-
Notifications
You must be signed in to change notification settings - Fork 131
/
robot_a.g2o
102 lines (102 loc) · 15.2 KB
/
robot_a.g2o
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
VERTEX_SE3:QUAT 6989586621679009792 0 0 0 0 0 0 1
VERTEX_SE3:QUAT 6989586621679009793 0.92635 0.0182106 0.397159 0.0555375 -0.0738074 -0.00793144 0.995693
VERTEX_SE3:QUAT 6989586621679009794 1.93601 0.0173125 0.506064 0.0303068 -0.0540801 0.00257062 0.998073
VERTEX_SE3:QUAT 6989586621679009795 2.94811 0.046416 0.618074 0.0431276 -0.091336 0.00782434 0.994855
VERTEX_SE3:QUAT 6989586621679009796 3.96537 0.0537431 0.70129 0.0513305 -0.074802 0.000208149 0.995876
VERTEX_SE3:QUAT 6989586621679009797 5.01936 0.0874456 0.737571 0.0415649 -0.0911669 -0.0024415 0.994965
VERTEX_SE3:QUAT 6989586621679009798 6.03574 0.0940913 0.819028 0.0346276 -0.0777279 -0.00126446 0.996372
VERTEX_SE3:QUAT 6989586621679009799 7.0656 0.0605503 0.91486 0.0536978 -0.0583872 -0.0117342 0.99678
VERTEX_SE3:QUAT 6989586621679009800 8.06586 0.0677455 1.00411 0.0523222 -0.0661647 -0.0284532 0.99603
VERTEX_SE3:QUAT 6989586621679009801 9.0681 0.0453334 1.12544 0.0594857 -0.0523187 -0.0221767 0.996611
VERTEX_SE3:QUAT 6989586621679009802 10.1302 0.0356303 1.22278 0.0549998 -0.0734005 -0.0166422 0.995646
VERTEX_SE3:QUAT 6989586621679009803 11.1325 0.0936126 1.33227 0.0479836 -0.0408571 0.00856897 0.997975
VERTEX_SE3:QUAT 6989586621679009804 12.1698 0.10755 1.40742 0.0487208 -0.0482899 0.0207986 0.997428
VERTEX_SE3:QUAT 6989586621679009805 13.1962 0.140254 1.56841 0.0500029 -0.041763 0.0107045 0.997818
VERTEX_SE3:QUAT 6989586621679009806 14.2285 0.135489 1.67997 0.0584195 -0.0428804 -0.00212207 0.997369
VERTEX_SE3:QUAT 6989586621679009807 15.2285 0.135511 1.76537 0.0574192 -0.0307566 0.0173228 0.997726
VERTEX_SE3:QUAT 6989586621679009808 16.2781 0.174917 1.834 0.0261459 -0.0083733 0.00590553 0.999606
VERTEX_SE3:QUAT 6989586621679009809 17.2835 0.229008 1.94522 0.0565583 -0.0150554 -0.00125221 0.998285
VERTEX_SE3:QUAT 6989586621679009810 18.3153 0.270618 2.00174 0.0759832 -0.0113286 0.00990952 0.996995
VERTEX_SE3:QUAT 6989586621679009811 19.3498 0.362241 2.14663 0.0722901 -0.0311771 0.00751169 0.996868
VERTEX_SE3:QUAT 6989586621679009812 20.3487 0.367551 2.26522 0.068184 -0.0549509 -0.0188945 0.995979
VERTEX_SE3:QUAT 6989586621679009813 21.3584 0.344243 2.39044 0.0612655 -0.0377931 -0.0151081 0.997291
VERTEX_SE3:QUAT 6989586621679009814 22.3911 0.262807 2.59415 0.0934734 -0.0681189 -0.0306666 0.992815
VERTEX_SE3:QUAT 6989586621679009815 23.4252 0.207263 2.72132 0.0618119 -0.0707905 -0.0234212 0.995299
VERTEX_SE3:QUAT 6989586621679009816 24.4314 0.19162 2.83503 0.0563179 -0.0756678 -0.00116098 0.995541
VERTEX_SE3:QUAT 6989586621679009817 25.4425 0.224798 2.90956 0.0744064 -0.0569221 -0.00974639 0.995554
VERTEX_SE3:QUAT 6989586621679009818 26.4937 0.241024 2.97022 0.0906701 -0.0924662 -0.00940495 0.991534
VERTEX_SE3:QUAT 6989586621679009819 27.5644 0.28185 3.08046 0.0579101 -0.0849171 0.00232091 0.994701
VERTEX_SE3:QUAT 6989586621679009820 28.5747 0.331992 3.1467 0.0619519 -0.100162 -0.0181765 0.992874
VERTEX_SE3:QUAT 6989586621679009821 29.627 0.31776 3.28161 0.0699597 -0.0666437 -0.0255689 0.994993
VERTEX_SE3:QUAT 6989586621679009822 30.6923 0.319258 3.379 0.067908 -0.070594 -0.00350108 0.995185
VERTEX_SE3:QUAT 6989586621679009823 31.7 0.348205 3.54464 0.058924 -0.0844048 0.0125206 0.994609
VERTEX_SE3:QUAT 6989586621679009824 32.7073 0.374511 3.63223 0.0791072 -0.0695785 0.00557756 0.994419
VERTEX_SE3:QUAT 6989586621679009825 33.7489 0.371926 3.77131 0.0915559 -0.0507145 -0.00793001 0.994476
VERTEX_SE3:QUAT 6989586621679009826 34.7618 0.34221 3.89676 0.0879833 -0.0856034 -0.0068427 0.992413
VERTEX_SE3:QUAT 6989586621679009827 35.7822 0.29631 4.03779 0.0994152 -0.088675 -0.00540935 0.991072
VERTEX_SE3:QUAT 6989586621679009828 36.812 0.255136 4.13315 0.104373 -0.0878372 -0.0012907 0.990651
VERTEX_SE3:QUAT 6989586621679009829 37.8078 0.236409 4.26879 0.0977587 -0.0892861 -0.0124193 0.991119
VERTEX_SE3:QUAT 6989586621679009830 38.8422 0.21798 4.42751 0.0852901 -0.0895469 -0.019362 0.992135
VERTEX_SE3:QUAT 6989586621679009831 39.838 0.224676 4.54699 0.0762386 -0.10238 -0.0180468 0.991655
VERTEX_SE3:QUAT 6989586621679009832 40.8977 0.198211 4.71431 0.0855568 -0.0838914 -0.013841 0.992699
VERTEX_SE3:QUAT 6989586621679009833 41.8926 0.15019 4.82379 0.0877625 -0.0801671 -0.011025 0.992849
VERTEX_SE3:QUAT 6989586621679009834 42.8994 0.117243 5.01459 0.0853404 -0.113746 -0.010583 0.989781
VERTEX_SE3:QUAT 6989586621679009835 43.9587 0.122773 5.1088 0.0856292 -0.0671622 -0.0259876 0.993721
VERTEX_SE3:QUAT 6989586621679009836 44.9847 0.132544 5.25223 0.0763222 -0.0794547 -0.0273995 0.993535
VERTEX_SE3:QUAT 6989586621679009837 46.0004 0.0812179 5.37271 0.0732015 -0.0612361 -0.0353452 0.994808
VERTEX_SE3:QUAT 6989586621679009838 47.0058 0.0105269 5.49727 0.0617463 -0.0728004 -0.0434529 0.994484
VERTEX_SE3:QUAT 6989586621679009839 48.0386 0.002028 5.62529 0.0879574 -0.0628282 -0.025408 0.993816
VERTEX_SE3:QUAT 6989586621679009840 49.0738 -0.00750899 5.70454 0.0819769 -0.0991214 -0.0231115 0.991423
VERTEX_SE3:QUAT 6989586621679009841 50.1048 -0.0590974 5.8333 0.0711945 -0.0648706 -0.0143253 0.995248
EDGE_SE3:QUAT 6989586621679009792 6989586621679009793 0.92635 0.0182106 0.397159 0.0555375 -0.0738074 -0.00793144 0.995693 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009793 6989586621679009794 1.01447 0.0189493 -0.0421448 -0.0246356 0.0202011 0.0112423 0.999429 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009794 6989586621679009795 1.01832 0.0272837 0.000281092 0.013082 -0.0372319 0.00568762 0.999205 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009795 6989586621679009796 1.0154 -0.00953018 -0.103304 0.00755038 0.0161495 -0.00904728 0.9998 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009796 6989586621679009797 1.04736 0.0287022 -0.124772 -0.00988016 -0.0164995 -0.00106803 0.999815 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009797 6989586621679009798 1.01415 0.0106314 -0.105319 -0.00688641 0.0135316 0.00124841 0.999884 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009798 6989586621679009799 1.03251 -0.0297776 -0.0628547 0.0181487 0.0189639 -0.0125832 0.999576 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009799 6989586621679009800 1.00323 0.0339545 -0.0303266 -0.00221584 -0.00871018 -0.0161761 0.999829 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009800 6989586621679009801 1.0089 0.040718 -0.0132279 0.00712602 0.0143617 0.00506965 0.999859 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009801 6989586621679009802 1.06565 0.0424809 -0.0163135 -0.0036562 -0.0208311 0.00698308 0.999752 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009802 6989586621679009803 1.00431 0.0949802 -0.0468852 -0.00580489 0.0338425 0.0238653 0.999125 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009803 6989586621679009804 1.0401 -0.000793526 -0.0105289 0.00119797 -0.00685962 0.0125361 0.999897 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009804 6989586621679009805 1.03773 0.000430517 0.0594337 0.000908148 0.0060105 -0.0104561 0.999927 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009805 6989586621679009806 1.03779 -0.020072 0.0261597 0.00787306 -0.00186516 -0.0130894 0.999882 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009806 6989586621679009807 1.00358 0.00921181 -0.0012809 -0.000210513 0.013241 0.0187291 0.999737 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009807 6989586621679009808 1.05264 0.00692143 0.00115786 -0.0312735 0.0222764 -0.0117472 0.999194 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009808 6989586621679009809 1.00763 0.0475071 0.0917074 0.0303355 -0.00705728 -0.00722707 0.999489 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009809 6989586621679009810 1.03286 0.0485503 0.0202696 0.0196279 0.00435661 0.0106377 0.999741 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009810 6989586621679009811 1.03919 0.0902435 0.107465 -0.00389619 -0.019936 -0.000839371 0.999793 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009811 6989586621679009812 1.00435 0.00282926 0.0553511 -0.00503085 -0.025605 -0.0244702 0.99936 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009812 6989586621679009813 1.01732 0.0246287 0.0132902 -0.0070962 0.0172884 0.00300633 0.999821 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009813 6989586621679009814 1.04713 -0.0293223 0.131703 0.032265 -0.0308794 -0.0149434 0.99889 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009814 6989586621679009815 1.04315 0.0194665 -0.0119666 -0.0310907 -0.00277698 0.00967596 0.999466 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009815 6989586621679009816 1.0115 0.0369641 -0.0311201 -0.00379309 -0.00358994 0.0228517 0.999725 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009816 6989586621679009817 1.01044 0.0350573 -0.0829837 0.0173357 0.0182006 -0.0109716 0.999624 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009817 6989586621679009818 1.05049 0.0365929 -0.0634489 0.0168564 -0.0354309 0.00201968 0.999228 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009818 6989586621679009819 1.07075 0.0621773 -0.0988789 -0.0317565 0.00853304 0.0140011 0.999361 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009819 6989586621679009820 1.0067 0.0428082 -0.111362 0.00235017 -0.0165157 -0.0198449 0.999664 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009820 6989586621679009821 1.05775 0.027897 -0.0788171 0.0064698 0.0331792 -0.0101799 0.999377 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009821 6989586621679009822 1.06686 0.0596402 -0.0497146 -0.000483203 -0.0024263 0.0223754 0.999747 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009822 6989586621679009823 1.02038 0.0485101 0.0164902 -0.00772219 -0.0127284 0.0175146 0.999736 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009823 6989586621679009824 1.0079 0.00108788 -0.0850466 0.0196851 0.0140685 -0.00948042 0.999662 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009824 6989586621679009825 1.05081 -0.00379814 -0.00681156 0.0115401 0.0176247 -0.015791 0.999653 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009825 6989586621679009826 1.0207 0.000298555 0.024449 -0.00303221 -0.0347296 0.00444042 0.999382 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009826 6989586621679009827 1.03051 -0.0219017 -0.0298634 0.0116069 -0.00295876 0.000704943 0.999928 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009827 6989586621679009828 1.03137 -0.0285917 -0.0820696 0.00531618 0.00122926 0.00355666 0.999979 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009828 6989586621679009829 1.00439 -0.00595023 -0.0391062 -0.00757705 -0.00256431 -0.0102918 0.999915 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009829 6989586621679009830 1.04607 0.0204456 -0.0289015 -0.0130737 -0.0010013 -0.0057296 0.999898 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009830 6989586621679009831 0.999554 0.0502752 -0.0655108 -0.00857318 -0.0128387 0.00320069 0.999876 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009831 6989586621679009832 1.07167 0.0211644 -0.052321 0.00925784 0.0189303 0.00182589 0.999776 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009832 6989586621679009833 1.00047 -0.0153898 -0.0536714 0.00236143 0.00398128 0.00229387 0.999987 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009833 6989586621679009834 1.02484 0.00903049 0.0288654 -0.00172989 -0.0335724 0.00354615 0.999429 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009834 6989586621679009835 1.05243 0.0232169 -0.150946 -0.0022956 0.0452441 -0.0192138 0.998789 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009835 6989586621679009836 1.03329 0.0757164 -0.0031167 -0.00900797 -0.0125907 0.000269762 0.99988 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009836 6989586621679009837 1.02326 0.0111253 -0.0394879 -0.00432821 0.01751 -0.00900203 0.999797 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009837 6989586621679009838 1.01549 0.0106133 0.00458203 -0.0114598 -0.0125225 -0.006529 0.999835 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009838 6989586621679009839 1.03666 0.0881098 -0.0284251 0.0269881 0.0121217 0.0153924 0.999444 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009839 6989586621679009840 1.03581 0.0455682 -0.0548671 -0.00466669 -0.0361691 0.00578951 0.999318 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009840 6989586621679009841 1.0376 0.00117075 -0.0738758 -0.0109241 0.0348072 0.00706027 0.999309 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009830 6989586621679009841 1.0376 0.00117075 -0.0738758 -0.0109241 0.0348072 0.00706027 0.999309 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009820 6989586621679009831 1.0376 0.00117075 -0.0738758 -0.0109241 0.0348072 0.00706027 0.999309 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144
EDGE_SE3:QUAT 6989586621679009825 6989586621679009819 1.0376 0.00117075 -0.0738758 -0.0109241 0.0348072 0.00706027 0.999309 2.50044 0 0 0 0 0 2.50044 0 0 0 0 2.50044 0 0 0 10.0144 0 0 10.0144 0 10.0144