Atualizando arquivos para os dados em aula.

Sonar/27450.txt

@@ -1,38 +0,0 @@
-x,y,headinng,sonar_ang,read,expected
-0.0,0.0,0.0,-90.0,255.0,47.701210021972656
-0.0,0.0,0.0,-85.0,54.0,45.86770248413086
-0.0,0.0,0.0,-80.0,53.0,44.49604034423828
-0.0,0.0,0.0,-75.0,23.0,43.52566909790039
-0.0,0.0,0.0,-70.0,27.0,42.91636657714844
-0.0,0.0,0.0,-65.0,255.0,42.71345520019531
-0.0,0.0,0.0,-60.0,24.0,42.71345520019531
-0.0,0.0,0.0,-55.0,25.0,42.71345520019531
-0.0,0.0,0.0,-50.0,22.0,42.71345520019531
-0.0,0.0,0.0,-45.0,22.0,42.71345520019531
-0.0,0.0,0.0,-40.0,22.0,39.37942123413086
-0.0,0.0,0.0,-35.0,22.0,39.37942123413086
-0.0,0.0,0.0,-30.0,22.0,39.37942123413086
-0.0,0.0,0.0,-25.0,23.0,39.37942123413086
-0.0,0.0,0.0,-20.0,22.0,39.37942123413086
-0.0,0.0,0.0,-15.0,22.0,39.37942123413086
-0.0,0.0,0.0,-10.0,22.0,39.37942123413086
-0.0,0.0,0.0,-5.0,28.0,42.47342300415039
-0.0,0.0,0.0,0.0,28.0,46.968711853027344
-0.0,0.0,0.0,5.0,23.0,52.979087829589844
-0.0,0.0,0.0,10.0,23.0,Infinity
-0.0,0.0,0.0,15.0,255.0,Infinity
-0.0,0.0,0.0,20.0,255.0,Infinity
-0.0,0.0,0.0,25.0,255.0,Infinity
-0.0,0.0,0.0,30.0,255.0,Infinity
-0.0,0.0,0.0,35.0,255.0,Infinity
-0.0,0.0,0.0,40.0,255.0,Infinity
-0.0,0.0,0.0,45.0,255.0,Infinity
-0.0,0.0,0.0,50.0,255.0,Infinity
-0.0,0.0,0.0,55.0,255.0,Infinity
-0.0,0.0,0.0,60.0,78.0,Infinity
-0.0,0.0,0.0,65.0,255.0,Infinity
-0.0,0.0,0.0,70.0,29.0,Infinity
-0.0,0.0,0.0,75.0,29.0,Infinity
-0.0,0.0,0.0,80.0,29.0,Infinity
-0.0,0.0,0.0,85.0,29.0,Infinity
-0.0,0.0,0.0,90.0,29.0,Infinity

Sonar/src/MainProgram.java

@@ -186,11 +186,11 @@ public class MainProgram extends JPanel implements KeyListener, WindowListener,
 		for (DataPose d : data) {
 			robotData(d);
 
-			double expected = smodel.expectedSonarRead(d.getPose(), d.getSensorAngle()+90);
+			double expected = smodel.expectedSonarRead(d.getPose(), d.getSensorAngle()-90);
 			printWriter.print(d.getPose().getX() + ",");
 			printWriter.print(d.getPose().getY() + ",");
 			printWriter.print(d.getPose().getHeading() + ",");
-			printWriter.print(d.getSensorAngle() + ",");
+			printWriter.print((d.getSensorAngle()*-1) + ",");
 			printWriter.print(d.getDistance() + ",");
 			printWriter.print(expected + "\n");
 		}
@@ -318,7 +318,7 @@ public class MainProgram extends JPanel implements KeyListener, WindowListener,
 		Robot robotbt = new BluetoothRobot(null);
 		String s = "LCPRobot";
 
-		Object[] possibleValues = { s, robotv, robotbt };
+		Object[] possibleValues = { robotbt, s, robotv };
 		Object robottmp = JOptionPane.showInputDialog(null, "Choose one", "Input", JOptionPane.PLAIN_MESSAGE, null,
 				possibleValues, possibleValues[0]);
 		Robot robot;

Sonar/src/ScannerImage.java

@@ -36,6 +36,7 @@ public class ScannerImage extends JPanel {
 	protected void paintComponent(Graphics g) {
 		int w = this.getWidth() / 2;
 		int h = this.getHeight();
+		super.paintComponent(g);
 		int distance = h * 2 / 25;
 		g.setColor(new Color(0f, 0f, 0f, 0.4f));
 		for (int i = 1; i <= 18; i++) {

Sonar/src/config/Map.java

@@ -25,24 +25,31 @@ public class Map {
 //			new Line(730,409,704,150),
 //			new Line(704,150,503,76)
 //		};
+		// Line[] lines2 = {
+		// 	/* L-shape polygon */
+		// 	new Line(16.4f,35.6f,5.8f,60.0f),
+		// 	new Line(5.8f,60.0f,39.6f,72.1f),
+		// 	new Line(39.6f,72.1f,45.5f,60.0f),
+		// 	new Line(45.5f,60.0f,22.7f,51.5f),
+		// 	new Line(22.7f,51.5f,28.0f,39.9f),
+		// 	new Line(28.0f,39.9f,16.4f,35.6f),
+		// 	/* Triangle */
+		// 	new Line(77.8f,52.6f,107.9f,74.8f),
+		// 	new Line(107.9f,74.8f,106.3f,43.6f),
+		// 	new Line(106.3f,43.6f,77.8f,52.6f),
+		// 	/* Pentagon */
+		// 	new Line(50.3f,7.6f,33.3f,26.7f),
+		// 	new Line(33.3f,26.7f,48.1f,45.2f),
+		// 	new Line(48.1f,45.2f,73.0f,40.9f),
+		// 	new Line(73.0f,40.9f,70.4f,15.0f),
+		// 	new Line(70.4f,15.0f,50.3f,7.6f)
+		// };
 		Line[] lines2 = {
 			/* L-shape polygon */
-			new Line(16.4f,35.6f,5.8f,60.0f),
-			new Line(5.8f,60.0f,39.6f,72.1f),
-			new Line(39.6f,72.1f,45.5f,60.0f),
-			new Line(45.5f,60.0f,22.7f,51.5f),
-			new Line(22.7f,51.5f,28.0f,39.9f),
-			new Line(28.0f,39.9f,16.4f,35.6f),
-			/* Triangle */
-			new Line(77.8f,52.6f,107.9f,74.8f),
-			new Line(107.9f,74.8f,106.3f,43.6f),
-			new Line(106.3f,43.6f,77.8f,52.6f),
-			/* Pentagon */
-			new Line(50.3f,7.6f,33.3f,26.7f),
-			new Line(33.3f,26.7f,48.1f,45.2f),
-			new Line(48.1f,45.2f,73.0f,40.9f),
-			new Line(73.0f,40.9f,70.4f,15.0f),
-			new Line(70.4f,15.0f,50.3f,7.6f)
+			new Line(0f, 0f, 155f, 0f),
+			new Line(155f, 0f, 110f, 135f),
+			new Line(110f, 135f, 0f, 132f),
+			new Line(0f, 132f, 0f, 0f)
 		};
 		Rectangle bounds = new Rectangle(0, 0, 1189, 841);
 		LineMap  map = new LineMap(lines2, bounds);

Sonar/src/config/Models.java

@@ -14,11 +14,12 @@ public class Models {
 		/**************** MODELO DO SONAR *******************/
 		Pose tmppose = new Pose(p.getX(), p.getY(), p.getHeading());
 		float mindist = Float.POSITIVE_INFINITY;
-		int cone = 30;
+		int cone = 0;	
 		for (int angulo=-cone/2; angulo <= cone/2; angulo++) {
 			tmppose.setHeading((float) (p.getHeading() - angulo + angle));
 			float dist = map.range(tmppose);
-			if (dist > 0 && dist < mindist) mindist = dist;
+			if (dist > 0 && dist < mindist) 
+				mindist = dist;
 		} 
 		return mindist;
 	}

Sonar/src/robots/BluetoothRobot.java

@@ -69,11 +69,12 @@ public class BluetoothRobot implements Robot {
 						int angle = input.readByte();
 						float alpha = input.readFloat();
 						float x = input.readFloat();
-						int distance = input.readByte();
+						float distance = input.readFloat();
 						float y = input.readFloat();
+						System.out.println(distance);
 						DataPose d = new DataPose();
 						d.setDistance(distance);
-						d.setSensorAngle(angle);
+						d.setSensorAngle(-angle);
 						d.setPose(new Pose(y, -x, alpha));
 						if (rr != null)
 							rr.robotData(d);
@@ -274,14 +275,14 @@ public class BluetoothRobot implements Robot {
 		scann(null);
 		while(true) {
 			readm.tryAcquire();
-			if (reads.size() >= readsn) break;
+			if (reads.size() >= readsn+1) break;
 			readm.release();
 			try {
 				Thread.sleep(50);
 			} catch (InterruptedException e) {
 			}
 		}
-		while (readsn < reads.size()) {
+		while (readsn+1 < reads.size() ) {
 			reads.remove(reads.size()-1);
 		}
 		tmp = reads;
@@ -330,7 +331,7 @@ public class BluetoothRobot implements Robot {
 
 	@Override
 	public void setPose(float x, float y, float a) {
-		send(new SendData(SETPOSE, new Pose(y, -x, a)));
+		send(new SendData(SETPOSE, new Pose(-y, x, a)));
 	}
 	
 	

Sonar/src/robots/LCPRobot.java

@@ -13,9 +13,9 @@ public class LCPRobot implements Robot {
 	private Pose pose;
 	static DifferentialPilot pilot;
 	static UltrasonicSensor sonar;
-	RemoteMotor scannerm = Motor.A;
-	RemoteMotor ma = Motor.B;
-	RemoteMotor mb = Motor.C;
+	RemoteMotor scannerm = Motor.C;
+	//RemoteMotor ma = Motor.A;
+	//RemoteMotor mb = Motor.B;
 
 	public LCPRobot() {
 		pose = new Pose();
@@ -39,7 +39,7 @@ public class LCPRobot implements Robot {
 	public ArrayList<DataPose> scann(int ini, int end, int interval) {
 		ArrayList<DataPose> result = new ArrayList<DataPose>();
 		int val = 0;
-		int engine_mult = 1;
+		int engine_mult = 5;
 		scannerm.setSpeed(80);
 		for (int j = ini; j <= end; j += interval) {
 			scannerm.rotateTo(-(j * engine_mult));
@@ -53,7 +53,7 @@ public class LCPRobot implements Robot {
 			result.add(data);
 			System.out.println(pose);
 		}
-		scannerm.rotateTo(0);
+		scannerm.rotateTo(-10);
 		scannerm.waitComplete();
 		System.out.println("end");
 		return result;
@@ -105,7 +105,7 @@ public class LCPRobot implements Robot {
 	@Override
 	public boolean connect() {
 		//pilot = new DifferentialPilot(5.6f, 11.2f, Motor.B, Motor.A);
-		pilot = new DifferentialPilot(5.6f, 11.2f, ma, mb);
+		pilot = new DifferentialPilot(5.6f, 11.2f, Motor.B, Motor.A);
 		sonar = new UltrasonicSensor(SensorPort.S1);
 		pilot.setTravelSpeed(10);
 		pilot.setRotateSpeed(40);

SonarBrick/src/Sonar.java

@@ -34,23 +34,22 @@ class Scanner extends Thread {
 	}
 	
 	public void run() {
-		NXTRegulatedMotor scannerm = Motor.A;
+		NXTRegulatedMotor scannerm = Motor.C;
 		UltrasonicSensor sensor = new UltrasonicSensor(SensorPort.S1) ;
 		
 		while (run) {
-			if (scann == false)
+			if (scann == false) {
 				position = 0;
+				scannerm.rotateTo(0);
+				scannerm.waitComplete();
+			}
 			
-			if (position == 90 || position == -90)
-				increment *= -1;
-
-			scannerm.rotateTo(position*5);
 			scannerm.waitComplete();
 
 			if (scann == false)
 				continue;
 			
-			int distance = sensor.getDistance();
+			float distance = sensor.getDistance();
 						
 			Pose pose = provider.getPose();
 			float x = pose.getX();
@@ -62,7 +61,7 @@ class Scanner extends Thread {
 				output.write(position);
 				output.writeFloat(alpha);
 				output.writeFloat(x);
-				output.write(distance);
+				output.writeFloat(distance);
 				output.writeFloat(y);
 				output.flush();
 			} catch (IOException e) {
@@ -70,6 +69,10 @@ class Scanner extends Thread {
 		
 			
 			position += increment;
+			if (position == 90 || position == -90)
+				increment *= -1;
+
+			scannerm.rotateTo(position*5);
 		}
 		
 		scannerm.rotateTo(0);
@@ -101,7 +104,7 @@ public class Sonar {
 		DataInputStream input = btc.openDataInputStream();
 		DataOutputStream output = btc.openDataOutputStream();
 		
-		DifferentialPilot pilot = new DifferentialPilot(5.6f, 13.8f, Motor.B, Motor.C, false); 
+		DifferentialPilot pilot = new DifferentialPilot(5.6f, 11.2f, Motor.B, Motor.A, false); 
 		OdometryPoseProvider provider = new OdometryPoseProvider(pilot);
 		pilot.setRotateSpeed(5);
 		pilot.setTravelSpeed(20);

SonarModel/43-67--90/517970.txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+43.0,67.0,-90.0,90.0,43.0,66.1500473022461
+43.0,67.0,-90.0,89.0,62.0,66.1500473022461
+43.0,67.0,-90.0,88.0,62.0,66.1500473022461
+43.0,67.0,-90.0,87.0,62.0,66.1500473022461
+43.0,67.0,-90.0,86.0,62.0,66.1500473022461
+43.0,67.0,-90.0,85.0,62.0,66.1500473022461
+43.0,67.0,-90.0,84.0,62.0,66.1500473022461
+43.0,67.0,-90.0,83.0,62.0,66.1500473022461
+43.0,67.0,-90.0,82.0,62.0,66.1500473022461
+43.0,67.0,-90.0,81.0,62.0,66.1500473022461
+43.0,67.0,-90.0,80.0,62.0,66.1500473022461
+43.0,67.0,-90.0,79.0,62.0,66.1500473022461
+43.0,67.0,-90.0,78.0,62.0,66.1500473022461
+43.0,67.0,-90.0,77.0,62.0,66.1500473022461
+43.0,67.0,-90.0,76.0,62.0,66.1500473022461
+43.0,67.0,-90.0,75.0,62.0,66.1500473022461
+43.0,67.0,-90.0,74.0,62.0,66.1500473022461
+43.0,67.0,-90.0,73.0,62.0,66.1500473022461
+43.0,67.0,-90.0,72.0,62.0,66.1500473022461
+43.0,67.0,-90.0,71.0,62.0,66.1500473022461
+43.0,67.0,-90.0,70.0,62.0,66.1500473022461
+43.0,67.0,-90.0,69.0,63.0,65.54288482666016
+43.0,67.0,-90.0,68.0,63.0,64.26248168945312
+43.0,67.0,-90.0,67.0,63.0,63.050010681152344
+43.0,67.0,-90.0,66.0,63.0,61.90092849731445
+43.0,67.0,-90.0,65.0,64.0,60.81118392944336
+43.0,67.0,-90.0,64.0,64.0,59.777034759521484
+43.0,67.0,-90.0,63.0,64.0,58.795082092285156
+43.0,67.0,-90.0,62.0,64.0,57.86220932006836
+43.0,67.0,-90.0,61.0,64.0,56.975555419921875
+43.0,67.0,-90.0,60.0,64.0,56.13251876831055
+43.0,67.0,-90.0,59.0,64.0,55.33066177368164
+43.0,67.0,-90.0,58.0,78.0,54.567787170410156
+43.0,67.0,-90.0,57.0,78.0,53.841827392578125
+43.0,67.0,-90.0,56.0,77.0,53.15092086791992
+43.0,67.0,-90.0,55.0,77.0,52.49330139160156
+43.0,67.0,-90.0,54.0,77.0,51.867374420166016
+43.0,67.0,-90.0,53.0,77.0,51.271629333496094
+43.0,67.0,-90.0,52.0,77.0,50.70466995239258
+43.0,67.0,-90.0,51.0,77.0,50.16523361206055
+43.0,67.0,-90.0,50.0,77.0,49.65211868286133
+43.0,67.0,-90.0,49.0,77.0,49.16422653198242
+43.0,67.0,-90.0,48.0,77.0,48.70051956176758
+43.0,67.0,-90.0,47.0,77.0,48.26002883911133
+43.0,67.0,-90.0,46.0,78.0,47.84188461303711
+43.0,67.0,-90.0,45.0,77.0,47.445247650146484
+43.0,67.0,-90.0,44.0,77.0,47.069358825683594
+43.0,67.0,-90.0,43.0,77.0,46.71349334716797
+43.0,67.0,-90.0,42.0,77.0,46.37699508666992
+43.0,67.0,-90.0,41.0,77.0,46.05923080444336
+43.0,67.0,-90.0,40.0,51.0,45.7596435546875
+43.0,67.0,-90.0,39.0,49.0,45.47768783569336
+43.0,67.0,-90.0,38.0,48.0,45.21287536621094
+43.0,67.0,-90.0,37.0,48.0,44.96474838256836
+43.0,67.0,-90.0,36.0,47.0,44.73287582397461
+43.0,67.0,-90.0,35.0,47.0,44.516876220703125
+43.0,67.0,-90.0,34.0,47.0,44.31638717651367
+43.0,67.0,-90.0,33.0,47.0,44.13107681274414
+43.0,67.0,-90.0,32.0,47.0,43.96064376831055
+43.0,67.0,-90.0,31.0,46.0,43.80481719970703
+43.0,67.0,-90.0,30.0,46.0,43.66334533691406
+43.0,67.0,-90.0,29.0,46.0,43.5359992980957
+43.0,67.0,-90.0,28.0,46.0,43.422584533691406
+43.0,67.0,-90.0,27.0,45.0,43.32292175292969
+43.0,67.0,-90.0,26.0,45.0,43.23685836791992
+43.0,67.0,-90.0,25.0,45.0,43.16425323486328
+43.0,67.0,-90.0,24.0,45.0,43.10499954223633
+43.0,67.0,-90.0,23.0,45.0,43.05900955200195
+43.0,67.0,-90.0,22.0,45.0,43.02621078491211
+43.0,67.0,-90.0,21.0,45.0,43.00654983520508
+43.0,67.0,-90.0,20.0,44.0,43.0
+43.0,67.0,-90.0,19.0,44.0,43.0
+43.0,67.0,-90.0,18.0,44.0,43.0
+43.0,67.0,-90.0,17.0,44.0,43.0
+43.0,67.0,-90.0,16.0,44.0,43.0
+43.0,67.0,-90.0,15.0,44.0,43.0
+43.0,67.0,-90.0,14.0,44.0,43.0
+43.0,67.0,-90.0,13.0,44.0,43.0
+43.0,67.0,-90.0,12.0,44.0,43.0
+43.0,67.0,-90.0,11.0,44.0,43.0
+43.0,67.0,-90.0,10.0,44.0,43.0
+43.0,67.0,-90.0,9.0,44.0,43.0
+43.0,67.0,-90.0,8.0,44.0,43.0
+43.0,67.0,-90.0,7.0,44.0,43.0
+43.0,67.0,-90.0,6.0,44.0,43.0
+43.0,67.0,-90.0,5.0,44.0,43.0
+43.0,67.0,-90.0,4.0,44.0,43.0
+43.0,67.0,-90.0,3.0,44.0,43.0
+43.0,67.0,-90.0,2.0,44.0,43.0
+43.0,67.0,-90.0,1.0,43.0,43.0
+43.0,67.0,-90.0,-0.0,43.0,43.0
+43.0,67.0,-90.0,-1.0,43.0,43.0
+43.0,67.0,-90.0,-2.0,43.0,43.0
+43.0,67.0,-90.0,-3.0,43.0,43.0
+43.0,67.0,-90.0,-4.0,43.0,43.0
+43.0,67.0,-90.0,-5.0,43.0,43.0
+43.0,67.0,-90.0,-6.0,43.0,43.0
+43.0,67.0,-90.0,-7.0,44.0,43.0
+43.0,67.0,-90.0,-8.0,44.0,43.0
+43.0,67.0,-90.0,-9.0,44.0,43.0
+43.0,67.0,-90.0,-10.0,44.0,43.0
+43.0,67.0,-90.0,-11.0,44.0,43.0
+43.0,67.0,-90.0,-12.0,44.0,43.0
+43.0,67.0,-90.0,-13.0,44.0,43.0
+43.0,67.0,-90.0,-14.0,44.0,43.0
+43.0,67.0,-90.0,-15.0,44.0,43.0
+43.0,67.0,-90.0,-16.0,44.0,43.0
+43.0,67.0,-90.0,-17.0,44.0,43.0
+43.0,67.0,-90.0,-18.0,44.0,43.0
+43.0,67.0,-90.0,-19.0,44.0,43.0
+43.0,67.0,-90.0,-20.0,44.0,43.0
+43.0,67.0,-90.0,-21.0,44.0,43.00654983520508
+43.0,67.0,-90.0,-22.0,44.0,43.02621078491211
+43.0,67.0,-90.0,-23.0,44.0,43.05900955200195
+43.0,67.0,-90.0,-24.0,44.0,43.10499954223633
+43.0,67.0,-90.0,-25.0,44.0,43.16425323486328
+43.0,67.0,-90.0,-26.0,44.0,43.236854553222656
+43.0,67.0,-90.0,-27.0,44.0,43.32292175292969
+43.0,67.0,-90.0,-28.0,44.0,43.422584533691406
+43.0,67.0,-90.0,-29.0,44.0,43.5359992980957
+43.0,67.0,-90.0,-30.0,44.0,43.6633415222168
+43.0,67.0,-90.0,-31.0,44.0,43.80481719970703
+43.0,67.0,-90.0,-32.0,45.0,43.96064376831055
+43.0,67.0,-90.0,-33.0,45.0,44.13107681274414
+43.0,67.0,-90.0,-34.0,45.0,44.31638717651367
+43.0,67.0,-90.0,-35.0,45.0,44.516876220703125
+43.0,67.0,-90.0,-36.0,45.0,44.73287582397461
+43.0,67.0,-90.0,-37.0,45.0,44.964744567871094
+43.0,67.0,-90.0,-38.0,45.0,45.21287536621094
+43.0,67.0,-90.0,-39.0,46.0,45.47768783569336
+43.0,67.0,-90.0,-40.0,46.0,45.7596435546875
+43.0,67.0,-90.0,-41.0,46.0,46.059234619140625
+43.0,67.0,-90.0,-42.0,46.0,46.376991271972656
+43.0,67.0,-90.0,-43.0,46.0,46.713497161865234
+43.0,67.0,-90.0,-44.0,47.0,47.069358825683594
+43.0,67.0,-90.0,-45.0,47.0,47.44525146484375
+43.0,67.0,-90.0,-46.0,47.0,47.84188461303711
+43.0,67.0,-90.0,-47.0,47.0,48.26002883911133
+43.0,67.0,-90.0,-48.0,47.0,48.70051193237305
+43.0,67.0,-90.0,-49.0,48.0,49.16422653198242
+43.0,67.0,-90.0,-50.0,48.0,49.652122497558594
+43.0,67.0,-90.0,-51.0,49.0,50.16523742675781
+43.0,67.0,-90.0,-52.0,50.0,50.70466995239258
+43.0,67.0,-90.0,-53.0,51.0,51.27162170410156
+43.0,67.0,-90.0,-54.0,79.0,51.86737060546875
+43.0,67.0,-90.0,-55.0,79.0,52.49330520629883
+43.0,67.0,-90.0,-56.0,78.0,53.15092086791992
+43.0,67.0,-90.0,-57.0,78.0,53.841835021972656
+43.0,67.0,-90.0,-58.0,78.0,54.56778335571289
+43.0,67.0,-90.0,-59.0,79.0,55.330665588378906
+43.0,67.0,-90.0,-60.0,79.0,56.132511138916016
+43.0,67.0,-90.0,-61.0,79.0,56.97555923461914
+43.0,67.0,-90.0,-62.0,79.0,57.862205505371094
+43.0,67.0,-90.0,-63.0,79.0,58.79507827758789
+43.0,67.0,-90.0,-64.0,79.0,59.777034759521484
+43.0,67.0,-90.0,-65.0,78.0,60.81118392944336
+43.0,67.0,-90.0,-66.0,78.0,61.90092849731445
+43.0,67.0,-90.0,-67.0,68.0,63.05000686645508
+43.0,67.0,-90.0,-68.0,67.0,64.26248168945312
+43.0,67.0,-90.0,-69.0,67.0,65.54288482666016
+43.0,67.0,-90.0,-70.0,67.0,66.8961181640625
+43.0,67.0,-90.0,-71.0,66.0,67.0
+43.0,67.0,-90.0,-72.0,66.0,67.0
+43.0,67.0,-90.0,-73.0,66.0,67.0
+43.0,67.0,-90.0,-74.0,65.0,67.0
+43.0,67.0,-90.0,-75.0,65.0,67.0
+43.0,67.0,-90.0,-76.0,65.0,67.0
+43.0,67.0,-90.0,-77.0,65.0,67.0
+43.0,67.0,-90.0,-78.0,65.0,67.0
+43.0,67.0,-90.0,-79.0,65.0,67.0
+43.0,67.0,-90.0,-80.0,65.0,67.0
+43.0,67.0,-90.0,-81.0,65.0,67.0
+43.0,67.0,-90.0,-82.0,65.0,67.0
+43.0,67.0,-90.0,-83.0,65.0,67.0
+43.0,67.0,-90.0,-84.0,65.0,67.0
+43.0,67.0,-90.0,-85.0,65.0,67.0
+43.0,67.0,-90.0,-86.0,64.0,67.0
+43.0,67.0,-90.0,-87.0,64.0,67.0
+43.0,67.0,-90.0,-88.0,64.0,67.0
+43.0,67.0,-90.0,-89.0,64.0,67.0
+43.0,67.0,-90.0,-90.0,64.0,67.0

SonarModel/60-60-0/229662.txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+60.0,60.0,0.0,90.0,59.0,60.0
+60.0,60.0,0.0,89.0,57.0,60.0
+60.0,60.0,0.0,88.0,57.0,60.0
+60.0,60.0,0.0,87.0,57.0,60.0
+60.0,60.0,0.0,86.0,57.0,60.0
+60.0,60.0,0.0,85.0,57.0,60.0
+60.0,60.0,0.0,84.0,57.0,60.0
+60.0,60.0,0.0,83.0,57.0,60.0
+60.0,60.0,0.0,82.0,57.0,60.0
+60.0,60.0,0.0,81.0,57.0,60.0
+60.0,60.0,0.0,80.0,57.0,60.0
+60.0,60.0,0.0,79.0,57.0,60.0
+60.0,60.0,0.0,78.0,57.0,60.0
+60.0,60.0,0.0,77.0,57.0,60.0
+60.0,60.0,0.0,76.0,57.0,60.0
+60.0,60.0,0.0,75.0,57.0,60.0
+60.0,60.0,0.0,74.0,57.0,60.0
+60.0,60.0,0.0,73.0,57.0,60.0
+60.0,60.0,0.0,72.0,57.0,60.0
+60.0,60.0,0.0,71.0,57.0,60.0
+60.0,60.0,0.0,70.0,58.0,60.0
+60.0,60.0,0.0,69.0,58.0,60.00914001464844
+60.0,60.0,0.0,68.0,58.0,60.03657150268555
+60.0,60.0,0.0,67.0,58.0,60.082340240478516
+60.0,60.0,0.0,66.0,58.0,60.146514892578125
+60.0,60.0,0.0,65.0,58.0,60.229190826416016
+60.0,60.0,0.0,64.0,58.0,60.33049774169922
+60.0,60.0,0.0,63.0,58.0,60.45058822631836
+60.0,60.0,0.0,62.0,58.0,60.58965301513672
+60.0,60.0,0.0,61.0,58.0,60.74790573120117
+60.0,60.0,0.0,60.0,58.0,60.925594329833984
+60.0,60.0,0.0,59.0,59.0,61.12300109863281
+60.0,60.0,0.0,58.0,59.0,61.34043502807617
+60.0,60.0,0.0,57.0,59.0,61.5782470703125
+60.0,60.0,0.0,56.0,59.0,61.83681869506836
+60.0,60.0,0.0,55.0,59.0,62.116573333740234
+60.0,60.0,0.0,54.0,59.0,62.417964935302734
+60.0,60.0,0.0,53.0,60.0,62.74150466918945
+60.0,60.0,0.0,52.0,60.0,63.08773422241211
+60.0,60.0,0.0,51.0,60.0,63.45724105834961
+60.0,60.0,0.0,50.0,60.0,63.85066604614258
+60.0,60.0,0.0,49.0,61.0,64.2686996459961
+60.0,60.0,0.0,48.0,83.0,64.71208190917969
+60.0,60.0,0.0,47.0,83.0,65.18162536621094
+60.0,60.0,0.0,46.0,62.0,65.67817687988281
+60.0,60.0,0.0,45.0,61.0,66.20267486572266
+60.0,60.0,0.0,44.0,61.0,65.67817687988281
+60.0,60.0,0.0,43.0,61.0,65.18162536621094
+60.0,60.0,0.0,42.0,83.0,64.71208190917969
+60.0,60.0,0.0,41.0,83.0,64.2686996459961
+60.0,60.0,0.0,40.0,83.0,63.85066604614258
+60.0,60.0,0.0,39.0,62.0,63.45724105834961
+60.0,60.0,0.0,38.0,61.0,63.08773422241211
+60.0,60.0,0.0,37.0,62.0,62.74150466918945
+60.0,60.0,0.0,36.0,65.0,62.417964935302734
+60.0,60.0,0.0,35.0,83.0,62.116573333740234
+60.0,60.0,0.0,34.0,83.0,61.83681869506836
+60.0,60.0,0.0,33.0,62.0,61.5782470703125
+60.0,60.0,0.0,32.0,61.0,61.34043502807617
+60.0,60.0,0.0,31.0,63.0,61.12300109863281
+60.0,60.0,0.0,30.0,84.0,60.925594329833984
+60.0,60.0,0.0,29.0,84.0,60.74790573120117
+60.0,60.0,0.0,28.0,62.0,60.58965301513672
+60.0,60.0,0.0,27.0,61.0,60.45058822631836
+60.0,60.0,0.0,26.0,61.0,60.33049774169922
+60.0,60.0,0.0,25.0,62.0,60.229190826416016
+60.0,60.0,0.0,24.0,62.0,60.146514892578125
+60.0,60.0,0.0,23.0,62.0,60.082340240478516
+60.0,60.0,0.0,22.0,61.0,60.03657150268555
+60.0,60.0,0.0,21.0,61.0,60.00914001464844
+60.0,60.0,0.0,20.0,60.0,60.0
+60.0,60.0,0.0,19.0,61.0,60.0
+60.0,60.0,0.0,18.0,61.0,60.0
+60.0,60.0,0.0,17.0,61.0,60.0
+60.0,60.0,0.0,16.0,60.0,60.0
+60.0,60.0,0.0,15.0,60.0,60.0
+60.0,60.0,0.0,14.0,60.0,60.0
+60.0,60.0,0.0,13.0,60.0,60.0
+60.0,60.0,0.0,12.0,60.0,60.0
+60.0,60.0,0.0,11.0,60.0,60.0
+60.0,60.0,0.0,10.0,60.0,60.0
+60.0,60.0,0.0,9.0,60.0,60.0
+60.0,60.0,0.0,8.0,60.0,60.0
+60.0,60.0,0.0,7.0,60.0,60.0
+60.0,60.0,0.0,6.0,60.0,60.0
+60.0,60.0,0.0,5.0,60.0,60.0
+60.0,60.0,0.0,4.0,60.0,60.0
+60.0,60.0,0.0,3.0,60.0,60.0
+60.0,60.0,0.0,2.0,60.0,60.0
+60.0,60.0,0.0,1.0,60.0,60.0
+60.0,60.0,0.0,-0.0,60.0,60.0
+60.0,60.0,0.0,-1.0,60.0,60.0
+60.0,60.0,0.0,-2.0,59.0,60.0
+60.0,60.0,0.0,-3.0,59.0,60.0
+60.0,60.0,0.0,-4.0,60.0,60.0
+60.0,60.0,0.0,-5.0,60.0,60.0
+60.0,60.0,0.0,-6.0,59.0,60.0
+60.0,60.0,0.0,-7.0,59.0,60.0
+60.0,60.0,0.0,-8.0,59.0,60.0
+60.0,60.0,0.0,-9.0,59.0,60.0
+60.0,60.0,0.0,-10.0,59.0,60.0
+60.0,60.0,0.0,-11.0,59.0,60.0
+60.0,60.0,0.0,-12.0,60.0,60.0
+60.0,60.0,0.0,-13.0,60.0,60.0
+60.0,60.0,0.0,-14.0,60.0,60.0
+60.0,60.0,0.0,-15.0,60.0,60.0
+60.0,60.0,0.0,-16.0,60.0,60.0
+60.0,60.0,0.0,-17.0,60.0,60.0
+60.0,60.0,0.0,-18.0,60.0,60.0
+60.0,60.0,0.0,-19.0,60.0,60.0
+60.0,60.0,0.0,-20.0,60.0,60.0
+60.0,60.0,0.0,-21.0,60.0,60.00914001464844
+60.0,60.0,0.0,-22.0,60.0,60.03657150268555
+60.0,60.0,0.0,-23.0,60.0,60.082340240478516
+60.0,60.0,0.0,-24.0,60.0,60.146514892578125
+60.0,60.0,0.0,-25.0,60.0,60.229190826416016
+60.0,60.0,0.0,-26.0,60.0,60.33049774169922
+60.0,60.0,0.0,-27.0,60.0,60.45058822631836
+60.0,60.0,0.0,-28.0,60.0,60.58965301513672
+60.0,60.0,0.0,-29.0,61.0,60.74790954589844
+60.0,60.0,0.0,-30.0,61.0,60.92559814453125
+60.0,60.0,0.0,-31.0,61.0,61.12300109863281
+60.0,60.0,0.0,-32.0,61.0,61.34043502807617
+60.0,60.0,0.0,-33.0,61.0,61.5782470703125
+60.0,60.0,0.0,-34.0,61.0,61.83681869506836
+60.0,60.0,0.0,-35.0,61.0,62.11656951904297
+60.0,60.0,0.0,-36.0,61.0,62.417964935302734
+60.0,60.0,0.0,-37.0,62.0,62.74150466918945
+60.0,60.0,0.0,-38.0,62.0,63.08773422241211
+60.0,60.0,0.0,-39.0,62.0,63.45724105834961
+60.0,60.0,0.0,-40.0,63.0,63.85066604614258
+60.0,60.0,0.0,-41.0,63.0,64.2686996459961
+60.0,60.0,0.0,-42.0,106.0,64.71208953857422
+60.0,60.0,0.0,-43.0,106.0,65.1816177368164
+60.0,60.0,0.0,-44.0,106.0,65.67817687988281
+60.0,60.0,0.0,-45.0,106.0,66.20267486572266
+60.0,60.0,0.0,-46.0,105.0,66.75611877441406
+60.0,60.0,0.0,-47.0,105.0,67.3395767211914
+60.0,60.0,0.0,-48.0,105.0,67.9542007446289
+60.0,60.0,0.0,-49.0,105.0,68.60124206542969
+60.0,60.0,0.0,-50.0,105.0,69.28203582763672
+60.0,60.0,0.0,-51.0,105.0,69.99800872802734
+60.0,60.0,0.0,-52.0,105.0,70.75070190429688
+60.0,60.0,0.0,-53.0,105.0,71.54179382324219
+60.0,60.0,0.0,-54.0,105.0,72.37307739257812
+60.0,60.0,0.0,-55.0,105.0,73.24646759033203
+60.0,60.0,0.0,-56.0,105.0,74.16407775878906
+60.0,60.0,0.0,-57.0,105.0,75.12813568115234
+60.0,60.0,0.0,-58.0,105.0,76.14109802246094
+60.0,60.0,0.0,-59.0,105.0,77.20557403564453
+60.0,60.0,0.0,-60.0,105.0,78.3244400024414
+60.0,60.0,0.0,-61.0,105.0,79.50077819824219
+60.0,60.0,0.0,-62.0,105.0,79.4594955444336
+60.0,60.0,0.0,-63.0,105.0,78.78787994384766
+60.0,60.0,0.0,-64.0,105.0,78.15113067626953
+60.0,60.0,0.0,-65.0,105.0,77.54800415039062
+60.0,60.0,0.0,-66.0,105.0,76.97740173339844
+60.0,60.0,0.0,-67.0,105.0,76.4382553100586
+60.0,60.0,0.0,-68.0,105.0,75.92955780029297
+60.0,60.0,0.0,-69.0,105.0,75.45042419433594
+60.0,60.0,0.0,-70.0,105.0,75.0
+60.0,60.0,0.0,-71.0,105.0,74.57750701904297
+60.0,60.0,0.0,-72.0,105.0,74.18221282958984
+60.0,60.0,0.0,-73.0,105.0,73.8134536743164
+60.0,60.0,0.0,-74.0,105.0,73.47062683105469
+60.0,60.0,0.0,-75.0,105.0,73.15312957763672
+60.0,60.0,0.0,-76.0,105.0,72.8604736328125
+60.0,60.0,0.0,-77.0,74.0,72.59217834472656
+60.0,60.0,0.0,-78.0,73.0,72.34778594970703
+60.0,60.0,0.0,-79.0,73.0,72.126953125
+60.0,60.0,0.0,-80.0,72.0,71.9292984008789
+60.0,60.0,0.0,-81.0,72.0,71.75453186035156
+60.0,60.0,0.0,-82.0,71.0,71.60236358642578
+60.0,60.0,0.0,-83.0,71.0,71.4725570678711
+60.0,60.0,0.0,-84.0,71.0,71.36492919921875
+60.0,60.0,0.0,-85.0,71.0,71.27930450439453
+60.0,60.0,0.0,-86.0,71.0,71.21553802490234
+60.0,60.0,0.0,-87.0,70.0,71.1735610961914
+60.0,60.0,0.0,-88.0,70.0,71.1532974243164
+60.0,60.0,0.0,-89.0,70.0,71.1532974243164
+60.0,60.0,0.0,-90.0,70.0,71.1532974243164

SonarModel/63-67-90/998672.txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+63.0,67.0,90.0,90.0,67.0,67.0
+63.0,67.0,90.0,89.0,64.0,67.0
+63.0,67.0,90.0,88.0,64.0,67.0
+63.0,67.0,90.0,87.0,64.0,67.0
+63.0,67.0,90.0,86.0,64.0,67.0
+63.0,67.0,90.0,85.0,64.0,67.0
+63.0,67.0,90.0,84.0,64.0,67.0
+63.0,67.0,90.0,83.0,64.0,67.0
+63.0,67.0,90.0,82.0,64.0,67.0
+63.0,67.0,90.0,81.0,64.0,67.0
+63.0,67.0,90.0,80.0,64.0,67.0
+63.0,67.0,90.0,79.0,64.0,67.0
+63.0,67.0,90.0,78.0,64.0,67.0
+63.0,67.0,90.0,77.0,64.0,67.0
+63.0,67.0,90.0,76.0,64.0,67.0
+63.0,67.0,90.0,75.0,64.0,67.0
+63.0,67.0,90.0,74.0,64.0,67.0
+63.0,67.0,90.0,73.0,64.0,67.0
+63.0,67.0,90.0,72.0,64.0,67.0
+63.0,67.0,90.0,71.0,64.0,67.0
+63.0,67.0,90.0,70.0,64.0,67.0
+63.0,67.0,90.0,69.0,64.0,67.01020812988281
+63.0,67.0,90.0,68.0,65.0,67.04084014892578
+63.0,67.0,90.0,67.0,65.0,67.09194946289062
+63.0,67.0,90.0,66.0,65.0,67.16360473632812
+63.0,67.0,90.0,65.0,65.0,67.25592803955078
+63.0,67.0,90.0,64.0,65.0,67.36905670166016
+63.0,67.0,90.0,63.0,65.0,67.50315856933594
+63.0,67.0,90.0,62.0,65.0,67.658447265625
+63.0,67.0,90.0,61.0,65.0,67.83516693115234
+63.0,67.0,90.0,60.0,66.0,68.03358459472656
+63.0,67.0,90.0,59.0,66.0,68.25402069091797
+63.0,67.0,90.0,58.0,66.0,68.49681854248047
+63.0,67.0,90.0,57.0,66.0,68.76237487792969
+63.0,67.0,90.0,56.0,66.0,69.05110931396484
+63.0,67.0,90.0,55.0,67.0,69.3635025024414
+63.0,67.0,90.0,54.0,67.0,69.70006561279297
+63.0,67.0,90.0,53.0,67.0,70.06134796142578
+63.0,67.0,90.0,52.0,68.0,70.44796752929688
+63.0,67.0,90.0,51.0,69.0,70.86058807373047
+63.0,67.0,90.0,50.0,255.0,71.29991149902344
+63.0,67.0,90.0,49.0,255.0,71.76670837402344
+63.0,67.0,90.0,48.0,255.0,72.26182556152344
+63.0,67.0,90.0,47.0,255.0,72.78614044189453
+63.0,67.0,90.0,46.0,255.0,73.34062957763672
+63.0,67.0,90.0,45.0,255.0,73.92632293701172
+63.0,67.0,90.0,44.0,255.0,74.5443344116211
+63.0,67.0,90.0,43.0,255.0,75.19585418701172
+63.0,67.0,90.0,42.0,255.0,75.88219451904297
+63.0,67.0,90.0,41.0,255.0,76.60472106933594
+63.0,67.0,90.0,40.0,255.0,77.36493682861328
+63.0,67.0,90.0,39.0,255.0,78.16443634033203
+63.0,67.0,90.0,38.0,255.0,79.00495147705078
+63.0,67.0,90.0,37.0,255.0,79.88834381103516
+63.0,67.0,90.0,36.0,255.0,80.13349914550781
+63.0,67.0,90.0,35.0,255.0,79.19791412353516
+63.0,67.0,90.0,34.0,255.0,78.3074951171875
+63.0,67.0,90.0,33.0,255.0,77.46022033691406
+63.0,67.0,90.0,32.0,255.0,76.6541748046875
+63.0,67.0,90.0,31.0,255.0,75.88761901855469
+63.0,67.0,90.0,30.0,255.0,75.15888977050781
+63.0,67.0,90.0,29.0,255.0,74.46651458740234
+63.0,67.0,90.0,28.0,255.0,73.80905151367188
+63.0,67.0,90.0,27.0,255.0,73.18518829345703
+63.0,67.0,90.0,26.0,255.0,72.59371948242188
+63.0,67.0,90.0,25.0,255.0,72.03347778320312
+63.0,67.0,90.0,24.0,255.0,71.50346374511719
+63.0,67.0,90.0,23.0,255.0,71.00263977050781
+63.0,67.0,90.0,22.0,255.0,70.53011322021484
+63.0,67.0,90.0,21.0,255.0,70.0850601196289
+63.0,67.0,90.0,20.0,255.0,69.66667175292969
+63.0,67.0,90.0,19.0,255.0,69.27422332763672
+63.0,67.0,90.0,18.0,73.0,68.90702819824219
+63.0,67.0,90.0,17.0,73.0,68.56449890136719
+63.0,67.0,90.0,16.0,73.0,68.24604797363281
+63.0,67.0,90.0,15.0,72.0,67.95112609863281
+63.0,67.0,90.0,14.0,70.0,67.67928314208984
+63.0,67.0,90.0,13.0,70.0,67.4300537109375
+63.0,67.0,90.0,12.0,70.0,67.20305633544922
+63.0,67.0,90.0,11.0,69.0,66.99791717529297
+63.0,67.0,90.0,10.0,69.0,66.8143310546875
+63.0,67.0,90.0,9.0,69.0,66.65198516845703
+63.0,67.0,90.0,8.0,69.0,66.51063537597656
+63.0,67.0,90.0,7.0,68.0,66.39006042480469
+63.0,67.0,90.0,6.0,68.0,66.29009246826172
+63.0,67.0,90.0,5.0,68.0,66.2105484008789
+63.0,67.0,90.0,4.0,68.0,66.15132904052734
+63.0,67.0,90.0,3.0,68.0,66.11233520507812
+63.0,67.0,90.0,2.0,68.0,66.093505859375
+63.0,67.0,90.0,1.0,68.0,66.093505859375
+63.0,67.0,90.0,-0.0,67.0,66.093505859375
+63.0,67.0,90.0,-1.0,67.0,66.093505859375
+63.0,67.0,90.0,-2.0,67.0,66.093505859375
+63.0,67.0,90.0,-3.0,67.0,66.093505859375
+63.0,67.0,90.0,-4.0,67.0,66.093505859375
+63.0,67.0,90.0,-5.0,67.0,66.093505859375
+63.0,67.0,90.0,-6.0,67.0,66.093505859375
+63.0,67.0,90.0,-7.0,67.0,66.093505859375
+63.0,67.0,90.0,-8.0,67.0,66.093505859375
+63.0,67.0,90.0,-9.0,67.0,66.093505859375
+63.0,67.0,90.0,-10.0,67.0,66.093505859375
+63.0,67.0,90.0,-11.0,67.0,66.093505859375
+63.0,67.0,90.0,-12.0,67.0,66.093505859375
+63.0,67.0,90.0,-13.0,67.0,66.093505859375
+63.0,67.0,90.0,-14.0,67.0,66.093505859375
+63.0,67.0,90.0,-15.0,67.0,66.093505859375
+63.0,67.0,90.0,-16.0,67.0,66.093505859375
+63.0,67.0,90.0,-17.0,67.0,66.093505859375
+63.0,67.0,90.0,-18.0,67.0,66.093505859375
+63.0,67.0,90.0,-19.0,67.0,66.093505859375
+63.0,67.0,90.0,-20.0,67.0,66.093505859375
+63.0,67.0,90.0,-21.0,67.0,66.093505859375
+63.0,67.0,90.0,-22.0,67.0,66.093505859375
+63.0,67.0,90.0,-23.0,67.0,66.093505859375
+63.0,67.0,90.0,-24.0,67.0,66.093505859375
+63.0,67.0,90.0,-25.0,67.0,66.093505859375
+63.0,67.0,90.0,-26.0,67.0,66.093505859375
+63.0,67.0,90.0,-27.0,67.0,66.093505859375
+63.0,67.0,90.0,-28.0,66.0,66.093505859375
+63.0,67.0,90.0,-29.0,67.0,66.093505859375
+63.0,67.0,90.0,-30.0,67.0,66.093505859375
+63.0,67.0,90.0,-31.0,67.0,66.093505859375
+63.0,67.0,90.0,-32.0,67.0,66.093505859375
+63.0,67.0,90.0,-33.0,67.0,66.093505859375
+63.0,67.0,90.0,-34.0,67.0,66.093505859375
+63.0,67.0,90.0,-35.0,67.0,66.093505859375
+63.0,67.0,90.0,-36.0,67.0,66.093505859375
+63.0,67.0,90.0,-37.0,67.0,66.093505859375
+63.0,67.0,90.0,-38.0,67.0,66.093505859375
+63.0,67.0,90.0,-39.0,67.0,66.09481048583984
+63.0,67.0,90.0,-40.0,67.0,66.11626434326172
+63.0,67.0,90.0,-41.0,67.0,66.15789031982422
+63.0,67.0,90.0,-42.0,67.0,66.21974182128906
+63.0,67.0,90.0,-43.0,67.0,66.30194091796875
+63.0,67.0,90.0,-44.0,67.0,66.40458679199219
+63.0,67.0,90.0,-45.0,67.0,66.52784729003906
+63.0,67.0,90.0,-46.0,68.0,66.67191314697266
+63.0,67.0,90.0,-47.0,68.0,66.83700561523438
+63.0,67.0,90.0,-48.0,68.0,67.02339172363281
+63.0,67.0,90.0,-49.0,68.0,67.23135375976562
+63.0,67.0,90.0,-50.0,68.0,67.46121978759766
+63.0,67.0,90.0,-51.0,68.0,67.7133560180664
+63.0,67.0,90.0,-52.0,67.0,67.9881820678711
+63.0,67.0,90.0,-53.0,68.0,68.2861328125
+63.0,67.0,90.0,-54.0,69.0,68.60769653320312
+63.0,67.0,90.0,-55.0,71.0,68.95339965820312
+63.0,67.0,90.0,-56.0,70.0,69.23141479492188
+63.0,67.0,90.0,-57.0,68.0,68.90707397460938
+63.0,67.0,90.0,-58.0,67.0,68.6063232421875
+63.0,67.0,90.0,-59.0,67.0,68.32921600341797
+63.0,67.0,90.0,-60.0,67.0,68.07482147216797
+63.0,67.0,90.0,-61.0,73.0,67.84293365478516
+63.0,67.0,90.0,-62.0,210.0,67.63314819335938
+63.0,67.0,90.0,-63.0,65.0,67.44503021240234
+63.0,67.0,90.0,-64.0,65.0,67.27854919433594
+63.0,67.0,90.0,-65.0,64.0,67.13327026367188
+63.0,67.0,90.0,-66.0,64.0,67.0088882446289
+63.0,67.0,90.0,-67.0,63.0,66.90536499023438
+63.0,67.0,90.0,-68.0,63.0,66.82245635986328
+63.0,67.0,90.0,-69.0,63.0,66.76011657714844
+63.0,67.0,90.0,-70.0,63.0,66.76011657714844
+63.0,67.0,90.0,-71.0,63.0,66.69658660888672
+63.0,67.0,90.0,-72.0,63.0,66.69532012939453
+63.0,67.0,90.0,-73.0,62.0,66.69532012939453
+63.0,67.0,90.0,-74.0,62.0,66.69532012939453
+63.0,67.0,90.0,-75.0,62.0,66.69532012939453
+63.0,67.0,90.0,-76.0,62.0,66.69532012939453
+63.0,67.0,90.0,-77.0,62.0,66.69532012939453
+63.0,67.0,90.0,-78.0,62.0,66.69532012939453
+63.0,67.0,90.0,-79.0,62.0,66.69532012939453
+63.0,67.0,90.0,-80.0,62.0,66.69532012939453
+63.0,67.0,90.0,-81.0,62.0,66.69532012939453
+63.0,67.0,90.0,-82.0,61.0,66.69532012939453
+63.0,67.0,90.0,-83.0,61.0,66.69532012939453
+63.0,67.0,90.0,-84.0,61.0,66.69532012939453
+63.0,67.0,90.0,-85.0,61.0,66.69532012939453
+63.0,67.0,90.0,-86.0,61.0,66.69532012939453
+63.0,67.0,90.0,-87.0,61.0,66.69532012939453
+63.0,67.0,90.0,-88.0,61.0,66.69532012939453
+63.0,67.0,90.0,-89.0,61.0,66.69532012939453
+63.0,67.0,90.0,-90.0,61.0,66.69532012939453

SonarModel/Main.java

@@ -0,0 +1,118 @@
+import lejos.geom.Line;
+import lejos.geom.Rectangle;
+import lejos.robotics.mapping.LineMap;
+import lejos.robotics.navigation.Pose;
+import java.io.*;
+import java.util.ArrayList;
+
+public class Main {
+   private LineMap map;
+
+   public Main() {
+      Line[] lines = {
+         new Line(0f, 0f, 155f, 0f),
+         new Line(155f, 0f, 110f, 135f),
+         new Line(110f, 135f, 0f, 132f),
+         new Line(0f, 132f, 0f, 0f)
+      };
+      Rectangle bounds = new Rectangle(0, 0, 1189, 841);
+      map = new LineMap(lines, bounds);
+   }
+
+   public double expectedSonarRead(Pose p, double angle, int cone) {
+      /**************** MODELO DO SONAR *******************/
+      Pose tmppose = new Pose(p.getX(), p.getY(), p.getHeading());
+      float mindist = Float.POSITIVE_INFINITY;
+      for (int angulo=-cone/2; angulo <= cone/2; angulo++) {
+         tmppose.setHeading((float) (p.getHeading() - angulo + angle));
+         float dist = map.range(tmppose);
+         if (dist > 0 && dist < mindist) 
+            mindist = dist;
+      } 
+      return Math.min(mindist, 255);
+   }
+
+   public static void fileCalc (String filename) {
+      try {
+         File file = new File(filename);
+         FileReader fileReader = new FileReader(file);
+         BufferedReader bufferedReader = new BufferedReader(fileReader);
+         String line;
+         bufferedReader.readLine();
+
+         ArrayList<Integer> reads = new ArrayList<Integer>();
+         ArrayList<Integer> headinng = new ArrayList<Integer>();
+
+         double x = 0;
+         double y = 0;
+         int head = 0;
+
+         Main m = new Main();
+
+         while ((line = bufferedReader.readLine()) != null) {
+            String[] data = line.split(",");
+
+            x = Double.parseDouble(data[0]);
+            y = Double.parseDouble(data[1]);
+            head = (int)Double.parseDouble(data[2]);
+            int sonar_ang = (int)Double.parseDouble(data[3]);
+            int read = (int)Double.parseDouble(data[4]);
+            // if (read != 255) {
+               reads.add(read);
+               headinng.add(sonar_ang);
+            // }
+         }
+         // System.out.println("Deletados: "+(181-reads.size()));
+         fileReader.close();
+
+         // for (int j = 0; j < reads.size(); j++)
+         //    if (headinng.get(j) == 0) {
+         //       y = reads.get(j);
+         //    }
+
+         // vamos calcular varios cones
+         Pose p = new Pose((float)x, (float)y, head);
+         System.out.print(p);
+
+         for (int i = 0; i <= 80; i += 2) {
+            // para cada posicao
+            double sum = 0;
+            int count_exclude = 0;
+            for (int j = 0; j < reads.size(); j++) {
+               double exp = m.expectedSonarRead(p, -headinng.get(j)-90, i);
+               double err = Math.abs(reads.get(j)-exp);
+               if (err >= 10) {
+                  count_exclude++;
+                  continue;
+               }
+               err *= err;
+               
+                  // System.out.println(headinng.get(j)+" "+reads.get(j)+" "+exp);
+               sum += err;
+            }
+            // System.out.println();
+            // System.out.println(count_exclude);
+            sum /= (reads.size()-count_exclude);
+            System.out.print(","+sum);
+         }
+         System.out.println();
+
+      } catch (IOException e) {
+         e.printStackTrace();
+      }
+   }
+
+   public static void main(String[] args) {
+      String dir = "medidas";
+      File folder = new File(dir);
+      File[] listOfFiles = folder.listFiles();
+
+      for (int i = 0; i < listOfFiles.length; i++) {
+         if (listOfFiles[i].isFile()) {
+            // System.out.println("File " + listOfFiles[i].getName());
+            fileCalc(dir+"/"+listOfFiles[i].getName());
+         }
+      }
+
+   }
+}

SonarModel/medidas/(13,20,0).txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+13.0,20.0,0.0,90.0,22.0,13.0
+13.0,20.0,0.0,89.0,13.0,13.0
+13.0,20.0,0.0,88.0,13.0,13.0
+13.0,20.0,0.0,87.0,13.0,13.0
+13.0,20.0,0.0,86.0,13.0,13.0
+13.0,20.0,0.0,85.0,13.0,13.0
+13.0,20.0,0.0,84.0,13.0,13.0
+13.0,20.0,0.0,83.0,13.0,13.0
+13.0,20.0,0.0,82.0,13.0,13.0
+13.0,20.0,0.0,81.0,13.0,13.0
+13.0,20.0,0.0,80.0,13.0,13.0
+13.0,20.0,0.0,79.0,13.0,13.0
+13.0,20.0,0.0,78.0,13.0,13.0
+13.0,20.0,0.0,77.0,13.0,13.0
+13.0,20.0,0.0,76.0,14.0,13.0
+13.0,20.0,0.0,75.0,14.0,13.0
+13.0,20.0,0.0,74.0,14.0,13.0
+13.0,20.0,0.0,73.0,14.0,13.0
+13.0,20.0,0.0,72.0,14.0,13.0
+13.0,20.0,0.0,71.0,14.0,13.0
+13.0,20.0,0.0,70.0,14.0,13.0
+13.0,20.0,0.0,69.0,14.0,13.00197982788086
+13.0,20.0,0.0,68.0,14.0,13.00792407989502
+13.0,20.0,0.0,67.0,14.0,13.017840385437012
+13.0,20.0,0.0,66.0,15.0,13.031744956970215
+13.0,20.0,0.0,65.0,15.0,13.049657821655273
+13.0,20.0,0.0,64.0,15.0,13.07160758972168
+13.0,20.0,0.0,63.0,15.0,13.097627639770508
+13.0,20.0,0.0,62.0,15.0,13.127758026123047
+13.0,20.0,0.0,61.0,15.0,13.162046432495117
+13.0,20.0,0.0,60.0,22.0,13.200546264648438
+13.0,20.0,0.0,59.0,22.0,13.243316650390625
+13.0,20.0,0.0,58.0,22.0,13.290427207946777
+13.0,20.0,0.0,57.0,22.0,13.34195327758789
+13.0,20.0,0.0,56.0,22.0,13.397977828979492
+13.0,20.0,0.0,55.0,22.0,13.458590507507324
+13.0,20.0,0.0,54.0,22.0,13.523892402648926
+13.0,20.0,0.0,53.0,22.0,13.593993186950684
+13.0,20.0,0.0,52.0,22.0,13.669008255004883
+13.0,20.0,0.0,51.0,22.0,13.749069213867188
+13.0,20.0,0.0,50.0,22.0,13.834311485290527
+13.0,20.0,0.0,49.0,23.0,13.924884796142578
+13.0,20.0,0.0,48.0,25.0,14.020951271057129
+13.0,20.0,0.0,47.0,25.0,14.122685432434082
+13.0,20.0,0.0,46.0,23.0,14.23027229309082
+13.0,20.0,0.0,45.0,23.0,14.343913078308105
+13.0,20.0,0.0,44.0,23.0,14.463826179504395
+13.0,20.0,0.0,43.0,23.0,14.590240478515625
+13.0,20.0,0.0,42.0,23.0,14.723411560058594
+13.0,20.0,0.0,41.0,24.0,14.863602638244629
+13.0,20.0,0.0,40.0,24.0,15.011107444763184
+13.0,20.0,0.0,39.0,23.0,15.166234016418457
+13.0,20.0,0.0,38.0,22.0,15.329319953918457
+13.0,20.0,0.0,37.0,22.0,15.500722885131836
+13.0,20.0,0.0,36.0,23.0,15.680832862854004
+13.0,20.0,0.0,35.0,24.0,15.87006950378418
+13.0,20.0,0.0,34.0,25.0,16.068883895874023
+13.0,20.0,0.0,33.0,25.0,16.27776336669922
+13.0,20.0,0.0,32.0,23.0,16.497236251831055
+13.0,20.0,0.0,31.0,23.0,16.727874755859375
+13.0,20.0,0.0,30.0,23.0,16.970294952392578
+13.0,20.0,0.0,29.0,23.0,17.225168228149414
+13.0,20.0,0.0,28.0,23.0,17.49322509765625
+13.0,20.0,0.0,27.0,22.0,17.775257110595703
+13.0,20.0,0.0,26.0,22.0,18.072128295898438
+13.0,20.0,0.0,25.0,22.0,18.384777069091797
+13.0,20.0,0.0,24.0,22.0,18.714235305786133
+13.0,20.0,0.0,23.0,22.0,19.061630249023438
+13.0,20.0,0.0,22.0,22.0,19.42819595336914
+13.0,20.0,0.0,21.0,22.0,19.815290451049805
+13.0,20.0,0.0,20.0,22.0,20.0
+13.0,20.0,0.0,19.0,22.0,20.0
+13.0,20.0,0.0,18.0,22.0,20.0
+13.0,20.0,0.0,17.0,22.0,20.0
+13.0,20.0,0.0,16.0,22.0,20.0
+13.0,20.0,0.0,15.0,22.0,20.0
+13.0,20.0,0.0,14.0,22.0,20.0
+13.0,20.0,0.0,13.0,22.0,20.0
+13.0,20.0,0.0,12.0,22.0,20.0
+13.0,20.0,0.0,11.0,22.0,20.0
+13.0,20.0,0.0,10.0,22.0,20.0
+13.0,20.0,0.0,9.0,22.0,20.0
+13.0,20.0,0.0,8.0,22.0,20.0
+13.0,20.0,0.0,7.0,22.0,20.0
+13.0,20.0,0.0,6.0,22.0,20.0
+13.0,20.0,0.0,5.0,22.0,20.0
+13.0,20.0,0.0,4.0,22.0,20.0
+13.0,20.0,0.0,3.0,22.0,20.0
+13.0,20.0,0.0,2.0,22.0,20.0
+13.0,20.0,0.0,1.0,22.0,20.0
+13.0,20.0,0.0,-0.0,22.0,20.0
+13.0,20.0,0.0,-1.0,22.0,20.0
+13.0,20.0,0.0,-2.0,22.0,20.0
+13.0,20.0,0.0,-3.0,22.0,20.0
+13.0,20.0,0.0,-4.0,22.0,20.0
+13.0,20.0,0.0,-5.0,22.0,20.0
+13.0,20.0,0.0,-6.0,22.0,20.0
+13.0,20.0,0.0,-7.0,22.0,20.0
+13.0,20.0,0.0,-8.0,22.0,20.0
+13.0,20.0,0.0,-9.0,22.0,20.0
+13.0,20.0,0.0,-10.0,22.0,20.0
+13.0,20.0,0.0,-11.0,22.0,20.0
+13.0,20.0,0.0,-12.0,22.0,20.0
+13.0,20.0,0.0,-13.0,22.0,20.0
+13.0,20.0,0.0,-14.0,22.0,20.0
+13.0,20.0,0.0,-15.0,22.0,20.0
+13.0,20.0,0.0,-16.0,22.0,20.0
+13.0,20.0,0.0,-17.0,22.0,20.0
+13.0,20.0,0.0,-18.0,22.0,20.0
+13.0,20.0,0.0,-19.0,22.0,20.0
+13.0,20.0,0.0,-20.0,22.0,20.0
+13.0,20.0,0.0,-21.0,22.0,20.0030460357666
+13.0,20.0,0.0,-22.0,22.0,20.012191772460938
+13.0,20.0,0.0,-23.0,22.0,20.027446746826172
+13.0,20.0,0.0,-24.0,22.0,20.048837661743164
+13.0,20.0,0.0,-25.0,22.0,20.076396942138672
+13.0,20.0,0.0,-26.0,22.0,20.110166549682617
+13.0,20.0,0.0,-27.0,22.0,20.150196075439453
+13.0,20.0,0.0,-28.0,22.0,20.196552276611328
+13.0,20.0,0.0,-29.0,22.0,20.24930191040039
+13.0,20.0,0.0,-30.0,22.0,20.30853271484375
+13.0,20.0,0.0,-31.0,22.0,20.37433433532715
+13.0,20.0,0.0,-32.0,22.0,20.44681167602539
+13.0,20.0,0.0,-33.0,22.0,20.526081085205078
+13.0,20.0,0.0,-34.0,22.0,20.612272262573242
+13.0,20.0,0.0,-35.0,22.0,20.705524444580078
+13.0,20.0,0.0,-36.0,22.0,20.80599021911621
+13.0,20.0,0.0,-37.0,22.0,20.913835525512695
+13.0,20.0,0.0,-38.0,22.0,21.029245376586914
+13.0,20.0,0.0,-39.0,22.0,21.152414321899414
+13.0,20.0,0.0,-40.0,23.0,21.28355598449707
+13.0,20.0,0.0,-41.0,23.0,21.422901153564453
+13.0,20.0,0.0,-42.0,23.0,21.570693969726562
+13.0,20.0,0.0,-43.0,23.0,21.72720718383789
+13.0,20.0,0.0,-44.0,23.0,21.892724990844727
+13.0,20.0,0.0,-45.0,23.0,22.06755828857422
+13.0,20.0,0.0,-46.0,23.0,22.252038955688477
+13.0,20.0,0.0,-47.0,23.0,22.44652557373047
+13.0,20.0,0.0,-48.0,23.0,22.65140151977539
+13.0,20.0,0.0,-49.0,23.0,22.867080688476562
+13.0,20.0,0.0,-50.0,23.0,23.094011306762695
+13.0,20.0,0.0,-51.0,24.0,23.33266830444336
+13.0,20.0,0.0,-52.0,24.0,23.583568572998047
+13.0,20.0,0.0,-53.0,24.0,23.847265243530273
+13.0,20.0,0.0,-54.0,24.0,24.124359130859375
+13.0,20.0,0.0,-55.0,24.0,24.41549301147461
+13.0,20.0,0.0,-56.0,24.0,24.721359252929688
+13.0,20.0,0.0,-57.0,24.0,25.042713165283203
+13.0,20.0,0.0,-58.0,25.0,25.3803653717041
+13.0,20.0,0.0,-59.0,25.0,25.735193252563477
+13.0,20.0,0.0,-60.0,134.0,26.1081485748291
+13.0,20.0,0.0,-61.0,134.0,26.50025749206543
+13.0,20.0,0.0,-62.0,134.0,26.91265296936035
+13.0,20.0,0.0,-63.0,134.0,27.34654998779297
+13.0,20.0,0.0,-64.0,133.0,27.80327033996582
+13.0,20.0,0.0,-65.0,133.0,28.284271240234375
+13.0,20.0,0.0,-66.0,133.0,28.79113006591797
+13.0,20.0,0.0,-67.0,133.0,29.32558250427246
+13.0,20.0,0.0,-68.0,133.0,29.889530181884766
+13.0,20.0,0.0,-69.0,133.0,30.485063552856445
+13.0,20.0,0.0,-70.0,133.0,31.114477157592773
+13.0,20.0,0.0,-71.0,133.0,31.780315399169922
+13.0,20.0,0.0,-72.0,133.0,32.485382080078125
+13.0,20.0,0.0,-73.0,133.0,33.2327995300293
+13.0,20.0,0.0,-74.0,133.0,34.02603530883789
+13.0,20.0,0.0,-75.0,133.0,34.86893844604492
+13.0,20.0,0.0,-76.0,133.0,35.76583480834961
+13.0,20.0,0.0,-77.0,133.0,36.7215690612793
+13.0,20.0,0.0,-78.0,133.0,37.741600036621094
+13.0,20.0,0.0,-79.0,132.0,38.83207702636719
+13.0,20.0,0.0,-80.0,132.0,40.0
+13.0,20.0,0.0,-81.0,132.0,41.2533073425293
+13.0,20.0,0.0,-82.0,132.0,42.6010856628418
+13.0,20.0,0.0,-83.0,132.0,44.05378723144531
+13.0,20.0,0.0,-84.0,132.0,45.62343978881836
+13.0,20.0,0.0,-85.0,132.0,47.324031829833984
+13.0,20.0,0.0,-86.0,132.0,49.17186737060547
+13.0,20.0,0.0,-87.0,132.0,51.186100006103516
+13.0,20.0,0.0,-88.0,132.0,53.38934326171875
+13.0,20.0,0.0,-89.0,132.0,55.808555603027344
+13.0,20.0,0.0,-90.0,132.0,58.47609329223633

SonarModel/medidas/(14,10,0).txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+14.0,10.0,0.0,90.0,12.0,14.0
+14.0,10.0,0.0,89.0,14.0,14.0
+14.0,10.0,0.0,88.0,14.0,14.0
+14.0,10.0,0.0,87.0,14.0,14.0
+14.0,10.0,0.0,86.0,14.0,14.0
+14.0,10.0,0.0,85.0,14.0,14.0
+14.0,10.0,0.0,84.0,14.0,14.0
+14.0,10.0,0.0,83.0,14.0,14.0
+14.0,10.0,0.0,82.0,14.0,14.0
+14.0,10.0,0.0,81.0,14.0,14.0
+14.0,10.0,0.0,80.0,14.0,14.0
+14.0,10.0,0.0,79.0,14.0,14.0
+14.0,10.0,0.0,78.0,14.0,14.0
+14.0,10.0,0.0,77.0,14.0,14.0
+14.0,10.0,0.0,76.0,14.0,14.0
+14.0,10.0,0.0,75.0,14.0,14.0
+14.0,10.0,0.0,74.0,14.0,14.0
+14.0,10.0,0.0,73.0,14.0,14.0
+14.0,10.0,0.0,72.0,14.0,14.0
+14.0,10.0,0.0,71.0,14.0,14.0
+14.0,10.0,0.0,70.0,14.0,14.0
+14.0,10.0,0.0,69.0,14.0,14.002132415771484
+14.0,10.0,0.0,68.0,15.0,14.008533477783203
+14.0,10.0,0.0,67.0,15.0,14.01921272277832
+14.0,10.0,0.0,66.0,15.0,14.034186363220215
+14.0,10.0,0.0,65.0,15.0,14.05347728729248
+14.0,10.0,0.0,64.0,16.0,13.901636123657227
+14.0,10.0,0.0,63.0,16.0,13.673274040222168
+14.0,10.0,0.0,62.0,16.0,13.456326484680176
+14.0,10.0,0.0,61.0,16.0,13.250129699707031
+14.0,10.0,0.0,60.0,19.0,13.054073333740234
+14.0,10.0,0.0,59.0,21.0,12.867596626281738
+14.0,10.0,0.0,58.0,22.0,12.690181732177734
+14.0,10.0,0.0,57.0,22.0,12.521356582641602
+14.0,10.0,0.0,56.0,21.0,12.360679626464844
+14.0,10.0,0.0,55.0,19.0,12.207746505737305
+14.0,10.0,0.0,54.0,17.0,12.062179565429688
+14.0,10.0,0.0,53.0,17.0,11.923632621765137
+14.0,10.0,0.0,52.0,18.0,11.791783332824707
+14.0,10.0,0.0,51.0,19.0,11.66633415222168
+14.0,10.0,0.0,50.0,19.0,11.547005653381348
+14.0,10.0,0.0,49.0,20.0,11.433540344238281
+14.0,10.0,0.0,48.0,20.0,11.325699806213379
+14.0,10.0,0.0,47.0,20.0,11.223261833190918
+14.0,10.0,0.0,46.0,20.0,11.126019477844238
+14.0,10.0,0.0,45.0,20.0,11.03377914428711
+14.0,10.0,0.0,44.0,19.0,10.946362495422363
+14.0,10.0,0.0,43.0,19.0,10.863603591918945
+14.0,10.0,0.0,42.0,18.0,10.785346984863281
+14.0,10.0,0.0,41.0,17.0,10.711450576782227
+14.0,10.0,0.0,40.0,17.0,10.641777992248535
+14.0,10.0,0.0,39.0,19.0,10.576207160949707
+14.0,10.0,0.0,38.0,19.0,10.51462173461914
+14.0,10.0,0.0,37.0,20.0,10.456917762756348
+14.0,10.0,0.0,36.0,20.0,10.402995109558105
+14.0,10.0,0.0,35.0,20.0,10.352762222290039
+14.0,10.0,0.0,34.0,20.0,10.306136131286621
+14.0,10.0,0.0,33.0,19.0,10.263041496276855
+14.0,10.0,0.0,32.0,19.0,10.223405838012695
+14.0,10.0,0.0,31.0,19.0,10.187167167663574
+14.0,10.0,0.0,30.0,21.0,10.154266357421875
+14.0,10.0,0.0,29.0,22.0,10.124650955200195
+14.0,10.0,0.0,28.0,22.0,10.098276138305664
+14.0,10.0,0.0,27.0,22.0,10.075098037719727
+14.0,10.0,0.0,26.0,21.0,10.055083274841309
+14.0,10.0,0.0,25.0,20.0,10.038198471069336
+14.0,10.0,0.0,24.0,20.0,10.024418830871582
+14.0,10.0,0.0,23.0,16.0,10.013723373413086
+14.0,10.0,0.0,22.0,15.0,10.006095886230469
+14.0,10.0,0.0,21.0,15.0,10.0015230178833
+14.0,10.0,0.0,20.0,15.0,10.0
+14.0,10.0,0.0,19.0,15.0,10.0
+14.0,10.0,0.0,18.0,14.0,10.0
+14.0,10.0,0.0,17.0,14.0,10.0
+14.0,10.0,0.0,16.0,14.0,10.0
+14.0,10.0,0.0,15.0,14.0,10.0
+14.0,10.0,0.0,14.0,13.0,10.0
+14.0,10.0,0.0,13.0,13.0,10.0
+14.0,10.0,0.0,12.0,13.0,10.0
+14.0,10.0,0.0,11.0,13.0,10.0
+14.0,10.0,0.0,10.0,13.0,10.0
+14.0,10.0,0.0,9.0,13.0,10.0
+14.0,10.0,0.0,8.0,13.0,10.0
+14.0,10.0,0.0,7.0,13.0,10.0
+14.0,10.0,0.0,6.0,13.0,10.0
+14.0,10.0,0.0,5.0,13.0,10.0
+14.0,10.0,0.0,4.0,13.0,10.0
+14.0,10.0,0.0,3.0,13.0,10.0
+14.0,10.0,0.0,2.0,13.0,10.0
+14.0,10.0,0.0,1.0,13.0,10.0
+14.0,10.0,0.0,-0.0,13.0,10.0
+14.0,10.0,0.0,-1.0,12.0,10.0
+14.0,10.0,0.0,-2.0,12.0,10.0
+14.0,10.0,0.0,-3.0,12.0,10.0
+14.0,10.0,0.0,-4.0,12.0,10.0
+14.0,10.0,0.0,-5.0,12.0,10.0
+14.0,10.0,0.0,-6.0,13.0,10.0
+14.0,10.0,0.0,-7.0,13.0,10.0
+14.0,10.0,0.0,-8.0,13.0,10.0
+14.0,10.0,0.0,-9.0,12.0,10.0
+14.0,10.0,0.0,-10.0,12.0,10.0
+14.0,10.0,0.0,-11.0,12.0,10.0
+14.0,10.0,0.0,-12.0,13.0,10.0
+14.0,10.0,0.0,-13.0,13.0,10.0
+14.0,10.0,0.0,-14.0,13.0,10.0
+14.0,10.0,0.0,-15.0,13.0,10.0
+14.0,10.0,0.0,-16.0,13.0,10.0
+14.0,10.0,0.0,-17.0,13.0,10.0
+14.0,10.0,0.0,-18.0,13.0,10.0
+14.0,10.0,0.0,-19.0,13.0,10.0
+14.0,10.0,0.0,-20.0,13.0,10.0
+14.0,10.0,0.0,-21.0,13.0,10.0015230178833
+14.0,10.0,0.0,-22.0,14.0,10.006095886230469
+14.0,10.0,0.0,-23.0,14.0,10.013723373413086
+14.0,10.0,0.0,-24.0,14.0,10.024418830871582
+14.0,10.0,0.0,-25.0,14.0,10.038198471069336
+14.0,10.0,0.0,-26.0,14.0,10.055083274841309
+14.0,10.0,0.0,-27.0,15.0,10.075098037719727
+14.0,10.0,0.0,-28.0,15.0,10.098276138305664
+14.0,10.0,0.0,-29.0,15.0,10.124650955200195
+14.0,10.0,0.0,-30.0,15.0,10.154266357421875
+14.0,10.0,0.0,-31.0,16.0,10.187167167663574
+14.0,10.0,0.0,-32.0,16.0,10.223405838012695
+14.0,10.0,0.0,-33.0,22.0,10.263041496276855
+14.0,10.0,0.0,-34.0,22.0,10.306136131286621
+14.0,10.0,0.0,-35.0,22.0,10.352761268615723
+14.0,10.0,0.0,-36.0,22.0,10.402994155883789
+14.0,10.0,0.0,-37.0,22.0,10.456917762756348
+14.0,10.0,0.0,-38.0,22.0,10.514622688293457
+14.0,10.0,0.0,-39.0,22.0,10.57620620727539
+14.0,10.0,0.0,-40.0,22.0,10.641777992248535
+14.0,10.0,0.0,-41.0,22.0,10.71144962310791
+14.0,10.0,0.0,-42.0,22.0,10.785346984863281
+14.0,10.0,0.0,-43.0,23.0,10.863604545593262
+14.0,10.0,0.0,-44.0,23.0,10.94636344909668
+14.0,10.0,0.0,-45.0,23.0,11.03377914428711
+14.0,10.0,0.0,-46.0,23.0,11.126019477844238
+14.0,10.0,0.0,-47.0,23.0,11.223261833190918
+14.0,10.0,0.0,-48.0,23.0,11.325701713562012
+14.0,10.0,0.0,-49.0,23.0,11.433541297912598
+14.0,10.0,0.0,-50.0,23.0,11.547004699707031
+14.0,10.0,0.0,-51.0,23.0,11.66633415222168
+14.0,10.0,0.0,-52.0,23.0,11.791784286499023
+14.0,10.0,0.0,-53.0,24.0,11.923632621765137
+14.0,10.0,0.0,-54.0,255.0,12.062179565429688
+14.0,10.0,0.0,-55.0,255.0,12.207745552062988
+14.0,10.0,0.0,-56.0,137.0,12.360679626464844
+14.0,10.0,0.0,-57.0,135.0,12.521357536315918
+14.0,10.0,0.0,-58.0,135.0,12.69018268585205
+14.0,10.0,0.0,-59.0,135.0,12.867595672607422
+14.0,10.0,0.0,-60.0,135.0,13.054073333740234
+14.0,10.0,0.0,-61.0,135.0,13.250129699707031
+14.0,10.0,0.0,-62.0,135.0,13.456328392028809
+14.0,10.0,0.0,-63.0,135.0,13.673274993896484
+14.0,10.0,0.0,-64.0,135.0,13.901636123657227
+14.0,10.0,0.0,-65.0,135.0,14.142135620117188
+14.0,10.0,0.0,-66.0,136.0,14.395565032958984
+14.0,10.0,0.0,-67.0,137.0,14.66279125213623
+14.0,10.0,0.0,-68.0,255.0,14.944765090942383
+14.0,10.0,0.0,-69.0,255.0,15.242530822753906
+14.0,10.0,0.0,-70.0,255.0,15.557236671447754
+14.0,10.0,0.0,-71.0,255.0,15.890156745910645
+14.0,10.0,0.0,-72.0,255.0,16.242692947387695
+14.0,10.0,0.0,-73.0,255.0,16.61639976501465
+14.0,10.0,0.0,-74.0,137.0,17.013017654418945
+14.0,10.0,0.0,-75.0,137.0,17.43446922302246
+14.0,10.0,0.0,-76.0,136.0,17.882917404174805
+14.0,10.0,0.0,-77.0,132.0,18.36078453063965
+14.0,10.0,0.0,-78.0,132.0,18.870798110961914
+14.0,10.0,0.0,-79.0,131.0,19.41603660583496
+14.0,10.0,0.0,-80.0,131.0,20.0
+14.0,10.0,0.0,-81.0,131.0,20.62665367126465
+14.0,10.0,0.0,-82.0,131.0,21.3005428314209
+14.0,10.0,0.0,-83.0,131.0,22.026893615722656
+14.0,10.0,0.0,-84.0,131.0,22.811717987060547
+14.0,10.0,0.0,-85.0,131.0,23.662015914916992
+14.0,10.0,0.0,-86.0,131.0,24.585933685302734
+14.0,10.0,0.0,-87.0,131.0,25.593048095703125
+14.0,10.0,0.0,-88.0,131.0,26.694671630859375
+14.0,10.0,0.0,-89.0,131.0,27.90428352355957
+14.0,10.0,0.0,-90.0,131.0,29.2380428314209

SonarModel/medidas/(14,52,0).txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+14.0,52.0,0.0,90.0,52.0,14.0
+14.0,52.0,0.0,89.0,14.0,14.0
+14.0,52.0,0.0,88.0,14.0,14.0
+14.0,52.0,0.0,87.0,14.0,14.0
+14.0,52.0,0.0,86.0,14.0,14.0
+14.0,52.0,0.0,85.0,14.0,14.0
+14.0,52.0,0.0,84.0,14.0,14.0
+14.0,52.0,0.0,83.0,14.0,14.0
+14.0,52.0,0.0,82.0,14.0,14.0
+14.0,52.0,0.0,81.0,15.0,14.0
+14.0,52.0,0.0,80.0,15.0,14.0
+14.0,52.0,0.0,79.0,15.0,14.0
+14.0,52.0,0.0,78.0,15.0,14.0
+14.0,52.0,0.0,77.0,15.0,14.0
+14.0,52.0,0.0,76.0,15.0,14.0
+14.0,52.0,0.0,75.0,15.0,14.0
+14.0,52.0,0.0,74.0,15.0,14.0
+14.0,52.0,0.0,73.0,15.0,14.0
+14.0,52.0,0.0,72.0,15.0,14.0
+14.0,52.0,0.0,71.0,15.0,14.0
+14.0,52.0,0.0,70.0,15.0,14.0
+14.0,52.0,0.0,69.0,16.0,14.002132415771484
+14.0,52.0,0.0,68.0,16.0,14.008533477783203
+14.0,52.0,0.0,67.0,16.0,14.01921272277832
+14.0,52.0,0.0,66.0,16.0,14.034186363220215
+14.0,52.0,0.0,65.0,16.0,14.053478240966797
+14.0,52.0,0.0,64.0,16.0,14.077116012573242
+14.0,52.0,0.0,63.0,16.0,14.10513687133789
+14.0,52.0,0.0,62.0,16.0,14.137585639953613
+14.0,52.0,0.0,61.0,16.0,14.174511909484863
+14.0,52.0,0.0,60.0,22.0,14.215972900390625
+14.0,52.0,0.0,59.0,22.0,14.262033462524414
+14.0,52.0,0.0,58.0,22.0,14.31276798248291
+14.0,52.0,0.0,57.0,22.0,14.368257522583008
+14.0,52.0,0.0,56.0,22.0,14.428590774536133
+14.0,52.0,0.0,55.0,22.0,14.493866920471191
+14.0,52.0,0.0,54.0,22.0,14.564191818237305
+14.0,52.0,0.0,53.0,22.0,14.639683723449707
+14.0,52.0,0.0,52.0,22.0,14.720471382141113
+14.0,52.0,0.0,51.0,23.0,14.80668830871582
+14.0,52.0,0.0,50.0,23.0,14.89848804473877
+14.0,52.0,0.0,49.0,22.0,14.9960298538208
+14.0,52.0,0.0,48.0,22.0,15.0994873046875
+14.0,52.0,0.0,47.0,22.0,15.209044456481934
+14.0,52.0,0.0,46.0,22.0,15.324907302856445
+14.0,52.0,0.0,45.0,22.0,15.447291374206543
+14.0,52.0,0.0,44.0,23.0,15.576428413391113
+14.0,52.0,0.0,43.0,23.0,15.712568283081055
+14.0,52.0,0.0,42.0,23.0,15.855981826782227
+14.0,52.0,0.0,41.0,23.0,16.006956100463867
+14.0,52.0,0.0,40.0,23.0,16.16580581665039
+14.0,52.0,0.0,39.0,24.0,16.332868576049805
+14.0,52.0,0.0,38.0,55.0,16.508499145507812
+14.0,52.0,0.0,37.0,55.0,16.693086624145508
+14.0,52.0,0.0,36.0,55.0,16.88705062866211
+14.0,52.0,0.0,35.0,54.0,17.090845108032227
+14.0,52.0,0.0,34.0,54.0,17.30495262145996
+14.0,52.0,0.0,33.0,54.0,17.5299015045166
+14.0,52.0,0.0,32.0,54.0,17.766254425048828
+14.0,52.0,0.0,31.0,54.0,18.014633178710938
+14.0,52.0,0.0,30.0,54.0,18.27570152282715
+14.0,52.0,0.0,29.0,55.0,18.550180435180664
+14.0,52.0,0.0,28.0,55.0,18.838857650756836
+14.0,52.0,0.0,27.0,56.0,19.1425838470459
+14.0,52.0,0.0,26.0,56.0,19.462289810180664
+14.0,52.0,0.0,25.0,56.0,19.79899024963379
+14.0,52.0,0.0,24.0,56.0,20.153789520263672
+14.0,52.0,0.0,23.0,56.0,20.527910232543945
+14.0,52.0,0.0,22.0,56.0,20.922670364379883
+14.0,52.0,0.0,21.0,56.0,21.33954429626465
+14.0,52.0,0.0,20.0,55.0,21.78013038635254
+14.0,52.0,0.0,19.0,54.0,22.246219635009766
+14.0,52.0,0.0,18.0,53.0,22.73976707458496
+14.0,52.0,0.0,17.0,53.0,23.262958526611328
+14.0,52.0,0.0,16.0,53.0,23.818222045898438
+14.0,52.0,0.0,15.0,53.0,24.408252716064453
+14.0,52.0,0.0,14.0,52.0,25.036083221435547
+14.0,52.0,0.0,13.0,52.0,25.70509910583496
+14.0,52.0,0.0,12.0,52.0,26.41912078857422
+14.0,52.0,0.0,11.0,52.0,27.182453155517578
+14.0,52.0,0.0,10.0,52.0,27.999998092651367
+14.0,52.0,0.0,9.0,52.0,28.877317428588867
+14.0,52.0,0.0,8.0,52.0,29.820758819580078
+14.0,52.0,0.0,7.0,52.0,30.8376522064209
+14.0,52.0,0.0,6.0,52.0,31.936405181884766
+14.0,52.0,0.0,5.0,52.0,33.1268196105957
+14.0,52.0,0.0,4.0,52.0,34.42030715942383
+14.0,52.0,0.0,3.0,52.0,35.830265045166016
+14.0,52.0,0.0,2.0,52.0,37.37253952026367
+14.0,52.0,0.0,1.0,52.0,39.06599044799805
+14.0,52.0,0.0,-0.0,52.0,40.933265686035156
+14.0,52.0,0.0,-1.0,52.0,43.001747131347656
+14.0,52.0,0.0,-2.0,52.0,45.30495071411133
+14.0,52.0,0.0,-3.0,52.0,47.88424301147461
+14.0,52.0,0.0,-4.0,52.0,50.791378021240234
+14.0,52.0,0.0,-5.0,52.0,52.0
+14.0,52.0,0.0,-6.0,52.0,52.0
+14.0,52.0,0.0,-7.0,52.0,52.0
+14.0,52.0,0.0,-8.0,52.0,52.0
+14.0,52.0,0.0,-9.0,52.0,52.0
+14.0,52.0,0.0,-10.0,52.0,52.0
+14.0,52.0,0.0,-11.0,52.0,52.0
+14.0,52.0,0.0,-12.0,52.0,52.0
+14.0,52.0,0.0,-13.0,52.0,52.0
+14.0,52.0,0.0,-14.0,52.0,52.0
+14.0,52.0,0.0,-15.0,52.0,52.0
+14.0,52.0,0.0,-16.0,52.0,52.0
+14.0,52.0,0.0,-17.0,52.0,52.0
+14.0,52.0,0.0,-18.0,52.0,52.0
+14.0,52.0,0.0,-19.0,52.0,52.0
+14.0,52.0,0.0,-20.0,52.0,52.0
+14.0,52.0,0.0,-21.0,52.0,52.0079231262207
+14.0,52.0,0.0,-22.0,52.0,52.03169631958008
+14.0,52.0,0.0,-23.0,52.0,52.07136154174805
+14.0,52.0,0.0,-24.0,52.0,52.12697982788086
+14.0,52.0,0.0,-25.0,52.0,52.198631286621094
+14.0,52.0,0.0,-26.0,52.0,52.28643035888672
+14.0,52.0,0.0,-27.0,53.0,52.39051055908203
+14.0,52.0,0.0,-28.0,52.0,52.51103210449219
+14.0,52.0,0.0,-29.0,53.0,52.64818572998047
+14.0,52.0,0.0,-30.0,53.0,52.80218505859375
+14.0,52.0,0.0,-31.0,53.0,52.973270416259766
+14.0,52.0,0.0,-32.0,53.0,53.16170883178711
+14.0,52.0,0.0,-33.0,53.0,53.36781311035156
+14.0,52.0,0.0,-34.0,53.0,53.59191131591797
+14.0,52.0,0.0,-35.0,53.0,53.8343620300293
+14.0,52.0,0.0,-36.0,53.0,54.0955696105957
+14.0,52.0,0.0,-37.0,54.0,54.375972747802734
+14.0,52.0,0.0,-38.0,54.0,54.67603302001953
+14.0,52.0,0.0,-39.0,54.0,54.99627685546875
+14.0,52.0,0.0,-40.0,54.0,55.337242126464844
+14.0,52.0,0.0,-41.0,55.0,55.69953918457031
+14.0,52.0,0.0,-42.0,55.0,56.083805084228516
+14.0,52.0,0.0,-43.0,55.0,56.49073791503906
+14.0,52.0,0.0,-44.0,55.0,56.92108917236328
+14.0,52.0,0.0,-45.0,55.0,57.37565231323242
+14.0,52.0,0.0,-46.0,56.0,57.85530471801758
+14.0,52.0,0.0,-47.0,56.0,58.360965728759766
+14.0,52.0,0.0,-48.0,56.0,58.893646240234375
+14.0,52.0,0.0,-49.0,56.0,59.45440673828125
+14.0,52.0,0.0,-50.0,57.0,60.04442596435547
+14.0,52.0,0.0,-51.0,58.0,60.66493606567383
+14.0,52.0,0.0,-52.0,58.0,61.31727981567383
+14.0,52.0,0.0,-53.0,140.0,62.002891540527344
+14.0,52.0,0.0,-54.0,140.0,62.723331451416016
+14.0,52.0,0.0,-55.0,140.0,63.48027801513672
+14.0,52.0,0.0,-56.0,140.0,64.2755355834961
+14.0,52.0,0.0,-57.0,140.0,65.11105346679688
+14.0,52.0,0.0,-58.0,139.0,65.98894500732422
+14.0,52.0,0.0,-59.0,139.0,66.9114990234375
+14.0,52.0,0.0,-60.0,139.0,67.88117980957031
+14.0,52.0,0.0,-61.0,139.0,68.90067291259766
+14.0,52.0,0.0,-62.0,139.0,69.972900390625
+14.0,52.0,0.0,-63.0,139.0,71.10102081298828
+14.0,52.0,0.0,-64.0,139.0,72.28851318359375
+14.0,52.0,0.0,-65.0,139.0,73.53910827636719
+14.0,52.0,0.0,-66.0,139.0,74.85693359375
+14.0,52.0,0.0,-67.0,139.0,76.24652099609375
+14.0,52.0,0.0,-68.0,139.0,77.71277618408203
+14.0,52.0,0.0,-69.0,139.0,79.26116180419922
+14.0,52.0,0.0,-70.0,139.0,80.89762878417969
+14.0,52.0,0.0,-71.0,139.0,82.62881469726562
+14.0,52.0,0.0,-72.0,139.0,84.46199798583984
+14.0,52.0,0.0,-73.0,139.0,86.40528106689453
+14.0,52.0,0.0,-74.0,139.0,88.46768188476562
+14.0,52.0,0.0,-75.0,139.0,90.65922546386719
+14.0,52.0,0.0,-76.0,139.0,92.99116516113281
+14.0,52.0,0.0,-77.0,139.0,95.47608184814453
+14.0,52.0,0.0,-78.0,139.0,98.12815856933594
+14.0,52.0,0.0,-79.0,139.0,100.96340942382812
+14.0,52.0,0.0,-80.0,139.0,103.99999237060547
+14.0,52.0,0.0,-81.0,139.0,107.25860595703125
+14.0,52.0,0.0,-82.0,139.0,110.7628173828125
+14.0,52.0,0.0,-83.0,139.0,114.53984069824219
+14.0,52.0,0.0,-84.0,139.0,117.67284393310547
+14.0,52.0,0.0,-85.0,139.0,117.53164672851562
+14.0,52.0,0.0,-86.0,139.0,117.42652130126953
+14.0,52.0,0.0,-87.0,139.0,117.3572998046875
+14.0,52.0,0.0,-88.0,139.0,117.32388305664062
+14.0,52.0,0.0,-89.0,139.0,117.32388305664062
+14.0,52.0,0.0,-90.0,139.0,117.32388305664062

SonarModel/medidas/(14,91,0).txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+14.0,91.0,0.0,90.0,93.0,14.0
+14.0,91.0,0.0,89.0,14.0,14.0
+14.0,91.0,0.0,88.0,14.0,14.0
+14.0,91.0,0.0,87.0,14.0,14.0
+14.0,91.0,0.0,86.0,14.0,14.0
+14.0,91.0,0.0,85.0,14.0,14.0
+14.0,91.0,0.0,84.0,14.0,14.0
+14.0,91.0,0.0,83.0,14.0,14.0
+14.0,91.0,0.0,82.0,14.0,14.0
+14.0,91.0,0.0,81.0,14.0,14.0
+14.0,91.0,0.0,80.0,14.0,14.0
+14.0,91.0,0.0,79.0,14.0,14.0
+14.0,91.0,0.0,78.0,14.0,14.0
+14.0,91.0,0.0,77.0,14.0,14.0
+14.0,91.0,0.0,76.0,14.0,14.0
+14.0,91.0,0.0,75.0,14.0,14.0
+14.0,91.0,0.0,74.0,14.0,14.0
+14.0,91.0,0.0,73.0,14.0,14.0
+14.0,91.0,0.0,72.0,15.0,14.0
+14.0,91.0,0.0,71.0,15.0,14.0
+14.0,91.0,0.0,70.0,15.0,14.0
+14.0,91.0,0.0,69.0,16.0,14.002132415771484
+14.0,91.0,0.0,68.0,16.0,14.008533477783203
+14.0,91.0,0.0,67.0,16.0,14.01921272277832
+14.0,91.0,0.0,66.0,16.0,14.034186363220215
+14.0,91.0,0.0,65.0,17.0,14.053478240966797
+14.0,91.0,0.0,64.0,22.0,14.077116012573242
+14.0,91.0,0.0,63.0,22.0,14.10513687133789
+14.0,91.0,0.0,62.0,22.0,14.137585639953613
+14.0,91.0,0.0,61.0,22.0,14.174511909484863
+14.0,91.0,0.0,60.0,22.0,14.215971946716309
+14.0,91.0,0.0,59.0,22.0,14.262033462524414
+14.0,91.0,0.0,58.0,22.0,14.31276798248291
+14.0,91.0,0.0,57.0,22.0,14.368257522583008
+14.0,91.0,0.0,56.0,22.0,14.428590774536133
+14.0,91.0,0.0,55.0,22.0,14.493866920471191
+14.0,91.0,0.0,54.0,22.0,14.564191818237305
+14.0,91.0,0.0,53.0,22.0,14.639683723449707
+14.0,91.0,0.0,52.0,22.0,14.720473289489746
+14.0,91.0,0.0,51.0,22.0,14.806690216064453
+14.0,91.0,0.0,50.0,23.0,14.89848804473877
+14.0,91.0,0.0,49.0,23.0,14.996030807495117
+14.0,91.0,0.0,48.0,23.0,15.099485397338867
+14.0,91.0,0.0,47.0,23.0,15.209046363830566
+14.0,91.0,0.0,46.0,23.0,15.324907302856445
+14.0,91.0,0.0,45.0,23.0,15.447290420532227
+14.0,91.0,0.0,44.0,23.0,15.57642650604248
+14.0,91.0,0.0,43.0,23.0,15.712566375732422
+14.0,91.0,0.0,42.0,23.0,15.855979919433594
+14.0,91.0,0.0,41.0,24.0,16.0069580078125
+14.0,91.0,0.0,40.0,96.0,16.16580581665039
+14.0,91.0,0.0,39.0,96.0,16.332868576049805
+14.0,91.0,0.0,38.0,95.0,16.508501052856445
+14.0,91.0,0.0,37.0,94.0,16.693090438842773
+14.0,91.0,0.0,36.0,94.0,16.887048721313477
+14.0,91.0,0.0,35.0,94.0,17.090843200683594
+14.0,91.0,0.0,34.0,94.0,17.304950714111328
+14.0,91.0,0.0,33.0,93.0,17.5299015045166
+14.0,91.0,0.0,32.0,93.0,17.766254425048828
+14.0,91.0,0.0,31.0,93.0,18.014633178710938
+14.0,91.0,0.0,30.0,93.0,18.275705337524414
+14.0,91.0,0.0,29.0,92.0,18.550180435180664
+14.0,91.0,0.0,28.0,92.0,18.83885955810547
+14.0,91.0,0.0,27.0,92.0,19.14258575439453
+14.0,91.0,0.0,26.0,92.0,19.462291717529297
+14.0,91.0,0.0,25.0,92.0,19.79899024963379
+14.0,91.0,0.0,24.0,92.0,20.153789520263672
+14.0,91.0,0.0,23.0,92.0,20.527908325195312
+14.0,91.0,0.0,22.0,92.0,20.922666549682617
+14.0,91.0,0.0,21.0,92.0,21.339542388916016
+14.0,91.0,0.0,20.0,91.0,21.78013801574707
+14.0,91.0,0.0,19.0,91.0,22.246219635009766
+14.0,91.0,0.0,18.0,91.0,22.73976707458496
+14.0,91.0,0.0,17.0,91.0,23.262956619262695
+14.0,91.0,0.0,16.0,91.0,23.818222045898438
+14.0,91.0,0.0,15.0,91.0,24.408254623413086
+14.0,91.0,0.0,14.0,91.0,25.036083221435547
+14.0,91.0,0.0,13.0,91.0,25.705101013183594
+14.0,91.0,0.0,12.0,91.0,26.41912078857422
+14.0,91.0,0.0,11.0,91.0,27.18245506286621
+14.0,91.0,0.0,10.0,91.0,27.999998092651367
+14.0,91.0,0.0,9.0,91.0,28.8773136138916
+14.0,91.0,0.0,8.0,91.0,29.820762634277344
+14.0,91.0,0.0,7.0,91.0,30.837650299072266
+14.0,91.0,0.0,6.0,91.0,31.93640899658203
+14.0,91.0,0.0,5.0,91.0,33.1268196105957
+14.0,91.0,0.0,4.0,91.0,34.420310974121094
+14.0,91.0,0.0,3.0,91.0,35.83026885986328
+14.0,91.0,0.0,2.0,91.0,37.37254333496094
+14.0,91.0,0.0,1.0,91.0,39.06599044799805
+14.0,91.0,0.0,-0.0,92.0,40.93326950073242
+14.0,91.0,0.0,-1.0,92.0,43.001747131347656
+14.0,91.0,0.0,-2.0,92.0,45.30495071411133
+14.0,91.0,0.0,-3.0,93.0,47.88425064086914
+14.0,91.0,0.0,-4.0,92.0,50.791378021240234
+14.0,91.0,0.0,-5.0,92.0,54.09184646606445
+14.0,91.0,0.0,-6.0,92.0,57.86990737915039
+14.0,91.0,0.0,-7.0,92.0,62.235755920410156
+14.0,91.0,0.0,-8.0,92.0,67.3362808227539
+14.0,91.0,0.0,-9.0,92.0,73.3718032836914
+14.0,91.0,0.0,-10.0,91.0,80.62278747558594
+14.0,91.0,0.0,-11.0,91.0,89.49434661865234
+14.0,91.0,0.0,-12.0,91.0,91.0
+14.0,91.0,0.0,-13.0,91.0,91.0
+14.0,91.0,0.0,-14.0,91.0,91.0
+14.0,91.0,0.0,-15.0,91.0,91.0
+14.0,91.0,0.0,-16.0,91.0,91.0
+14.0,91.0,0.0,-17.0,91.0,91.0
+14.0,91.0,0.0,-18.0,91.0,91.0
+14.0,91.0,0.0,-19.0,91.0,91.0
+14.0,91.0,0.0,-20.0,91.0,91.0
+14.0,91.0,0.0,-21.0,91.0,91.01386260986328
+14.0,91.0,0.0,-22.0,92.0,91.05547332763672
+14.0,91.0,0.0,-23.0,92.0,91.12488555908203
+14.0,91.0,0.0,-24.0,92.0,91.22221374511719
+14.0,91.0,0.0,-25.0,92.0,91.34760284423828
+14.0,91.0,0.0,-26.0,92.0,91.50125122070312
+14.0,91.0,0.0,-27.0,92.0,91.68339538574219
+14.0,91.0,0.0,-28.0,92.0,91.8943099975586
+14.0,91.0,0.0,-29.0,92.0,92.13433074951172
+14.0,91.0,0.0,-30.0,92.0,92.40381622314453
+14.0,91.0,0.0,-31.0,92.0,92.70321655273438
+14.0,91.0,0.0,-32.0,92.0,93.03298950195312
+14.0,91.0,0.0,-33.0,92.0,93.3936767578125
+14.0,91.0,0.0,-34.0,93.0,93.78584289550781
+14.0,91.0,0.0,-35.0,93.0,94.21012878417969
+14.0,91.0,0.0,-36.0,93.0,94.66724395751953
+14.0,91.0,0.0,-37.0,93.0,95.15795135498047
+14.0,91.0,0.0,-38.0,93.0,95.68306732177734
+14.0,91.0,0.0,-39.0,94.0,96.24348449707031
+14.0,91.0,0.0,-40.0,94.0,96.84017181396484
+14.0,91.0,0.0,-41.0,94.0,97.47419738769531
+14.0,91.0,0.0,-42.0,95.0,98.14665985107422
+14.0,91.0,0.0,-43.0,96.0,98.8587875366211
+14.0,91.0,0.0,-44.0,159.0,99.61190032958984
+14.0,91.0,0.0,-45.0,159.0,100.40739440917969
+14.0,91.0,0.0,-46.0,159.0,101.24678039550781
+14.0,91.0,0.0,-47.0,158.0,102.13168334960938
+14.0,91.0,0.0,-48.0,158.0,103.06388092041016
+14.0,91.0,0.0,-49.0,158.0,104.04521942138672
+14.0,91.0,0.0,-50.0,158.0,105.07775115966797
+14.0,91.0,0.0,-51.0,158.0,106.16363525390625
+14.0,91.0,0.0,-52.0,158.0,107.30523681640625
+14.0,91.0,0.0,-53.0,158.0,108.50505828857422
+14.0,91.0,0.0,-54.0,158.0,109.76583099365234
+14.0,91.0,0.0,-55.0,158.0,111.09049224853516
+14.0,91.0,0.0,-56.0,158.0,112.48218536376953
+14.0,91.0,0.0,-57.0,158.0,113.94435119628906
+14.0,91.0,0.0,-58.0,158.0,115.48065185546875
+14.0,91.0,0.0,-59.0,158.0,117.09512329101562
+14.0,91.0,0.0,-60.0,158.0,118.79206848144531
+14.0,91.0,0.0,-61.0,158.0,118.29130554199219
+14.0,91.0,0.0,-62.0,158.0,117.24690246582031
+14.0,91.0,0.0,-63.0,158.0,116.25588989257812
+14.0,91.0,0.0,-64.0,158.0,115.31632995605469
+14.0,91.0,0.0,-65.0,158.0,114.42639923095703
+14.0,91.0,0.0,-66.0,158.0,113.58443450927734
+14.0,91.0,0.0,-67.0,158.0,112.78887176513672
+14.0,91.0,0.0,-68.0,158.0,112.03827667236328
+14.0,91.0,0.0,-69.0,158.0,111.33128356933594
+14.0,91.0,0.0,-70.0,158.0,110.66666412353516
+14.0,91.0,0.0,-71.0,158.0,110.04325103759766
+14.0,91.0,0.0,-72.0,158.0,109.45996856689453
+14.0,91.0,0.0,-73.0,158.0,108.91585540771484
+14.0,91.0,0.0,-74.0,158.0,108.40998077392578
+14.0,91.0,0.0,-75.0,158.0,107.9415054321289
+14.0,91.0,0.0,-76.0,158.0,107.50967407226562
+14.0,91.0,0.0,-77.0,158.0,107.11378479003906
+14.0,91.0,0.0,-78.0,158.0,106.75318908691406
+14.0,91.0,0.0,-79.0,158.0,106.42733001708984
+14.0,91.0,0.0,-80.0,107.0,106.13568115234375
+14.0,91.0,0.0,-81.0,107.0,105.87779998779297
+14.0,91.0,0.0,-82.0,107.0,105.65325927734375
+14.0,91.0,0.0,-83.0,106.0,105.46173858642578
+14.0,91.0,0.0,-84.0,106.0,105.30291748046875
+14.0,91.0,0.0,-85.0,106.0,105.17656707763672
+14.0,91.0,0.0,-86.0,105.0,105.08250427246094
+14.0,91.0,0.0,-87.0,105.0,105.02054595947266
+14.0,91.0,0.0,-88.0,105.0,104.99064636230469
+14.0,91.0,0.0,-89.0,105.0,104.99064636230469
+14.0,91.0,0.0,-90.0,104.0,104.99064636230469

SonarModel/medidas2/332598.txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+60.0,60.0,0.0,90.0,60.0,60.0
+60.0,60.0,0.0,89.0,60.0,60.00914001464844
+60.0,60.0,0.0,88.0,60.0,60.03657150268555
+60.0,60.0,0.0,87.0,60.0,60.082340240478516
+60.0,60.0,0.0,86.0,60.0,60.146514892578125
+60.0,60.0,0.0,85.0,60.0,60.229190826416016
+60.0,60.0,0.0,84.0,60.0,60.33049774169922
+60.0,60.0,0.0,83.0,60.0,60.45058822631836
+60.0,60.0,0.0,82.0,60.0,60.58965301513672
+60.0,60.0,0.0,81.0,60.0,60.74790573120117
+60.0,60.0,0.0,80.0,60.0,60.925594329833984
+60.0,60.0,0.0,79.0,61.0,61.12300109863281
+60.0,60.0,0.0,78.0,61.0,61.34043502807617
+60.0,60.0,0.0,77.0,61.0,61.5782470703125
+60.0,60.0,0.0,76.0,61.0,61.83681869506836
+60.0,60.0,0.0,75.0,62.0,62.116573333740234
+60.0,60.0,0.0,74.0,62.0,62.417964935302734
+60.0,60.0,0.0,73.0,62.0,62.74150466918945
+60.0,60.0,0.0,72.0,63.0,63.08773422241211
+60.0,60.0,0.0,71.0,63.0,63.45724105834961
+60.0,60.0,0.0,70.0,63.0,63.85066604614258
+60.0,60.0,0.0,69.0,64.0,64.2686996459961
+60.0,60.0,0.0,68.0,64.0,64.71208190917969
+60.0,60.0,0.0,67.0,65.0,65.18162536621094
+60.0,60.0,0.0,66.0,65.0,65.67817687988281
+60.0,60.0,0.0,65.0,66.0,66.20267486572266
+60.0,60.0,0.0,64.0,66.0,66.75611877441406
+60.0,60.0,0.0,63.0,67.0,67.3395767211914
+60.0,60.0,0.0,62.0,67.0,67.95420837402344
+60.0,60.0,0.0,61.0,68.0,68.60124206542969
+60.0,60.0,0.0,60.0,69.0,69.28203582763672
+60.0,60.0,0.0,59.0,69.0,69.99800872802734
+60.0,60.0,0.0,58.0,70.0,70.75070190429688
+60.0,60.0,0.0,57.0,71.0,71.54180145263672
+60.0,60.0,0.0,56.0,72.0,72.37307739257812
+60.0,60.0,0.0,55.0,73.0,73.24647521972656
+60.0,60.0,0.0,54.0,74.0,74.16407775878906
+60.0,60.0,0.0,53.0,75.0,75.12814331054688
+60.0,60.0,0.0,52.0,76.0,76.1410903930664
+60.0,60.0,0.0,51.0,77.0,77.20557403564453
+60.0,60.0,0.0,50.0,78.0,78.3244400024414
+60.0,60.0,0.0,49.0,79.0,79.50077819824219
+60.0,60.0,0.0,48.0,80.0,80.73796844482422
+60.0,60.0,0.0,47.0,82.0,82.0396499633789
+60.0,60.0,0.0,46.0,83.0,83.40982055664062
+60.0,60.0,0.0,45.0,84.0,84.85281372070312
+60.0,60.0,0.0,44.0,83.0,83.40982055664062
+60.0,60.0,0.0,43.0,82.0,82.0396499633789
+60.0,60.0,0.0,42.0,80.0,80.73796844482422
+60.0,60.0,0.0,41.0,79.0,79.50077819824219
+60.0,60.0,0.0,40.0,78.0,78.3244400024414
+60.0,60.0,0.0,39.0,77.0,77.20557403564453
+60.0,60.0,0.0,38.0,76.0,76.1410903930664
+60.0,60.0,0.0,37.0,75.0,75.12814331054688
+60.0,60.0,0.0,36.0,74.0,74.16407775878906
+60.0,60.0,0.0,35.0,73.0,73.24647521972656
+60.0,60.0,0.0,34.0,72.0,72.37307739257812
+60.0,60.0,0.0,33.0,71.0,71.54180145263672
+60.0,60.0,0.0,32.0,70.0,70.75070190429688
+60.0,60.0,0.0,31.0,69.0,69.99800872802734
+60.0,60.0,0.0,30.0,69.0,69.28203582763672
+60.0,60.0,0.0,29.0,68.0,68.60124206542969
+60.0,60.0,0.0,28.0,67.0,67.95420837402344
+60.0,60.0,0.0,27.0,67.0,67.3395767211914
+60.0,60.0,0.0,26.0,66.0,66.75611877441406
+60.0,60.0,0.0,25.0,66.0,66.20267486572266
+60.0,60.0,0.0,24.0,65.0,65.67817687988281
+60.0,60.0,0.0,23.0,65.0,65.18162536621094
+60.0,60.0,0.0,22.0,64.0,64.71208190917969
+60.0,60.0,0.0,21.0,64.0,64.2686996459961
+60.0,60.0,0.0,20.0,63.0,63.85066604614258
+60.0,60.0,0.0,19.0,63.0,63.45724105834961
+60.0,60.0,0.0,18.0,63.0,63.08773422241211
+60.0,60.0,0.0,17.0,62.0,62.74150466918945
+60.0,60.0,0.0,16.0,62.0,62.417964935302734
+60.0,60.0,0.0,15.0,62.0,62.116573333740234
+60.0,60.0,0.0,14.0,61.0,61.83681869506836
+60.0,60.0,0.0,13.0,61.0,61.5782470703125
+60.0,60.0,0.0,12.0,61.0,61.34043502807617
+60.0,60.0,0.0,11.0,61.0,61.12300109863281
+60.0,60.0,0.0,10.0,60.0,60.925594329833984
+60.0,60.0,0.0,9.0,60.0,60.74790573120117
+60.0,60.0,0.0,8.0,60.0,60.58965301513672
+60.0,60.0,0.0,7.0,60.0,60.45058822631836
+60.0,60.0,0.0,6.0,60.0,60.33049774169922
+60.0,60.0,0.0,5.0,60.0,60.229190826416016
+60.0,60.0,0.0,4.0,60.0,60.146514892578125
+60.0,60.0,0.0,3.0,60.0,60.082340240478516
+60.0,60.0,0.0,2.0,60.0,60.03657150268555
+60.0,60.0,0.0,1.0,60.0,60.00914001464844
+60.0,60.0,0.0,-0.0,60.0,60.0
+60.0,60.0,0.0,-1.0,60.0,60.00914001464844
+60.0,60.0,0.0,-2.0,60.0,60.03657150268555
+60.0,60.0,0.0,-3.0,60.0,60.082340240478516
+60.0,60.0,0.0,-4.0,60.0,60.146514892578125
+60.0,60.0,0.0,-5.0,60.0,60.229190826416016
+60.0,60.0,0.0,-6.0,60.0,60.33049774169922
+60.0,60.0,0.0,-7.0,60.0,60.45058822631836
+60.0,60.0,0.0,-8.0,60.0,60.58965301513672
+60.0,60.0,0.0,-9.0,60.0,60.74790954589844
+60.0,60.0,0.0,-10.0,60.0,60.92559814453125
+60.0,60.0,0.0,-11.0,61.0,61.12300109863281
+60.0,60.0,0.0,-12.0,61.0,61.34043502807617
+60.0,60.0,0.0,-13.0,61.0,61.5782470703125
+60.0,60.0,0.0,-14.0,61.0,61.83681869506836
+60.0,60.0,0.0,-15.0,62.0,62.11656951904297
+60.0,60.0,0.0,-16.0,62.0,62.417964935302734
+60.0,60.0,0.0,-17.0,62.0,62.74150466918945
+60.0,60.0,0.0,-18.0,63.0,63.08773422241211
+60.0,60.0,0.0,-19.0,63.0,63.45724105834961
+60.0,60.0,0.0,-20.0,63.0,63.85066604614258
+60.0,60.0,0.0,-21.0,64.0,64.2686996459961
+60.0,60.0,0.0,-22.0,64.0,64.71208953857422
+60.0,60.0,0.0,-23.0,65.0,65.1816177368164
+60.0,60.0,0.0,-24.0,65.0,65.67817687988281
+60.0,60.0,0.0,-25.0,66.0,66.20267486572266
+60.0,60.0,0.0,-26.0,66.0,66.75611877441406
+60.0,60.0,0.0,-27.0,67.0,67.3395767211914
+60.0,60.0,0.0,-28.0,67.0,67.9542007446289
+60.0,60.0,0.0,-29.0,68.0,68.60124206542969
+60.0,60.0,0.0,-30.0,69.0,69.28203582763672
+60.0,60.0,0.0,-31.0,69.0,69.99800872802734
+60.0,60.0,0.0,-32.0,70.0,70.75070190429688
+60.0,60.0,0.0,-33.0,71.0,71.54179382324219
+60.0,60.0,0.0,-34.0,72.0,72.37307739257812
+60.0,60.0,0.0,-35.0,73.0,73.24646759033203
+60.0,60.0,0.0,-36.0,74.0,74.16407775878906
+60.0,60.0,0.0,-37.0,75.0,75.12813568115234
+60.0,60.0,0.0,-38.0,76.0,76.14109802246094
+60.0,60.0,0.0,-39.0,77.0,77.20557403564453
+60.0,60.0,0.0,-40.0,78.0,78.3244400024414
+60.0,60.0,0.0,-41.0,79.0,79.50077819824219
+60.0,60.0,0.0,-42.0,80.0,80.73796081542969
+60.0,60.0,0.0,-43.0,82.0,82.0396499633789
+60.0,60.0,0.0,-44.0,83.0,83.40982055664062
+60.0,60.0,0.0,-45.0,84.0,84.85281372070312
+60.0,60.0,0.0,-46.0,86.0,86.3733901977539
+60.0,60.0,0.0,-47.0,87.0,87.97675323486328
+60.0,60.0,0.0,-48.0,89.0,89.66859436035156
+60.0,60.0,0.0,-49.0,91.0,91.45519256591797
+60.0,60.0,0.0,-50.0,93.0,93.34342193603516
+60.0,60.0,0.0,-51.0,95.0,95.34093475341797
+60.0,60.0,0.0,-52.0,97.0,97.45614624023438
+60.0,60.0,0.0,-53.0,99.0,99.69840240478516
+60.0,60.0,0.0,-54.0,102.0,102.07809448242188
+60.0,60.0,0.0,-55.0,104.0,104.60681915283203
+60.0,60.0,0.0,-56.0,107.0,107.29750061035156
+60.0,60.0,0.0,-57.0,110.0,110.16471862792969
+60.0,60.0,0.0,-58.0,111.0,111.70548248291016
+60.0,60.0,0.0,-59.0,109.0,109.41111755371094
+60.0,60.0,0.0,-60.0,107.0,107.24109649658203
+60.0,60.0,0.0,-61.0,105.0,105.18690490722656
+60.0,60.0,0.0,-62.0,103.0,103.24078369140625
+60.0,60.0,0.0,-63.0,101.0,101.39568328857422
+60.0,60.0,0.0,-64.0,99.0,99.64521789550781
+60.0,60.0,0.0,-65.0,97.0,97.9834976196289
+60.0,60.0,0.0,-66.0,96.0,96.4051742553711
+60.0,60.0,0.0,-67.0,94.0,94.90534210205078
+60.0,60.0,0.0,-68.0,93.0,93.47949981689453
+60.0,60.0,0.0,-69.0,92.0,92.12350463867188
+60.0,60.0,0.0,-70.0,90.0,90.83357238769531
+60.0,60.0,0.0,-71.0,89.0,89.6061782836914
+60.0,60.0,0.0,-72.0,88.0,88.4380874633789
+60.0,60.0,0.0,-73.0,87.0,87.32633209228516
+60.0,60.0,0.0,-74.0,86.0,86.26811981201172
+60.0,60.0,0.0,-75.0,85.0,85.26091003417969
+60.0,60.0,0.0,-76.0,84.0,84.30233001708984
+60.0,60.0,0.0,-77.0,83.0,83.39018249511719
+60.0,60.0,0.0,-78.0,82.0,82.52244567871094
+60.0,60.0,0.0,-79.0,81.0,81.69718933105469
+60.0,60.0,0.0,-80.0,80.0,80.91268920898438
+60.0,60.0,0.0,-81.0,80.0,80.16730499267578
+60.0,60.0,0.0,-82.0,79.0,79.4594955444336
+60.0,60.0,0.0,-83.0,78.0,78.78787994384766
+60.0,60.0,0.0,-84.0,78.0,78.15113067626953
+60.0,60.0,0.0,-85.0,77.0,77.54800415039062
+60.0,60.0,0.0,-86.0,76.0,76.97740173339844
+60.0,60.0,0.0,-87.0,76.0,76.4382553100586
+60.0,60.0,0.0,-88.0,75.0,75.92955780029297
+60.0,60.0,0.0,-89.0,75.0,75.45042419433594
+60.0,60.0,0.0,-90.0,75.0,75.0

SonarModel/medidasSegunda/332598.txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+60.0,60.0,0.0,90.0,60.0,60.0
+60.0,60.0,0.0,89.0,60.0,60.00914001464844
+60.0,60.0,0.0,88.0,60.0,60.03657150268555
+60.0,60.0,0.0,87.0,60.0,60.082340240478516
+60.0,60.0,0.0,86.0,60.0,60.146514892578125
+60.0,60.0,0.0,85.0,60.0,60.229190826416016
+60.0,60.0,0.0,84.0,60.0,60.33049774169922
+60.0,60.0,0.0,83.0,60.0,60.45058822631836
+60.0,60.0,0.0,82.0,60.0,60.58965301513672
+60.0,60.0,0.0,81.0,60.0,60.74790573120117
+60.0,60.0,0.0,80.0,60.0,60.925594329833984
+60.0,60.0,0.0,79.0,61.0,61.12300109863281
+60.0,60.0,0.0,78.0,61.0,61.34043502807617
+60.0,60.0,0.0,77.0,61.0,61.5782470703125
+60.0,60.0,0.0,76.0,61.0,61.83681869506836
+60.0,60.0,0.0,75.0,62.0,62.116573333740234
+60.0,60.0,0.0,74.0,62.0,62.417964935302734
+60.0,60.0,0.0,73.0,62.0,62.74150466918945
+60.0,60.0,0.0,72.0,63.0,63.08773422241211
+60.0,60.0,0.0,71.0,63.0,63.45724105834961
+60.0,60.0,0.0,70.0,63.0,63.85066604614258
+60.0,60.0,0.0,69.0,64.0,64.2686996459961
+60.0,60.0,0.0,68.0,64.0,64.71208190917969
+60.0,60.0,0.0,67.0,65.0,65.18162536621094
+60.0,60.0,0.0,66.0,65.0,65.67817687988281
+60.0,60.0,0.0,65.0,66.0,66.20267486572266
+60.0,60.0,0.0,64.0,66.0,66.75611877441406
+60.0,60.0,0.0,63.0,67.0,67.3395767211914
+60.0,60.0,0.0,62.0,67.0,67.95420837402344
+60.0,60.0,0.0,61.0,68.0,68.60124206542969
+60.0,60.0,0.0,60.0,69.0,69.28203582763672
+60.0,60.0,0.0,59.0,69.0,69.99800872802734
+60.0,60.0,0.0,58.0,70.0,70.75070190429688
+60.0,60.0,0.0,57.0,71.0,71.54180145263672
+60.0,60.0,0.0,56.0,72.0,72.37307739257812
+60.0,60.0,0.0,55.0,73.0,73.24647521972656
+60.0,60.0,0.0,54.0,74.0,74.16407775878906
+60.0,60.0,0.0,53.0,75.0,75.12814331054688
+60.0,60.0,0.0,52.0,76.0,76.1410903930664
+60.0,60.0,0.0,51.0,77.0,77.20557403564453
+60.0,60.0,0.0,50.0,78.0,78.3244400024414
+60.0,60.0,0.0,49.0,79.0,79.50077819824219
+60.0,60.0,0.0,48.0,80.0,80.73796844482422
+60.0,60.0,0.0,47.0,82.0,82.0396499633789
+60.0,60.0,0.0,46.0,83.0,83.40982055664062
+60.0,60.0,0.0,45.0,84.0,84.85281372070312
+60.0,60.0,0.0,44.0,83.0,83.40982055664062
+60.0,60.0,0.0,43.0,82.0,82.0396499633789
+60.0,60.0,0.0,42.0,80.0,80.73796844482422
+60.0,60.0,0.0,41.0,79.0,79.50077819824219
+60.0,60.0,0.0,40.0,78.0,78.3244400024414
+60.0,60.0,0.0,39.0,77.0,77.20557403564453
+60.0,60.0,0.0,38.0,76.0,76.1410903930664
+60.0,60.0,0.0,37.0,75.0,75.12814331054688
+60.0,60.0,0.0,36.0,74.0,74.16407775878906
+60.0,60.0,0.0,35.0,73.0,73.24647521972656
+60.0,60.0,0.0,34.0,72.0,72.37307739257812
+60.0,60.0,0.0,33.0,71.0,71.54180145263672
+60.0,60.0,0.0,32.0,70.0,70.75070190429688
+60.0,60.0,0.0,31.0,69.0,69.99800872802734
+60.0,60.0,0.0,30.0,69.0,69.28203582763672
+60.0,60.0,0.0,29.0,68.0,68.60124206542969
+60.0,60.0,0.0,28.0,67.0,67.95420837402344
+60.0,60.0,0.0,27.0,67.0,67.3395767211914
+60.0,60.0,0.0,26.0,66.0,66.75611877441406
+60.0,60.0,0.0,25.0,66.0,66.20267486572266
+60.0,60.0,0.0,24.0,65.0,65.67817687988281
+60.0,60.0,0.0,23.0,65.0,65.18162536621094
+60.0,60.0,0.0,22.0,64.0,64.71208190917969
+60.0,60.0,0.0,21.0,64.0,64.2686996459961
+60.0,60.0,0.0,20.0,63.0,63.85066604614258
+60.0,60.0,0.0,19.0,63.0,63.45724105834961
+60.0,60.0,0.0,18.0,63.0,63.08773422241211
+60.0,60.0,0.0,17.0,62.0,62.74150466918945
+60.0,60.0,0.0,16.0,62.0,62.417964935302734
+60.0,60.0,0.0,15.0,62.0,62.116573333740234
+60.0,60.0,0.0,14.0,61.0,61.83681869506836
+60.0,60.0,0.0,13.0,61.0,61.5782470703125
+60.0,60.0,0.0,12.0,61.0,61.34043502807617
+60.0,60.0,0.0,11.0,61.0,61.12300109863281
+60.0,60.0,0.0,10.0,60.0,60.925594329833984
+60.0,60.0,0.0,9.0,60.0,60.74790573120117
+60.0,60.0,0.0,8.0,60.0,60.58965301513672
+60.0,60.0,0.0,7.0,60.0,60.45058822631836
+60.0,60.0,0.0,6.0,60.0,60.33049774169922
+60.0,60.0,0.0,5.0,60.0,60.229190826416016
+60.0,60.0,0.0,4.0,60.0,60.146514892578125
+60.0,60.0,0.0,3.0,60.0,60.082340240478516
+60.0,60.0,0.0,2.0,60.0,60.03657150268555
+60.0,60.0,0.0,1.0,60.0,60.00914001464844
+60.0,60.0,0.0,-0.0,60.0,60.0
+60.0,60.0,0.0,-1.0,60.0,60.00914001464844
+60.0,60.0,0.0,-2.0,60.0,60.03657150268555
+60.0,60.0,0.0,-3.0,60.0,60.082340240478516
+60.0,60.0,0.0,-4.0,60.0,60.146514892578125
+60.0,60.0,0.0,-5.0,60.0,60.229190826416016
+60.0,60.0,0.0,-6.0,60.0,60.33049774169922
+60.0,60.0,0.0,-7.0,60.0,60.45058822631836
+60.0,60.0,0.0,-8.0,60.0,60.58965301513672
+60.0,60.0,0.0,-9.0,60.0,60.74790954589844
+60.0,60.0,0.0,-10.0,60.0,60.92559814453125
+60.0,60.0,0.0,-11.0,61.0,61.12300109863281
+60.0,60.0,0.0,-12.0,61.0,61.34043502807617
+60.0,60.0,0.0,-13.0,61.0,61.5782470703125
+60.0,60.0,0.0,-14.0,61.0,61.83681869506836
+60.0,60.0,0.0,-15.0,62.0,62.11656951904297
+60.0,60.0,0.0,-16.0,62.0,62.417964935302734
+60.0,60.0,0.0,-17.0,62.0,62.74150466918945
+60.0,60.0,0.0,-18.0,63.0,63.08773422241211
+60.0,60.0,0.0,-19.0,63.0,63.45724105834961
+60.0,60.0,0.0,-20.0,63.0,63.85066604614258
+60.0,60.0,0.0,-21.0,64.0,64.2686996459961
+60.0,60.0,0.0,-22.0,64.0,64.71208953857422
+60.0,60.0,0.0,-23.0,65.0,65.1816177368164
+60.0,60.0,0.0,-24.0,65.0,65.67817687988281
+60.0,60.0,0.0,-25.0,66.0,66.20267486572266
+60.0,60.0,0.0,-26.0,66.0,66.75611877441406
+60.0,60.0,0.0,-27.0,67.0,67.3395767211914
+60.0,60.0,0.0,-28.0,67.0,67.9542007446289
+60.0,60.0,0.0,-29.0,68.0,68.60124206542969
+60.0,60.0,0.0,-30.0,69.0,69.28203582763672
+60.0,60.0,0.0,-31.0,69.0,69.99800872802734
+60.0,60.0,0.0,-32.0,70.0,70.75070190429688
+60.0,60.0,0.0,-33.0,71.0,71.54179382324219
+60.0,60.0,0.0,-34.0,72.0,72.37307739257812
+60.0,60.0,0.0,-35.0,73.0,73.24646759033203
+60.0,60.0,0.0,-36.0,74.0,74.16407775878906
+60.0,60.0,0.0,-37.0,75.0,75.12813568115234
+60.0,60.0,0.0,-38.0,76.0,76.14109802246094
+60.0,60.0,0.0,-39.0,77.0,77.20557403564453
+60.0,60.0,0.0,-40.0,78.0,78.3244400024414
+60.0,60.0,0.0,-41.0,79.0,79.50077819824219
+60.0,60.0,0.0,-42.0,80.0,80.73796081542969
+60.0,60.0,0.0,-43.0,82.0,82.0396499633789
+60.0,60.0,0.0,-44.0,83.0,83.40982055664062
+60.0,60.0,0.0,-45.0,84.0,84.85281372070312
+60.0,60.0,0.0,-46.0,86.0,86.3733901977539
+60.0,60.0,0.0,-47.0,87.0,87.97675323486328
+60.0,60.0,0.0,-48.0,89.0,89.66859436035156
+60.0,60.0,0.0,-49.0,91.0,91.45519256591797
+60.0,60.0,0.0,-50.0,93.0,93.34342193603516
+60.0,60.0,0.0,-51.0,95.0,95.34093475341797
+60.0,60.0,0.0,-52.0,97.0,97.45614624023438
+60.0,60.0,0.0,-53.0,99.0,99.69840240478516
+60.0,60.0,0.0,-54.0,102.0,102.07809448242188
+60.0,60.0,0.0,-55.0,104.0,104.60681915283203
+60.0,60.0,0.0,-56.0,107.0,107.29750061035156
+60.0,60.0,0.0,-57.0,110.0,110.16471862792969
+60.0,60.0,0.0,-58.0,111.0,111.70548248291016
+60.0,60.0,0.0,-59.0,109.0,109.41111755371094
+60.0,60.0,0.0,-60.0,107.0,107.24109649658203
+60.0,60.0,0.0,-61.0,105.0,105.18690490722656
+60.0,60.0,0.0,-62.0,103.0,103.24078369140625
+60.0,60.0,0.0,-63.0,101.0,101.39568328857422
+60.0,60.0,0.0,-64.0,99.0,99.64521789550781
+60.0,60.0,0.0,-65.0,97.0,97.9834976196289
+60.0,60.0,0.0,-66.0,96.0,96.4051742553711
+60.0,60.0,0.0,-67.0,94.0,94.90534210205078
+60.0,60.0,0.0,-68.0,93.0,93.47949981689453
+60.0,60.0,0.0,-69.0,92.0,92.12350463867188
+60.0,60.0,0.0,-70.0,90.0,90.83357238769531
+60.0,60.0,0.0,-71.0,89.0,89.6061782836914
+60.0,60.0,0.0,-72.0,88.0,88.4380874633789
+60.0,60.0,0.0,-73.0,87.0,87.32633209228516
+60.0,60.0,0.0,-74.0,86.0,86.26811981201172
+60.0,60.0,0.0,-75.0,85.0,85.26091003417969
+60.0,60.0,0.0,-76.0,84.0,84.30233001708984
+60.0,60.0,0.0,-77.0,83.0,83.39018249511719
+60.0,60.0,0.0,-78.0,82.0,82.52244567871094
+60.0,60.0,0.0,-79.0,81.0,81.69718933105469
+60.0,60.0,0.0,-80.0,80.0,80.91268920898438
+60.0,60.0,0.0,-81.0,80.0,80.16730499267578
+60.0,60.0,0.0,-82.0,79.0,79.4594955444336
+60.0,60.0,0.0,-83.0,78.0,78.78787994384766
+60.0,60.0,0.0,-84.0,78.0,78.15113067626953
+60.0,60.0,0.0,-85.0,77.0,77.54800415039062
+60.0,60.0,0.0,-86.0,76.0,76.97740173339844
+60.0,60.0,0.0,-87.0,76.0,76.4382553100586
+60.0,60.0,0.0,-88.0,75.0,75.92955780029297
+60.0,60.0,0.0,-89.0,75.0,75.45042419433594
+60.0,60.0,0.0,-90.0,75.0,75.0

SonarModel/medidasSegunda/462265.txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+59.0,66.0,0.0,90.0,57.0,59.0
+59.0,66.0,0.0,89.0,56.0,59.00898742675781
+59.0,66.0,0.0,88.0,56.0,59.03596115112305
+59.0,66.0,0.0,87.0,56.0,59.08096694946289
+59.0,66.0,0.0,86.0,56.0,59.144073486328125
+59.0,66.0,0.0,85.0,56.0,59.225372314453125
+59.0,66.0,0.0,84.0,56.0,59.324989318847656
+59.0,66.0,0.0,83.0,56.0,59.44308090209961
+59.0,66.0,0.0,82.0,56.0,59.57982635498047
+59.0,66.0,0.0,81.0,56.0,59.735443115234375
+59.0,66.0,0.0,80.0,56.0,59.91017150878906
+59.0,66.0,0.0,79.0,56.0,60.104286193847656
+59.0,66.0,0.0,78.0,56.0,60.318092346191406
+59.0,66.0,0.0,77.0,56.0,60.55194091796875
+59.0,66.0,0.0,76.0,56.0,60.80620193481445
+59.0,66.0,0.0,75.0,56.0,61.081295013427734
+59.0,66.0,0.0,74.0,56.0,61.37766647338867
+59.0,66.0,0.0,73.0,56.0,61.69581604003906
+59.0,66.0,0.0,72.0,56.0,62.03627014160156
+59.0,66.0,0.0,71.0,56.0,62.399620056152344
+59.0,66.0,0.0,70.0,56.0,62.7864875793457
+59.0,66.0,0.0,69.0,56.0,63.19755554199219
+59.0,66.0,0.0,68.0,56.0,63.633548736572266
+59.0,66.0,0.0,67.0,56.0,64.09526062011719
+59.0,66.0,0.0,66.0,56.0,64.58354187011719
+59.0,66.0,0.0,65.0,56.0,65.09929656982422
+59.0,66.0,0.0,64.0,56.0,65.64351654052734
+59.0,66.0,0.0,63.0,56.0,66.21724700927734
+59.0,66.0,0.0,62.0,56.0,66.8216323852539
+59.0,66.0,0.0,61.0,57.0,67.45789337158203
+59.0,66.0,0.0,60.0,57.0,68.12733459472656
+59.0,66.0,0.0,59.0,57.0,68.83136749267578
+59.0,66.0,0.0,58.0,57.0,69.57152557373047
+59.0,66.0,0.0,57.0,57.0,70.34943389892578
+59.0,66.0,0.0,56.0,57.0,71.16686248779297
+59.0,66.0,0.0,55.0,58.0,72.02570343017578
+59.0,66.0,0.0,54.0,58.0,72.92800903320312
+59.0,66.0,0.0,53.0,58.0,73.87600708007812
+59.0,66.0,0.0,52.0,58.0,74.8720703125
+59.0,66.0,0.0,51.0,58.0,75.91881561279297
+59.0,66.0,0.0,50.0,58.0,77.01903533935547
+59.0,66.0,0.0,49.0,59.0,78.17576599121094
+59.0,66.0,0.0,48.0,59.0,79.392333984375
+59.0,66.0,0.0,47.0,59.0,80.67231750488281
+59.0,66.0,0.0,46.0,59.0,82.0196533203125
+59.0,66.0,0.0,45.0,62.0,83.4385986328125
+59.0,66.0,0.0,44.0,62.0,84.933837890625
+59.0,66.0,0.0,43.0,60.0,86.5104751586914
+59.0,66.0,0.0,42.0,60.0,88.17411804199219
+59.0,66.0,0.0,41.0,61.0,87.45085906982422
+59.0,66.0,0.0,40.0,82.0,86.1568832397461
+59.0,66.0,0.0,39.0,81.0,84.92613220214844
+59.0,66.0,0.0,38.0,81.0,83.75520324707031
+59.0,66.0,0.0,37.0,61.0,82.64095306396484
+59.0,66.0,0.0,36.0,60.0,81.58049011230469
+59.0,66.0,0.0,35.0,62.0,80.57112121582031
+59.0,66.0,0.0,34.0,81.0,79.61038208007812
+59.0,66.0,0.0,33.0,81.0,78.69597625732422
+59.0,66.0,0.0,32.0,82.0,77.82576751708984
+59.0,66.0,0.0,31.0,61.0,76.997802734375
+59.0,66.0,0.0,30.0,60.0,76.21023559570312
+59.0,66.0,0.0,29.0,60.0,75.46136474609375
+59.0,66.0,0.0,28.0,63.0,74.74962615966797
+59.0,66.0,0.0,27.0,64.0,74.07353210449219
+59.0,66.0,0.0,26.0,61.0,73.43173217773438
+59.0,66.0,0.0,25.0,59.0,72.82293701171875
+59.0,66.0,0.0,24.0,59.0,72.2459945678711
+59.0,66.0,0.0,23.0,59.0,71.69978332519531
+59.0,66.0,0.0,22.0,60.0,71.18328857421875
+59.0,66.0,0.0,21.0,59.0,70.69557189941406
+59.0,66.0,0.0,20.0,59.0,70.23573303222656
+59.0,66.0,0.0,19.0,58.0,69.80296325683594
+59.0,66.0,0.0,18.0,58.0,69.3965072631836
+59.0,66.0,0.0,17.0,58.0,69.01565551757812
+59.0,66.0,0.0,16.0,58.0,68.65975952148438
+59.0,66.0,0.0,15.0,58.0,68.3282241821289
+59.0,66.0,0.0,14.0,58.0,68.02050018310547
+59.0,66.0,0.0,13.0,58.0,67.73606872558594
+59.0,66.0,0.0,12.0,58.0,67.47447967529297
+59.0,66.0,0.0,11.0,58.0,67.23530578613281
+59.0,66.0,0.0,10.0,58.0,67.01815795898438
+59.0,66.0,0.0,9.0,58.0,66.82270050048828
+59.0,66.0,0.0,8.0,58.0,66.64862060546875
+59.0,66.0,0.0,7.0,57.0,66.49565124511719
+59.0,66.0,0.0,6.0,57.0,66.3635482788086
+59.0,66.0,0.0,5.0,57.0,66.25210571289062
+59.0,66.0,0.0,4.0,57.0,66.16116333007812
+59.0,66.0,0.0,3.0,57.0,66.090576171875
+59.0,66.0,0.0,2.0,57.0,66.04022979736328
+59.0,66.0,0.0,1.0,57.0,66.01005554199219
+59.0,66.0,0.0,-0.0,57.0,66.0
+59.0,66.0,0.0,-1.0,57.0,66.01005554199219
+59.0,66.0,0.0,-2.0,57.0,66.04022979736328
+59.0,66.0,0.0,-3.0,57.0,66.090576171875
+59.0,66.0,0.0,-4.0,57.0,66.16116333007812
+59.0,66.0,0.0,-5.0,57.0,66.25210571289062
+59.0,66.0,0.0,-6.0,57.0,66.3635482788086
+59.0,66.0,0.0,-7.0,57.0,66.49565124511719
+59.0,66.0,0.0,-8.0,57.0,66.64862060546875
+59.0,66.0,0.0,-9.0,57.0,66.82270050048828
+59.0,66.0,0.0,-10.0,57.0,67.01815795898438
+59.0,66.0,0.0,-11.0,57.0,67.23530578613281
+59.0,66.0,0.0,-12.0,57.0,67.47447967529297
+59.0,66.0,0.0,-13.0,57.0,67.73606872558594
+59.0,66.0,0.0,-14.0,57.0,68.02050018310547
+59.0,66.0,0.0,-15.0,57.0,68.3282241821289
+59.0,66.0,0.0,-16.0,57.0,68.65975952148438
+59.0,66.0,0.0,-17.0,57.0,69.01565551757812
+59.0,66.0,0.0,-18.0,57.0,69.3965072631836
+59.0,66.0,0.0,-19.0,57.0,69.80296325683594
+59.0,66.0,0.0,-20.0,57.0,70.23572540283203
+59.0,66.0,0.0,-21.0,57.0,70.69556427001953
+59.0,66.0,0.0,-22.0,57.0,71.18329620361328
+59.0,66.0,0.0,-23.0,57.0,71.69978332519531
+59.0,66.0,0.0,-24.0,57.0,72.2459945678711
+59.0,66.0,0.0,-25.0,57.0,72.82294464111328
+59.0,66.0,0.0,-26.0,57.0,73.43173217773438
+59.0,66.0,0.0,-27.0,57.0,74.07353210449219
+59.0,66.0,0.0,-28.0,58.0,74.74962615966797
+59.0,66.0,0.0,-29.0,58.0,75.46136474609375
+59.0,66.0,0.0,-30.0,58.0,76.21023559570312
+59.0,66.0,0.0,-31.0,58.0,76.997802734375
+59.0,66.0,0.0,-32.0,58.0,77.82576751708984
+59.0,66.0,0.0,-33.0,58.0,78.69597625732422
+59.0,66.0,0.0,-34.0,58.0,79.61038208007812
+59.0,66.0,0.0,-35.0,58.0,80.57112121582031
+59.0,66.0,0.0,-36.0,58.0,81.58049011230469
+59.0,66.0,0.0,-37.0,58.0,82.64096069335938
+59.0,66.0,0.0,-38.0,58.0,83.75520324707031
+59.0,66.0,0.0,-39.0,59.0,84.92613220214844
+59.0,66.0,0.0,-40.0,59.0,86.15687561035156
+59.0,66.0,0.0,-41.0,59.0,87.45085144042969
+59.0,66.0,0.0,-42.0,59.0,88.81175994873047
+59.0,66.0,0.0,-43.0,59.0,90.24361419677734
+59.0,66.0,0.0,-44.0,59.0,91.75080108642578
+59.0,66.0,0.0,-45.0,60.0,93.33809661865234
+59.0,66.0,0.0,-46.0,60.0,95.01072692871094
+59.0,66.0,0.0,-47.0,60.0,96.77442932128906
+59.0,66.0,0.0,-48.0,60.0,98.63544464111328
+59.0,66.0,0.0,-49.0,60.0,100.6007080078125
+59.0,66.0,0.0,-50.0,61.0,102.67777252197266
+59.0,66.0,0.0,-51.0,61.0,104.87503051757812
+59.0,66.0,0.0,-52.0,61.0,107.2017593383789
+59.0,66.0,0.0,-53.0,62.0,109.66824340820312
+59.0,66.0,0.0,-54.0,63.0,112.28591918945312
+59.0,66.0,0.0,-55.0,255.0,115.06749725341797
+59.0,66.0,0.0,-56.0,255.0,115.15000915527344
+59.0,66.0,0.0,-57.0,255.0,112.61188507080078
+59.0,66.0,0.0,-58.0,255.0,110.21607208251953
+59.0,66.0,0.0,-59.0,255.0,107.95230865478516
+59.0,66.0,0.0,-60.0,255.0,105.81120300292969
+59.0,66.0,0.0,-61.0,255.0,103.78441619873047
+59.0,66.0,0.0,-62.0,255.0,101.86425018310547
+59.0,66.0,0.0,-63.0,255.0,100.04374694824219
+59.0,66.0,0.0,-64.0,255.0,98.31661987304688
+59.0,66.0,0.0,-65.0,255.0,96.67704010009766
+59.0,66.0,0.0,-66.0,255.0,95.11975860595703
+59.0,66.0,0.0,-67.0,255.0,93.63993835449219
+59.0,66.0,0.0,-68.0,255.0,92.23310089111328
+59.0,66.0,0.0,-69.0,255.0,90.89519500732422
+59.0,66.0,0.0,-70.0,255.0,89.62245178222656
+59.0,66.0,0.0,-71.0,255.0,88.41143035888672
+59.0,66.0,0.0,-72.0,255.0,87.25891876220703
+59.0,66.0,0.0,-73.0,255.0,86.16197967529297
+59.0,66.0,0.0,-74.0,255.0,85.11788177490234
+59.0,66.0,0.0,-75.0,255.0,84.12409973144531
+59.0,66.0,0.0,-76.0,255.0,83.17829895019531
+59.0,66.0,0.0,-77.0,255.0,82.27831268310547
+59.0,66.0,0.0,-78.0,255.0,81.42213439941406
+59.0,66.0,0.0,-79.0,255.0,80.60789489746094
+59.0,66.0,0.0,-80.0,255.0,79.83385467529297
+59.0,66.0,0.0,-81.0,255.0,79.09840393066406
+59.0,66.0,0.0,-82.0,255.0,78.40003967285156
+59.0,66.0,0.0,-83.0,255.0,77.73737335205078
+59.0,66.0,0.0,-84.0,255.0,77.10912322998047
+59.0,66.0,0.0,-85.0,255.0,76.51404571533203
+59.0,66.0,0.0,-86.0,255.0,75.95103454589844
+59.0,66.0,0.0,-87.0,255.0,75.41905975341797
+59.0,66.0,0.0,-88.0,255.0,74.91716003417969
+59.0,66.0,0.0,-89.0,255.0,74.44441223144531
+59.0,66.0,0.0,-90.0,74.0,74.0

SonarModel/medidasSegunda/502704.txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+60.0,70.0,0.0,90.0,60.0,60.0
+60.0,70.0,0.0,89.0,57.0,60.00914001464844
+60.0,70.0,0.0,88.0,57.0,60.03657150268555
+60.0,70.0,0.0,87.0,57.0,60.082340240478516
+60.0,70.0,0.0,86.0,57.0,60.146514892578125
+60.0,70.0,0.0,85.0,57.0,60.229190826416016
+60.0,70.0,0.0,84.0,57.0,60.33049774169922
+60.0,70.0,0.0,83.0,57.0,60.45058822631836
+60.0,70.0,0.0,82.0,57.0,60.58965301513672
+60.0,70.0,0.0,81.0,57.0,60.74790954589844
+60.0,70.0,0.0,80.0,57.0,60.92559814453125
+60.0,70.0,0.0,79.0,58.0,61.12300109863281
+60.0,70.0,0.0,78.0,58.0,61.34043502807617
+60.0,70.0,0.0,77.0,58.0,61.5782470703125
+60.0,70.0,0.0,76.0,58.0,61.83681869506836
+60.0,70.0,0.0,75.0,58.0,62.11656951904297
+60.0,70.0,0.0,74.0,58.0,62.417964935302734
+60.0,70.0,0.0,73.0,58.0,62.74150466918945
+60.0,70.0,0.0,72.0,58.0,63.08773422241211
+60.0,70.0,0.0,71.0,58.0,63.45724105834961
+60.0,70.0,0.0,70.0,58.0,63.85066604614258
+60.0,70.0,0.0,69.0,58.0,64.2686996459961
+60.0,70.0,0.0,68.0,58.0,64.71208190917969
+60.0,70.0,0.0,67.0,58.0,65.1816177368164
+60.0,70.0,0.0,66.0,58.0,65.67817687988281
+60.0,70.0,0.0,65.0,58.0,66.20267486572266
+60.0,70.0,0.0,64.0,58.0,66.75611877441406
+60.0,70.0,0.0,63.0,58.0,67.3395767211914
+60.0,70.0,0.0,62.0,58.0,67.9542007446289
+60.0,70.0,0.0,61.0,59.0,68.60124206542969
+60.0,70.0,0.0,60.0,59.0,69.28203582763672
+60.0,70.0,0.0,59.0,59.0,69.99800872802734
+60.0,70.0,0.0,58.0,59.0,70.75070190429688
+60.0,70.0,0.0,57.0,59.0,71.54179382324219
+60.0,70.0,0.0,56.0,59.0,72.37307739257812
+60.0,70.0,0.0,55.0,60.0,73.24647521972656
+60.0,70.0,0.0,54.0,60.0,74.16407775878906
+60.0,70.0,0.0,53.0,60.0,75.12814331054688
+60.0,70.0,0.0,52.0,60.0,76.1410903930664
+60.0,70.0,0.0,51.0,60.0,77.20557403564453
+60.0,70.0,0.0,50.0,61.0,78.3244400024414
+60.0,70.0,0.0,49.0,61.0,79.50077819824219
+60.0,70.0,0.0,48.0,61.0,80.73796844482422
+60.0,70.0,0.0,47.0,64.0,82.0396499633789
+60.0,70.0,0.0,46.0,85.0,83.40982055664062
+60.0,70.0,0.0,45.0,85.0,84.85281372070312
+60.0,70.0,0.0,44.0,63.0,86.3733901977539
+60.0,70.0,0.0,43.0,64.0,87.97675323486328
+60.0,70.0,0.0,42.0,84.0,89.66859436035156
+60.0,70.0,0.0,41.0,85.0,91.45518493652344
+60.0,70.0,0.0,40.0,84.0,91.37850952148438
+60.0,70.0,0.0,39.0,84.0,90.07316589355469
+60.0,70.0,0.0,38.0,84.0,88.8312759399414
+60.0,70.0,0.0,37.0,84.0,87.64949798583984
+60.0,70.0,0.0,36.0,85.0,86.5247573852539
+60.0,70.0,0.0,35.0,85.0,85.4542236328125
+60.0,70.0,0.0,34.0,85.0,84.43525695800781
+60.0,70.0,0.0,33.0,85.0,83.4654312133789
+60.0,70.0,0.0,32.0,85.0,82.54248809814453
+60.0,70.0,0.0,31.0,85.0,81.66433715820312
+60.0,70.0,0.0,30.0,85.0,80.82904052734375
+60.0,70.0,0.0,29.0,85.0,80.03478240966797
+60.0,70.0,0.0,28.0,85.0,79.2799072265625
+60.0,70.0,0.0,27.0,84.0,78.56283569335938
+60.0,70.0,0.0,26.0,85.0,77.88214111328125
+60.0,70.0,0.0,25.0,85.0,77.23645782470703
+60.0,70.0,0.0,24.0,85.0,76.62454223632812
+60.0,70.0,0.0,23.0,85.0,76.04522705078125
+60.0,70.0,0.0,22.0,63.0,75.49742889404297
+60.0,70.0,0.0,21.0,62.0,74.98014831542969
+60.0,70.0,0.0,20.0,62.0,74.49243927001953
+60.0,70.0,0.0,19.0,62.0,74.033447265625
+60.0,70.0,0.0,18.0,62.0,73.60235595703125
+60.0,70.0,0.0,17.0,62.0,73.19841766357422
+60.0,70.0,0.0,16.0,61.0,72.82096099853516
+60.0,70.0,0.0,15.0,61.0,72.46932983398438
+60.0,70.0,0.0,14.0,61.0,72.14295196533203
+60.0,70.0,0.0,13.0,61.0,71.8412857055664
+60.0,70.0,0.0,12.0,61.0,71.5638427734375
+60.0,70.0,0.0,11.0,61.0,71.31016540527344
+60.0,70.0,0.0,10.0,61.0,71.07986450195312
+60.0,70.0,0.0,9.0,61.0,70.87255859375
+60.0,70.0,0.0,8.0,61.0,70.68793487548828
+60.0,70.0,0.0,7.0,61.0,70.52568817138672
+60.0,70.0,0.0,6.0,61.0,70.38558197021484
+60.0,70.0,0.0,5.0,60.0,70.26738739013672
+60.0,70.0,0.0,4.0,60.0,70.17093658447266
+60.0,70.0,0.0,3.0,60.0,70.09606170654297
+60.0,70.0,0.0,2.0,60.0,70.04267120361328
+60.0,70.0,0.0,1.0,60.0,70.01066589355469
+60.0,70.0,0.0,-0.0,60.0,70.0
+60.0,70.0,0.0,-1.0,60.0,70.01066589355469
+60.0,70.0,0.0,-2.0,60.0,70.04267120361328
+60.0,70.0,0.0,-3.0,60.0,70.09606170654297
+60.0,70.0,0.0,-4.0,60.0,70.17093658447266
+60.0,70.0,0.0,-5.0,60.0,70.26738739013672
+60.0,70.0,0.0,-6.0,60.0,70.38558197021484
+60.0,70.0,0.0,-7.0,60.0,70.52568817138672
+60.0,70.0,0.0,-8.0,60.0,70.68793487548828
+60.0,70.0,0.0,-9.0,60.0,70.87255859375
+60.0,70.0,0.0,-10.0,60.0,71.07986450195312
+60.0,70.0,0.0,-11.0,60.0,71.31016540527344
+60.0,70.0,0.0,-12.0,60.0,71.5638427734375
+60.0,70.0,0.0,-13.0,60.0,71.8412857055664
+60.0,70.0,0.0,-14.0,60.0,72.14295196533203
+60.0,70.0,0.0,-15.0,60.0,72.46932983398438
+60.0,70.0,0.0,-16.0,60.0,72.82096099853516
+60.0,70.0,0.0,-17.0,60.0,73.19842529296875
+60.0,70.0,0.0,-18.0,60.0,73.60235595703125
+60.0,70.0,0.0,-19.0,60.0,74.033447265625
+60.0,70.0,0.0,-20.0,60.0,74.49243927001953
+60.0,70.0,0.0,-21.0,60.0,74.98014831542969
+60.0,70.0,0.0,-22.0,60.0,75.49742889404297
+60.0,70.0,0.0,-23.0,60.0,76.04522705078125
+60.0,70.0,0.0,-24.0,60.0,76.62454223632812
+60.0,70.0,0.0,-25.0,60.0,77.2364501953125
+60.0,70.0,0.0,-26.0,61.0,77.88213348388672
+60.0,70.0,0.0,-27.0,61.0,78.56283569335938
+60.0,70.0,0.0,-28.0,61.0,79.2799072265625
+60.0,70.0,0.0,-29.0,61.0,80.03478240966797
+60.0,70.0,0.0,-30.0,61.0,80.82904052734375
+60.0,70.0,0.0,-31.0,61.0,81.66433715820312
+60.0,70.0,0.0,-32.0,61.0,82.54248809814453
+60.0,70.0,0.0,-33.0,61.0,83.4654312133789
+60.0,70.0,0.0,-34.0,61.0,84.43525695800781
+60.0,70.0,0.0,-35.0,61.0,85.45421600341797
+60.0,70.0,0.0,-36.0,61.0,86.5247573852539
+60.0,70.0,0.0,-37.0,62.0,87.64949798583984
+60.0,70.0,0.0,-38.0,62.0,88.8312759399414
+60.0,70.0,0.0,-39.0,62.0,90.07316589355469
+60.0,70.0,0.0,-40.0,62.0,91.3785171508789
+60.0,70.0,0.0,-41.0,62.0,92.75090789794922
+60.0,70.0,0.0,-42.0,62.0,94.19429016113281
+60.0,70.0,0.0,-43.0,63.0,95.71292877197266
+60.0,70.0,0.0,-44.0,63.0,97.31145477294922
+60.0,70.0,0.0,-45.0,64.0,98.99494934082031
+60.0,70.0,0.0,-46.0,64.0,100.76895904541016
+60.0,70.0,0.0,-47.0,64.0,102.63954162597656
+60.0,70.0,0.0,-48.0,66.0,104.61335754394531
+60.0,70.0,0.0,-49.0,255.0,106.69771575927734
+60.0,70.0,0.0,-50.0,255.0,108.90066528320312
+60.0,70.0,0.0,-51.0,255.0,111.2311019897461
+60.0,70.0,0.0,-52.0,255.0,113.69883728027344
+60.0,70.0,0.0,-53.0,255.0,116.31480407714844
+60.0,70.0,0.0,-54.0,255.0,116.89447021484375
+60.0,70.0,0.0,-55.0,255.0,114.12617492675781
+60.0,70.0,0.0,-56.0,255.0,111.51915740966797
+60.0,70.0,0.0,-57.0,255.0,109.06106567382812
+60.0,70.0,0.0,-58.0,255.0,106.74079132080078
+60.0,70.0,0.0,-59.0,255.0,104.54838562011719
+60.0,70.0,0.0,-60.0,255.0,102.47482299804688
+60.0,70.0,0.0,-61.0,255.0,100.51192474365234
+60.0,70.0,0.0,-62.0,255.0,98.65230560302734
+60.0,70.0,0.0,-63.0,255.0,96.88920593261719
+60.0,70.0,0.0,-64.0,255.0,95.21654510498047
+60.0,70.0,0.0,-65.0,255.0,93.62867736816406
+60.0,70.0,0.0,-66.0,255.0,92.12049102783203
+60.0,70.0,0.0,-67.0,255.0,90.68732452392578
+60.0,70.0,0.0,-68.0,255.0,89.3248519897461
+60.0,70.0,0.0,-69.0,255.0,88.02912139892578
+60.0,70.0,0.0,-70.0,255.0,86.79652404785156
+60.0,70.0,0.0,-71.0,255.0,85.62368774414062
+60.0,70.0,0.0,-72.0,255.0,84.50750732421875
+60.0,70.0,0.0,-73.0,255.0,83.44515228271484
+60.0,70.0,0.0,-74.0,255.0,82.4339828491211
+60.0,70.0,0.0,-75.0,255.0,81.47154235839844
+60.0,70.0,0.0,-76.0,255.0,80.5555648803711
+60.0,70.0,0.0,-77.0,255.0,79.68395233154297
+60.0,70.0,0.0,-78.0,255.0,78.85477447509766
+60.0,70.0,0.0,-79.0,255.0,78.06620788574219
+60.0,70.0,0.0,-80.0,255.0,77.31658172607422
+60.0,70.0,0.0,-81.0,255.0,76.60430145263672
+60.0,70.0,0.0,-82.0,255.0,75.92796325683594
+60.0,70.0,0.0,-83.0,255.0,75.28619384765625
+60.0,70.0,0.0,-84.0,255.0,74.67774200439453
+60.0,70.0,0.0,-85.0,255.0,74.1014404296875
+60.0,70.0,0.0,-86.0,255.0,73.55619049072266
+60.0,70.0,0.0,-87.0,255.0,73.04098510742188
+60.0,70.0,0.0,-88.0,255.0,72.5549087524414
+60.0,70.0,0.0,-89.0,255.0,72.0970687866211
+60.0,70.0,0.0,-90.0,255.0,71.66667175292969

SonarModel/medidasSegunda/526736.txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+60.0,60.0,0.0,90.0,51.0,60.0
+60.0,60.0,0.0,89.0,58.0,60.00914001464844
+60.0,60.0,0.0,88.0,58.0,60.03657150268555
+60.0,60.0,0.0,87.0,58.0,60.082340240478516
+60.0,60.0,0.0,86.0,58.0,60.146514892578125
+60.0,60.0,0.0,85.0,58.0,60.229190826416016
+60.0,60.0,0.0,84.0,59.0,60.33049774169922
+60.0,60.0,0.0,83.0,58.0,60.45058822631836
+60.0,60.0,0.0,82.0,58.0,60.58965301513672
+60.0,60.0,0.0,81.0,58.0,60.74790573120117
+60.0,60.0,0.0,80.0,58.0,60.925594329833984
+60.0,60.0,0.0,79.0,58.0,61.12300109863281
+60.0,60.0,0.0,78.0,59.0,61.34043502807617
+60.0,60.0,0.0,77.0,59.0,61.5782470703125
+60.0,60.0,0.0,76.0,59.0,61.83681869506836
+60.0,60.0,0.0,75.0,59.0,62.116573333740234
+60.0,60.0,0.0,74.0,59.0,62.417964935302734
+60.0,60.0,0.0,73.0,59.0,62.74150466918945
+60.0,60.0,0.0,72.0,59.0,63.08773422241211
+60.0,60.0,0.0,71.0,59.0,63.45724105834961
+60.0,60.0,0.0,70.0,59.0,63.85066604614258
+60.0,60.0,0.0,69.0,59.0,64.2686996459961
+60.0,60.0,0.0,68.0,59.0,64.71208190917969
+60.0,60.0,0.0,67.0,59.0,65.18162536621094
+60.0,60.0,0.0,66.0,59.0,65.67817687988281
+60.0,60.0,0.0,65.0,59.0,66.20267486572266
+60.0,60.0,0.0,64.0,59.0,66.75611877441406
+60.0,60.0,0.0,63.0,60.0,67.3395767211914
+60.0,60.0,0.0,62.0,60.0,67.95420837402344
+60.0,60.0,0.0,61.0,60.0,68.60124206542969
+60.0,60.0,0.0,60.0,60.0,69.28203582763672
+60.0,60.0,0.0,59.0,60.0,69.99800872802734
+60.0,60.0,0.0,58.0,60.0,70.75070190429688
+60.0,60.0,0.0,57.0,60.0,71.54180145263672
+60.0,60.0,0.0,56.0,61.0,72.37307739257812
+60.0,60.0,0.0,55.0,61.0,73.24647521972656
+60.0,60.0,0.0,54.0,61.0,74.16407775878906
+60.0,60.0,0.0,53.0,62.0,75.12814331054688
+60.0,60.0,0.0,52.0,62.0,76.1410903930664
+60.0,60.0,0.0,51.0,79.0,77.20557403564453
+60.0,60.0,0.0,50.0,79.0,78.3244400024414
+60.0,60.0,0.0,49.0,79.0,79.50077819824219
+60.0,60.0,0.0,48.0,79.0,80.73796844482422
+60.0,60.0,0.0,47.0,79.0,82.0396499633789
+60.0,60.0,0.0,46.0,79.0,83.40982055664062
+60.0,60.0,0.0,45.0,79.0,84.85281372070312
+60.0,60.0,0.0,44.0,79.0,83.40982055664062
+60.0,60.0,0.0,43.0,79.0,82.0396499633789
+60.0,60.0,0.0,42.0,79.0,80.73796844482422
+60.0,60.0,0.0,41.0,79.0,79.50077819824219
+60.0,60.0,0.0,40.0,79.0,78.3244400024414
+60.0,60.0,0.0,39.0,79.0,77.20557403564453
+60.0,60.0,0.0,38.0,79.0,76.1410903930664
+60.0,60.0,0.0,37.0,79.0,75.12814331054688
+60.0,60.0,0.0,36.0,79.0,74.16407775878906
+60.0,60.0,0.0,35.0,79.0,73.24647521972656
+60.0,60.0,0.0,34.0,79.0,72.37307739257812
+60.0,60.0,0.0,33.0,79.0,71.54180145263672
+60.0,60.0,0.0,32.0,79.0,70.75070190429688
+60.0,60.0,0.0,31.0,79.0,69.99800872802734
+60.0,60.0,0.0,30.0,79.0,69.28203582763672
+60.0,60.0,0.0,29.0,58.0,68.60124206542969
+60.0,60.0,0.0,28.0,56.0,67.95420837402344
+60.0,60.0,0.0,27.0,55.0,67.3395767211914
+60.0,60.0,0.0,26.0,54.0,66.75611877441406
+60.0,60.0,0.0,25.0,54.0,66.20267486572266
+60.0,60.0,0.0,24.0,53.0,65.67817687988281
+60.0,60.0,0.0,23.0,53.0,65.18162536621094
+60.0,60.0,0.0,22.0,53.0,64.71208190917969
+60.0,60.0,0.0,21.0,53.0,64.2686996459961
+60.0,60.0,0.0,20.0,53.0,63.85066604614258
+60.0,60.0,0.0,19.0,52.0,63.45724105834961
+60.0,60.0,0.0,18.0,52.0,63.08773422241211
+60.0,60.0,0.0,17.0,52.0,62.74150466918945
+60.0,60.0,0.0,16.0,52.0,62.417964935302734
+60.0,60.0,0.0,15.0,52.0,62.116573333740234
+60.0,60.0,0.0,14.0,52.0,61.83681869506836
+60.0,60.0,0.0,13.0,51.0,61.5782470703125
+60.0,60.0,0.0,12.0,51.0,61.34043502807617
+60.0,60.0,0.0,11.0,51.0,61.12300109863281
+60.0,60.0,0.0,10.0,51.0,60.925594329833984
+60.0,60.0,0.0,9.0,51.0,60.74790573120117
+60.0,60.0,0.0,8.0,51.0,60.58965301513672
+60.0,60.0,0.0,7.0,51.0,60.45058822631836
+60.0,60.0,0.0,6.0,51.0,60.33049774169922
+60.0,60.0,0.0,5.0,51.0,60.229190826416016
+60.0,60.0,0.0,4.0,51.0,60.146514892578125
+60.0,60.0,0.0,3.0,51.0,60.082340240478516
+60.0,60.0,0.0,2.0,51.0,60.03657150268555
+60.0,60.0,0.0,1.0,51.0,60.00914001464844
+60.0,60.0,0.0,-0.0,51.0,60.0
+60.0,60.0,0.0,-1.0,51.0,60.00914001464844
+60.0,60.0,0.0,-2.0,50.0,60.03657150268555
+60.0,60.0,0.0,-3.0,50.0,60.082340240478516
+60.0,60.0,0.0,-4.0,50.0,60.146514892578125
+60.0,60.0,0.0,-5.0,50.0,60.229190826416016
+60.0,60.0,0.0,-6.0,50.0,60.33049774169922
+60.0,60.0,0.0,-7.0,50.0,60.45058822631836
+60.0,60.0,0.0,-8.0,50.0,60.58965301513672
+60.0,60.0,0.0,-9.0,50.0,60.74790954589844
+60.0,60.0,0.0,-10.0,50.0,60.92559814453125
+60.0,60.0,0.0,-11.0,50.0,61.12300109863281
+60.0,60.0,0.0,-12.0,50.0,61.34043502807617
+60.0,60.0,0.0,-13.0,50.0,61.5782470703125
+60.0,60.0,0.0,-14.0,50.0,61.83681869506836
+60.0,60.0,0.0,-15.0,50.0,62.11656951904297
+60.0,60.0,0.0,-16.0,50.0,62.417964935302734
+60.0,60.0,0.0,-17.0,50.0,62.74150466918945
+60.0,60.0,0.0,-18.0,50.0,63.08773422241211
+60.0,60.0,0.0,-19.0,50.0,63.45724105834961
+60.0,60.0,0.0,-20.0,51.0,63.85066604614258
+60.0,60.0,0.0,-21.0,51.0,64.2686996459961
+60.0,60.0,0.0,-22.0,51.0,64.71208953857422
+60.0,60.0,0.0,-23.0,51.0,65.1816177368164
+60.0,60.0,0.0,-24.0,51.0,65.67817687988281
+60.0,60.0,0.0,-25.0,51.0,66.20267486572266
+60.0,60.0,0.0,-26.0,51.0,66.75611877441406
+60.0,60.0,0.0,-27.0,51.0,67.3395767211914
+60.0,60.0,0.0,-28.0,51.0,67.9542007446289
+60.0,60.0,0.0,-29.0,51.0,68.60124206542969
+60.0,60.0,0.0,-30.0,51.0,69.28203582763672
+60.0,60.0,0.0,-31.0,51.0,69.99800872802734
+60.0,60.0,0.0,-32.0,52.0,70.75070190429688
+60.0,60.0,0.0,-33.0,52.0,71.54179382324219
+60.0,60.0,0.0,-34.0,52.0,72.37307739257812
+60.0,60.0,0.0,-35.0,52.0,73.24646759033203
+60.0,60.0,0.0,-36.0,52.0,74.16407775878906
+60.0,60.0,0.0,-37.0,52.0,75.12813568115234
+60.0,60.0,0.0,-38.0,52.0,76.14109802246094
+60.0,60.0,0.0,-39.0,52.0,77.20557403564453
+60.0,60.0,0.0,-40.0,53.0,78.3244400024414
+60.0,60.0,0.0,-41.0,53.0,79.50077819824219
+60.0,60.0,0.0,-42.0,53.0,80.73796081542969
+60.0,60.0,0.0,-43.0,53.0,82.0396499633789
+60.0,60.0,0.0,-44.0,54.0,83.40982055664062
+60.0,60.0,0.0,-45.0,54.0,84.85281372070312
+60.0,60.0,0.0,-46.0,54.0,86.3733901977539
+60.0,60.0,0.0,-47.0,54.0,87.97675323486328
+60.0,60.0,0.0,-48.0,54.0,89.66859436035156
+60.0,60.0,0.0,-49.0,55.0,91.45519256591797
+60.0,60.0,0.0,-50.0,55.0,93.34342193603516
+60.0,60.0,0.0,-51.0,55.0,95.34093475341797
+60.0,60.0,0.0,-52.0,55.0,97.45614624023438
+60.0,60.0,0.0,-53.0,56.0,99.69840240478516
+60.0,60.0,0.0,-54.0,101.0,102.07809448242188
+60.0,60.0,0.0,-55.0,101.0,104.60681915283203
+60.0,60.0,0.0,-56.0,101.0,107.29750061035156
+60.0,60.0,0.0,-57.0,101.0,110.16471862792969
+60.0,60.0,0.0,-58.0,101.0,111.70548248291016
+60.0,60.0,0.0,-59.0,101.0,109.41111755371094
+60.0,60.0,0.0,-60.0,100.0,107.24109649658203
+60.0,60.0,0.0,-61.0,100.0,105.18690490722656
+60.0,60.0,0.0,-62.0,100.0,103.24078369140625
+60.0,60.0,0.0,-63.0,100.0,101.39568328857422
+60.0,60.0,0.0,-64.0,100.0,99.64521789550781
+60.0,60.0,0.0,-65.0,100.0,97.9834976196289
+60.0,60.0,0.0,-66.0,100.0,96.4051742553711
+60.0,60.0,0.0,-67.0,100.0,94.90534210205078
+60.0,60.0,0.0,-68.0,100.0,93.47949981689453
+60.0,60.0,0.0,-69.0,100.0,92.12350463867188
+60.0,60.0,0.0,-70.0,100.0,90.83357238769531
+60.0,60.0,0.0,-71.0,100.0,89.6061782836914
+60.0,60.0,0.0,-72.0,100.0,88.4380874633789
+60.0,60.0,0.0,-73.0,100.0,87.32633209228516
+60.0,60.0,0.0,-74.0,100.0,86.26811981201172
+60.0,60.0,0.0,-75.0,100.0,85.26091003417969
+60.0,60.0,0.0,-76.0,100.0,84.30233001708984
+60.0,60.0,0.0,-77.0,100.0,83.39018249511719
+60.0,60.0,0.0,-78.0,100.0,82.52244567871094
+60.0,60.0,0.0,-79.0,100.0,81.69718933105469
+60.0,60.0,0.0,-80.0,100.0,80.91268920898438
+60.0,60.0,0.0,-81.0,100.0,80.16730499267578
+60.0,60.0,0.0,-82.0,100.0,79.4594955444336
+60.0,60.0,0.0,-83.0,100.0,78.78787994384766
+60.0,60.0,0.0,-84.0,100.0,78.15113067626953
+60.0,60.0,0.0,-85.0,100.0,77.54800415039062
+60.0,60.0,0.0,-86.0,100.0,76.97740173339844
+60.0,60.0,0.0,-87.0,100.0,76.4382553100586
+60.0,60.0,0.0,-88.0,100.0,75.92955780029297
+60.0,60.0,0.0,-89.0,100.0,75.45042419433594
+60.0,60.0,0.0,-90.0,100.0,75.0

SonarModel/medidasSegunda/577795.txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+60.0,60.0,0.0,90.0,51.0,60.0
+60.0,60.0,0.0,89.0,59.0,60.00914001464844
+60.0,60.0,0.0,88.0,59.0,60.03657150268555
+60.0,60.0,0.0,87.0,59.0,60.082340240478516
+60.0,60.0,0.0,86.0,59.0,60.146514892578125
+60.0,60.0,0.0,85.0,59.0,60.229190826416016
+60.0,60.0,0.0,84.0,59.0,60.33049774169922
+60.0,60.0,0.0,83.0,59.0,60.45058822631836
+60.0,60.0,0.0,82.0,59.0,60.58965301513672
+60.0,60.0,0.0,81.0,59.0,60.74790573120117
+60.0,60.0,0.0,80.0,59.0,60.925594329833984
+60.0,60.0,0.0,79.0,59.0,61.12300109863281
+60.0,60.0,0.0,78.0,59.0,61.34043502807617
+60.0,60.0,0.0,77.0,59.0,61.5782470703125
+60.0,60.0,0.0,76.0,59.0,61.83681869506836
+60.0,60.0,0.0,75.0,59.0,62.116573333740234
+60.0,60.0,0.0,74.0,59.0,62.417964935302734
+60.0,60.0,0.0,73.0,59.0,62.74150466918945
+60.0,60.0,0.0,72.0,59.0,63.08773422241211
+60.0,60.0,0.0,71.0,59.0,63.45724105834961
+60.0,60.0,0.0,70.0,59.0,63.85066604614258
+60.0,60.0,0.0,69.0,59.0,64.2686996459961
+60.0,60.0,0.0,68.0,60.0,64.71208190917969
+60.0,60.0,0.0,67.0,59.0,65.18162536621094
+60.0,60.0,0.0,66.0,59.0,65.67817687988281
+60.0,60.0,0.0,65.0,60.0,66.20267486572266
+60.0,60.0,0.0,64.0,60.0,66.75611877441406
+60.0,60.0,0.0,63.0,60.0,67.3395767211914
+60.0,60.0,0.0,62.0,60.0,67.95420837402344
+60.0,60.0,0.0,61.0,60.0,68.60124206542969
+60.0,60.0,0.0,60.0,60.0,69.28203582763672
+60.0,60.0,0.0,59.0,60.0,69.99800872802734
+60.0,60.0,0.0,58.0,61.0,70.75070190429688
+60.0,60.0,0.0,57.0,61.0,71.54180145263672
+60.0,60.0,0.0,56.0,61.0,72.37307739257812
+60.0,60.0,0.0,55.0,61.0,73.24647521972656
+60.0,60.0,0.0,54.0,61.0,74.16407775878906
+60.0,60.0,0.0,53.0,62.0,75.12814331054688
+60.0,60.0,0.0,52.0,62.0,76.1410903930664
+60.0,60.0,0.0,51.0,79.0,77.20557403564453
+60.0,60.0,0.0,50.0,79.0,78.3244400024414
+60.0,60.0,0.0,49.0,79.0,79.50077819824219
+60.0,60.0,0.0,48.0,79.0,80.73796844482422
+60.0,60.0,0.0,47.0,79.0,82.0396499633789
+60.0,60.0,0.0,46.0,79.0,83.40982055664062
+60.0,60.0,0.0,45.0,79.0,84.85281372070312
+60.0,60.0,0.0,44.0,79.0,83.40982055664062
+60.0,60.0,0.0,43.0,79.0,82.0396499633789
+60.0,60.0,0.0,42.0,79.0,80.73796844482422
+60.0,60.0,0.0,41.0,79.0,79.50077819824219
+60.0,60.0,0.0,40.0,79.0,78.3244400024414
+60.0,60.0,0.0,39.0,79.0,77.20557403564453
+60.0,60.0,0.0,38.0,79.0,76.1410903930664
+60.0,60.0,0.0,37.0,79.0,75.12814331054688
+60.0,60.0,0.0,36.0,79.0,74.16407775878906
+60.0,60.0,0.0,35.0,79.0,73.24647521972656
+60.0,60.0,0.0,34.0,79.0,72.37307739257812
+60.0,60.0,0.0,33.0,79.0,71.54180145263672
+60.0,60.0,0.0,32.0,79.0,70.75070190429688
+60.0,60.0,0.0,31.0,79.0,69.99800872802734
+60.0,60.0,0.0,30.0,58.0,69.28203582763672
+60.0,60.0,0.0,29.0,56.0,68.60124206542969
+60.0,60.0,0.0,28.0,55.0,67.95420837402344
+60.0,60.0,0.0,27.0,55.0,67.3395767211914
+60.0,60.0,0.0,26.0,54.0,66.75611877441406
+60.0,60.0,0.0,25.0,54.0,66.20267486572266
+60.0,60.0,0.0,24.0,53.0,65.67817687988281
+60.0,60.0,0.0,23.0,53.0,65.18162536621094
+60.0,60.0,0.0,22.0,53.0,64.71208190917969
+60.0,60.0,0.0,21.0,53.0,64.2686996459961
+60.0,60.0,0.0,20.0,53.0,63.85066604614258
+60.0,60.0,0.0,19.0,52.0,63.45724105834961
+60.0,60.0,0.0,18.0,52.0,63.08773422241211
+60.0,60.0,0.0,17.0,52.0,62.74150466918945
+60.0,60.0,0.0,16.0,52.0,62.417964935302734
+60.0,60.0,0.0,15.0,52.0,62.116573333740234
+60.0,60.0,0.0,14.0,52.0,61.83681869506836
+60.0,60.0,0.0,13.0,52.0,61.5782470703125
+60.0,60.0,0.0,12.0,51.0,61.34043502807617
+60.0,60.0,0.0,11.0,51.0,61.12300109863281
+60.0,60.0,0.0,10.0,51.0,60.925594329833984
+60.0,60.0,0.0,9.0,51.0,60.74790573120117
+60.0,60.0,0.0,8.0,51.0,60.58965301513672
+60.0,60.0,0.0,7.0,51.0,60.45058822631836
+60.0,60.0,0.0,6.0,51.0,60.33049774169922
+60.0,60.0,0.0,5.0,51.0,60.229190826416016
+60.0,60.0,0.0,4.0,51.0,60.146514892578125
+60.0,60.0,0.0,3.0,51.0,60.082340240478516
+60.0,60.0,0.0,2.0,51.0,60.03657150268555
+60.0,60.0,0.0,1.0,50.0,60.00914001464844
+60.0,60.0,0.0,-0.0,51.0,60.0
+60.0,60.0,0.0,-1.0,50.0,60.00914001464844
+60.0,60.0,0.0,-2.0,50.0,60.03657150268555
+60.0,60.0,0.0,-3.0,50.0,60.082340240478516
+60.0,60.0,0.0,-4.0,50.0,60.146514892578125
+60.0,60.0,0.0,-5.0,50.0,60.229190826416016
+60.0,60.0,0.0,-6.0,50.0,60.33049774169922
+60.0,60.0,0.0,-7.0,50.0,60.45058822631836
+60.0,60.0,0.0,-8.0,50.0,60.58965301513672
+60.0,60.0,0.0,-9.0,50.0,60.74790954589844
+60.0,60.0,0.0,-10.0,50.0,60.92559814453125
+60.0,60.0,0.0,-11.0,50.0,61.12300109863281
+60.0,60.0,0.0,-12.0,50.0,61.34043502807617
+60.0,60.0,0.0,-13.0,50.0,61.5782470703125
+60.0,60.0,0.0,-14.0,50.0,61.83681869506836
+60.0,60.0,0.0,-15.0,50.0,62.11656951904297
+60.0,60.0,0.0,-16.0,50.0,62.417964935302734
+60.0,60.0,0.0,-17.0,50.0,62.74150466918945
+60.0,60.0,0.0,-18.0,255.0,63.08773422241211
+60.0,60.0,0.0,-19.0,51.0,63.45724105834961
+60.0,60.0,0.0,-20.0,51.0,63.85066604614258
+60.0,60.0,0.0,-21.0,51.0,64.2686996459961
+60.0,60.0,0.0,-22.0,51.0,64.71208953857422
+60.0,60.0,0.0,-23.0,51.0,65.1816177368164
+60.0,60.0,0.0,-24.0,51.0,65.67817687988281
+60.0,60.0,0.0,-25.0,51.0,66.20267486572266
+60.0,60.0,0.0,-26.0,51.0,66.75611877441406
+60.0,60.0,0.0,-27.0,51.0,67.3395767211914
+60.0,60.0,0.0,-28.0,51.0,67.9542007446289
+60.0,60.0,0.0,-29.0,52.0,68.60124206542969
+60.0,60.0,0.0,-30.0,51.0,69.28203582763672
+60.0,60.0,0.0,-31.0,52.0,69.99800872802734
+60.0,60.0,0.0,-32.0,52.0,70.75070190429688
+60.0,60.0,0.0,-33.0,52.0,71.54179382324219
+60.0,60.0,0.0,-34.0,52.0,72.37307739257812
+60.0,60.0,0.0,-35.0,52.0,73.24646759033203
+60.0,60.0,0.0,-36.0,52.0,74.16407775878906
+60.0,60.0,0.0,-37.0,52.0,75.12813568115234
+60.0,60.0,0.0,-38.0,52.0,76.14109802246094
+60.0,60.0,0.0,-39.0,53.0,77.20557403564453
+60.0,60.0,0.0,-40.0,53.0,78.3244400024414
+60.0,60.0,0.0,-41.0,53.0,79.50077819824219
+60.0,60.0,0.0,-42.0,53.0,80.73796081542969
+60.0,60.0,0.0,-43.0,53.0,82.0396499633789
+60.0,60.0,0.0,-44.0,53.0,83.40982055664062
+60.0,60.0,0.0,-45.0,54.0,84.85281372070312
+60.0,60.0,0.0,-46.0,54.0,86.3733901977539
+60.0,60.0,0.0,-47.0,54.0,87.97675323486328
+60.0,60.0,0.0,-48.0,54.0,89.66859436035156
+60.0,60.0,0.0,-49.0,55.0,91.45519256591797
+60.0,60.0,0.0,-50.0,55.0,93.34342193603516
+60.0,60.0,0.0,-51.0,55.0,95.34093475341797
+60.0,60.0,0.0,-52.0,56.0,97.45614624023438
+60.0,60.0,0.0,-53.0,56.0,99.69840240478516
+60.0,60.0,0.0,-54.0,101.0,102.07809448242188
+60.0,60.0,0.0,-55.0,101.0,104.60681915283203
+60.0,60.0,0.0,-56.0,101.0,107.29750061035156
+60.0,60.0,0.0,-57.0,101.0,110.16471862792969
+60.0,60.0,0.0,-58.0,101.0,111.70548248291016
+60.0,60.0,0.0,-59.0,101.0,109.41111755371094
+60.0,60.0,0.0,-60.0,101.0,107.24109649658203
+60.0,60.0,0.0,-61.0,101.0,105.18690490722656
+60.0,60.0,0.0,-62.0,102.0,103.24078369140625
+60.0,60.0,0.0,-63.0,102.0,101.39568328857422
+60.0,60.0,0.0,-64.0,102.0,99.64521789550781
+60.0,60.0,0.0,-65.0,102.0,97.9834976196289
+60.0,60.0,0.0,-66.0,103.0,96.4051742553711
+60.0,60.0,0.0,-67.0,103.0,94.90534210205078
+60.0,60.0,0.0,-68.0,103.0,93.47949981689453
+60.0,60.0,0.0,-69.0,103.0,92.12350463867188
+60.0,60.0,0.0,-70.0,103.0,90.83357238769531
+60.0,60.0,0.0,-71.0,255.0,89.6061782836914
+60.0,60.0,0.0,-72.0,255.0,88.4380874633789
+60.0,60.0,0.0,-73.0,255.0,87.32633209228516
+60.0,60.0,0.0,-74.0,103.0,86.26811981201172
+60.0,60.0,0.0,-75.0,255.0,85.26091003417969
+60.0,60.0,0.0,-76.0,102.0,84.30233001708984
+60.0,60.0,0.0,-77.0,102.0,83.39018249511719
+60.0,60.0,0.0,-78.0,101.0,82.52244567871094
+60.0,60.0,0.0,-79.0,101.0,81.69718933105469
+60.0,60.0,0.0,-80.0,101.0,80.91268920898438
+60.0,60.0,0.0,-81.0,101.0,80.16730499267578
+60.0,60.0,0.0,-82.0,101.0,79.4594955444336
+60.0,60.0,0.0,-83.0,101.0,78.78787994384766
+60.0,60.0,0.0,-84.0,101.0,78.15113067626953
+60.0,60.0,0.0,-85.0,101.0,77.54800415039062
+60.0,60.0,0.0,-86.0,101.0,76.97740173339844
+60.0,60.0,0.0,-87.0,101.0,76.4382553100586
+60.0,60.0,0.0,-88.0,101.0,75.92955780029297
+60.0,60.0,0.0,-89.0,101.0,75.45042419433594
+60.0,60.0,0.0,-90.0,101.0,75.0

SonarModel/medidasSegunda/715757.txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+50.0,50.0,0.0,90.0,43.0,50.0
+50.0,50.0,0.0,89.0,48.0,50.00761795043945
+50.0,50.0,0.0,88.0,48.0,50.03047561645508
+50.0,50.0,0.0,87.0,48.0,50.06861877441406
+50.0,50.0,0.0,86.0,48.0,50.122093200683594
+50.0,50.0,0.0,85.0,48.0,50.19099426269531
+50.0,50.0,0.0,84.0,48.0,50.275413513183594
+50.0,50.0,0.0,83.0,49.0,50.375492095947266
+50.0,50.0,0.0,82.0,49.0,50.49137878417969
+50.0,50.0,0.0,81.0,49.0,50.62325668334961
+50.0,50.0,0.0,80.0,49.0,50.771331787109375
+50.0,50.0,0.0,79.0,49.0,50.93583297729492
+50.0,50.0,0.0,78.0,49.0,51.11703109741211
+50.0,50.0,0.0,77.0,49.0,51.31520462036133
+50.0,50.0,0.0,76.0,49.0,51.53068161010742
+50.0,50.0,0.0,75.0,49.0,51.76380920410156
+50.0,50.0,0.0,74.0,49.0,52.01497268676758
+50.0,50.0,0.0,73.0,50.0,52.28458786010742
+50.0,50.0,0.0,72.0,50.0,52.57311248779297
+50.0,50.0,0.0,71.0,50.0,52.88103485107422
+50.0,50.0,0.0,70.0,50.0,53.20888900756836
+50.0,50.0,0.0,69.0,50.0,53.5572509765625
+50.0,50.0,0.0,68.0,50.0,53.926734924316406
+50.0,50.0,0.0,67.0,50.0,54.318016052246094
+50.0,50.0,0.0,66.0,50.0,54.7318115234375
+50.0,50.0,0.0,65.0,50.0,55.16889572143555
+50.0,50.0,0.0,64.0,51.0,55.63010025024414
+50.0,50.0,0.0,63.0,51.0,56.116310119628906
+50.0,50.0,0.0,62.0,51.0,56.628501892089844
+50.0,50.0,0.0,61.0,50.0,57.167701721191406
+50.0,50.0,0.0,60.0,51.0,57.73502731323242
+50.0,50.0,0.0,59.0,52.0,58.331668853759766
+50.0,50.0,0.0,58.0,52.0,58.958919525146484
+50.0,50.0,0.0,57.0,52.0,59.6181640625
+50.0,50.0,0.0,56.0,51.0,60.31089782714844
+50.0,50.0,0.0,55.0,50.0,61.03873062133789
+50.0,50.0,0.0,54.0,52.0,61.80339813232422
+50.0,50.0,0.0,53.0,66.0,62.60678482055664
+50.0,50.0,0.0,52.0,66.0,63.45090866088867
+50.0,50.0,0.0,51.0,52.0,64.33798217773438
+50.0,50.0,0.0,50.0,51.0,65.2703628540039
+50.0,50.0,0.0,49.0,50.0,66.25064849853516
+50.0,50.0,0.0,48.0,50.0,67.28163146972656
+50.0,50.0,0.0,47.0,66.0,68.36637115478516
+50.0,50.0,0.0,46.0,66.0,69.50818634033203
+50.0,50.0,0.0,45.0,66.0,70.71067810058594
+50.0,50.0,0.0,44.0,49.0,69.50818634033203
+50.0,50.0,0.0,43.0,48.0,68.36637115478516
+50.0,50.0,0.0,42.0,47.0,67.28163146972656
+50.0,50.0,0.0,41.0,47.0,66.25064849853516
+50.0,50.0,0.0,40.0,47.0,65.2703628540039
+50.0,50.0,0.0,39.0,47.0,64.33798217773438
+50.0,50.0,0.0,38.0,46.0,63.45090866088867
+50.0,50.0,0.0,37.0,46.0,62.60678482055664
+50.0,50.0,0.0,36.0,46.0,61.80339813232422
+50.0,50.0,0.0,35.0,46.0,61.03873062133789
+50.0,50.0,0.0,34.0,45.0,60.31089782714844
+50.0,50.0,0.0,33.0,45.0,59.6181640625
+50.0,50.0,0.0,32.0,45.0,58.958919525146484
+50.0,50.0,0.0,31.0,45.0,58.331668853759766
+50.0,50.0,0.0,30.0,45.0,57.73502731323242
+50.0,50.0,0.0,29.0,45.0,57.167701721191406
+50.0,50.0,0.0,28.0,44.0,56.628501892089844
+50.0,50.0,0.0,27.0,44.0,56.116310119628906
+50.0,50.0,0.0,26.0,44.0,55.63010025024414
+50.0,50.0,0.0,25.0,44.0,55.16889572143555
+50.0,50.0,0.0,24.0,44.0,54.7318115234375
+50.0,50.0,0.0,23.0,44.0,54.318016052246094
+50.0,50.0,0.0,22.0,44.0,53.926734924316406
+50.0,50.0,0.0,21.0,44.0,53.5572509765625
+50.0,50.0,0.0,20.0,43.0,53.20888900756836
+50.0,50.0,0.0,19.0,43.0,52.88103485107422
+50.0,50.0,0.0,18.0,43.0,52.57311248779297
+50.0,50.0,0.0,17.0,43.0,52.28458786010742
+50.0,50.0,0.0,16.0,43.0,52.01497268676758
+50.0,50.0,0.0,15.0,43.0,51.76380920410156
+50.0,50.0,0.0,14.0,43.0,51.53068161010742
+50.0,50.0,0.0,13.0,43.0,51.31520462036133
+50.0,50.0,0.0,12.0,43.0,51.11703109741211
+50.0,50.0,0.0,11.0,43.0,50.93583297729492
+50.0,50.0,0.0,10.0,43.0,50.771331787109375
+50.0,50.0,0.0,9.0,43.0,50.62325668334961
+50.0,50.0,0.0,8.0,43.0,50.49137878417969
+50.0,50.0,0.0,7.0,43.0,50.375492095947266
+50.0,50.0,0.0,6.0,43.0,50.275413513183594
+50.0,50.0,0.0,5.0,43.0,50.19099426269531
+50.0,50.0,0.0,4.0,43.0,50.122093200683594
+50.0,50.0,0.0,3.0,43.0,50.06861877441406
+50.0,50.0,0.0,2.0,43.0,50.03047561645508
+50.0,50.0,0.0,1.0,43.0,50.00761795043945
+50.0,50.0,0.0,-0.0,43.0,50.0
+50.0,50.0,0.0,-1.0,43.0,50.00761795043945
+50.0,50.0,0.0,-2.0,43.0,50.03047561645508
+50.0,50.0,0.0,-3.0,43.0,50.06861877441406
+50.0,50.0,0.0,-4.0,43.0,50.122093200683594
+50.0,50.0,0.0,-5.0,43.0,50.19099426269531
+50.0,50.0,0.0,-6.0,43.0,50.275413513183594
+50.0,50.0,0.0,-7.0,43.0,50.375492095947266
+50.0,50.0,0.0,-8.0,43.0,50.49137878417969
+50.0,50.0,0.0,-9.0,43.0,50.62325668334961
+50.0,50.0,0.0,-10.0,43.0,50.771331787109375
+50.0,50.0,0.0,-11.0,43.0,50.93583297729492
+50.0,50.0,0.0,-12.0,43.0,51.11703109741211
+50.0,50.0,0.0,-13.0,43.0,51.31520462036133
+50.0,50.0,0.0,-14.0,43.0,51.53068161010742
+50.0,50.0,0.0,-15.0,43.0,51.76380920410156
+50.0,50.0,0.0,-16.0,43.0,52.01496887207031
+50.0,50.0,0.0,-17.0,43.0,52.28458786010742
+50.0,50.0,0.0,-18.0,44.0,52.57311248779297
+50.0,50.0,0.0,-19.0,44.0,52.88103103637695
+50.0,50.0,0.0,-20.0,44.0,53.20888900756836
+50.0,50.0,0.0,-21.0,44.0,53.557247161865234
+50.0,50.0,0.0,-22.0,44.0,53.926734924316406
+50.0,50.0,0.0,-23.0,44.0,54.318016052246094
+50.0,50.0,0.0,-24.0,44.0,54.7318115234375
+50.0,50.0,0.0,-25.0,44.0,55.16889190673828
+50.0,50.0,0.0,-26.0,44.0,55.630096435546875
+50.0,50.0,0.0,-27.0,44.0,56.11630630493164
+50.0,50.0,0.0,-28.0,44.0,56.62850570678711
+50.0,50.0,0.0,-29.0,44.0,57.167701721191406
+50.0,50.0,0.0,-30.0,45.0,57.73502731323242
+50.0,50.0,0.0,-31.0,45.0,58.331668853759766
+50.0,50.0,0.0,-32.0,45.0,58.95891571044922
+50.0,50.0,0.0,-33.0,45.0,59.6181640625
+50.0,50.0,0.0,-34.0,45.0,60.31089782714844
+50.0,50.0,0.0,-35.0,45.0,61.03873062133789
+50.0,50.0,0.0,-36.0,46.0,61.80339813232422
+50.0,50.0,0.0,-37.0,46.0,62.60678482055664
+50.0,50.0,0.0,-38.0,46.0,63.45090866088867
+50.0,50.0,0.0,-39.0,46.0,64.33798217773438
+50.0,50.0,0.0,-40.0,46.0,65.2703628540039
+50.0,50.0,0.0,-41.0,47.0,66.25064849853516
+50.0,50.0,0.0,-42.0,47.0,67.28163146972656
+50.0,50.0,0.0,-43.0,47.0,68.36637115478516
+50.0,50.0,0.0,-44.0,47.0,69.50818634033203
+50.0,50.0,0.0,-45.0,48.0,70.71067810058594
+50.0,50.0,0.0,-46.0,48.0,71.97782135009766
+50.0,50.0,0.0,-47.0,48.0,73.31396484375
+50.0,50.0,0.0,-48.0,49.0,74.72382354736328
+50.0,50.0,0.0,-49.0,107.0,76.21265411376953
+50.0,50.0,0.0,-50.0,107.0,77.78619384765625
+50.0,50.0,0.0,-51.0,107.0,79.45079040527344
+50.0,50.0,0.0,-52.0,107.0,81.21346282958984
+50.0,50.0,0.0,-53.0,107.0,83.08200073242188
+50.0,50.0,0.0,-54.0,107.0,85.0650863647461
+50.0,50.0,0.0,-55.0,107.0,87.17234802246094
+50.0,50.0,0.0,-56.0,107.0,89.41458892822266
+50.0,50.0,0.0,-57.0,107.0,91.80392456054688
+50.0,50.0,0.0,-58.0,107.0,94.35398864746094
+50.0,50.0,0.0,-59.0,107.0,97.08018493652344
+50.0,50.0,0.0,-60.0,107.0,100.0
+50.0,50.0,0.0,-61.0,106.0,103.13328552246094
+50.0,50.0,0.0,-62.0,106.0,106.5027084350586
+50.0,50.0,0.0,-63.0,106.0,110.13447570800781
+50.0,50.0,0.0,-64.0,106.0,114.05859375
+50.0,50.0,0.0,-65.0,106.0,115.40278625488281
+50.0,50.0,0.0,-66.0,106.0,113.54386138916016
+50.0,50.0,0.0,-67.0,106.0,111.77738952636719
+50.0,50.0,0.0,-68.0,106.0,110.09806823730469
+50.0,50.0,0.0,-69.0,106.0,108.50102233886719
+50.0,50.0,0.0,-70.0,106.0,106.98175048828125
+50.0,50.0,0.0,-71.0,106.0,105.53617095947266
+50.0,50.0,0.0,-72.0,106.0,104.1604232788086
+50.0,50.0,0.0,-73.0,106.0,102.85099792480469
+50.0,50.0,0.0,-74.0,106.0,101.60467529296875
+50.0,50.0,0.0,-75.0,106.0,100.41840362548828
+50.0,50.0,0.0,-76.0,107.0,99.2894058227539
+50.0,50.0,0.0,-77.0,106.0,98.21510314941406
+50.0,50.0,0.0,-78.0,106.0,97.19309997558594
+50.0,50.0,0.0,-79.0,106.0,96.22113037109375
+50.0,50.0,0.0,-80.0,106.0,95.29717254638672
+50.0,50.0,0.0,-81.0,107.0,94.41926574707031
+50.0,50.0,0.0,-82.0,107.0,93.58563995361328
+50.0,50.0,0.0,-83.0,107.0,92.79461669921875
+50.0,50.0,0.0,-84.0,107.0,92.04467010498047
+50.0,50.0,0.0,-85.0,255.0,91.3343276977539
+50.0,50.0,0.0,-86.0,255.0,90.66226959228516
+50.0,50.0,0.0,-87.0,255.0,90.02726745605469
+50.0,50.0,0.0,-88.0,108.0,89.42813110351562
+50.0,50.0,0.0,-89.0,233.0,88.86383056640625
+50.0,50.0,0.0,-90.0,232.0,88.33332824707031

SonarModel/medidasSegunda/721547.txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+59.0,66.0,0.0,90.0,57.0,59.0
+59.0,66.0,0.0,89.0,55.0,59.00898742675781
+59.0,66.0,0.0,88.0,55.0,59.03596115112305
+59.0,66.0,0.0,87.0,56.0,59.08096694946289
+59.0,66.0,0.0,86.0,56.0,59.144073486328125
+59.0,66.0,0.0,85.0,56.0,59.225372314453125
+59.0,66.0,0.0,84.0,56.0,59.324989318847656
+59.0,66.0,0.0,83.0,56.0,59.44308090209961
+59.0,66.0,0.0,82.0,56.0,59.57982635498047
+59.0,66.0,0.0,81.0,56.0,59.735443115234375
+59.0,66.0,0.0,80.0,56.0,59.91017150878906
+59.0,66.0,0.0,79.0,56.0,60.104286193847656
+59.0,66.0,0.0,78.0,56.0,60.318092346191406
+59.0,66.0,0.0,77.0,56.0,60.55194091796875
+59.0,66.0,0.0,76.0,56.0,60.80620193481445
+59.0,66.0,0.0,75.0,56.0,61.081295013427734
+59.0,66.0,0.0,74.0,56.0,61.37766647338867
+59.0,66.0,0.0,73.0,56.0,61.69581604003906
+59.0,66.0,0.0,72.0,56.0,62.03627014160156
+59.0,66.0,0.0,71.0,56.0,62.399620056152344
+59.0,66.0,0.0,70.0,56.0,62.7864875793457
+59.0,66.0,0.0,69.0,56.0,63.19755554199219
+59.0,66.0,0.0,68.0,56.0,63.633548736572266
+59.0,66.0,0.0,67.0,56.0,64.09526062011719
+59.0,66.0,0.0,66.0,56.0,64.58354187011719
+59.0,66.0,0.0,65.0,56.0,65.09929656982422
+59.0,66.0,0.0,64.0,56.0,65.64351654052734
+59.0,66.0,0.0,63.0,57.0,66.21724700927734
+59.0,66.0,0.0,62.0,57.0,66.8216323852539
+59.0,66.0,0.0,61.0,57.0,67.45789337158203
+59.0,66.0,0.0,60.0,57.0,68.12733459472656
+59.0,66.0,0.0,59.0,57.0,68.83136749267578
+59.0,66.0,0.0,58.0,57.0,69.57152557373047
+59.0,66.0,0.0,57.0,57.0,70.34943389892578
+59.0,66.0,0.0,56.0,58.0,71.16686248779297
+59.0,66.0,0.0,55.0,58.0,72.02570343017578
+59.0,66.0,0.0,54.0,58.0,72.92800903320312
+59.0,66.0,0.0,53.0,58.0,73.87600708007812
+59.0,66.0,0.0,52.0,58.0,74.8720703125
+59.0,66.0,0.0,51.0,58.0,75.91881561279297
+59.0,66.0,0.0,50.0,59.0,77.01903533935547
+59.0,66.0,0.0,49.0,59.0,78.17576599121094
+59.0,66.0,0.0,48.0,59.0,79.392333984375
+59.0,66.0,0.0,47.0,59.0,80.67231750488281
+59.0,66.0,0.0,46.0,60.0,82.0196533203125
+59.0,66.0,0.0,45.0,62.0,83.4385986328125
+59.0,66.0,0.0,44.0,60.0,84.933837890625
+59.0,66.0,0.0,43.0,60.0,86.5104751586914
+59.0,66.0,0.0,42.0,60.0,88.17411804199219
+59.0,66.0,0.0,41.0,82.0,87.45085906982422
+59.0,66.0,0.0,40.0,81.0,86.1568832397461
+59.0,66.0,0.0,39.0,81.0,84.92613220214844
+59.0,66.0,0.0,38.0,81.0,83.75520324707031
+59.0,66.0,0.0,37.0,61.0,82.64095306396484
+59.0,66.0,0.0,36.0,61.0,81.58049011230469
+59.0,66.0,0.0,35.0,81.0,80.57112121582031
+59.0,66.0,0.0,34.0,81.0,79.61038208007812
+59.0,66.0,0.0,33.0,82.0,78.69597625732422
+59.0,66.0,0.0,32.0,82.0,77.82576751708984
+59.0,66.0,0.0,31.0,61.0,76.997802734375
+59.0,66.0,0.0,30.0,60.0,76.21023559570312
+59.0,66.0,0.0,29.0,61.0,75.46136474609375
+59.0,66.0,0.0,28.0,63.0,74.74962615966797
+59.0,66.0,0.0,27.0,63.0,74.07353210449219
+59.0,66.0,0.0,26.0,60.0,73.43173217773438
+59.0,66.0,0.0,25.0,59.0,72.82293701171875
+59.0,66.0,0.0,24.0,59.0,72.2459945678711
+59.0,66.0,0.0,23.0,60.0,71.69978332519531
+59.0,66.0,0.0,22.0,60.0,71.18328857421875
+59.0,66.0,0.0,21.0,59.0,70.69557189941406
+59.0,66.0,0.0,20.0,59.0,70.23573303222656
+59.0,66.0,0.0,19.0,58.0,69.80296325683594
+59.0,66.0,0.0,18.0,59.0,69.3965072631836
+59.0,66.0,0.0,17.0,59.0,69.01565551757812
+59.0,66.0,0.0,16.0,58.0,68.65975952148438
+59.0,66.0,0.0,15.0,58.0,68.3282241821289
+59.0,66.0,0.0,14.0,58.0,68.02050018310547
+59.0,66.0,0.0,13.0,58.0,67.73606872558594
+59.0,66.0,0.0,12.0,58.0,67.47447967529297
+59.0,66.0,0.0,11.0,58.0,67.23530578613281
+59.0,66.0,0.0,10.0,58.0,67.01815795898438
+59.0,66.0,0.0,9.0,58.0,66.82270050048828
+59.0,66.0,0.0,8.0,58.0,66.64862060546875
+59.0,66.0,0.0,7.0,57.0,66.49565124511719
+59.0,66.0,0.0,6.0,57.0,66.3635482788086
+59.0,66.0,0.0,5.0,57.0,66.25210571289062
+59.0,66.0,0.0,4.0,57.0,66.16116333007812
+59.0,66.0,0.0,3.0,57.0,66.090576171875
+59.0,66.0,0.0,2.0,57.0,66.04022979736328
+59.0,66.0,0.0,1.0,57.0,66.01005554199219
+59.0,66.0,0.0,-0.0,57.0,66.0
+59.0,66.0,0.0,-1.0,57.0,66.01005554199219
+59.0,66.0,0.0,-2.0,57.0,66.04022979736328
+59.0,66.0,0.0,-3.0,57.0,66.090576171875
+59.0,66.0,0.0,-4.0,57.0,66.16116333007812
+59.0,66.0,0.0,-5.0,57.0,66.25210571289062
+59.0,66.0,0.0,-6.0,57.0,66.3635482788086
+59.0,66.0,0.0,-7.0,57.0,66.49565124511719
+59.0,66.0,0.0,-8.0,57.0,66.64862060546875
+59.0,66.0,0.0,-9.0,57.0,66.82270050048828
+59.0,66.0,0.0,-10.0,57.0,67.01815795898438
+59.0,66.0,0.0,-11.0,57.0,67.23530578613281
+59.0,66.0,0.0,-12.0,57.0,67.47447967529297
+59.0,66.0,0.0,-13.0,57.0,67.73606872558594
+59.0,66.0,0.0,-14.0,57.0,68.02050018310547
+59.0,66.0,0.0,-15.0,57.0,68.3282241821289
+59.0,66.0,0.0,-16.0,57.0,68.65975952148438
+59.0,66.0,0.0,-17.0,57.0,69.01565551757812
+59.0,66.0,0.0,-18.0,57.0,69.3965072631836
+59.0,66.0,0.0,-19.0,57.0,69.80296325683594
+59.0,66.0,0.0,-20.0,57.0,70.23572540283203
+59.0,66.0,0.0,-21.0,57.0,70.69556427001953
+59.0,66.0,0.0,-22.0,57.0,71.18329620361328
+59.0,66.0,0.0,-23.0,57.0,71.69978332519531
+59.0,66.0,0.0,-24.0,57.0,72.2459945678711
+59.0,66.0,0.0,-25.0,57.0,72.82294464111328
+59.0,66.0,0.0,-26.0,57.0,73.43173217773438
+59.0,66.0,0.0,-27.0,57.0,74.07353210449219
+59.0,66.0,0.0,-28.0,57.0,74.74962615966797
+59.0,66.0,0.0,-29.0,58.0,75.46136474609375
+59.0,66.0,0.0,-30.0,58.0,76.21023559570312
+59.0,66.0,0.0,-31.0,58.0,76.997802734375
+59.0,66.0,0.0,-32.0,58.0,77.82576751708984
+59.0,66.0,0.0,-33.0,58.0,78.69597625732422
+59.0,66.0,0.0,-34.0,58.0,79.61038208007812
+59.0,66.0,0.0,-35.0,58.0,80.57112121582031
+59.0,66.0,0.0,-36.0,58.0,81.58049011230469
+59.0,66.0,0.0,-37.0,58.0,82.64096069335938
+59.0,66.0,0.0,-38.0,58.0,83.75520324707031
+59.0,66.0,0.0,-39.0,59.0,84.92613220214844
+59.0,66.0,0.0,-40.0,59.0,86.15687561035156
+59.0,66.0,0.0,-41.0,59.0,87.45085144042969
+59.0,66.0,0.0,-42.0,59.0,88.81175994873047
+59.0,66.0,0.0,-43.0,59.0,90.24361419677734
+59.0,66.0,0.0,-44.0,59.0,91.75080108642578
+59.0,66.0,0.0,-45.0,60.0,93.33809661865234
+59.0,66.0,0.0,-46.0,60.0,95.01072692871094
+59.0,66.0,0.0,-47.0,60.0,96.77442932128906
+59.0,66.0,0.0,-48.0,60.0,98.63544464111328
+59.0,66.0,0.0,-49.0,60.0,100.6007080078125
+59.0,66.0,0.0,-50.0,61.0,102.67777252197266
+59.0,66.0,0.0,-51.0,61.0,104.87503051757812
+59.0,66.0,0.0,-52.0,62.0,107.2017593383789
+59.0,66.0,0.0,-53.0,62.0,109.66824340820312
+59.0,66.0,0.0,-54.0,62.0,112.28591918945312
+59.0,66.0,0.0,-55.0,255.0,115.06749725341797
+59.0,66.0,0.0,-56.0,255.0,115.15000915527344
+59.0,66.0,0.0,-57.0,255.0,112.61188507080078
+59.0,66.0,0.0,-58.0,255.0,110.21607208251953
+59.0,66.0,0.0,-59.0,255.0,107.95230865478516
+59.0,66.0,0.0,-60.0,255.0,105.81120300292969
+59.0,66.0,0.0,-61.0,255.0,103.78441619873047
+59.0,66.0,0.0,-62.0,255.0,101.86425018310547
+59.0,66.0,0.0,-63.0,255.0,100.04374694824219
+59.0,66.0,0.0,-64.0,255.0,98.31661987304688
+59.0,66.0,0.0,-65.0,255.0,96.67704010009766
+59.0,66.0,0.0,-66.0,255.0,95.11975860595703
+59.0,66.0,0.0,-67.0,255.0,93.63993835449219
+59.0,66.0,0.0,-68.0,255.0,92.23310089111328
+59.0,66.0,0.0,-69.0,255.0,90.89519500732422
+59.0,66.0,0.0,-70.0,255.0,89.62245178222656
+59.0,66.0,0.0,-71.0,255.0,88.41143035888672
+59.0,66.0,0.0,-72.0,255.0,87.25891876220703
+59.0,66.0,0.0,-73.0,255.0,86.16197967529297
+59.0,66.0,0.0,-74.0,255.0,85.11788177490234
+59.0,66.0,0.0,-75.0,255.0,84.12409973144531
+59.0,66.0,0.0,-76.0,255.0,83.17829895019531
+59.0,66.0,0.0,-77.0,255.0,82.27831268310547
+59.0,66.0,0.0,-78.0,255.0,81.42213439941406
+59.0,66.0,0.0,-79.0,255.0,80.60789489746094
+59.0,66.0,0.0,-80.0,255.0,79.83385467529297
+59.0,66.0,0.0,-81.0,255.0,79.09840393066406
+59.0,66.0,0.0,-82.0,255.0,78.40003967285156
+59.0,66.0,0.0,-83.0,107.0,77.73737335205078
+59.0,66.0,0.0,-84.0,107.0,77.10912322998047
+59.0,66.0,0.0,-85.0,107.0,76.51404571533203
+59.0,66.0,0.0,-86.0,106.0,75.95103454589844
+59.0,66.0,0.0,-87.0,106.0,75.41905975341797
+59.0,66.0,0.0,-88.0,106.0,74.91716003417969
+59.0,66.0,0.0,-89.0,107.0,74.44441223144531
+59.0,66.0,0.0,-90.0,75.0,74.0

SonarModel/medidasSegunda/744446.txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+50.0,50.0,0.0,90.0,43.0,50.0
+50.0,50.0,0.0,89.0,48.0,50.00761795043945
+50.0,50.0,0.0,88.0,48.0,50.03047561645508
+50.0,50.0,0.0,87.0,48.0,50.06861877441406
+50.0,50.0,0.0,86.0,48.0,50.122093200683594
+50.0,50.0,0.0,85.0,48.0,50.19099426269531
+50.0,50.0,0.0,84.0,48.0,50.275413513183594
+50.0,50.0,0.0,83.0,48.0,50.375492095947266
+50.0,50.0,0.0,82.0,49.0,50.49137878417969
+50.0,50.0,0.0,81.0,49.0,50.62325668334961
+50.0,50.0,0.0,80.0,49.0,50.771331787109375
+50.0,50.0,0.0,79.0,49.0,50.93583297729492
+50.0,50.0,0.0,78.0,49.0,51.11703109741211
+50.0,50.0,0.0,77.0,49.0,51.31520462036133
+50.0,50.0,0.0,76.0,49.0,51.53068161010742
+50.0,50.0,0.0,75.0,49.0,51.76380920410156
+50.0,50.0,0.0,74.0,49.0,52.01497268676758
+50.0,50.0,0.0,73.0,50.0,52.28458786010742
+50.0,50.0,0.0,72.0,50.0,52.57311248779297
+50.0,50.0,0.0,71.0,50.0,52.88103485107422
+50.0,50.0,0.0,70.0,50.0,53.20888900756836
+50.0,50.0,0.0,69.0,50.0,53.5572509765625
+50.0,50.0,0.0,68.0,50.0,53.926734924316406
+50.0,50.0,0.0,67.0,50.0,54.318016052246094
+50.0,50.0,0.0,66.0,50.0,54.7318115234375
+50.0,50.0,0.0,65.0,50.0,55.16889572143555
+50.0,50.0,0.0,64.0,51.0,55.63010025024414
+50.0,50.0,0.0,63.0,51.0,56.116310119628906
+50.0,50.0,0.0,62.0,50.0,56.628501892089844
+50.0,50.0,0.0,61.0,50.0,57.167701721191406
+50.0,50.0,0.0,60.0,51.0,57.73502731323242
+50.0,50.0,0.0,59.0,52.0,58.331668853759766
+50.0,50.0,0.0,58.0,52.0,58.958919525146484
+50.0,50.0,0.0,57.0,51.0,59.6181640625
+50.0,50.0,0.0,56.0,50.0,60.31089782714844
+50.0,50.0,0.0,55.0,51.0,61.03873062133789
+50.0,50.0,0.0,54.0,66.0,61.80339813232422
+50.0,50.0,0.0,53.0,66.0,62.60678482055664
+50.0,50.0,0.0,52.0,54.0,63.45090866088867
+50.0,50.0,0.0,51.0,51.0,64.33798217773438
+50.0,50.0,0.0,50.0,51.0,65.2703628540039
+50.0,50.0,0.0,49.0,50.0,66.25064849853516
+50.0,50.0,0.0,48.0,66.0,67.28163146972656
+50.0,50.0,0.0,47.0,66.0,68.36637115478516
+50.0,50.0,0.0,46.0,66.0,69.50818634033203
+50.0,50.0,0.0,45.0,50.0,70.71067810058594
+50.0,50.0,0.0,44.0,48.0,69.50818634033203
+50.0,50.0,0.0,43.0,47.0,68.36637115478516
+50.0,50.0,0.0,42.0,47.0,67.28163146972656
+50.0,50.0,0.0,41.0,47.0,66.25064849853516
+50.0,50.0,0.0,40.0,47.0,65.2703628540039
+50.0,50.0,0.0,39.0,46.0,64.33798217773438
+50.0,50.0,0.0,38.0,46.0,63.45090866088867
+50.0,50.0,0.0,37.0,46.0,62.60678482055664
+50.0,50.0,0.0,36.0,46.0,61.80339813232422
+50.0,50.0,0.0,35.0,45.0,61.03873062133789
+50.0,50.0,0.0,34.0,45.0,60.31089782714844
+50.0,50.0,0.0,33.0,45.0,59.6181640625
+50.0,50.0,0.0,32.0,45.0,58.958919525146484
+50.0,50.0,0.0,31.0,45.0,58.331668853759766
+50.0,50.0,0.0,30.0,45.0,57.73502731323242
+50.0,50.0,0.0,29.0,44.0,57.167701721191406
+50.0,50.0,0.0,28.0,44.0,56.628501892089844
+50.0,50.0,0.0,27.0,44.0,56.116310119628906
+50.0,50.0,0.0,26.0,44.0,55.63010025024414
+50.0,50.0,0.0,25.0,44.0,55.16889572143555
+50.0,50.0,0.0,24.0,44.0,54.7318115234375
+50.0,50.0,0.0,23.0,44.0,54.318016052246094
+50.0,50.0,0.0,22.0,44.0,53.926734924316406
+50.0,50.0,0.0,21.0,44.0,53.5572509765625
+50.0,50.0,0.0,20.0,43.0,53.20888900756836
+50.0,50.0,0.0,19.0,43.0,52.88103485107422
+50.0,50.0,0.0,18.0,43.0,52.57311248779297
+50.0,50.0,0.0,17.0,43.0,52.28458786010742
+50.0,50.0,0.0,16.0,43.0,52.01497268676758
+50.0,50.0,0.0,15.0,43.0,51.76380920410156
+50.0,50.0,0.0,14.0,43.0,51.53068161010742
+50.0,50.0,0.0,13.0,43.0,51.31520462036133
+50.0,50.0,0.0,12.0,43.0,51.11703109741211
+50.0,50.0,0.0,11.0,43.0,50.93583297729492
+50.0,50.0,0.0,10.0,43.0,50.771331787109375
+50.0,50.0,0.0,9.0,43.0,50.62325668334961
+50.0,50.0,0.0,8.0,43.0,50.49137878417969
+50.0,50.0,0.0,7.0,43.0,50.375492095947266
+50.0,50.0,0.0,6.0,43.0,50.275413513183594
+50.0,50.0,0.0,5.0,43.0,50.19099426269531
+50.0,50.0,0.0,4.0,43.0,50.122093200683594
+50.0,50.0,0.0,3.0,43.0,50.06861877441406
+50.0,50.0,0.0,2.0,43.0,50.03047561645508
+50.0,50.0,0.0,1.0,43.0,50.00761795043945
+50.0,50.0,0.0,-0.0,43.0,50.0
+50.0,50.0,0.0,-1.0,43.0,50.00761795043945
+50.0,50.0,0.0,-2.0,43.0,50.03047561645508
+50.0,50.0,0.0,-3.0,43.0,50.06861877441406
+50.0,50.0,0.0,-4.0,43.0,50.122093200683594
+50.0,50.0,0.0,-5.0,43.0,50.19099426269531
+50.0,50.0,0.0,-6.0,43.0,50.275413513183594
+50.0,50.0,0.0,-7.0,43.0,50.375492095947266
+50.0,50.0,0.0,-8.0,43.0,50.49137878417969
+50.0,50.0,0.0,-9.0,43.0,50.62325668334961
+50.0,50.0,0.0,-10.0,43.0,50.771331787109375
+50.0,50.0,0.0,-11.0,43.0,50.93583297729492
+50.0,50.0,0.0,-12.0,43.0,51.11703109741211
+50.0,50.0,0.0,-13.0,43.0,51.31520462036133
+50.0,50.0,0.0,-14.0,43.0,51.53068161010742
+50.0,50.0,0.0,-15.0,43.0,51.76380920410156
+50.0,50.0,0.0,-16.0,44.0,52.01496887207031
+50.0,50.0,0.0,-17.0,44.0,52.28458786010742
+50.0,50.0,0.0,-18.0,44.0,52.57311248779297
+50.0,50.0,0.0,-19.0,44.0,52.88103103637695
+50.0,50.0,0.0,-20.0,44.0,53.20888900756836
+50.0,50.0,0.0,-21.0,44.0,53.557247161865234
+50.0,50.0,0.0,-22.0,44.0,53.926734924316406
+50.0,50.0,0.0,-23.0,44.0,54.318016052246094
+50.0,50.0,0.0,-24.0,44.0,54.7318115234375
+50.0,50.0,0.0,-25.0,44.0,55.16889190673828
+50.0,50.0,0.0,-26.0,44.0,55.630096435546875
+50.0,50.0,0.0,-27.0,44.0,56.11630630493164
+50.0,50.0,0.0,-28.0,44.0,56.62850570678711
+50.0,50.0,0.0,-29.0,44.0,57.167701721191406
+50.0,50.0,0.0,-30.0,45.0,57.73502731323242
+50.0,50.0,0.0,-31.0,45.0,58.331668853759766
+50.0,50.0,0.0,-32.0,45.0,58.95891571044922
+50.0,50.0,0.0,-33.0,45.0,59.6181640625
+50.0,50.0,0.0,-34.0,45.0,60.31089782714844
+50.0,50.0,0.0,-35.0,45.0,61.03873062133789
+50.0,50.0,0.0,-36.0,46.0,61.80339813232422
+50.0,50.0,0.0,-37.0,46.0,62.60678482055664
+50.0,50.0,0.0,-38.0,46.0,63.45090866088867
+50.0,50.0,0.0,-39.0,46.0,64.33798217773438
+50.0,50.0,0.0,-40.0,46.0,65.2703628540039
+50.0,50.0,0.0,-41.0,46.0,66.25064849853516
+50.0,50.0,0.0,-42.0,47.0,67.28163146972656
+50.0,50.0,0.0,-43.0,47.0,68.36637115478516
+50.0,50.0,0.0,-44.0,47.0,69.50818634033203
+50.0,50.0,0.0,-45.0,48.0,70.71067810058594
+50.0,50.0,0.0,-46.0,48.0,71.97782135009766
+50.0,50.0,0.0,-47.0,48.0,73.31396484375
+50.0,50.0,0.0,-48.0,49.0,74.72382354736328
+50.0,50.0,0.0,-49.0,255.0,76.21265411376953
+50.0,50.0,0.0,-50.0,255.0,77.78619384765625
+50.0,50.0,0.0,-51.0,255.0,79.45079040527344
+50.0,50.0,0.0,-52.0,255.0,81.21346282958984
+50.0,50.0,0.0,-53.0,255.0,83.08200073242188
+50.0,50.0,0.0,-54.0,255.0,85.0650863647461
+50.0,50.0,0.0,-55.0,255.0,87.17234802246094
+50.0,50.0,0.0,-56.0,255.0,89.41458892822266
+50.0,50.0,0.0,-57.0,255.0,91.80392456054688
+50.0,50.0,0.0,-58.0,255.0,94.35398864746094
+50.0,50.0,0.0,-59.0,255.0,97.08018493652344
+50.0,50.0,0.0,-60.0,255.0,100.0
+50.0,50.0,0.0,-61.0,255.0,103.13328552246094
+50.0,50.0,0.0,-62.0,255.0,106.5027084350586
+50.0,50.0,0.0,-63.0,255.0,110.13447570800781
+50.0,50.0,0.0,-64.0,255.0,114.05859375
+50.0,50.0,0.0,-65.0,255.0,115.40278625488281
+50.0,50.0,0.0,-66.0,255.0,113.54386138916016
+50.0,50.0,0.0,-67.0,255.0,111.77738952636719
+50.0,50.0,0.0,-68.0,255.0,110.09806823730469
+50.0,50.0,0.0,-69.0,255.0,108.50102233886719
+50.0,50.0,0.0,-70.0,255.0,106.98175048828125
+50.0,50.0,0.0,-71.0,255.0,105.53617095947266
+50.0,50.0,0.0,-72.0,255.0,104.1604232788086
+50.0,50.0,0.0,-73.0,255.0,102.85099792480469
+50.0,50.0,0.0,-74.0,255.0,101.60467529296875
+50.0,50.0,0.0,-75.0,255.0,100.41840362548828
+50.0,50.0,0.0,-76.0,255.0,99.2894058227539
+50.0,50.0,0.0,-77.0,255.0,98.21510314941406
+50.0,50.0,0.0,-78.0,255.0,97.19309997558594
+50.0,50.0,0.0,-79.0,255.0,96.22113037109375
+50.0,50.0,0.0,-80.0,255.0,95.29717254638672
+50.0,50.0,0.0,-81.0,255.0,94.41926574707031
+50.0,50.0,0.0,-82.0,255.0,93.58563995361328
+50.0,50.0,0.0,-83.0,255.0,92.79461669921875
+50.0,50.0,0.0,-84.0,255.0,92.04467010498047
+50.0,50.0,0.0,-85.0,255.0,91.3343276977539
+50.0,50.0,0.0,-86.0,255.0,90.66226959228516
+50.0,50.0,0.0,-87.0,255.0,90.02726745605469
+50.0,50.0,0.0,-88.0,255.0,89.42813110351562
+50.0,50.0,0.0,-89.0,233.0,88.86383056640625
+50.0,50.0,0.0,-90.0,232.0,88.33332824707031

SonarModel/medidasSegunda/884737.txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+60.0,70.0,0.0,90.0,60.0,60.0
+60.0,70.0,0.0,89.0,57.0,60.00914001464844
+60.0,70.0,0.0,88.0,57.0,60.03657150268555
+60.0,70.0,0.0,87.0,57.0,60.082340240478516
+60.0,70.0,0.0,86.0,57.0,60.146514892578125
+60.0,70.0,0.0,85.0,57.0,60.229190826416016
+60.0,70.0,0.0,84.0,57.0,60.33049774169922
+60.0,70.0,0.0,83.0,57.0,60.45058822631836
+60.0,70.0,0.0,82.0,57.0,60.58965301513672
+60.0,70.0,0.0,81.0,57.0,60.74790954589844
+60.0,70.0,0.0,80.0,58.0,60.92559814453125
+60.0,70.0,0.0,79.0,58.0,61.12300109863281
+60.0,70.0,0.0,78.0,58.0,61.34043502807617
+60.0,70.0,0.0,77.0,58.0,61.5782470703125
+60.0,70.0,0.0,76.0,58.0,61.83681869506836
+60.0,70.0,0.0,75.0,58.0,62.11656951904297
+60.0,70.0,0.0,74.0,58.0,62.417964935302734
+60.0,70.0,0.0,73.0,58.0,62.74150466918945
+60.0,70.0,0.0,72.0,58.0,63.08773422241211
+60.0,70.0,0.0,71.0,58.0,63.45724105834961
+60.0,70.0,0.0,70.0,58.0,63.85066604614258
+60.0,70.0,0.0,69.0,58.0,64.2686996459961
+60.0,70.0,0.0,68.0,58.0,64.71208190917969
+60.0,70.0,0.0,67.0,58.0,65.1816177368164
+60.0,70.0,0.0,66.0,58.0,65.67817687988281
+60.0,70.0,0.0,65.0,58.0,66.20267486572266
+60.0,70.0,0.0,64.0,58.0,66.75611877441406
+60.0,70.0,0.0,63.0,58.0,67.3395767211914
+60.0,70.0,0.0,62.0,58.0,67.9542007446289
+60.0,70.0,0.0,61.0,59.0,68.60124206542969
+60.0,70.0,0.0,60.0,59.0,69.28203582763672
+60.0,70.0,0.0,59.0,59.0,69.99800872802734
+60.0,70.0,0.0,58.0,59.0,70.75070190429688
+60.0,70.0,0.0,57.0,59.0,71.54179382324219
+60.0,70.0,0.0,56.0,59.0,72.37307739257812
+60.0,70.0,0.0,55.0,60.0,73.24647521972656
+60.0,70.0,0.0,54.0,60.0,74.16407775878906
+60.0,70.0,0.0,53.0,60.0,75.12814331054688
+60.0,70.0,0.0,52.0,60.0,76.1410903930664
+60.0,70.0,0.0,51.0,60.0,77.20557403564453
+60.0,70.0,0.0,50.0,60.0,78.3244400024414
+60.0,70.0,0.0,49.0,61.0,79.50077819824219
+60.0,70.0,0.0,48.0,61.0,80.73796844482422
+60.0,70.0,0.0,47.0,64.0,82.0396499633789
+60.0,70.0,0.0,46.0,85.0,83.40982055664062
+60.0,70.0,0.0,45.0,85.0,84.85281372070312
+60.0,70.0,0.0,44.0,63.0,86.3733901977539
+60.0,70.0,0.0,43.0,64.0,87.97675323486328
+60.0,70.0,0.0,42.0,85.0,89.66859436035156
+60.0,70.0,0.0,41.0,85.0,91.45518493652344
+60.0,70.0,0.0,40.0,84.0,91.37850952148438
+60.0,70.0,0.0,39.0,84.0,90.07316589355469
+60.0,70.0,0.0,38.0,84.0,88.8312759399414
+60.0,70.0,0.0,37.0,85.0,87.64949798583984
+60.0,70.0,0.0,36.0,85.0,86.5247573852539
+60.0,70.0,0.0,35.0,85.0,85.4542236328125
+60.0,70.0,0.0,34.0,85.0,84.43525695800781
+60.0,70.0,0.0,33.0,85.0,83.4654312133789
+60.0,70.0,0.0,32.0,85.0,82.54248809814453
+60.0,70.0,0.0,31.0,85.0,81.66433715820312
+60.0,70.0,0.0,30.0,85.0,80.82904052734375
+60.0,70.0,0.0,29.0,85.0,80.03478240966797
+60.0,70.0,0.0,28.0,85.0,79.2799072265625
+60.0,70.0,0.0,27.0,84.0,78.56283569335938
+60.0,70.0,0.0,26.0,85.0,77.88214111328125
+60.0,70.0,0.0,25.0,85.0,77.23645782470703
+60.0,70.0,0.0,24.0,85.0,76.62454223632812
+60.0,70.0,0.0,23.0,85.0,76.04522705078125
+60.0,70.0,0.0,22.0,63.0,75.49742889404297
+60.0,70.0,0.0,21.0,62.0,74.98014831542969
+60.0,70.0,0.0,20.0,62.0,74.49243927001953
+60.0,70.0,0.0,19.0,62.0,74.033447265625
+60.0,70.0,0.0,18.0,62.0,73.60235595703125
+60.0,70.0,0.0,17.0,62.0,73.19841766357422
+60.0,70.0,0.0,16.0,61.0,72.82096099853516
+60.0,70.0,0.0,15.0,61.0,72.46932983398438
+60.0,70.0,0.0,14.0,61.0,72.14295196533203
+60.0,70.0,0.0,13.0,61.0,71.8412857055664
+60.0,70.0,0.0,12.0,61.0,71.5638427734375
+60.0,70.0,0.0,11.0,61.0,71.31016540527344
+60.0,70.0,0.0,10.0,61.0,71.07986450195312
+60.0,70.0,0.0,9.0,61.0,70.87255859375
+60.0,70.0,0.0,8.0,61.0,70.68793487548828
+60.0,70.0,0.0,7.0,61.0,70.52568817138672
+60.0,70.0,0.0,6.0,61.0,70.38558197021484
+60.0,70.0,0.0,5.0,60.0,70.26738739013672
+60.0,70.0,0.0,4.0,60.0,70.17093658447266
+60.0,70.0,0.0,3.0,60.0,70.09606170654297
+60.0,70.0,0.0,2.0,60.0,70.04267120361328
+60.0,70.0,0.0,1.0,60.0,70.01066589355469
+60.0,70.0,0.0,-0.0,60.0,70.0
+60.0,70.0,0.0,-1.0,60.0,70.01066589355469
+60.0,70.0,0.0,-2.0,60.0,70.04267120361328
+60.0,70.0,0.0,-3.0,60.0,70.09606170654297
+60.0,70.0,0.0,-4.0,60.0,70.17093658447266
+60.0,70.0,0.0,-5.0,60.0,70.26738739013672
+60.0,70.0,0.0,-6.0,60.0,70.38558197021484
+60.0,70.0,0.0,-7.0,60.0,70.52568817138672
+60.0,70.0,0.0,-8.0,60.0,70.68793487548828
+60.0,70.0,0.0,-9.0,60.0,70.87255859375
+60.0,70.0,0.0,-10.0,60.0,71.07986450195312
+60.0,70.0,0.0,-11.0,60.0,71.31016540527344
+60.0,70.0,0.0,-12.0,60.0,71.5638427734375
+60.0,70.0,0.0,-13.0,60.0,71.8412857055664
+60.0,70.0,0.0,-14.0,60.0,72.14295196533203
+60.0,70.0,0.0,-15.0,60.0,72.46932983398438
+60.0,70.0,0.0,-16.0,60.0,72.82096099853516
+60.0,70.0,0.0,-17.0,60.0,73.19842529296875
+60.0,70.0,0.0,-18.0,60.0,73.60235595703125
+60.0,70.0,0.0,-19.0,60.0,74.033447265625
+60.0,70.0,0.0,-20.0,60.0,74.49243927001953
+60.0,70.0,0.0,-21.0,60.0,74.98014831542969
+60.0,70.0,0.0,-22.0,60.0,75.49742889404297
+60.0,70.0,0.0,-23.0,60.0,76.04522705078125
+60.0,70.0,0.0,-24.0,60.0,76.62454223632812
+60.0,70.0,0.0,-25.0,60.0,77.2364501953125
+60.0,70.0,0.0,-26.0,61.0,77.88213348388672
+60.0,70.0,0.0,-27.0,61.0,78.56283569335938
+60.0,70.0,0.0,-28.0,61.0,79.2799072265625
+60.0,70.0,0.0,-29.0,61.0,80.03478240966797
+60.0,70.0,0.0,-30.0,61.0,80.82904052734375
+60.0,70.0,0.0,-31.0,61.0,81.66433715820312
+60.0,70.0,0.0,-32.0,61.0,82.54248809814453
+60.0,70.0,0.0,-33.0,61.0,83.4654312133789
+60.0,70.0,0.0,-34.0,61.0,84.43525695800781
+60.0,70.0,0.0,-35.0,61.0,85.45421600341797
+60.0,70.0,0.0,-36.0,61.0,86.5247573852539
+60.0,70.0,0.0,-37.0,62.0,87.64949798583984
+60.0,70.0,0.0,-38.0,62.0,88.8312759399414
+60.0,70.0,0.0,-39.0,62.0,90.07316589355469
+60.0,70.0,0.0,-40.0,62.0,91.3785171508789
+60.0,70.0,0.0,-41.0,62.0,92.75090789794922
+60.0,70.0,0.0,-42.0,63.0,94.19429016113281
+60.0,70.0,0.0,-43.0,63.0,95.71292877197266
+60.0,70.0,0.0,-44.0,63.0,97.31145477294922
+60.0,70.0,0.0,-45.0,64.0,98.99494934082031
+60.0,70.0,0.0,-46.0,64.0,100.76895904541016
+60.0,70.0,0.0,-47.0,65.0,102.63954162597656
+60.0,70.0,0.0,-48.0,67.0,104.61335754394531
+60.0,70.0,0.0,-49.0,255.0,106.69771575927734
+60.0,70.0,0.0,-50.0,255.0,108.90066528320312
+60.0,70.0,0.0,-51.0,255.0,111.2311019897461
+60.0,70.0,0.0,-52.0,255.0,113.69883728027344
+60.0,70.0,0.0,-53.0,255.0,116.31480407714844
+60.0,70.0,0.0,-54.0,255.0,116.89447021484375
+60.0,70.0,0.0,-55.0,255.0,114.12617492675781
+60.0,70.0,0.0,-56.0,255.0,111.51915740966797
+60.0,70.0,0.0,-57.0,255.0,109.06106567382812
+60.0,70.0,0.0,-58.0,255.0,106.74079132080078
+60.0,70.0,0.0,-59.0,255.0,104.54838562011719
+60.0,70.0,0.0,-60.0,255.0,102.47482299804688
+60.0,70.0,0.0,-61.0,255.0,100.51192474365234
+60.0,70.0,0.0,-62.0,255.0,98.65230560302734
+60.0,70.0,0.0,-63.0,255.0,96.88920593261719
+60.0,70.0,0.0,-64.0,255.0,95.21654510498047
+60.0,70.0,0.0,-65.0,255.0,93.62867736816406
+60.0,70.0,0.0,-66.0,255.0,92.12049102783203
+60.0,70.0,0.0,-67.0,255.0,90.68732452392578
+60.0,70.0,0.0,-68.0,255.0,89.3248519897461
+60.0,70.0,0.0,-69.0,255.0,88.02912139892578
+60.0,70.0,0.0,-70.0,255.0,86.79652404785156
+60.0,70.0,0.0,-71.0,255.0,85.62368774414062
+60.0,70.0,0.0,-72.0,255.0,84.50750732421875
+60.0,70.0,0.0,-73.0,255.0,83.44515228271484
+60.0,70.0,0.0,-74.0,255.0,82.4339828491211
+60.0,70.0,0.0,-75.0,255.0,81.47154235839844
+60.0,70.0,0.0,-76.0,255.0,80.5555648803711
+60.0,70.0,0.0,-77.0,255.0,79.68395233154297
+60.0,70.0,0.0,-78.0,255.0,78.85477447509766
+60.0,70.0,0.0,-79.0,255.0,78.06620788574219
+60.0,70.0,0.0,-80.0,255.0,77.31658172607422
+60.0,70.0,0.0,-81.0,255.0,76.60430145263672
+60.0,70.0,0.0,-82.0,255.0,75.92796325683594
+60.0,70.0,0.0,-83.0,255.0,75.28619384765625
+60.0,70.0,0.0,-84.0,255.0,74.67774200439453
+60.0,70.0,0.0,-85.0,255.0,74.1014404296875
+60.0,70.0,0.0,-86.0,255.0,73.55619049072266
+60.0,70.0,0.0,-87.0,255.0,73.04098510742188
+60.0,70.0,0.0,-88.0,255.0,72.5549087524414
+60.0,70.0,0.0,-89.0,255.0,72.0970687866211
+60.0,70.0,0.0,-90.0,255.0,71.66667175292969

SonarModel/medidasmeioquarta/new2.txt

@@ -0,0 +1,182 @@
+x,y,headinng,sonar_ang,read,expected
+-51.0,62.0,90.0,90.0,51.0,Infinity
+-51.0,62.0,90.0,89.0,206.0,Infinity
+-51.0,62.0,90.0,88.0,206.0,Infinity
+-51.0,62.0,90.0,87.0,206.0,Infinity
+-51.0,62.0,90.0,86.0,206.0,Infinity
+-51.0,62.0,90.0,85.0,206.0,Infinity
+-51.0,62.0,90.0,84.0,206.0,Infinity
+-51.0,62.0,90.0,83.0,205.0,Infinity
+-51.0,62.0,90.0,82.0,206.0,Infinity
+-51.0,62.0,90.0,81.0,205.0,Infinity
+-51.0,62.0,90.0,80.0,205.0,Infinity
+-51.0,62.0,90.0,79.0,206.0,Infinity
+-51.0,62.0,90.0,78.0,206.0,Infinity
+-51.0,62.0,90.0,77.0,206.0,Infinity
+-51.0,62.0,90.0,76.0,206.0,Infinity
+-51.0,62.0,90.0,75.0,207.0,Infinity
+-51.0,62.0,90.0,74.0,207.0,Infinity
+-51.0,62.0,90.0,73.0,206.0,Infinity
+-51.0,62.0,90.0,72.0,206.0,Infinity
+-51.0,62.0,90.0,71.0,207.0,Infinity
+-51.0,62.0,90.0,70.0,255.0,79.34191131591797
+-51.0,62.0,90.0,69.0,255.0,77.73690795898438
+-51.0,62.0,90.0,68.0,255.0,76.21829986572266
+-51.0,62.0,90.0,67.0,255.0,74.78023529052734
+-51.0,62.0,90.0,66.0,255.0,73.4173812866211
+-51.0,62.0,90.0,65.0,255.0,72.12489318847656
+-51.0,62.0,90.0,64.0,255.0,70.89834594726562
+-51.0,62.0,90.0,63.0,255.0,69.73369598388672
+-51.0,62.0,90.0,62.0,255.0,68.62726593017578
+-51.0,62.0,90.0,61.0,255.0,67.5756607055664
+-51.0,62.0,90.0,60.0,255.0,66.57577514648438
+-51.0,62.0,90.0,59.0,255.0,65.62474060058594
+-51.0,62.0,90.0,58.0,255.0,64.71992492675781
+-51.0,62.0,90.0,57.0,255.0,63.85892105102539
+-51.0,62.0,90.0,56.0,255.0,63.03946304321289
+-51.0,62.0,90.0,55.0,255.0,62.25950241088867
+-51.0,62.0,90.0,54.0,255.0,61.51711654663086
+-51.0,62.0,90.0,53.0,255.0,60.81052780151367
+-51.0,62.0,90.0,52.0,255.0,60.138099670410156
+-51.0,62.0,90.0,51.0,255.0,59.4983024597168
+-51.0,62.0,90.0,50.0,255.0,58.88972854614258
+-51.0,62.0,90.0,49.0,255.0,58.31105422973633
+-51.0,62.0,90.0,48.0,255.0,57.76107406616211
+-51.0,62.0,90.0,47.0,255.0,57.23863983154297
+-51.0,62.0,90.0,46.0,255.0,56.742698669433594
+-51.0,62.0,90.0,45.0,255.0,56.272274017333984
+-51.0,62.0,90.0,44.0,255.0,55.826454162597656
+-51.0,62.0,90.0,43.0,255.0,55.40437698364258
+-51.0,62.0,90.0,42.0,255.0,55.005271911621094
+-51.0,62.0,90.0,41.0,255.0,54.628395080566406
+-51.0,62.0,90.0,40.0,255.0,54.273067474365234
+-51.0,62.0,90.0,39.0,255.0,53.938655853271484
+-51.0,62.0,90.0,38.0,255.0,53.62457275390625
+-51.0,62.0,90.0,37.0,255.0,53.33028030395508
+-51.0,62.0,90.0,36.0,255.0,53.05527114868164
+-51.0,62.0,90.0,35.0,255.0,52.7990837097168
+-51.0,62.0,90.0,34.0,255.0,52.56129455566406
+-51.0,62.0,90.0,33.0,255.0,52.34151077270508
+-51.0,62.0,90.0,32.0,255.0,52.13936996459961
+-51.0,62.0,90.0,31.0,54.0,51.954551696777344
+-51.0,62.0,90.0,30.0,54.0,51.78675842285156
+-51.0,62.0,90.0,29.0,53.0,51.63572311401367
+-51.0,62.0,90.0,28.0,53.0,51.50120544433594
+-51.0,62.0,90.0,27.0,53.0,51.38300323486328
+-51.0,62.0,90.0,26.0,53.0,51.280921936035156
+-51.0,62.0,90.0,25.0,53.0,51.1948127746582
+-51.0,62.0,90.0,24.0,53.0,51.12453842163086
+-51.0,62.0,90.0,23.0,52.0,51.06998825073242
+-51.0,62.0,90.0,22.0,52.0,51.03108596801758
+-51.0,62.0,90.0,21.0,52.0,51.00777053833008
+-51.0,62.0,90.0,20.0,52.0,51.0
+-51.0,62.0,90.0,19.0,52.0,51.0
+-51.0,62.0,90.0,18.0,52.0,51.0
+-51.0,62.0,90.0,17.0,52.0,51.0
+-51.0,62.0,90.0,16.0,51.0,51.0
+-51.0,62.0,90.0,15.0,51.0,51.0
+-51.0,62.0,90.0,14.0,51.0,51.0
+-51.0,62.0,90.0,13.0,51.0,51.0
+-51.0,62.0,90.0,12.0,51.0,51.0
+-51.0,62.0,90.0,11.0,51.0,51.0
+-51.0,62.0,90.0,10.0,51.0,51.0
+-51.0,62.0,90.0,9.0,51.0,51.0
+-51.0,62.0,90.0,8.0,255.0,51.0
+-51.0,62.0,90.0,7.0,51.0,51.0
+-51.0,62.0,90.0,6.0,51.0,51.0
+-51.0,62.0,90.0,5.0,51.0,51.0
+-51.0,62.0,90.0,4.0,51.0,51.0
+-51.0,62.0,90.0,3.0,51.0,51.0
+-51.0,62.0,90.0,2.0,51.0,51.0
+-51.0,62.0,90.0,1.0,51.0,51.0
+-51.0,62.0,90.0,-0.0,51.0,51.0
+-51.0,62.0,90.0,-1.0,51.0,51.0
+-51.0,62.0,90.0,-2.0,51.0,51.0
+-51.0,62.0,90.0,-3.0,51.0,51.0
+-51.0,62.0,90.0,-4.0,51.0,51.0
+-51.0,62.0,90.0,-5.0,51.0,51.0
+-51.0,62.0,90.0,-6.0,51.0,51.0
+-51.0,62.0,90.0,-7.0,51.0,51.0
+-51.0,62.0,90.0,-8.0,51.0,51.0
+-51.0,62.0,90.0,-9.0,51.0,51.0
+-51.0,62.0,90.0,-10.0,51.0,51.0
+-51.0,62.0,90.0,-11.0,51.0,51.0
+-51.0,62.0,90.0,-12.0,51.0,51.0
+-51.0,62.0,90.0,-13.0,51.0,51.0
+-51.0,62.0,90.0,-14.0,51.0,51.0
+-51.0,62.0,90.0,-15.0,51.0,51.0
+-51.0,62.0,90.0,-16.0,51.0,51.0
+-51.0,62.0,90.0,-17.0,51.0,51.0
+-51.0,62.0,90.0,-18.0,51.0,51.0
+-51.0,62.0,90.0,-19.0,51.0,51.0
+-51.0,62.0,90.0,-20.0,51.0,51.0
+-51.0,62.0,90.0,-21.0,52.0,51.00777053833008
+-51.0,62.0,90.0,-22.0,52.0,51.03108596801758
+-51.0,62.0,90.0,-23.0,52.0,51.06998825073242
+-51.0,62.0,90.0,-24.0,52.0,51.12453842163086
+-51.0,62.0,90.0,-25.0,52.0,51.1948127746582
+-51.0,62.0,90.0,-26.0,52.0,51.280921936035156
+-51.0,62.0,90.0,-27.0,52.0,51.382999420166016
+-51.0,62.0,90.0,-28.0,52.0,51.50120544433594
+-51.0,62.0,90.0,-29.0,52.0,51.63572311401367
+-51.0,62.0,90.0,-30.0,52.0,51.78675842285156
+-51.0,62.0,90.0,-31.0,52.0,51.954551696777344
+-51.0,62.0,90.0,-32.0,53.0,52.13936996459961
+-51.0,62.0,90.0,-33.0,53.0,52.34150695800781
+-51.0,62.0,90.0,-34.0,53.0,52.56129837036133
+-51.0,62.0,90.0,-35.0,53.0,52.7990837097168
+-51.0,62.0,90.0,-36.0,53.0,53.055274963378906
+-51.0,62.0,90.0,-37.0,54.0,53.33028030395508
+-51.0,62.0,90.0,-38.0,54.0,53.62457275390625
+-51.0,62.0,90.0,-39.0,54.0,53.938655853271484
+-51.0,62.0,90.0,-40.0,54.0,54.273067474365234
+-51.0,62.0,90.0,-41.0,54.0,54.628395080566406
+-51.0,62.0,90.0,-42.0,255.0,55.00526809692383
+-51.0,62.0,90.0,-43.0,255.0,55.404380798339844
+-51.0,62.0,90.0,-44.0,255.0,55.826446533203125
+-51.0,62.0,90.0,-45.0,255.0,56.27227020263672
+-51.0,62.0,90.0,-46.0,255.0,56.74270248413086
+-51.0,62.0,90.0,-47.0,255.0,57.2386360168457
+-51.0,62.0,90.0,-48.0,255.0,57.76107406616211
+-51.0,62.0,90.0,-49.0,255.0,58.311058044433594
+-51.0,62.0,90.0,-50.0,255.0,58.88972854614258
+-51.0,62.0,90.0,-51.0,255.0,59.49830627441406
+-51.0,62.0,90.0,-52.0,255.0,60.13809585571289
+-51.0,62.0,90.0,-53.0,255.0,60.81052780151367
+-51.0,62.0,90.0,-54.0,255.0,61.517120361328125
+-51.0,62.0,90.0,-55.0,255.0,62.25950622558594
+-51.0,62.0,90.0,-56.0,255.0,63.039466857910156
+-51.0,62.0,90.0,-57.0,255.0,63.85891342163086
+-51.0,62.0,90.0,-58.0,255.0,64.71992492675781
+-51.0,62.0,90.0,-59.0,255.0,65.62474060058594
+-51.0,62.0,90.0,-60.0,255.0,66.57577514648438
+-51.0,62.0,90.0,-61.0,255.0,67.5756607055664
+-51.0,62.0,90.0,-62.0,255.0,68.62726593017578
+-51.0,62.0,90.0,-63.0,255.0,69.73369598388672
+-51.0,62.0,90.0,-64.0,255.0,70.89834594726562
+-51.0,62.0,90.0,-65.0,255.0,72.12489318847656
+-51.0,62.0,90.0,-66.0,255.0,73.4173812866211
+-51.0,62.0,90.0,-67.0,255.0,74.78023529052734
+-51.0,62.0,90.0,-68.0,255.0,76.21830749511719
+-51.0,62.0,90.0,-69.0,255.0,77.73690795898438
+-51.0,62.0,90.0,-70.0,255.0,79.3419189453125
+-51.0,62.0,90.0,-71.0,255.0,81.03980255126953
+-51.0,62.0,90.0,-72.0,255.0,82.83772277832031
+-51.0,62.0,90.0,-73.0,255.0,84.74363708496094
+-51.0,62.0,90.0,-74.0,255.0,Infinity
+-51.0,62.0,90.0,-75.0,255.0,Infinity
+-51.0,62.0,90.0,-76.0,255.0,Infinity
+-51.0,62.0,90.0,-77.0,255.0,Infinity
+-51.0,62.0,90.0,-78.0,255.0,Infinity
+-51.0,62.0,90.0,-79.0,255.0,Infinity
+-51.0,62.0,90.0,-80.0,255.0,Infinity
+-51.0,62.0,90.0,-81.0,255.0,Infinity
+-51.0,62.0,90.0,-82.0,255.0,Infinity
+-51.0,62.0,90.0,-83.0,255.0,Infinity
+-51.0,62.0,90.0,-84.0,255.0,Infinity
+-51.0,62.0,90.0,-85.0,255.0,Infinity
+-51.0,62.0,90.0,-86.0,255.0,Infinity
+-51.0,62.0,90.0,-87.0,255.0,Infinity
+-51.0,62.0,90.0,-88.0,255.0,Infinity
+-51.0,62.0,90.0,-89.0,255.0,Infinity
+-51.0,62.0,90.0,-90.0,255.0,Infinity

SonarModel/tmp1

@@ -0,0 +1,8 @@
+X:60.0 Y:70.0 H:0.0,103.00762401428618,95.63418623609024,89.36510800043197,84.12504638986756,79.7921872634517,76.22098259966512,73.34974799178819,71.09719351590812,69.3837880902076,68.13803421728072,67.29572325843812,66.7988072588157,66.56637012277162,66.58086533389404,66.78908951722944,67.16769509648665,67.6778452655082,68.27588237422223,68.95748141122162,69.69701456581703,70.44364841327845,71.2361410593676,72.02781232906398,72.80028471883124,73.53764602404235,74.24124636063553,74.95309421444009,75.61001735778858,76.20984156553051,76.81534703865081,77.3874246537126,77.97585547257428,78.56468482638981,79.19897194764094,79.86491282722795,80.59936689305559,81.41724884952261,82.308723573117,83.26436041491644,84.2750688894333,85.33234766467481
+X:59.0 Y:66.0 H:0.0,217.8688198318095,200.77311332015265,185.42193028136606,171.64797813362443,159.30026660532744,148.24258440387257,138.26590703073722,129.34100075960774,121.38618578290853,114.27629448710869,107.96339016937937,102.38960753412469,97.48550027807974,93.17569437166772,89.40183063732756,86.13199959006376,83.32485538166796,80.90294136276766,78.82987819987865,77.12767065254643,75.71634810134307,74.53683938338678,73.54254909852489,72.73049181579032,72.06136255475616,71.5145437101226,71.07712962789691,70.81854178339094,70.71472717327272,70.75455996873454,70.90791420214562,71.02792876529705,71.11165332951869,71.16454014232563,71.20931737905101,71.24638411973616,71.25034958261267,71.21088952468374,71.12822984918603,71.00492462657921,70.85073509234863
+X:60.0 Y:60.0 H:0.0,523.415965601018,509.0275571295526,496.14555985603965,484.6142848653864,474.27650875664165,465.0042816132504,456.7384116385179,449.38156349551645,442.8313124823672,437.02106233051967,431.9008344583985,427.39095394988703,423.42493722357136,419.9932727512439,417.05104753524006,414.56587587595664,412.5015309145911,410.84217028484034,409.5518290066399,408.60927169901026,407.962863963763,407.6356908631496,407.57918871257317,407.7718959838612,408.1583182155822,408.6358521802027,409.10655601011626,409.5063614994435,409.79958885129656,409.96635286972037,409.9651334812971,409.79143836475214,409.44560659465384,408.9339899020424,408.26269197593825,407.4372563950961,406.45875929428433,405.3263453143388,404.04525138437276,402.6454922383966,401.1640693248273
+X:60.0 Y:70.0 H:0.0,102.8370759800573,95.50827356290847,89.28139614301362,84.08120421141305,79.78594554052144,76.2501584472195,73.41223426985557,71.19093720381912,69.50680439274176,68.28837950501537,67.47151120474123,66.99833338010617,66.78809152494675,66.82329686474358,67.05076797963531,67.44719395833467,67.97376510922307,68.58685462913316,69.28216593850215,70.03408461924694,70.79181111236723,71.5958063605739,72.40130044652899,73.18804897032066,73.93829851840428,74.65371645779999,75.37661414483367,76.04386984854987,76.65404149123448,77.2754145132356,77.8678180428587,78.47518534827333,79.08159458349623,79.73213637679099,80.41555894363562,81.16875003400376,82.0040606561808,82.91168505159048,83.88222105804256,84.90659860828517,85.97634117957969
+X:50.0 Y:50.0 H:0.0,1644.1943213866248,1600.7477060206984,1560.2873281555042,1523.140793178805,1488.5623665446,1456.64129793302,1427.0613084988179,1399.4605994053563,1374.0440877042752,1350.1218253586117,1327.8782373671354,1307.2025927202417,1287.703012860563,1269.2950830063428,1251.958840097022,1235.5267820682827,1219.8398289698393,1204.7414982673308,1190.0665069308516,1175.7843681150396,1161.9178723819416,1148.4418433742026,1135.3324814057084,1122.5677588156582,1110.126922741301,1097.9789212547398,1086.0927521878225,1074.4384647704135,1062.9713738672526,1051.6668357113451,1040.5099198469827,1029.4735247059887,1018.5297333318765,1007.6001326328285,996.6727442374008,985.6933774464381,974.6632013769196,965.1047223540104,959.4873610240154,956.1236898919603,952.3746786668793
+X:59.0 Y:66.0 H:0.0,253.61833226791882,238.8781540268276,225.7053785321567,213.94094818334963,203.44154686248197,194.07805684865286,185.73881536604702,178.32419596932442,171.73708852644276,165.85930521593747,160.64619911680214,156.0405023440097,151.97870523161887,148.40230313407218,145.26662543353783,142.55222698703471,140.23053588340778,138.23835925574437,136.5521321632067,135.2026577658584,134.11449866909823,133.2320116034015,132.51125063623448,131.9516529010109,131.5190454306004,131.23810323018748,131.12419194012563,131.16440366682204,131.3397230875155,131.64158600456656,132.03741954374004,132.38729201456695,132.69047837524013,132.95754887762342,133.20183027881117,133.41753500986965,133.58297130591737,133.69564036571677,133.75831390342225,133.78165781258846,133.76351915786327
+X:60.0 Y:60.0 H:0.0,514.5865025757441,500.5250062972055,487.93212693287387,476.6618306232244,466.5601979446817,457.50764097932597,449.44490171467123,442.27575922536386,435.8996611473797,430.2505389604384,425.27868215205785,420.90562840047295,417.06582929410365,413.74913002263094,410.91142639101673,408.52110950763904,406.542490006517,404.9600122865454,403.7384233871977,402.8568321217104,402.2648890677444,401.97937251030277,401.9524784065121,402.1631227789931,402.5554637064155,403.14668143865805,403.807493827607,404.404268258576,404.8918511281879,405.24619066214325,405.42856342780226,405.43500328290037,405.2662126375506,404.9286164957322,404.4280522715911,403.77009764264875,402.9560805872183,401.98543492835313,400.86241824756394,399.5897104012932,398.17416924574354
+X:50.0 Y:50.0 H:0.0,1391.2136709484391,1359.0443032973956,1329.038246733005,1301.4629245021924,1275.736179117379,1251.9462461692776,1229.8539370401688,1209.1719513960547,1190.0733731663345,1172.022785501036,1155.1776344057341,1139.4621040983027,1124.5778912022206,1110.470723641519,1097.137120425761,1084.4506605878114,1072.2917046862844,1060.5432256570568,1049.0873574051764,1037.906304756925,1027.0245224462203,1016.4287701043482,1006.1069416211695,996.0483454367946,986.2433118924353,976.6677785304917,967.2972895504492,958.1082093137005,949.0652265059352,940.1489851301889,931.3478161123332,922.6403206208436,914.0047175694434,905.3789706680743,896.7537357470611,888.086308790047,879.377668272393,871.8334617298015,867.4083966322687,864.9648601244508,862.5585317659487

SonarModel/tmp2

@@ -0,0 +1,8 @@
+X:60.0 Y:70.0 H:0.0,103.00762401428618,95.63418623609024,89.36510800043197,84.12504638986756,79.7921872634517,76.22098259966512,73.34974799178819,71.09719351590812,69.3837880902076,68.13803421728072,67.29572325843812,66.7988072588157,66.56637012277162,66.58086533389404,66.78908951722944,67.16769509648665,67.6778452655082,68.27588237422223,68.95748141122162,69.69701456581703,70.44364841327845,71.2361410593676,72.02781232906398,72.80028471883124,73.53764602404235,74.24124636063553,74.95309421444009,75.61001735778858,76.20984156553051,76.81534703865081,77.3874246537126,77.97585547257428,78.56468482638981,79.19897194764094,79.86491282722795,80.59936689305559,81.41724884952261,82.308723573117,83.26436041491644,84.2750688894333,85.33234766467481
+X:57.0 Y:66.0 H:0.0,211.10204726163798,194.56982346744886,179.75487775562922,166.49054756032672,154.62644414063524,144.00288637698304,134.50381523882322,126.05692908323873,118.56018906666078,111.92684354327572,106.0969343649913,100.97561763332826,96.46343289078236,92.53116535778109,89.15205757835852,86.25092697478159,83.74494187572716,81.54389090144723,79.7013835594195,78.11632841288929,76.77716642565464,75.64878658006359,74.72300107141888,74.05677492314483,73.58257377307058,73.3224094601894,73.24621366249342,73.21998907621001,73.17931152876633,73.10512863655927,73.00859052099698,72.91072003096643,72.80866262327817,72.67563990696941,72.5001323846521,72.288375205135,72.05089526067515,71.84166950661574,71.65110516349004,71.46882714339593,71.28389773283213
+X:51.0 Y:60.0 H:0.0,491.626892687755,478.97453526987556,467.7195100541574,457.8044212904399,449.06082433221655,441.3900529711267,434.69891355440615,428.77887877578064,423.6898717461658,419.3556819371282,415.7151503287587,412.72337698076825,410.1733078816332,407.97177523834284,406.1375019513135,404.67264893079204,403.32278089470407,402.239032622291,401.3924577037864,400.6255588455862,400.0097240035802,399.36096096165835,398.7371999495324,398.0080456869435,397.20464832715663,396.28495535979147,395.19113764135034,393.92108090923733,392.4840904671994,390.88976860183556,389.14340443425334,387.2527225096715,385.2260915803095,383.1799555402935,381.27838226487887,379.5096808340159,377.86219778104663,376.324823797208,374.8862476548749,373.53575651370704,372.2640005940552
+X:60.0 Y:70.0 H:0.0,102.8370759800573,95.50827356290847,89.28139614301362,84.08120421141305,79.78594554052144,76.2501584472195,73.41223426985557,71.19093720381912,69.50680439274176,68.28837950501537,67.47151120474123,66.99833338010617,66.78809152494675,66.82329686474358,67.05076797963531,67.44719395833467,67.97376510922307,68.58685462913316,69.28216593850215,70.03408461924694,70.79181111236723,71.5958063605739,72.40130044652899,73.18804897032066,73.93829851840428,74.65371645779999,75.37661414483367,76.04386984854987,76.65404149123448,77.2754145132356,77.8678180428587,78.47518534827333,79.08159458349623,79.73213637679099,80.41555894363562,81.16875003400376,82.0040606561808,82.91168505159048,83.88222105804256,84.90659860828517,85.97634117957969
+X:43.0 Y:50.0 H:0.0,Infinity,1544.8915629978567,1505.9208519272768,1470.1395239412388,1436.8754556712904,1405.8553150878968,1377.0692317249748,1350.1660417262422,1324.8047876226717,1301.1688028699775,1279.0483329268975,1258.2125416854992,1238.264996154793,1219.155995758276,1200.8727203679516,1183.2020134996803,1165.8736653377255,1149.04417243554,1132.5802823418242,1116.4235021377076,1100.7513269552053,1085.289971273763,1070.1904712446892,1055.3029613991357,1040.5350103998169,1025.8548311796053,1011.1462451162204,996.3966592818254,981.8511431881593,967.6363745598535,953.7261712982206,940.0982695538573,926.7294314694874,913.5988835463903,902.760992953298,896.7078627731586,893.1392746317456,889.3258292251413,885.2741232154908,880.9903525090749,876.4789341667847
+X:57.0 Y:66.0 H:0.0,241.42975310050056,227.3247227578277,214.75571608886696,203.56468239447224,193.6097462892762,184.73563821882067,176.83497455056894,169.8423504861207,163.66137236059905,158.210254543255,153.43288200601182,149.23957013077012,145.53695104347216,142.30801351134295,139.53800469149562,137.1660039976818,135.1233292761257,133.33458178205515,131.86154003017853,130.62358061934347,129.60474127870168,128.87045267258353,128.34862744338227,128.05641905573762,127.93192384246913,128.00113633858848,128.22940015382835,128.48919379764973,128.71973907223284,128.9080102490926,129.06627367089723,129.20498275505696,129.31664703183247,129.3807318113143,129.39794528083007,129.3730549642513,129.31154430190242,129.26532128336754,129.225787913144,129.18327006939302,129.13171651102311
+X:51.0 Y:60.0 H:0.0,477.2315919592561,464.850411701837,453.83555759292614,444.13499619897044,435.5835430327411,428.08873305709096,421.5581751499688,415.78423257934645,410.8274043720357,406.6121890961004,403.0780885623746,400.1802035481941,397.7793909720663,395.9034607218778,394.3909107168613,393.2400675939371,392.2047163159228,391.4204277496517,390.8596544582067,390.36980470209187,390.02082870858067,389.62888496900825,389.25071315592345,388.7645606957908,388.1962842671218,387.50553779515394,386.63650549177027,385.587441311849,384.3677360705769,382.9871396705,381.4511695548592,379.76495765063873,377.9223064868523,376.05432105442213,374.32093753114464,372.71089383475663,371.21306871065855,369.8168400605494,368.51138607302704,367.2837184415508,366.121441886937
+X:43.0 Y:50.0 H:0.0,Infinity,1265.6654889179997,1236.2977626348488,1209.3250559337578,1184.2184982691008,1160.7659830485543,1138.965110126138,1118.5434881270864,1099.2375035465427,1081.1993610144502,1064.2702971063168,1048.2755544970275,1032.9095462125542,1018.1419321602308,1003.9715326553526,990.2349992125409,976.7256524657774,963.5679637272831,950.6663503350869,937.9803892872733,925.6548809148271,913.4780708686754,901.5747922992256,889.8315535616102,878.1803567861967,866.5964537390007,854.9879145544946,843.3448416014312,831.9388917734226,820.9163707976239,810.2538661624452,799.9305683514085,789.9243553350057,780.2146896403939,772.4246259191741,768.5235656438772,766.8933854035795,765.4442244564627,763.9087961086874,762.280620840733,760.7456545675989