├── README.md ├── highway_map_bosch1.csv └── highway_map_bosch1_final.csv /README.md: -------------------------------------------------------------------------------- 1 | # Udacity-Bosch Path Planning Challenge 2 | Your challenge is to design a path planner that creates smooth, safe paths along a 3-lane highway with traffic. Successful path planners will be able to keep inside their lanes, avoid hitting other cars, and pass slower moving traffic - all by using localization, sensor fusion, and map data. Path planners will be ranked by the time it takes them to complete a lap around a test track. 3 | 4 | # Udacity Track Release 5 | Go here to download the simulator and original project track: https://github.com/udacity/CarND-Path-Planning-Project 6 | 7 | # Bosch Track Release 8 | The Bosch track is a highway that continuously goes down the same direction but with some slight curviness. 9 | 10 | The competitive challenge element added to this project is a brand new highway to test on, along with a timer element that measures how quickly the target 2.75 miles can be completed without incident. 11 | 12 | The guidelines for a valid submission are listed in the rubric below. 13 | 14 | # Final Evaluation Track 15 | Your submission will be run on a private evaluation track that will be similar to the Bosch track with the exception that the car placement won't be random. 16 | 17 | # Project Rubric 18 | 19 | 20 | ### Compilation 21 | The code compiles correctly. Code must compile without errors with cmake and make. 22 | 23 | ### Valid Trajectories 24 | **The car is able to drive at least 2.75 miles without incident** 25 | 26 | The top right screen of the simulator shows the current/best miles driven without incident. Incidents include exceeding acceleration/jerk/speed, collision, and driving outside of the lanes. Each incident case is also listed below in more detail. 27 | 28 | ---------------------------------------------------------------------------------------------------------------------------------------- 29 | 30 | **The car drives according to the speed limit** 31 | 32 | The car doesn't drive faster than the speed limit of 50 miles per hour. 33 | 34 | ---------------------------------------------------------------------------------------------------------------------------------------- 35 | 36 | **Max acceleration and jerk are not exceeded** 37 | 38 | The car does not exceed a total acceleration of 10 m/s^2 and a jerk of 10 m/s^3. 39 | 40 | ---------------------------------------------------------------------------------------------------------------------------------------- 41 | 42 | **Car does not have collisions** 43 | 44 | The car must not come into contact with any of the other cars or objects on the road. 45 | 46 | ---------------------------------------------------------------------------------------------------------------------------------------- 47 | 48 | **The car stays in its lane except when changing lanes** 49 | 50 | During lane changes, the car doesn't spend more than 3 seconds outside the lane lines. During normal operation the car stays inside the lane lines with the flow of traffic. 51 | 52 | ---------------------------------------------------------------------------------------------------------------------------------------- 53 | 54 | **The car completes its trip within 360 seconds** 55 | 56 | Any submissions that don't finish within 360 seconds will be considered invalid. 57 | 58 | ---------------------------------------------------------------------------------------------------------------------------------------- 59 | 60 | **Submission file must meet naming standards** 61 | 62 | Your .zip file must include main.cpp and all the code required to successfully compile. In addition, you must use the following map name in your code: highway_map_bosch1.csv 63 | 64 | 65 | 66 | 67 | 68 | # Archival Note 69 | This repository is deprecated; therefore, we are going to archive it. However, learners will be able to fork it to their personal Github account but cannot submit PRs to this repository. If you have any issues or suggestions to make, feel free to: 70 | - Utilize the https://knowledge.udacity.com/ forum to seek help on content-specific issues. 71 | - Submit a support ticket along with the link to your forked repository if (learners are) blocked for other reasons. Here are the links for the [retail consumers](https://udacity.zendesk.com/hc/en-us/requests/new) and [enterprise learners](https://udacityenterprise.zendesk.com/hc/en-us/requests/new?ticket_form_id=360000279131). -------------------------------------------------------------------------------- /highway_map_bosch1.csv: -------------------------------------------------------------------------------- 1 | 100.3551 500.1453 0 1 0 2 | 129.1392 500.8578 28.7929058074951 0.01159054 -0.9999328 3 | 155.8228 500.7883 55.4765911102295 -0.02759778 -0.9996191 4 | 181.3663 499.4159 81.0569019317627 -0.06730342 -0.9977326 5 | 213.8397 496.8747 113.629606246948 -0.07841539 -0.9969208 6 | 249.0918 494.0888 148.991632461548 -0.03120089 -0.9995131 7 | 289.1018 494.5253 189.004053115845 0.04758286 -0.9988674 8 | 320.7 497.5 220.741943359375 0.1068322 -0.9942771 9 | 352.2617 501.3116 252.532915115356 0.05266589 -0.9986122 10 | 392.0235 501.2615 292.294755935669 -0.009173155 -0.999958 11 | 440.5461 500.5017 340.823286056519 -0.01700985 -0.9998554 12 | 477.1513 499.8133 377.434984207153 0.004585922 -0.9999895 13 | 519.61 500.8643 419.906759262085 0.006147206 -0.9999812 14 | 560.5457 500.326 460.84596824646 -0.02485633 -0.9996911 15 | 614.7 498.5 515.031042098999 -0.00530231 -0.9999859 16 | 678.6 499.7 578.942270278931 0.01955003 -0.9998089 17 | 712.9987 500.4221 613.348592758179 -0.02977359 -0.9995567 18 | 750.597 497.5555 651.056047439575 -0.07917893 -0.9968604 19 | 799.1203 493.5816 699.741746902466 -0.08905005 -0.9960271 20 | 857.775 487.9732 758.663934707642 -0.1080031 -0.9941506 21 | 890.1156 483.696 791.286176681519 -0.08185375 -0.9966444 22 | 929.0765 482.1172 830.279092788696 -0.01706851 -0.9998544 23 | 971.2378 482.3112 872.440793991089 0.03254986 -0.9994701 24 | 1006.75 484.6468 908.02996635437 0.1001551 -0.9949719 25 | 1035.092 488.7389 936.66552734375 0.1435283 -0.9896463 26 | 1069.208 493.705 971.141059875488 0.1267772 -0.9919312 27 | 1103.297 497.4561 1005.43641281128 0.0660184 -0.9978185 28 | 1139.18 498.3346 1041.32960891724 -0.00311625 -0.9999951 29 | 1176.135 497.2291 1078.30072784424 -0.06868589 -0.9976383 30 | 1206.113 493.7264 1108.48282051086 -0.06592798 -0.9978244 31 | 1238.553 493.105 1140.92932319641 -0.01463795 -0.999893 32 | 1269.118 492.804 1171.49550247192 -0.03981376 -0.9992071 33 | 1304.788 490.4659 1207.24185180664 -0.03566027 -0.9993641 34 | 1331.955 490.5618 1234.40962409973 -0.01108956 -0.9999386 35 | 1362.281 489.8283 1264.74368858337 -0.0199827 -0.9998003 36 | 1393.666 489.3284 1296.13341140747 -0.00755167 -0.9999716 37 | 1426.195 489.3456 1328.66210174561 0.01961696 -0.9998077 38 | 1465.204 490.732 1367.69540023804 0.02289051 -0.999738 39 | 1501.833 491.0775 1404.32691192627 -0.009625793 -0.9999536 40 | 1531.873 490.0902 1434.38280296326 -0.009796143 -0.999952 41 | 1564.488 490.4637 1466.99932289124 -0.00121212 -0.9999993 42 | 1601.06 490.0064 1503.57468986511 -0.004538059 -0.9999897 43 | 1633.481 490.1506 1535.99615287781 -0.03776658 -0.9992867 44 | 1669.697 487.4124 1572.31485557556 -0.04907465 -0.9987953 45 | 1703.585 486.7061 1606.21064186096 -0.07277083 -0.9973487 46 | 1731.122 482.9305 1634.00501823425 -0.06832433 -0.9976631 47 | 1767.502 482.3288 1670.39024162292 -0.05154824 -0.9986706 48 | 1800.4 479.3546 1703.42199516296 -0.05054772 -0.9987218 49 | 1833.725 478.9771 1736.74933052063 -0.04765248 -0.998864 50 | 1872.259 475.9264 1775.40456581116 -0.04628813 -0.9989282 51 | 1900.849 475.8667 1803.99398422241 -0.02497983 -0.999688 52 | 1936.086 474.3315 1839.26471328735 -0.02832806 -0.9995987 53 | 1973.554 473.8063 1876.73653411865 -0.02395535 -0.999713 54 | 2002.929 472.7298 1906.13149642944 -0.0333997 -0.9994421 55 | 2033.939 471.7883 1937.15579605103 -0.03632772 -0.9993399 56 | 2075.598 470.0882 1978.84916687012 -0.02508378 -0.9996855 57 | 2099.862 470.1342 2003.11312675476 0.02859199 -0.9995913 58 | 2128.087 471.5896 2031.37596511841 0.06040972 -0.9981737 59 | 2163.057 473.9588 2066.42585754395 0.1151447 -0.9933488 60 | 2197.979 479.6912 2101.8155708313 0.1773996 -0.9841388 61 | 2231.842 486.3578 2136.32763671875 0.1978521 -0.980232 62 | 2272.2 494.672 2177.53329467773 0.2125493 -0.9771503 63 | 2311.128 503.6041 2217.47287368774 0.2018161 -0.9794234 64 | 2349.171 510.5324 2256.14231491089 0.135933 -0.9907181 65 | 2389.349 514.3365 2296.49924468994 0.0579161 -0.9983215 66 | 2428.186 515.1163 2335.34398651123 0.01180941 -0.9999303 67 | 2470.088 515.29 2377.24644470215 -0.0437113 -0.9990442 68 | 2508.48 511.6032 2415.81588363647 -0.1418958 -0.9898816 69 | 2549.753 503.8704 2457.80626678467 -0.1254162 -0.9921042 70 | 2602.429 499.7267 2510.64574813843 -0.0499891 -0.9987497 71 | 2657.894 498.4577 2566.12461853027 -0.01549983 -0.9998799 72 | 2702.516 498.1752 2610.74782562256 0.003839791 -0.9999925 73 | 2732.271 498.7433 2640.5078868866 0.03631014 -0.9993406 74 | 2768.333 500.5666 2676.6166934967 0.01737219 -0.9998491 75 | 2804.6 500 2712.88772010803 -0.02457154 -0.9996981 76 | 2842.426 498.7455 2750.73420143127 0.003588378 -0.9999936 77 | 2888.2 500.3 2796.53476142883 -0.009258389 -0.9999572 78 | 2929.894 497.9356 2838.29559135437 -0.02345061 -0.999725 79 | 2970.561 498.368 2878.96512794495 0.005470097 -0.999985 80 | 3009.11 498.369 2917.51395606995 0.01412362 -0.9999003 81 | 3043.958 499.4048 2952.37798118591 0.0285973 -0.9995912 82 | 3078.234 500.3465 2986.66630744934 0.01303881 -0.999915 83 | 3123.204 500.4381 3031.63661384583 0.01403809 -0.9999015 84 | 3160.652 501.5036 3069.09952354431 -0.006025434 -0.9999819 85 | 3207.714 499.9289 3116.18762779236 -0.02003491 -0.9997993 86 | 3246.783 499.7776 3155.25750160217 0.0003986955 -0.9999999 87 | 3302.217 499.9666 3210.69165992737 -0.01377213 -0.9999052 88 | 3331.065 498.6168 3239.57161140442 0.002735198 -0.9999963 89 | 3365.497 500.1397 3274.03716087341 -0.003589749 -0.9999936 90 | 3401.356 498.3645 3309.93947410584 -0.03690481 -0.9993188 91 | 3437.366 497.4856 3345.96069526672 0.01502216 -0.9998872 92 | 3476.584 499.4947 3385.22965431213 -0.008269548 -0.9999659 93 | 3522.579 496.7809 3431.3047580719 -0.01004052 -0.9999498 94 | 3574.882 498.5077 3483.63647651672 0.01708239 -0.9998541 95 | 3638.226 498.7567 3546.98071479797 0.01088929 -0.9999408 96 | 3675.998 499.6088 3584.76205253601 0.004807234 -0.9999886 97 | 3721.604 499.1576 3630.37097358704 0.006602764 -0.9999783 98 | 3748.29 500.0862 3657.07316017151 -0.0006014109 -0.9999998 99 | 3778.373 499.1234 3687.17156982422 -0.0318917 -0.9994913 100 | 3816.091 497.9228 3724.90869140625 0.006163478 -0.999981 101 | 3850.963 499.5709 3759.81943893433 0.004743993 -0.9999888 102 | 3892.621 498.2859 3801.4972114563 -0.02461541 -0.9996971 103 | 3929.209 497.6442 3838.09097290039 0.01006889 -0.9999493 104 | 3970.229 499.0673 3879.13566970825 0.003405809 -0.9999943 105 | 4009.687 497.9183 3918.61040115356 -0.005382299 -0.9999855 106 | 4040.503 498.6891 3949.43595695496 0.02720284 -0.99963 107 | 4082.494 499.8996 3991.44436836243 0.04083651 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61.8380031585693 -0.04806709 -0.9988442 5 | 171.7314 495.858 82.1657085418701 -0.05066717 -0.9987155 6 | 190.3969 495.2821 100.840057373047 -0.0579493 -0.9983197 7 | 210.866 493.5864 121.379322052002 -0.1424463 -0.9898025 8 | 231.3999 489.3812 142.339416503906 -0.1699942 -0.9854451 9 | 251.8208 486.5215 162.959562301636 -0.07604659 -0.9971043 10 | 271.764 486.3027 182.903907775879 -0.01082516 -0.9999415 11 | 291.5633 486.0912 202.704383850098 0.07379431 -0.9972734 12 | 312.0563 489.2842 223.444618225098 0.1554036 -0.9878512 13 | 331.4827 492.3712 243.114715576172 0.2287044 -0.973496 14 | 351.5666 498.5664 264.132448196411 0.2460968 -0.9692454 15 | 372.8617 502.8775 285.859588623047 0.1475952 -0.9890479 16 | 390.8007 504.4213 303.864826202393 0.05037642 -0.9987304 17 | 411.1443 504.8085 324.212108612061 0.001018703 -0.9999995 18 | 431.5147 504.4628 344.585494995117 -0.01115978 -0.9999378 19 | 451.6309 504.3567 364.701986312866 0.04528433 -0.9989741 20 | 472.8456 506.3363 386.008842468262 0.1099908 -0.9939327 21 | 492.9093 508.9247 406.238826751709 0.1017233 -0.9948128 22 | 511.2967 510.2681 424.675168991089 0.08182806 -0.9966465 23 | 531.4346 512.0877 444.895179748535 0.1507247 -0.9885759 24 | 551.8563 516.4521 465.777967453003 0.1269652 -0.9919072 25 | 571.1649 517.1732 485.100023269653 -0.04525161 -0.9989757 26 | 592.1481 514.627 506.23716545105 -0.1259928 -0.9920312 27 | 611.1688 512.0925 525.425964355469 -0.1500678 -0.9886758 28 | 631.7344 508.6183 546.282972335815 -0.1333377 -0.9910707 29 | 651.6395 506.6476 566.285373687744 -0.137072 -0.9905611 30 | 672.0286 503.0424 586.990755081177 -0.1978449 -0.9802335 31 | 691.2336 498.6562 606.690298080444 -0.2042612 -0.9789164 32 | 710.3292 495.0506 626.123292922974 -0.1532443 -0.9881884 33 | 731.7618 492.3712 647.722742080688 -0.1320889 -0.9912379 34 | 751.1044 489.6171 667.260431289673 -0.1285032 -0.9917091 35 | 771.2644 487.2526 687.558650970459 -0.1124144 -0.9936615 36 | 790.6149 485.1472 707.023315429688 -0.09856677 -0.9951305 37 | 810.8727 483.3294 727.362518310547 -0.1099455 -0.9939377 38 | 831.5055 480.624 748.171945571899 -0.1511626 -0.9885089 39 | 851.0786 477.1812 768.045555114746 -0.1451712 -0.9894067 40 | 871.4987 474.756 788.609102249146 -0.1162983 -0.9932143 41 | 891.8809 472.4035 809.126619338989 -0.08133554 -0.9966868 42 | 911.3549 471.5035 828.621465682983 -0.03888583 -0.9992437 43 | 930.8098 470.8886 848.08607673645 -0.08197582 -0.9966344 44 | 951.8109 468.1759 869.261585235596 -0.1687536 -0.9856582 45 | 971.2226 463.9695 889.12384223938 -0.2308643 -0.972986 46 | 990.921 458.8961 909.465127944946 -0.211694 -0.9773359 47 | 1011.381 455.2711 930.243671417236 -0.1341844 -0.9909564 48 | 1032.121 453.3173 951.07543182373 -0.1316441 -0.991297 49 | 1051.411 449.9552 970.656030654907 -0.1878533 -0.9821972 50 | 1071.608 445.765 991.283485412598 -0.1717415 -0.9851421 51 | 1092.633 442.7689 1012.52055549622 -0.1202136 -0.9927482 52 | 1111.72 440.9078 1031.69822883606 -0.05509233 -0.9984813 53 | 1133.096 440.5363 1053.07755661011 -0.007667422 -0.9999706 54 | 1151.974 440.5992 1071.95522499084 -0.01099551 -0.9999396 55 | 1170.976 440.1197 1090.96395683289 0.07835287 -0.9969257 56 | 1191.446 443.7014 1111.74444007874 0.2386549 -0.9711046 57 | 1211.139 449.99 1132.41759490967 0.2728932 -0.9620444 58 | 1230.802 454.8654 1152.67618942261 0.1914085 -0.9815106 59 | 1251.59 457.8785 1173.68090438843 0.1609655 -0.9869601 60 | 1271.149 461.4456 1193.56272315979 0.2290095 -0.9734242 61 | 1291.172 467.1907 1214.39382171631 0.3147194 -0.9491847 62 | 1311.531 474.8351 1236.14091682434 0.4024561 -0.9154393 63 | 1330.735 484.5837 1257.67716026306 0.428772 -0.9034127 64 | 1350.599 493.3772 1279.40073394775 0.3694254 -0.9292604 65 | 1373.24 501.4817 1303.44865036011 0.2843617 -0.958717 66 | 1392.395 505.774 1323.0781211853 0.163313 -0.9865743 67 | 1411.913 507.8834 1342.71007919312 0.1193477 -0.9928525 68 | 1431.119 510.4289 1362.08360481262 0.09852123 -0.9951349 69 | 1451.684 511.8208 1382.69608306885 0.03768927 -0.9992895 70 | 1472.241 511.9799 1403.25407218933 0.02735847 -0.9996257 71 | 1492.428 512.9359 1423.46322059631 -0.0007369518 -0.9999998 72 | 1511.705 511.9508 1442.76547431946 -0.05868363 -0.9982767 73 | 1533.477 510.5228 1464.58459091187 -0.1771035 -0.9841923 74 | 1552.085 504.6846 1484.08630561829 -0.3192577 -0.947668 75 | 1570.894 497.9177 1504.07573318481 -0.2601706 -0.9655627 76 | 1590.591 494.3091 1524.10045623779 -0.1470556 -0.9891283 77 | 1609.205 492.2219 1542.83124732971 -0.05890107 -0.9982638 78 | 1629.828 491.994 1563.4559211731 -0.02159131 -0.9997668 79 | 1649.429 491.3532 1583.0666103363 -0.03237152 -0.999476 80 | 1669.517 490.7085 1603.16569900513 -0.02202785 -0.9997573 81 | 1689.668 490.4666 1623.31754112244 -0.03126013 -0.9995114 82 | 1710.811 489.417 1644.48700904846 -0.0423274 -0.9991038 83 | 1730.182 488.7502 1663.86933135986 -0.02229714 -0.9997515 84 | 1751.359 488.5127 1685.04778671265 0.003197253 -0.9999949 85 | 1770.223 488.8782 1703.91509819031 0.01586962 -0.9998741 86 | 1790.157 489.1285 1723.85074996948 -0.01578236 -0.9998755 87 | 1810.927 488.2357 1744.64019012451 -0.09585559 -0.9953952 88 | 1830.588 485.235 1764.52887916565 -0.1794772 -0.9837621 89 | 1851.032 480.9191 1785.42296409607 -0.2228886 -0.974844 90 | 1870.893 476.0197 1805.87941360474 -0.2179191 -0.9759669 91 | 1891.024 471.9893 1826.41036987305 -0.193705 -0.9810597 92 | 1910.803 468.1396 1846.56046485901 -0.1944827 -0.980906 93 | 1931.654 463.9338 1867.83113479614 -0.1704766 -0.9853618 94 | 1952.464 460.932 1888.85645866394 -0.1334872 -0.9910505 95 | 1971.401 458.5801 1907.9393196106 -0.1381038 -0.9904178 96 | 1992.389 455.3648 1929.1722202301 -0.165952 -0.9861339 97 | 2010.617 451.9807 1947.7113609314 -0.1520857 -0.9883674 98 | 2032.035 449.2643 1969.30114555359 -0.08185399 -0.9966444 99 | 2050.446 448.7095 1987.72038841248 -0.02080441 -0.9997835 100 | 2070.597 448.4618 2007.87278938293 0.006458759 -0.9999792 101 | 2089.691 448.963 2026.97336006165 0.02177495 -0.9997629 102 | 2108.68 449.2913 2045.96570014954 0.01496679 -0.9998881 103 | 2130.605 449.5754 2067.89258956909 -0.04154491 -0.9991367 104 | 2151.061 447.5291 2088.45001602173 -0.1134272 -0.9935464 105 | 2170.459 445.0256 2108.00884246826 -0.1560866 -0.9877435 106 | 2191.18 441.1894 2129.08192062378 -0.1701739 -0.9854141 107 | 2211.869 437.8745 2150.03477096558 -0.1564194 -0.9876909 108 | 2230.696 434.9312 2169.09058380127 -0.1301638 -0.9914925 109 | 2251.352 432.691 2189.8679561615 -0.16233 -0.9867365 110 | 2270.109 428.4474 2209.09862327576 -0.13561 -0.9907625 111 | 2290.347 427.3536 2229.36692619324 -0.03002083 -0.9995493 112 | 2310.586 427.2317 2249.60557556152 -0.01068091 -0.999943 113 | 2330.687 426.9227 2269.7087802887 -0.01422763 -0.9998988 114 | 2351.623 426.6477 2290.64735221863 0.001959741 -0.9999981 115 | 2370.801 427.0013 2309.82834625244 -0.0441916 -0.9990231 116 | 2389.904 424.9544 2329.04048156738 -0.04483342 -0.9989945 117 | 2411.354 425.1813 2350.49236488342 0.01423764 -0.9998986 118 | 2431.433 425.5457 2370.5742855072 0.05928999 -0.9982409 119 | 2451.036 427.5382 2390.27831077576 0.1175196 -0.9930707 120 | 2470.247 430.139 2409.66449546814 0.03550136 -0.9993696 121 | 2490.676 428.9464 2430.12774658203 0.01965004 -0.9998069 122 | 2509.757 430.9155 2449.31062507629 0.05785871 -0.9983249 123 | 2529.983 431.2244 2469.53857040405 -0.01437891 -0.9998967 124 | 2550.541 430.329 2490.11665534973 0.001608908 -0.9999988 125 | 2570.381 431.2894 2509.9799747467 0.01754183 -0.9998461 126 | 2591.017 431.0391 2530.61674690247 -0.01626313 -0.9998679 127 | 2610.441 430.6378 2550.04569625854 -0.02310753 -0.9997329 128 | 2630.235 430.1326 2569.84608840942 -0.002185941 -0.9999977 129 | 2649.772 430.5519 2589.38720703125 0.007760346 -0.9999699 130 | 2670.754 430.4471 2610.36964607239 -0.01204193 -0.9999276 131 | 2689.522 430.0732 2629.14167976379 -0.00608182 -0.9999815 132 | 2709.556 430.2111 2649.17560195923 0.0148508 -0.9998897 133 | 2728.268 430.6487 2667.89311981201 -0.004725695 -0.9999888 134 | 2750.014 430.0199 2689.64805793762 0.0199855 -0.9998003 135 | 2769.405 431.4709 2709.09265708923 0.1417692 -0.9898997 136 | 2789.886 435.7301 2730.01203346252 0.1911912 -0.9815528 137 | 2809.998 439.3778 2750.45196723938 0.09429705 -0.9955441 138 | 2830.21 439.5497 2770.66558837891 0.04606462 -0.9989384 139 | 2848.956 441.1743 2789.48122596741 0.02122867 -0.9997748 140 | 2870.089 440.3964 2810.6288394928 -0.05777514 -0.9983297 141 | 2889.727 438.8148 2830.33036422729 -0.04052937 -0.9991784 142 | 2910.801 438.7451 2851.40421104431 0.01098639 -0.9999396 143 | 2931.402 439.2727 2872.01228523254 0.07779586 -0.9969693 144 | 2949.922 441.7978 2890.70364761353 0.1293418 -0.9916001 145 | 2970.382 444.3571 2911.32257461548 0.1025467 -0.9947283 146 | 2990.653 445.9967 2931.66001701355 0.08788168 -0.9961309 147 | 3011.388 447.9748 2952.48901748657 0.1105183 -0.9938741 148 | 3029.073 450.269 2970.32201957703 0.06495774 -0.997888 149 | 3049.862 450.4793 2991.11287879944 0.0122875 -0.9999245 150 | 3069.284 450.7631 3010.53658294678 -0.01111007 -0.9999384 151 | 3089.571 450.0381 3030.83664321899 -0.007562041 -0.9999714 152 | 3110.136 450.4542 3051.40555000305 0.006316423 -0.9999802 153 | 3130.323 450.2955 3071.59294128418 0.02415127 -0.9997084 154 | 3150.35 451.4257 3091.65190315247 0.1050709 -0.9944649 155 | 3170.301 454.5195 3111.84176826477 0.08290118 -0.9965577 156 | 3189.26 454.6625 3130.80080413818 0.0253157 -0.9996796 157 | 3210.274 455.5318 3151.83317947388 0.08602864 -0.9962927 158 | 3241.076 459.1368 3182.84567070007 0.09585762 -0.9953951 159 | 3262.006 460.5136 3203.82083892822 0.02897441 -0.9995801 160 | 3279.614 460.2539 3221.43017578125 -0.02571952 -0.9996692 161 | 3299.554 459.5476 3241.38310813904 -0.009879351 -0.9999513 162 | 3319.634 459.8585 3261.46510505676 0.01110643 -0.9999384 163 | 3341.443 460.0129 3283.2754650116 -0.008386135 -0.9999648 164 | 3359.196 459.5267 3301.03456115723 0.01394755 -0.9999027 165 | 3380.188 460.5533 3322.05159187317 -0.009277821 -0.999957 166 | 3400.718 459.1414 3342.63035583496 -0.006280899 -0.9999803 167 | 3420.52 460.3 3362.46597480774 0.05280977 -0.9986046 168 | 3440.209 461.2299 3382.17688560486 0.03252763 -0.9994709 169 | 3459.781 461.5777 3401.75175476074 -0.004658222 -0.9999892 170 | 3479.438 461.0471 3421.41589736938 -0.007416129 -0.9999726 171 | 3500.444 461.2762 3442.42398071289 0.0266822 -0.999644 172 | 3519.507 462.1166 3461.50500106812 0.1687875 -0.9856525 173 | 3539.319 467.9332 3482.15320205688 0.2347077 -0.972066 174 | 3558.323 471.4888 3501.48662567139 0.09768146 -0.9952179 175 | 3579.786 471.9051 3522.95453071594 -0.03019547 -0.9995441 176 | 3599.544 470.2435 3542.78209114075 -0.03413224 -0.9994173 177 | 3620.263 470.5227 3563.50321006775 0.113824 -0.993501 178 | 3640.192 474.9005 3583.90708732605 0.2407461 -0.9705881 179 | 3659.951 480.367 3604.40859794617 0.1475757 -0.9890507 180 | 3679.895 480.8245 3624.35744857788 -0.02645624 -0.9996501 181 | 3700.858 479.2844 3645.37708282471 -0.02242827 -0.9997484 182 | 3720.244 479.9193 3664.77297592163 0.0156796 -0.999877 183 | 3740.584 479.9073 3685.11331176758 0.01420665 -0.9998991 184 | 3759.971 480.4838 3704.50884246826 0.03940862 -0.9992232 185 | 3780.627 481.4866 3725.18893241882 0.02693313 -0.9996374 186 | 3801.097 481.5919 3745.6596622467 0.01874393 -0.9998245 187 | 3820.409 482.2324 3764.98253822327 0.008149087 -0.9999669 188 | 3840.796 481.9154 3785.3717212677 -0.00406754 -0.9999918 189 | 3859.956 482.0716 3804.53251457214 -0.003793359 -0.9999928 190 | 3880.208 481.7659 3824.78628540039 0.04681897 -0.9989034 191 | 3900.156 483.9557 3844.85461044312 0.1610233 -0.9869506 192 | 3920.415 488.3258 3865.57937049866 0.1531547 -0.9882022 193 | 3940.267 490.1722 3885.51661491394 0.04214138 -0.9991117 194 | 3959.896 489.9911 3905.14733314514 0.009809732 -0.999952 195 | 3980.601 490.5679 3925.86020088196 0.01868546 -0.9998254 196 | 4000.034 490.7412 3945.29359054565 0.002355695 -0.9999973 197 | 4019.592 490.6597 3964.85210990906 0.0461356 -0.9989352 198 | 4038.99 492.5403 3984.34052276611 0.1332965 -0.9910762 199 | 4059.734 496.0587 4005.38140106201 0.1318495 -0.9912698 200 | 4079.802 497.9688 4025.53972816467 0.07695466 -0.9970347 201 | 4100.464 499.2024 4046.23838424683 0.044954 -0.998989 202 | 4119.823 499.7697 4065.60607147217 0.03525597 -0.9993784 203 | 4139.847 500.5917 4085.64637374878 0.002477884 -0.999997 204 | 4160.242 499.8699 4106.05416107178 -0.01127851 -0.9999364 205 | 4180.109 500.1376 4125.92363929749 -0.009823799 -0.9999517 206 | 4200.686 499.4726 4146.51104354858 -0.01183534 -0.99993 207 | 4219.947 499.666 4165.77275657654 -0.003229022 -0.9999948 208 | 4240.266 499.3448 4186.09414482117 -0.002990723 -0.9999955 209 | 4260.999 499.5433 4206.82800483704 0.005536675 -0.9999847 210 | 4280.104 499.5653 4225.93397521973 0.01846701 -0.9998296 211 | 4300.15 500.2664 4245.99213027954 0.04399294 -0.9990319 212 | 4319.978 501.3212 4265.84780311584 0.006020784 -0.9999819 213 | 4340.354 500.5085 4286.23949241638 -0.04089665 -0.9991634 214 | 4360.412 499.6662 4306.31576347351 -0.008737326 -0.9999619 215 | 4380.362 500.1589 4326.2715549469 -0.03808558 -0.9992746 216 | 4399.74 498.1673 4345.75156211853 -0.1222992 -0.9924933 217 | 4419.992 495.2755 4366.20892906189 -0.1499047 -0.9887005 218 | 4440.018 492.0605 4386.49125099182 -0.1453173 -0.9893851 219 | 4461.21 489.2216 4407.87293434143 -0.06006169 -0.9981948 220 | 4480.363 489.6329 4427.03018188477 -0.007190824 -0.9999741 221 | 4501.446 488.9322 4448.12482833862 0.005607784 -0.9999843 222 | 4521.063 489.8611 4467.76350784302 0.006128907 -0.9999812 223 | 4541.09 489.1752 4487.80308151245 -0.08648467 -0.9962532 224 | 4561.083 486.3869 4507.9892539978 -0.09595692 -0.9953855 225 | 4580.359 485.3896 4527.29091453552 -0.05307424 -0.9985906 226 | 4600.165 484.3098 4547.12648391724 -0.07366574 -0.9972831 227 | 4619.999 482.4616 4567.04639053345 -0.1089836 -0.9940436 228 | 4640.888 479.8451 4588.09829711914 -0.07848477 -0.9969153 229 | 4660.776 479.2513 4607.99534225464 -0.03248608 -0.9994721 230 | 4680.528 478.5566 4627.75999641418 -0.07186091 -0.9974147 231 | 4701.561 476.3129 4648.91156387329 -0.1473627 -0.9890826 232 | 4719.925 472.6869 4667.63085365295 -0.2111313 -0.9774578 233 | 4739.038 468.2178 4687.25870704651 -0.3356377 -0.9419912 234 | 4759.005 458.7626 4709.3515663147 -0.5453449 -0.8382118 235 | 4776.954 443.5492 4732.88074493408 -0.665058 -0.7467918 236 | 4796.768 425.1324 4759.93196868896 -0.774586 -0.6324689 237 | 4811.209 401.5971 4787.54448127747 -0.8660362 -0.4999814 238 | 4823.764 378.3715 4813.94640731812 -0.896647 -0.4427462 239 | 4835.093 353.2268 4841.52545166016 -0.9140407 -0.4056224 240 | 4843.273 334.4099 4862.04337310791 -0.9301572 -0.367162 241 | 4851.425 311.853 4886.02807235718 -0.9248245 -0.380394 242 | 4861.202 290.8199 4909.22261810303 -0.9126378 -0.4087692 243 | 4870.901 268.3687 4933.67936897278 -0.9093769 -0.4159731 244 | 4882.022 245.3048 4959.28426742554 -0.9105732 -0.4133476 245 | 4892.728 220.2873 4986.49611282349 -0.9394704 -0.3426304 246 | 4898.465 200.2182 5007.36934661865 -0.9702545 -0.2420875 247 | 4903.195 178.3358 5029.756980896 -0.9770768 -0.212888 248 | 4908.083 156.0766 5052.54657554626 -0.9801686 -0.1981656 249 | 4912.48 132.407 5076.62117385864 -0.9788036 -0.2048012 250 | 4918.338 107.0633 5102.63314628601 -0.9755834 -0.2196293 251 | 4923.832 81.98392 5128.30712127686 1 0 --------------------------------------------------------------------------------