{ "math_check": { "max_relative_tangent_distance_error": 7.059746927111775e-16, "max_tangent_clearance_error": 2.220446049250313e-15 }, "branch_switch": { "predicted_heading_rad": 0.0, "observed_heading_rad": 0.0, "max_time_difference_at_switch": 0.0 }, "safety_sweep": { "residual_magnitudes": [ 0.1, 0.8181818181818182, 1.5363636363636366, 2.254545454545455, 2.972727272727273, 3.6909090909090914, 4.409090909090909, 5.127272727272727, 5.845454545454546, 6.563636363636364, 7.281818181818182, 8.0 ], "raw_min_clearance": [ -0.199999999999956, -0.7981818181818247, -0.7986363636363669, -0.7967272727272707, -0.7958636363636379, -0.7965454545454557, -0.7920454545454554, -0.7998181818181825, -0.7937272727272734, -0.7845454545454551, -0.783045454545455, -0.7999999999999997 ], "projected_min_clearance": [ 2.19824158875781e-14, 0.0036363636363609952, 0.00027272727272587005, 0.008363636363635463, 0.0067727272727265975, 0.015454545454544943, 0.0015909090909086432, 0.0205454545454542, 0.024636363636363345, 0.003090909090908811, 0.017954545454545223, 0.039999999999999813 ] }, "speed_ratio_sweep": { "y_over_r": [ 0.0001, 0.00011670827378333286, 0.00013620821169485394, 0.00015896625262021172, 0.00018552676933110144, 0.0002165250898923143, 0.00025270269472113, 0.0002949249528129962, 0.0003442018213843572, 0.00040171200406847394, 0.0004688311455287478, 0.0005471647369052272, 0.0006385865191932056, 0.0007452833031634624, 0.0008698072779174805, 0.001015137059299289, 0.0011847489384430882, 0.001382700034723289, 0.0016137253421270963, 0.0018833509904007182, 0.0021980264301779814, 0.002565278703962136, 0.0029938924931256655, 0.0034941202476557517, 0.004077927424952943, 0.0047592787037997, 0.005554472019742416, 0.006482528412019597, 0.007565647007182171, 0.008829736022622705, 0.010305032491628072, 0.01202682553379071, 0.014036300471420245, 0.01638152398323638, 0.019118593860237867, 0.022312980865929876, 0.02604109479823214, 0.030392112213298017, 0.035470109530433634, 0.041396552542026524, 0.0483132018776096, 0.05638550392081492, 0.06580654829001656, 0.07680168654567375, 0.08963392260394204, 0.10461020379534947, 0.12208876305077891, 0.14248768783998772, 0.16629492083183353, 0.1940799314921929, 0.2265073378044136, 0.2643528039441136, 0.30852159418101355, 0.36007022681748047, 0.4202317461264131, 0.49044521679369446, 0.5723901463728454, 0.6680266591376407, 0.7796423822920094, 0.909907166056258, 1.0619369465351027, 1.2393682789685538, 1.446445324202402, 1.6881213690963541, 1.970177309239922, 2.2993599280848307, 2.6835432801334873, 3.1319170384724244, 3.655206311927251, 4.265928189869724, 4.9786911512335275, 5.8105444996081985, 6.781386182905131, 7.9144387526500175, 9.236804847856986, 10.780115490669104, 12.581286701009587, 14.6834025284803, 17.136745623647624, 20.0 ], "observed_threshold_ve_over_vp": [ 1.9999999933333332, 1.9999999909194526, 1.9999999876315488, 1.999999983153154, 1.9999999770532124, 1.9999999687445913, 1.9999999574275669, 1.9999999420128511, 1.999999921016743, 1.999999892418321, 1.999999853464924, 1.999999800407203, 1.9999997281382382, 1.9999996297019889, 1.999999495623762, 1.9999993129982587, 1.9999990642474232, 1.999998725428538, 1.999998263929726, 1.9999976353310638, 1.9999967791292115, 1.9999956129141025, 1.9999940244372965, 1.9999918608087521, 1.9999889137825593, 1.999984899716032, 1.999979432274455, 1.999971985256616, 1.9999618419673768, 1.9999480262724143, 1.9999292087140625, 1.9999035786796717, 1.9998686703702604, 1.9998211259147556, 1.9997563730073884, 1.999668186370801, 1.9995480914475456, 1.9993845540593966, 1.9991618801399293, 1.9988587235280115, 1.9984460653873455, 1.997884484048837, 1.9971204769745075, 1.9960815258450408, 1.99466951229901, 1.9927520011783637, 1.990150825474096, 1.9866273657799762, 1.9818639817785302, 1.9754413400070105, 1.966812080875182, 1.9552726569746866, 1.9399375924081455, 1.9197241153652653, 1.8933599135051902, 1.859431354550243, 1.8164907165309923, 1.763233660944304, 1.6987375918686292, 1.6227189235472002, 1.5357359426674349, 1.4392571280474729, 1.3355490532347205, 1.2274031012899675, 1.1177798438255075, 1.0094697989775892, 0.9048446209457512, 0.8057267103443518, 0.713365234399616, 0.6284860973325861, 0.5513809883069823, 0.48200817714508226, 0.4200878538668957, 0.3651834430859606, 0.3167662042988149, 0.2742637879429781, 0.23709497833082183, 0.2046933221056748, 0.17652223170714082, 0.1520837931072954 ], "predicted_supremum": 2.0, "observed_supremum": 1.9999999933333332, "threshold_at_y_over_r_1": 1.5357359426674349 }, "mini_experiment": { "raw_min_clearance": -0.7999999999999993, "projected_min_clearance": 0.009999999999999787, "raw_final_position": [ -6.999999999999896, 0.0 ], "projected_final_position": [ 0.8099999999999998, 0.0 ] } }