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wrong path provided by navigation stack

Hi all!

I want to use the move_base (I am following this tutorial ) example to provide the global path (I need to test my local planner). I am running the tests on Stge.

My configuration files looks like: 

    TrajectoryPlannerROS:
  maxvelx: 0.45
  minvelx: 0.1
  maxrotationalvel: 1.0
  mininplacerotationalvel: 0.4



acclimth: 3.2
  acclimx: 2.5
  acclimy: 2.5



holonomicrobot: trueobstaclerange: 7.0
raytrace_range: 3.0
footprint: [[-0.7, -0.55], [-0.7, 0.55], [0.7, 0.55], [0.7, -0.55]]



robotradius: irof_robot



inflationradius: 0.5
observationsources: laserscansensor



pointcloudsensor



laserscansensor: {sensorframe: baselaser, datatype: LaserScan, topic: basescan, marking: true, clearing: true}



pointcloudsensor: {sensorframe: framename, datatype: PointCloud, topic: topicname, marking: true, clearing: true}global_costmap:



globalframe: /map
  robotbaseframe: baselink
  updatefrequency: 5.0
  staticmap: true
  maptype: costmaplocalcostmap:
  globalframe: odom
  robotbaseframe: baselink
  updatefrequency: 2.0
  publishfrequency: 5.0
  staticmap: true
  rollingwindow: true
  width: 36000.0
  height: 25000.0
  resolution: 0.01

The code itself:

#include 
#include 
#include 
#include 
using std::map;
#include 
using std::pair; using std::make_pair;
#include 
#define forEach BOOST_FOREACH
#include 
#include 
#include 
static ros::NodeHandle* s_NodeHandle = NULL;
static ros::ServiceClient s_GetPlan;
/// Plan requests are issued using this frame - so the poses from the planner are given in this frame (e.g. map)
static std::string s_WorldFrame;
static double s_GoalTolerance = 0.5;
void navstack_init(/*int argc, char** argv*/)
{
   // get world frame
   ros::NodeHandle nhPriv("~");
   std::string tfPrefix = tf::getPrefixParam(nhPriv);
   //   s_WorldFrame = tf::resolve(tfPrefix, argv[1]);
   s_WorldFrame = tf::resolve(tfPrefix, "map");
   ROS_INFO("World frame is: %s", s_WorldFrame.c_str());

   // get goal tolerance
   char* checkPtr;
   //   s_GoalTolerance = strtod(argv[2], &checkPtr);
   s_GoalTolerance = strtod("1.0", &checkPtr);
   ROS_INFO("Goal Tolerance is: %f.", s_GoalTolerance);
   // init service query
   s_NodeHandle = new ros::NodeHandle();
   while(!ros::service::waitForService("move_base/make_plan", ros::Duration(3.0))) {
      ROS_ERROR("Service move_base/make_plan not available - waiting.");
   }

   s_GetPlan = s_NodeHandle->serviceClient("move_base/make_plan", true);
   if(!s_GetPlan) {
      ROS_FATAL("Could not initialize get plan service from move_base/make_plan (client name: %s)", s_GetPlan.getService().c_str());
   }
   ROS_INFO("Initialized Navstack Module.\n");
}

int path(){
   nav_msgs::GetPlan srv;
   srv.request.start.header.frame_id = s_WorldFrame;
   srv.request.goal.header.frame_id = s_WorldFrame;

   srv.request.start.pose.position.x = 4.0;
   srv.request.start.pose.position.y = 4.0;
   srv.request.start.pose.position.z = 0.0;
   srv.request.start.pose.orientation.x = 0.0;
   srv.request.start.pose.orientation.y = 0.0;
   srv.request.start.pose.orientation.z = 0.0;
   srv.request.start.pose.orientation.w = 1.0;

   srv.request.goal.pose.position.x = 6.0;
   srv.request.goal.pose.position.y = 4.0;
   srv.request.goal.pose.position.z = 0.0;
   srv.request.goal.pose.orientation.x = 0.0;
   srv.request.goal.pose.orientation.y = 0.0;
   srv.request.goal.pose.orientation.z = 0.0;
   srv.request.goal.pose.orientation.w = 1.0;
   srv.request.tolerance = s_GoalTolerance;
   
   //   double cost = INFINITE_COST;

   if(!s_GetPlan) {
      ROS_ERROR("Persistent service connection to %s failed.", s_GetPlan.getService().c_str());
      // FIXME reconnect - this shouldn't happen.
      return 0;// INFINITE_COST;
   }

   // statistics about using the ros path planner service
   static double plannerCalls = 0;
   static ros::Duration totalCallsTime = ros::Duration(0.0);
   plannerCalls += 1.0;

   ros::Time callStartTime = ros::Time::now();
   // This construct is here, because when the robot is moving move_base will not produce other paths
   // we retry for a certain amount of time to not fail directly.
   // FIXME: Cleanup the goto code
retryGetPlan:
   static unsigned int failCounter = 0;

   // perform the actual path planner call
   if(s_GetPlan.call(srv)) {
      failCounter = 0;

      if(!srv.response.plan.poses.empty()) {
         geometry_msgs::PoseStamped lastPose = srv.response.plan.poses[0];
         forEach(const geometry_msgs::PoseStamped & p, srv.response.plan.poses) {
       ROS_INFO("x=%f y=%f ",p.pose.position.x,p.pose.position.y);
           // double d = hypot(lastPose.pose.position.x - p.pose.position.x, 
           //       lastPose.pose.position.y - p.pose.position.y);
       //  pathLength += d;
            lastPose = p;
         }
      } else {
          ROS_WARN("Got empty plan from service");
      }
   } else {
      ROS_ERROR("Failed to call service %s - is the robot moving?", s_GetPlan.getService().c_str());
      failCounter++;
      if(failCounter < 300) {
         usleep(1000*1000);
         goto retryGetPlan;
      }
      return 0;
   }
   return 1;
}
int main(int argc, char** argv){
  ros::init(argc,argv,"loc");
  navstack_init();
  path();

}

I just want to ride 2 meters along x-axis (there are no obstacles on its way) and I get such output:


[ INFO] [1336417573.590377189]: World frame is: /map
[ INFO] [1336417573.590777227]: Goal Tolerance is: 1.000000.
[ INFO] [1336417573.596150175]: Initialized Navstack Module.

[ INFO] [1336417574.123701131, 401.300000000]: x=4.000000 y=4.000000 
[ INFO] [1336417574.123805297, 401.300000000]: x=4.006344 y=3.992090 
[ INFO] [1336417574.123878970, 401.300000000]: x=4.010014 y=3.988694 
[ INFO] [1336417574.123928051, 401.300000000]: x=4.013605 y=3.985215 
[ INFO] [1336417574.123978129, 401.300000000]: x=4.017121 y=3.981660 
[ INFO] [1336417574.124025645, 401.300000000]: x=4.020714 y=3.978183 
[ INFO] [1336417574.124075009, 401.300000000]: x=4.024263 y=3.974660 
[ INFO] [1336417574.124123001, 401.300000000]: x=4.027772 y=3.971098 
[ INFO] [1336417574.124172962, 401.300000000]: x=4.031334 y=3.967590 
[ INFO] [1336417574.124216329, 401.300000000]: x=4.034866 y=3.964051 
[ INFO] [1336417574.124260678, 401.300000000]: x=4.038374 y=3.960488 
[ INFO] [1336417574.124304443, 401.300000000]: x=4.041920 y=3.956963 
[ INFO] [1336417574.124348140, 401.300000000]: x=4.045444 y=3.953416 
[ INFO] [1336417574.124391799, 401.300000000]: x=4.048951 y=3.949853 
[ INFO] [1336417574.124435222, 401.300000000]: x=4.052488 y=3.946317 
[ INFO] [1336417574.124478931, 401.300000000]: x=4.056007 y=3.942766 
[ INFO] [1336417574.124522284, 401.300000000]: x=4.059516 y=3.939204 
[ INFO] [1336417574.124565931, 401.300000000]: x=4.063042 y=3.935659 
[ INFO] [1336417574.124611787, 401.300000000]: x=4.066557 y=3.932103 
[ INFO] [1336417574.124817513, 401.300000000]: x=4.070089 y=3.928564 
[ INFO] [1336417574.124867362, 401.300000000]: x=4.073610 y=3.925015 
[ INFO] [1336417574.124914894, 401.300000000]: x=4.077124 y=3.921457 
[ INFO] [1336417574.124961609, 401.300000000]: x=4.080656 y=3.917918 
[ INFO] [1336417574.125070760, 401.300000000]: x=4.084178 y=3.914369 
[ INFO] [1336417574.125166422, 401.300000000]: x=4.087694 y=3.910814 
[ INFO] [1336417574.125260528, 401.300000000]: x=4.091226 y=3.907275 
[ INFO] [1336417574.125354039, 401.300000000]: x=4.094749 y=3.903727 
[ INFO] [1336417574.125451742, 401.300000000]: x=4.098267 y=3.900174 
[ INFO] [1336417574.125545177, 401.300000000]: x=4.101799 y=3.896635 
[ INFO] [1336417574.125635854, 401.300000000]: x=4.105323 y=3.893088 
[ INFO] [1336417574.125729305, 401.300000000]: x=4.108843 y=3.889537 
[ INFO] [1336417574.125823306, 401.300000000]: x=4.112375 y=3.885998 
[ INFO] [1336417574.125917297, 401.300000000]: x=4.115900 y=3.882451 
[ INFO] [1336417574.126010358, 401.300000000]: x=4.119422 y=3.878902 
[ INFO] [1336417574.126131776, 401.300000000]: x=4.122953 y=3.875362 
[ INFO] [1336417574.126221528, 401.300000000]: x=4.126478 y=3.871817 
[ INFO] [1336417574.126309759, 401.300000000]: x=4.130016 y=3.868284 
[ INFO] [1336417574.126397519, 401.300000000]: x=4.133547 y=3.864744 
[ INFO] [1336417574.126485696, 401.300000000]: x=4.137074 y=3.861199 
[ INFO] [1336417574.126573291, 401.300000000]: x=4.140611 y=3.857665 
[ INFO] [1336417574.126660971, 401.300000000]: x=4.144142 y=3.854125 
[ INFO] [1336417574.126748407, 401.300000000]: x=4.147669 y=3.850581 
[ INFO] [1336417574.126836684, 401.300000000]: x=4.151205 y=3.847046 
[ INFO] [1336417574.126924295, 401.300000000]: x=4.154736 y=3.843506 
[ INFO] [1336417574.127020408, 401.300000000]: x=4.158263 y=3.839962 
[ INFO] [1336417574.127150653, 401.300000000]: x=4.161799 y=3.836427 
[ INFO] [1336417574.127239633, 401.300000000]: x=4.165329 y=3.832886 
[ INFO] [1336417574.127328826, 401.300000000]: x=4.168857 y=3.829343 
[ INFO] [1336417574.127416723, 401.300000000]: x=4.172392 y=3.825807 
[ INFO] [1336417574.127507067, 401.300000000]: x=4.175923 y=3.822266 
[ INFO] [1336417574.127595038, 401.300000000]: x=4.179452 y=3.818724 
[ INFO] [1336417574.127683073, 401.300000000]: x=4.182986 y=3.815187 
[ INFO] [1336417574.127771227, 401.300000000]: x=4.186516 y=3.811647 
[ INFO] [1336417574.127860306, 401.300000000]: x=4.190055 y=3.808115 
[ INFO] [1336417574.127948339, 401.300000000]: x=4.193589 y=3.804578 
[ INFO] [1336417574.128036289, 401.300000000]: x=4.197120 y=3.801037 
[ INFO] [1336417574.128124339, 401.300000000]: x=4.200658 y=3.797504 
[ INFO] [1336417574.128211701, 401.300000000]: x=4.204191 y=3.793967 
[ INFO] [1336417574.128300181, 401.300000000]: x=4.207722 y=3.790426 
[ INFO] [1336417574.128388887, 401.300000000]: x=4.211259 y=3.786892 
[ INFO] [1336417574.128476942, 401.300000000]: x=4.214792 y=3.783354 
[ INFO] [1336417574.128564354, 401.300000000]: x=4.218323 y=3.779814 
[ INFO] [1336417574.128654301, 401.300000000]: x=4.221860 y=3.776280 
[ INFO] [1336417574.128819969, 401.300000000]: x=4.225393 y=3.772742 
[ INFO] [1336417574.129232537, 401.300000000]: x=4.228924 y=3.769202 
[ INFO] [1336417574.129341450, 401.300000000]: x=4.232460 y=3.765666 
[ INFO] [1336417574.129431592, 401.300000000]: x=4.235993 y=3.762128 
[ INFO] [1336417574.129520574, 401.300000000]: x=4.239524 y=3.758588 
[ INFO] [1336417574.129609006, 401.300000000]: x=4.243059 y=3.755053 
[ INFO] [1336417574.129697598, 401.300000000]: x=4.246592 y=3.751514 
[ INFO] [1336417574.129785631, 401.300000000]: x=4.250131 y=3.747982 
[ INFO] [1336417574.129875588, 401.300000000]: x=4.253666 y=3.744446 
[ INFO] [1336417574.129964400, 401.300000000]: x=4.257199 y=3.740908 
[ INFO] [1336417574.130052492, 401.300000000]: x=4.260737 y=3.737375 
[ INFO] [1336417574.130142427, 401.300000000]: x=4.264272 y=3.733839 
[ INFO] [1336417574.130231398, 401.300000000]: x=4.267804 y=3.730301 
[ INFO] [1336417574.130320452, 401.300000000]: x=4.271342 y=3.726767 
[ INFO] [1336417574.130408338, 401.300000000]: x=4.274877 y=3.723231 
[ INFO] [1336417574.130499457, 401.300000000]: x=4.278410 y=3.719693 
[ INFO] [1336417574.130588115, 401.300000000]: x=4.281947 y=3.716159 
[ INFO] [1336417574.130677733, 401.300000000]: x=4.285481 y=3.712622 
[ INFO] [1336417574.130766470, 401.300000000]: x=4.289014 y=3.709084 
[ INFO] [1336417574.130855010, 401.300000000]: x=4.292551 y=3.705550 
[ INFO] [1336417574.130943570, 401.300000000]: x=4.296085 y=3.702013 
[ INFO] [1336417574.131031834, 401.300000000]: x=4.299618 y=3.698475 
[ INFO] [1336417574.131120237, 401.300000000]: x=4.303155 y=3.694940 
[ INFO] [1336417574.131208514, 401.300000000]: x=4.306689 y=3.691403 
[ INFO] [1336417574.131297004, 401.300000000]: x=4.310228 y=3.687872 
[ INFO] [1336417574.131385598, 401.300000000]: x=4.313765 y=3.684337 
[ INFO] [1336417574.131475042, 401.300000000]: x=4.317299 y=3.680800 
[ INFO] [1336417574.131563507, 401.300000000]: x=4.320838 y=3.677268 
[ INFO] [1336417574.131652001, 401.300000000]: x=4.324374 y=3.673733 
[ INFO] [1336417574.131740873, 401.300000000]: x=4.327908 y=3.670196 
[ INFO] [1336417574.131829125, 401.300000000]: x=4.331446 y=3.666663 
[ INFO] [1336417574.131917785, 401.300000000]: x=4.334982 y=3.663128 
[ INFO] [1336417574.132005947, 401.300000000]: x=4.338516 y=3.659591 
[ INFO] [1336417574.132094883, 401.300000000]: x=4.342055 y=3.656058 
[ INFO] [1336417574.132183161, 401.300000000]: x=4.345590 y=3.652523 
[ INFO] [1336417574.132272413, 401.300000000]: x=4.349125 y=3.648986 
[ INFO] [1336417574.132362208, 401.300000000]: x=4.352662 y=3.645453 
[ INFO] [1336417574.132450399, 401.300000000]: x=4.356198 y=3.641917 
[ INFO] [1336417574.132538364, 401.300000000]: x=4.359732 y=3.638381 
[ INFO] [1336417574.132626977, 401.300000000]: x=4.363270 y=3.634847 
[ INFO] [1336417574.132715981, 401.300000000]: x=4.366805 y=3.631311 
[ INFO] [1336417574.132804248, 401.300000000]: x=4.370345 y=3.627780 
[ INFO] [1336417574.132892215, 401.300000000]: x=4.373882 y=3.624246 
[ INFO] [1336417574.132982611, 401.300000000]: x=4.377418 y=3.620710 
[ INFO] [1336417574.133072468, 401.300000000]: x=4.380957 y=3.617179 
[ INFO] [1336417574.133161129, 401.300000000]: x=4.384494 y=3.613645 
[ INFO] [1336417574.133249264, 401.300000000]: x=4.388029 y=3.610109 
[ INFO] [1336417574.133338183, 401.300000000]: x=4.391569 y=3.606577 
[ INFO] [1336417574.133427130, 401.300000000]: x=4.395105 y=3.603043 
[ INFO] [1336417574.133515357, 401.300000000]: x=4.398641 y=3.599507 
[ INFO] [1336417574.133604018, 401.300000000]: x=4.402179 y=3.595975 
[ INFO] [1336417574.133692925, 401.300000000]: x=4.405716 y=3.592440 
[ INFO] [1336417574.133781153, 401.300000000]: x=4.409252 y=3.588905 
[ INFO] [1336417574.133870508, 401.300000000]: x=4.412790 y=3.585372 
[ INFO] [1336417574.133975629, 401.300000000]: x=4.416327 y=3.581838 
[ INFO] [1336417574.134064171, 401.300000000]: x=4.419862 y=3.578303 
[ INFO] [1336417574.134153144, 401.300000000]: x=4.423400 y=3.574770 
[ INFO] [1336417574.134241951, 401.300000000]: x=4.426937 y=3.571235 
[ INFO] [1336417574.134330845, 401.300000000]: x=4.430477 y=3.567704 
[ INFO] [1336417574.134419750, 401.300000000]: x=4.434015 y=3.564171 
[ INFO] [1336417574.134508820, 401.300000000]: x=4.437551 y=3.560636 
[ INFO] [1336417574.134597227, 401.300000000]: x=4.441092 y=3.557105 
[ INFO] [1336417574.134686891, 401.300000000]: x=4.444629 y=3.553572 
[ INFO] [1336417574.134776063, 401.300000000]: x=4.448165 y=3.550037 
[ INFO] [1336417574.134864363, 401.300000000]: x=4.451705 y=3.546506 
[ INFO] [1336417574.134952965, 401.300000000]: x=4.455243 y=3.542972 
[ INFO] [1336417574.135041531, 401.300000000]: x=4.458780 y=3.539438 
[ INFO] [1336417574.135130372, 401.300000000]: x=4.462319 y=3.535906 
[ INFO] [1336417574.135219409, 401.300000000]: x=4.465856 y=3.532372 
[ INFO] [1336417574.135307923, 401.300000000]: x=4.469393 y=3.528838 
[ INFO] [1336417574.135396591, 401.300000000]: x=4.472932 y=3.525306 
[ INFO] [1336417574.135485547, 401.300000000]: x=4.476469 y=3.521772 
[ INFO] [1336417574.135576312, 401.300000000]: x=4.480011 y=3.518243 
[ INFO] [1336417574.135665026, 401.300000000]: x=4.483549 y=3.514710 
[ INFO] [1336417574.137834771, 401.300000000]: x=4.487087 y=3.511177 
[ INFO] [1336417574.137868979, 401.300000000]: x=4.490628 y=3.507646 
[ INFO] [1336417574.137919102, 401.300000000]: x=4.494166 y=3.504114 
[ INFO] [1336417574.138010074, 401.300000000]: x=4.497704 y=3.500580 
[ INFO] [1336417574.138101713, 401.300000000]: x=4.501244 y=3.497050 
[ INFO] [1336417574.138184808, 401.300000000]: x=4.504783 y=3.493517 
[ INFO] [1336417574.138280541, 401.300000000]: x=4.508320 y=3.489984 
[ INFO] [1336417574.138379839, 401.300000000]: x=4.511860 y=3.486453 
[ INFO] [1336417574.138470062, 401.300000000]: x=4.515399 y=3.482920 
[ INFO] [1336417574.138562965, 401.300000000]: x=4.518936 y=3.479387 
[ INFO] [1336417574.138826086, 401.300000000]: x=4.522476 y=3.475855 
[ INFO] [1336417574.138924744, 401.300000000]: x=4.526014 y=3.472323 
[ INFO] [1336417574.139018794, 401.300000000]: x=4.529552 y=3.468789 
[ INFO] [1336417574.139111163, 401.300000000]: x=4.533092 y=3.465258 
[ INFO] [1336417574.139201614, 401.300000000]: x=4.536630 y=3.461725 
[ INFO] [1336417574.139293970, 401.300000000]: x=4.540172 y=3.458196 
[ INFO] [1336417574.139385029, 401.300000000]: x=4.543711 y=3.454664 
[ INFO] [1336417574.139475104, 401.300000000]: x=4.547249 y=3.451131 
[ INFO] [1336417574.139564719, 401.300000000]: x=4.550791 y=3.447602 
[ INFO] [1336417574.139654560, 401.300000000]: x=4.554330 y=3.444070 
[ INFO] [1336417574.139743357, 401.300000000]: x=4.557868 y=3.440537 
[ INFO] [1336417574.139832954, 401.300000000]: x=4.561410 y=3.437007 
[ INFO] [1336417574.140562691, 401.300000000]: x=4.564949 y=3.433475 
[ INFO] [1336417574.140656968, 401.300000000]: x=4.568487 y=3.429942 
[ INFO] [1336417574.140738478, 401.300000000]: x=4.572027 y=3.426412 
[ INFO] [1336417574.140821263, 401.300000000]: x=4.575567 y=3.422880 
[ INFO] [1336417574.141033699, 401.400000000]: x=4.579105 y=3.419347 
[ INFO] [1336417574.141173328, 401.400000000]: x=4.582645 y=3.415817 
[ INFO] [1336417574.141254409, 401.400000000]: x=4.586185 y=3.412285 
[ INFO] [1336417574.141331675, 401.400000000]: x=4.589723 y=3.408752 
[ INFO] [1336417574.141414985, 401.400000000]: x=4.593263 y=3.405221 
[ INFO] [1336417574.141494110, 401.400000000]: x=4.596802 y=3.401689 
[ INFO] [1336417574.141573535, 401.400000000]: x=4.600344 y=3.398160 
[ INFO] [1336417574.141648787, 401.400000000]: x=4.603884 y=3.394629 
[ INFO] [1336417574.141727227, 401.400000000]: x=4.607424 y=3.391097 
[ INFO] [1336417574.141804698, 401.400000000]: x=4.610965 y=3.387568 
[ INFO] [1336417574.141882856, 401.400000000]: x=4.614506 y=3.384037 
[ INFO] [1336417574.141916379, 401.400000000]: x=4.618044 y=3.380505 
[ INFO] [1336417574.141948430, 401.400000000]: x=4.621586 y=3.376976 
[ INFO] [1336417574.141981124, 401.400000000]: x=4.625126 y=3.373444 
[ INFO] [1336417574.142012161, 401.400000000]: x=4.628665 y=3.369912 
[ INFO] [1336417574.142043150, 401.400000000]: x=4.632206 y=3.366383 
[ INFO] [1336417574.142074614, 401.400000000]: x=4.635746 y=3.362851 
[ INFO] [1336417574.142105646, 401.400000000]: x=4.639285 y=3.359319 
[ INFO] [1336417574.142136219, 401.400000000]: x=4.642826 y=3.355789 
[ INFO] [1336417574.142167650, 401.400000000]: x=4.646366 y=3.352258 
[ INFO] [1336417574.142199157, 401.400000000]: x=4.649905 y=3.348726 
[ INFO] [1336417574.142230000, 401.400000000]: x=4.653446 y=3.345196 
[ INFO] [1336417574.142253172, 401.400000000]: x=4.656986 y=3.341665 
[ INFO] [1336417574.142276137, 401.400000000]: x=4.660528 y=3.338137 
[ INFO] [1336417574.142298630, 401.400000000]: x=4.664069 y=3.334606 
[ INFO] [1336417574.142336903, 401.400000000]: x=4.667609 y=3.331075 
[ INFO] [1336417574.142359588, 401.400000000]: x=4.671151 y=3.327546 
[ INFO] [1336417574.142381578, 401.400000000]: x=4.674692 y=3.324016 
[ INFO] [1336417574.142402846, 401.400000000]: x=4.678232 y=3.320484 
[ INFO] [1336417574.142424099, 401.400000000]: x=4.681774 y=3.316955 
[ INFO] [1336417574.142445038, 401.400000000]: x=4.685315 y=3.313425 
[ INFO] [1336417574.142465494, 401.400000000]: x=4.688854 y=3.309894 
[ INFO] [1336417574.142487028, 401.400000000]: x=4.692396 y=3.306365 
[ INFO] [1336417574.142508533, 401.400000000]: x=4.695936 y=3.302834 
[ INFO] [1336417574.142535846, 401.400000000]: x=4.699477 y=3.299303 
[ INFO] [1336417574.142559370, 401.400000000]: x=4.703018 y=3.295773 
[ INFO] [1336417574.142582167, 401.400000000]: x=4.706558 y=3.292243 
[ INFO] [1336417574.142603133, 401.400000000]: x=4.710102 y=3.288715 
[ INFO] [1336417574.142623147, 401.400000000]: x=4.713644 y=3.285186 
[ INFO] [1336417574.142643227, 401.400000000]: x=4.717184 y=3.281655 
[ INFO] [1336417574.142663519, 401.400000000]: x=4.720727 y=3.278127 
[ INFO] [1336417574.142682226, 401.400000000]: x=4.724269 y=3.274598 
[ INFO] [1336417574.142705113, 401.400000000]: x=4.727809 y=3.271067 
[ INFO] [1336417574.142727006, 401.400000000]: x=4.731352 y=3.267539 
[ INFO] [1336417574.142749377, 401.400000000]: x=4.734893 y=3.264009 
[ INFO] [1336417574.142772184, 401.400000000]: x=4.738434 y=3.260479 
[ INFO] [1336417574.142793810, 401.400000000]: x=4.741977 y=3.256950 
[ INFO] [1336417574.142816120, 401.400000000]: x=4.745518 y=3.253420 
[ INFO] [1336417574.142836617, 401.400000000]: x=4.749058 y=3.249890 
[ INFO] [1336417574.142869510, 401.400000000]: x=4.752601 y=3.246361 
[ INFO] [1336417574.142890605, 401.400000000]: x=4.756142 y=3.242832 
[ INFO] [1336417574.142913861, 401.400000000]: x=4.759683 y=3.239301 
[ INFO] [1336417574.142934802, 401.400000000]: x=4.763225 y=3.235772 
[ INFO] [1336417574.142956014, 401.400000000]: x=4.766766 y=3.232242 
[ INFO] [1336417574.142975471, 401.400000000]: x=4.770310 y=3.228715 
[ INFO] [1336417574.142994663, 401.400000000]: x=4.773852 y=3.225187 
[ INFO] [1336417574.143013783, 401.400000000]: x=4.777394 y=3.221657 
[ INFO] [1336417574.143032921, 401.400000000]: x=4.780937 y=3.218130 
[ INFO] [1336417574.143051880, 401.400000000]: x=4.784480 y=3.214600 
[ INFO] [1336417574.143071309, 401.400000000]: x=4.788021 y=3.211070 
[ INFO] [1336417574.143090193, 401.400000000]: x=4.791564 y=3.207543 
[ INFO] [1336417574.143114227, 401.400000000]: x=4.795106 y=3.204014 
[ INFO] [1336417574.143133618, 401.400000000]: x=4.798647 y=3.200484 
[ INFO] [1336417574.143153049, 401.400000000]: x=4.802191 y=3.196956 
[ INFO] [1336417574.143173087, 401.400000000]: x=4.805733 y=3.193427 
[ INFO] [1336417574.143194242, 401.400000000]: x=4.809274 y=3.189898 
[ INFO] [1336417574.143214297, 401.400000000]: x=4.812817 y=3.186370 
[ INFO] [1336417574.143234712, 401.400000000]: x=4.816359 y=3.182841 
[ INFO] [1336417574.143254468, 401.400000000]: x=4.819900 y=3.179311 
[ INFO] [1336417574.143277336, 401.400000000]: x=4.823443 y=3.175783 
[ INFO] [1336417574.143298706, 401.400000000]: x=4.826985 y=3.172253 
[ INFO] [1336417574.143320450, 401.400000000]: x=4.830530 y=3.168727 
[ INFO] [1336417574.143341542, 401.400000000]: x=4.834073 y=3.165199 
[ INFO] [1336417574.143363178, 401.400000000]: x=4.837615 y=3.161670 
[ INFO] [1336417574.143383302, 401.400000000]: x=4.841159 y=3.158143 
[ INFO] [1336417574.143403413, 401.400000000]: x=4.844702 y=3.154615 
[ INFO] [1336417574.143424277, 401.400000000]: x=4.848244 y=3.151086 
[ INFO] [1336417574.143445797, 401.400000000]: x=4.851788 y=3.147559 
[ INFO] [1336417574.143465944, 401.400000000]: x=4.855331 y=3.144030 
[ INFO] [1336417574.143492533, 401.400000000]: x=4.858873 y=3.140501 
[ INFO] [1336417574.143513562, 401.400000000]: x=4.862417 y=3.136974 
[ INFO] [1336417574.143533873, 401.400000000]: x=4.865959 y=3.133446 
[ INFO] [1336417574.143554622, 401.400000000]: x=4.869501 y=3.129917 
[ INFO] [1336417574.143575859, 401.400000000]: x=4.873045 y=3.126390 
[ INFO] [1336417574.143597515, 401.400000000]: x=4.876588 y=3.122861 
[ INFO] [1336417574.143622227, 401.400000000]: x=4.880133 y=3.119336 
[ INFO] [1336417574.143647563, 401.400000000]: x=4.883677 y=3.115808 
[ INFO] [1336417574.143670114, 401.400000000]: x=4.887219 y=3.112280 
[ INFO] [1336417574.143691414, 401.400000000]: x=4.890765 y=3.108754 
[ INFO] [1336417574.143712438, 401.400000000]: x=4.894308 y=3.105227 
[ INFO] [1336417574.143732442, 401.400000000]: x=4.897851 y=3.101698 
[ INFO] [1336417574.149075459, 401.400000000]: x=4.901396 y=3.098172 
[ INFO] [1336417574.149168853, 401.400000000]: x=4.904939 y=3.094644 
[ INFO] [1336417574.149253180, 401.400000000]: x=4.908482 y=3.091116 
[ INFO] [1336417574.149340512, 401.400000000]: x=4.912027 y=3.087590 
[ INFO] [1336417574.149431217, 401.400000000]: x=4.915570 y=3.084062 
[ INFO] [1336417574.149520643, 401.400000000]: x=4.919113 y=3.080534 
[ INFO] [1336417574.150389468, 401.400000000]: x=4.922658 y=3.077008 
[ INFO] [1336417574.150536181, 401.400000000]: x=4.926201 y=3.073480 
[ INFO] [1336417574.150613651, 401.400000000]: x=4.929744 y=3.069952 
[ INFO] [1336417574.150647185, 401.400000000]: x=4.933289 y=3.066425 
[ INFO] [1336417574.150679349, 401.400000000]: x=4.936832 y=3.062898 
[ INFO] [1336417574.150711729, 401.400000000]: x=4.940378 y=3.059373 
[ INFO] [1336417574.150742933, 401.400000000]: x=4.943923 y=3.055846 
[ INFO] [1336417574.150775519, 401.400000000]: x=4.947466 y=3.052319 
[ INFO] [1336417574.150808755, 401.400000000]: x=4.951012 y=3.048794 
[ INFO] [1336417574.150840970, 401.400000000]: x=4.954556 y=3.045267 
[ INFO] [1336417574.150873195, 401.400000000]: x=4.958100 y=3.041739 
[ INFO] [1336417574.150936515, 401.400000000]: x=4.961645 y=3.038214 
[ INFO] [1336417574.150971786, 401.400000000]: x=4.965190 y=3.034687 
[ INFO] [1336417574.151004129, 401.400000000]: x=4.968733 y=3.031160 
[ INFO] [1336417574.151035674, 401.400000000]: x=4.972279 y=3.027634 
[ INFO] [1336417574.151067178, 401.400000000]: x=4.975823 y=3.024107 
[ INFO] [1336417574.151098965, 401.400000000]: x=4.979367 y=3.020580 
[ INFO] [1336417574.151130605, 401.400000000]: x=4.982912 y=3.017054 
[ INFO] [1336417574.151162055, 401.400000000]: x=4.986456 y=3.013527 
[ INFO] [1336417574.151194534, 401.400000000]: x=4.990000 y=3.010000 
[ INFO] [1336417574.151227257, 401.400000000]: x=5.000000 y=3.000000 
[ INFO] [1336417574.151259370, 401.400000000]: x=5.000000 y=3.000000 
[ INFO] [1336417574.151292303, 401.400000000]: x=5.000000 y=3.000000

I have based my code on this code.

Does anyone know where I am making mistake?

Best regards Tomek

Asked by tomek on 2012-05-07 09:38:43 UTC

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