PythonRobotics/PathPlanning/StateLatticePlanner/lookup_table.csv

1	x	y	yaw	s	km	kf
2	1.0	0.0	0.0	1.0	0.0	0.0
3	9.975352133559392	0.0482183513545736	0.5660837104214496	10.00000000000002	0.0015736624607596847	0.31729782170754367
4	15.021899857204536	0.023109001221800096	0.541061424167431	15.128443053611093	0.0006480950273134919	0.20847475849103875
5	20.062147834064536	0.0406648159648112	0.5374967866814861	20.205553097986094	0.000452860235044122	0.15502921850050788
6	24.924468605496358	-0.04047324014767662	0.5146575311501209	25.16775431470035	6.940620839146646e-05	0.12259452810198132
7	9.971782095506931	1.9821448683146543	0.5206511572266477	10.287478424823748	0.05861430948618236	0.07036494964262185
8	15.00170010872385	2.0003864283110473	0.5236741185892617	15.245993376540827	0.02657730439557895	0.09933479864250763
9	19.991716537639487	1.9940629519465154	0.5226444441451559	20.277923997037238	0.015108540596275507	0.09478988637993524
10	24.946447973869596	2.0815930190993206	0.5306354765686239	25.20115925294013	0.010036251429787917	0.08505936469481987
11	10.033694822745312	3.9724800521928056	0.5349578864544497	11.087694168363686	0.10279429366023954	-0.12501011715795404
12	15.010712586144749	4.0046776414868095	0.5234972445048012	15.729582155835587	0.05010930398580602	-0.0008557723200034717
13	19.9175798257299	4.053680042954521	0.5265397234296523	20.52466275843717	0.029584390559990882	0.035276591227371874
14	24.98769016158626	3.991699950598091	0.5229000018897194	25.543297770996556	0.018800715817231053	0.04750751098144048
15	10.018665105170687	6.004814533505462	0.5183921334245007	12.249438857228967	0.13207408248643182	-0.2742892277307502
16	14.988626131330372	5.991226410357179	0.5248160422552801	16.53593823576699	0.06924423592936522	-0.08634227857486092
17	20.014420271646646	6.006767110727591	0.5233060851224174	21.23271362632659	0.041402041787912916	-0.01770377839603589
18	24.998338724667267	5.997352722087869	0.5235621854299422	26.009046544833613	0.027285850882345728	0.011507045054418165
19	10.040118020822444	8.017131894913126	0.5076867575242261	13.8061261785273	0.14561700178565884	-0.3527538468214878
20	14.96397914886416	7.974972375534203	0.5303378183744862	17.667338175004062	0.08318912494381935	-0.15372672981944802
21	20.045725182938817	8.023486945646207	0.5201839069343577	22.126364299043573	0.05173969669894265	-0.06557547083017647
22	25.004687466358227	8.00036398460779	0.5234938146870878	26.740089158520917	0.034867425244601645	-0.02199309906456302
23	10.065138949829214	10.03244363616002	0.49375882493214895	15.701940360254637	0.14847998727328912	-0.39355037236614626
24	15.05373212031198	10.026401491912143	0.5111826366036252	19.105461052226858	0.09205576730549936	-0.20458802229704312
25	19.965550451103926	9.977668905006206	0.5278605653376056	23.14082140870299	0.06010674632014157	-0.10340577652521214
26	25.04062496016141	9.956781577401756	0.5252395961316738	27.641194908523495	0.04115083532669924	-0.05054407239730677
27	9.980172344087242	11.981944953180841	0.5354924711458446	17.764377273124804	0.14616069587267325	-0.40115138946106776
28	15.031707905116134	12.011530784459552	0.5157261778129998	20.745000892047745	0.0970285785481706	-0.2379719980195133
29	20.05384921212195	12.02621662711961	0.5153884987125119	24.513013940487117	0.06601543941341544	-0.13666530932375262
30	25.04326204059146	12.019946808479768	0.5198699857547844	28.74306622689766	0.04671545692054678	-0.07827401225777673
31	10.005005976167096	13.993516346269931	0.5249997047973469	20.063732124124442	0.14007166951362482	-0.39994549637994103
32	15.013469777117386	13.998572375088138	0.5211760827701193	22.591299061495683	0.0989196134377572	-0.25909446951756165
33	19.980150236409695	13.98233838451409	0.5278966095736082	25.971685915503254	0.07029833263412807	-0.15993299513197096
34	25.009669110020404	14.000751236643762	0.5227555344229664	29.949071374991423	0.05106114063333748	-0.09952052168406796
35	9.996712859814979	15.986637217372996	0.5301458018536311	22.47478825250167	0.1329741433122606	-0.38823042580907063
36	15.02373126750475	16.00384009060484	0.5182833077580984	24.557463511123004	0.0989491582793761	-0.26836010532851323
37	20.023756339113735	16.004847752803656	0.5197401980953318	27.669260302891157	0.07275720314277462	-0.178811991371391
38	25.015003771679122	16.002919774604504	0.5219791758565742	31.36524983655211	0.05429827198598215	-0.11766440355003502
39	10.078596822781892	18.025309925487992	0.49768408992179225	25.02580432036455	0.1252233187334947	-0.3747545825918585
40	15.001968473293188	17.988033772017467	0.5262415135796346	26.67625473617623	0.09746306394892065	-0.27167606206451594
41	20.026047062413117	18.00445752595148	0.5193568548054093	29.442158339897595	0.07417227896231118	-0.19015828496001386
42	24.984711558393403	17.982744830235063	0.5266809346220684	32.855828700083094	0.05675308229799072	-0.13090299334069386
43	9.999999973554228	8.906672256498078e-05	-0.00024912926939091307	9.993250237275609	1.9794429093204823e-06	-0.00016167063578544257
44	14.999999988951053	0.00030609885737583985	-9.259737492950393e-05	14.939586274030715	4.066161982234725e-06	-5.3230908443270726e-05
45	19.999999963637627	0.0008196433029304879	-0.00010277758318455454	19.985770355960977	6.0902800817987275e-06	-5.581407356116362e-05
46	24.999999906323	0.001558015443394581	-0.0001252423879458675	24.925430653319882	7.508303551937611e-06	-5.98269885073166e-05
47	9.93201732790474	1.9700581591656137	-0.006606314895513332	10.1625049701131	0.05795554613825405	-0.23594780459354886
48	15.017121844754504	2.000131018972639	-0.001958259181754851	15.130494387563031	0.026367577418638183	-0.10529363184139814
49	19.962697589600058	2.0003823634817484	0.0021983556339688626	20.055058569558643	0.014972854970102445	-0.0592998512022201
50	24.990093248087035	2.0008914594513647	0.0003319006512292333	25.020899019312747	0.009609456446194334	-0.03808543941908436
51	9.942924437331126	3.9434423219621073	-0.047789349898090805	10.916318098481405	0.10417074854184473	-0.42509733550937057
52	14.976393375378994	3.9987876606083557	0.004653465622298736	15.69826778341493	0.04981535482126709	-0.20027162173052074
53	19.954160472557877	4.000101578371634	0.0053292950039418585	20.459066225465484	0.02905576509783228	-0.11479451096219842
54	25.06247590490118	3.9997579161047643	-0.00486183691237807	25.40723367563786	0.01874893916371208	-0.07533000027879669
55	9.974854017566281	5.998183884411291	0.01394025812352817	12.27808815775426	0.13163310345287574	-0.5111693653344966
56	14.99829771854157	5.999020207860274	0.0007330116466723879	16.57520987140955	0.06880393034208837	-0.27508456151767885
57	19.98389776689381	5.999506195067484	0.002770060727207646	21.17690590277397	0.04131547230609369	-0.1652252863196287
58	25.022089217041394	5.998166050230614	-0.002551136444779001	25.974625009044832	0.02718132258204399	-0.10978755041013998
59	9.940106683734614	7.99448983539684	0.03735909486314526	13.864600506318645	0.14554135993596395	-0.5498471044599721
60	15.015405965817797	7.996301502316838	-0.004430455799697253	17.779484729664652	0.08234534796805798	-0.3300198333333338
61	19.965919061860355	7.998456498324741	0.00732927315681664	22.0665101267907	0.05178054118886435	-0.20507088323830897
62	24.97580637673196	7.998036396987909	0.0034859866489540536	26.699711792661176	0.03478260921646504	-0.13959734880932403
63	10.003237328881212	9.994037173180942	-0.002542633641336778	15.800576175296408	0.1482242831571022	-0.5606578442626601
64	14.95848212484301	9.995827033229693	0.016804720248816185	19.19635868417634	0.09159937492256161	-0.3610497877526804
65	20.018365340632464	9.997789133099982	-0.003880405312526758	23.259977677838524	0.05967179836565363	-0.23873172503708404
66	25.034844162753302	9.996613275552045	-0.005490232481425661	27.647073656497884	0.04122997694830456	-0.16548182742762063
67	10.041413516307436	11.988808245039152	-0.015743247245750158	18.0174427655263	0.14424296158815444	-0.5545987939832356
68	15.0710608536628	11.993636485613393	-0.025235844052727163	20.92474299071291	0.0960774359909814	-0.38199459745149106
69	20.061838597733104	11.995243972143648	-0.015325438311212025	24.63090823780847	0.06556771814265559	-0.2626353022718591
70	24.90813949494271	11.995929681233529	0.01760171116909426	28.6986397040137	0.046810556161518815	-0.1847353186190147
71	10.005191819464756	13.97797567430312	0.018961636911005275	20.358534835690133	0.13825179056925302	-0.5307789523538471
72	14.978392340358946	13.991362718235834	0.012411272386128935	22.755419658274054	0.0984622955030996	-0.38447788120958937
73	20.015767113356507	13.992558840024987	-0.002205036951612893	26.18420998778461	0.06961025144239422	-0.2786494668163888
74	25.01318440442437	13.994258255793202	-0.0016239998449329995	30.09124393513656	0.05071043613803722	-0.20387658283659768
75	10.038844117562423	15.966797017942504	0.016384527088525225	22.88736140380268	0.13044436631301143	-0.5070826347325453
76	14.91898245890566	15.984279670640529	0.03784081306841358	24.796728185207627	0.09830913950807817	-0.38207974071854045
77	19.999487117727806	15.99041117221354	0.0034823225688951354	27.881676426972927	0.07220430103629995	-0.2873083396987492
78	25.056418472201756	15.995103453935709	-0.011257522827095023	31.50238694595278	0.05406499488342877	-0.21526296035737832
79	10.076107447676621	17.952889979512353	0.017798231103724138	25.454959881832874	0.1231232463335769	-0.47600174850950705
80	15.032725028551983	17.978015286760307	0.0020752804670070013	27.089888269358894	0.09590219542773218	-0.3801465515462427
81	20.03544756240551	17.98685790169768	-0.005300968094156033	29.75070206477736	0.07340450527104486	-0.29182757725382324
82	24.960019173190652	17.98909417109214	0.011594018486178026	33.0995680641525	0.05634561447882407	-0.22402297280749597