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