http://robotics.stackexchange.com/questions/8058/optimal-tim

0.0	# x_{A,0}
409.0	# y_{A,0}
0.0	# v_min
400.0	# v_max
-50.0	# a_min
170.0	# a_max
0.0	# x_{B,0}
409.0	# v_{B,0}
0.0	# t_0
86	# number of acceleration changes in the format "<time> <acceleration>"
0.0 -200.0
0.045 0.0
5.19108 200.0
5.69108 0.0
10.8328 0.0
10.9328 0.0
11.3668 0.0
11.4668 0.0
16.1641 -200.0
16.6641 0.0
23.5643 0.0
28.3689 200.0
28.4141 -100.0
31.4274 200.0
33.3888 -200.0
33.8888 0.0
40.2117 -100.0
43.6162 200.0
44.764 200.0
45.3184 0.0
51.3774 -200.0
53.3774 0.0
55.3292 200.0
57.8292 0.0
64.1875 200.0
64.6875 0.0
72.2566 -200.0
73.2566 0.0
74.2002 -100.0
78.2002 0.0
79.5505 200.0
79.7013 -100.0
79.7017 199.12525984205532836313
81.2429 200.0
82.5579 0.0
87.7686 0.0
90.6998 -100.0
92.6998 0.0
93.8578 200.0
93.8926 -100.0
94.0465 200.0
94.0885 0.0
101.433 -100.0
102.414 0.0
103.492 200.0
103.532 -100.0
106.619 200.0
106.62 -100.0
106.634 0.0
109.975 200.0
112.496 -100.0
113.586 200.0
113.61 0.0
113.665 -100.0
113.891 0.0
115.974 200.0
116.087 0.0
118.483 -100.0
122.483 0.0
126.436 200.0
126.462 -100.0
126.467 150.95190380761522419562
128.436 200.0
128.444 -100.0
128.46 0.0
129.267 200.0
130.257 0.0
134.104 0.0