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Jan 22nd, 2020
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  1. ection: 396.361408, distance: 0.524500
  2. 19:22:07.710186: Direction: 397.452799, distance: 0.500000
  3. 19:22:07.710294: Direction: 397.901753, distance: 0.500000
  4. 19:22:07.710380: Direction: 400.656668, distance: 0.511500
  5. 19:22:07.710461: Direction: 401.663037, distance: 0.500000
  6. 19:22:07.718965: Updating node weight from 0.08930341243974904 to 0.04465170621987452
  7. 19:22:07.719238: Updating node weight from 0.1715985997660312 to 0.093863427877731
  8. 19:22:07.720005: Updating node weight from 0.2668735226160589 to 0.18933799873132956
  9. 19:22:07.720087: Found an object in 51 at OBJECT(2, 1)
  10. 19:22:07.720161: Found an object in 129 at OBJECT(0, 1)
  11. 19:22:07.720899:
  12. ┌?┐┌?┐┌?┐┌?┐┌?┐
  13. ?U U U U U?
  14. └ ┘└ ┘└ ┘└ ┘└ ┘
  15. ┌ ┐┌ ┐┌ ┐┌ ┐┌ ┐
  16. ?U U?
  17. └ ┘└ ┘└ ┘└ ┘└ ┘
  18. ┌ ┐┌ ┐┌ ┐┌ ┐┌ ┐
  19. ?U O O O?
  20. └ ┘└ ┘└ ┘└ ┘└ ┘
  21. ┌ ┐┌ ┐┌ ┐┌ ┐┌ ┐
  22. ?U * X U?
  23. └ ┘└ ┘└ ┘└ ┘└ ┘
  24. ┌ ┐┌ ┐┌ ┐┌ ┐┌ ┐
  25. ?U U U U U?
  26. └?┘└?┘└?┘└?┘└?┘
  27. 19:22:07.724469: Marking ROOM(1, 0) as the target point for the next objective.
  28. 19:22:07.724561: Finished goal FindCloseObjects
  29. 19:22:07.724594: Finished goal MoveToTarget(ROOM(1, 0))
  30. 19:22:07.724653: Transiting to state VerifyObjectCount
  31. 19:22:07.879542: Transiting to state FindLocationForTriangle
  32. 19:22:08.040511: First object is (-0.2086942895266059, 0.2577159847215085)[129:0.33161850862397835]
  33. 19:22:08.040620: Second object is (0.13609115091288904, 0.1680585752919092)[51:0.21625097938724128]
  34. 19:22:08.040697: Found possible points for triangle [(-0.08113027402165804, 0.040494559786961426)[-63.47483710437976:0.090674862752414], (0.008527135407941205, 0.38528000022645625)[1.2678808139392121:0.38537435126479747]]
  35. 19:22:08.040738: Final target angle 258.05110714762634
  36. 19:22:08.040906: Transiting to state Drive
  37. 19:22:08.182747: Turning from 2,888.511085 to 3,185.036248 - -16.000000 | 14.400000
  38. 19:22:08.308887: Turning from 2,888.538405 to 3,185.036248 - -15.000000 | 13.500000
  39. 19:22:08.430756: Turning from 2,888.538405 to 3,185.036248 - -15.000000 | 13.500000
  40. 19:22:08.572090: Turning from 2,901.054372 to 3,185.036248 - -15.000000 | 13.500000
  41. 19:22:08.725250: Turning from 2,901.054372 to 3,185.036248 - -15.000000 | 13.500000
  42. 19:22:08.875001: Turning from 2,918.304479 to 3,185.036248 - -15.000000 | 13.500000
  43. 19:22:09.036029: Turning from 2,918.304479 to 3,185.036248 - -15.000000 | 13.500000
  44. 19:22:09.192680: Turning from 2,935.572072 to 3,185.036248 - -15.000000 | 13.500000
  45. 19:22:09.340101: Turning from 2,935.572072 to 3,185.036248 - -15.000000 | 13.500000
  46. 19:22:09.470638: Turning from 2,952.716611 to 3,185.036248 - -15.000000 | 13.500000
  47. 19:22:09.614652: Turning from 2,952.716611 to 3,185.036248 - -15.000000 | 13.500000
  48. 19:22:09.739687: Turning from 2,970.084744 to 3,185.036248 - -15.000000 | 13.500000
  49. 19:22:09.890948: Turning from 2,970.084744 to 3,185.036248 - -15.000000 | 13.500000
  50. 19:22:10.061651: Turning from 2,987.226880 to 3,185.036248 - -15.000000 | 13.500000
  51. 19:22:10.249866: Turning from 2,987.226880 to 3,185.036248 - -15.000000 | 13.500000
  52. 19:22:10.414144: Turning from 3,004.587144 to 3,185.036248 - -15.000000 | 13.500000
  53. 19:22:10.552887: Turning from 3,004.587144 to 3,185.036248 - -15.000000 | 13.500000
  54. 19:22:10.728346: Turning from 3,021.747639 to 3,185.036248 - -15.000000 | 13.500000
  55. 19:22:10.895773: Turning from 3,021.747639 to 3,185.036248 - -15.000000 | 13.500000
  56. 19:22:11.066451: Turning from 3,039.068999 to 3,185.036248 - -15.000000 | 13.500000
  57. 19:22:11.273795: Turning from 3,039.068999 to 3,185.036248 - -15.000000 | 13.500000
  58. 19:22:11.446482: Turning from 3,056.273863 to 3,185.036248 - -15.000000 | 13.500000
  59. 19:22:11.614688: Turning from 3,056.273863 to 3,185.036248 - -15.000000 | 13.500000
  60. 19:22:11.750147: Turning from 3,073.499491 to 3,185.036248 - -15.000000 | 13.500000
  61. 19:22:11.890417: Turning from 3,073.499491 to 3,185.036248 - -15.000000 | 13.500000
  62. 19:22:12.039235: Turning from 3,090.863471 to 3,185.036248 - -15.000000 | 13.500000
  63. 19:22:12.176665: Turning from 3,090.863471 to 3,185.036248 - -15.000000 | 13.500000
  64. 19:22:12.312841: Turning from 3,108.051506 to 3,185.036248 - -14.132316 | 12.719085
  65. 19:22:12.456089: Turning from 3,108.051506 to 3,185.036248 - -14.276930 | 12.849237
  66. 19:22:12.601984: Turning from 3,124.650505 to 3,185.036248 - -13.170330 | 11.853297
  67. 19:22:12.768954: Turning from 3,124.650505 to 3,185.036248 - -13.354764 | 12.019287
  68. 19:22:12.931713: Turning from 3,138.885712 to 3,185.036248 - -12.405750 | 11.165175
  69. 19:22:13.066666: Turning from 3,138.885712 to 3,185.036248 - -12.563919 | 11.307527
  70. 19:22:13.214410: Turning from 3,151.307913 to 3,185.036248 - -11.735772 | 10.562195
  71. 19:22:13.379951: Turning from 3,151.307913 to 3,185.036248 - -11.873796 | 10.686417
  72. 19:22:13.565980: Turning from 3,161.658546 to 3,185.036248 - -11.183754 | 10.065379
  73. 19:22:13.729059: Turning from 3,161.658546 to 3,185.036248 - -11.298761 | 10.168885
  74. 19:22:13.919599: Turning from 3,169.699154 to 3,185.036248 - -10.762721 | 9.686449
  75. 19:22:14.109988: Turning from 3,169.699154 to 3,185.036248 - -10.852061 | 9.766855
  76. 19:22:14.265839: Turning from 3,176.399078 to 3,185.036248 - -10.405399 | 9.364859
  77. 19:22:14.431417: Turning from 3,176.399078 to 3,185.036248 - -10.479843 | 9.431858
  78. 19:22:14.582249: Turning from 3,182.083106 to 3,185.036248 - -10.100908 | 9.090817
  79. 19:22:14.749765: Turning from 3,182.083106 to 3,185.036248 - -10.164063 | 9.147657
  80. 19:22:15.078991: Turning from 3,187.255253 to 3,185.036248 - 0.000000 | 0.000000
  81. 19:22:15.079057: Facing target
  82. 19:22:15.079140: Starting to drive towards 3185.0362475885863
  83. 19:22:15.253265: 0.000000 / 0.090675 / 0.500000 / 0.000000 vs 0.000000 / 11.378258 vs 9.068852 / 1 : 0.04995612888005785
  84. 19:22:15.410705: 0.003272 / 0.090675 / 0.500000 / 15.000000 vs 10.000000 / 11.378258 vs 9.068852 / 1 : 0.04995612888005785
  85. 19:22:15.570931: 0.006676 / 0.090675 / 0.500000 / 32.000000 vs 19.000000 / 11.387325 vs 9.521228 / 1 : 0.37570697492756155
  86. 19:22:15.719488: 0.010734 / 0.090675 / 0.500000 / 49.000000 vs 33.000000 / 11.396393 vs 9.524635 / 1 : 0.37570697492756155
  87. 19:22:15.890006: 0.014792 / 0.090675 / 0.500000 / 66.000000 vs 47.000000 / 11.405460 vs 9.904590 / 1 : 0.6436252432348738
  88. 19:22:16.057209: 0.019242 / 0.090675 / 0.500000 / 84.000000 vs 63.000000 / 11.414528 vs 9.910426 / 1 : 0.6436252432348738
  89. 19:22:16.221819: 0.023693 / 0.090675 / 0.500000 / 102.000000 vs 79.000000 / 11.423595 vs 10.086336 / 1 : 0.7630934480454016
  90. 19:22:16.379431: 0.028274 / 0.090675 / 0.500000 / 120.000000 vs 96.000000 / 11.432663 vs 10.093256 / 1 : 0.7630934480454016
  91. 19:22:16.561982: 0.032987 / 0.090675 / 0.500000 / 138.000000 vs 114.000000 / 11.441730 vs 10.161685 / 1 : 0.8057575416769396
  92. 19:22:16.714663: 0.037568 / 0.090675 / 0.500000 / 155.000000 vs 132.000000 / 11.450798 vs 10.168991 / 1 : 0.8057575416769396
  93. 19:22:16.861803: 0.042542 / 0.090675 / 0.500000 / 175.000000 vs 150.000000 / 11.459865 vs 10.190911 / 1 : 0.8157678669244888
  94. 19:22:17.003983: 0.047255 / 0.090675 / 0.500000 / 193.000000 vs 168.000000 / 11.468933 vs 10.198308 / 1 : 0.8157678669244888
  95. 19:22:17.151868: 0.051967 / 0.090675 / 0.500000 / 211.000000 vs 186.000000 / 11.478000 vs 10.215590 / 1 : 0.8224559881597997
  96. 19:22:17.381425: 0.056810 / 0.090675 / 0.500000 / 229.000000 vs 205.000000 / 11.487068 vs 10.223048 / 1 : 0.8224559881597997
  97. 19:22:17.555529: 0.061654 / 0.090675 / 0.500000 / 248.000000 vs 223.000000 / 11.496135 vs 10.242801 / 1 : 0.8306740717691354
  98. 19:22:17.718327: 0.066366 / 0.090675 / 0.500000 / 266.000000 vs 241.000000 / 11.505203 vs 10.250333 / 1 : 0.8306740717691354
  99. 19:22:17.881948: 0.071340 / 0.090675 / 0.500000 / 285.000000 vs 260.000000 / 11.514270 vs 10.258726 / 1 : 0.8312423435080746
  100. 19:22:18.035929: 0.076184 / 0.090675 / 0.500000 / 303.000000 vs 279.000000 / 11.523338 vs 10.266263 / 1 : 0.8312423435080746
  101. 19:22:18.180268: 0.081027 / 0.090675 / 0.500000 / 322.000000 vs 297.000000 / 11.532405 vs 10.271456 / 1 : 0.8297123811340498
  102. 19:22:18.377323: 0.085870 / 0.090675 / 0.500000 / 340.000000 vs 316.000000 / 11.541473 vs 10.278979 / 1 : 0.8297123811340498
  103. 19:22:18.541501: 0.090844 / 0.090675 / 0.500000 / 359.000000 vs 335.000000 / 11.550540 vs 10.280944 / 1 : 0.8261278978576229
  104. 19:22:18.541552: Stopped at travelled distance of 0.09084438756630485
  105. 19:22:18.541808: Transiting to state TurnToDegree
  106. 19:22:18.714059: Turning from 3,185.905608 to 3,443.956715 - -16.000000 | 14.400000
  107. 19:22:18.894906: Turning from 3,187.134386 to 3,443.956715 - -15.000000 | 13.500000
  108. 19:22:19.060898: Turning from 3,187.134386 to 3,443.956715 - -15.000000 | 13.500000
  109. 19:22:19.226240: Turning from 3,205.451533 to 3,443.956715 - -15.000000 | 13.500000
  110. 19:22:19.391303: Turning from 3,205.451533 to 3,443.956715 - -15.000000 | 13.500000
  111. 19:22:19.539490: Turning from 3,222.635852 to 3,443.956715 - -15.000000 | 13.500000
  112. 19:22:19.690141: Turning from 3,222.635852 to 3,443.956715 - -15.000000 | 13.500000
  113. 19:22:19.836769: Turning from 3,239.850989 to 3,443.956715 - -15.000000 | 13.500000
  114. 19:22:20.008991: Turning from 3,239.850989 to 3,443.956715 - -15.000000 | 13.500000
  115. 19:22:20.134701: Turning from 3,257.043831 to 3,443.956715 - -15.000000 | 13.500000
  116. 19:22:20.287877: Turning from 3,257.043831 to 3,443.956715 - -15.000000 | 13.500000
  117. 19:22:20.444538: Turning from 3,274.448465 to 3,443.956715 - -15.000000 | 13.500000
  118. 19:22:20.619931: Turning from 3,274.448465 to 3,443.956715 - -15.000000 | 13.500000
  119. 19:22:20.778629: Turning from 3,291.736603 to 3,443.956715 - -15.000000 | 13.500000
  120. 19:22:20.957874: Turning from 3,291.736603 to 3,443.956715 - -15.000000 | 13.500000
  121. 19:22:21.151010: Turning from 3,309.019276 to 3,443.956715 - -15.000000 | 13.500000
  122. 19:22:21.276585: Turning from 3,309.019276 to 3,443.956715 - -15.000000 | 13.500000
  123. 19:22:21.430067: Turning from 3,326.805089 to 3,443.956715 - -15.000000 | 13.500000
  124. 19:22:21.577893: Turning from 3,326.805089 to 3,443.956715 - -15.000000 | 13.500000
  125. 19:22:21.757121: Turning from 3,344.003177 to 3,443.956715 - -15.000000 | 13.500000
  126. 19:22:21.907398: Turning from 3,344.003177 to 3,443.956715 - -15.000000 | 13.500000
  127. 19:22:22.065944: Turning from 3,361.562774 to 3,443.956715 - -14.492929 | 13.043636
  128. 19:22:22.226710: Turning from 3,361.562774 to 3,443.956715 - -14.577441 | 13.119697
  129. 19:22:22.378799: Turning from 3,378.058173 to 3,443.956715 - -13.477748 | 12.129973
  130. 19:22:22.551478: Turning from 3,378.058173 to 3,443.956715 - -13.661030 | 12.294927
  131. 19:22:22.699185: Turning from 3,393.313209 to 3,443.956715 - -12.644028 | 11.379625
  132. 19:22:22.836871: Turning from 3,405.945234 to 3,443.956715 - -11.971393 | 10.774254
  133. 19:22:23.047223: Turning from 3,405.945234 to 3,443.956715 - -12.111749 | 10.900574
  134. 19:22:23.220796: Turning from 3,405.945234 to 3,443.956715 - -12.111749 | 10.900574
  135. 19:22:23.395136: Turning from 3,415.690220 to 3,443.956715 - -11.462083 | 10.315875
  136. 19:22:23.589368: Turning from 3,415.690220 to 3,443.956715 - -11.570361 | 10.413325
  137. 19:22:23.765579: Turning from 3,425.231940 to 3,443.956715 - -10.934246 | 9.840822
  138. 19:22:23.942288: Turning from 3,425.231940 to 3,443.956715 - -11.040265 | 9.936239
  139. 19:22:24.129950: Turning from 3,433.213316 to 3,443.956715 - -10.508174 | 9.457356
  140. 19:22:24.311165: Turning from 3,433.213316 to 3,443.956715 - -10.596856 | 9.537170
  141. 19:22:24.492585: Turning from 3,439.526378 to 3,443.956715 - -10.175985 | 9.158386
  142. 19:22:24.690719: Turning from 3,439.526378 to 3,443.956715 - -10.246130 | 9.221517
  143. 19:22:25.021738: Turning from 3,444.783766 to 3,443.956715 - 0.000000 | 0.000000
  144. 19:22:25.021774: Facing target
  145. 19:22:25.021794: Finished turning towards 3443.9567152469244
  146. 19:22:25.188158: Finished goal SolveTriangle
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