000, 2.010000, 1.980000, 1.970000, 1.960000, 1.940000, 1.920000, 1.900000, 1.940000, 2.700000, 2.840000, 2.850000, 2.840000, 2.810000, 2.790000, 2.780000, 2.820000, 3.740000, 3.720000, 3.710000, 3.700000, 4.520000, 4.510000, 4.520000, 4.510000, 4.500000, 4.490000, 4.490000, 4.490000, 4.490000, 4.480000, 4.480000, 4.450000, 4.530000, 4.550000, 4.560000, 4.550000, 4.570000, 4.580000, 4.590000, 4.610000, 4.620000, 4.630000, 4.640000, 4.620000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054902, 462661 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.269000, 18.674999, 2.470501 ], "estimate": [ -12.269000, 18.674999, 2.470501 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.430000, 2.440000, 2.450000, 2.470000, 2.480000, 2.490000, 2.510000, 2.520000, 2.540000, 2.430000, 2.320000, 2.230000, 2.140000, 2.050000, 1.990000, 1.910000, 1.860000, 1.800000, 1.730000, 1.690000, 1.650000, 1.670000, 1.700000, 1.730000, 1.740000, 1.780000, 1.800000, 1.820000, 5.770000, 6.720000, 6.820000, 6.940000, 7.050000, 7.170000, 7.300000, 7.440000, 7.400000, 5.490000, 7.150000, 7.100000, 6.990000, 6.910000, 6.830000, 5.830000, 5.750000, 5.680000, 5.620000, 5.560000, 5.500000, 5.450000, 5.400000, 5.310000, 3.600000, 3.570000, 3.540000, 3.530000, 3.520000, 3.490000, 3.470000, 3.460000, 3.450000, 3.240000, 3.230000, 3.210000, 3.200000, 3.150000, 3.230000, 3.470000, 3.460000, 3.450000, 3.450000, 3.440000, 3.430000, 3.420000, 3.410000, 3.410000, 3.410000, 3.410000, 3.450000, 5.620000, 5.620000, 5.620000, 5.630000, 5.640000, 5.650000, 5.650000, 5.670000, 5.690000, 5.710000, 5.720000, 5.730000, 5.760000, 5.780000, 5.810000, 5.850000, 5.870000, 5.590000, 5.310000, 5.050000, 4.830000, 4.610000, 4.440000, 4.280000, 4.120000, 3.980000, 3.850000, 3.720000, 3.610000, 3.500000, 3.410000, 3.310000, 3.220000, 3.140000, 3.060000, 2.990000, 2.920000, 2.860000, 2.860000, 2.900000, 2.940000, 3.010000, 7.670000, null, 5.690000, 5.620000, 5.600000, 5.200000, 4.030000, 3.940000, 3.820000, 3.770000, 3.730000, 3.810000, 3.920000, 4.020000, 4.130000, 1.990000, 1.980000, 1.960000, 1.950000, 1.930000, 1.910000, 1.890000, 1.880000, 1.860000, 1.890000, 2.710000, 2.830000, 2.810000, 2.790000, 2.770000, 2.760000, 2.750000, 3.710000, 3.700000, 3.690000, 3.680000, 4.500000, 4.480000, 4.500000, 4.490000, 4.480000, 4.480000, 4.480000, 4.480000, 4.470000, 4.460000, 4.460000, 4.460000, 4.430000, 4.540000, 4.540000, 4.550000, 4.560000, 4.570000, 4.580000, 4.600000, 4.620000, 4.620000, 4.630000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054902, 463660 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.311999, 18.709000, 2.458210 ], "estimate": [ -12.311999, 18.709000, 2.458210 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.430000, 2.450000, 2.460000, 2.470000, 2.480000, 2.500000, 2.510000, 2.530000, 2.460000, 2.350000, 2.240000, 2.150000, 2.070000, 1.980000, 1.920000, 1.840000, 1.780000, 1.740000, 1.670000, 1.610000, 1.650000, 1.680000, 1.710000, 1.720000, 1.750000, 1.770000, 1.790000, 5.670000, 5.740000, 6.670000, 6.760000, 6.900000, 6.990000, 7.110000, 7.230000, 7.370000, 7.400000, 5.460000, 7.180000, 7.090000, 6.990000, 6.890000, 6.800000, 6.690000, 5.720000, 5.670000, 5.580000, 5.540000, 5.470000, 5.420000, 5.370000, 5.290000, 3.540000, 3.520000, 3.510000, 3.480000, 3.470000, 3.450000, 3.430000, 3.420000, 3.400000, 3.270000, 3.180000, 3.160000, 3.140000, 3.130000, 3.150000, 3.380000, 3.420000, 3.410000, 3.400000, 3.390000, 3.380000, 3.380000, 3.370000, 3.360000, 3.360000, 3.360000, 3.360000, 3.400000, 5.570000, 5.570000, 5.580000, 5.580000, 5.580000, 5.600000, 5.610000, 5.630000, 5.640000, 5.660000, 5.670000, 5.700000, 5.720000, 5.740000, 5.760000, 5.800000, 5.730000, 5.420000, 5.150000, 4.920000, 4.700000, 4.500000, 4.320000, 4.170000, 4.030000, 3.890000, 3.760000, 3.640000, 3.540000, 3.440000, 3.350000, 3.250000, 3.160000, 3.090000, 3.010000, 2.940000, 2.880000, 2.810000, 2.810000, 2.850000, 2.900000, 2.970000, 3.010000, null, 5.650000, 5.590000, 5.570000, 5.120000, 3.980000, 3.900000, 3.780000, 3.730000, 3.690000, 3.780000, 3.870000, 3.970000, 4.080000, 4.200000, 1.960000, 1.940000, 1.930000, 1.910000, 1.890000, 1.880000, 1.860000, 1.840000, 1.840000, 1.890000, 2.760000, 2.790000, 2.770000, 2.760000, 2.750000, 2.740000, 2.740000, 3.690000, 3.670000, 3.650000, 3.890000, 4.470000, 4.480000, 4.480000, 4.470000, 4.470000, 4.470000, 4.460000, 4.460000, 4.460000, 4.450000, 4.450000, 4.420000, 4.530000, 4.530000, 4.540000, 4.550000, 4.560000, 4.580000, 4.600000, 4.610000, 4.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054902, 684685 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.356000, 18.745001, 2.452065 ], "estimate": [ -12.356000, 18.745001, 2.452065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.440000, 2.460000, 2.470000, 2.480000, 2.500000, 2.510000, 2.530000, 2.440000, 2.310000, 2.210000, 2.100000, 2.020000, 1.940000, 1.860000, 1.790000, 1.730000, 1.680000, 1.600000, 1.590000, 1.650000, 1.670000, 1.690000, 1.720000, 1.720000, 1.760000, 5.530000, 5.600000, 5.660000, 6.570000, 6.650000, 6.720000, 6.890000, 7.000000, 7.110000, 7.230000, 7.380000, 5.410000, 5.450000, 7.060000, 7.020000, 6.940000, 6.830000, 6.730000, 5.720000, 5.670000, 5.600000, 5.540000, 5.470000, 5.400000, 5.370000, 5.330000, 3.510000, 3.500000, 3.470000, 3.440000, 3.430000, 3.420000, 3.410000, 3.370000, 3.360000, 3.350000, 3.130000, 3.120000, 3.110000, 3.080000, 3.030000, 3.160000, 3.370000, 3.360000, 3.350000, 3.340000, 3.330000, 3.320000, 3.320000, 3.310000, 3.310000, 3.300000, 3.300000, 3.310000, 3.420000, 5.520000, 5.520000, 5.520000, 5.530000, 5.540000, 5.550000, 5.560000, 5.580000, 5.590000, 5.600000, 5.620000, 5.650000, 5.660000, 5.680000, 5.710000, 5.730000, 5.710000, 5.400000, 5.130000, 4.890000, 4.670000, 4.480000, 4.300000, 4.160000, 4.010000, 3.880000, 3.740000, 3.640000, 3.520000, 3.420000, 3.330000, 3.240000, 3.140000, 3.070000, 2.990000, 2.920000, 2.860000, 2.800000, 2.750000, 2.780000, 2.820000, 2.870000, 2.920000, null, 5.610000, 5.550000, 5.520000, 5.070000, 8.470000, 3.890000, 3.830000, 3.720000, 3.680000, 3.660000, 3.760000, 3.860000, 3.970000, 4.080000, 4.210000, 1.930000, 1.910000, 1.890000, 1.880000, 1.870000, 1.850000, 1.830000, 1.820000, 1.810000, 1.810000, 2.710000, 2.760000, 2.750000, 2.730000, 2.710000, 2.710000, 2.700000, 3.650000, 3.640000, 3.630000, 4.450000, 4.450000, 4.480000, 4.460000, 4.460000, 4.450000, 4.450000, 4.450000, 4.440000, 4.440000, 4.440000, 4.440000, 4.410000, 4.530000, 4.530000, 4.540000, 4.550000, 4.560000, 4.580000, 4.600000, 4.610000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054902, 973752 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.401000, 18.782000, 2.439774 ], "estimate": [ -12.401000, 18.782000, 2.439774 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.450000, 2.460000, 2.480000, 2.490000, 2.500000, 2.520000, 2.430000, 2.300000, 2.190000, 2.080000, 1.990000, 1.910000, 1.830000, 1.760000, 1.700000, 1.640000, 1.620000, 1.630000, 1.650000, 1.660000, 1.680000, 1.700000, 1.730000, 1.750000, 5.520000, 5.550000, 5.590000, 5.660000, 6.580000, 6.560000, 6.780000, 6.880000, 6.990000, 7.120000, 7.230000, 7.350000, 5.390000, 5.430000, 7.130000, 6.970000, 6.890000, 6.780000, 6.670000, 5.680000, 5.620000, 5.550000, 5.480000, 5.430000, 5.360000, 5.320000, 5.300000, 3.460000, 3.440000, 3.420000, 3.400000, 3.380000, 3.360000, 3.340000, 3.330000, 3.320000, 3.300000, 3.090000, 3.070000, 3.050000, 3.020000, 3.020000, 3.160000, 3.320000, 3.310000, 3.290000, 3.290000, 3.280000, 3.280000, 3.270000, 3.270000, 3.260000, 3.250000, 3.250000, 3.260000, 3.330000, 5.470000, 5.480000, 5.480000, 5.490000, 5.490000, 5.500000, 5.500000, 5.520000, 5.530000, 5.550000, 5.570000, 5.590000, 5.610000, 5.640000, 5.640000, 5.680000, 5.720000, 5.430000, 5.160000, 4.910000, 4.700000, 4.500000, 4.320000, 4.160000, 4.020000, 3.880000, 3.750000, 3.640000, 3.520000, 3.420000, 3.330000, 3.240000, 3.150000, 3.070000, 2.990000, 2.920000, 2.850000, 2.790000, 2.730000, 2.710000, 2.750000, 2.790000, 2.840000, 2.900000, null, 5.550000, 5.500000, 5.460000, 5.030000, 8.520000, 3.840000, 3.780000, 3.660000, 3.630000, 3.620000, 3.750000, 3.850000, 3.960000, 4.070000, 4.210000, 1.930000, 1.890000, 1.880000, 1.850000, 1.840000, 1.820000, 1.810000, 1.810000, 1.800000, 1.780000, 1.820000, 2.750000, 2.720000, 2.710000, 2.690000, 2.680000, 2.680000, 3.630000, 3.610000, 3.600000, 4.430000, 4.430000, 4.450000, 4.440000, 4.440000, 4.440000, 4.430000, 4.430000, 4.430000, 4.430000, 4.430000, 4.430000, 4.430000, 4.520000, 4.530000, 4.530000, 4.550000, 4.560000, 4.580000, 4.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054903, 439869 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.447000, 18.820999, 2.433628 ], "estimate": [ -12.447000, 18.820999, 2.433628 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.470000, 2.480000, 2.490000, 2.500000, 2.510000, 2.380000, 2.250000, 2.120000, 2.020000, 1.930000, 1.840000, 1.760000, 1.690000, 1.630000, 1.590000, 1.620000, 1.650000, 1.650000, 1.660000, 1.680000, 1.700000, 1.720000, 5.330000, 5.520000, 5.480000, 5.540000, 5.590000, 5.670000, 6.560000, 6.580000, 6.770000, 6.890000, 6.990000, 7.110000, 7.230000, 7.360000, 5.350000, 7.120000, 7.000000, 6.930000, 6.820000, 6.690000, 6.630000, 5.630000, 5.540000, 5.500000, 5.430000, 5.370000, 5.330000, 5.260000, 3.430000, 3.410000, 3.390000, 3.360000, 3.350000, 3.320000, 3.310000, 3.280000, 3.280000, 3.260000, 3.090000, 3.030000, 3.000000, 3.000000, 2.980000, 2.930000, 3.170000, 3.260000, 3.250000, 3.240000, 3.230000, 3.220000, 3.210000, 3.210000, 3.200000, 3.200000, 3.190000, 3.190000, 3.200000, 3.510000, 5.410000, 5.410000, 5.420000, 5.420000, 5.430000, 5.440000, 5.450000, 5.460000, 5.480000, 5.490000, 5.510000, 5.530000, 5.550000, 5.570000, 5.590000, 5.620000, 5.650000, 5.440000, 5.160000, 4.920000, 4.700000, 4.490000, 4.310000, 4.160000, 4.010000, 3.880000, 3.740000, 3.630000, 3.510000, 3.410000, 3.310000, 3.230000, 3.140000, 3.060000, 2.980000, 2.910000, 2.840000, 2.780000, 2.720000, 2.660000, 2.660000, 2.710000, 2.750000, 2.800000, 2.830000, 5.520000, 5.470000, 5.410000, 5.010000, 8.410000, 3.860000, 3.770000, 3.660000, 3.600000, 3.590000, 3.590000, 3.730000, 3.840000, 3.940000, 4.070000, 4.200000, 4.330000, 1.850000, 1.840000, 1.830000, 1.810000, 1.810000, 1.800000, 1.790000, 1.770000, 1.760000, 1.750000, 2.020000, 2.690000, 2.680000, 2.670000, 2.660000, 2.660000, 3.110000, 3.600000, 3.590000, 4.410000, 4.410000, 4.440000, 4.430000, 4.420000, 4.420000, 4.410000, 4.420000, 4.420000, 4.420000, 4.420000, 4.400000, 4.450000, 4.520000, 4.530000, 4.530000, 4.550000, 4.560000, 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": [ 976054903, 555343 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.490000, 18.857000, 2.421337 ], "estimate": [ -12.490000, 18.857000, 2.421337 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.480000, 2.490000, 2.500000, 2.520000, 2.380000, 2.230000, 2.100000, 1.990000, 1.890000, 1.790000, 1.720000, 1.660000, 1.580000, 1.590000, 1.610000, 1.630000, 1.650000, 1.660000, 1.670000, 1.690000, 1.700000, 5.290000, 5.330000, 5.460000, 5.460000, 5.530000, 5.590000, 5.930000, 6.500000, 6.490000, 6.760000, 6.860000, 6.980000, 7.100000, 7.210000, 5.310000, 5.320000, 7.150000, 6.960000, 6.880000, 6.780000, 6.620000, 6.590000, 5.580000, 5.520000, 5.440000, 5.370000, 5.320000, 5.260000, 5.210000, 3.390000, 3.360000, 3.330000, 3.310000, 3.300000, 3.280000, 3.260000, 3.240000, 3.230000, 3.210000, 2.990000, 2.980000, 2.960000, 2.950000, 2.920000, 2.950000, 3.150000, 3.220000, 3.200000, 3.190000, 3.180000, 3.170000, 3.170000, 3.160000, 3.150000, 3.150000, 3.140000, 3.140000, 3.150000, 3.260000, 5.360000, 5.370000, 5.370000, 5.370000, 5.380000, 5.390000, 5.400000, 5.410000, 5.410000, 5.430000, 5.450000, 5.470000, 5.490000, 5.510000, 5.530000, 5.570000, 5.580000, 5.480000, 5.190000, 4.940000, 4.720000, 4.520000, 4.330000, 4.170000, 4.030000, 3.880000, 3.750000, 3.630000, 3.520000, 3.420000, 3.320000, 3.230000, 3.130000, 3.060000, 2.980000, 2.910000, 2.840000, 2.780000, 2.720000, 2.650000, 2.600000, 2.630000, 2.660000, 2.710000, 2.780000, 2.820000, 5.480000, 5.420000, 5.370000, 5.060000, 8.460000, 3.790000, 3.710000, 3.610000, 3.560000, 3.540000, 3.580000, 3.710000, 3.810000, 3.930000, 4.050000, 4.180000, 4.320000, 1.800000, 1.820000, 1.810000, 1.800000, 1.790000, 1.780000, 1.760000, 1.750000, 1.730000, 1.730000, 1.720000, 2.670000, 2.660000, 2.660000, 2.640000, 2.640000, 2.650000, 3.580000, 3.570000, 4.380000, 4.390000, 4.420000, 4.410000, 4.410000, 4.410000, 4.410000, 4.410000, 4.410000, 4.410000, 4.410000, 4.390000, 4.480000, 4.510000, 4.530000, 4.530000, 4.540000, 4.560000 ], "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": [ 976054903, 556478 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.534000, 18.896000, 2.415191 ], "estimate": [ -12.534000, 18.896000, 2.415191 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.490000, 2.500000, 2.520000, 2.360000, 2.210000, 2.060000, 1.940000, 1.840000, 1.750000, 1.670000, 1.600000, 1.560000, 1.590000, 1.610000, 1.630000, 1.650000, 1.660000, 1.670000, 1.680000, 5.170000, 5.220000, 5.270000, 5.420000, 5.440000, 5.450000, 5.530000, 5.570000, 6.470000, 6.530000, 6.540000, 6.740000, 6.850000, 6.960000, 7.080000, 7.190000, 5.290000, 5.310000, 7.110000, 6.930000, 6.840000, 6.730000, 6.630000, 5.920000, 5.550000, 5.460000, 5.400000, 5.330000, 5.290000, 5.220000, 5.160000, 3.340000, 3.310000, 3.290000, 3.270000, 3.240000, 3.230000, 3.210000, 3.190000, 3.170000, 3.150000, 2.940000, 2.920000, 2.910000, 2.890000, 2.840000, 2.930000, 3.130000, 3.160000, 3.150000, 3.140000, 3.120000, 3.120000, 3.110000, 3.100000, 3.090000, 3.090000, 3.090000, 3.080000, 3.080000, 3.150000, 5.300000, 5.300000, 5.300000, 5.310000, 5.320000, 5.330000, 5.340000, 5.350000, 5.360000, 5.380000, 5.390000, 5.400000, 5.420000, 5.440000, 5.470000, 5.500000, 5.520000, 5.550000, 5.250000, 4.980000, 4.750000, 4.550000, 4.370000, 4.210000, 4.050000, 3.910000, 3.780000, 3.650000, 3.540000, 3.420000, 3.330000, 3.240000, 3.150000, 3.070000, 2.990000, 2.920000, 2.850000, 2.780000, 2.720000, 2.660000, 2.610000, 2.570000, 2.570000, 2.620000, 2.660000, 2.740000, 2.770000, 5.390000, 5.340000, 5.320000, 4.910000, 8.480000, 3.750000, 3.670000, 3.570000, 3.520000, 3.500000, 3.530000, 3.670000, 3.780000, 3.890000, 4.020000, 4.160000, 4.300000, 4.450000, 1.810000, 1.790000, 1.780000, 1.770000, 1.750000, 1.740000, 1.730000, 1.730000, 1.710000, 1.710000, 1.700000, 2.650000, 2.640000, 2.630000, 2.610000, 2.610000, 3.560000, 3.550000, 3.600000, 4.370000, 4.400000, 4.400000, 4.400000, 4.390000, 4.400000, 4.390000, 4.390000, 4.400000, 4.400000, 4.400000, 4.420000, 4.510000, 4.530000, 4.530000, 4.550000 ], "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": [ 976054903, 703111 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.578000, 18.934000, 2.409046 ], "estimate": [ -12.578000, 18.934000, 2.409046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.500000, 2.520000, 2.340000, 2.170000, 2.020000, 1.890000, 1.790000, 1.690000, 1.610000, 1.580000, 1.580000, 1.590000, 1.610000, 1.610000, 1.640000, 1.650000, 1.660000, 1.670000, 5.130000, 5.170000, 5.200000, 5.270000, 5.510000, 5.410000, 5.450000, 5.510000, 5.550000, 6.460000, 6.480000, 6.550000, 6.730000, 6.840000, 6.940000, 7.060000, 7.170000, 5.250000, 5.280000, 7.070000, 6.890000, 6.790000, 6.690000, 6.560000, 5.560000, 5.480000, 5.400000, 5.350000, 5.290000, 5.220000, 5.160000, 3.300000, 3.290000, 3.250000, 3.230000, 3.220000, 3.190000, 3.170000, 3.150000, 3.130000, 3.120000, 3.060000, 2.890000, 2.870000, 2.850000, 2.830000, 2.830000, 2.910000, 3.110000, 3.110000, 3.090000, 3.080000, 3.070000, 3.060000, 3.050000, 3.040000, 3.040000, 3.040000, 3.030000, 3.030000, 3.030000, 3.090000, 5.240000, 5.240000, 5.250000, 5.250000, 5.260000, 5.270000, 5.270000, 5.290000, 5.300000, 5.320000, 5.340000, 5.350000, 5.360000, 5.390000, 5.400000, 5.430000, 5.460000, 5.490000, 5.290000, 5.010000, 4.780000, 4.570000, 4.390000, 4.210000, 4.050000, 3.920000, 3.790000, 3.650000, 3.540000, 3.430000, 3.330000, 3.240000, 3.140000, 3.070000, 2.990000, 2.920000, 2.850000, 2.780000, 2.720000, 2.650000, 2.610000, 2.550000, 2.500000, 2.530000, 2.580000, 2.630000, 2.690000, 5.380000, 5.320000, 5.280000, 4.880000, 8.360000, 5.260000, 3.700000, 3.610000, 3.510000, 3.480000, 3.450000, 3.550000, 3.650000, 3.760000, 3.880000, 4.000000, 4.150000, 4.290000, 4.460000, 4.620000, 1.750000, 1.760000, 1.750000, 1.730000, 1.720000, 1.720000, 1.700000, 1.700000, 1.680000, 1.670000, 1.670000, 2.610000, 2.600000, 2.590000, 2.590000, 2.670000, 3.530000, 3.540000, 4.360000, 4.390000, 4.390000, 4.390000, 4.390000, 4.380000, 4.390000, 4.390000, 4.390000, 4.400000, 4.380000, 4.440000, 4.510000, 4.530000, 4.530000 ], "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": [ 976054904, 170776 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.620999, 18.973000, 2.402900 ], "estimate": [ -12.620999, 18.973000, 2.402900 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.520000, 2.320000, 2.130000, 1.960000, 1.830000, 1.710000, 1.620000, 1.520000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.630000, 1.640000, 1.650000, 5.490000, 5.180000, 5.120000, 5.160000, 5.200000, 5.250000, 5.460000, 5.380000, 5.450000, 5.490000, 5.550000, 6.420000, 6.460000, 6.570000, 6.700000, 6.800000, 6.910000, 7.020000, 7.130000, 5.220000, 5.270000, 6.950000, 6.850000, 6.750000, 6.650000, 6.540000, 5.520000, 5.440000, 5.360000, 5.300000, 5.240000, 5.190000, 5.120000, 3.250000, 3.230000, 3.210000, 3.180000, 3.160000, 3.140000, 3.110000, 3.110000, 3.090000, 3.060000, 2.860000, 2.830000, 2.820000, 2.800000, 2.770000, 2.760000, 2.860000, 3.050000, 3.050000, 3.030000, 3.020000, 3.010000, 3.010000, 3.000000, 2.990000, 2.990000, 2.980000, 2.970000, 2.970000, 2.970000, 3.030000, 5.190000, 5.190000, 5.190000, 5.190000, 5.200000, 5.200000, 5.210000, 5.230000, 5.230000, 5.250000, 5.260000, 5.280000, 5.300000, 5.320000, 5.330000, 5.360000, 5.380000, 5.410000, 5.380000, 5.100000, 4.860000, 4.630000, 4.430000, 4.260000, 4.110000, 3.950000, 3.820000, 3.680000, 3.560000, 3.450000, 3.360000, 3.250000, 3.160000, 3.090000, 3.010000, 2.930000, 2.860000, 2.790000, 2.730000, 2.660000, 2.610000, 2.560000, 2.500000, 2.460000, 2.470000, 2.520000, 2.570000, 2.620000, 2.650000, 5.270000, 5.210000, 4.830000, 8.360000, 8.560000, 3.640000, 3.580000, 3.500000, 3.440000, 3.430000, 3.410000, 3.570000, 3.700000, 3.810000, 3.950000, 4.100000, 4.230000, 4.400000, 4.580000, 4.780000, 1.730000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.670000, 1.670000, 1.660000, 1.650000, 1.640000, 1.800000, 2.580000, 2.570000, 2.570000, 3.510000, 3.510000, 4.340000, 4.370000, 4.370000, 4.370000, 4.370000, 4.370000, 4.370000, 4.370000, 4.380000, 4.390000, 4.400000, 4.370000, 4.500000, 4.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054904, 171926 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.663000, 19.011000, 2.390610 ], "estimate": [ -12.663000, 19.011000, 2.390610 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.300000, 2.100000, 1.920000, 1.770000, 1.660000, 1.560000, 1.550000, 1.560000, 1.570000, 1.590000, 1.600000, 1.610000, 1.620000, 1.640000, 1.790000, 5.500000, 5.270000, 5.100000, 5.110000, 5.150000, 5.200000, 5.260000, 5.370000, 5.370000, 5.430000, 5.490000, 5.540000, 6.410000, 6.510000, 6.600000, 6.680000, 6.780000, 6.890000, 7.010000, 7.110000, 5.200000, 5.250000, 6.930000, 6.810000, 6.710000, 6.600000, 6.510000, 5.460000, 5.390000, 5.320000, 5.250000, 5.190000, 5.150000, 5.080000, 3.210000, 3.180000, 3.160000, 3.130000, 3.110000, 3.090000, 3.060000, 3.050000, 3.040000, 3.010000, 2.790000, 2.770000, 2.760000, 2.750000, 2.720000, 2.680000, 2.860000, 3.000000, 3.000000, 2.990000, 2.980000, 2.970000, 2.960000, 2.950000, 2.940000, 2.930000, 2.920000, 2.920000, 2.910000, 2.910000, 2.980000, 5.130000, 5.130000, 5.130000, 5.140000, 5.150000, 5.150000, 5.160000, 5.170000, 5.180000, 5.200000, 5.210000, 5.230000, 5.230000, 5.260000, 5.280000, 5.290000, 5.320000, 5.350000, 5.380000, 5.140000, 4.880000, 4.650000, 4.460000, 4.270000, 4.130000, 3.970000, 3.830000, 3.690000, 3.580000, 3.460000, 3.350000, 3.260000, 3.160000, 3.090000, 3.010000, 2.930000, 2.870000, 2.790000, 2.730000, 2.670000, 2.610000, 2.550000, 2.500000, 2.470000, 2.420000, 2.430000, 2.470000, 2.530000, 2.580000, 2.590000, 5.210000, 5.190000, 4.810000, 8.430000, 8.620000, 3.580000, 3.550000, 3.450000, 3.400000, 3.390000, 3.430000, 3.560000, 3.680000, 3.800000, 3.930000, 4.080000, 4.230000, 4.400000, 4.590000, 4.800000, 5.020000, 1.700000, 1.700000, 1.690000, 1.680000, 1.670000, 1.660000, 1.650000, 1.640000, 1.630000, 1.630000, 1.620000, 1.860000, 2.560000, 2.550000, 2.610000, 3.500000, 4.320000, 4.360000, 4.360000, 4.360000, 4.360000, 4.360000, 4.370000, 4.370000, 4.380000, 4.380000, 4.390000, 4.370000, 4.510000 ], "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": [ 976054904, 243926 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.704000, 19.049000, 2.378319 ], "estimate": [ -12.704000, 19.049000, 2.378319 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.050000, 1.860000, 1.720000, 1.590000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.600000, 1.600000, 1.620000, 1.630000, 3.010000, 5.630000, 5.470000, 4.310000, 5.080000, 5.100000, 5.160000, 5.190000, 5.300000, 5.350000, 5.360000, 5.410000, 5.460000, 5.730000, 6.410000, 6.480000, 6.570000, 6.670000, 6.760000, 6.870000, 6.970000, 7.090000, 5.170000, 7.010000, 6.900000, 6.780000, 6.680000, 6.570000, 6.480000, 5.410000, 5.350000, 5.270000, 5.220000, 5.150000, 5.090000, 3.190000, 3.150000, 3.140000, 3.110000, 3.090000, 3.060000, 3.040000, 3.010000, 3.000000, 2.980000, 2.960000, 2.750000, 2.730000, 2.710000, 2.690000, 2.670000, 2.670000, 2.820000, 2.970000, 2.950000, 2.930000, 2.920000, 2.910000, 2.900000, 2.900000, 2.880000, 2.880000, 2.870000, 2.860000, 2.860000, 2.860000, 2.920000, 3.710000, 5.090000, 5.090000, 5.090000, 5.090000, 5.090000, 5.100000, 5.110000, 5.120000, 5.130000, 5.140000, 5.160000, 5.180000, 5.190000, 5.220000, 5.230000, 5.260000, 5.280000, 5.310000, 5.230000, 4.960000, 4.730000, 4.520000, 4.340000, 4.170000, 4.010000, 3.860000, 3.720000, 3.610000, 3.490000, 3.390000, 3.290000, 3.200000, 3.100000, 3.020000, 2.950000, 2.870000, 2.810000, 2.740000, 2.680000, 2.620000, 2.560000, 2.510000, 2.480000, 2.430000, 2.390000, 2.380000, 2.420000, 2.470000, 2.520000, 2.560000, 5.170000, 5.150000, 4.740000, 8.440000, 6.990000, 3.560000, 3.510000, 3.430000, 3.370000, 3.340000, 3.360000, 3.500000, 3.620000, 3.750000, 3.890000, 4.040000, 4.190000, 4.360000, 4.540000, 4.760000, 4.990000, 5.240000, 1.660000, 1.670000, 1.660000, 1.650000, 1.640000, 1.630000, 1.630000, 1.620000, 1.610000, 1.600000, 1.600000, 1.600000, 2.530000, 2.530000, 3.470000, 3.610000, 4.350000, 4.350000, 4.350000, 4.350000, 4.350000, 4.360000, 4.360000, 4.370000, 4.380000, 4.390000, 4.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054904, 772310 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.747000, 19.090000, 2.372173 ], "estimate": [ -12.747000, 19.090000, 2.372173 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.810000, 1.640000, 1.540000, 1.540000, 1.550000, 1.570000, 1.580000, 1.580000, 1.590000, 1.600000, 1.610000, 1.770000, 3.000000, 3.030000, 5.620000, 4.270000, 5.190000, 5.070000, 5.090000, 5.140000, 5.180000, 5.470000, 5.330000, 5.350000, 5.400000, 5.450000, 6.300000, 6.390000, 6.410000, 6.550000, 6.650000, 6.740000, 6.840000, 6.950000, 5.140000, 5.150000, 6.990000, 6.850000, 6.740000, 6.640000, 6.540000, 6.430000, 5.380000, 5.300000, 5.230000, 5.160000, 5.110000, 5.050000, 3.140000, 3.100000, 3.080000, 3.050000, 3.040000, 3.010000, 2.990000, 2.970000, 2.950000, 2.930000, 2.900000, 2.680000, 2.680000, 2.670000, 2.630000, 2.590000, 2.640000, 2.800000, 2.910000, 2.900000, 2.880000, 2.870000, 2.850000, 2.840000, 2.840000, 2.830000, 2.830000, 2.810000, 2.810000, 2.810000, 2.800000, 2.860000, 3.270000, 5.030000, 5.030000, 5.030000, 5.040000, 5.040000, 5.050000, 5.060000, 5.060000, 5.080000, 5.080000, 5.100000, 5.120000, 5.140000, 5.160000, 5.180000, 5.200000, 5.230000, 5.240000, 5.270000, 5.010000, 4.770000, 4.560000, 4.370000, 4.190000, 4.030000, 3.880000, 3.740000, 3.630000, 3.510000, 3.400000, 3.300000, 3.210000, 3.110000, 3.040000, 2.960000, 2.880000, 2.810000, 2.740000, 2.680000, 2.620000, 2.560000, 2.510000, 2.480000, 2.430000, 2.380000, 2.350000, 2.340000, 2.390000, 2.430000, 2.470000, 2.520000, 5.110000, 8.180000, 4.730000, 8.490000, 6.950000, 3.530000, 3.460000, 3.390000, 3.330000, 3.310000, 3.330000, 3.480000, 3.600000, 3.730000, 3.870000, 4.010000, 4.180000, 4.350000, 4.540000, 4.760000, 4.990000, 5.260000, 5.550000, 1.640000, 1.650000, 1.640000, 1.630000, 1.620000, 1.610000, 1.600000, 1.600000, 1.600000, 1.590000, 1.590000, 1.590000, 2.530000, 2.530000, 3.520000, 4.340000, 4.340000, 4.340000, 4.340000, 4.340000, 4.350000, 4.350000, 4.360000, 4.370000, 4.380000 ], "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": [ 976054904, 773453 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.790999, 19.133001, 2.366027 ], "estimate": [ -12.790999, 19.133001, 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": [ 1.550000, 1.510000, 1.540000, 1.570000, 1.570000, 1.580000, 1.580000, 1.590000, 1.600000, 1.610000, 2.960000, 2.970000, 3.000000, 4.400000, 5.570000, 5.320000, 5.110000, 5.050000, 5.090000, 5.140000, 5.180000, 5.420000, 5.310000, 5.340000, 5.390000, 5.450000, 6.290000, 6.370000, 6.410000, 6.540000, 6.630000, 6.720000, 6.820000, 6.920000, 5.100000, 5.120000, 7.000000, 6.820000, 6.700000, 6.590000, 6.490000, 6.400000, 5.330000, 5.250000, 5.190000, 5.110000, 5.060000, 5.010000, 3.080000, 3.040000, 3.020000, 3.000000, 2.970000, 2.960000, 2.940000, 2.910000, 2.890000, 2.880000, 2.660000, 2.630000, 2.610000, 2.600000, 2.580000, 2.530000, 2.620000, 2.770000, 2.860000, 2.840000, 2.820000, 2.800000, 2.800000, 2.790000, 2.780000, 2.770000, 2.760000, 2.760000, 2.760000, 2.750000, 2.750000, 2.790000, 2.900000, 4.960000, 4.960000, 4.980000, 4.980000, 4.980000, 4.990000, 4.990000, 5.000000, 5.010000, 5.020000, 5.030000, 5.050000, 5.060000, 5.080000, 5.100000, 5.120000, 5.160000, 5.180000, 5.210000, 5.100000, 4.830000, 4.600000, 4.410000, 4.240000, 4.080000, 3.920000, 3.780000, 3.640000, 3.540000, 3.420000, 3.320000, 3.230000, 3.130000, 3.050000, 2.970000, 2.890000, 2.810000, 2.760000, 2.700000, 2.630000, 2.570000, 2.520000, 2.480000, 2.430000, 2.390000, 2.340000, 2.310000, 2.270000, 2.320000, 2.370000, 2.410000, 2.480000, 5.050000, 8.200000, 8.310000, 5.070000, 8.720000, 3.490000, 3.430000, 3.350000, 3.290000, 3.280000, 3.270000, 3.410000, 3.540000, 3.660000, 3.800000, 3.960000, 4.120000, 4.310000, 4.500000, 4.710000, 4.970000, 5.230000, 5.540000, 5.890000, 1.620000, 1.620000, 1.620000, 1.610000, 1.600000, 1.600000, 1.590000, 1.590000, 1.580000, 1.580000, 1.580000, 1.570000, 1.740000, 2.590000, 4.330000, 4.330000, 4.330000, 4.330000, 4.340000, 4.340000, 4.350000, 4.360000, 4.360000 ], "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": [ 976054904, 933135 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.832000, 19.173000, 2.353736 ], "estimate": [ -12.832000, 19.173000, 2.353736 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.510000, 1.550000, 1.560000, 1.570000, 1.570000, 1.580000, 1.580000, 1.600000, 2.920000, 2.950000, 2.950000, 2.970000, 4.280000, 5.570000, 5.620000, 5.260000, 5.030000, 5.050000, 5.080000, 5.120000, 5.170000, 5.340000, 5.290000, 5.330000, 5.380000, 5.430000, 6.280000, 6.340000, 6.400000, 6.510000, 6.610000, 6.700000, 6.790000, 6.900000, 5.070000, 5.090000, 6.900000, 6.770000, 6.660000, 6.560000, 6.460000, 6.350000, 5.280000, 5.200000, 5.140000, 5.060000, 5.010000, 3.040000, 3.020000, 3.000000, 2.970000, 2.950000, 2.930000, 2.890000, 2.880000, 2.850000, 2.840000, 2.830000, 2.600000, 2.590000, 2.570000, 2.540000, 2.510000, 2.490000, 2.610000, 2.740000, 2.800000, 2.780000, 2.760000, 2.760000, 2.750000, 2.740000, 2.730000, 2.720000, 2.710000, 2.700000, 2.700000, 2.690000, 2.680000, 2.710000, 2.770000, 4.920000, 4.920000, 4.920000, 4.920000, 4.930000, 4.930000, 4.940000, 4.950000, 4.960000, 4.960000, 4.980000, 4.980000, 5.000000, 5.020000, 5.040000, 5.060000, 5.080000, 5.110000, 5.140000, 5.160000, 4.880000, 4.660000, 4.430000, 4.270000, 4.110000, 3.950000, 3.800000, 3.660000, 3.550000, 3.430000, 3.330000, 3.240000, 3.130000, 3.050000, 2.980000, 2.890000, 2.820000, 2.760000, 2.700000, 2.630000, 2.570000, 2.520000, 2.480000, 2.430000, 2.390000, 2.350000, 2.310000, 2.260000, 2.240000, 2.270000, 2.320000, 2.360000, 2.430000, 5.040000, 4.600000, 8.350000, 5.020000, 8.780000, 3.450000, 3.400000, 3.310000, 3.270000, 3.250000, 3.240000, 3.380000, 3.490000, 3.620000, 3.770000, 3.930000, 4.100000, 4.290000, 4.490000, 4.710000, 4.960000, 5.250000, 5.580000, 5.950000, 6.340000, 1.600000, 1.600000, 1.600000, 1.600000, 1.590000, 1.580000, 1.570000, 1.570000, 1.560000, 1.560000, 1.570000, 1.570000, 1.610000, 4.320000, 4.330000, 4.330000, 4.330000, 4.330000, 4.340000, 4.350000, 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": [ 976054906, 441941 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.870999, 19.212000, 2.347591 ], "estimate": [ -12.870999, 19.212000, 2.347591 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.570000, 1.570000, 1.590000, 1.590000, 1.760000, 2.910000, 2.920000, 2.950000, 2.960000, 3.100000, 4.270000, 5.560000, 4.230000, 5.210000, 5.020000, 5.030000, 5.080000, 5.110000, 5.160000, 5.290000, 5.270000, 5.320000, 5.370000, 5.410000, 6.250000, 6.320000, 6.380000, 6.490000, 6.570000, 6.670000, 6.750000, 6.860000, 5.050000, 5.090000, 6.860000, 6.750000, 6.650000, 6.520000, 6.420000, 6.320000, 5.240000, 5.170000, 5.100000, 5.010000, 4.970000, 3.000000, 2.970000, 2.940000, 2.910000, 2.890000, 2.880000, 2.850000, 2.830000, 2.810000, 2.800000, 2.780000, 2.540000, 2.530000, 2.500000, 2.490000, 2.470000, 2.430000, 2.560000, 2.700000, 2.750000, 2.730000, 2.710000, 2.700000, 2.690000, 2.670000, 2.670000, 2.660000, 2.660000, 2.650000, 2.650000, 2.640000, 2.630000, 2.640000, 2.700000, 3.880000, 4.850000, 4.850000, 4.860000, 4.860000, 4.860000, 4.870000, 4.880000, 4.890000, 4.900000, 4.920000, 4.930000, 4.950000, 4.950000, 4.980000, 4.980000, 5.010000, 5.030000, 5.070000, 5.080000, 4.970000, 4.740000, 4.510000, 4.330000, 4.150000, 4.000000, 3.850000, 3.710000, 3.580000, 3.470000, 3.370000, 3.260000, 3.160000, 3.080000, 3.000000, 2.920000, 2.850000, 2.780000, 2.720000, 2.650000, 2.590000, 2.530000, 2.490000, 2.450000, 2.400000, 2.350000, 2.320000, 2.270000, 2.230000, 2.210000, 2.220000, 2.250000, 2.310000, 2.350000, 2.400000, 4.560000, 8.360000, 8.580000, 8.810000, 3.430000, 3.380000, 3.360000, 3.250000, 3.220000, 3.200000, 3.310000, 3.440000, 3.560000, 3.710000, 3.860000, 4.040000, 4.230000, 4.440000, 4.670000, 4.920000, 5.210000, 5.540000, 5.940000, 6.360000, 6.870000, 7.460000, 1.570000, 1.590000, 1.580000, 1.570000, 1.560000, 1.550000, 1.550000, 1.550000, 1.560000, 1.560000, 1.560000, 1.560000, 4.320000, 4.330000, 4.330000, 4.330000, 4.330000, 4.340000 ], "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": [ 976054906, 503260 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.910999, 19.253000, 2.341445 ], "estimate": [ -12.910999, 19.253000, 2.341445 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.570000, 1.570000, 1.590000, 2.890000, 2.890000, 2.910000, 2.920000, 2.950000, 2.960000, 4.160000, 5.530000, 5.560000, 5.560000, 5.180000, 5.010000, 5.030000, 5.050000, 5.090000, 5.150000, 5.250000, 5.240000, 5.290000, 5.340000, 5.390000, 6.220000, 6.300000, 6.370000, 6.450000, 6.540000, 6.630000, 6.720000, 6.820000, 5.020000, 5.060000, 6.850000, 6.720000, 6.620000, 6.510000, 6.400000, 6.310000, 5.210000, 5.140000, 5.060000, 4.990000, 4.930000, 2.960000, 2.940000, 2.900000, 2.880000, 2.850000, 2.820000, 2.810000, 2.780000, 2.760000, 2.740000, 2.680000, 2.500000, 2.480000, 2.460000, 2.450000, 2.420000, 2.390000, 2.520000, 2.660000, 2.700000, 2.680000, 2.660000, 2.660000, 2.650000, 2.630000, 2.630000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.580000, 2.580000, 2.650000, 3.180000, 4.810000, 4.810000, 4.810000, 4.810000, 4.820000, 4.820000, 4.820000, 4.830000, 4.840000, 4.860000, 4.870000, 4.890000, 4.900000, 4.920000, 4.940000, 4.950000, 4.980000, 4.990000, 5.020000, 5.050000, 4.820000, 4.590000, 4.380000, 4.210000, 4.050000, 3.890000, 3.770000, 3.630000, 3.510000, 3.400000, 3.300000, 3.190000, 3.100000, 3.010000, 2.950000, 2.870000, 2.800000, 2.730000, 2.660000, 2.610000, 2.550000, 2.490000, 2.450000, 2.410000, 2.360000, 2.330000, 2.280000, 2.240000, 2.210000, 2.170000, 2.140000, 2.220000, 2.250000, 2.300000, 2.350000, 4.530000, 8.380000, 6.760000, 8.830000, 3.390000, 3.330000, 3.320000, 3.230000, 3.190000, 3.170000, 3.240000, 3.380000, 3.520000, 3.660000, 3.820000, 4.000000, 4.190000, 4.400000, 4.640000, 4.900000, 5.220000, 5.550000, 5.940000, 6.390000, 6.920000, 7.560000, 8.700000, 1.560000, 1.560000, 1.560000, 1.550000, 1.550000, 1.550000, 1.550000, 1.560000, 1.550000, 1.560000, 1.550000, 1.550000, 1.620000, 4.330000, 4.330000, 4.330000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054906, 504354 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.954000, 19.296999, 2.329154 ], "estimate": [ -12.954000, 19.296999, 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": [ 1.550000, 1.570000, 1.570000, 2.860000, 2.880000, 2.890000, 2.900000, 2.920000, 2.930000, 2.950000, 4.180000, 4.160000, 5.520000, 4.170000, 5.310000, 5.040000, 4.990000, 5.020000, 5.070000, 5.100000, 5.370000, 5.230000, 5.260000, 5.300000, 5.330000, 6.090000, 6.220000, 6.290000, 6.360000, 6.440000, 6.530000, 6.620000, 6.710000, 6.810000, 4.970000, 5.040000, 6.790000, 6.630000, 6.550000, 6.440000, 6.330000, 5.520000, 5.140000, 5.080000, 5.000000, 4.930000, 2.920000, 2.900000, 2.860000, 2.840000, 2.820000, 2.790000, 2.770000, 2.740000, 2.720000, 2.710000, 2.670000, 2.460000, 2.440000, 2.420000, 2.400000, 2.370000, 2.330000, 2.410000, 2.520000, 2.650000, 2.640000, 2.620000, 2.610000, 2.600000, 2.590000, 2.570000, 2.560000, 2.550000, 2.540000, 2.530000, 2.530000, 2.530000, 2.520000, 2.530000, 2.580000, 3.120000, 4.740000, 4.740000, 4.740000, 4.740000, 4.750000, 4.750000, 4.760000, 4.780000, 4.790000, 4.800000, 4.810000, 4.820000, 4.830000, 4.850000, 4.870000, 4.890000, 4.920000, 4.930000, 4.950000, 4.980000, 4.850000, 4.610000, 4.410000, 4.230000, 4.060000, 3.920000, 3.770000, 3.640000, 3.520000, 3.400000, 3.300000, 3.200000, 3.110000, 3.020000, 2.950000, 2.870000, 2.800000, 2.730000, 2.660000, 2.610000, 2.550000, 2.490000, 2.450000, 2.410000, 2.360000, 2.330000, 2.280000, 2.230000, 2.210000, 2.160000, 2.140000, 2.110000, 2.150000, 2.200000, 2.250000, 2.320000, 4.520000, 6.750000, 4.920000, 5.100000, 3.360000, 3.310000, 3.290000, 3.180000, 3.160000, 3.140000, 3.140000, 3.340000, 3.480000, 3.630000, 3.800000, 3.980000, 4.190000, 4.410000, 4.650000, 4.940000, 5.250000, 5.620000, 6.050000, 6.530000, 7.110000, 7.770000, 8.700000, 16.580000, 1.560000, 1.550000, 1.540000, 1.540000, 1.540000, 1.550000, 1.550000, 1.550000, 1.550000, 1.550000, 1.540000, 1.540000, 1.540000, 4.330000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054906, 505306 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.995000, 19.340000, 2.323009 ], "estimate": [ -12.995000, 19.340000, 2.323009 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.540000, 1.690000, 2.840000, 2.870000, 2.870000, 2.890000, 2.910000, 2.920000, 2.930000, 4.150000, 4.150000, 4.340000, 4.220000, 4.220000, 5.250000, 4.960000, 4.990000, 5.020000, 5.060000, 5.090000, 5.320000, 5.210000, 5.230000, 5.280000, 5.320000, 6.130000, 6.210000, 6.270000, 6.340000, 6.420000, 6.500000, 6.600000, 6.680000, 6.780000, 5.000000, 6.890000, 6.760000, 6.590000, 6.530000, 6.410000, 6.300000, 5.380000, 5.100000, 5.050000, 4.950000, 4.890000, 2.870000, 2.840000, 2.810000, 2.800000, 2.760000, 2.740000, 2.720000, 2.690000, 2.670000, 2.650000, 2.620000, 2.400000, 2.390000, 2.360000, 2.350000, 2.320000, 2.310000, 2.380000, 2.500000, 2.620000, 2.580000, 2.570000, 2.560000, 2.540000, 2.530000, 2.520000, 2.520000, 2.510000, 2.500000, 2.490000, 2.490000, 2.480000, 2.480000, 2.480000, 2.530000, 2.860000, 4.690000, 4.680000, 4.680000, 4.680000, 4.690000, 4.700000, 4.700000, 4.720000, 4.730000, 4.730000, 4.740000, 4.750000, 4.780000, 4.790000, 4.810000, 4.820000, 4.850000, 4.870000, 4.880000, 4.910000, 4.940000, 4.680000, 4.450000, 4.270000, 4.120000, 3.960000, 3.800000, 3.670000, 3.540000, 3.420000, 3.320000, 3.230000, 3.130000, 3.040000, 2.960000, 2.880000, 2.810000, 2.740000, 2.680000, 2.620000, 2.560000, 2.500000, 2.460000, 2.420000, 2.370000, 2.330000, 2.290000, 2.240000, 2.210000, 2.170000, 2.140000, 2.110000, 2.070000, 2.090000, 2.140000, 2.200000, 2.230000, 2.290000, 4.870000, 4.900000, 6.270000, 3.350000, 3.280000, 3.260000, 3.170000, 3.120000, 3.120000, 3.110000, 3.290000, 3.430000, 3.590000, 3.760000, 3.930000, 4.150000, 4.360000, 4.630000, 4.920000, 5.250000, 5.640000, 6.090000, 6.610000, 7.240000, 8.670000, 8.690000, null, 22.320000, 22.370000, 1.540000, 1.530000, 1.540000, 1.550000, 1.540000, 1.540000, 1.540000, 1.540000, 1.540000, 1.530000, 1.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054906, 506237 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.033001, 19.379999, 2.316863 ], "estimate": [ -13.033001, 19.379999, 2.316863 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.840000, 2.830000, 2.850000, 2.880000, 2.890000, 2.900000, 2.910000, 2.920000, 2.940000, 4.190000, 4.160000, 4.140000, 4.190000, 5.380000, 5.120000, 4.960000, 4.990000, 5.030000, 5.060000, 5.150000, 5.190000, 5.200000, 5.230000, 5.270000, 5.310000, 6.130000, 6.190000, 6.260000, 6.340000, 6.410000, 6.490000, 6.590000, 6.690000, 6.770000, 4.970000, 6.820000, 6.690000, 6.510000, 6.460000, 6.340000, 6.230000, 5.120000, 5.040000, 4.980000, 4.900000, 2.840000, 2.820000, 2.790000, 2.760000, 2.730000, 2.700000, 2.680000, 2.660000, 2.630000, 2.610000, 2.590000, 2.360000, 2.350000, 2.330000, 2.310000, 2.290000, 2.230000, 2.260000, 2.380000, 2.490000, 2.540000, 2.530000, 2.520000, 2.500000, 2.490000, 2.480000, 2.470000, 2.460000, 2.450000, 2.440000, 2.430000, 2.430000, 2.420000, 2.420000, 2.420000, 2.480000, 2.890000, 4.630000, 4.630000, 4.630000, 4.630000, 4.630000, 4.640000, 4.650000, 4.650000, 4.660000, 4.670000, 4.680000, 4.700000, 4.710000, 4.730000, 4.740000, 4.770000, 4.790000, 4.810000, 4.820000, 4.850000, 4.880000, 4.700000, 4.480000, 4.280000, 4.120000, 3.960000, 3.810000, 3.670000, 3.540000, 3.430000, 3.320000, 3.230000, 3.130000, 3.040000, 2.970000, 2.880000, 2.810000, 2.740000, 2.670000, 2.620000, 2.560000, 2.500000, 2.450000, 2.420000, 2.370000, 2.330000, 2.280000, 2.240000, 2.210000, 2.160000, 2.140000, 2.110000, 2.080000, 2.050000, 2.020000, 2.090000, 2.130000, 2.200000, 2.230000, 6.690000, 8.820000, 5.020000, 3.310000, 3.260000, 3.230000, 3.150000, 3.100000, 3.090000, 3.090000, 3.250000, 3.390000, 3.560000, 3.730000, 3.920000, 4.150000, 4.370000, 4.640000, 4.950000, 5.320000, 5.720000, 6.210000, 6.800000, 7.500000, 8.650000, 16.570000, 22.320000, 22.310000, 23.140000, 18.610000, 1.540000, 1.530000, 1.540000, 1.540000, 1.530000, 1.530000, 1.530000, 1.530000, 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": [ 976054906, 507179 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.070000, 19.420000, 2.304572 ], "estimate": [ -13.070000, 19.420000, 2.304572 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.850000, 2.830000, 2.850000, 2.880000, 2.890000, 2.900000, 2.920000, 2.930000, 4.170000, 4.130000, 4.220000, 4.110000, 4.190000, 5.330000, 5.080000, 4.940000, 4.980000, 5.010000, 5.050000, 5.410000, 5.160000, 5.180000, 5.220000, 5.260000, 5.310000, 6.110000, 6.200000, 6.250000, 6.320000, 6.400000, 6.480000, 6.570000, 6.650000, 6.750000, 4.940000, 6.790000, 6.670000, 6.500000, 6.420000, 6.320000, 6.210000, 5.070000, 5.020000, 4.920000, 4.860000, 2.800000, 2.760000, 2.730000, 2.720000, 2.680000, 2.670000, 2.630000, 2.610000, 2.590000, 2.570000, 2.550000, 2.320000, 2.300000, 2.290000, 2.260000, 2.240000, 2.190000, 2.250000, 2.360000, 2.470000, 2.510000, 2.490000, 2.470000, 2.460000, 2.440000, 2.440000, 2.420000, 2.410000, 2.400000, 2.390000, 2.380000, 2.380000, 2.370000, 2.370000, 2.370000, 2.430000, 2.660000, 4.020000, 4.590000, 4.590000, 4.590000, 4.590000, 4.600000, 4.600000, 4.600000, 4.610000, 4.620000, 4.630000, 4.650000, 4.660000, 4.670000, 4.690000, 4.710000, 4.730000, 4.740000, 4.780000, 4.800000, 4.810000, 4.760000, 4.530000, 4.330000, 4.140000, 3.990000, 3.850000, 3.710000, 3.580000, 3.460000, 3.350000, 3.250000, 3.150000, 3.060000, 2.970000, 2.900000, 2.820000, 2.750000, 2.690000, 2.630000, 2.570000, 2.510000, 2.460000, 2.420000, 2.370000, 2.330000, 2.290000, 2.240000, 2.210000, 2.170000, 2.140000, 2.110000, 2.080000, 2.050000, 2.020000, 2.000000, 2.050000, 2.100000, 2.140000, 2.210000, 4.810000, 6.200000, 9.180000, 3.260000, 3.230000, 3.200000, 3.120000, 3.070000, 3.060000, 3.060000, 3.230000, 3.380000, 3.540000, 3.720000, 3.920000, 4.170000, 4.390000, 4.680000, 5.020000, 5.400000, 5.860000, 6.380000, 7.010000, 7.780000, 8.650000, 16.550000, 22.310000, 23.110000, 22.980000, 18.590000, 18.560000, 1.530000, 1.530000, 1.530000, 1.530000, 1.520000, 1.520000, 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": [ 976054906, 508100 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.109000, 19.463001, 2.298427 ], "estimate": [ -13.109000, 19.463001, 2.298427 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.850000, 2.840000, 2.850000, 2.870000, 2.890000, 2.900000, 2.900000, 4.200000, 4.120000, 4.210000, 5.440000, 5.480000, 4.180000, 5.300000, 5.010000, 4.940000, 4.970000, 5.000000, 5.040000, 5.360000, 5.150000, 5.170000, 5.210000, 5.240000, 5.290000, 6.090000, 6.160000, 6.220000, 6.290000, 6.370000, 6.450000, 6.540000, 6.610000, 4.860000, 4.900000, 6.770000, 6.660000, 6.460000, 6.410000, 6.300000, 6.180000, 5.030000, 4.970000, 4.880000, 4.820000, 2.750000, 2.720000, 2.690000, 2.660000, 2.630000, 2.610000, 2.600000, 2.560000, 2.540000, 2.520000, 2.370000, 2.260000, 2.250000, 2.230000, 2.210000, 2.200000, 2.170000, 2.230000, 2.330000, 2.420000, 2.450000, 2.430000, 2.420000, 2.400000, 2.390000, 2.380000, 2.370000, 2.360000, 2.350000, 2.350000, 2.340000, 2.330000, 2.320000, 2.320000, 2.320000, 2.360000, 2.400000, 3.190000, 4.530000, 4.530000, 4.540000, 4.530000, 4.540000, 4.540000, 4.550000, 4.560000, 4.560000, 4.570000, 4.580000, 4.590000, 4.600000, 4.620000, 4.640000, 4.660000, 4.680000, 4.700000, 4.730000, 4.750000, 4.790000, 4.630000, 4.410000, 4.230000, 4.060000, 3.910000, 3.760000, 3.630000, 3.500000, 3.390000, 3.270000, 3.190000, 3.090000, 3.000000, 2.930000, 2.850000, 2.780000, 2.710000, 2.640000, 2.580000, 2.530000, 2.480000, 2.420000, 2.380000, 2.340000, 2.310000, 2.250000, 2.220000, 2.180000, 2.140000, 2.120000, 2.080000, 2.070000, 2.030000, 2.000000, 1.970000, 1.970000, 2.030000, 2.080000, 2.120000, 2.170000, 6.140000, 9.220000, 3.250000, 3.210000, 3.150000, 3.070000, 3.050000, 3.040000, 3.030000, 3.150000, 3.290000, 3.450000, 3.640000, 3.860000, 4.080000, 4.330000, 4.630000, 4.970000, 5.370000, 5.830000, 6.380000, 7.040000, 7.850000, 8.700000, null, 22.290000, 23.120000, 21.770000, 18.560000, 15.780000, 9.890000, 1.750000, 1.520000, 1.520000, 1.520000, 1.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054906, 509013 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.150000, 19.509001, 2.292281 ], "estimate": [ -13.150000, 19.509001, 2.292281 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.860000, 2.840000, 2.850000, 2.880000, 2.900000, 2.900000, 2.920000, 4.130000, 4.140000, 4.160000, 5.450000, 4.150000, 5.470000, 5.200000, 4.920000, 4.940000, 4.970000, 5.000000, 5.040000, 5.270000, 5.130000, 5.160000, 5.200000, 5.220000, 5.820000, 6.080000, 6.160000, 6.210000, 6.280000, 6.360000, 6.430000, 6.520000, 6.610000, 4.840000, 4.880000, 6.730000, 6.600000, 6.430000, 6.360000, 6.240000, 6.130000, 5.000000, 4.920000, 4.840000, 2.730000, 2.700000, 2.670000, 2.630000, 2.610000, 2.590000, 2.560000, 2.540000, 2.500000, 2.490000, 2.470000, 2.240000, 2.210000, 2.190000, 2.180000, 2.160000, 2.120000, 2.130000, 2.210000, 2.310000, 2.410000, 2.390000, 2.370000, 2.360000, 2.350000, 2.340000, 2.330000, 2.320000, 2.310000, 2.300000, 2.290000, 2.280000, 2.270000, 2.270000, 2.260000, 2.250000, 2.310000, 2.340000, 2.970000, 4.490000, 4.480000, 4.480000, 4.490000, 4.490000, 4.490000, 4.490000, 4.500000, 4.510000, 4.510000, 4.520000, 4.530000, 4.550000, 4.570000, 4.580000, 4.600000, 4.620000, 4.640000, 4.660000, 4.690000, 4.720000, 4.670000, 4.430000, 4.240000, 4.080000, 3.930000, 3.780000, 3.640000, 3.530000, 3.400000, 3.290000, 3.200000, 3.100000, 3.010000, 2.940000, 2.860000, 2.780000, 2.720000, 2.650000, 2.590000, 2.530000, 2.480000, 2.430000, 2.390000, 2.340000, 2.310000, 2.250000, 2.220000, 2.180000, 2.150000, 2.120000, 2.090000, 2.060000, 2.030000, 2.000000, 1.970000, 1.950000, 1.930000, 1.970000, 2.020000, 2.090000, 2.130000, 4.930000, 5.020000, 3.240000, 3.190000, 3.110000, 3.150000, 3.040000, 3.010000, 3.010000, 3.060000, 3.260000, 3.440000, 3.620000, 3.840000, 4.080000, 4.350000, 4.650000, 5.010000, 5.440000, 5.960000, 6.550000, 7.300000, 8.620000, 16.540000, 22.270000, 23.080000, 22.930000, 18.570000, 18.550000, 15.770000, 9.860000, 3.020000, 1.790000, 1.510000, 1.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054906, 644121 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.188001, 19.552000, 2.286135 ], "estimate": [ -13.188001, 19.552000, 2.286135 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.860000, 2.840000, 2.860000, 2.880000, 2.890000, 4.610000, 4.180000, 4.110000, 4.190000, 4.190000, 4.200000, 4.120000, 5.340000, 5.040000, 4.910000, 4.940000, 4.970000, 5.000000, 5.410000, 5.120000, 5.120000, 5.170000, 5.200000, 5.230000, 6.020000, 6.080000, 6.150000, 6.210000, 6.270000, 6.350000, 6.440000, 6.520000, 4.800000, 4.820000, 6.780000, 6.660000, 6.530000, 6.380000, 6.280000, 6.170000, 5.230000, 4.930000, 4.840000, 2.690000, 2.660000, 2.630000, 2.590000, 2.580000, 2.530000, 2.510000, 2.490000, 2.470000, 2.440000, 2.420000, 2.180000, 2.180000, 2.150000, 2.130000, 2.110000, 2.080000, 2.050000, 2.120000, 2.220000, 2.310000, 2.350000, 2.340000, 2.320000, 2.300000, 2.290000, 2.270000, 2.260000, 2.250000, 2.240000, 2.240000, 2.230000, 2.220000, 2.210000, 2.210000, 2.200000, 2.200000, 2.250000, 2.290000, 2.940000, 4.430000, 4.420000, 4.420000, 4.420000, 4.420000, 4.430000, 4.430000, 4.440000, 4.450000, 4.460000, 4.470000, 4.480000, 4.480000, 4.500000, 4.510000, 4.540000, 4.560000, 4.580000, 4.600000, 4.620000, 4.650000, 4.670000, 4.450000, 4.260000, 4.070000, 3.940000, 3.780000, 3.650000, 3.520000, 3.400000, 3.290000, 3.200000, 3.100000, 3.020000, 2.940000, 2.870000, 2.790000, 2.730000, 2.650000, 2.590000, 2.530000, 2.480000, 2.430000, 2.380000, 2.340000, 2.300000, 2.250000, 2.220000, 2.180000, 2.140000, 2.110000, 2.090000, 2.060000, 2.030000, 2.000000, 1.970000, 1.950000, 1.920000, 1.890000, 1.890000, 1.960000, 2.020000, 2.060000, 2.120000, 4.970000, 3.200000, 3.160000, 3.080000, 3.120000, 3.020000, 2.990000, 2.980000, 2.980000, 3.220000, 3.400000, 3.610000, 3.820000, 4.090000, 4.360000, 4.690000, 5.090000, 5.560000, 6.120000, 6.810000, 7.630000, 8.610000, 22.270000, 22.310000, 21.980000, 18.560000, 18.550000, 15.770000, 9.880000, 7.060000, 3.220000, 2.380000, 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": [ 976054906, 980566 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.224000, 19.593000, 2.286135 ], "estimate": [ -13.224000, 19.593000, 2.286135 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.860000, 2.850000, 2.860000, 2.870000, 2.880000, 4.180000, 4.130000, 4.140000, 4.160000, 4.090000, 4.130000, 5.470000, 5.270000, 4.900000, 4.900000, 4.930000, 4.960000, 4.990000, 5.370000, 5.100000, 5.100000, 5.160000, 5.180000, 5.210000, 6.010000, 6.070000, 6.130000, 6.190000, 6.250000, 6.320000, 6.410000, 6.490000, 4.780000, 4.830000, 6.760000, 6.610000, 6.480000, 6.360000, 6.230000, 6.130000, 4.970000, 4.890000, 4.790000, 2.640000, 2.610000, 2.580000, 2.550000, 2.520000, 2.490000, 2.460000, 2.440000, 2.410000, 2.390000, 2.370000, 2.140000, 2.110000, 2.090000, 2.080000, 2.050000, 2.010000, 2.010000, 2.100000, 2.200000, 2.290000, 2.300000, 2.280000, 2.270000, 2.250000, 2.240000, 2.230000, 2.210000, 2.200000, 2.190000, 2.190000, 2.170000, 2.170000, 2.170000, 2.160000, 2.150000, 2.150000, 2.200000, 2.220000, 2.780000, 4.360000, 4.360000, 4.360000, 4.370000, 4.370000, 4.370000, 4.380000, 4.390000, 4.400000, 4.410000, 4.420000, 4.430000, 4.440000, 4.450000, 4.460000, 4.480000, 4.490000, 4.520000, 4.540000, 4.570000, 4.590000, 4.620000, 4.510000, 4.300000, 4.110000, 3.960000, 3.820000, 3.680000, 3.540000, 3.430000, 3.320000, 3.220000, 3.120000, 3.030000, 2.960000, 2.880000, 2.810000, 2.730000, 2.660000, 2.600000, 2.540000, 2.490000, 2.440000, 2.400000, 2.350000, 2.310000, 2.270000, 2.220000, 2.190000, 2.150000, 2.110000, 2.090000, 2.060000, 2.030000, 2.000000, 1.970000, 1.950000, 1.930000, 1.890000, 1.890000, 1.850000, 1.900000, 1.950000, 2.020000, 2.080000, 4.980000, 3.180000, 3.140000, 3.060000, 3.100000, 2.990000, 2.960000, 2.960000, 2.960000, 3.190000, 3.380000, 3.570000, 3.800000, 4.070000, 4.360000, 4.740000, 5.160000, 5.660000, 6.270000, 7.040000, 8.590000, 16.530000, 22.270000, 23.110000, 21.990000, 18.550000, 15.930000, 15.770000, 9.900000, 9.870000, 3.450000, 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": [ 976054907, 438799 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.261000, 19.635000, 2.279990 ], "estimate": [ -13.261000, 19.635000, 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": [ 2.870000, 2.860000, 2.870000, 2.870000, 4.460000, 4.180000, 4.120000, 4.170000, 4.140000, 4.150000, 4.090000, 5.450000, 5.170000, 4.880000, 4.900000, 4.940000, 4.960000, 4.990000, 5.250000, 5.080000, 5.100000, 5.140000, 5.180000, 5.470000, 5.990000, 6.050000, 6.120000, 6.190000, 6.250000, 6.330000, 6.390000, 6.480000, 4.760000, 4.790000, 6.720000, 6.580000, 6.450000, 6.320000, 6.190000, 6.080000, 4.910000, 4.830000, 2.620000, 2.580000, 2.560000, 2.520000, 2.490000, 2.470000, 2.440000, 2.410000, 2.390000, 2.370000, 2.340000, 2.100000, 2.080000, 2.070000, 2.050000, 2.030000, 2.000000, 1.960000, 2.010000, 2.090000, 2.170000, 2.270000, 2.240000, 2.230000, 2.210000, 2.200000, 2.180000, 2.170000, 2.160000, 2.150000, 2.140000, 2.130000, 2.120000, 2.110000, 2.110000, 2.100000, 2.090000, 2.100000, 2.150000, 2.160000, 2.650000, 3.690000, 4.320000, 4.310000, 4.310000, 4.320000, 4.320000, 4.330000, 4.330000, 4.330000, 4.340000, 4.350000, 4.360000, 4.380000, 4.390000, 4.400000, 4.420000, 4.430000, 4.450000, 4.480000, 4.490000, 4.520000, 4.550000, 4.580000, 4.360000, 4.170000, 4.010000, 3.860000, 3.710000, 3.580000, 3.450000, 3.350000, 3.240000, 3.150000, 3.050000, 2.960000, 2.880000, 2.810000, 2.740000, 2.680000, 2.620000, 2.550000, 2.510000, 2.460000, 2.410000, 2.350000, 2.320000, 2.270000, 2.230000, 2.210000, 2.160000, 2.130000, 2.090000, 2.070000, 2.030000, 2.010000, 1.980000, 1.960000, 1.920000, 1.900000, 1.890000, 1.860000, 1.840000, 1.820000, 1.890000, 1.950000, 2.020000, 2.050000, 3.170000, 3.120000, 3.090000, 3.020000, 2.980000, 2.940000, 2.940000, 2.930000, 3.130000, 3.300000, 3.530000, 3.760000, 4.040000, 4.330000, 4.730000, 5.180000, 5.720000, 6.400000, 7.270000, 8.600000, 22.250000, 22.960000, 22.120000, 18.560000, 18.530000, 15.760000, 15.790000, 8.220000, 5.890000, 3.680000 ], "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": [ 976054907, 504279 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.301000, 19.681000, 2.286135 ], "estimate": [ -13.301000, 19.681000, 2.286135 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.870000, 2.870000, 2.860000, 4.420000, 4.190000, 4.150000, 4.100000, 4.100000, 4.060000, 4.130000, 5.440000, 5.340000, 5.010000, 4.870000, 4.880000, 4.930000, 4.950000, 5.350000, 5.060000, 5.070000, 5.090000, 5.140000, 5.160000, 5.930000, 6.000000, 6.050000, 6.110000, 6.180000, 6.240000, 6.320000, 6.390000, 4.730000, 4.730000, 6.640000, 6.660000, 6.510000, 6.300000, 6.250000, 6.130000, 6.010000, 4.840000, 2.580000, 2.560000, 2.530000, 2.480000, 2.470000, 2.430000, 2.410000, 2.380000, 2.350000, 2.330000, 2.310000, 2.080000, 2.040000, 2.020000, 1.990000, 1.980000, 1.960000, 1.920000, 1.930000, 2.000000, 2.090000, 2.170000, 2.210000, 2.190000, 2.170000, 2.160000, 2.140000, 2.130000, 2.120000, 2.100000, 2.100000, 2.080000, 2.080000, 2.080000, 2.070000, 2.060000, 2.050000, 2.050000, 2.050000, 2.090000, 2.120000, 2.600000, 3.550000, 4.260000, 4.260000, 4.270000, 4.260000, 4.270000, 4.270000, 4.280000, 4.290000, 4.300000, 4.310000, 4.310000, 4.330000, 4.340000, 4.350000, 4.360000, 4.380000, 4.400000, 4.420000, 4.440000, 4.470000, 4.490000, 4.520000, 4.360000, 4.170000, 4.010000, 3.850000, 3.710000, 3.570000, 3.460000, 3.350000, 3.240000, 3.130000, 3.050000, 2.960000, 2.880000, 2.810000, 2.740000, 2.670000, 2.610000, 2.550000, 2.500000, 2.450000, 2.400000, 2.350000, 2.320000, 2.270000, 2.220000, 2.190000, 2.160000, 2.130000, 2.090000, 2.070000, 2.030000, 2.000000, 1.970000, 1.950000, 1.920000, 1.900000, 1.880000, 1.850000, 1.830000, 1.810000, 1.770000, 1.840000, 1.890000, 1.960000, 2.010000, 3.130000, 3.090000, 3.020000, 3.010000, 2.950000, 2.920000, 2.920000, 2.910000, 3.120000, 3.300000, 3.520000, 3.790000, 4.090000, 4.430000, 4.830000, 5.350000, 5.980000, 6.780000, 7.660000, 22.250000, 22.240000, 23.070000, 18.560000, 18.550000, 15.760000, 15.770000, 9.890000, 7.050000, 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": [ 976054907, 505421 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.340000, 19.726000, 2.286135 ], "estimate": [ -13.340000, 19.726000, 2.286135 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.880000, 2.880000, 4.390000, 4.170000, 4.130000, 4.090000, 4.070000, 4.030000, 4.120000, 5.430000, 5.390000, 5.080000, 4.840000, 4.870000, 4.910000, 4.940000, 5.030000, 5.150000, 5.060000, 5.090000, 5.110000, 5.140000, 5.900000, 5.960000, 6.010000, 6.060000, 6.120000, 6.200000, 6.260000, 6.330000, 4.690000, 4.700000, 6.570000, 6.660000, 6.540000, 6.380000, 6.260000, 6.140000, 6.030000, 4.830000, 2.530000, 2.500000, 2.480000, 2.440000, 2.420000, 2.390000, 2.350000, 2.340000, 2.310000, 2.290000, 2.260000, 2.010000, 1.990000, 1.970000, 1.950000, 1.930000, 1.910000, 1.860000, 1.880000, 1.960000, 2.030000, 2.100000, 2.150000, 2.140000, 2.120000, 2.100000, 2.090000, 2.080000, 2.070000, 2.050000, 2.040000, 2.030000, 2.020000, 2.010000, 2.000000, 2.000000, 1.990000, 1.980000, 1.990000, 1.990000, 2.040000, 2.210000, 2.770000, 4.200000, 4.200000, 4.200000, 4.200000, 4.200000, 4.200000, 4.210000, 4.220000, 4.230000, 4.230000, 4.240000, 4.250000, 4.270000, 4.280000, 4.300000, 4.310000, 4.330000, 4.330000, 4.350000, 4.380000, 4.400000, 4.430000, 4.460000, 4.320000, 4.140000, 3.980000, 3.820000, 3.680000, 3.550000, 3.430000, 3.320000, 3.220000, 3.110000, 3.020000, 2.940000, 2.870000, 2.800000, 2.730000, 2.650000, 2.590000, 2.530000, 2.490000, 2.440000, 2.380000, 2.340000, 2.300000, 2.250000, 2.220000, 2.190000, 2.150000, 2.110000, 2.080000, 2.050000, 2.020000, 1.990000, 1.960000, 1.940000, 1.910000, 1.890000, 1.870000, 1.840000, 1.820000, 1.810000, 1.810000, 1.790000, 1.760000, 1.840000, 1.910000, 1.980000, 2.030000, 3.070000, 2.980000, 3.000000, 2.920000, 2.900000, 2.900000, 2.890000, 3.110000, 3.310000, 3.550000, 3.850000, 4.180000, 4.560000, 5.070000, 5.660000, 6.450000, 7.500000, 8.560000, 22.250000, 23.070000, 18.560000, 18.520000, 15.760000, 15.760000, 9.890000, 9.790000, 5.910000 ], "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": [ 976054907, 644476 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.378000, 19.770000, 2.279990 ], "estimate": [ -13.378000, 19.770000, 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": [ 2.920000, 4.430000, 4.190000, 4.140000, 4.140000, 4.070000, 4.060000, 4.110000, 5.420000, 5.430000, 5.180000, 4.850000, 4.860000, 4.900000, 4.920000, 4.940000, 5.310000, 5.030000, 5.060000, 5.080000, 5.100000, 5.160000, 5.910000, 5.960000, 6.020000, 6.070000, 6.130000, 6.220000, 6.280000, 6.330000, 4.660000, 4.700000, 6.580000, 6.580000, 6.430000, 6.240000, 6.170000, 6.050000, 5.100000, 2.500000, 2.480000, 2.440000, 2.410000, 2.370000, 2.350000, 2.330000, 2.300000, 2.270000, 2.240000, 2.210000, 1.980000, 1.940000, 1.920000, 1.900000, 1.890000, 1.860000, 1.810000, 1.840000, 1.910000, 1.970000, 2.050000, 2.120000, 2.090000, 2.080000, 2.060000, 2.050000, 2.030000, 2.020000, 2.000000, 2.000000, 1.980000, 1.970000, 1.970000, 1.960000, 1.950000, 1.940000, 1.940000, 1.930000, 1.930000, 1.980000, 2.000000, 2.290000, 2.890000, 4.150000, 4.150000, 4.150000, 4.140000, 4.150000, 4.150000, 4.160000, 4.170000, 4.170000, 4.180000, 4.190000, 4.200000, 4.210000, 4.230000, 4.240000, 4.250000, 4.280000, 4.300000, 4.310000, 4.330000, 4.340000, 4.370000, 4.400000, 4.280000, 4.110000, 3.950000, 3.790000, 3.650000, 3.520000, 3.410000, 3.290000, 3.190000, 3.100000, 3.010000, 2.920000, 2.850000, 2.780000, 2.710000, 2.630000, 2.580000, 2.530000, 2.480000, 2.420000, 2.370000, 2.330000, 2.280000, 2.230000, 2.210000, 2.170000, 2.130000, 2.100000, 2.070000, 2.040000, 2.010000, 1.980000, 1.950000, 1.930000, 1.900000, 1.890000, 1.860000, 1.840000, 1.830000, 1.810000, 1.800000, 1.780000, 1.750000, 1.750000, 1.790000, 1.860000, 1.930000, 1.970000, 3.030000, 2.970000, 2.990000, 2.910000, 2.880000, 2.880000, 2.880000, 3.120000, 3.360000, 3.620000, 3.930000, 4.300000, 4.770000, 5.350000, 6.070000, 7.060000, 8.560000, 22.230000, 23.060000, 18.560000, 18.530000, 15.890000, 15.750000, 9.870000, 8.220000, 9.780000 ], "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": [ 976054908, 156057 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.415999, 19.813000, 2.273844 ], "estimate": [ -13.415999, 19.813000, 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": [ 5.280000, 5.310000, 4.090000, 4.090000, 4.080000, 4.350000, 4.160000, 4.140000, 5.420000, 5.280000, 4.840000, 4.840000, 4.880000, 4.900000, 4.920000, 5.370000, 5.010000, 5.020000, 5.060000, 5.080000, 5.110000, 5.870000, 5.920000, 5.980000, 6.020000, 6.080000, 6.150000, 6.220000, 6.280000, 4.630000, 4.640000, 6.540000, 6.600000, 6.460000, 6.310000, 6.190000, 6.060000, 5.940000, 2.470000, 2.430000, 2.390000, 2.370000, 2.330000, 2.300000, 2.280000, 2.250000, 2.220000, 2.200000, 2.180000, 1.920000, 1.900000, 1.870000, 1.850000, 1.840000, 1.800000, 1.770000, 1.800000, 1.860000, 1.930000, 2.000000, 2.080000, 2.040000, 2.030000, 2.010000, 1.990000, 1.980000, 1.970000, 1.960000, 1.940000, 1.930000, 1.920000, 1.910000, 1.900000, 1.900000, 1.900000, 1.890000, 1.880000, 1.880000, 1.890000, 1.930000, 1.990000, 2.450000, 3.110000, 4.080000, 4.080000, 4.090000, 4.080000, 4.090000, 4.090000, 4.090000, 4.100000, 4.110000, 4.120000, 4.130000, 4.140000, 4.150000, 4.170000, 4.180000, 4.190000, 4.210000, 4.230000, 4.250000, 4.280000, 4.290000, 4.320000, 4.340000, 4.260000, 4.080000, 3.910000, 3.770000, 3.630000, 3.500000, 3.390000, 3.270000, 3.170000, 3.080000, 2.980000, 2.900000, 2.830000, 2.750000, 2.690000, 2.630000, 2.560000, 2.510000, 2.460000, 2.410000, 2.350000, 2.320000, 2.260000, 2.220000, 2.200000, 2.160000, 2.120000, 2.080000, 2.060000, 2.030000, 1.990000, 1.960000, 1.940000, 1.920000, 1.890000, 1.870000, 1.850000, 1.820000, 1.810000, 1.810000, 1.790000, 1.760000, 1.750000, 1.730000, 1.720000, 1.700000, 1.790000, 1.870000, 1.920000, 3.000000, 2.920000, 2.970000, 2.880000, 2.860000, 2.850000, 2.850000, 3.120000, 3.360000, 3.670000, 4.020000, 4.430000, 5.000000, 5.680000, 6.620000, 7.650000, 22.200000, 23.050000, 22.900000, 18.520000, 18.510000, 15.730000, 15.800000, 9.780000, 7.050000 ], "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": [ 976054908, 157253 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.452000, 19.855000, 2.267699 ], "estimate": [ -13.452000, 19.855000, 2.267699 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.650000, 4.100000, 4.080000, 4.070000, 4.180000, 4.220000, 4.090000, 5.410000, 5.350000, 4.850000, 4.830000, 4.860000, 4.890000, 4.900000, 5.470000, 5.020000, 5.010000, 5.040000, 5.070000, 5.090000, 5.840000, 5.890000, 5.930000, 5.990000, 6.050000, 6.110000, 6.180000, 6.230000, 4.620000, 4.610000, 6.500000, 6.550000, 6.510000, 6.370000, 6.180000, 6.080000, 5.980000, 2.430000, 2.400000, 2.360000, 2.340000, 2.290000, 2.270000, 2.240000, 2.210000, 2.180000, 2.170000, 2.080000, 1.890000, 1.860000, 1.840000, 1.810000, 1.790000, 1.770000, 1.730000, 1.770000, 1.830000, 1.890000, 1.950000, 2.030000, 2.000000, 1.980000, 1.970000, 1.950000, 1.940000, 1.920000, 1.910000, 1.900000, 1.890000, 1.880000, 1.870000, 1.860000, 1.850000, 1.840000, 1.840000, 1.830000, 1.830000, 1.830000, 1.880000, 1.900000, 2.120000, 2.600000, 3.550000, 4.050000, 4.050000, 4.050000, 4.050000, 4.050000, 4.050000, 4.050000, 4.050000, 4.060000, 4.070000, 4.070000, 4.090000, 4.100000, 4.120000, 4.130000, 4.150000, 4.170000, 4.180000, 4.200000, 4.230000, 4.250000, 4.270000, 4.300000, 4.210000, 4.030000, 3.870000, 3.720000, 3.590000, 3.460000, 3.350000, 3.240000, 3.130000, 3.050000, 2.960000, 2.870000, 2.810000, 2.730000, 2.660000, 2.600000, 2.540000, 2.500000, 2.440000, 2.390000, 2.340000, 2.300000, 2.250000, 2.210000, 2.170000, 2.150000, 2.110000, 2.080000, 2.040000, 2.010000, 1.980000, 1.960000, 1.940000, 1.900000, 1.890000, 1.860000, 1.840000, 1.820000, 1.810000, 1.790000, 1.780000, 1.750000, 1.740000, 1.730000, 1.710000, 1.700000, 1.680000, 1.760000, 1.830000, 1.900000, 2.960000, 2.920000, 2.930000, 2.870000, 2.840000, 2.840000, 2.840000, 3.160000, 3.460000, 3.790000, 4.190000, 4.740000, 5.410000, 6.340000, 7.560000, 22.190000, 23.050000, 18.520000, 18.510000, 15.970000, 15.730000, 15.800000, 9.760000, 8.220000 ], "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": [ 976054908, 273190 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.490000, 19.900000, 2.267699 ], "estimate": [ -13.490000, 19.900000, 2.267699 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.080000, 4.080000, 4.110000, 5.360000, 4.080000, 4.100000, 5.390000, 5.390000, 4.830000, 4.830000, 4.830000, 4.880000, 4.880000, 5.240000, 5.070000, 5.000000, 5.010000, 5.050000, 5.070000, 5.810000, 5.860000, 5.910000, 5.960000, 6.020000, 6.060000, 6.140000, 6.190000, 4.580000, 4.580000, 6.460000, 6.480000, 6.510000, 6.370000, 6.200000, 6.080000, 2.390000, 2.370000, 2.340000, 2.310000, 2.280000, 2.250000, 2.210000, 2.180000, 2.170000, 2.140000, 2.110000, 1.840000, 1.820000, 1.800000, 1.780000, 1.750000, 1.720000, 1.690000, 1.690000, 1.750000, 1.790000, 1.860000, 1.910000, 1.980000, 1.950000, 1.930000, 1.910000, 1.900000, 1.890000, 1.870000, 1.860000, 1.840000, 1.830000, 1.830000, 1.820000, 1.810000, 1.800000, 1.800000, 1.790000, 1.780000, 1.770000, 1.770000, 1.790000, 1.830000, 1.940000, 2.340000, 2.890000, 3.990000, 3.990000, 3.980000, 3.990000, 3.980000, 3.990000, 4.000000, 4.000000, 4.000000, 4.010000, 4.020000, 4.030000, 4.030000, 4.050000, 4.060000, 4.070000, 4.090000, 4.100000, 4.130000, 4.150000, 4.170000, 4.190000, 4.220000, 4.240000, 4.130000, 3.970000, 3.810000, 3.660000, 3.540000, 3.420000, 3.310000, 3.200000, 3.100000, 3.010000, 2.920000, 2.840000, 2.770000, 2.700000, 2.630000, 2.570000, 2.510000, 2.470000, 2.420000, 2.360000, 2.330000, 2.270000, 2.220000, 2.190000, 2.150000, 2.120000, 2.090000, 2.060000, 2.030000, 1.990000, 1.960000, 1.940000, 1.910000, 1.890000, 1.870000, 1.840000, 1.820000, 1.810000, 1.800000, 1.780000, 1.760000, 1.740000, 1.730000, 1.720000, 1.700000, 1.690000, 1.670000, 1.660000, 1.690000, 1.780000, 1.880000, 1.960000, 2.880000, 2.860000, 2.820000, 2.820000, 2.820000, 2.870000, 3.240000, 3.570000, 3.980000, 4.470000, 5.160000, 6.060000, 7.390000, 22.210000, 21.900000, 18.530000, 18.500000, 15.890000, 15.720000, 15.800000, 9.830000, 9.870000 ], "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": [ 976054908, 762747 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.526999, 19.944000, 2.261553 ], "estimate": [ -13.526999, 19.944000, 2.261553 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.140000, 4.060000, 4.030000, 4.090000, 5.370000, 5.380000, 5.370000, 4.810000, 4.810000, 4.830000, 4.860000, 4.880000, 5.130000, 5.220000, 4.980000, 4.990000, 5.030000, 5.060000, 5.460000, 5.830000, 5.880000, 5.940000, 5.990000, 6.050000, 6.090000, 6.160000, 6.220000, 4.600000, 4.600000, 6.440000, 6.510000, 6.380000, 6.230000, 6.090000, 2.370000, 2.340000, 2.310000, 2.270000, 2.230000, 2.200000, 2.180000, 2.140000, 2.110000, 2.080000, 1.940000, 1.800000, 1.770000, 1.740000, 1.730000, 1.700000, 1.680000, 1.650000, 1.680000, 1.720000, 1.770000, 1.820000, 1.890000, 1.920000, 1.900000, 1.890000, 1.870000, 1.850000, 1.830000, 1.820000, 1.810000, 1.800000, 1.790000, 1.780000, 1.770000, 1.760000, 1.750000, 1.740000, 1.730000, 1.730000, 1.730000, 1.730000, 1.720000, 1.780000, 1.800000, 2.100000, 2.540000, 3.410000, 3.930000, 3.920000, 3.930000, 3.920000, 3.930000, 3.930000, 3.940000, 3.940000, 3.950000, 3.960000, 3.960000, 3.970000, 3.980000, 3.990000, 4.010000, 4.020000, 4.040000, 4.060000, 4.070000, 4.090000, 4.120000, 4.150000, 4.170000, 4.200000, 4.070000, 3.900000, 3.750000, 3.620000, 3.480000, 3.370000, 3.260000, 3.150000, 3.070000, 2.970000, 2.880000, 2.800000, 2.740000, 2.670000, 2.600000, 2.540000, 2.490000, 2.440000, 2.390000, 2.340000, 2.300000, 2.250000, 2.210000, 2.180000, 2.140000, 2.100000, 2.070000, 2.040000, 2.010000, 1.980000, 1.960000, 1.920000, 1.900000, 1.880000, 1.850000, 1.830000, 1.810000, 1.800000, 1.790000, 1.770000, 1.750000, 1.730000, 1.720000, 1.700000, 1.690000, 1.680000, 1.660000, 1.650000, 1.640000, 1.630000, 1.720000, 1.820000, 1.850000, 2.900000, 2.830000, 2.800000, 2.800000, 2.790000, 3.020000, 3.350000, 3.750000, 4.250000, 4.900000, 5.850000, 7.180000, 22.900000, 22.160000, 18.510000, 18.500000, 15.760000, 15.730000, 15.810000, 9.840000, 9.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054908, 763901 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.550000, 19.972000, 2.261553 ], "estimate": [ -13.550000, 19.972000, 2.261553 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.070000, 4.020000, 4.170000, 4.080000, 5.370000, 5.390000, 5.330000, 4.810000, 4.810000, 4.840000, 4.850000, 4.880000, 5.460000, 4.950000, 4.970000, 5.000000, 5.020000, 5.050000, 5.790000, 5.830000, 5.880000, 5.920000, 5.970000, 6.030000, 6.100000, 6.160000, 6.210000, 4.560000, 6.360000, 6.440000, 6.490000, 6.320000, 6.180000, 2.330000, 2.300000, 2.270000, 2.240000, 2.200000, 2.170000, 2.140000, 2.100000, 2.070000, 2.050000, 1.920000, 1.750000, 1.730000, 1.710000, 1.680000, 1.670000, 1.640000, 1.610000, 1.630000, 1.670000, 1.720000, 1.770000, 1.830000, 1.880000, 1.860000, 1.840000, 1.820000, 1.820000, 1.800000, 1.790000, 1.770000, 1.750000, 1.740000, 1.730000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.680000, 1.680000, 1.670000, 1.670000, 1.690000, 1.720000, 1.810000, 2.120000, 2.520000, 3.380000, 3.880000, 3.870000, 3.870000, 3.870000, 3.870000, 3.880000, 3.880000, 3.890000, 3.890000, 3.900000, 3.910000, 3.910000, 3.920000, 3.940000, 3.950000, 3.960000, 3.980000, 4.000000, 4.010000, 4.040000, 4.050000, 4.070000, 4.100000, 4.130000, 4.120000, 3.940000, 3.780000, 3.640000, 3.510000, 3.400000, 3.280000, 3.170000, 3.080000, 2.990000, 2.900000, 2.820000, 2.750000, 2.680000, 2.620000, 2.550000, 2.500000, 2.450000, 2.400000, 2.350000, 2.310000, 2.250000, 2.220000, 2.170000, 2.140000, 2.100000, 2.070000, 2.050000, 2.010000, 1.980000, 1.960000, 1.930000, 1.900000, 1.880000, 1.850000, 1.830000, 1.810000, 1.800000, 1.780000, 1.760000, 1.750000, 1.730000, 1.720000, 1.700000, 1.690000, 1.670000, 1.660000, 1.650000, 1.630000, 1.620000, 1.610000, 1.600000, 1.710000, 1.810000, 1.930000, 2.800000, 2.800000, 2.780000, 2.780000, 2.770000, 3.280000, 3.680000, 4.230000, 5.020000, 6.080000, 7.570000, 23.010000, 22.840000, 18.490000, 18.480000, 15.730000, 15.770000, 15.390000, 9.870000 ], "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": [ 976054908, 903144 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.554000, 19.976000, 2.261553 ], "estimate": [ -13.554000, 19.976000, 2.261553 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.100000, 4.120000, 4.060000, 4.080000, 5.360000, 5.360000, 5.390000, 5.210000, 4.790000, 4.830000, 4.850000, 4.860000, 4.880000, 5.330000, 4.960000, 4.970000, 5.000000, 5.020000, 5.060000, 5.790000, 5.830000, 5.880000, 5.930000, 5.980000, 6.040000, 6.100000, 6.160000, 6.220000, 4.560000, 6.360000, 6.420000, 6.440000, 6.290000, 6.060000, 2.320000, 2.280000, 2.230000, 2.210000, 2.170000, 2.150000, 2.110000, 2.070000, 2.050000, 2.020000, 1.750000, 1.730000, 1.700000, 1.680000, 1.650000, 1.630000, 1.600000, 1.590000, 1.630000, 1.680000, 1.720000, 1.770000, 1.840000, 1.860000, 1.830000, 1.820000, 1.810000, 1.790000, 1.770000, 1.760000, 1.750000, 1.730000, 1.730000, 1.710000, 1.700000, 1.700000, 1.680000, 1.680000, 1.660000, 1.660000, 1.650000, 1.650000, 1.650000, 1.690000, 1.700000, 1.870000, 2.180000, 2.610000, 3.840000, 3.860000, 3.850000, 3.850000, 3.850000, 3.860000, 3.860000, 3.860000, 3.870000, 3.870000, 3.880000, 3.890000, 3.900000, 3.910000, 3.910000, 3.930000, 3.940000, 3.950000, 3.970000, 3.990000, 4.010000, 4.030000, 4.050000, 4.080000, 4.110000, 4.100000, 3.920000, 3.770000, 3.630000, 3.490000, 3.380000, 3.260000, 3.160000, 3.080000, 2.980000, 2.890000, 2.800000, 2.740000, 2.670000, 2.610000, 2.540000, 2.500000, 2.450000, 2.390000, 2.340000, 2.300000, 2.250000, 2.210000, 2.170000, 2.140000, 2.100000, 2.080000, 2.040000, 2.010000, 1.980000, 1.960000, 1.920000, 1.890000, 1.880000, 1.850000, 1.830000, 1.810000, 1.800000, 1.780000, 1.760000, 1.740000, 1.730000, 1.710000, 1.700000, 1.690000, 1.680000, 1.660000, 1.640000, 1.630000, 1.620000, 1.620000, 1.610000, 1.640000, 1.760000, 1.820000, 2.900000, 2.790000, 2.770000, 2.770000, 2.780000, 3.140000, 3.550000, 4.090000, 4.810000, 5.900000, 7.490000, 23.010000, 22.820000, 18.490000, 18.490000, 15.730000, 15.760000, 15.380000 ], "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": [ 976054910, 215059 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.553000, 19.975000, 2.261553 ], "estimate": [ -13.553000, 19.975000, 2.261553 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.120000, 4.110000, 4.060000, 4.090000, 5.360000, 5.370000, 5.400000, 5.180000, 4.800000, 4.820000, 4.850000, 4.860000, 4.890000, 5.310000, 4.970000, 4.980000, 5.010000, 5.030000, 5.050000, 5.790000, 5.830000, 5.880000, 5.930000, 6.000000, 6.050000, 6.090000, 6.160000, 6.230000, 4.560000, 6.370000, 6.440000, 6.420000, 6.270000, 6.060000, 2.320000, 2.280000, 2.250000, 2.210000, 2.170000, 2.150000, 2.120000, 2.080000, 2.060000, 2.020000, 1.750000, 1.730000, 1.710000, 1.680000, 1.660000, 1.630000, 1.610000, 1.590000, 1.640000, 1.680000, 1.730000, 1.770000, 1.840000, 1.870000, 1.830000, 1.820000, 1.810000, 1.800000, 1.780000, 1.760000, 1.740000, 1.740000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.680000, 1.670000, 1.670000, 1.660000, 1.650000, 1.650000, 1.710000, 1.710000, 1.870000, 2.200000, 2.630000, 3.860000, 3.870000, 3.860000, 3.860000, 3.860000, 3.860000, 3.860000, 3.870000, 3.870000, 3.880000, 3.890000, 3.900000, 3.910000, 3.910000, 3.920000, 3.940000, 3.940000, 3.960000, 3.990000, 4.000000, 4.020000, 4.040000, 4.070000, 4.090000, 4.120000, 4.050000, 3.890000, 3.740000, 3.600000, 3.460000, 3.360000, 3.240000, 3.140000, 3.060000, 2.960000, 2.870000, 2.800000, 2.730000, 2.650000, 2.600000, 2.530000, 2.490000, 2.430000, 2.380000, 2.330000, 2.290000, 2.240000, 2.200000, 2.160000, 2.130000, 2.090000, 2.070000, 2.030000, 2.000000, 1.970000, 1.950000, 1.910000, 1.890000, 1.870000, 1.850000, 1.830000, 1.810000, 1.800000, 1.780000, 1.760000, 1.740000, 1.730000, 1.710000, 1.700000, 1.680000, 1.670000, 1.660000, 1.640000, 1.630000, 1.620000, 1.610000, 1.600000, 1.680000, 1.790000, 1.830000, 2.820000, 2.780000, 2.770000, 2.780000, 2.790000, 3.250000, 3.680000, 4.250000, 5.060000, 6.190000, 7.630000, 21.870000, 18.520000, 18.490000, 18.490000, 15.710000, 15.780000, 9.860000 ], "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": [ 976054910, 263201 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.553000, 19.975000, 2.267699 ], "estimate": [ -13.553000, 19.975000, 2.267699 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.060000, 4.120000, 4.050000, 4.080000, 5.360000, 5.380000, 5.400000, 5.120000, 4.810000, 4.820000, 4.840000, 4.860000, 5.080000, 5.280000, 4.970000, 4.970000, 5.010000, 5.030000, 5.310000, 5.800000, 5.840000, 5.900000, 5.950000, 6.010000, 6.070000, 6.110000, 6.180000, 4.580000, 4.550000, 6.380000, 6.460000, 6.390000, 6.240000, 6.080000, 2.320000, 2.280000, 2.250000, 2.200000, 2.170000, 2.140000, 2.110000, 2.080000, 2.050000, 2.030000, 1.750000, 1.730000, 1.710000, 1.690000, 1.660000, 1.640000, 1.600000, 1.600000, 1.650000, 1.700000, 1.740000, 1.790000, 1.850000, 1.860000, 1.840000, 1.820000, 1.810000, 1.800000, 1.780000, 1.770000, 1.750000, 1.740000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.680000, 1.670000, 1.670000, 1.660000, 1.660000, 1.660000, 1.720000, 1.720000, 1.930000, 2.270000, 2.770000, 3.870000, 3.870000, 3.870000, 3.860000, 3.860000, 3.860000, 3.870000, 3.870000, 3.880000, 3.890000, 3.900000, 3.900000, 3.920000, 3.910000, 3.930000, 3.930000, 3.950000, 3.970000, 3.990000, 4.010000, 4.030000, 4.050000, 4.080000, 4.100000, 4.130000, 4.020000, 3.870000, 3.710000, 3.580000, 3.440000, 3.340000, 3.240000, 3.130000, 3.040000, 2.950000, 2.860000, 2.780000, 2.720000, 2.640000, 2.580000, 2.530000, 2.480000, 2.430000, 2.370000, 2.330000, 2.270000, 2.230000, 2.200000, 2.150000, 2.130000, 2.090000, 2.060000, 2.030000, 1.990000, 1.970000, 1.940000, 1.910000, 1.890000, 1.870000, 1.840000, 1.820000, 1.810000, 1.800000, 1.780000, 1.750000, 1.730000, 1.730000, 1.710000, 1.690000, 1.680000, 1.670000, 1.650000, 1.640000, 1.630000, 1.620000, 1.610000, 1.610000, 1.700000, 1.790000, 1.920000, 2.810000, 2.780000, 2.770000, 2.770000, 2.880000, 3.330000, 3.780000, 4.380000, 5.230000, 6.480000, 8.510000, 22.140000, 18.510000, 18.490000, 15.890000, 15.720000, 15.790000, 9.870000 ], "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": [ 976054910, 264245 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.553000, 19.975000, 2.279990 ], "estimate": [ -13.553000, 19.975000, 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": [ 4.090000, 4.060000, 4.070000, 4.100000, 5.360000, 5.380000, 5.350000, 4.810000, 4.810000, 4.840000, 4.840000, 4.870000, 5.480000, 4.970000, 4.960000, 4.980000, 5.010000, 5.050000, 5.780000, 5.820000, 5.870000, 5.920000, 5.960000, 6.020000, 6.070000, 6.120000, 6.200000, 4.550000, 6.320000, 6.400000, 6.480000, 6.350000, 6.190000, 2.320000, 2.310000, 2.260000, 2.230000, 2.200000, 2.170000, 2.140000, 2.100000, 2.060000, 2.050000, 1.850000, 1.740000, 1.720000, 1.700000, 1.670000, 1.650000, 1.630000, 1.600000, 1.620000, 1.660000, 1.700000, 1.760000, 1.810000, 1.860000, 1.850000, 1.830000, 1.820000, 1.810000, 1.790000, 1.780000, 1.760000, 1.740000, 1.730000, 1.730000, 1.710000, 1.710000, 1.700000, 1.680000, 1.680000, 1.670000, 1.660000, 1.660000, 1.660000, 1.650000, 1.710000, 1.740000, 2.010000, 2.380000, 2.970000, 3.870000, 3.860000, 3.860000, 3.860000, 3.860000, 3.860000, 3.870000, 3.870000, 3.880000, 3.890000, 3.900000, 3.900000, 3.920000, 3.920000, 3.920000, 3.940000, 3.950000, 3.970000, 3.990000, 4.010000, 4.030000, 4.050000, 4.080000, 4.100000, 4.130000, 3.970000, 3.820000, 3.660000, 3.540000, 3.420000, 3.300000, 3.190000, 3.090000, 3.010000, 2.910000, 2.830000, 2.760000, 2.690000, 2.630000, 2.560000, 2.520000, 2.460000, 2.410000, 2.350000, 2.320000, 2.260000, 2.220000, 2.180000, 2.150000, 2.110000, 2.080000, 2.050000, 2.020000, 1.980000, 1.960000, 1.930000, 1.900000, 1.890000, 1.850000, 1.830000, 1.810000, 1.800000, 1.790000, 1.770000, 1.740000, 1.730000, 1.710000, 1.700000, 1.690000, 1.680000, 1.660000, 1.650000, 1.640000, 1.620000, 1.620000, 1.610000, 1.640000, 1.750000, 1.830000, 2.880000, 2.790000, 2.770000, 2.770000, 2.780000, 3.070000, 3.430000, 3.940000, 4.600000, 5.540000, 6.960000, 23.020000, 23.010000, 18.510000, 18.500000, 15.710000, 15.730000, 15.720000, 9.730000 ], "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": [ 976054910, 265192 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.553000, 19.975000, 2.310718 ], "estimate": [ -13.553000, 19.975000, 2.310718 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.080000, 4.030000, 4.110000, 5.360000, 5.380000, 5.380000, 4.820000, 4.800000, 4.820000, 4.850000, 4.860000, 5.140000, 5.230000, 4.960000, 4.980000, 5.010000, 5.040000, 5.400000, 5.810000, 5.850000, 5.900000, 5.950000, 6.010000, 6.050000, 6.110000, 6.190000, 4.560000, 4.560000, 6.390000, 6.460000, 6.380000, 6.220000, 2.330000, 2.310000, 2.270000, 2.230000, 2.200000, 2.170000, 2.130000, 2.100000, 2.070000, 2.060000, 2.020000, 1.750000, 1.730000, 1.710000, 1.680000, 1.660000, 1.630000, 1.600000, 1.600000, 1.660000, 1.690000, 1.750000, 1.800000, 1.850000, 1.860000, 1.840000, 1.820000, 1.810000, 1.790000, 1.780000, 1.760000, 1.740000, 1.730000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.680000, 1.670000, 1.670000, 1.660000, 1.660000, 1.660000, 1.710000, 1.710000, 1.960000, 2.290000, 2.810000, 3.870000, 3.860000, 3.860000, 3.860000, 3.860000, 3.860000, 3.870000, 3.870000, 3.870000, 3.890000, 3.890000, 3.900000, 3.910000, 3.920000, 3.920000, 3.940000, 3.950000, 3.970000, 3.990000, 4.010000, 4.030000, 4.050000, 4.070000, 4.100000, 4.130000, 3.990000, 3.840000, 3.690000, 3.540000, 3.430000, 3.320000, 3.220000, 3.110000, 3.020000, 2.930000, 2.850000, 2.770000, 2.710000, 2.630000, 2.570000, 2.520000, 2.470000, 2.420000, 2.360000, 2.320000, 2.270000, 2.220000, 2.190000, 2.150000, 2.110000, 2.080000, 2.050000, 2.020000, 1.990000, 1.960000, 1.930000, 1.910000, 1.890000, 1.860000, 1.840000, 1.810000, 1.810000, 1.790000, 1.770000, 1.750000, 1.730000, 1.720000, 1.710000, 1.690000, 1.670000, 1.660000, 1.650000, 1.630000, 1.630000, 1.620000, 1.600000, 1.580000, 1.710000, 1.830000, 1.970000, 2.800000, 2.780000, 2.770000, 2.770000, 2.980000, 3.360000, 3.820000, 4.430000, 5.310000, 6.590000, 8.510000, 22.870000, 18.490000, 18.490000, 15.720000, 15.720000, 15.800000, 9.860000, 9.860000 ], "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": [ 976054910, 266185 ] } { "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.553000, 19.975000, 2.359882 ], "estimate": [ -13.553000, 19.975000, 2.359882 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877,