Completed P Controller for Pose to Pose Control

README.md

@@ -7,6 +7,7 @@ Please read through [this](https://www.overleaf.com/read/dmgrrcmpkbkq#211e69) do
 - docker -- Where the Dockerfile lives.
 - scripts -- Where necessary external scripts live.
 - workspace -- Where all the packages live.
+- plots -- Where the generated simulation data plots are stored. 
 ```
 
 ### Build the simulator
@@ -19,17 +20,26 @@ Please read through [this](https://www.overleaf.com/read/dmgrrcmpkbkq#211e69) do
 
 ```bash
 ./scripts/deploy/devel.sh # To enter the docker container
+./scripts/deploy/start.sh # To start the simulation and control task
+./scripts/deploy/start.sh --plot # To start the simulation and control task, and generate data plots of the simulation 
 ros2 launch limo_simulation limo.launch.py # To launch the simulator
 ```
 
+When running ./scripts/deploy/start.sh for the first time on the system, you might need to run the following to make app.sh executable: 
+
+```bash
+chmod +x ./scripts/deploy/app.sh
+```
+
 ### What do I edit?
 
 1. Modify the package `limo_control` in the workspace directory for adding your c++ controller program.
-2. Make a launch file that can launch everything (Controller and Simualation).
+2. Make a launch file that can launch everything (Controller and Simulation).
 3. Modify `scripts/deploy/app.sh` such that, when `scripts/deploy/start.sh` is run, the task is executed automatically.
 
 ### Known Issues
 
 1. This will not work with docker desktop, please do not use it, use the default engine.
+2. pandas and matplotlib will need to be installed in order to plot the simulation data. 
 
-Feel free to modify anything else if it does not work as expected.
+Feel free to modify anything else if it does not work as expected.

scripts/deploy/app.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+# build workspace + limo control and sim packages
+cd /root/workspace
+colcon build --packages-select limo_control limo_simulation
+
+#source setup
+source /root/workspace/install/setup.bash
+
+#launch both the sim and the control nodes
+ros2 launch limo_control limo_control.launch.py 

scripts/deploy/start.sh

@@ -22,14 +22,25 @@ while getopts 'ch' opt; do
             ;;
     esac
 done
+
 shift "$(($OPTIND -1))"
 
+HOST_WS=$(dirname "$0")/../../workspace/
+
 if [ "$mode" == "gpu" ]; then
     run_docker --runtime=nvidia \
-    -v $(dirname "$0")/../../workspace/:/root/workspace/src \
+    -v $HOST_WS:/root/workspace \
     limo_bot:sim "/root/app.sh"
 else
     run_docker \
-    -v $(dirname "$0")/../../workspace/:/root/workspace/src \
+    -v $HOST_WS:/root/workspace \
     limo_bot:sim "/root/app.sh"
+fi
+
+sleep 1 #wait a little bit
+
+#plot data after exiting the container if the --plot flag is given
+if [ "$1" == "--plot" ]; then
+    echo "Generating plots..."
+    python3 ./workspace/plot_data.py
 fi

workspace/controller_log.csv

@@ -0,0 +1,306 @@
+Time,Target_X,Target_Y,Target_Theta,Current_X,Current_Y,Current_Theta
+2.45018,5,5,1.5708,-5.67513e-25,2.7102e-59,-9.55175e-35
+2.50008,5,5,1.5708,-5.71693e-25,5.32206e-24,0.0267035
+2.55013,5,5,1.5708,-5.71693e-25,5.32206e-24,0.0527662
+2.60012,5,5,1.5708,-5.71693e-25,5.32206e-24,0.103185
+2.65006,5,5,1.5708,-5.71693e-25,5.32206e-24,0.126481
+2.70006,5,5,1.5708,4.62434e-08,6.23327e-09,0.148551
+2.75006,5,5,1.5708,4.62439e-08,6.23336e-09,0.192453
+2.80009,5,5,1.5708,4.62442e-08,6.23341e-09,0.21292
+2.85009,5,5,1.5708,4.62445e-08,6.23347e-09,0.232814
+2.90006,5,5,1.5708,4.6245e-08,6.23361e-09,0.271086
+2.95004,5,5,1.5708,4.62452e-08,6.23369e-09,0.289147
+3.0002,5,5,1.5708,4.62457e-08,6.23383e-09,0.323416
+3.05011,5,5,1.5708,4.62459e-08,6.23391e-09,0.339466
+3.10007,5,5,1.5708,4.62464e-08,6.23408e-09,0.370174
+3.15008,5,5,1.5708,4.62466e-08,6.23417e-09,0.384446
+3.20007,5,5,1.5708,4.62468e-08,6.23426e-09,0.398349
+3.25009,5,5,1.5708,4.62473e-08,6.23445e-09,0.425127
+3.30017,5,5,1.5708,4.62475e-08,6.23455e-09,0.437751
+3.35012,5,5,1.5708,4.62479e-08,6.23476e-09,0.461757
+3.40007,5,5,1.5708,4.62481e-08,6.23487e-09,0.472977
+3.45018,5,5,1.5708,4.62486e-08,6.23509e-09,0.49448
+3.50017,5,5,1.5708,4.62488e-08,6.23521e-09,0.504457
+3.55007,5,5,1.5708,4.6249e-08,6.23533e-09,0.514189
+3.60011,5,5,1.5708,4.62494e-08,6.23557e-09,0.532942
+3.65006,5,5,1.5708,4.62496e-08,6.23569e-09,0.54177
+3.70007,5,5,1.5708,4.625e-08,6.23594e-09,0.558575
+3.75013,5,5,1.5708,4.62502e-08,6.23607e-09,0.566404
+3.80006,5,5,1.5708,4.62506e-08,6.23633e-09,0.58146
+3.85011,5,5,1.5708,4.62508e-08,6.23646e-09,0.588424
+3.90012,5,5,1.5708,4.6251e-08,6.2366e-09,0.595233
+3.95011,5,5,1.5708,4.62514e-08,6.23687e-09,0.608375
+4.00014,5,5,1.5708,4.62516e-08,6.23701e-09,0.614525
+4.05012,5,5,1.5708,4.6252e-08,6.23729e-09,0.626292
+4.10013,5,5,1.5708,4.62522e-08,6.23743e-09,0.631749
+4.15008,5,5,1.5708,4.62524e-08,6.23757e-09,0.637071
+4.20007,5,5,1.5708,4.62528e-08,6.23786e-09,0.647328
+4.25009,5,5,1.5708,4.6253e-08,6.23801e-09,0.652145
+4.3001,5,5,1.5708,4.62534e-08,6.2383e-09,0.661337
+4.35009,5,5,1.5708,4.62536e-08,6.23845e-09,0.665619
+4.40008,5,5,1.5708,4.62539e-08,6.23875e-09,0.673858
+4.45012,5,5,1.5708,4.62541e-08,6.2389e-09,0.677667
+4.50007,5,5,1.5708,4.62543e-08,6.23905e-09,0.681391
+4.5501,5,5,1.5708,4.62547e-08,6.23935e-09,0.688575
+4.60007,5,5,1.5708,4.62549e-08,6.23951e-09,0.691946
+4.65009,5,5,1.5708,4.62552e-08,6.23981e-09,0.698385
+4.70008,5,5,1.5708,4.62554e-08,6.23997e-09,0.701376
+4.75003,5,5,1.5708,4.62558e-08,6.24028e-09,0.707149
+4.80006,5,5,1.5708,4.6256e-08,6.24044e-09,0.709821
+4.85013,5,5,1.5708,4.62562e-08,6.24059e-09,0.712433
+4.90007,5,5,1.5708,4.62565e-08,6.24091e-09,0.717473
+4.95011,5,5,1.5708,4.62567e-08,6.24107e-09,0.719833
+5.00015,5,5,1.5708,4.62571e-08,6.24139e-09,0.724348
+5.05005,5,5,1.5708,4.62572e-08,6.24155e-09,0.726447
+5.10007,5,5,1.5708,4.62574e-08,6.24171e-09,0.728491
+5.15009,5,5,1.5708,4.62578e-08,6.24203e-09,0.732428
+5.20007,5,5,1.5708,4.6258e-08,6.24219e-09,0.734284
+5.25006,5,5,1.5708,4.62583e-08,6.24251e-09,0.737814
+5.30016,5,5,1.5708,0.130714,0.119012,0.738869
+5.35016,5,5,1.5708,0.480161,0.437879,0.74049
+5.40011,5,5,1.5708,0.642665,0.586529,0.741328
+5.4501,5,5,1.5708,0.727907,0.664606,0.742582
+5.5001,5,5,1.5708,0.727907,0.664606,0.746003
+5.55038,5,5,1.5708,0.82617,0.755573,0.74712
+5.60012,5,5,1.5708,1.12558,1.03333,0.748707
+5.65012,5,5,1.5708,1.26513,1.1631,0.749527
+5.70006,5,5,1.5708,1.40099,1.28966,0.750357
+5.75013,5,5,1.5708,1.52627,1.40655,0.752956
+5.80012,5,5,1.5708,1.60644,1.4818,0.754103
+5.85012,5,5,1.5708,1.8506,1.71153,0.75578
+5.90009,5,5,1.5708,1.87194,1.73165,0.757362
+5.95001,5,5,1.5708,1.91463,1.7721,0.758763
+6.00009,5,5,1.5708,2.13629,1.98262,0.760449
+6.05012,5,5,1.5708,2.18805,2.03187,0.761762
+6.10014,5,5,1.5708,2.18805,2.03187,0.765219
+6.15012,5,5,1.5708,2.25877,2.0999,0.766292
+6.20014,5,5,1.5708,2.45582,2.28987,0.767898
+6.25009,5,5,1.5708,2.54749,2.37846,0.768728
+6.30006,5,5,1.5708,2.63683,2.46494,0.76957
+6.35009,5,5,1.5708,2.72188,2.54741,0.772176
+6.40012,5,5,1.5708,2.72188,2.54741,0.77389
+6.45008,5,5,1.5708,2.81986,2.64351,0.776234
+6.50017,5,5,1.5708,2.8984,2.72069,0.777051
+6.55011,5,5,1.5708,3.05032,2.87033,0.778704
+6.60009,5,5,1.5708,3.05473,2.87469,0.780378
+6.6501,5,5,1.5708,3.09155,2.91121,0.781634
+6.70011,5,5,1.5708,3.22909,3.04795,0.7833
+6.75012,5,5,1.5708,3.24914,3.06792,0.784761
+6.80007,5,5,1.5708,3.33017,3.14913,0.787074
+6.85007,5,5,1.5708,3.39038,3.2096,0.787919
+6.90008,5,5,1.5708,3.42378,3.24318,0.78915
+6.95013,5,5,1.5708,3.42378,3.24318,0.792584
+7.00014,5,5,1.5708,3.45357,3.27347,0.793812
+7.05014,5,5,1.5708,3.56488,3.38684,0.795401
+7.10016,5,5,1.5708,3.61702,3.44008,0.796217
+7.15009,5,5,1.5708,3.71723,3.54265,0.797881
+7.20008,5,5,1.5708,3.7216,3.54713,0.79954
+7.25007,5,5,1.5708,3.74316,3.56936,0.800858
+7.3001,5,5,1.5708,3.83391,3.66311,0.802536
+7.35011,5,5,1.5708,3.84978,3.67955,0.803953
+7.40012,5,5,1.5708,3.84978,3.67955,0.80739
+7.45012,5,5,1.5708,3.88245,3.71373,0.808373
+7.50005,5,5,1.5708,3.92313,3.75636,0.809171
+7.55007,5,5,1.5708,4.00169,3.83887,0.810786
+7.60081,5,5,1.5708,4.03872,3.87786,0.81162
+7.65009,5,5,1.5708,4.07032,3.9112,0.814299
+7.70006,5,5,1.5708,4.09389,3.93621,0.815405
+7.75007,5,5,1.5708,4.15954,4.00604,0.817099
+7.80013,5,5,1.5708,4.16432,4.01113,0.818726
+7.8502,5,5,1.5708,4.16432,4.01113,0.820466
+7.90013,5,5,1.5708,4.19427,4.0434,0.823009
+7.95017,5,5,1.5708,4.22359,4.07504,0.823827
+8.00013,5,5,1.5708,4.28018,4.13625,0.825469
+8.05014,5,5,1.5708,4.28755,4.14424,0.826953
+8.1001,5,5,1.5708,4.32217,4.18199,0.829205
+8.15017,5,5,1.5708,4.34666,4.20875,0.830049
+8.20008,5,5,1.5708,4.35956,4.22287,0.831304
+8.25012,5,5,1.5708,4.35956,4.22287,0.834729
+8.30017,5,5,1.5708,4.37442,4.2393,0.835847
+8.35008,5,5,1.5708,4.41968,4.28945,0.837436
+8.40009,5,5,1.5708,4.44082,4.31293,0.838256
+8.45008,5,5,1.5708,4.4614,4.33582,0.839086
+8.50011,5,5,1.5708,4.4821,4.3589,0.841612
+8.55008,5,5,1.5708,4.49252,4.37059,0.842839
+8.60007,5,5,1.5708,4.52937,4.412,0.844523
+8.6501,5,5,1.5708,4.53474,4.41805,0.846001
+8.70017,5,5,1.5708,4.53474,4.41805,0.849448
+8.75007,5,5,1.5708,4.549,4.43428,0.850381
+8.80012,5,5,1.5708,4.56549,4.45308,0.851182
+8.8501,5,5,1.5708,4.59731,4.48945,0.852808
+8.90009,5,5,1.5708,4.60374,4.49681,0.854149
+8.95008,5,5,1.5708,4.62053,4.51616,0.856545
+9.0001,5,5,1.5708,4.63436,4.53212,0.857382
+9.05004,5,5,1.5708,4.64361,4.54282,0.8602
+9.10007,5,5,1.5708,4.65494,4.55601,0.861127
+9.15007,5,5,1.5708,4.66761,4.57076,0.861955
+9.20018,5,5,1.5708,4.69205,4.59931,0.863637
+9.2501,5,5,1.5708,4.69698,4.60509,0.865024
+9.30008,5,5,1.5708,4.69698,4.60509,0.868529
+9.35012,5,5,1.5708,4.70534,4.61497,0.86956
+9.40011,5,5,1.5708,4.72677,4.6404,0.87119
+9.4501,5,5,1.5708,4.7367,4.6522,0.872036
+9.50009,5,5,1.5708,4.74134,4.65773,0.873348
+9.55007,5,5,1.5708,4.74134,4.65773,0.876782
+9.60011,5,5,1.5708,4.74765,4.66532,0.877874
+9.65013,5,5,1.5708,4.76599,4.68746,0.879467
+9.70011,5,5,1.5708,4.77455,4.6978,0.88029
+9.75019,5,5,1.5708,4.78288,4.70789,0.881123
+9.80007,5,5,1.5708,4.79079,4.71749,0.883707
+9.8501,5,5,1.5708,4.79569,4.72348,0.884859
+9.90007,5,5,1.5708,4.81061,4.74174,0.886547
+9.95007,5,5,1.5708,4.81213,4.7436,0.888111
+10.0001,5,5,1.5708,4.81213,4.7436,0.89156
+10.0502,5,5,1.5708,4.81832,4.75127,0.892438
+10.1001,5,5,1.5708,4.825,4.75957,0.89324
+10.1502,5,5,1.5708,4.83787,4.7756,0.89487
+10.2001,5,5,1.5708,4.84029,4.77861,0.89624
+10.2501,5,5,1.5708,4.84727,4.78737,0.898615
+10.3001,5,5,1.5708,4.85286,4.7944,0.899454
+10.3501,5,5,1.5708,4.85644,4.79891,0.902305
+10.4001,5,5,1.5708,4.86134,4.80512,0.903181
+10.4501,5,5,1.5708,4.86645,4.81161,0.904012
+10.5001,5,5,1.5708,4.87089,4.81725,0.906654
+10.5502,5,5,1.5708,4.87406,4.8213,0.90777
+10.6001,5,5,1.5708,4.88327,4.83313,0.909438
+10.6501,5,5,1.5708,4.88395,4.83399,0.911039
+10.7001,5,5,1.5708,4.88581,4.83639,0.91238
+10.7501,5,5,1.5708,4.89416,4.84721,0.914057
+10.8001,5,5,1.5708,4.89586,4.84942,0.915419
+10.8501,5,5,1.5708,4.89586,4.84942,0.918857
+10.9001,5,5,1.5708,4.89864,4.85307,0.919896
+10.9501,5,5,1.5708,4.90605,4.86281,0.921493
+11.0002,5,5,1.5708,4.90949,4.86734,0.922321
+11.0501,5,5,1.5708,4.91285,4.87178,0.923158
+11.1002,5,5,1.5708,4.91594,4.87588,0.925777
+11.1502,5,5,1.5708,4.91783,4.8784,0.926958
+11.2004,5,5,1.5708,4.92387,4.88645,0.928647
+11.2501,5,5,1.5708,4.92431,4.88704,0.930265
+11.3002,5,5,1.5708,4.92431,4.88704,0.93199
+11.3502,5,5,1.5708,4.92762,4.89152,0.934338
+11.4003,5,5,1.5708,4.93027,4.89511,0.935156
+11.4501,5,5,1.5708,4.93286,4.89862,0.935981
+11.5001,5,5,1.5708,4.93784,4.90539,0.937662
+11.5501,5,5,1.5708,4.93863,4.90647,0.939129
+11.6001,5,5,1.5708,4.93863,4.90647,0.942617
+11.6501,5,5,1.5708,4.94053,4.90909,0.943561
+11.7001,5,5,1.5708,4.94273,4.91213,0.944372
+11.7501,5,5,1.5708,4.94698,4.91801,0.946018
+11.8001,5,5,1.5708,4.94772,4.91903,0.947428
+11.8501,5,5,1.5708,4.94772,4.91903,0.950849
+11.9001,5,5,1.5708,4.94934,4.92131,0.951775
+11.9501,5,5,1.5708,4.95122,4.92394,0.95257
+12.0001,5,5,1.5708,4.95484,4.92904,0.954185
+12.0501,5,5,1.5708,4.95654,4.93144,0.95502
+12.1001,5,5,1.5708,4.9579,4.93336,0.957748
+12.1502,5,5,1.5708,4.95907,4.93504,0.958798
+12.2001,5,5,1.5708,4.9621,4.93935,0.960488
+12.2501,5,5,1.5708,4.96218,4.93948,0.962193
+12.3002,5,5,1.5708,4.96218,4.93948,0.963922
+12.3501,5,5,1.5708,4.96373,4.94171,0.966345
+12.4002,5,5,1.5708,4.96507,4.94365,0.967161
+12.4501,5,5,1.5708,4.96766,4.94741,0.968805
+12.5001,5,5,1.5708,4.96781,4.94763,0.970419
+12.5501,5,5,1.5708,4.96833,4.94839,0.971748
+12.6001,5,5,1.5708,4.97066,4.95182,0.973409
+12.6501,5,5,1.5708,4.9711,4.95247,0.974784
+12.7002,5,5,1.5708,4.97238,4.95436,0.977165
+12.7501,5,5,1.5708,4.9734,4.95588,0.978006
+12.8001,5,5,1.5708,4.97406,4.95685,0.980864
+12.8501,5,5,1.5708,4.97496,4.95819,0.981743
+12.9001,5,5,1.5708,4.97589,4.95959,0.982576
+12.9501,5,5,1.5708,4.97667,4.96077,0.985251
+13.0001,5,5,1.5708,4.9773,4.96172,0.986317
+13.0501,5,5,1.5708,4.97899,4.96427,0.987991
+13.1001,5,5,1.5708,4.97909,4.96442,0.989625
+13.1502,5,5,1.5708,4.97942,4.96494,0.990971
+13.2001,5,5,1.5708,4.98095,4.96727,0.992653
+13.2501,5,5,1.5708,4.98126,4.96774,0.994018
+13.3001,5,5,1.5708,4.98126,4.96774,0.997465
+13.3502,5,5,1.5708,4.98176,4.96853,0.998507
+13.4001,5,5,1.5708,4.98311,4.97063,1.00011
+13.4501,5,5,1.5708,4.98374,4.9716,1.00094
+13.5001,5,5,1.5708,4.98435,4.97256,1.00178
+13.5505,5,5,1.5708,4.98493,4.97347,1.00438
+13.6001,5,5,1.5708,4.98528,4.97401,1.00556
+13.6501,5,5,1.5708,4.98637,4.97574,1.00726
+13.7001,5,5,1.5708,4.9864,4.97579,1.00896
+13.7502,5,5,1.5708,4.9864,4.97579,1.01069
+13.8001,5,5,1.5708,4.98698,4.97671,1.01309
+13.8502,5,5,1.5708,4.98746,4.97749,1.01391
+13.9001,5,5,1.5708,4.9884,4.97899,1.01556
+13.9502,5,5,1.5708,4.98844,4.97906,1.0172
+14.0001,5,5,1.5708,4.98865,4.9794,1.01848
+14.0501,5,5,1.5708,4.9895,4.98078,1.02015
+14.1002,5,5,1.5708,4.98965,4.98102,1.02155
+14.1501,5,5,1.5708,4.99011,4.98178,1.02394
+14.2001,5,5,1.5708,4.99048,4.98238,1.02478
+14.2501,5,5,1.5708,4.99071,4.98277,1.02765
+14.3001,5,5,1.5708,4.99104,4.98331,1.02853
+14.3502,5,5,1.5708,4.99137,4.98387,1.02936
+14.4001,5,5,1.5708,4.99168,4.98437,1.03199
+14.4501,5,5,1.5708,4.99189,4.98472,1.03311
+14.5002,5,5,1.5708,4.99249,4.98574,1.03479
+14.5501,5,5,1.5708,4.99255,4.98583,1.03638
+14.6001,5,5,1.5708,4.99255,4.98583,1.03811
+14.6502,5,5,1.5708,4.99282,4.9863,1.04063
+14.7002,5,5,1.5708,4.99309,4.98676,1.04144
+14.7501,5,5,1.5708,4.99361,4.98765,1.04307
+14.8001,5,5,1.5708,4.99369,4.98778,1.04452
+14.8501,5,5,1.5708,4.99399,4.98831,1.04681
+14.9003,5,5,1.5708,4.99421,4.9887,1.04764
+14.9503,5,5,1.5708,4.99434,4.98891,1.04886
+15.0002,5,5,1.5708,4.99456,4.98929,1.05139
+15.0501,5,5,1.5708,4.99476,4.98965,1.05223
+15.1001,5,5,1.5708,4.99516,4.99035,1.05391
+15.1502,5,5,1.5708,4.9952,4.99043,1.05546
+15.2001,5,5,1.5708,4.9952,4.99043,1.05894
+15.2502,5,5,1.5708,4.99537,4.99072,1.05983
+15.3002,5,5,1.5708,4.99554,4.99103,1.06064
+15.3501,5,5,1.5708,4.99588,4.99163,1.06228
+15.4001,5,5,1.5708,4.99593,4.99173,1.07425
+15.4502,5,5,1.5708,4.99593,4.99173,1.10831
+15.5001,5,5,1.5708,4.99593,4.99173,1.12424
+15.5501,5,5,1.5708,4.99593,4.99173,1.13974
+15.6001,5,5,1.5708,4.99593,4.99173,1.1696
+15.6501,5,5,1.5708,4.99593,4.99173,1.18372
+15.7001,5,5,1.5708,4.99593,4.99173,1.21046
+15.7501,5,5,1.5708,4.99593,4.99173,1.22301
+15.8001,5,5,1.5708,4.99593,4.99173,1.24697
+15.8502,5,5,1.5708,4.99593,4.99173,1.2581
+15.9001,5,5,1.5708,4.99593,4.99173,1.26895
+15.9501,5,5,1.5708,4.99593,4.99173,1.28985
+16.0001,5,5,1.5708,4.99593,4.99173,1.29969
+16.0501,5,5,1.5708,4.99593,4.99173,1.31841
+16.1002,5,5,1.5708,4.99593,4.99173,1.32716
+16.1501,5,5,1.5708,4.99593,4.99173,1.34393
+16.2001,5,5,1.5708,4.99593,4.99173,1.3517
+16.2502,5,5,1.5708,4.99593,4.99173,1.35928
+16.3001,5,5,1.5708,4.99593,4.99173,1.37389
+16.3504,5,5,1.5708,4.99593,4.99173,1.38075
+16.4002,5,5,1.5708,4.99593,4.99173,1.39385
+16.4501,5,5,1.5708,4.99593,4.99173,1.39995
+16.5001,5,5,1.5708,4.99593,4.99173,1.40588
+16.5501,5,5,1.5708,4.99593,4.99173,1.4173
+16.6002,5,5,1.5708,4.99593,4.99173,1.42269
+16.6501,5,5,1.5708,4.99593,4.99173,1.43292
+16.7001,5,5,1.5708,4.99593,4.99173,1.43771
+16.7502,5,5,1.5708,4.99593,4.99173,1.44687
+16.8001,5,5,1.5708,4.99593,4.99173,1.45113
+16.8502,5,5,1.5708,4.99593,4.99173,1.45528
+16.9002,5,5,1.5708,4.99593,4.99173,1.46328
+16.9502,5,5,1.5708,4.99593,4.99173,1.46704
+17.0001,5,5,1.5708,4.99593,4.99173,1.47421
+17.0501,5,5,1.5708,4.99593,4.99173,1.47755
+17.1001,5,5,1.5708,4.99593,4.99173,1.48396
+17.1501,5,5,1.5708,4.99593,4.99173,1.48694
+17.2001,5,5,1.5708,4.99593,4.99173,1.48984
+17.2502,5,5,1.5708,4.99593,4.99173,1.49544
+17.3001,5,5,1.5708,4.99593,4.99173,1.49807
+17.3502,5,5,1.5708,4.99593,4.99173,1.50309
+17.4001,5,5,1.5708,4.99593,4.99173,1.50543
+17.4501,5,5,1.5708,4.99593,4.99173,1.50993
+17.5001,5,5,1.5708,4.99593,4.99173,1.51201
+17.5502,5,5,1.5708,4.99593,4.99173,1.51405
+17.6001,5,5,1.5708,4.99593,4.99173,1.51797
+17.6501,5,5,1.5708,4.99593,4.99173,1.51981