From 779b11dfbaec69eb2829c16607fbe4503d5a952a Mon Sep 17 00:00:00 2001 From: Caleb Marston Date: Sat, 7 Apr 2018 11:32:40 -0400 Subject: [PATCH 01/10] change far left to right sequence --- .../powerup/robot/commands/auto/AutoGroup.java | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java index 7ebc33e1..f15e0928 100644 --- a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java +++ b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java @@ -526,16 +526,19 @@ private void farLeftToRightScale(Robot robot) { addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 89, Constants.Auto.Align.SPEED, 3000)); addParallel(new PrepIntakeForScale(robot, 1600, false)); addSequential(new FarLeftToRightScaleDeadPartTwo(robot)); - addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), -25, Constants.Auto.Align.SPEED, 3000)); addParallel(new AutoEjectAfterNMillis(robot.getIntake(), Constants.Intake.DROP_SPEED, FarLeftToRightScaleDeadPartThree.duration - 340)); - addSequential(new FarLeftToRightScaleDeadPartThree(robot)); + addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 180, Constants.Auto.Align.SPEED, 3000)); + addSequential(new FarLeftToRightScaleDeadPartTwo(robot)); + //addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), -25, Constants.Auto.Align.SPEED, 3000)); + //addParallel(new AutoEjectAfterNMillis(robot.getIntake(), Constants.Intake.DROP_SPEED, FarLeftToRightScaleDeadPartThree.duration - 340)); + //addSequential(new FarLeftToRightScaleDeadPartThree(robot)); /* Go to intake position and turn towards second cube */ - addParallel(new MoveCarriageToSetpointPIDButWaitForNMillisFirst(robot.getCarriage(), Constants.Carriage.ENCODER_BOTTOM_COMP, 700)); - addSequential(new FarLeftToRightScaleDeadPartFour(robot)); - addParallel(new MoveArmToSetpointPID(robot.getArm(), Constants.Arm.Pot.INTAKE)); - addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), -110, Constants.Auto.Align.SPEED, 4000)); + //adParallel(new MoveCarriageToSetpointPIDButWaitForNMillisFirst(robot.getCarriage(), Constants.Carriage.ENCODER_BOTTOM_COMP, 700)); + //addSequential(new FarLeftToRightScaleDeadPartFour(robot)); + //addParallel(new MoveArmToSetpointPID(robot.getArm(), Constants.Arm.Pot.INTAKE)); + //addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), -110, Constants.Auto.Align.SPEED, 4000)); } private void farRightToLeftScale(Robot robot) { From 2dc0a747bfbdf986739b7da8a473ec606f21a863 Mon Sep 17 00:00:00 2001 From: Caleb Marston Date: Sat, 7 Apr 2018 11:44:04 -0400 Subject: [PATCH 02/10] shorten second path --- .../paths/FarLeftToRightScaleDeadPartTwo.java | 2417 ++++++++--------- 1 file changed, 1128 insertions(+), 1289 deletions(-) diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarLeftToRightScaleDeadPartTwo.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarLeftToRightScaleDeadPartTwo.java index fbf91906..6306c17b 100644 --- a/src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarLeftToRightScaleDeadPartTwo.java +++ b/src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarLeftToRightScaleDeadPartTwo.java @@ -11,1863 +11,1702 @@ public FarLeftToRightScaleDeadPartTwo(Robot robot) { super(robot); } - @Override - public double getJitterbugkT() { - return 0.1; - } - @Override protected boolean loadPath() { - int num_elements = 308; + int num_elements = 282; Trajectory left = new Trajectory(num_elements); Trajectory right = new Trajectory(num_elements); left.setSegment(0, new Trajectory.Segment(0.0025, 0.5, - 50, 5000, 4.712435307185729, 0.01, 245.90000010519347, 253.9979586353328)); + 50, 5000, 4.712435307185665, 0.01, 245.90000010519347, 219.99795863533217)); right.setSegment(0, new Trajectory.Segment(0.0025, 0.5, - 50, 5000, 4.712435307185729, 0.01, 226.10000012644056, 253.99704136467255)); - - - left.setSegment(1, new Trajectory.Segment(0.012500000039683488, 1.0000000039683488, - 50.00000039683488, 0.00003968348778471409, 4.712435307181718, 0.01, 245.90000056846145, 253.98795863530384)); - right.setSegment(1, new Trajectory.Segment(0.012499999960273232, 0.9999999960273231, - 49.999999602732316, -0.00003972676836383471, 4.712435307181718, 0.01, 226.10000058970854, 253.987041364723)); - - - left.setSegment(2, new Trajectory.Segment(0.03250000027781412, 2.0000000238130635, - 100.00000198447147, 5000.000158763659, 4.712435307157665, 0.01, 245.90000149499718, 253.96795863508717)); - right.setSegment(2, new Trajectory.Segment(0.0324999997221697, 1.999999976189647, - 99.99999801623238, 4999.999841350006, 4.712435307157665, 0.01, 226.10000151624428, 253.96704136498258)); - - - left.setSegment(3, new Trajectory.Segment(0.06250000103166338, 3.0000000753849263, - 100.00000515718628, 0.00031727148126492466, 4.712435307081519, 0.01, 245.9000028847994, 253.93795863436551)); - right.setSegment(3, new Trajectory.Segment(0.06249999896830412, 2.999999924613442, - 99.99999484237951, -0.0003173852874738259, 4.712435307081519, 0.01, 226.10000290604643, 253.93704136576864)); - - - left.setSegment(4, new Trajectory.Segment(0.1025000027766126, 4.000000174494922, - 100.00000991099952, 0.0004753813243496552, 4.712435306905261, 0.01, 245.9000047378641, 253.8979586326635)); - right.setSegment(4, new Trajectory.Segment(0.10249999722335164, 3.999999825504752, - 99.99999008913099, -0.00047532485183410245, 4.712435306905261, 0.01, 226.10000475911096, 253.8970413675565)); - - - left.setSegment(5, new Trajectory.Segment(0.15250000614552756, 5.000000336891496, - 100.00001623965744, 0.0006328657917720193, 4.712435306564966, 0.01, 245.90000705418234, 253.84795862934823)); - right.setSegment(5, new Trajectory.Segment(0.15249999385444563, 4.999999663109398, - 99.99998376046463, -0.0006328666358967894, 4.712435306564966, 0.01, 226.10000707542886, 253.84704137097907)); - - - left.setSegment(6, new Trajectory.Segment(0.21250001192796256, 6.000000578243499, - 100.00002413520032, 0.0007895542879055029, 4.712435305980883, 0.01, 245.90000983373685, 253.78795862363017)); - right.setSegment(6, new Trajectory.Segment(0.2124999880720302, 5.999999421758457, - 99.99997586490589, -0.0007895558738368891, 4.712435305980883, 0.01, 226.10000985498286, 253.78704137682587)); - - - left.setSegment(7, new Trajectory.Segment(0.28250002106902333, 7.000000914106077, - 100.00003358625777, 0.0009451057451315137, 4.712435305057541, 0.01, 245.90001307649823, 253.71795861456422)); - right.setSegment(7, new Trajectory.Segment(0.28249997893094003, 6.999999085890984, - 99.99996641325266, -0.0009451653227188217, 4.712435305057541, 0.01, 226.10001309774339, 253.71704138604207)); - - - left.setSegment(8, new Trajectory.Segment(0.36250003466828684, 8.000001359926348, - 100.00004458202704, 0.0010995769272881262, 4.712435303683882, 0.01, 245.90001678241998, 253.6379586010508)); - right.setSegment(8, new Trajectory.Segment(0.3624999653317076, 7.999998640076755, - 99.99995541857709, -0.001099467557708067, 4.712435303683882, 0.01, 226.1000168036639, 253.63704139972714)); - - - left.setSegment(9, new Trajectory.Segment(0.4525000539780388, 9.000001930975193, - 100.00005710488455, 0.0012522857502972329, 4.712435301733398, 0.01, 245.90002095143325, 253.5479585818376)); - right.setSegment(9, new Trajectory.Segment(0.452499946021927, 8.999998069021943, - 99.99994289451885, -0.0012524058234930635, 4.712435301733398, 0.01, 226.10002097267534, 253.54704141913348)); - - - left.setSegment(10, new Trajectory.Segment(0.5525000804020797, 10.000002642404093, - 100.00007114288998, 0.001403800543187117, 4.712435299064305, 0.01, 245.90002558344028, 253.44795855552084)); - right.setSegment(10, new Trajectory.Segment(0.5524999195979023, 9.99999735759754, - 99.99992885755961, -0.0014036959242957892, 4.712435299064305, 0.01, 226.10002560467993, 253.44704144566478)); - - - left.setSegment(11, new Trajectory.Segment(0.6625001154933656, 11.000003509128597, - 100.00008667245037, 0.0015529560386084995, 4.712435295519731, 0.01, 245.90003067830756, 253.33795852054755)); - right.setSegment(11, new Trajectory.Segment(0.6624998845066085, 10.999996490870615, - 99.99991332730751, -0.0015530252099438258, 4.712435295519731, 0.01, 226.10003069954396, 253.33704148087406)); - - - left.setSegment(12, new Trajectory.Segment(0.782500160952274, 12.000004545890839, - 100.00010367622423, 0.0017003773862711569, 4.712435290927921, 0.01, 245.9000362358579, 253.21795847521733)); - right.setSegment(12, new Trajectory.Segment(0.7824998390477084, 11.999995454109989, - 99.99989632393742, -0.0017003370089696546, 4.712435290927921, 0.01, 226.1000362570901, 253.21704152646166)); - - - left.setSegment(13, new Trajectory.Segment(0.9125002186242158, 13.000005767194178, - 100.00012213033393, 0.0018454109707022326, 4.7124352851024724, 0.01, 245.9000422558621, 253.08795841768477)); - right.setSegment(13, new Trajectory.Segment(0.9124997813757698, 12.999994232806145, - 99.99987786961562, -0.001845432180402895, 4.7124352851024724, 0.01, 226.10004227708896, 253.08704158427298)); - - - left.setSegment(14, new Trajectory.Segment(1.0525002904971625, 14.000007187294663, - 100.00014201004852, 0.001987971458561333, 4.712435277842579, 0.01, 245.90004873802965, 252.9479583459619)); - right.setSegment(14, new Trajectory.Segment(1.0524997095027944, 13.999992812702464, - 99.9998579896319, -0.0019879983710779925, 4.712435277842579, 0.01, 226.10004875924986, 252.94704165629602)); - - - left.setSegment(15, new Trajectory.Segment(1.2025003786990023, 15.000008820183968, - 100.00016328893047, 0.0021278881945363537, 4.712435268933303, 0.01, 245.90005568199882, 252.79795825792078)); - right.setSegment(15, new Trajectory.Segment(1.2024996213009742, 14.999991179817984, - 99.99983671155199, -0.002127807991314512, 4.712435268933303, 0.01, 226.10005570321084, 252.79704174465857)); - - - left.setSegment(16, new Trajectory.Segment(1.362500485494669, 16.000010679566667, - 100.00018593826994, 0.002264933947060399, 4.712435258145864, 0.01, 245.90006308732617, 252.6379581512965)); - right.setSegment(16, new Trajectory.Segment(1.3624995145053342, 15.999989320436002, - 99.99981406180183, -0.002264975016430526, 4.712435258145864, 0.01, 226.1000631085283, 252.63704185162558)); - - - left.setSegment(17, new Trajectory.Segment(1.5325006132830152, 17.000012778834638, - 100.00020992679701, 0.0023988527075857746, 4.712435245237948, 0.01, 245.90007095347536, 252.46795802369013)); - right.setSegment(17, new Trajectory.Segment(1.532499386716972, 16.999987221163785, - 99.99979007277825, -0.0023989023574699786, 4.712435245237948, 0.01, 226.10007097466567, 252.46704197959593)); - - - left.setSegment(18, new Trajectory.Segment(1.7125007645937145, 18.000015131069915, - 100.00023522352777, 0.0025296730754575947, 4.71243522995404, 0.01, 245.90007927980528, 252.287957872572)); - right.setSegment(18, new Trajectory.Segment(1.7124992354062691, 17.99998486892971, - 99.99976477659267, -0.0025296185583556507, 4.71243522995404, 0.01, 226.1000793009816, 252.2870421310992)); - - - left.setSegment(19, new Trajectory.Segment(1.9025009420836212, 19.00001774899067, - 100.0002617920753, 0.0026568547539795873, 4.712435212025765, 0.01, 245.9000880655576, 252.09795769528523)); - right.setSegment(19, new Trajectory.Segment(1.9024990579163574, 18.99998225100883, - 99.9997382079119, -0.0026568680766558828, 4.712435212025765, 0.01, 226.1000880867175, 252.09704230879225)); - - - left.setSegment(20, new Trajectory.Segment(2.1025011485333325, 20.000020644971112, - 100.00028959804439, 0.002780596908280586, 4.7124351911722595, 0.01, 245.90009730984377, 251.89795748904916)); - right.setSegment(20, new Trajectory.Segment(2.1024988514666716, 19.999979355031424, - 99.99971040225937, -0.002780565253601708, 4.7124351911722595, 0.01, 226.10009733098462, 251.89704251545558)); - - - left.setSegment(21, new Trajectory.Segment(2.3125013868431505, 21.000023830981814, - 100.00031860107015, 0.002900302575881142, 4.71243516710056, 0.01, 245.90010701163155, 251.68795725096345)); - right.setSegment(21, new Trajectory.Segment(2.312498613156814, 20.999976169014232, - 99.99968139828077, -0.0029003978596620072, 4.71243516710056, 0.01, 226.10010703275034, 251.68704275398954)); - - - left.setSegment(22, new Trajectory.Segment(2.5325016600292747, 22.000027318612418, - 100.00034876306039, 0.003016199023875288, 4.712435139506003, 0.01, 245.90011716973072, 251.46795697801184)); - right.setSegment(22, new Trajectory.Segment(2.532498339970703, 21.999972681388904, - 99.99965123746719, -0.003016081357998246, 4.712435139506003, 0.01, 226.10011719082428, 251.46704302741017)); - - - left.setSegment(23, new Trajectory.Segment(2.7625019712194514, 23.00003111901766, - 100.0003800405242, 0.0031277463818923934, 4.712435108072651, 0.01, 245.9001277827786, 251.23795666706653)); - right.setSegment(23, new Trajectory.Segment(2.7624980287805236, 22.999968880982067, - 99.99961995931628, -0.0031278150913749414, 4.712435108072651, 0.01, 226.10012780384346, 251.2370433388452)); - - - left.setSegment(24, new Trajectory.Segment(3.002502323648767, 24.000035242931567, - 100.00041239139073, 0.0032350866518982, 4.712435072473732, 0.01, 245.9001388492251, 250.99795631489235)); - right.setSegment(24, new Trajectory.Segment(3.0024976763512172, 23.999964757069367, - 99.99958760873007, -0.0032350586209872745, 4.712435072473732, 0.01, 226.10013887025744, 250.99704369152965)); - - - left.setSegment(25, new Trajectory.Segment(3.2525027206549018, 25.000039700613442, - 100.00044576818752, 0.0033376796793049834, 4.712435032372101, 0.01, 245.90015036731688, 250.74795591815155)); - right.setSegment(25, new Trajectory.Segment(3.252497279345057, 24.999960299383947, - 99.99955423145792, -0.003337727214614006, 4.712435032372101, 0.01, 226.10015038831267, 250.74704408880115)); - - - left.setSegment(26, new Trajectory.Segment(3.5125031656736367, 26.000044501873482, - 100.00048012600402, 0.0034357816502961214, 4.712434987420715, 0.01, 245.90016233508186, 250.48795547340825)); - right.setSegment(26, new Trajectory.Segment(3.512496834326364, 25.9999554981307, - 99.99951987467526, -0.0034356782663280683, 4.712434987420715, 0.01, 226.10016235603666, 250.48704453409528)); + 50, 5000, 4.712435307185665, 0.01, 226.10000012644056, 219.99704136467318)); - left.setSegment(27, new Trajectory.Segment(3.7825036622337387, 27.000049656010194, - 100.00051541367121, 0.0035287667188299565, 4.712434937263126, 0.01, 245.90017475031257, 250.2179549771336)); - right.setSegment(27, new Trajectory.Segment(3.7824963377662266, 26.99995034398624, - 99.99948458555394, -0.00352891213140083, 4.712434937263126, 0.01, 226.10017477122173, 250.21704503094085)); + left.setSegment(1, new Trajectory.Segment(0.01250000005483226, 1.0000000054832259, + 50.00000054832259, 0.000054832258911119425, 4.712435307180126, 0.01, 245.90000056846145, 219.98795863528807)); + right.setSegment(1, new Trajectory.Segment(0.01249999994512446, 0.999999994512446, + 49.999999451244605, -0.000054875539490240044, 4.712435307180126, 0.01, 226.10000058970854, 219.9870413647388)); - left.setSegment(28, new Trajectory.Segment(4.062504213952156, 28.000055171841716, - 100.00055158315213, 0.003616948092144412, 4.712434881533994, 0.01, 245.9001876105497, 249.9379544257105)); - right.setSegment(28, new Trajectory.Segment(4.062495786047813, 27.999944828158608, - 99.99944841723689, -0.0036168317052442944, 4.712434881533994, 0.01, 226.10018763140815, 249.9370455829546)); + left.setSegment(2, new Trajectory.Segment(0.03250000038374183, 2.000000032890957, + 100.00000274077311, 5000.000219245052, 4.712435307146904, 0.01, 245.90000149499707, 219.96795863498062)); + right.setSegment(2, new Trajectory.Segment(0.03249999961624199, 1.9999999671117528, + 99.99999725993067, 4999.999780868606, 4.712435307146904, 0.01, 226.10000151624416, 219.96704136508913)); - left.setSegment(29, new Trajectory.Segment(4.352504824528531, 29.00006105763755, - 100.0005885795833, 0.003699643116306106, 4.712434819859613, 0.01, 245.90020091306505, 249.64795381543922)); - right.setSegment(29, new Trajectory.Segment(4.352495175471458, 28.999938942364505, - 99.99941142058972, -0.003699664716805273, 4.712434819859613, 0.01, 226.1002009338675, 249.64704619383605)); + left.setSegment(3, new Trajectory.Segment(0.06250000142484928, 3.0000001041107445, + 100.00000712197874, 0.00043812056276237854, 4.712435307041741, 0.01, 245.90000288479857, 219.9379586339717)); + right.setSegment(3, new Trajectory.Segment(0.06249999857511816, 2.999999895887617, + 99.99999287758641, -0.0004382344258146986, 4.712435307041741, 0.01, 226.10000290604555, 219.93704136616245)); - left.setSegment(30, new Trajectory.Segment(4.652505497740002, 30.00006732114703, - 100.000626350948, 0.0037771364702621213, 4.712434751858455, 0.01, 245.90021465484452, 249.34795314254248)); - right.setSegment(30, new Trajectory.Segment(4.652494502259978, 29.99993267885206, - 99.99937364875535, -0.003777183437136955, 4.712434751858455, 0.01, 226.1002146755853, 249.34704686736225)); + left.setSegment(4, new Trajectory.Segment(0.10250000383455374, 4.000000240970445, + 100.00001368597009, 0.0006563991348684795, 4.712435306798335, 0.01, 245.9000047378605, 219.89795863160492)); + right.setSegment(4, new Trajectory.Segment(0.10249999616541018, 3.999999759029202, + 99.99998631415852, -0.0006563427888295337, 4.712435306798335, 0.01, 226.10000475910726, 219.89704136861508)); - left.setSegment(31, new Trajectory.Segment(4.962506237435597, 31.000073969559505, - 100.00066484124766, 0.0038490299658633376, 4.712434677141728, 0.01, 245.90022883257046, 249.0379524031711)); - right.setSegment(31, new Trajectory.Segment(4.962493762564384, 30.999926030440616, - 99.99933515885573, -0.0038489899623073143, 4.712434677141728, 0.01, 226.10022885324355, 249.03704760738205)); + left.setSegment(5, new Trajectory.Segment(0.15250000848642428, 5.000000465187053, + 100.00002242166079, 0.0008735690698813414, 4.71243530632845, 0.01, 245.90000705417043, 219.8479586270067)); + right.setSegment(5, new Trajectory.Segment(0.15249999151354782, 4.999999534813764, + 99.99997757845618, -0.0008735702337503426, 4.71243530632845, 0.01, 226.10000707541673, 219.8470413733206)); - left.setSegment(32, new Trajectory.Segment(5.282507047530555, 32.00008100949582, - 100.00070399363175, 0.003915238409035737, 4.712434595313953, 0.01, 245.900243442604, 248.71795159340965)); - right.setSegment(32, new Trajectory.Segment(5.282492952469393, 31.999918990500813, - 99.99929600601973, -0.003915283599553732, 4.712434595313953, 0.01, 226.10024346320313, 248.71704841781056)); + left.setSegment(6, new Trajectory.Segment(0.21250001646989236, 6.000000798346807, + 100.0000333159754, 0.0010894314613096867, 4.712435305522039, 0.01, 245.90000983370456, 219.78795861908762)); + right.setSegment(6, new Trajectory.Segment(0.2124999835300974, 5.999999201654959, + 99.99996668411954, -0.0010894336639921676, 4.712435305522039, 0.01, 226.10000985495012, 219.78704138136843)); - left.setSegment(33, new Trajectory.Segment(5.612507932000553, 33.000088446999804, - 100.00074375039816, 0.00397567664123244, 4.71243450597355, 0.01, 245.90025848096752, 248.3879507092823)); - right.setSegment(33, new Trajectory.Segment(5.612492067999422, 32.999911553002924, - 99.99925625021113, -0.003975580860071659, 4.71243450597355, 0.01, 226.10025850148605, 248.38704930262318)); + left.setSegment(7, new Trajectory.Segment(0.2825000290885462, 7.000001261865384, + 100.00004635185763, 0.0013035882233225493, 4.712435304247426, 0.01, 245.90001307642223, 219.71795860654407)); + right.setSegment(7, new Trajectory.Segment(0.2824999709114101, 6.9999987381312705, + 99.99995364763112, -0.001303648842565508, 4.712435304247426, 0.01, 226.10001309766665, 219.71704139406222)); - left.setSegment(34, new Trajectory.Segment(5.952508894875538, 34.00009628749845, - 100.00078404986468, 0.0040299466519400085, 4.712434408713449, 0.01, 245.90027394332645, 248.04794974675892)); - right.setSegment(34, new Trajectory.Segment(5.95249110512442, 33.999903712499815, - 99.9992159496891, -0.004030052203063406, 4.712434408713449, 0.01, 226.1002739637574, 248.04705026584978)); + left.setSegment(8, new Trajectory.Segment(0.36250004785816947, 8.000001876962324, + 100.00006150969405, 0.0015157836415369275, 4.712435302351507, 0.01, 245.9000167822594, 219.63795858786028)); + right.setSegment(8, new Trajectory.Segment(0.36249995214181, 7.999998123039992, + 99.99993849087217, -0.0015156758948364768, 4.712435302351507, 0.01, 226.10001680350206, 219.63704141291765)); - left.setSegment(35, new Trajectory.Segment(6.302509940233842, 35.00010453583038, - 100.00082483319304, 0.004078332835888432, 4.712434303121703, 0.01, 245.90028982497145, 247.69794870176094)); - right.setSegment(35, new Trajectory.Segment(6.302490059766144, 34.999895464172404, - 99.99917516725887, -0.004078243023286632, 4.712434303121703, 0.01, 226.10028984530751, 247.69705131156837)); + left.setSegment(9, new Trajectory.Segment(0.45250007450421126, 9.000002664604182, + 100.00007876418574, 0.0017254491694984608, 4.712435299659987, 0.01, 245.90002095112095, 219.5479585613108)); + right.setSegment(9, new Trajectory.Segment(0.45249992549578233, 8.999997335397232, + 99.999921235724, -0.0017255148165418177, 4.712435299659987, 0.01, 226.10002097236116, 219.54704143966023)); - left.setSegment(36, new Trajectory.Segment(6.662511072195675, 36.000113196183285, - 100.00086603529041, 0.004120209737834557, 4.712434188782122, 0.01, 245.9003061208003, 247.33794757016793)); - right.setSegment(36, new Trajectory.Segment(6.66248892780427, 35.9998868038126, - 99.99913396401965, -0.004120323922052194, 4.712434188782122, 0.01, 226.10030614103394, 247.33705244389907)); + left.setSegment(10, new Trajectory.Segment(0.5525001109592848, 10.000003645507352, + 100.00009809031702, 0.0019326131280195114, 4.712435295977655, 0.01, 245.90002558287213, 219.44795852496298)); + right.setSegment(10, new Trajectory.Segment(0.5524998890407014, 9.999996354491907, + 99.9999019094675, -0.0019326256506246864, 4.712435295977655, 0.01, 226.10002560410894, 219.44704147622258)); - left.setSegment(37, new Trajectory.Segment(7.032512294916984, 37.00012227213089, - 100.00090759476024, 0.004155946982109526, 4.712434065274921, 0.01, 245.9003228253, 246.9679463478237)); - right.setSegment(37, new Trajectory.Segment(7.032487705082986, 36.99987772787166, - 99.99909240590625, -0.00415581133950127, 4.712434065274921, 0.01, 226.1003228454232, 246.96705366699743)); + left.setSegment(11, new Trajectory.Segment(0.6625001593600972, 11.000004840081239, + 100.00011945738869, 0.0021367071667555138, 4.712435291088686, 0.01, 245.90003067732872, 219.33795847668014)); + right.setSegment(11, new Trajectory.Segment(0.6624998406398999, 10.999995159919845, + 99.99988054279373, -0.002136667376362311, 4.712435291088686, 0.01, 226.10003069856108, 219.33704152474135)); - left.setSegment(38, new Trajectory.Segment(7.412513612582688, 38.000131766570426, - 100.00094944395386, 0.004184919362160144, 4.712433932177375, 0.01, 245.90033993252857, 246.58794503054307)); - right.setSegment(38, new Trajectory.Segment(7.412486387417304, 37.99986823343174, - 99.99905055600777, -0.004184989847999532, 4.712433932177375, 0.01, 226.10033995253312, 246.58705498504818)); + left.setSegment(12, new Trajectory.Segment(0.7825002220439817, 12.00000626838845, + 100.00014283072112, 0.002337333242508066, 4.712435284756981, 0.01, 245.9000362342466, 219.21795841412492)); + right.setSegment(12, new Trajectory.Segment(0.7824997779560219, 11.999993731612198, + 99.99985716923536, -0.0023373558377670633, 4.712435284756981, 0.01, 226.10003625547313, 219.2170415875539)); - left.setSegment(39, new Trajectory.Segment(7.802515029400171, 39.00014168174823, - 100.00099151778059, 0.004207382673371285, 4.712433789064498, 0.01, 245.90035743609744, 246.19794361411837)); - right.setSegment(39, new Trajectory.Segment(7.80248497059979, 38.999858318248535, - 99.9990084816794, -0.00420743283768843, 4.712433789064498, 0.01, 226.10035745597483, 246.19705640225848)); + left.setSegment(13, new Trajectory.Segment(0.9125003015453443, 13.000007950136267, + 100.00016817478165, 0.002534406053200655, 4.71243527672654, 0.01, 245.90004225330986, 219.0879583347629)); + right.setSegment(13, new Trajectory.Segment(0.9124996984546321, 12.999992049861019, + 99.99983182488208, -0.0025344353275613685, 4.71243527672654, 0.01, 226.10004227452905, 219.08704166719463)); - left.setSegment(40, new Trajectory.Segment(8.202516549592513, 40.000152019234164, - 100.00103374859322, 0.004223081262466621, 4.712433635509716, 0.01, 245.90037532915363, 245.79794209432623)); - right.setSegment(40, new Trajectory.Segment(8.202483450407446, 39.99984798076551, - 99.9989662516974, -0.004222998200020811, 4.712433635509716, 0.01, 226.10037534889506, 245.79705792285102)); + left.setSegment(14, new Trajectory.Segment(1.052500400591656, 14.000009904631163, + 100.00019544948965, 0.0027274708003233172, 4.7124352667218625, 0.01, 245.90004873411834, 218.9479582358666)); + right.setSegment(14, new Trajectory.Segment(1.0524995994083364, 13.999990095370421, + 99.99980455094021, -0.0027273941867633766, 4.7124352667218625, 0.01, 226.10004875532837, 218.94704176639092)); - left.setSegment(41, new Trajectory.Segment(8.612518177391559, 41.00016277990454, - 100.00107606703779, 0.004231844457081024, 4.71243347108557, 0.01, 245.90039360436214, 245.38794046693448)); - right.setSegment(41, new Trajectory.Segment(8.612481822608414, 40.999837220096836, - 99.99892393313274, -0.004231856465253259, 4.71243347108557, 0.01, 226.10039362395844, 245.38705955105735)); + left.setSegment(15, new Trajectory.Segment(1.2025005220990748, 15.000012150741865, + 100.00022461107018, 0.002916158052812534, 4.712435254448386, 0.01, 245.90005567617408, 218.79795811451982)); + right.setSegment(15, new Trajectory.Segment(1.2024994779009304, 14.99998784925941, + 99.9997753888989, -0.002916204131508948, 4.712435254448386, 0.01, 226.10005569737285, 218.79704188805897)); - left.setSegment(42, new Trajectory.Segment(9.032519917030923, 42.00017396393647, - 100.00111840319263, 0.004233615484849906, 4.712433295364421, 0.01, 245.90041225388876, 244.96793872770917)); - right.setSegment(42, new Trajectory.Segment(9.032480082969029, 41.99982603606153, - 99.99888159646915, -0.004233666359709787, 4.712433295364421, 0.01, 226.10041227333056, 244.96706129111078)); + left.setSegment(16, new Trajectory.Segment(1.3625006691678123, 16.00001470687375, + 100.00025561318839, 0.0031002118205947227, 4.712435239592955, 0.01, 245.90006307886688, 218.63795796762233)); + right.setSegment(16, new Trajectory.Segment(1.362499330832146, 15.999985293121574, + 99.99974438621635, -0.0031002682547409677, 4.712435239592955, 0.01, 226.100063100052, 218.637042035299)); - left.setSegment(43, new Trajectory.Segment(9.462521772739002, 43.000185570807865, - 100.00116068713965, 0.0042283947010446354, 4.712433107919161, 0.01, 245.90043126938292, 244.53793687242154)); - right.setSegment(43, new Trajectory.Segment(9.462478227260977, 42.99981442919477, - 99.99883931332434, -0.004228314480769768, 4.712433107919161, 0.01, 226.10043128866062, 244.53706314723928)); + left.setSegment(17, new Trajectory.Segment(1.5325008450773019, 17.00001759094896, + 100.00028840752115, 0.0032794332767593914, 4.71243522182432, 0.01, 245.90007094145898, 218.46795779189466)); + right.setSegment(17, new Trajectory.Segment(1.5324991549226525, 16.99998240905064, + 99.99971159290676, -0.003279330958605442, 4.71243522182432, 0.01, 226.10007096262785, 218.46704221139032)); - left.setSegment(44, new Trajectory.Segment(9.902523748731664, 44.00019759926618, - 100.00120284583147, 0.004215869182644383, 4.712432908323944, 0.01, 245.90045064196113, 244.09793489685535)); - right.setSegment(44, new Trajectory.Segment(9.902476251268315, 43.99980240073376, - 99.99879715389923, -0.004215942510654713, 4.712432908323944, 0.01, 226.10045066106477, 244.0970651236584)); + left.setSegment(18, new Trajectory.Segment(1.7125010532807974, 18.000020820349558, + 100.00032294005976, 0.0034532538606413254, 4.712435200793665, 0.01, 245.90007926306907, 218.28795758388353)); + right.setSegment(18, new Trajectory.Segment(1.7124989467191711, 17.999979179651866, + 99.9996770601225, -0.0034532784269458716, 4.712435200793665, 0.01, 226.10007928421868, 218.28704241978616)); - left.setSegment(45, new Trajectory.Segment(10.352525849204948, 45.00021004732842, - 100.00124480622432, 0.004196039284920516, 4.712432696154923, 0.01, 245.90047036219042, 243.64793279681416)); - right.setSegment(45, new Trajectory.Segment(10.352474150795004, 44.99978995266887, - 99.99875519351065, -0.004196038858594875, 4.712432696154923, 0.01, 226.10047038111, 243.6470672245638)); + left.setSegment(19, new Trajectory.Segment(1.902501297399802, 19.000024411900448, + 100.00035915508896, 0.0036215029197705917, 4.712435176135178, 0.01, 245.9000880426554, 218.09795733996737)); + right.setSegment(19, new Trajectory.Segment(1.9024987026001599, 18.99997558809886, + 99.9996408446993, -0.0036215423193652896, 4.712435176135178, 0.01, 226.10008806378244, 218.09704266410802)); - left.setSegment(46, new Trajectory.Segment(10.812528078327901, 46.000222912295364, - 100.00128649669406, 0.004169046974311641, 4.71243247099099, 0.01, 245.90049042007274, 243.1879305681285)); - right.setSegment(46, new Trajectory.Segment(10.81247192167207, 45.99977708770667, - 99.99871350377987, -0.004168973077867122, 4.71243247099099, 0.01, 226.10049043879792, 243.18706945412404)); + left.setSegment(20, new Trajectory.Segment(2.1025015812183825, 20.00002838185804, + 100.00039699575929, 0.0037840670330524517, 4.7124351474666355, 0.01, 245.90009727899795, 217.89795705636206)); + right.setSegment(20, new Trajectory.Segment(2.1024984187816096, 19.999971618144958, + 99.99960300460984, -0.0037840089461838033, 4.7124351474666355, 0.01, 226.10009730009878, 217.89704294813984)); - left.setSegment(47, new Trajectory.Segment(11.282530440234847, 47.0002361906947, - 100.00132783993365, 0.004134323958737696, 4.712432232414531, 0.01, 245.9005108050293, 242.71792820666363)); - right.setSegment(47, new Trajectory.Segment(11.282469559765111, 46.99976380930407, - 99.99867215974021, -0.004134403965849742, 4.712432232414531, 0.01, 226.10051082354963, 242.71707181647307)); + left.setSegment(21, new Trajectory.Segment(2.312501908676774, 21.00003274583916, + 100.00043639811196, 0.003940235266952641, 4.71243511439003, 0.01, 245.90010697068035, 217.6879567291273)); + right.setSegment(21, new Trajectory.Segment(2.3124980913232114, 20.99996725416016, + 99.99956360152034, -0.003940308950234339, 4.71243511439003, 0.01, 226.100106991751, 217.68704327582188)); - left.setSegment(48, new Trajectory.Segment(11.762532939018028, 48.00024987831802, - 100.00136876233228, 0.004092239862529823, 4.712431980012187, 0.01, 245.90053150588577, 242.23792570832683)); - right.setSegment(48, new Trajectory.Segment(11.762467060981937, 47.999750121682546, - 99.99863123784749, -0.004092189271887037, 4.712431980012187, 0.01, 226.10053152419053, 242.2370743157026)); + left.setSegment(22, new Trajectory.Segment(2.532502283865098, 22.00003751883243, + 100.00047729932682, 0.0040901214859445645, 4.71243507649222, 0.01, 245.90011711607076, 217.4679563541729)); + right.setSegment(22, new Trajectory.Segment(2.532497716134864, 21.999962481165248, + 99.99952270050869, -0.004090101164422322, 4.71243507649222, 0.01, 226.1001171371068, 217.46704365124415)); - left.setSegment(49, new Trajectory.Segment(12.252535578720009, 49.00026397019809, - 100.00140918800682, 0.0040425674541211265, 4.712431713375625, 0.01, 245.90055251085772, 241.74792306907506)); - right.setSegment(49, new Trajectory.Segment(12.252464421279933, 48.99973602979971, - 99.99859081171678, -0.004042613070964762, 4.712431713375625, 0.01, 226.1005525289362, 241.74707695585482)); + left.setSegment(23, new Trajectory.Segment(2.7625027110165123, 23.000042715141436, + 100.0005196309008, 0.004233157397948162, 4.712435033345612, 0.01, 245.90012771330217, 217.23795592726563)); + right.setSegment(23, new Trajectory.Segment(2.762497288983466, 22.999957284860184, + 99.99948036949355, -0.004233101513761994, 4.712435033345612, 0.01, 226.1001277342988, 217.23704407863968)); - left.setSegment(50, new Trajectory.Segment(12.752538363325899, 50.00027846058893, - 100.00144903908392, 0.00398510771049132, 4.712431432102301, 0.01, 245.90057380753723, 241.2479202849227)); - right.setSegment(50, new Trajectory.Segment(12.752461636674024, 49.99972153940904, - 99.99855096093242, -0.003985078436130607, 4.712431432102301, 0.01, 226.1005738253785, 241.24707974091427)); + left.setSegment(24, new Trajectory.Segment(3.002503194500274, 24.00004834837617, + 100.0005633234732, 0.0043692572404552266, 4.71243498450887, 0.01, 245.90013876025222, 216.9979554440361)); + right.setSegment(24, new Trajectory.Segment(3.0024968054997356, 23.99995165162697, + 99.9994366766785, -0.004369281505489653, 4.71243498450887, 0.01, 226.10013878120435, 216.99704456237765)); - left.setSegment(51, new Trajectory.Segment(13.262541296755785, 51.00029334298861, - 100.00148823996824, 0.003920088431641489, 4.712431135796253, 0.01, 245.90059538287954, 240.7379173519492)); - right.setSegment(51, new Trajectory.Segment(13.262458703244167, 50.99970665701433, - 99.99851176052914, -0.003920040327898278, 4.712431135796253, 0.01, 226.10059540047263, 240.7370826748005)); + left.setSegment(25, new Trajectory.Segment(3.252503738814321, 25.000054431404735, + 100.00060830285662, 0.004497938341785357, 4.712434929527653, 0.01, 245.90015025452266, 216.7479548999863)); + right.setSegment(25, new Trajectory.Segment(3.252496261185686, 24.99994556859501, + 99.9993916968041, -0.004497987440288398, 4.712434929527653, 0.01, 226.10015027542477, 216.74704510695594)); - left.setSegment(52, new Trajectory.Segment(13.782544382856779, 52.000308610099424, - 100.00152671108111, 0.0038471112873139646, 4.712430824068879, 0.01, 245.90061722319086, 240.21791426630685)); - right.setSegment(52, new Trajectory.Segment(13.78245561714315, 51.99969138989824, - 99.99847328839095, -0.0038472138186307347, 4.712430824068879, 0.01, 226.10061724052468, 240.21708576136015)); + left.setSegment(26, new Trajectory.Segment(3.512504348577769, 26.00006097634482, + 100.0006544940085, 0.004619115188120304, 4.712434867935382, 0.01, 245.90016219341786, 216.48795429049696)); + right.setSegment(26, new Trajectory.Segment(3.5124956514221823, 25.999939023649638, + 99.99934550546286, -0.004619134124084212, 4.712434867935382, 0.01, 226.10016221426397, 216.48704571699355)); - left.setSegment(53, new Trajectory.Segment(14.312547625395371, 53.00032425385918, - 100.00156437597596, 0.0037664894847466712, 4.712430496539728, 0.01, 245.90063931411666, 239.68791102422864)); - right.setSegment(53, new Trajectory.Segment(14.31245237460457, 52.99967574614212, - 99.99843562438784, -0.0037664003116333333, 4.712430496539728, 0.01, 226.1006393311802, 239.6870890043591)); + left.setSegment(27, new Trajectory.Segment(3.7825050285231785, 27.000067994540938, + 100.00070181961185, 0.004732560334730351, 4.71243479925403, 0.01, 245.90017457392347, 216.2179536108354)); + right.setSegment(27, new Trajectory.Segment(3.7824949714767877, 26.99993200546053, + 99.9992981810891, -0.004732437375309928, 4.71243479925403, 0.01, 226.10017459470723, 216.2170463972228)); - left.setSegment(54, new Trajectory.Segment(14.852551028049472, 54.00034026540998, - 100.00160115507981, 0.003677910385135874, 4.7124301528372925, 0.01, 245.90066164063097, 239.1479076220361)); - right.setSegment(54, new Trajectory.Segment(14.85244897195046, 53.99965973458909, - 99.99839884469708, -0.003677969075965848, 4.7124301528372925, 0.01, 226.10066165741318, 239.14709240747476)); + left.setSegment(28, new Trajectory.Segment(4.062505783488169, 28.000075496499083, + 100.00075019581445, 0.004837620259934283, 4.712434722994939, 0.01, 245.90018739268422, 215.93795285616383)); + right.setSegment(28, new Trajectory.Segment(4.062494216511804, 27.99992450350162, + 99.99924980410917, -0.004837697993309575, 4.712434722994939, 0.01, 226.10018741339886, 215.9370471524812)); - left.setSegment(55, new Trajectory.Segment(15.402554594400568, 55.00035663510957, - 100.0016369699587, 0.0035814878884821155, 4.71242979259981, 0.01, 245.9006841870266, 238.59790405614712)); - right.setSegment(55, new Trajectory.Segment(15.402445405599355, 54.99964336488955, - 99.99836303004628, -0.0035814650800602976, 4.71242979259981, 0.01, 226.1006842035164, 238.59709597428798)); + left.setSegment(29, new Trajectory.Segment(4.352506618407378, 29.00008349192083, + 100.00079954217469, 0.004934636024245265, 4.7124346386596665, 0.01, 245.90020064598173, 215.64795202154747)); + right.setSegment(29, new Trajectory.Segment(4.352493381592599, 28.999916508079497, + 99.99920045778765, -0.004934632151787355, 4.7124346386596665, 0.01, 226.10020066662003, 215.64704798770325)); - left.setSegment(56, new Trajectory.Segment(15.962558327925711, 56.00037335251427, - 100.0016717404705, 0.0034770511803117188, 4.712429415476057, 0.01, 245.90070693690586, 238.03790032308407)); - right.setSegment(56, new Trajectory.Segment(15.962441672074196, 55.99962664748412, - 99.99832825945703, -0.0034770589252275386, 4.712429415476057, 0.01, 226.10070695309236, 238.03709970827524)); + left.setSegment(30, new Trajectory.Segment(4.6525075383035865, 30.00009198962089, + 100.00084977000618, 0.0050227831493998565, 4.712434545740856, 0.01, 245.90021432971193, 215.34795110196333)); + right.setSegment(30, new Trajectory.Segment(4.65249246169636, 29.999908010376064, + 99.99915022965666, -0.005022813098776169, 4.712434545740856, 0.01, 226.10021435026633, 215.34704890791156)); - left.setSegment(57, new Trajectory.Segment(16.53256223198973, 57.00039040640181, - 100.00170538875395, 0.003364828344842863, 4.712429021126154, 0.01, 245.90072987317285, 237.46789641948152)); - right.setSegment(57, new Trajectory.Segment(16.532437768010176, 56.99960959359797, - 99.99829461138461, -0.003364807241723611, 4.712429021126154, 0.01, 226.1007298890451, 237.4671036128007)); + left.setSegment(31, new Trajectory.Segment(4.962508548279143, 31.000100997555585, + 100.00090079346933, 0.005102346314345141, 4.712434443723125, 0.01, 245.9002284393623, 215.03795009230888)); + right.setSegment(31, new Trajectory.Segment(4.962491451720845, 30.999899002448515, + 99.99909920724512, -0.005102241154020248, 4.712434443723125, 0.01, 226.1002284598248, 215.03704991820817)); - left.setSegment(58, new Trajectory.Segment(17.11256630983724, 58.000407784751374, - 100.00173783495612, 0.003244620216946714, 4.712428609222366, 0.01, 245.90075297802613, 236.8878923420942)); - right.setSegment(58, new Trajectory.Segment(17.11243369016267, 57.999592215249365, - 99.9982621651398, -0.0032446244802031288, 4.712428609222366, 0.01, 226.10075299357354, 236.8871076911084)); + left.setSegment(32, new Trajectory.Segment(5.2825096535066605, 32.00011052275174, + 100.00095251961554, 0.00517261462107399, 4.712434332083983, 0.01, 245.9002429699891, 214.71794898741126)); + right.setSegment(32, new Trajectory.Segment(5.282490346493337, 31.999889477249255, + 99.99904748007395, -0.005172717116863623, 4.712434332083983, 0.01, 226.1002429903512, 214.71705102376558)); - left.setSegment(59, new Trajectory.Segment(17.70257056458462, 59.000425474737916, - 100.00176899865423, 0.003116369811095865, 4.712428179449905, 0.01, 245.9007762329531, 236.29788808780512)); - right.setSegment(59, new Trajectory.Segment(17.702429435415283, 58.99957452526103, - 99.99823100116672, -0.0031163973090997388, 4.712428179449905, 0.01, 226.10077624816512, 236.2971119463141)); + left.setSegment(33, new Trajectory.Segment(5.6125108592197845, 33.0001205713124, + 100.00100485606609, 0.005233645055113811, 4.7124342102947745, 0.01, 245.90025791619422, 214.3879477820366)); + right.setSegment(33, new Trajectory.Segment(5.6124891407801645, 32.99987942868274, + 99.99899514334842, -0.005233672553117685, 4.7124342102947745, 0.01, 226.10025793644706, 214.38705222981721)); - left.setSegment(60, new Trajectory.Segment(18.302574999212112, 60.00044346274931, - 100.00179880113933, 0.00298024851019818, 4.712427731507735, 0.01, 245.90079961872493, 235.69788365363337)); - right.setSegment(60, new Trajectory.Segment(18.302425000787828, 59.99955653725451, - 99.9982011993481, -0.002980181861289566, 4.712427731507735, 0.01, 226.10079963359124, 235.69711638139728)); + left.setSegment(34, new Trajectory.Segment(5.952512170703896, 34.000131148411164, + 100.0010577098763, 0.005285381021735702, 4.7124340778216345, 0.01, 245.90027327210237, 214.04794647089926)); + right.setSegment(34, new Trajectory.Segment(5.952487829296105, 33.9998688515941, + 99.99894229113622, -0.00528522122067443, 4.7124340778216345, 0.01, 226.10027329223675, 214.04705354164804)); - left.setSegment(61, new Trajectory.Segment(18.912579616555888, 61.00046173437777, - 100.00182716284627, 0.002836170693854001, 4.712427265109373, 0.01, 245.90082311539288, 235.08787903674212)); - right.setSegment(61, new Trajectory.Segment(18.91242038344402, 60.999538265618924, - 99.99817283644106, -0.002836290704522071, 4.712427265109373, 0.01, 226.10082312990352, 235.08712099919362)); + left.setSegment(35, new Trajectory.Segment(6.302513593285993, 35.000142258209735, + 100.00111097985709, 0.00532699807820336, 4.712433934126475, 0.01, 245.90028903133813, 213.69794504867195)); + right.setSegment(35, new Trajectory.Segment(6.302486406713996, 34.999857741789064, + 99.99888901949632, -0.00532716398993216, 4.712433934126475, 0.01, 226.10028905134445, 213.69705496458494)); - left.setSegment(62, new Trajectory.Segment(19.5325844193002, 62.00048027443127, - 100.0018540053496, 0.0026842503331181433, 4.712426779983684, 0.01, 245.900846702286, 234.46787423444647)); - right.setSegment(62, new Trajectory.Segment(19.532415580699695, 61.99951972556773, - 99.99814599488062, -0.002684156044097108, 4.712426779983684, 0.01, 226.1008467164312, 234.4671258023866)); + left.setSegment(36, new Trajectory.Segment(6.662515132325027, 36.000153903903396, + 100.0011645693661, 0.005358950900813397, 4.712433778667984, 0.01, 245.9003051870032, 213.33794350999543)); + right.setSegment(36, new Trajectory.Segment(6.66248486767496, 35.99984609609646, + 99.99883543073977, -0.00535887565433768, 4.712433778667984, 0.01, 226.10030520687138, 213.33705650398647)); - left.setSegment(63, new Trajectory.Segment(20.162589409969364, 63.00049906691645, - 100.00187924851787, 0.002524316826679751, 4.712426275875686, 0.01, 245.90087035800963, 233.83786924422142)); - right.setSegment(63, new Trajectory.Segment(20.162410590030515, 62.99950093308203, - 99.99812075143026, -0.0025243450352263608, 4.712426275875686, 0.01, 226.10087037178005, 233.83713079349988)); + left.setSegment(37, new Trajectory.Segment(7.032516793201784, 37.000166087675595, + 100.00121837721991, 0.00538078538170339, 4.7124336109026554, 0.01, 245.90032173165375, 212.96794184948857)); + right.setSegment(37, new Trajectory.Segment(7.032483206798188, 36.99983391232279, + 99.998781622633, -0.005380810677024783, 4.7124336109026554, 0.01, 226.1003217513734, 212.96705816523314)); - left.setSegment(64, new Trajectory.Segment(20.802594590919977, 64.00051809506142, - 100.00190281449761, 0.002356597974539909, 4.712425752547338, 0.01, 245.9008940604457, 233.19786406370972)); - right.setSegment(64, new Trajectory.Segment(20.802405409079846, 63.999481904933226, - 99.9980971851194, -0.0023566310858313955, 4.712425752547338, 0.01, 226.10089407383236, 233.19713597488945)); + left.setSegment(38, new Trajectory.Segment(7.41251858130845, 38.00017881066663, + 100.00127229910376, 0.005392188384689689, 4.71243343028582, 0.01, 245.9003386572781, 212.58794006175884)); + right.setSegment(38, new Trajectory.Segment(7.412481418691534, 37.999821189334625, + 99.9987277011833, -0.005392144970528534, 4.71243343028582, 0.01, 226.10033867683848, 212.58705995371673)); - left.setSegment(65, new Trajectory.Segment(21.452599964333164, 65.0005373413186, - 100.00192462571817, 0.0021811220562995004, 4.7124252097783295, 0.01, 245.90091778675398, 232.54785869072956)); - right.setSegment(65, new Trajectory.Segment(21.45240003566665, 64.99946265868026, - 99.99807537470318, -0.0021810416228618124, 4.7124252097783295, 0.01, 226.10091779974843, 232.54714134873566)); + left.setSegment(39, new Trajectory.Segment(7.802520502038243, 39.00019207297939, + 100.00132623127556, 0.005393217179516796, 4.71243323627271, 0.01, 245.90035595527476, 212.19793814141266)); + right.setSegment(39, new Trajectory.Segment(7.8024794979617225, 38.999807927018814, + 99.99867376841891, -0.005393276438780958, 4.71243323627271, 0.01, 226.10035597466472, 212.19706187483015)); - left.setSegment(66, new Trajectory.Segment(22.11260553220661, 66.00055678734485, - 100.00194460262435, 0.0019976906173724274, 4.712424647366868, 0.01, 245.90094151337505, 231.88785312328258)); - right.setSegment(66, new Trajectory.Segment(22.1123944677932, 65.99944321265532, - 99.99805539750639, -0.00199771967857032, 4.712424647366868, 0.01, 226.10094152596915, 231.88714691703558)); + left.setSegment(40, new Trajectory.Segment(8.202522560774696, 40.00020587364519, + 100.00138006658048, 0.005383530492508726, 4.712433028319535, 0.01, 245.90037361643064, 211.7979360830661)); + right.setSegment(40, new Trajectory.Segment(8.202477439225287, 39.99979412635644, + 99.99861993376271, -0.005383465619956951, 4.712433028319535, 0.01, 226.10037363563882, 211.79706393395648)); - left.setSegment(67, new Trajectory.Segment(22.78261129634711, 67.00057641404973, - 100.00196267048835, 0.0018067864004933654, 4.712424065130456, 0.01, 245.90096521603425, 231.21784735956135)); - right.setSegment(67, new Trajectory.Segment(22.7823887036527, 66.99942358594973, - 99.99803732944059, -0.001806806579907061, 4.712424065130456, 0.01, 226.10096522822056, 231.21715268159534)); + left.setSegment(41, new Trajectory.Segment(8.612524762880792, 41.00022021060966, + 100.0014336964469, 0.0053629866414439675, 4.712432805884571, 0.01, 245.90039163090015, 211.38793388135576)); + right.setSegment(41, new Trajectory.Segment(8.612475237119146, 40.99977978938583, + 99.9985663029392, -0.005363082351550474, 4.712432805884571, 0.01, 226.10039164991483, 211.38706613645837)); - left.setSegment(68, new Trajectory.Segment(23.46261725836267, 68.00059620155587, - 100.00197875061332, 0.0016080124964901188, 4.712423462906661, 0.01, 245.90098886974766, 230.53784139795718)); - right.setSegment(68, new Trajectory.Segment(23.462382741637125, 67.99940379844234, - 99.99802124926163, -0.0016080178966149106, 4.712423462906661, 0.01, 226.10098888151919, 230.5371586440223)); + left.setSegment(42, new Trajectory.Segment(9.032527113688317, 42.00023508075257, + 100.00148701429055, 0.0053317843651257135, 4.712432568429269, 0.01, 245.90040998818446, 210.96793153094941)); + right.setSegment(42, new Trajectory.Segment(9.032472886311655, 41.99976491925092, + 99.99851298650881, -0.005331643038175571, 4.712432568429269, 0.01, 226.10041000699366, 210.96706848766704)); - left.setSegment(69, new Trajectory.Segment(24.15262341965514, 69.00061612924708, - 100.00199276912127, 0.0014018507954460802, 4.712422840553882, 0.01, 245.9010124488291, 229.84783523706759)); - right.setSegment(69, new Trajectory.Segment(24.15237658034458, 68.9993838707456, - 99.99800723032592, -0.001401893570118773, 4.712422840553882, 0.01, 226.1010124601796, 229.8471648057177)); + left.setSegment(43, new Trajectory.Segment(9.462529618486258, 43.00025047979408, + 100.00153990415157, 0.005288986102414128, 4.712432315419374, 0.01, 245.9004286771114, 210.5379290265576)); + right.setSegment(43, new Trajectory.Segment(9.462470381513697, 42.99974952020406, + 99.9984600953141, -0.00528911947128563, 4.712432315419374, 0.01, 226.10042869570287, 210.53707099287112)); - left.setSegment(70, new Trajectory.Segment(24.85262978141274, 70.00063617576006, - 100.00200465129865, 0.001188217737535524, 4.7124221979521055, 0.01, 245.90103592689908, 229.1478288757037)); - right.setSegment(70, new Trajectory.Segment(24.852370218587005, 69.99936382424241, - 99.99799534968048, -0.0011880645445216942, 4.7124221979521055, 0.01, 226.1010359378228, 229.147171167869)); + left.setSegment(44, new Trajectory.Segment(9.902532282510059, 44.00026640238004, + 100.0015922585959, 0.00523544443353785, 4.712432046326061, 0.01, 245.90044768581635, 210.0979263629444)); + right.setSegment(44, new Trajectory.Segment(9.902467717489872, 43.999733597617464, + 99.99840774134015, -0.005235397395608743, 4.712432046326061, 0.01, 226.1004477041776, 210.09707365730554)); - left.setSegment(71, new Trajectory.Segment(25.562636344602414, 71.00065631896724, - 100.00201432071805, 0.0009669419398505852, 4.712421535003652, 0.01, 245.90105927689493, 228.437822312898)); - right.setSegment(71, new Trajectory.Segment(25.5623636553973, 70.99934368102933, - 99.9979856786922, -0.000967098827686641, 4.712421535003652, 0.01, 226.10105928738696, 228.43717773144266)); + left.setSegment(45, new Trajectory.Segment(10.352535110930026, 45.00028284199672, + 100.00164396166795, 0.0051703072045938825, 4.712431760627075, 0.01, 245.90046700172343, 209.647923534939)); + right.setSegment(45, new Trajectory.Segment(10.35246488906993, 44.999717158005886, + 99.99835603884222, -0.005170249792740833, 4.712431760627075, 0.01, 226.10046701984191, 209.64707648614004)); - left.setSegment(72, new Trajectory.Segment(26.282643109962834, 72.00067653604214, - 100.00202170748906, 0.0007386771017081628, 4.71242085163391, 0.01, 245.901082471083, 227.71781554791116)); - right.setSegment(72, new Trajectory.Segment(26.282356890036834, 71.99932346395364, - 99.99797829243136, -0.0007386260847397352, 4.71242085163391, 0.01, 226.1010824811392, 227.7171844971767)); + left.setSegment(46, new Trajectory.Segment(10.812538108839904, 46.00029979098785, + 100.00169489911315, 0.005093744519513166, 4.712431457807894, 0.01, 245.900486611528, 209.1879205374471)); + right.setSegment(46, new Trajectory.Segment(10.812461891160027, 45.99970020900964, + 99.99830510037526, -0.005093846695558568, 4.712431457807894, 0.01, 226.10048662939087, 209.18707948446792)); - left.setSegment(73, new Trajectory.Segment(27.012650077997115, 73.00069680342818, - 100.00202673860485, 0.0005031115790643526, 4.712420147792063, 0.01, 245.9011054810722, 226.98780858023952)); - right.setSegment(73, new Trajectory.Segment(27.01234992200254, 72.99930319657057, - 99.99797326169215, -0.0005030739202993573, 4.712420147792063, 0.01, 226.10110549068912, 226.98719146557363)); + left.setSegment(47, new Trajectory.Segment(11.282541281245422, 47.00031724055184, + 100.0017449563984, 0.005005728525020459, 4.712431137362893, 0.01, 245.90050650117965, 208.71791736546243)); + right.setSegment(47, new Trajectory.Segment(11.282458718754512, 46.99968275944859, + 99.99825504389506, -0.005005648020528497, 4.712431137362893, 0.01, 226.10050651877404, 208.71708265729427)); - left.setSegment(74, new Trajectory.Segment(27.752657248965615, 74.00071709685005, - 100.00202934218692, 0.0002603582061055931, 4.712419423451806, 0.01, 245.90112827782943, 226.24780140962216)); - right.setSegment(74, new Trajectory.Segment(27.75234275103397, 73.99928290314335, - 99.99797065727876, -0.00026044133960567706, 4.712419423451806, 0.01, 226.10112828700457, 226.24719863689333)); + left.setSegment(48, new Trajectory.Segment(11.762544633052583, 48.00033518071615, + 100.00179401643123, 0.00490600328362234, 4.712430798796513, 0.01, 245.90052665586649, 208.2379140140784)); + right.setSegment(48, new Trajectory.Segment(11.762455366947364, 47.999664819285194, + 99.99820598366043, -0.0049060234630360355, 4.712430798796513, 0.01, 226.1005266731794, 208.23708600952455)); - left.setSegment(75, new Trajectory.Segment(28.50266462287932, 75.00073739137046, - 100.00202945204109, 0.000010985417020492605, 4.712418678612038, 0.01, 245.90115083169664, 225.49779403604757)); - right.setSegment(75, new Trajectory.Segment(28.502335377120232, 74.99926260862622, - 99.99797054828719, -0.000010899157132371329, 4.712418678612038, 0.01, 226.1011508404283, 225.49720601114618)); + left.setSegment(49, new Trajectory.Segment(12.252548169055986, 49.00035360034024, + 100.00184196240909, 0.004794597785462429, 4.712430441624452, 0.01, 245.90054706000018, 207.74791047849982)); + right.setSegment(49, new Trajectory.Segment(12.25245183094398, 48.99964639966152, + 99.99815803763283, -0.004794602759261579, 4.712430441624452, 0.01, 226.10054707701863, 207.74708954595275)); - left.setSegment(76, new Trajectory.Segment(29.26267219949268, 76.00075766133631, - 100.00202699658445, -0.00024554566380174947, 4.712417913297556, 0.01, 245.90117311240968, 224.7377864597608)); - right.setSegment(76, new Trajectory.Segment(29.26232780050685, 75.99924233866156, - 99.9979730035335, 0.00024552463173677097, 4.712417913297556, 0.01, 226.1011731206971, 224.73721358808615)); + left.setSegment(50, new Trajectory.Segment(12.752551893927055, 50.00037248710699, + 100.00188867667532, 0.004671426623303887, 4.712430065374848, 0.01, 245.9005676972024, 207.24790675405464)); + right.setSegment(50, new Trajectory.Segment(12.752448106072887, 49.999627512890704, + 99.99811132291825, -0.0046714714585505135, 4.712430065374848, 0.01, 226.1005677139134, 207.24709327124972)); - left.setSegment(77, new Trajectory.Segment(30.032679978297203, 77.00077788045245, - 100.00202191161378, -0.0005084970666757727, 4.712417127559723, 0.01, 245.90119508911906, 223.9677786812699)); - right.setSegment(77, new Trajectory.Segment(30.032320021702308, 76.99922211954575, - 99.9979780884189, 0.0005084885401629435, 4.712417127559723, 0.01, 226.10119509696247, 223.9672213672043)); + left.setSegment(51, new Trajectory.Segment(13.262555812202283, 51.00039182752272, + 100.00193404157258, 0.004536489726092441, 4.712429669589474, 0.01, 245.90058855029233, 206.73790283620573)); + right.setSegment(51, new Trajectory.Segment(13.262444187797684, 50.99960817247969, + 99.99806595889851, -0.0045364019740645745, 4.712429669589474, 0.01, 226.1005885666829, 206.73709718995124)); - left.setSegment(78, new Trajectory.Segment(30.812687958514935, 78.0007980217732, - 100.00201413207606, -0.0007779537725127739, 4.712416321477123, 0.01, 245.9012167304123, 223.18777070135238)); - right.setSegment(78, new Trajectory.Segment(30.81231204148457, 77.99920197822638, - 99.99798586806321, 0.0007779644306538103, 4.712416321477123, 0.01, 226.1012167378129, 223.18722934772225)); + left.setSegment(52, new Trajectory.Segment(13.782559928271171, 52.000411606888804, + 100.00197793660845, 0.004389503587276522, 4.712429253824936, 0.01, 245.90060960127533, 206.21789872056294)); + right.setSegment(52, new Trajectory.Segment(13.782440071728749, 51.99958839310654, + 99.99802206268527, -0.0043896213242078375, 4.712429253824936, 0.01, 226.10060961733262, 206.21710130644627)); - left.setSegment(79, new Trajectory.Segment(31.602696139092018, 79.00081805770814, - 100.00200359349378, -0.0010538582273511565, 4.712415495156203, 0.01, 245.90123800433852, 222.39776252106174)); - right.setSegment(79, new Trajectory.Segment(31.602303860907423, 78.9991819422852, - 99.99799640588236, 0.001053781915061336, 4.712415495156203, 0.01, 226.10123801129853, 222.39723752858583)); + left.setSegment(53, new Trajectory.Segment(14.3125642463647, 53.000431809352854, + 100.00202024640501, 0.004230979655517331, 4.7124288176538744, 0.01, 245.9006308313333, 205.6878944028946)); + right.setSegment(53, new Trajectory.Segment(14.312435753635237, 52.99956819064886, + 99.99797975423164, -0.004230845362940272, 4.7124288176538744, 0.01, 226.1006308470447, 205.68710562496497)); - left.setSegment(80, new Trajectory.Segment(32.402704518692694, 80.00083796006736, - 100.00199023592131, -0.0013357572470340529, 4.712414648731889, 0.01, 245.9012588784344, 221.5977541417334)); - right.setSegment(80, new Trajectory.Segment(32.40229548130669, 79.9991620399267, - 99.99800976414974, 0.0013358267381136102, 4.712414648731889, 0.01, 226.10125888495716, 221.5972459084589)); + left.setSegment(54, new Trajectory.Segment(14.852568770542991, 54.000452417829166, + 100.00206084763121, 0.004060122620330731, 4.7124283606661646, 0.01, 245.90065222081608, 205.14788987913994)); + right.setSegment(54, new Trajectory.Segment(14.852431229456904, 53.99954758216677, + 99.99793915179112, -0.004060244052084272, 4.7124283606661646, 0.01, 226.10065223616908, 205.1471101495669)); - left.setSegment(81, new Trajectory.Segment(33.212713095693225, 81.00085770005315, - 100.00197399857882, -0.001623734249278641, 4.712413782368196, 0.01, 245.90127931975255, 220.7877455649908)); - right.setSegment(81, new Trajectory.Segment(33.2122869043061, 80.99914229994123, - 99.99802600145244, 0.0016237302702393208, 4.712413782368196, 0.01, 226.1012793258424, 220.7872544857174)); + left.setSegment(55, new Trajectory.Segment(15.40257350468386, 55.00047341408679, + 100.0020996257625, 0.0038778131283834227, 4.712427882470117, 0.01, 245.90067374923453, 204.5978851454204)); + right.setSegment(55, new Trajectory.Segment(15.40242649531602, 54.99952658591144, + 99.99790037446701, -0.0038777324107286404, 4.712427882470117, 0.01, 226.1006737642169, 204.59711488412913)); - left.setSegment(82, new Trajectory.Segment(34.03272186817625, 82.00087724830252, - 100.00195482493694, -0.0019173641874203895, 4.712412896258799, 0.01, 245.90129929489143, 219.96773679275105)); - right.setSegment(82, new Trajectory.Segment(34.03227813182306, 81.99912275169639, - 99.99804517551638, 0.0019174063936588936, 4.712412896258799, 0.01, 226.10129930055393, 219.96726325844372)); + left.setSegment(56, new Trajectory.Segment(15.962578452470531, 56.000494778667175, + 100.0021364580384, 0.0036832275895903877, 4.712427382693686, 0.01, 245.9006953952552, 204.03788019805208)); + right.setSegment(56, new Trajectory.Segment(15.962421547529356, 55.999505221333656, + 99.99786354222167, -0.003683224534256624, 4.712427382693686, 0.01, 226.1006954098551, 204.03711983233413)); - left.setSegment(83, new Trajectory.Segment(34.86273083392504, 83.00089657487867, - 100.0019326576151, -0.002216732184479042, 4.712411990627608, 0.01, 245.90131877002753, 219.13772782723075)); - right.setSegment(83, new Trajectory.Segment(34.862269166074235, 82.99910342511723, - 99.99806734208363, 0.0022166567248405045, 4.712411990627608, 0.01, 226.10131877526928, 219.13727222442103)); + left.setSegment(57, new Trajectory.Segment(16.532583617380027, 57.00051649094956, + 100.00217122823827, 0.003477019987485619, 4.712426860985658, 0.01, 245.90071713669656, 203.46787503355722)); + right.setSegment(57, new Trajectory.Segment(16.532416382619882, 56.99948350905252, + 99.99782877188608, -0.003477033558851872, 4.712426860985658, 0.01, 226.10071715090245, 203.46712499765823)); - left.setSegment(84, new Trajectory.Segment(35.702739990418266, 84.00091564932218, - 100.00190744435145, -0.0025213263654677576, 4.712411065729295, 0.01, 245.9013377109491, 218.29771867095107)); - right.setSegment(84, new Trajectory.Segment(35.70226000958087, 83.9990843506634, - 99.99809255461685, 0.0025212533216745214, 4.712411065729295, 0.01, 226.10133771577793, 218.29728138112793)); + left.setSegment(58, new Trajectory.Segment(17.112589002671196, 58.00053852911684, + 100.00220381672804, 0.0032588489773388574, 4.712426317016852, 0.01, 245.90073895052691, 202.88786964867626)); + right.setSegment(58, new Trajectory.Segment(17.112410997328666, 57.99946147087827, + 99.99779618257563, -0.0032589310450248377, 4.712426317016852, 0.01, 226.10073896432775, 202.88713038335965)); - left.setSegment(85, new Trajectory.Segment(36.55274933482509, 85.00093444068226, - 100.00187913600769, -0.0028308343757998955, 4.71241012184982, 0.01, 245.90135608309228, 217.4477093267428)); - right.setSegment(85, new Trajectory.Segment(36.55225066517408, 84.99906555932068, - 99.99812086572888, 0.0028311112032497476, 4.71241012184982, 0.01, 226.1013560875172, 217.44729072573327)); + left.setSegment(59, new Trajectory.Segment(17.702594611373037, 59.00056087018407, + 100.00223410672291, 0.003028999486787143, 4.71242575048131, 0.01, 245.9007608128643, 202.29786404037947)); + right.setSegment(59, new Trajectory.Segment(17.70240538862679, 58.999439129812316, + 99.99776589340428, -0.0030289171348840682, 4.71242575048131, 0.01, 226.10076082624948, 202.29713599246656)); - left.setSegment(86, new Trajectory.Segment(37.4127588639998, 86.00095291747121, - 100.00184767889522, -0.0031457112470434367, 4.712409159306918, 0.01, 245.90137385157902, 216.58769979775164)); - right.setSegment(86, new Trajectory.Segment(37.41224113599935, 85.99904708252707, - 99.99815232063867, 0.003145490978795351, 4.712409159306918, 0.01, 226.10137385561018, 216.58730025509155)); + left.setSegment(60, new Trajectory.Segment(18.302600446272994, 60.000583489995584, + 100.00226198115172, 0.002787442880958224, 4.712425161097476, 0.01, 245.90078269897785, 201.69785820587867)); + right.setSegment(60, new Trajectory.Segment(18.302399553726836, 59.99941651000449, + 99.99773801921705, -0.0027874187225052083, 4.712425161097476, 0.01, 226.1007827119374, 201.69714182776568)); - left.setSegment(87, new Trajectory.Segment(38.28276857447761, 87.00097104778101, - 100.00181303097975, -0.0034647915470031876, 4.712408178450568, 0.01, 245.90139098125692, 215.71769008744246)); - right.setSegment(87, new Trajectory.Segment(38.28223142552145, 86.99902895220968, - 99.9981869682614, 0.0034647622726424743, 4.712408178450568, 0.01, 226.10139098490575, 215.71730996573808)); + left.setSegment(61, new Trajectory.Segment(18.91260650990519, 61.00060636321939, + 100.00228732238057, 0.002534122884867429, 4.712424548609375, 0.01, 245.90080458329143, 201.08785214263904)); + right.setSegment(61, new Trajectory.Segment(18.912393490094654, 60.99939363678165, + 99.99771267771607, -0.0025341500986542087, 4.712424548609375, 0.01, 226.1008045958159, 201.0871478917904)); - left.setSegment(88, new Trajectory.Segment(39.162778462470186, 88.00098879925767, - 100.0017751476662, -0.003788331355281116, 4.712407179663434, 0.01, 245.90140743674127, 214.83768019960374)); - right.setSegment(88, new Trajectory.Segment(39.16222153752876, 87.99901120073079, - 99.9982248521107, 0.0037883849302033923, 4.712407179663434, 0.01, 226.10140744002027, 214.83731985388462)); + left.setSegment(62, new Trajectory.Segment(19.532612804539, 62.00062946338121, + 100.0023100161819, 0.002269380132702281, 4.7124239127877745, 0.01, 245.90082643938914, 200.46784584839045)); + right.setSegment(62, new Trajectory.Segment(19.53238719546079, 61.999370536613505, + 99.99768998318572, -0.00226945303438697, 4.7124239127877745, 0.01, 226.10082645146983, 200.4671541868095)); - left.setSegment(89, new Trajectory.Segment(40.05278852386148, 89.0010061391297, - 100.00173398720307, -0.004116046312674371, 4.712406163361279, 0.01, 245.90142318245876, 213.94767013835173)); - right.setSegment(89, new Trajectory.Segment(40.05221147613741, 88.99899386086501, - 99.99826601342221, 0.0041161311514770205, 4.712406163361279, 0.01, 226.1014231853818, 213.94732991541525)); + left.setSegment(63, new Trajectory.Segment(20.1626193321677, 63.000652762870246, + 100.00232994890368, 0.0019932721784243768, 4.71242325343134, 0.01, 245.90084824002258, 199.83783932113894)); + right.setSegment(63, new Trajectory.Segment(20.162380667832085, 62.99934723712969, + 99.99767005161857, -0.0019931567152298157, 4.71242325343134, 0.01, 226.10084825165154, 199.83716071481538)); - left.setSegment(90, new Trajectory.Segment(40.95279875420396, 90.00102303424777, - 100.00168951180655, -0.004447539652119303, 4.712405129993348, 0.01, 245.90143818269377, 213.04765990813425)); - right.setSegment(90, new Trajectory.Segment(40.95220124579483, 89.99897696574247, - 99.99831048774581, 0.004447432360166204, 4.712405129993348, 0.01, 226.1014381852758, 213.04734014588283)); + left.setSegment(64, new Trajectory.Segment(20.80262609449695, 64.00067623292499, + 100.00234700547423, 0.0017056570555951112, 4.712422570367779, 0.01, 245.9008699571208, 199.19783255917815)); + right.setSegment(64, new Trajectory.Segment(20.8023739055028, 63.99932376707148, + 99.99765299417902, -0.0017057439549716946, 4.712422570367779, 0.01, 226.10086996829085, 199.19716747751312)); - left.setSegment(91, new Trajectory.Segment(41.862809148715066, 91.00103945111039, - 100.00164168626213, -0.004782554441362663, 4.712404080042727, 0.01, 245.90145240163596, 212.13764951373423)); - right.setSegment(91, new Trajectory.Segment(41.862190851283636, 90.99896054888004, - 99.99835831375634, 0.004782601052966129, 4.712404080042727, 0.01, 226.10145240389315, 212.1373505405051)); + left.setSegment(65, new Trajectory.Segment(21.452633092933795, 65.00069984368434, + 100.00236107593565, 0.0014070461418214109, 4.712421863454965, 0.01, 245.90089156180179, 198.54782556110035)); + right.setSegment(65, new Trajectory.Segment(21.452366907065947, 64.99930015631453, + 99.99763892430522, -0.0014069873799371635, 4.712421863454965, 0.01, 226.10089157250664, 198.547174476309)); - left.setSegment(92, new Trajectory.Segment(42.78281970227405, 92.00105535589789, - 100.0015904787503, -0.005120751183085304, 4.712403014026665, 0.01, 245.90146580343037, 211.21763896027286)); - right.setSegment(92, new Trajectory.Segment(42.782180297724594, 91.99894464409607, - 99.99840952160355, 0.0051207847207024315, 4.712403014026665, 0.01, 226.1014658053801, 211.21736109416176)); + left.setSegment(66, new Trajectory.Segment(22.112640328575587, 66.00072356417915, + 100.00237204948093, 0.0010973545272463525, 4.712421132582055, 0.01, 245.90091302438665, 197.88781832580753)); + right.setSegment(66, new Trajectory.Segment(22.112359671424098, 65.99927643581493, + 99.99762795004017, -0.001097426505225485, 4.712421132582055, 0.01, 226.1009130346209, 197.88718171229982)); - left.setSegment(93, new Trajectory.Segment(43.712830409419, 93.00107071449521, - 100.00153585973237, -0.005461901793069046, 4.712401932496869, 0.01, 245.90147835222933, 210.28762825321257)); - right.setSegment(93, new Trajectory.Segment(43.712169590579585, 92.99892928549893, - 99.9984641402861, 0.005461868255451918, 4.712401932496869, 0.01, 226.10147835389012, 210.28737180139143)); + left.setSegment(67, new Trajectory.Segment(22.78264780219922, 67.00074736236346, + 100.00237981843014, 0.0007768949217279442, 4.712420377670576, 0.01, 245.90093431441568, 197.21781085252215)); + right.setSegment(67, new Trajectory.Segment(22.782352197800446, 66.99925263763471, + 99.99762018197771, -0.0007768062459945213, 4.712420377670576, 0.01, 226.100934324175, 197.21718918626172)); - left.setSegment(94, new Trajectory.Segment(44.652841264344346, 94.00108549253446, - 100.00147780392439, -0.005805580798323717, 4.712400836039759, 0.01, 245.9014900122463, 209.34761739835955)); - right.setSegment(94, new Trajectory.Segment(44.65215873565414, 93.99891450745582, - 99.99852219568908, 0.005805540297387779, 4.712400836039759, 0.01, 226.10149001363783, 209.3473826563892)); + left.setSegment(68, new Trajectory.Segment(23.46265551425031, 68.00077120510886, + 100.00238427454065, 0.0004456110502815136, 4.7124195986755115, 0.01, 245.90095540066713, 196.537803140798)); + right.setSegment(68, new Trajectory.Segment(23.4623444857493, 67.99922879488511, + 99.99761572504013, -0.0004456937574559561, 4.7124195986755115, 0.01, 226.10095540994817, 196.5371968986398)); - left.setSegment(95, new Trajectory.Segment(45.60285226089855, 95.00109965542046, - 100.00141628860035, -0.006151532403464444, 4.712399725276699, 0.01, 245.90150074781187, 208.397606401866)); - right.setSegment(95, new Trajectory.Segment(45.602147739099756, 94.99890034456138, - 99.99858371055552, 0.006151486644512261, 4.712399725276699, 0.01, 226.10150074895486, 208.39739365300423)); + left.setSegment(69, new Trajectory.Segment(24.15266346483301, 69.00079505826984, + 100.00238531609824, 0.0001041557595726772, 4.71241879558635, 0.01, 245.9009762511781, 195.84779519053032)); + right.setSegment(69, new Trajectory.Segment(24.15233653516659, 68.99920494172935, + 99.9976146844233, -0.00010406168371446256, 4.71241879558635, 0.01, 226.10097625997864, 195.84720484953752)); - left.setSegment(96, new Trajectory.Segment(46.56286339258243, 96.00111316838759, - 100.00135129671293, -0.006499188742736806, 4.712398600864182, 0.01, 245.9015105234313, 207.4375952702319)); - right.setSegment(96, new Trajectory.Segment(46.562136607415795, 95.99888683160357, - 99.9986487042193, 0.006499366378420746, 4.712398600864182, 0.01, 226.10151052434762, 207.43740478473796)); + left.setSegment(70, new Trajectory.Segment(24.85267165369948, 70.00081888664688, + 100.00238283770386, -0.0002478394378613302, 4.71241796842812, 0.01, 245.90099683326798, 195.14778700196644)); + right.setSegment(70, new Trajectory.Segment(24.852328346300105, 69.99918111335141, + 99.99761716220661, 0.00024777833118605486, 4.71241796842812, 0.01, 226.100996841587, 195.14721303870658)); - left.setSegment(97, new Trajectory.Segment(47.53287465254726, 97.00112599648267, - 100.00128280950804, -0.006848720488505933, 4.712397463493987, 0.01, 245.90151930384457, 206.4675840103068)); - right.setSegment(97, new Trajectory.Segment(47.53212534745081, 96.99887400350116, - 99.99871718975868, 0.006848553937288671, 4.712397463493987, 0.01, 226.10151930455697, 206.4674160447427)); + left.setSegment(71, new Trajectory.Segment(25.562680080240085, 71.0008426540603, + 100.0023767413424, -0.0006096361460095068, 4.712417117262403, 0.01, 245.90101711356428, 194.43777857571547)); + right.setSegment(71, new Trajectory.Segment(25.562319919759496, 70.99915734593901, + 99.99762325875992, 0.0006096553306633723, 4.712417117262403, 0.01, 226.10101712140195, 194.43722146553682)); - left.setSegment(98, new Trajectory.Segment(48.51288603359413, 98.00113810468716, - 100.0012108204487, -0.007198905933591959, 4.71239631389329, 0.01, 245.90152705408752, 205.48757262929058)); - right.setSegment(98, new Trajectory.Segment(48.512113966403874, 97.99886189530646, - 99.99878918053042, 0.007199077174391277, 4.71239631389329, 0.01, 226.10152705461996, 205.48742742582027)); + left.setSegment(72, new Trajectory.Segment(26.282688743473503, 72.00086632334182, + 100.00236692815179, -0.000981319061565955, 4.712416242188313, 0.01, 245.90103705803108, 193.71776991275829)); + right.setSegment(72, new Trajectory.Segment(26.28231125652596, 71.9991336766466, + 99.99763307075824, 0.0009811998324948945, 4.712416242188313, 0.01, 226.10103706538882, 193.71723012904658)); - left.setSegment(99, new Trajectory.Segment(49.502897528172646, 99.00114945785168, - 100.0011353164524, -0.007550399629963067, 4.712395152824741, 0.01, 245.90153373955584, 204.49756113473464)); - right.setSegment(99, new Trajectory.Segment(49.502102471825104, 98.99885054212291, - 99.99886468164476, 0.007550111433829443, 4.712395152824741, 0.01, 226.10153373993305, 204.49743892042162)); + left.setSegment(73, new Trajectory.Segment(27.012697642037587, 73.00088985640838, + 100.00235330665532, -0.001362149646411126, 4.71241534334346, 0.01, 245.90105663200004, 192.98776101445662)); + right.setSegment(73, new Trajectory.Segment(27.012302357961914, 72.99911014359542, + 99.99764669488229, 0.00136241240511481, 4.71241534334346, 0.01, 226.10105663888058, 192.98723902787304)); - left.setSegment(100, new Trajectory.Segment(50.50290912838128, 100.00116002086381, - 100.00105630121254, -0.007901523986220127, 4.712393981086501, 0.01, 245.90153932607006, 203.4975495345416)); - right.setSegment(100, new Trajectory.Segment(50.50209087161658, 99.9988399791477, - 99.99894370247944, 0.007902083467570264, 4.712393981086501, 0.01, 226.10153932631766, 203.49745052064574)); + left.setSegment(74, new Trajectory.Segment(27.752706774179526, 74.00091321419396, + 100.00233577855795, -0.001752809737354255, 4.712414420904874, 0.01, 245.90107580020378, 192.24775188256294)); + right.setSegment(74, new Trajectory.Segment(27.75229322581985, 73.99908678579389, + 99.9976642198476, 0.001752496530116332, 4.712414420904874, 0.01, 226.10107580661128, 192.24724816026335)); - left.setSegment(101, new Trajectory.Segment(51.512920825966454, 101.0011697585171, - 100.00097376532864, -0.008253588390516597, 4.712392799512234, 0.01, 245.9015437799427, 202.48753783696625)); - right.setSegment(101, new Trajectory.Segment(51.51207917403125, 100.99883024146693, - 99.99902623192298, 0.008252944354580904, 4.712392799512234, 0.01, 226.10154378008707, 202.4874622182409)); + left.setSegment(75, new Trajectory.Segment(28.502716137747726, 75.0009363568201, + 100.00231426261479, -0.0021515943160466122, 4.712413475089902, 0.01, 245.90109452681233, 191.49774251922852)); + right.setSegment(75, new Trajectory.Segment(28.502283862251627, 74.99906364317742, + 99.99768573835297, 0.0021518505377571273, 4.712413475089902, 0.01, 226.10109453275223, 191.49725752406536)); - left.setSegment(102, new Trajectory.Segment(52.53293261232415, 102.00117863576983, - 100.00088772527391, -0.008604005472534482, 4.712391608971055, 0.01, 245.90154706804694, 201.46752605061386)); - right.setSegment(102, new Trajectory.Segment(52.5320673876736, 101.99882136423486, - 99.99911227679235, 0.008604486936292233, 4.712391608971055, 0.01, 226.10154706811537, 201.46747400460384)); + left.setSegment(76, new Trajectory.Segment(29.262725730182662, 76.00095924349367, + 100.00228866735625, -0.0025595258534849563, 4.712412506157077, 0.01, 245.90111277547177, 190.73773292701267)); + right.setSegment(76, new Trajectory.Segment(29.26227426981663, 75.99904075650038, + 99.99771133229558, 0.0025593942609702935, 4.712412506157077, 0.01, 226.10111278095107, 190.73726711671944)); - left.setSegment(103, new Trajectory.Segment(53.56294447849995, 103.00118661758005, - 100.00079818102137, -0.008954425254614762, 4.7123904103674406, 0.01, 245.90154915788753, 200.43751418444018)); - right.setSegment(103, new Trajectory.Segment(53.56205552149783, 102.99881338242356, - 99.99920181887063, 0.00895420782853762, 4.7123904103674406, 0.01, 226.10154915790775, 200.43748587078173)); + left.setSegment(77, new Trajectory.Segment(30.032735548508953, 77.00098183262885, + 100.00225891351846, -0.0029753837793577986, 4.712411514406945, 0.01, 245.90113050934596, 189.9677231088906)); + right.setSegment(77, new Trajectory.Segment(30.032264451490303, 76.99901816736735, + 99.99774108669754, 0.002975440196451018, 4.712411514406945, 0.01, 226.101130514373, 189.96727693524997)); - left.setSegment(104, new Trajectory.Segment(54.60295641519017, 104.00119366902203, - 100.00070514419832, -0.009303682304562244, 4.712389204641086, 0.01, 245.90155001767258, 199.3975022477503)); - right.setSegment(104, new Trajectory.Segment(54.60204358480626, 103.9988063308428, - 99.99929484192336, 0.009302305272740341, 4.712389204641086, 0.01, 226.10155001767308, 199.39749780747366)); + left.setSegment(78, new Trajectory.Segment(30.812745589327342, 78.00100408183883, + 100.00222492099766, -0.003399252079816506, 4.712410500182863, 0.01, 245.90114769116067, 189.18771306826144)); + right.setSegment(78, new Trajectory.Segment(30.812254410671866, 77.99899591815642, + 99.99777507890713, 0.0033992209580446797, 4.712410500182863, 0.01, 226.10114769574537, 189.18728697625764)); - left.setSegment(105, new Trajectory.Segment(55.65296841274545, 105.0011997555279, - 100.00060865058771, -0.009649361061292439, 4.712387992766719, 0.01, 245.9015496163876, 198.3474902501951)); - right.setSegment(105, new Trajectory.Segment(55.652031587249056, 104.99880024427937, - 99.9993913436569, 0.00965017335374796, 4.712387992766719, 0.01, 226.10154961639725, 198.34750980503094)); + left.setSegment(79, new Trajectory.Segment(31.602755848807295, 79.00102594799536, + 100.00218661565299, -0.0038305344673972286, 4.712409463871753, 0.01, 245.9011642832506, 188.39770280895573)); + right.setSegment(79, new Trajectory.Segment(31.6022441511918, 78.99897405199353, + 99.99781338371037, 0.0038304803240407637, 4.712409463871753, 0.01, 226.10116428740437, 188.39729723591194)); - left.setSegment(106, new Trajectory.Segment(56.71298046117293, 106.00120484274822, - 100.00050872203161, -0.009992855609652906, 4.712386775753866, 0.01, 245.90154792387065, 197.28747820176898)); - right.setSegment(106, new Trajectory.Segment(56.71201953882206, 105.99879515730078, - 99.99949130214105, 0.009995848415655928, 4.712386775753866, 0.01, 226.1015479239188, 197.28752185345928)); + left.setSegment(80, new Trajectory.Segment(32.402766322679895, 80.00104738726002, + 100.00214392646569, -0.004268918729621873, 4.712408405904817, 0.01, 245.90118024760923, 187.5976923352424)); + right.setSegment(80, new Trajectory.Segment(32.402233677319124, 79.9989526127326, + 99.99785607390663, 0.004269019626690351, 4.712408405904817, 0.01, 226.10118025134503, 187.5973077099439)); - left.setSegment(107, new Trajectory.Segment(57.782992550134246, 107.00120889613132, - 100.0004053383094, -0.0103383722205308, 4.712385554646567, 0.01, 245.9015449108892, 196.2174661128119)); - right.setSegment(107, new Trajectory.Segment(57.782007449858874, 106.99879110368116, - 99.99959463803805, 0.010333589699484946, 4.712385554646567, 0.01, 226.1015449110054, 196.2175339424267)); + left.setSegment(81, new Trajectory.Segment(33.21277700623119, 81.00106835512965, + 100.00209678696308, -0.004713950261248101, 4.712407326758218, 0.01, 245.90119554594122, 186.78768165183558)); + right.setSegment(81, new Trajectory.Segment(33.21222299376771, 80.99893164485886, + 99.99790321262623, 0.00471387195943862, 4.712407326758218, 0.01, 226.10119554927348, 186.78731839363977)); - left.setSegment(108, new Trajectory.Segment(58.86300466895732, 108.00121188230742, - 100.00029861760993, -0.010672069947759155, 4.712384330523038, 0.01, 245.90154054921825, 195.13745399399764)); - right.setSegment(108, new Trajectory.Segment(58.86199533103604, 107.99878811771713, - 99.99970140359693, 0.010676555888267103, 4.712384330523038, 0.01, 226.10154054943231, 195.13754606125835)); + left.setSegment(82, new Trajectory.Segment(34.03278789429587, 82.00108880646766, + 100.00204513380169, -0.005165316139255083, 4.7124062269537, 0.01, 245.90121013971773, 185.96767076390077)); + right.setSegment(82, new Trajectory.Segment(34.03221210570297, 81.9989111935258, + 99.99795486669427, 0.005165406804508166, 4.7124062269537, 0.01, 226.10121014266244, 185.96732928183437)); - left.setSegment(109, new Trajectory.Segment(59.953016806631894, 109.00121376745713, - 100.00018851497146, -0.011010263847310853, 4.712383104495286, 0.01, 245.90153481171987, 194.04744185633817)); - right.setSegment(109, new Trajectory.Segment(59.95198319336115, 108.99878623251107, - 99.99981147939394, 0.011007579701072245, 4.712383104495286, 0.01, 226.10153481206166, 194.04755819894834)); + left.setSegment(83, new Trajectory.Segment(34.86279898125151, 83.00110869556364, + 100.00198890959808, -0.005622420360396063, 4.712405107059185, 0.01, 245.90122399023443, 185.1376596770607)); + right.setSegment(83, new Trajectory.Segment(34.862201018747186, 82.99889130442152, + 99.998011089572, 0.00562228777312157, 4.712405107059185, 0.01, 226.10122399280914, 185.1373403689057)); - left.setSegment(110, new Trajectory.Segment(61.05302895181962, 110.00121451877231, - 100.00007513151843, -0.011338345302647213, 4.712381877708666, 0.01, 245.90152767242384, 192.9474297111736)); - right.setSegment(110, new Trajectory.Segment(61.05197104817377, 109.99878548126141, - 99.9999248750342, 0.011339564025547588, 4.712381877708666, 0.01, 226.10152767292325, 192.9475703441589)); + left.setSegment(84, new Trajectory.Segment(35.70281026101338, 84.0011279761873, + 100.00192806236612, -0.006084723196408959, 4.712403967689301, 0.01, 245.9012370586724, 184.29764839740048)); + right.setSegment(84, new Trajectory.Segment(35.70218973898535, 83.99887202381706, + 99.99807193955377, 0.006084998176447698, 4.712403967689301, 0.01, 226.1012370608961, 184.2973516487692)); - left.setSegment(111, new Trajectory.Segment(62.16304109285542, 111.0012141035806, - 99.9999584808279, -0.011665069052924082, 4.712380651341384, 0.01, 245.9015191066097, 191.83741757017086)); - right.setSegment(111, new Trajectory.Segment(62.16195890713741, 110.99878589636445, - 100.00004151030453, 0.011663527033078935, 4.712380651341384, 0.01, 226.10151910729647, 191.8375824852283)); + left.setSegment(85, new Trajectory.Segment(36.55282172702927, 85.00114660158853, + 100.00186254012249, -0.006552224363076675, 4.712402809505873, 0.01, 245.9012493061615, 183.44763693147283)); + right.setSegment(85, new Trajectory.Segment(36.55217827296937, 84.99885339840148, + 99.99813745844222, 0.006551888844796849, 4.712402809505873, 0.01, 226.10124930805483, 183.4473631148734)); - left.setSegment(112, new Trajectory.Segment(63.28305321775607, 112.00121249006445, - 99.99983864838526, -0.011983244263547022, 4.71237942660394, 0.01, 245.90150909088962, 190.717405445315)); - right.setSegment(112, new Trajectory.Segment(63.281946782236645, 111.99878750992305, - 100.00016135585952, 0.011984555499111593, 4.71237942660394, 0.01, 226.10150909179325, 190.71759461017385)); + left.setSegment(86, new Trajectory.Segment(37.41283337227558, 86.00116452463081, + 100.00179230422788, -0.007023589461141455, 4.712401633218356, 0.01, 245.90126069384698, 182.58762528630191)); + right.setSegment(86, new Trajectory.Segment(37.41216662772284, 85.9988354753472, + 99.99820769457273, 0.007023613051160282, 4.712401633218356, 0.01, 226.10126069543193, 182.58737476019533)); - left.setSegment(113, new Trajectory.Segment(64.4130653142237, 113.00120964676366, - 99.99971566992087, -0.012297846438968918, 4.712378204738525, 0.01, 245.90149760329237, 189.58739334890575)); - right.setSegment(113, new Trajectory.Segment(64.41193468576908, 112.99879035324354, - 100.00028433204875, 0.012297618923184928, 4.712378204738525, 0.01, 226.1014976044419, 189.5876067066998)); + left.setSegment(87, new Trajectory.Segment(38.28284518925355, 87.001181697797, + 100.00171731661851, -0.007498760936641702, 4.7124004395842185, 0.01, 245.90127118295825, 181.71761346938717)); + right.setSegment(87, new Trajectory.Segment(38.28215481074486, 86.99881830220205, + 99.9982826854847, 0.007499091196905283, 4.7124004395842185, 0.01, 226.10127118425825, 181.71738657723654)); - left.setSegment(114, new Trajectory.Segment(65.55307736965347, 114.00120554297615, - 99.99958962124964, -0.012604867123400254, 4.71237698701834, 0.01, 245.901484623348, 188.44738129354988)); - right.setSegment(114, new Trajectory.Segment(65.55192263033918, 113.99879445700903, - 100.0004103765491, 0.012604450034814363, 4.71237698701834, 0.01, 226.10148462477204, 188.4476187622036)); + left.setSegment(88, new Trajectory.Segment(39.1628571699855, 88.0011980731949, + 100.00163753979052, -0.007977682798809838, 4.7123992294092645, 0.01, 245.90128073488071, 180.83760148870707)); + right.setSegment(88, new Trajectory.Segment(39.16214283001273, 87.99880192678671, + 99.9983624584658, 0.007977298110972697, 4.7123992294092645, 0.01, 226.10128073592065, 180.8373985580205)); - left.setSegment(115, new Trajectory.Segment(66.70308937114113, 115.00120014876633, - 99.9994605790178, -0.012904223183340946, 4.71237577474687, 0.01, 245.90147013217364, 187.29736929215352)); - right.setSegment(115, new Trajectory.Segment(66.70191062885172, 114.99879985125374, - 100.00053942447096, 0.012904792185963743, 4.71237577474687, 0.01, 226.10147013390008, 187.29763076378237)); + left.setSegment(89, new Trajectory.Segment(40.05286930601295, 89.00121360274477, + 100.001552954987, -0.008458480351691833, 4.712398003547903, 0.01, 245.90128931123024, 179.94758935272094)); + right.setSegment(89, new Trajectory.Segment(40.05213069398525, 88.9987863972517, + 99.99844704649945, 0.00845880336441951, 4.712398003547903, 0.01, 226.10128931203627, 179.9474106940893)); - left.setSegment(116, new Trajectory.Segment(67.8631013054899, 116.00119343487705, - 99.99932861107226, -0.013196794554914959, 4.712374569257089, 0.01, 245.90145411255943, 186.13735735791536)); - right.setSegment(116, new Trajectory.Segment(67.86189869450283, 115.9988065651101, - 100.00067138563651, 0.013196116555036497, 4.712374569257089, 0.01, 226.10145411461545, 186.13764269824188)); + left.setSegment(90, new Trajectory.Segment(40.95288158839389, 90.00122823809407, + 100.00146353493022, -0.008942005678136411, 4.712396762903353, 0.01, 245.9012968739301, 179.04757707037177)); + right.setSegment(90, new Trajectory.Segment(40.95211841160409, 89.99877176188399, + 99.99853646322805, 0.008941672859918981, 4.712396762903353, 0.01, 226.10129687452974, 179.04742297650225)); - left.setSegment(117, new Trajectory.Segment(69.0331131592199, 117.0011853729995, - 99.99919381224487, -0.013479882738920423, 4.7123733719106, 0.01, 245.9014365490555, 184.9673455043172)); - right.setSegment(117, new Trajectory.Segment(69.03188684077236, 116.99881462695353, - 100.0008061843431, 0.013479870659693916, 4.7123733719106, 0.01, 226.10143655146734, 184.96765455210416)); + left.setSegment(91, new Trajectory.Segment(41.862894007701975, 91.00124193080782, + 100.00136927137504, -0.009426355518371565, 4.712395508427788, 0.01, 245.90130338529076, 178.137564651087)); + right.setSegment(91, new Trajectory.Segment(41.86210599229598, 90.99875806918932, + 99.99863073053348, 0.0094267305428275, 4.712395508427788, 0.01, 226.10130338571264, 178.13743539583365)); - left.setSegment(118, new Trajectory.Segment(70.21312491857731, 118.00117593574193, - 99.99905627424255, -0.013753800232052527, 4.712372184096711, 0.01, 245.90141742805895, 183.7873337451147)); - right.setSegment(118, new Trajectory.Segment(70.21187508141476, 117.99882406424051, - 100.00094372869768, 0.013754435457258296, 4.712372184096711, 0.01, 226.10141743085188, 183.78766631161668)); + left.setSegment(92, new Trajectory.Segment(42.78290655402509, 92.00125463231163, + 100.0012701503806, -0.00991209944345428, 4.7123942411224125, 0.01, 245.90130880809184, 177.21755210477986)); + right.setSegment(92, new Trajectory.Segment(42.782093445972684, 91.99874536767052, + 99.99872984812015, 0.00991175866715821, 4.7123942411224125, 0.01, 226.10130880836581, 177.21744794217292)); - left.setSegment(119, new Trajectory.Segment(71.40313656954329, 119.00116509659833, - 99.99891608564013, -0.014018860241549191, 4.712371007231449, 0.01, 245.90139673790136, 182.59732209432858)); - right.setSegment(119, new Trajectory.Segment(71.40186343044857, 118.99883490338057, - 100.00108391400602, 0.014018530833936893, 4.712371007231449, 0.01, 226.10139674109942, 182.59767796276273)); + left.setSegment(93, new Trajectory.Segment(43.712919216965794, 93.00126629407079, + 100.00116617591601, -0.0103974464593648, 4.7123929620374785, 0.01, 245.90131310566704, 176.28753944184908)); + right.setSegment(93, new Trajectory.Segment(43.712080783031666, 92.9987337058985, + 99.9988338227979, 0.010397467775646874, 4.7123929620374785, 0.01, 226.10131310582398, 176.28746060512387)); - left.setSegment(120, new Trajectory.Segment(72.60314809784528, 120.00115283019852, - 99.9987733600193, -0.014272562083306184, 4.712369842756496, 0.01, 245.9013744689363, 181.39731056623322)); - right.setSegment(120, new Trajectory.Segment(72.6018519021465, 119.99884716979312, - 100.00122664125541, 0.01427272493970122, 4.712369842756496, 0.01, 226.10137447256216, 181.39768949127142)); + left.setSegment(94, new Trajectory.Segment(44.65293198564195, 94.00127686761576, + 100.00105735449694, -0.010882141907586629, 4.712391672272223, 0.01, 245.90131624199114, 175.34752667317815)); + right.setSegment(94, new Trajectory.Segment(44.65206801435579, 93.9987231324127, + 99.99894265142046, 0.010882862255812142, 4.712391672272223, 0.01, 226.10131624206286, 175.34747337380497)); - left.setSegment(121, new Trajectory.Segment(73.81315948896767, 121.00113911223991, - 99.9986282041391, -0.014515588020458381, 4.712368692138063, 0.01, 245.9013506136267, 180.18729917534597)); - right.setSegment(121, new Trajectory.Segment(73.81184051102393, 120.99886088774257, - 100.0013717949443, 0.014515368889078673, 4.712368692138063, 0.01, 226.10135061770168, 180.18770088262914)); + left.setSegment(95, new Trajectory.Segment(45.602944848687, 95.00128630450511, + 100.0009436889357, -0.011366556122993643, 4.712390372974744, 0.01, 245.90131818176945, 174.39751381013508)); + right.setSegment(95, new Trajectory.Segment(45.60205515131076, 94.99871369549645, + 99.99905630837418, 0.011365695371523543, 4.712390372974744, 0.01, 226.10131818178866, 174.397486236852)); - left.setSegment(122, new Trajectory.Segment(75.03317072816411, 122.00112391964373, - 99.99848074038198, -0.014746375711638393, 4.712367556865688, 0.01, 245.90132516663257, 178.96728793641492)); - right.setSegment(122, new Trajectory.Segment(75.03182927182735, 121.99887608034115, - 100.00151925985818, 0.014746491387995775, 4.712367556865688, 0.01, 226.10132517117634, 178.96771212209111)); + left.setSegment(96, new Trajectory.Segment(46.56295779425253, 96.00129455655292, + 100.0008252047806, -0.011848415510939958, 4.712389065341792, 0.01, 245.9013188905297, 173.4375008645698)); + right.setSegment(96, new Trajectory.Segment(46.562042205743836, 95.9987054433077, + 99.99917478112508, 0.011847275089849063, 4.712389065341792, 0.01, 226.10131889052974, 173.43749918241917)); - left.setSegment(123, new Trajectory.Segment(76.26318180046991, 123.00110723058069, - 99.99833109369547, -0.014964668650918611, 4.712366438450968, 0.01, 245.90129812489766, 177.73727686440637)); - right.setSegment(123, new Trajectory.Segment(76.26181819952167, 122.99889276943236, - 100.00166890912112, 0.014964926293714598, 4.712366438450968, 0.01, 226.10129812992824, 177.73772319469404)); + left.setSegment(97, new Trajectory.Segment(47.532970810012294, 97.00130157597643, + 100.00070194235064, -0.012326242995186476, 4.712387750618501, 0.01, 245.90131833471577, 172.4674878488102)); + right.setSegment(97, new Trajectory.Segment(47.532029189982396, 96.99869842385624, + 99.99929805485408, 0.012327372900244882, 4.712387750618501, 0.01, 226.10131833473076, 172.46751219818077)); - left.setSegment(124, new Trajectory.Segment(77.5031926907149, 124.00108902449938, - 99.99817939186926, -0.01517018262120473, 4.712365338426203, 0.01, 245.9012694877362, 176.49726597449205)); - right.setSegment(124, new Trajectory.Segment(77.50180730927633, 123.99891097546592, - 100.0018206033559, 0.015169423477345845, 4.712365338426203, 0.01, 226.1012694932697, 176.49773408527005)); + left.setSegment(98, new Trajectory.Segment(48.51298388316515, 98.00130731528506, + 100.00057393086337, -0.012801148727703549, 4.71238643009802, 0.01, 245.9013164817841, 171.4874747756591)); + right.setSegment(98, new Trajectory.Segment(48.512016116829734, 97.99869268473353, + 99.9994260877287, 0.012803287461338186, 4.71238643009802, 0.01, 226.1013164818485, 171.4875252713352)); - left.setSegment(125, new Trajectory.Segment(78.75320338353875, 125.00106928238472, - 99.99802578853405, -0.01536033352067534, 4.71236425834298, 0.01, 245.90123925691876, 175.24725528203376)); - right.setSegment(125, new Trajectory.Segment(78.75179661645235, 124.99893071760283, - 100.00197421369137, 0.01536103354737861, 4.71236425834298, 0.01, 226.10123926296944, 175.24774477845958)); + left.setSegment(99, new Trajectory.Segment(49.502997000436245, 99.00131172711002, + 100.00044118249605, -0.013274836732080075, 4.712385105121081, 0.01, 245.90131330030152, 170.49746165839312)); + right.setSegment(99, new Trajectory.Segment(49.50200299955745, 98.99868827277162, + 99.99955880380895, 0.013271608025888781, 4.712385105121081, 0.01, 226.10131330045022, 170.49753838861258)); - left.setSegment(126, new Trajectory.Segment(80.01321386340466, 126.00104798659054, - 99.99787042058159, -0.015536795245907342, 4.712363199770667, 0.01, 245.90120743675726, 173.98724480256965)); - right.setSegment(126, new Trajectory.Segment(80.01178613658647, 125.99895201341138, - 100.00212958085513, 0.015536716375663673, 4.712363199770667, 0.01, 226.10120744333722, 173.98775525872725)); + left.setSegment(100, new Trajectory.Segment(50.50301014808781, 100.00131476515617, + 100.00030380461453, -0.013737788151502173, 4.712383777075477, 0.01, 245.90130876004537, 169.49744851075187)); + right.setSegment(100, new Trajectory.Segment(50.50198985190604, 99.99868523485881, + 99.99969620871951, 0.013740491056069004, 4.712383777075477, 0.01, 226.10130876031343, 169.4975515362743)); - left.setSegment(127, new Trajectory.Segment(81.28322411461538, 127.0010251210724, - 99.99771344818669, -0.0156972394904642, 4.712362164294834, 0.01, 245.901174034189, 172.71723455179819)); - right.setSegment(127, new Trajectory.Segment(81.28177588537571, 126.9989748789239, - 100.00228655125198, 0.015697039685846903, 4.712362164294834, 0.01, 226.10117404130813, 172.71776551037726)); + left.setSegment(101, new Trajectory.Segment(51.51302331192002, 101.00131638322145, + 100.00016180652835, -0.014199808617831877, 4.712382447395456, 0.01, 245.90130283210533, 168.48743534693705)); + right.setSegment(101, new Trajectory.Segment(51.511976688073865, 100.99868361678277, + 99.99983819239588, 0.014198367637163756, 4.712382447395456, 0.01, 226.10130283252784, 168.48756470012387)); - left.setSegment(128, new Trajectory.Segment(82.56323412132986, 128.00100067144743, - 99.99755503750265, -0.01584106840368804, 4.712361153515591, 0.01, 245.90113905885946, 171.43722454556155)); - right.setSegment(128, new Trajectory.Segment(82.56176587866113, 127.99899932854304, - 100.00244496191328, 0.015841066129951287, 4.712361153515591, 0.01, 226.10113906652535, 171.43777551756966)); + left.setSegment(102, new Trajectory.Segment(52.53303647728089, 102.00131653608646, + 100.00001528650131, -0.014652002704451661, 4.712381117561022, 0.01, 245.90129548898676, 167.46742218160261)); + right.setSegment(102, new Trajectory.Segment(52.53196352271291, 101.99868346390406, + 99.99998471212876, 0.0146519732879824, 4.712381117561022, 0.01, 226.10129548959884, 167.46757786551126)); - left.setSegment(129, new Trajectory.Segment(83.8532438675803, 129.00097462504544, - 99.99739535980154, -0.015967770110592028, 4.712360169045842, 0.01, 245.90110252320358, 170.14721479982848)); - right.setSegment(129, new Trajectory.Segment(83.85175613241059, 128.999025374945, - 100.00260464019703, 0.01596782837509636, 4.712360169045842, 0.01, 226.10110253142147, 170.14778526433759)); + left.setSegment(103, new Trajectory.Segment(53.56304962907316, 103.00131517922726, + 99.9998643140799, -0.015097242140882372, 4.712379789097153, 0.01, 245.901286704716, 166.4374090298478)); + right.setSegment(103, new Trajectory.Segment(53.56195037092058, 102.9986848207667, + 100.000135686264, 0.015097413523790237, 4.712379789097153, 0.01, 226.10128670555233, 166.43759101734105)); - left.setSegment(130, new Trajectory.Segment(85.15075331942377, 129.75094518434622, - 74.99705593007775, -2500.0339429723795, 4.712359214314171, 0.01, 245.90106451694345, 168.84970534854165)); - right.setSegment(130, new Trajectory.Segment(85.14924668056696, 129.7490548156376, - 75.00294406926002, -2499.966057093701, 4.712359214314171, 0.01, 226.10106452571506, 168.85029471673784)); + left.setSegment(104, new Trajectory.Segment(54.60306275176279, 104.00131226896319, + 99.99970897359276, -0.015534048714016535, 4.712378463572919, 0.01, 245.90127645494647, 165.39739590720868)); + right.setSegment(104, new Trajectory.Segment(54.60193724823042, 103.99868773098446, + 100.00029102177592, 0.015533551191992956, 4.712378463572919, 0.01, 226.10127645604143, 165.3976041400817)); - left.setSegment(131, new Trajectory.Segment(86.450762428486, 130.00091090622365, - 24.996572187743027, -5000.048374233472, 4.712358294206869, 0.01, 245.9010252187106, 167.5496962400734)); - right.setSegment(131, new Trajectory.Segment(86.44923757150461, 129.99908909376475, - 25.003427812714563, -4999.951625654546, 4.712358294206869, 0.01, 226.10102522803285, 167.55030382639416)); + left.setSegment(105, new Trajectory.Segment(55.65307582938974, 105.00130776269533, + 99.99954937321434, -0.01596003784243294, 4.71237714260051, 0.01, 245.9012647170666, 164.34738282964733)); + right.setSegment(105, new Trajectory.Segment(55.65192417060368, 104.9986922373259, + 100.00045063414404, 0.01596123681224526, 4.71237714260051, 0.01, 226.1012647184539, 164.34761721777406)); - left.setSegment(132, new Trajectory.Segment(87.75077116864222, 130.00087401562106, - -0.003689060258693644, -2500.026124800172, 4.712357411362806, 0.01, 245.90098474848168, 166.2496875005471)); - right.setSegment(132, new Trajectory.Segment(87.7492288313484, 129.99912598437942, - 0.0036890614666162946, -2499.9738751247946, 4.712357411362806, 0.01, 226.10098475834803, 166.2503125671803)); + left.setSegment(106, new Trajectory.Segment(56.71308884557645, 106.00130161867082, + 99.99938559754895, -0.016377566538494648, 4.712375827834163, 0.01, 245.90125147030847, 163.2873698135434)); + right.setSegment(106, new Trajectory.Segment(56.711911154416704, 105.9986983813024, + 100.00061439765062, 0.016376350657765215, 4.712375827834163, 0.01, 226.1012514720211, 163.2876302340438)); - left.setSegment(133, new Trajectory.Segment(89.05077953267062, 130.0008364028401, - -0.003761278097158538, -0.007221783846489416, 4.712356566511453, 0.01, 245.90094315517808, 164.9496791371841)); - right.setSegment(133, new Trajectory.Segment(89.04922046731996, 129.99916359715579, - 0.0037612776367268452, 0.007221617011055059, 4.712356566511453, 0.01, 226.10094316557962, 164.9503209318741)); + left.setSegment(107, new Trajectory.Segment(57.78310178354162, 107.00129379651695, + 99.99921778461243, -0.016781293652456952, 4.712374520968984, 0.01, 245.90123669585762, 162.21735687568022)); + right.setSegment(107, new Trajectory.Segment(57.78189821645134, 106.99870620346346, + 100.00078221610522, 0.016781845459945544, 4.712374520968984, 0.01, 226.10123669792745, 162.21764317211117)); - left.setSegment(134, new Trajectory.Segment(90.3507875136983, 130.0007981027669, - -0.003830007318583739, -0.00687292214252011, 4.712355760347027, 0.01, 245.9009004886466, 163.64967115685658)); - right.setSegment(134, new Trajectory.Segment(90.349212486292, 129.99920189720476, - 0.0038300048970540956, 0.006872726032725041, 4.712355760347027, 0.01, 226.10090049957196, 163.6503289136022)); + left.setSegment(108, new Trajectory.Segment(58.86311462611158, 108.00128425699661, + 99.99904604796654, -0.017173664588199244, 4.712373223739679, 0.01, 245.90122037696335, 161.13734403323355)); + right.setSegment(108, new Trajectory.Segment(58.861885373881044, 107.9987157429705, + 100.00095395070474, 0.017173459951891346, 4.712373223739679, 0.01, 226.10122037942125, 161.13765601480475)); - left.setSegment(135, new Trajectory.Segment(91.65079510520168, 130.0007591503392, - -0.0038952427701133274, -0.006523545152958832, 4.712354993528492, 0.01, 245.90085679961356, 162.34966356608732)); - right.setSegment(135, new Trajectory.Segment(91.64920489478844, 129.99924084964323, - 0.003895243847296115, 0.00652389502420192, 4.712354993528492, 0.01, 226.10085681104914, 162.3503365058399)); + left.setSegment(109, new Trajectory.Segment(59.953127355734566, 109.00127296229836, + 99.9988705301746, -0.017551779194491246, 4.712371937919165, 0.01, 245.90120249904993, 160.04733130375718)); + right.setSegment(109, new Trajectory.Segment(59.95187264425786, 108.99872703768199, + 100.00112947114843, 0.01755204436904023, 4.712371937919165, 0.01, 226.10120250192534, 160.04766874457454)); - left.setSegment(136, new Trajectory.Segment(92.9508023010062, 130.00071958045257, - -0.0039569886638446405, -0.006174589373131312, 4.71235426667956, 0.01, 245.90081213963893, 161.0496563710499)); - right.setSegment(136, new Trajectory.Segment(92.94919769898407, 129.9992804195631, - 0.003956991986342473, 0.006174813904635812, 4.71235426667956, 0.01, 226.10081215156882, 161.05034370241137)); + left.setSegment(110, new Trajectory.Segment(61.05313995449512, 110.001259876056, + 99.99869137576383, -0.017915441077320793, 4.7123706653170805, 0.01, 245.90118304982778, 158.94731870516856)); + right.setSegment(110, new Trajectory.Segment(61.05186004549715, 109.99874012392883, + 100.00130862468382, 0.017915353538455747, 4.7123706653170805, 0.01, 226.10118305314867, 158.94768134350718)); - left.setSegment(137, new Trajectory.Segment(94.25080909528577, 130.0006794279575, - -0.004015249507460794, -0.005826084361615358, 4.712353580388687, 0.01, 245.90076656107055, 159.74964957756933)); - right.setSegment(137, new Trajectory.Segment(94.2491909047044, 129.99932057203395, - 0.004015247085931151, 0.0058255099588677695, 4.712353580388687, 0.01, 226.10076657347685, 159.75035049749002)); + left.setSegment(111, new Trajectory.Segment(62.16315240413026, 111.0012449635136, + 99.99850874576026, -0.01826300035645545, 4.712369407778183, 0.01, 245.90116201940515, 157.83730625573264)); + right.setSegment(111, new Trajectory.Segment(62.16184759586206, 110.99875503649162, + 100.001491256279, 0.01826315951802826, 4.712369407778183, 0.01, 226.10116202319773, 157.8376937933415)); - left.setSegment(138, new Trajectory.Segment(95.55081548256382, 130.00063872780473, - -0.004070015276624872, -0.005476576916407794, 4.712352935209077, 0.01, 245.90072011699837, 158.4496431911209)); - right.setSegment(138, new Trajectory.Segment(95.54918451742616, 129.99936127217427, - 0.004070014031753999, 0.005476694582284836, 4.712352935209077, 0.01, 226.100720129861, 158.4503568855979)); + left.setSegment(112, new Trajectory.Segment(63.28316468604585, 112.00122819155943, + 99.9983228045835, -0.01859411767668462, 4.712368167180631, 0.01, 245.9011394003996, 156.71729397404545)); + right.setSegment(112, new Trajectory.Segment(63.28183531394614, 111.9987718084073, + 100.0016771915682, 0.018593528920973768, 4.712368167180631, 0.01, 226.10113940468818, 156.7177060754858)); - left.setSegment(139, new Trajectory.Segment(96.85082145771268, 130.00059751488578, - -0.00412129189442112, -0.005127661779624759, 4.712352331658685, 0.01, 245.90067286120848, 157.14963721683094)); - right.setSegment(139, new Trajectory.Segment(96.84917854227727, 129.99940248511174, - 0.0041212937475165745, 0.005127971576257551, 4.712352331658685, 0.01, 226.10067287450545, 157.15036286160566)); + left.setSegment(113, new Trajectory.Segment(64.41317678133603, 113.00120952901872, + 99.9981337459289, -0.01890586545982842, 4.712366945434154, 0.01, 245.901115188049, 155.58728187901465)); + right.setSegment(113, new Trajectory.Segment(64.41182321865608, 112.99879047099476, + 100.00186625874647, 0.018906717826894237, 4.712366945434154, 0.01, 226.10111519285584, 155.58771817103525)); - left.setSegment(140, new Trajectory.Segment(98.15082701595378, 130.00055582411, - -0.004169077578808356, -0.004778568438723596, 4.712351770220205, 0.01, 245.90062484813734, 155.84963165947647)); - right.setSegment(140, new Trajectory.Segment(98.14917298403645, 129.99944417591777, - 0.004169080602878239, 0.004778685536166449, 4.712351770220205, 0.01, 226.10062486184484, 155.8503684207331)); + left.setSegment(114, new Trajectory.Segment(65.55318867080092, 114.00118894648878, + 99.99794174700583, -0.019199892307142363, 4.712365744478096, 0.01, 245.90108938032245, 154.44726998984189)); + right.setSegment(114, new Trajectory.Segment(65.55181132919105, 113.9988110534967, + 100.00205825019322, 0.019199144674075797, 4.712365744478096, 0.01, 226.10108938566754, 154.4477300607924)); - left.setSegment(141, new Trajectory.Segment(99.45083215285686, 130.00051369030766, - -0.0042133802338639725, -0.004430265505561692, 4.712351251341083, 0.01, 245.900576132826, 154.54962652348615)); - right.setSegment(141, new Trajectory.Segment(99.44916784713293, 129.99948630964747, - 0.004213372969275042, 0.004429236639680312, 4.712351251341083, 0.01, 226.10057614691843, 154.55037355854938)); + left.setSegment(115, new Trajectory.Segment(66.70320033496857, 115.00116641676526, + 99.99774702764768, -0.019471935814863173, 4.7123645662793425, 0.01, 245.90106197802987, 153.2972583260007)); + right.setSegment(115, new Trajectory.Segment(66.70179966502339, 114.99883358323292, + 100.00225297362277, 0.019472342955850763, 4.7123645662793425, 0.01, 226.10106198393078, 153.29774172528653)); - left.setSegment(142, new Trajectory.Segment(100.75083686434192, 130.0004711485061, - -0.004254180154816822, -0.004079992095284979, 4.712350775433511, 0.01, 245.90052677087414, 153.24962181293824)); - right.setSegment(142, new Trajectory.Segment(100.74916313564806, 129.999528851513, - 0.004254186552543615, 0.004081358326857298, 4.712350775433511, 0.01, 226.10052678532435, 153.2503782709714)); + left.setSegment(116, new Trajectory.Segment(67.86321175411568, 116.00114191471147, + 99.99754979462097, -0.01972330267108191, 4.712363412830118, 0.01, 245.90103298493108, 152.1372469072159)); + right.setSegment(116, new Trajectory.Segment(67.86178824587587, 115.99885808524814, + 100.00245020152221, 0.019722789943443786, 4.712363412830118, 0.01, 226.1010329914027, 152.13775314479636)); - left.setSegment(143, new Trajectory.Segment(102.05084114667683, 130.00042823349173, - -0.00429150143759216, -0.003732128277533775, 4.7123503428744264, 0.01, 245.9004768183944, 151.94961753156304)); - right.setSegment(143, new Trajectory.Segment(102.04915885331309, 129.99957176650273, - 0.0042914989734299525, 0.003731242088633735, 4.7123503428744264, 0.01, 226.10047683317367, 151.95038255426607)); + left.setSegment(117, new Trajectory.Segment(69.0332229082917, 117.00111541760222, + 99.99735028907537, -0.019950554559500233, 4.712362286145662, 0.01, 245.90100240784295, 150.96723575343944)); + right.setSegment(117, new Trajectory.Segment(69.03177709169964, 116.99888458237719, + 100.0026497129042, 0.019951138199303387, 4.712362286145662, 0.01, 226.1010024148975, 150.96776429937213)); - left.setSegment(144, new Trajectory.Segment(103.35084499647888, 130.00038498020524, - -0.004325328649201765, -0.0033827211609605, 4.712349954005516, 0.01, 245.90042633196637, 150.64961368274132)); - right.setSegment(144, new Trajectory.Segment(103.34915500351075, 129.99961501976506, - 0.0043253262333564635, 0.0033827259926511033, 4.712349954005516, 0.01, 226.10042634704465, 150.65038640504875)); + left.setSegment(118, new Trajectory.Segment(70.21323377734227, 118.00108690505569, + 99.99714874534646, -0.020154372890601735, 4.712361188261769, 0.01, 245.9009702567456, 149.78722488482688)); + right.setSegment(118, new Trajectory.Segment(70.21176622264913, 117.99891309494946, + 100.00285125722712, 0.020154432291974445, 4.712361188261769, 0.01, 226.1009702643924, 149.78777516886063)); - left.setSegment(145, new Trajectory.Segment(104.65084841071503, 130.0003414236138, - -0.004355659143584489, -0.0030330494382724282, 4.712349609133209, 0.01, 245.90037536859094, 149.34961026950413)); - right.setSegment(145, new Trajectory.Segment(104.6491515892752, 129.99965857644636, - 0.004355668130529011, 0.003034189717254776, 4.712349609133209, 0.01, 226.1003753839369, 149.35038982028323)); + left.setSegment(119, new Trajectory.Segment(71.40324434093496, 119.00105635926927, + 99.99694542135842, -0.02033239880461224, 4.712360121232193, 0.01, 245.90093654488626, 148.5972143217117)); + right.setSegment(119, new Trajectory.Segment(71.40175565905619, 118.99894364070653, + 100.00305457570704, 0.020331847991883478, 4.712360121232193, 0.01, 226.1009365531315, 148.59778573293107)); - left.setSegment(146, new Trajectory.Segment(105.95085138669981, 130.00029759847789, - -0.004382513591849602, -0.0026854448265112296, 4.712349308528687, 0.01, 245.90032398564432, 148.0496072945348)); - right.setSegment(146, new Trajectory.Segment(105.9491486132904, 129.99970240152047, - 0.0043825074101278005, 0.002683927959878929, 4.712349308528687, 0.01, 226.1003240012255, 148.05039279728348)); + left.setSegment(120, new Trajectory.Segment(72.60325457858703, 120.00102376520718, + 99.99674059379089, -0.020482756752926434, 4.712359087125923, 0.01, 245.9009012888808, 147.39720408457754)); + right.setSegment(120, new Trajectory.Segment(72.6017454214041, 119.99897623479086, + 100.00325940843311, 0.020483272606952596, 4.712359087125923, 0.01, 226.1009012977275, 147.39779597110106)); - left.setSegment(147, new Trajectory.Segment(107.25085392209785, 130.00025353980337, - -0.004405867451851009, -0.0023353860001407156, 4.712349052427873, 0.01, 245.9002722408323, 146.7496047601666)); - right.setSegment(147, new Trajectory.Segment(107.24914607789236, 129.99974646019515, - 0.0044058674689040345, 0.0023360058776233927, 4.712349052427873, 0.01, 226.10027225661526, 146.75039533371134)); + left.setSegment(121, new Trajectory.Segment(73.81326446969284, 121.0009891105807, + 99.99653453735249, -0.02060564384009922, 4.712358088024315, 0.01, 245.90086450881307, 146.18719419403072)); + right.setSegment(121, new Trajectory.Segment(73.81173553029812, 120.99901088940182, + 100.00346546109569, 0.020605266257689436, 4.712358088024315, 0.01, 226.100864518261, 146.18780586276603)); - left.setSegment(148, new Trajectory.Segment(108.55085601492216, 130.00020928243214, - -0.004425737122915052, -0.001986967106404336, 4.7123488410314405, 0.01, 245.90022019214436, 145.44960266838422)); - right.setSegment(148, new Trajectory.Segment(108.54914398506727, 129.99979071749158, - 0.00442572964232113, 0.001986217341709562, 4.7123488410314405, 0.01, 226.1002202080949, 145.45039742757837)); + left.setSegment(122, new Trajectory.Segment(75.03327399355453, 122.00095238616932, + 99.99632755886125, -0.020697849123507694, 4.712357126018079, 0.01, 245.90082622833125, 144.9671846707696)); + right.setSegment(122, new Trajectory.Segment(75.03172600643634, 121.99904761382143, + 100.00367244196156, 0.020698086586889985, 4.712357126018079, 0.01, 226.10082623837678, 144.96781538722837)); - left.setSegment(149, new Trajectory.Segment(109.85085766353579, 130.00016486136337, - -0.004442106876467733, -0.0016369753552680777, 4.712348674504808, 0.01, 245.90016789780785, 144.1496010208224)); - right.setSegment(149, new Trajectory.Segment(109.84914233645361, 129.9998351386336, - 0.004442114203584424, 0.0016384561263294017, 4.712348674504808, 0.01, 226.10016791389106, 144.15039907724383)); + left.setSegment(123, new Trajectory.Segment(76.26328312941268, 123.00091358581513, + 99.996119964581, -0.02075942802548525, 4.712356203204129, 0.01, 245.90078647474067, 143.73717553555386)); + right.setSegment(123, new Trajectory.Segment(76.26171687057827, 122.9990864141927, + 100.00388003712715, 0.020759516559110125, 4.712356203204129, 0.01, 226.1007864853767, 143.73782452372885)); - left.setSegment(150, new Trajectory.Segment(111.1508588666496, 130.0001203113811, - -0.00445499822774309, -0.001289135127535701, 4.712348552978141, 0.01, 245.9001154162423, 142.84959981876793)); - right.setSegment(150, new Trajectory.Segment(111.1491411333394, 129.99987968857886, - 0.004454994524394351, 0.001288032080992707, 4.712348552978141, 0.01, 226.1001154324226, 142.8504002814174)); + left.setSegment(124, new Trajectory.Segment(77.50329185647892, 124.00087270662465, + 99.99591208095211, -0.02078836288887942, 4.7123553216822724, 0.01, 245.90074527909337, 142.49716680917192)); + right.setSegment(124, new Trajectory.Segment(77.50170814351173, 123.99912729334632, + 100.0040879153616, 0.02078782344483443, 4.7123553216822724, 0.01, 226.10074529030913, 142.49783325147968)); - left.setSegment(151, new Trajectory.Segment(112.45085962332523, 130.00007566756318, - -0.004464381791535743, -0.0009383563792653149, 4.712348476546353, 0.01, 245.9000628060133, 141.54959906315685)); - right.setSegment(151, new Trajectory.Segment(112.44914037666564, 129.99992433262418, - 0.004464404531745458, 0.0009410007351107197, 4.712348476546353, 0.01, 226.10006282225487, 141.5504010391557)); + left.setSegment(125, new Trajectory.Segment(78.75330015397094, 125.00082974920214, + 99.9957042577492, -0.020782320291345968, 4.712354483551758, 0.01, 245.90070267627337, 141.2471585124059)); + right.setSegment(125, new Trajectory.Segment(78.75169984601958, 124.99917025078375, + 100.00429574374294, 0.02078283813489179, 4.712354483551758, 0.01, 226.10070268805467, 141.24784154969782)); - left.setSegment(152, new Trajectory.Segment(113.75085993296804, 130.00003096428068, - -0.004470328249794875, -0.0005946458259131759, 4.712348445269102, 0.01, 245.90001012578696, 140.24959875458143)); - right.setSegment(152, new Trajectory.Segment(113.7491400670189, 129.99996903532553, - 0.0044702701359256025, 0.0005865604180144146, 4.712348445269102, 0.01, 226.1000101420536, 140.25040134986983)); + left.setSegment(126, new Trajectory.Segment(80.01330800114738, 126.00078471764387, + 99.99549684417275, -0.020741357644737946, 4.712353690907672, 0.01, 245.9006587050779, 139.9871506659967)); + right.setSegment(126, new Trajectory.Segment(80.0116919988431, 125.99921528235328, + 100.00450315695275, 0.02074132098073278, 4.712353690907672, 0.01, 226.10065871740682, 139.98784939764153)); - left.setSegment(153, new Trajectory.Segment(115.05085979534566, 129.9999862377616, - -0.004472651909281922, -0.00023236594870468252, 4.712348459170795, 0.01, 245.89995743428386, 138.94959889327166)); - right.setSegment(153, new Trajectory.Segment(115.04914020465003, 130.00001376311286, - 0.004472778732633742, 0.0002508596708139521, 4.712348459170795, 0.01, 226.09995745053936, 138.95040121330655)); + left.setSegment(127, new Trajectory.Segment(81.28331537734543, 127.00073761980543, + 99.99529021615672, -0.020662801603066328, 4.712352945837161, 0.01, 245.9006134082934, 138.71714329060643)); + right.setSegment(127, new Trajectory.Segment(81.28168462264505, 126.99926238019331, + 100.00470978400386, 0.02066270511136281, 4.712352945837161, 0.01, 226.1006134211484, 138.71785677464737)); - left.setSegment(154, new Trajectory.Segment(116.35085921055854, 129.9999415212875, - -0.004471647409332036, 0.00010044999498859397, 4.712348518240585, 0.01, 245.89990479023345, 137.6495994791247)); - right.setSegment(154, new Trajectory.Segment(116.34914078944473, 130.00005847946974, - 0.004471635688219067, -0.00011430444146753871, 4.712348518240585, 0.01, 226.0999048064416, 137.65040062957777)); + left.setSegment(128, new Trajectory.Segment(82.56332226201975, 128.0006884674327, + 99.9950847627261, -0.02054534306239475, 4.712352250415514, 0.01, 245.90056683276663, 137.43713640677947)); + right.setSegment(128, new Trajectory.Segment(82.56167773797078, 127.9993115325734, + 100.0049152380086, 0.0205454004742478, 4.712352250415514, 0.01, 226.1005668461226, 137.437863660169)); - left.setSegment(155, new Trajectory.Segment(117.65085817905936, 129.99989685008225, - -0.0044671205245094825, 0.00045268848225532565, 4.71234862243237, 0.01, 245.89985225232797, 136.3496005116855)); - right.setSegment(155, new Trajectory.Segment(117.6491418209429, 130.00010314981634, - 0.004467034659683122, -0.00046010285359443515, 4.71234862243237, 0.01, 226.09985226845274, 136.35039959914124)); + left.setSegment(129, new Trajectory.Segment(83.85332863478286, 129.00063727630967, + 99.99488088769795, -0.020387502814855907, 4.71235160670207, 0.01, 245.90051902946996, 136.1471300349021)); + right.setSegment(129, new Trajectory.Segment(83.85167136520768, 128.99936272368964, + 100.0051191116242, 0.020387361558960038, 4.71235160670207, 0.01, 226.1005190432982, 136.1478700338178)); - left.setSegment(156, new Trajectory.Segment(118.95085670165807, 129.99985225987083, - -0.004459021141656194, 0.0008099382853288262, 4.712348771664799, 0.01, 245.89979987917678, 135.04960199014178)); - right.setSegment(156, new Trajectory.Segment(118.9491432983437, 130.00014774007957, - 0.004459026322933823, -0.0008008336749298905, 4.712348771664799, 0.01, 226.0997998951825, 135.05039812279543)); + left.setSegment(130, new Trajectory.Segment(85.15083446477976, 129.7505829996906, + 74.99457233809323, -2500.030854960471, 4.712351017813495, 0.01, 245.90047014846883, 134.84962420582593)); + right.setSegment(130, new Trajectory.Segment(85.14916553521078, 129.74941700031098, + 75.00542766213414, -2499.9691449490056, 4.712351017813495, 0.01, 226.1004701627363, 134.85037586473544)); - left.setSegment(157, new Trajectory.Segment(120.25085477950739, 129.99980778493264, - -0.004447493819270676, 0.0011527322385518346, 4.712348965821263, 0.01, 245.8997477292605, 133.74960391333846)); - right.setSegment(157, new Trajectory.Segment(120.24914522049104, 130.00019221473508, - 0.004447465551038476, -0.0011560771895346988, 4.712348965821263, 0.01, 226.099747745112, 133.7503962016941)); + left.setSegment(131, new Trajectory.Segment(86.45083971645647, 130.000525167671, + 24.994216798037883, -5000.035554005535, 4.712350487341087, 0.01, 245.90042044562824, 133.54961895509936)); + right.setSegment(131, new Trajectory.Segment(86.44916028353387, 129.9994748323081, + 25.005783199711118, -4999.964446242302, 4.712350487341087, 0.01, 226.1004204602972, 133.5503811173625)); - left.setSegment(158, new Trajectory.Segment(121.55085241411498, 129.9997634607587, - -0.004432417395605626, 0.0015076423665050243, 4.712349204749904, 0.01, 245.89969586088515, 132.44960627976562)); - right.setSegment(158, new Trajectory.Segment(121.54914758588569, 130.00023653946454, - 0.004432472945836707, -0.0014992605201769038, 4.712349204749904, 0.01, 226.09969587654794, 132.4503938373342)); + left.setSegment(132, new Trajectory.Segment(87.75084437228043, 130.00046558239515, + -0.0059585275835161156, -2500.01753256214, 4.712350017055855, 0.01, 245.90037009225648, 132.24961430025058)); + right.setSegment(132, new Trajectory.Segment(87.74915562771021, 129.99953441763424, + 0.005958532614158685, -2499.982466709696, 4.712350017055855, 0.01, 226.1003701072861, 132.25038577416132)); - left.setSegment(159, new Trajectory.Segment(122.8508496073293, 129.99971932143126, - -0.004413932742863835, 0.0018484652741790342, 4.712349488263606, 0.01, 245.89964433213638, 131.14960908757254)); - right.setSegment(159, new Trajectory.Segment(122.84915039267133, 130.0002806785635, - 0.004413909897493795, -0.0018563048342912225, 4.712349488263606, 0.01, 226.09964434757669, 131.1503910315698)); + left.setSegment(133, new Trajectory.Segment(89.05084842718063, 130.00040549001935, + -0.006009237580428817, -0.005070999691270117, 4.71234960746998, 0.01, 245.90031916693817, 130.94961024634785)); + right.setSegment(133, new Trajectory.Segment(89.04915157281008, 129.9995945099868, + 0.006009235255532985, 0.005070264137430058, 4.71234960746998, 0.01, 226.10031918228543, 130.9503898300589)); - left.setSegment(160, new Trajectory.Segment(124.15084636135228, 129.99967540229835, - -0.0043919132906466984, 0.002201945221713686, 4.712349816140005, 0.01, 245.89959320083358, 129.8496123345551)); - right.setSegment(160, new Trajectory.Segment(124.14915363864704, 130.00032459757062, - 0.0043919007111981045, -0.0022009186295690597, 4.712349816140005, 0.01, 226.0995932160186, 129.85038778659964)); + left.setSegment(134, new Trajectory.Segment(90.35085187675207, 130.00034495714553, + -0.006053287381746486, -0.0044049801317669335, 4.712349259028385, 0.01, 245.90026774887986, 129.64960679779324)); + right.setSegment(134, new Trajectory.Segment(90.34914812323797, 129.9996550427893, + 0.00605328025073959, 0.004404499520660465, 4.712349259028385, 0.01, 226.10026776449996, 129.65039328064785)); - left.setSegment(161, new Trajectory.Segment(125.45084267873683, 129.99963173845595, - -0.004366384240483967, 0.0025529050162731437, 4.71235018812148, 0.01, 245.89954252448413, 128.54961601815828)); - right.setSegment(161, new Trajectory.Segment(125.44915732126476, 130.00036826177242, - 0.004366420179735542, -0.0025480531462562794, 4.71235018812148, 0.01, 226.09954253938204, 128.55038410496965)); + left.setSegment(135, new Trajectory.Segment(91.65085471725656, 130.0002840504484, + -0.006090669711511509, -0.0037382329765023314, 4.71234897210874, 0.01, 245.90021591782263, 128.349603958322)); + right.setSegment(135, new Trajectory.Segment(91.64914528273346, 129.99971594954937, + 0.006090676006920148, 0.0037395756180558237, 4.71234897210874, 0.01, 226.1002159336692, 128.3503961221856)); - left.setSegment(162, new Trajectory.Segment(126.75083856237922, 129.99958836423778, - -0.004337421816558162, 0.0028962423925804615, 4.712350603915159, 0.01, 245.89949236023745, 127.24962013548377)); - right.setSegment(162, new Trajectory.Segment(126.74916143762198, 130.00041163572172, - 0.004337394929621041, -0.0029025250114500523, 4.712350603915159, 0.01, 226.09949237481771, 127.25037998958031)); + left.setSegment(136, new Trajectory.Segment(92.95085694562096, 130.00022283643963, + -0.006121400878100758, -0.003073116658924846, 4.712348747021457, 0.01, 245.90016375395479, 127.04960173100417)); + right.setSegment(136, new Trajectory.Segment(92.94914305436963, 129.99977716361727, + 0.006121406789816319, 0.003073078289617115, 4.712348747021457, 0.01, 226.10016376998013, 127.05039835159599)); - left.setSegment(163, new Trajectory.Segment(128.05083401552957, 129.99954531503573, - -0.004304920204845075, 0.0032501611713087186, 4.712351063192914, 0.01, 245.89944276483928, 125.94962468327945)); - right.setSegment(163, new Trajectory.Segment(128.0491659844719, 130.0004546849924, - 0.004304927068687903, -0.003246786093313858, 4.712351063192914, 0.01, 226.09944277907263, 125.95037544367644)); + left.setSegment(137, new Trajectory.Segment(94.25085855943706, 130.00016138161126, + -0.00614548283692784, -0.0024081958827082417, 4.712348584009692, 0.01, 245.90011133782417, 125.74960011824477)); + right.setSegment(137, new Trajectory.Segment(94.2491414405528, 129.99983861831794, + 0.006145470067053793, 0.0024063277237473812, 4.712348584009692, 0.01, 226.10011135397963, 125.75039996646952)); - left.setSegment(164, new Trajectory.Segment(129.35082904178415, 129.99950262545667, - -0.004268957906106152, 0.003596229873892298, 4.7123515655913675, 0.01, 245.8993937945858, 124.64962965794723)); - right.setSegment(164, new Trajectory.Segment(129.34917095821584, 130.0004973743934, - 0.004268940099905194, -0.0035986968782708573, 4.7123515655913675, 0.01, 226.0993938084445, 124.65037047085485)); + left.setSegment(138, new Trajectory.Segment(95.55085955696549, 130.00009975284235, + -0.006162876891835367, -0.001739405490752688, 4.712348483249345, 0.01, 245.900058750251, 124.44959912177998)); + right.setSegment(138, new Trajectory.Segment(95.54914044302636, 129.99990024735484, + 0.006162903690665189, 0.0017433623611395888, 4.712348483249345, 0.01, 226.10005876648717, 124.4504009650596)); - left.setSegment(165, new Trajectory.Segment(130.65082364509132, 129.999460330718, - -0.004229473867667366, 0.003948403843878623, 4.712352110711887, 0.01, 245.89934550527784, 123.34963505553692)); - right.setSegment(165, new Trajectory.Segment(130.64917635490932, 130.00053966934684, - 0.004229495343111012, -0.003944475679418247, 4.712352110711887, 0.01, 226.09934551873562, 123.35036507505826)); + left.setSegment(139, new Trajectory.Segment(96.85085993712623, 130.0000380160744, + -0.006173676794674066, -0.0010799902838698472, 4.712348444849062, 0.01, 245.90000607224022, 123.14959874268654)); + right.setSegment(139, new Trajectory.Segment(96.8491400628615, 129.99996198351383, + 0.00617361589831944, 0.001071220765425096, 4.712348444849062, 0.01, 226.1000060885072, 123.15040134629176)); - left.setSegment(166, new Trajectory.Segment(131.95081782974532, 129.99941846539835, - -0.00418653196447849, 0.0042941903188875585, 4.712352698120585, 0.01, 245.89929795217506, 122.04964087175267)); - right.setSegment(166, new Trajectory.Segment(131.94918217025554, 130.00058153462192, - 0.004186527507954452, -0.004296783515655989, 4.712352698120585, 0.01, 226.09929796520743, 122.05035926058179)); + left.setSegment(140, new Trajectory.Segment(98.15085969951939, 129.99997623931563, + -0.0061776758769838125, -0.0003999082309746882, 4.71234846885023, 0.01, 245.89995338489422, 121.84959898136105)); + right.setSegment(140, new Trajectory.Segment(98.1491403004778, 130.00002376163027, + 0.006177811644647591, 0.00041957463281505625, 4.71234846885023, 0.01, 226.09995340114193, 121.85040110974313)); - left.setSegment(167, new Trajectory.Segment(133.2508116003906, 129.99937706452764, - -0.004140087071391463, 0.0046444893087027594, 4.712353327348325, 0.01, 245.89925118995004, 120.74964710194844)); - right.setSegment(167, new Trajectory.Segment(133.24918839961003, 130.0006229354506, - 0.004140082867820638, -0.004644464013381366, 4.712353327348325, 0.01, 226.0992512025343, 120.75035303206833)); + left.setSegment(141, new Trajectory.Segment(99.45085884439216, 129.99991448727778, + -0.006175203785119265, 0.000247209186454711, 4.712348555226983, 0.01, 245.89990076932526, 120.54959983755305)); + right.setSegment(141, new Trajectory.Segment(99.44914115561029, 130.0000855132489, + 0.0061751618630978555, -0.0002649781549735053, 4.712348555226983, 0.01, 226.0999007855038, 120.55040025567541)); - left.setSegment(168, new Trajectory.Segment(134.5508049620206, 129.9993361630014, - -0.004090152623348331, 0.004993444804313185, 4.712353997890712, 0.01, 245.89920527264258, 119.44965374112935)); - right.setSegment(168, new Trajectory.Segment(134.5491950379793, 130.00066383692752, - 0.004090147692181745, -0.004993517563889327, 4.712353997890712, 0.01, 226.09920528475794, 119.45034639450999)); + left.setSegment(142, new Trajectory.Segment(100.75085737266319, 129.99985282710315, + -0.006166017462305717, 0.0009186322813548031, 4.712348703886194, 0.01, 245.89984830656823, 119.24960131034061)); + right.setSegment(142, new Trajectory.Segment(100.74914262733368, 130.00014717233924, + 0.00616590903348424, -0.0009252829613615177, 4.712348703886194, 0.01, 226.09984832262796, 119.25039878501062)); - left.setSegment(169, new Trajectory.Segment(135.8507979199789, 129.99929579582968, - -0.004036717172084536, 0.0053435451263794675, 4.7123547092081015, 0.01, 245.89916025361367, 118.14966078395057)); - right.setSegment(169, new Trajectory.Segment(135.8492020800219, 130.00070420426178, - 0.0040367334264601595, -0.005341426572158525, 4.7123547092081015, 0.01, 226.09916026524138, 118.15033935324689)); + left.setSegment(143, new Trajectory.Segment(102.05085528592987, 129.9997913266677, + -0.006150043546426787, 0.0015973915878930711, 4.712348914667487, 0.01, 245.89979607749297, 117.94960339812312)); + right.setSegment(143, new Trajectory.Segment(102.04914471406998, 130.00020867363, + 0.0061501290758769755, -0.0015779957607264805, 4.712348914667487, 0.01, 226.09979609338507, 117.9503966993235)); - left.setSegment(170, new Trajectory.Segment(137.150790479956, 129.9992559977089, - -0.003979812078114264, 0.005690509397027199, 4.712355460725595, 0.01, 245.89911618550002, 116.8496682247204)); - right.setSegment(170, new Trajectory.Segment(137.14920952004536, 130.00074400234624, - 0.003979808445819799, -0.0056924980640360445, 4.712355460725595, 0.01, 226.09911619662336, 116.85033191397036)); + left.setSegment(144, new Trajectory.Segment(103.35085258644014, 129.99973005102697, + -0.006127564071789493, 0.0022479474637293606, 4.712349187343224, 0.01, 245.89974416271704, 116.64960609864944)); + right.setSegment(144, new Trajectory.Segment(103.34914741355982, 130.00026994898414, + 0.006127535414179874, -0.0022593661697101197, 4.712349187343224, 0.01, 226.09974417839354, 116.65039400087026)); - left.setSegment(171, new Trajectory.Segment(138.45078264799184, 129.99921680358636, - -0.003919412253594601, 0.0060399824519663525, 4.712356251833041, 0.01, 245.89907312016783, 115.54967605739786)); - right.setSegment(171, new Trajectory.Segment(138.44921735200867, 130.00078319633005, - 0.003919398380958228, -0.00604100648615713, 4.712356251833041, 0.01, 226.0990731307723, 115.5503240827204)); + left.setSegment(145, new Trajectory.Segment(104.65084927711396, 129.99966906738277, + -0.006098364420381586, 0.0029199651407907368, 4.712349521618513, 0.01, 245.89969264251823, 115.34960940899651)); + right.setSegment(145, new Trajectory.Segment(104.64915072288439, 130.00033093245625, + 0.0060983472110365256, -0.00291882031433488, 4.712349521618513, 0.01, 226.09969265793245, 115.3503906925666)); - left.setSegment(172, new Trajectory.Segment(139.75077443047726, 129.99917824854342, - -0.0038555042948473783, 0.006390795874722244, 4.712357081885035, 0.01, 245.8990311086672, 114.24968427559126)); - right.setSegment(172, new Trajectory.Segment(139.7492255695236, 130.0008217514908, - 0.0038555160756459372, -0.0063882305312290555, 4.712357081885035, 0.01, 226.09903111874058, 114.25031586588433)); + left.setSegment(146, new Trajectory.Segment(105.95084536153935, 129.9996084425394, + -0.006062484337121532, 0.0035880083260053652, 4.712349917131207, 0.01, 245.89964159674705, 114.0496133255733)); + right.setSegment(146, new Trajectory.Segment(105.94915463846111, 130.0003915576722, + 0.006062521595140424, -0.0035825615896101226, 4.712349917131207, 0.01, 226.09964161185385, 114.05038677799207)); - left.setSegment(173, new Trajectory.Segment(141.05076583415, 129.99914036727532, - -0.0037881268099226872, 0.006737748492469109, 4.712357950200916, 0.01, 245.89899020118628, 112.94969287256214)); - right.setSegment(173, new Trajectory.Segment(141.04923416585078, 130.00085963272014, - 0.003788122933201521, -0.00673931424444163, 4.712357950200916, 0.01, 226.09899021071874, 112.95030727020077)); + left.setSegment(147, new Trajectory.Segment(107.25084084396357, 129.99954824242175, + -0.006020011764462652, 0.004247257265888038, 4.712350373451902, 0.01, 245.89959110473944, 112.74961784412965)); + right.setSegment(147, new Trajectory.Segment(107.24915915603509, 130.00045175739834, + 0.006019972613557911, -0.004254898158251308, 4.712350373451902, 0.01, 226.09959111949536, 112.75038226139866)); - left.setSegment(174, new Trajectory.Segment(142.3507568660977, 129.99910319476913, - -0.0037172506182514553, 0.007087619167123194, 4.712358856064775, 0.01, 245.8989504470054, 111.6497018412223)); - right.setSegment(174, new Trajectory.Segment(142.3492431339029, 130.00089680520986, - 0.0037172489726344793, -0.007087396056704165, 4.712358856064775, 0.01, 226.09895045598938, 111.65029830275653)); + left.setSegment(148, new Trajectory.Segment(108.55083572930705, 129.99948853434776, + -0.005970807399080513, 0.004920436538213835, 4.712350890083938, 0.01, 245.89954124522927, 111.44962295974231)); + right.setSegment(148, new Trajectory.Segment(108.54916427069288, 130.0005114657798, + 0.005970838145685775, -0.004913446787213616, 4.712350890083938, 0.01, 226.0995412595929, 111.45037714769701)); - left.setSegment(175, new Trajectory.Segment(143.6492090836767, 129.84522175790224, - -15.38814368668966, -1538.4426436071408, 4.71235979758843, 0.01, 245.89891193934668, 110.35124962421428)); - right.setSegment(175, new Trajectory.Segment(143.64771399365029, 129.84708597473872, - -15.38108304711443, -1538.4800296087064, 4.71235979758843, 0.01, 226.09891194777785, 110.35182744358015)); + left.setSegment(149, new Trajectory.Segment(109.84890695527385, 129.80712259667885, + -19.23659376689102, -1923.0622959491939, 4.712351465566941, 0.01, 245.89949216840358, 110.15155173470326)); + right.setSegment(149, new Trajectory.Segment(109.84724689122312, 129.80826205302404, + -19.224941275575702, -1923.0912113721388, 4.712351465566941, 0.01, 226.09949218233646, 110.15229452809452)); - left.setSegment(176, new Trajectory.Segment(144.9420840652239, 129.28749815471804, - -55.772360318420056, -4038.4216631730396, 4.712360770764416, 0.01, 245.89887483494226, 109.05837464319953)); - right.setSegment(176, new Trajectory.Segment(144.940608244082, 129.28942504317172, - -55.76609315669998, -4038.501010958555, 4.712360770764416, 0.01, 226.09887484282052, 109.05893319368087)); + left.setSegment(150, new Trajectory.Segment(111.14063147632154, 129.1724521047701, + -63.46704919087642, -4423.04554239854, 4.712352096748509, 0.01, 245.8994441110026, 108.85982721454953)); + right.setSegment(150, new Trajectory.Segment(111.13898390966587, 129.1737018442743, + -63.45602087497468, -4423.107959939898, 4.712352096748509, 0.01, 226.09944412447055, 108.86055751054575)); - left.setSegment(177, new Trajectory.Segment(146.22592031175407, 128.38362465301623, - -90.38735017018098, -3461.4989851760924, 4.712361771584872, 0.01, 245.89883925722518, 107.77453839716233)); - right.setSegment(177, new Trajectory.Segment(146.2244643068572, 128.38560627751846, - -90.38187656532557, -3461.578340862559, 4.712361771584872, 0.01, 226.09883926455433, 107.77507713139866)); + left.setSegment(151, new Trajectory.Segment(112.42293240135847, 128.23009250369267, + -94.23596010774133, -3076.891091686491, 4.712352780380506, 0.01, 245.8993972473564, 107.57752629036895)); + right.setSegment(151, new Trajectory.Segment(112.42129837061633, 128.23144609504598, + -94.2255749228309, -3076.955404785622, 4.712352780380506, 0.01, 226.09939726032977, 107.57824305045165)); - left.setSegment(178, new Trajectory.Segment(147.49975630765042, 127.38359958963541, - -100.00250633808179, -961.5156167900807, 4.712362797721861, 0.01, 245.89880524778457, 106.50070240171998)); - right.setSegment(178, new Trajectory.Segment(147.4983206202659, 127.3856313408727, - -99.99749366457564, -961.5617099250073, 4.712362797721861, 0.01, 226.09880525457132, 106.50122081844394)); + left.setSegment(152, new Trajectory.Segment(113.69523283014385, 127.230042878538, + -100.00496251546735, -576.900240772602, 4.7123535141389965, 0.01, 245.89935165103958, 106.3052258624006)); + right.setSegment(152, new Trajectory.Segment(113.69361332781983, 127.23149572035095, + -99.99503746950325, -576.9462546672344, 4.7123535141389965, 0.01, 226.0993516634923, 106.30592809406518)); - left.setSegment(179, new Trajectory.Segment(148.76359206880514, 126.38357611547322, - -100.0023474162191, 0.015892186269184094, 4.712363847570151, 0.01, 245.89877281732876, 105.23686664098133)); - right.setSegment(179, new Trajectory.Segment(148.7621771684168, 126.38565481508847, - -99.99765257842341, -0.015891384776978157, 4.712363847570151, 0.01, 226.09877282358215, 105.23736427070915)); + left.setSegment(153, new Trajectory.Segment(114.95753278318827, 126.22999530444261, + -100.00475740953902, 0.020510592833034025, 4.712354295952033, 0.01, 245.89930736984348, 105.04292591013287)); + right.setSegment(153, new Trajectory.Segment(114.95592876076238, 126.23154329425456, + -99.99524260963852, -0.02051401352787252, 4.712354295952033, 0.01, 226.0993073817533, 105.04361266189933)); - left.setSegment(180, new Trajectory.Segment(150.01742761097162, 125.38355421664906, - -100.00218988241585, 0.015753380324667887, 4.712364919538389, 0.01, 245.89874197382662, 103.9830310991942)); - right.setSegment(180, new Trajectory.Segment(150.0160339355544, 125.38567671376038, - -99.99781013280966, -0.015755438624864837, 4.712364919538389, 0.01, 226.09874197955796, 103.98350750395092)); + left.setSegment(154, new Trajectory.Segment(116.20983228113248, 125.22994979442035, + -100.0045510022261, 0.020640731293042336, 4.712355123734879, 0.01, 245.89926444748383, 103.79062641292424)); + right.setSegment(154, new Trajectory.Segment(116.20824464880693, 125.2315888044555, + -99.9954489799066, -0.020637026807435177, 4.712355123734879, 0.01, 226.09926445883193, 103.79129677459036)); - left.setSegment(181, new Trajectory.Segment(151.26126294975202, 124.38353387803906, - -100.00203386099997, 0.015602141587578444, 4.712366012050796, 0.01, 245.89871272258966, 102.73919576075777)); - right.setSegment(181, new Trajectory.Segment(151.25989090608044, 124.385697052605, - -99.9979661155379, -0.015598272824490778, 4.712366012050796, 0.01, 226.09871272781237, 102.73965053376882)); + left.setSegment(155, new Trajectory.Segment(117.452131344701, 124.22990635685171, + -100.00434375686353, 0.02072453625601156, 4.712355995393967, 0.01, 245.89922292366995, 102.54832735004969)); + right.setSegment(155, new Trajectory.Segment(117.45056097122539, 124.23163224184634, + -99.99565626091567, -0.020728100906808322, 4.712355995393967, 0.01, 226.09922293444126, 102.54898045286588)); - left.setSegment(182, new Trajectory.Segment(152.4950981005748, 123.38351508227724, - -100.0018795761818, 0.015428481816570638, 4.712367123548771, 0.01, 245.89868506635577, 101.50536061024495)); - right.setSegment(182, new Trajectory.Segment(152.4937480645631, 123.38571584826575, - -99.99812043392495, -0.015431838704671463, 4.712367123548771, 0.01, 226.09868507108519, 101.50579337559613)); + left.setSegment(156, new Trajectory.Segment(118.68442999467146, 123.22986499704535, + -100.00413598063602, 0.02077762275121131, 4.712356908830707, 0.01, 245.89918283418024, 101.31602870073134)); + right.setSegment(156, new Trajectory.Segment(118.68287770724329, 123.23167360179102, + -99.99586400553255, -0.02077446168868846, 4.712356908830707, 0.01, 226.0991828443632, 101.31666371750008)); - left.setSegment(183, new Trajectory.Segment(153.71893307868507, 122.38349781102582, - -100.00172712514228, 0.015245103952565842, 4.712368252492428, 0.01, 245.89865900537364, 100.28152563241217)); - right.setSegment(183, new Trajectory.Segment(153.7176053957578, 122.38573311946956, - -99.99827287961836, -0.015244569340211456, 4.712368252492428, 0.01, 226.0986590096271, 100.28193604467891)); + left.setSegment(157, new Trajectory.Segment(119.90672825183273, 122.22982571612673, + -100.0039280918628, 0.02078887732182011, 4.712357861945131, 0.01, 245.89914421094184, 100.0937304441803)); + right.setSegment(157, new Trajectory.Segment(119.90519483607015, 122.23171288268652, + -99.9960719104493, -0.020790491674915756, 4.712357861945131, 0.01, 226.0991442205286, 100.09434658928345)); - left.setSegment(184, new Trajectory.Segment(154.93276789912827, 121.38348204431868, - -100.00157667071363, 0.015045442864902725, 4.712369397362053, 0.01, 245.8986345374887, 99.06769081221559)); - right.setSegment(184, new Trajectory.Segment(154.93146288461958, 121.38574888617721, - -99.99842332923521, -0.015044961685362068, 4.712369397362053, 0.01, 226.09863454128532, 99.06807855606375)); + left.setSegment(158, new Trajectory.Segment(121.1190261369534, 121.22978851206693, + -100.00372040597938, 0.02076858834243467, 4.712358852639381, 0.01, 245.89910708211536, 98.8814325596282)); + right.setSegment(158, new Trajectory.Segment(121.11751233693697, 121.23175008668187, + -99.99627960046524, -0.020769001594089787, 4.712358852639381, 0.01, 226.0991070911014, 98.8820290889852)); - left.setSegment(185, new Trajectory.Segment(156.13660257673652, 120.3834677608244, - -100.00142834942807, 0.014832128556463431, 4.712370556659472, 0.01, 245.8986116582291, 97.86385613482476)); - right.setSegment(185, new Trajectory.Segment(156.1353205163167, 120.38576316971248, - -99.99857164647352, -0.014831723831321142, 4.712370556659472, 0.01, 226.0986116615895, 97.86422092458405)); + left.setSegment(159, new Trajectory.Segment(122.32132367074848, 120.22975337950908, + -100.00351325578549, 0.020715019388717337, 4.712359878821048, 0.01, 245.89907147218312, 97.67913502636046)); + right.setSegment(159, new Trajectory.Segment(122.31983018912906, 120.23178521920912, + -99.99648674727553, -0.02071468102826657, 4.712359878821048, 0.01, 226.09907148056746, 97.67971123732048)); - left.setSegment(186, new Trajectory.Segment(157.33043712611544, 119.38345493789298, - -100.00128229314242, 0.01460562856436809, 4.71237172890936, 0.01, 245.89859036089277, 96.6700215856358)); - right.setSegment(186, new Trajectory.Segment(157.3291782762434, 119.38577599266999, - -99.99871770424846, -0.014605777494125505, 4.71237172890936, 0.01, 226.09859036383912, 96.67036316484732)); + left.setSegment(160, new Trajectory.Segment(123.5136208738482, 119.2297203099715, + -100.00330695375794, 0.020630202755000937, 4.712360938406364, 0.01, 245.89903740204173, 96.48683782374752)); + right.setSegment(160, new Trajectory.Segment(123.51214837201803, 119.23181828889646, + -99.99669303126524, -0.020628398971211936, 4.712360938406364, 0.01, 226.0990374098266, 96.4873930549183)); - left.setSegment(187, new Trajectory.Segment(158.5142715616323, 118.38344355168675, - -100.0011386206225, 0.014367251992553065, 4.712372912660465, 0.01, 245.89857063663456, 95.48618715028324)); - right.setSegment(187, new Trajectory.Segment(158.51303615003215, 118.38578737887524, - -99.99886137947556, -0.01436752270933539, 4.712372912660465, 0.01, 226.09857063919046, 95.48650529122288)); + left.setSegment(161, new Trajectory.Segment(124.69591776676506, 118.22968929168715, + -100.00310182843464, 0.020512532330485556, 4.712362029323241, 0.01, 245.89900488909726, 95.3045409312777)); + right.setSegment(161, new Trajectory.Segment(124.69446686508907, 118.23184930710357, + -99.99689817928896, -0.020514802372417762, 4.712362029323241, 0.01, 226.09900489628822, 95.30507456229432)); - left.setSegment(188, new Trajectory.Segment(159.68810589740403, 117.38343357717045, - -100.00099745163027, 0.014116899222926804, 4.712374106486767, 0.01, 245.8985524745538, 94.31235281465204)); - right.setSegment(188, new Trajectory.Segment(159.68689412356463, 117.38579735324694, - -99.99900256282928, -0.014118335371904323, 4.712374106486767, 0.01, 226.09855247674403, 94.31264731783092)); + left.setSegment(162, new Trajectory.Segment(125.8682143698682, 117.22966031031399, + -100.00289813731627, 0.020369111837226228, 4.712363149514177, 0.01, 245.8989739473641, 94.1322443285829)); + right.setSegment(162, new Trajectory.Segment(125.86678564797275, 117.23187828836771, + -99.9971018735863, -0.020369429734046207, 4.712363149514177, 0.01, 226.0989739539697, 94.13275577981899)); - left.setSegment(189, new Trajectory.Segment(160.85194014728938, 116.38342498853602, - -100.00085886344294, 0.013858818732614964, 4.712375308988558, 0.01, 245.89853586178194, 93.14851856488525)); - right.setSegment(189, new Trajectory.Segment(160.85075218298545, 116.38580594208258, - -99.99914111643591, -0.013855360663228566, 4.712375308988558, 0.01, 226.0985358636323, 93.14878925852867)); + left.setSegment(163, new Trajectory.Segment(127.03051070335675, 116.2296333488554, + -100.00269614585875, 0.020199145751575998, 4.71236429693901, 0.01, 245.898944587566, 92.96994799546516)); + right.setSegment(163, new Trajectory.Segment(127.029104700473, 116.2319052500257, + -99.99730383420058, -0.02019606142766861, 4.71236429693901, 0.01, 226.09894459359782, 92.97043672768956)); - left.setSegment(190, new Trajectory.Segment(162.00577432487282, 115.38341775834448, - -100.00072301915424, 0.013584428870672127, 4.7123765187934685, 0.01, 245.89852078356964, 91.99468438740033)); - right.setSegment(190, new Trajectory.Segment(162.00461031470613, 115.38581317206948, - -99.99927700131082, -0.013588487490778789, 4.7123765187934685, 0.01, 226.098520785107, 91.9949311269065)); + left.setSegment(164, new Trajectory.Segment(128.1828067872289, 115.2296083872168, + -100.00249616386014, 0.01999819986053808, 4.712365469577548, 0.01, 245.89891681723955, 91.81765191192763)); + right.setSegment(164, new Trajectory.Segment(128.18142400258822, 115.23193021152045, + -99.9975038505255, -0.020001632492494537, 4.712365469577548, 0.01, 226.09891682271186, 91.818117425909)); - left.setSegment(191, new Trajectory.Segment(163.1496084434632, 114.38341185903784, - -100.00058993066432, 0.01330884899175544, 4.712377734557405, 0.01, 245.8985072233746, 90.85085026889033)); - right.setSegment(191, new Trajectory.Segment(163.14846850542244, 114.38581907163187, - -99.9994100437604, -0.013304244959044809, 4.712377734557405, 0.01, 226.09850722462662, 90.85107293627055)); + left.setSegment(165, new Trajectory.Segment(129.3251026412634, 114.22958540345047, + -100.00229837663284, 0.019778722730734444, 4.71236666543205, 0.01, 245.89889064083965, 90.67535605819305)); + right.setSegment(165, new Trajectory.Segment(129.32374353454185, 114.23195319536421, + -99.99770161562367, -0.019776509816438193, 4.71236666543205, 0.01, 226.09889064576944, 90.67579789425528)); - left.setSegment(192, new Trajectory.Segment(164.28344251607632, 113.3834072613121, - -100.00045977257344, 0.013015809088301467, 4.712378954965443, 0.01, 245.89849516294794, 89.71701619634135)); - right.setSegment(192, new Trajectory.Segment(164.28232674211472, 113.38582366922725, - -99.99954024046218, -0.013019670177527587, 4.712378954965443, 0.01, 226.09849516394297, 89.71721469964243)); + left.setSegment(166, new Trajectory.Segment(130.45739828499114, 113.22956437277209, + -100.00210306783828, 0.01953087945594234, 4.712367882529596, 0.01, 245.89886605984668, 89.54306041473214)); + right.setSegment(166, new Trajectory.Segment(130.456063276801, 113.23197422591389, + -99.9978969450325, -0.019532940882527328, 4.712367882529596, 0.01, 226.09886606425334, 89.54347815226296)); - left.setSegment(193, new Trajectory.Segment(165.40727655543375, 112.38340393574447, - -100.00033255676328, 0.012721581015284755, 4.712380178732637, 0.01, 245.898484582421, 88.59318215703371)); - right.setSegment(193, new Trajectory.Segment(165.4061850120626, 112.38582699478864, - -99.99966744386057, -0.01272033983923393, 4.712380178732637, 0.01, 226.0984845831879, 88.59335642974435)); + left.setSegment(167, new Trajectory.Segment(131.57969373767793, 112.2295452686779, + -100.00191040941928, 0.019265841899596126, 4.7123691189243, 0.01, 245.89884307287494, 88.42076496228077)); + right.setSegment(167, new Trajectory.Segment(131.5783832101029, 112.23199333019227, + -99.99808957216203, -0.019262712953604932, 4.7123691189243, 0.01, 226.09884307678024, 88.42115821919646)); - left.setSegment(194, new Trajectory.Segment(166.5211105739523, 111.38340185185673, - -100.00020838877361, 0.012416798966796705, 4.712381404604784, 0.01, 245.8984754603909, 87.4793481385525)); - right.setSegment(194, new Trajectory.Segment(166.52004330284964, 111.38582907870583, - -99.9997916082819, -0.012416442132234806, 4.712381404604784, 0.01, 226.0984754609591, 87.47949813899464)); + left.setSegment(168, new Trajectory.Segment(132.69198901829816, 111.22952806202215, + -100.00172066557411, 0.018974384516923237, 4.71237037269943, 0.01, 245.89882167578244, 87.30846968186636)); + right.setSegment(168, new Trajectory.Segment(132.6907033154707, 111.23201053677816, + -99.99827934141052, -0.018976924849312127, 4.71237037269943, 0.01, 226.09882167921026, 87.30883811403449)); - left.setSegment(195, new Trajectory.Segment(167.62494458373672, 110.38340097844095, - -100.00008734157859, 0.012104719502303851, 4.712382631359115, 0.01, 245.8984677740058, 86.37551412879485)); - right.setSegment(195, new Trajectory.Segment(167.6239016023698, 110.38582995201725, - -99.99991266885786, -0.012106057596383835, 4.712382631359115, 0.01, 226.0984677744049, 86.37563983950123)); + left.setSegment(169, new Trajectory.Segment(133.7942841455196, 110.22951272214429, + -100.00153398778622, 0.018667778789449585, 4.712371641969378, 0.01, 245.89880186178124, 86.206174554823)); + right.setSegment(169, new Trajectory.Segment(133.79302357423714, 110.23202587664342, + -99.99846601347429, -0.018667206376221657, 4.712371641969378, 0.01, 226.09880186475738, 86.20651785544614)); - left.setSegment(196, new Trajectory.Segment(168.7187785965746, 109.38340128378677, - -99.99996946541785, 0.011787616074343532, 4.712383857804927, 0.01, 245.89846149904918, 85.28168011597498)); - right.setSegment(196, new Trajectory.Segment(168.71775989883477, 109.38582964649521, - -100.00003055220361, -0.011788334575157933, 4.712383857804927, 0.01, 226.09846149930894, 85.28178154305428)); + left.setSegment(170, new Trajectory.Segment(134.88657913768327, 109.2294992163672, + -100.00135057770905, 0.018341007717026514, 4.7123729248815245, 0.01, 245.8987836215487, 85.11387956281162)); + right.setSegment(170, new Trajectory.Segment(134.8853439680613, 109.23203938241555, + -99.99864942278691, -0.018340931262628146, 4.7123729248815245, 0.01, 226.09878362410072, 85.11419746177428)); - left.setSegment(197, new Trajectory.Segment(169.8026126239348, 108.38340273602107, - -99.99985477656992, 0.011468884792975587, 4.712385082784161, 0.01, 245.89845661002298, 84.1978460886258)); - right.setSegment(197, new Trajectory.Segment(169.8016181807838, 108.38582819490337, - -100.00014515918423, -0.011460698061682706, 4.712385082784161, 0.01, 226.09845661017337, 84.19792326111627)); + left.setSegment(171, new Trajectory.Segment(135.96887401278605, 108.22948751027866, + -100.0011706088543, 0.017996885475213276, 4.712374219617982, 0.01, 245.89876694333876, 84.03158468783734)); + right.setSegment(171, new Trajectory.Segment(135.96766447894598, 108.23205108846567, + -99.99882939498832, -0.01799722014084182, 4.712374219617982, 0.01, 226.09876694549578, 84.03187695101813)); - left.setSegment(198, new Trajectory.Segment(170.8764466769474, 107.38340530125929, - -99.99974347617808, 0.01113003918362665, 4.712386305171924, 0.01, 245.8984530802302, 83.124012035619)); - right.setSegment(198, new Trajectory.Segment(170.87547643707413, 107.38582562903112, - -100.00025658722507, -0.01114280408387458, 4.712386305171924, 0.01, 226.09845308030108, 83.12406500483176)); + left.setSegment(172, new Trajectory.Segment(137.041168788465, 107.22947756789482, + -100.00099423838407, 0.017637047022844854, 4.712375524397222, 0.01, 245.8987518130935, 82.95928991226513)); + right.setSegment(172, new Trajectory.Segment(137.0399850892539, 107.23206103079077, + -99.99900576748928, -0.017637250095958734, 4.712375524397222, 0.01, 226.09875181488604, 82.95955634081697)); - left.setSegment(199, new Trajectory.Segment(171.94028076641573, 106.3834089468313, - -99.99963544279922, 0.01080333788650023, 4.712387523876942, 0.01, 245.89845088185595, 82.06017794615296)); - right.setSegment(199, new Trajectory.Segment(171.9393346569018, 106.38582198276629, - -100.00036462648296, -0.010803925789559798, 4.712387523876942, 0.01, 226.09845088187697, 82.06020678500637)); + left.setSegment(173, new Trajectory.Segment(138.10346348198365, 106.22946935186627, + -100.00082160285473, 0.017263552933854953, 4.712376837475597, 0.01, 245.89873821455467, 81.89699521883351)); + right.setSegment(173, new Trajectory.Segment(138.10230578172434, 106.23206924704635, + -99.99917837444201, -0.017260695273080273, 4.712376837475597, 0.01, 226.0987382160144, 81.89723564843355)); - left.setSegment(200, new Trajectory.Segment(172.99411490281935, 105.38341364036341, - -99.99953064678806, 0.01047960111577595, 4.712388737841982, 0.01, 245.89844998604738, 81.00634380974971)); - right.setSegment(200, new Trajectory.Segment(172.9931928298132, 105.38581729114298, - -100.00046916233032, -0.01045358473561464, 4.712388737841982, 0.01, 226.09844998604794, 81.00634861209532)); + left.setSegment(174, new Trajectory.Segment(139.15575811021307, 105.22946282294095, + -100.00065289253257, 0.016871032215703963, 4.7123781571487395, 0.01, 245.89872612937467, 80.8447005906735)); + right.setSegment(174, new Trajectory.Segment(139.154626539482, 105.23207577576483, + -99.99934712815275, -0.016875371073865608, 4.7123781571487395, 0.01, 226.09872613053437, 80.8449148907453)); - left.setSegment(201, new Trajectory.Segment(174.0379490962749, 104.38341934555635, - -99.99942948070668, 0.010116608137877847, 4.712389946044196, 0.01, 245.89845036299235, 79.96250961629421)); - right.setSegment(201, new Trajectory.Segment(174.0370509456726, 104.38581158594047, - -100.00057052025113, -0.010135792081200634, 4.712389946044196, 0.01, 226.0984503630016, 79.96249049623599)); + left.setSegment(175, new Trajectory.Segment(140.19805268962543, 104.22945794123461, + -100.00048817063316, 0.016472189940941462, 4.712379481752872, 0.01, 245.89871553722733, 79.80240601131497)); + right.setSegment(175, new Trajectory.Segment(140.19694734605616, 104.23208065741586, + -99.99951183489628, -0.016470674353286086, 4.712379481752872, 0.01, 226.09871553812056, 79.80259408422496)); - left.setSegment(202, new Trajectory.Segment(175.0717833565592, 103.38342602842971, - -99.99933171266377, 0.009776804290595464, 4.712391147495429, 0.01, 245.898451981997, 78.92867535601118)); - right.setSegment(202, new Trajectory.Segment(175.0709089946913, 103.3858049018707, - -100.00066840697741, -0.009788672628019413, 4.712391147495429, 0.01, 226.09845198204349, 78.92863244721855)); + left.setSegment(176, new Trajectory.Segment(141.23034723627953, 103.229454665411, + -100.00032758236159, 0.016058827156939515, 4.712380809665998, 0.01, 245.8987064159176, 78.77011146470116)); + right.setSegment(176, new Trajectory.Segment(141.22926818539017, 103.23208393340164, + -99.9996724014224, -0.016056652611950994, 4.712380809665998, 0.01, 226.0987064165785, 78.77027324493125)); - left.setSegment(203, new Trajectory.Segment(176.0956176931133, 102.38343365541047, - -99.99923730192393, 0.009441073984817194, 4.712392341242478, 0.01, 245.89845481156124, 77.90484101946099)); - right.setSegment(203, new Trajectory.Segment(176.09476696743698, 102.38579727456758, - -100.00076273031198, -0.009432333456516062, 4.712392341242478, 0.01, 226.09845481167304, 77.90477447447678)); + left.setSegment(177, new Trajectory.Segment(142.25264176580717, 102.22945295276284, + -100.00017126481566, 0.015631754592959624, 4.7123821393090015, 0.01, 245.8986987414906, 77.74781693520234)); + right.setSegment(177, new Trajectory.Segment(142.25158904184926, 102.23208564590765, + -99.99982874939946, -0.015634797705388337, 4.7123821393090015, 0.01, 226.0986987419539, 77.74795238850098)); - left.setSegment(204, new Trajectory.Segment(177.10945211503164, 101.38344219183388, - -99.99914635765919, 0.009094426474121065, 4.71239352636729, 0.01, 245.8984588194534, 76.89100659755057)); - right.setSegment(204, new Trajectory.Segment(177.1086248548266, 101.38578873895977, - -100.00085356078046, -0.009083046847990772, 4.71239352636729, 0.01, 226.09845881965796, 76.8909165870951)); + left.setSegment(178, new Trajectory.Segment(143.26493629340976, 101.22945276025783, + -100.00001925050128, 0.015201431438072177, 4.712383469146641, 0.01, 245.89869248833972, 76.73552240761907)); + right.setSegment(178, new Trajectory.Segment(143.2639099002371, 101.23208583878396, + -99.9999807123686, -0.015196296914155027, 4.712383469146641, 0.01, 226.0986924886404, 76.73563153013245)); - left.setSegment(205, new Trajectory.Segment(178.11328663104706, 100.38345160154138, - -99.99905902924979, 0.008732840939273956, 4.712394701987121, 0.01, 245.8984639727829, 75.88717208154839)); - right.setSegment(205, new Trajectory.Segment(178.11248264811468, 100.3857793288089, - -100.00094101508807, -0.008745430761791795, 4.712394701987121, 0.01, 226.09846397310702, 75.88705879382024)); + left.setSegment(179, new Trajectory.Segment(144.26723083383996, 100.22945404302108, + -99.99987172367497, 0.014752682631069547, 4.712384797688453, 0.01, 245.89868762931317, 75.73322786720064)); + right.setSegment(179, new Trajectory.Segment(144.2662307457952, 100.23208455581145, + -100.00012829725051, -0.014758488191546348, 4.712384797688453, 0.01, 226.09868762948636, 75.73331068458612)); - left.setSegment(206, new Trajectory.Segment(179.10712124955273, 99.38346185056686, - -99.9989750974521, 0.008393179768972914, 4.712395867254652, 0.01, 245.89847023807155, 74.89333746306247)); - right.setSegment(206, new Trajectory.Segment(179.10634033891745, 99.38576908027659, - -100.00102485323055, -0.008383814247281407, 4.712395867254652, 0.01, 226.09847023854113, 74.89320110303723)); + left.setSegment(180, new Trajectory.Segment(145.25952540140264, 99.2294567562677, + -99.99972867533842, 0.014304833655387483, 4.712386123489559, 0.01, 245.89868413581934, 74.74093329964411)); + right.setSegment(180, new Trajectory.Segment(145.2585515642198, 99.23208184245844, + -100.00027133530125, -0.014303805073723197, 4.712386123489559, 0.01, 226.09868413590016, 74.74098986616768)); - left.setSegment(207, new Trajectory.Segment(180.0909559785809, 98.38347290281523, - -99.9988947751632, 0.008032228890897386, 4.71239702135805, 0.01, 245.89847758132282, 73.90950273406172)); - right.setSegment(207, new Trajectory.Segment(180.0901979191929, 98.38575802754332, - -100.00110527332708, -0.008042009653763671, 4.71239702135805, 0.01, 226.09847758196292, 73.9093435227892)); + left.setSegment(181, new Trajectory.Segment(146.24182000994054, 98.229460853791, + -99.9995902476698, 0.013842766861671407, 4.712387445151379, 0.01, 245.89868197793075, 73.75863869110857)); + right.setSegment(181, new Trajectory.Segment(146.2408723416617, 98.23207774419244, + -100.00040982660039, -0.013849129913978686, 4.712387445151379, 0.01, 226.0986819779541, 73.75866908872813)); - left.setSegment(208, new Trajectory.Segment(181.06479082582007, 97.38348472391648, - -99.99881788987466, 0.007688528853577736, 4.712398163520994, 0.01, 245.89848596808974, 72.93566788685867)); - right.setSegment(208, new Trajectory.Segment(181.06405538125838, 97.38574620654866, - -100.00118209946578, -0.007682613869519628, 4.712398163520994, 0.01, 226.0984859689246, 72.93548606075983)); + left.setSegment(182, new Trajectory.Segment(147.21411467284656, 97.22946629060141, + -99.99945631895883, 0.013392871096584713, 4.71238876132226, 0.01, 245.8986811244862, 72.78634402820293)); + right.setSegment(182, new Trajectory.Segment(147.21319306475118, 97.23207230894582, + -100.00054352466208, -0.013369806168839204, 4.71238876132226, 0.01, 226.0986811244867, 72.78634836563904)); - left.setSegment(209, new Trajectory.Segment(182.02862579860422, 96.38349727841475, - -99.99874455017306, 0.007333970160061654, 4.712399293002657, 0.01, 245.8984953635408, 71.97183291412031)); - right.setSegment(209, new Trajectory.Segment(182.02791271777946, 96.38573365210661, - -100.00125544420513, -0.0073344739348613075, 4.712399293002657, 0.01, 226.09849536459365, 71.97162872428456)); + left.setSegment(183, new Trajectory.Segment(148.17640940302502, 96.2294730178448, + -99.99932727566119, 0.01290432976475131, 4.712390070698019, 0.01, 245.89868154319112, 71.82404929802458)); + right.setSegment(183, new Trajectory.Segment(148.17551372056965, 96.23206558184648, + -100.00067270993327, -0.012918527119154533, 4.712390070698019, 0.01, 226.09868154320287, 71.82402770982067)); - left.setSegment(210, new Trajectory.Segment(182.98246090391677, 95.38351053125632, - -99.9986747158431, 0.006983432996321426, 4.712400409097641, 0.01, 245.89850573252423, 71.01799780886411)); - right.setSegment(210, new Trajectory.Segment(182.9817699217727, 95.38572039932241, - -100.00132527841998, -0.006983421485529107, 4.712400409097641, 0.01, 226.09850573381735, 71.0177715203477)); + left.setSegment(184, new Trajectory.Segment(149.12870421290546, 95.22948098804493, + -99.99920297998699, 0.012429567419758314, 4.712391372022397, 0.01, 245.8986832007162, 70.87175448814557)); + right.setSegment(184, new Trajectory.Segment(149.1278342966728, 95.2320576103155, + -100.00079715309909, -0.012444316581650128, 4.712391372022397, 0.01, 226.0986832007728, 70.87170713371896)); - left.setSegment(211, new Trajectory.Segment(183.92629614839146, 94.38352444746845, - -99.99860837878742, 0.00663370556708287, 4.712401511135882, 0.01, 245.89851703963032, 70.07416256445715)); - right.setSegment(211, new Trajectory.Segment(183.92562698660456, 94.38570648318623, - -100.0013916136183, -0.006633519831211743, 4.712401511135882, 0.01, 226.0985170411848, 70.07391445558356)); + left.setSegment(185, new Trajectory.Segment(150.0709991144537, 94.22949015482496, + -99.9990833219968, 0.01196579901829864, 4.712392664087436, 0.01, 245.8986860627939, 69.92945958660167)); + right.setSegment(185, new Trajectory.Segment(150.0701547811088, 94.23204844360082, + -100.00091667146762, -0.011951836853540954, 4.712392664087436, 0.01, 226.09868606292827, 69.9293866492873)); - left.setSegment(212, new Trajectory.Segment(184.86013153831178, 93.38353899203288, - -99.99854554355636, 0.006283523106276334, 4.712402598482508, 0.01, 245.89852924925162, 69.14032717461664)); - right.setSegment(212, new Trajectory.Segment(184.85948390598807, 93.38569193835278, - -100.00145448334479, -0.006286972649149902, 4.712402598482508, 0.01, 226.0985292510876, 69.14005753627985)); + left.setSegment(186, new Trajectory.Segment(151.00329411915115, 93.22950046974282, + -99.99896850821415, 0.011481378265898456, 4.712393945733776, 0.01, 245.89869009431308, 68.99716458191295)); + right.setSegment(186, new Trajectory.Segment(151.00247516240378, 93.23203812949629, + -100.00103141045287, -0.011473898524627657, 4.712393945733776, 0.01, 226.09869009455716, 68.99706626800105)); - left.setSegment(213, new Trajectory.Segment(185.78396707961818, 92.38355413063921, - -99.99848613936706, 0.005940418930094893, 4.712403670537667, 0.01, 245.8985423256418, 68.2164916334028)); - right.setSegment(213, new Trajectory.Segment(185.78334067398663, 92.38567679985493, - -100.00151384978437, -0.005936643958648347, 4.712403670537667, 0.01, 226.09854232777826, 68.21620076837385)); + left.setSegment(187, new Trajectory.Segment(151.92558923798398, 92.22951188328457, + -99.99885864582438, 0.010986238976329332, 4.7123952158508775, 0.01, 245.89869525941086, 68.07486946309457)); + right.setSegment(187, new Trajectory.Segment(151.92479542955522, 92.23202671514451, + -100.00114143517749, -0.011002472461996149, 4.7123952158508775, 0.01, 226.0986952597958, 68.07474600086407)); - left.setSegment(214, new Trajectory.Segment(186.69780277790483, 91.38356982866583, - -99.99843019733845, 0.005594202860947917, 4.712404726736313, 0.01, 245.8985562329721, 67.30265593522196)); - right.setSegment(214, new Trajectory.Segment(186.69719728500647, 91.38566110198519, - -100.00156978697419, -0.005593718981344864, 4.712404726736313, 0.01, 226.09855623542677, 67.30234415745983)); + left.setSegment(188, new Trajectory.Segment(152.83788448146768, 91.22952434836887, + -99.99875349157037, 0.01051542540153605, 4.712396473377161, 0.01, 245.89870152156305, 67.16257421963238)); + right.setSegment(188, new Trajectory.Segment(152.83711557205933, 91.23201425041063, + -100.0012464733885, -0.01050382110179271, 4.712396473377161, 0.01, 226.09870152211892, 67.16242585838145)); - left.setSegment(215, new Trajectory.Segment(187.60163863842163, 90.38358605168168, - -99.9983776984152, 0.005249892325309702, 4.712405766547958, 0.01, 245.8985709353858, 66.39882007482473)); - right.setSegment(215, new Trajectory.Segment(187.60105373379383, 90.3856448787378, - -100.00162232473855, -0.005253776436120461, 4.712405766547958, 0.01, 226.09857093817538, 66.39848770879203)); + left.setSegment(189, new Trajectory.Segment(153.7401798596248, 90.22953781571006, + -99.99865326588093, 0.010022568943668375, 4.712397717300085, 0.01, 245.89870884367164, 66.26027884150498)); + right.setSegment(189, new Trajectory.Segment(153.73943557989034, 90.23200078310036, + -100.00134673102679, -0.010025763828025447, 4.712397717300085, 0.01, 226.09870884442736, 66.26010585058016)); - left.setSegment(216, new Trajectory.Segment(188.49547466608306, 89.38360276614122, - -99.9983285540452, 0.004914436999570171, 4.712406789476397, 0.01, 245.89858639705128, 65.50498404729704)); - right.setSegment(216, new Trajectory.Segment(188.49491001543834, 89.38562816444963, - -100.00167142881793, -0.004910407938041317, 4.712406789476397, 0.01, 226.09858640019118, 65.50463142728127)); + left.setSegment(190, new Trajectory.Segment(154.63247538199366, 89.22955223688635, + -99.99855788237113, 0.009538350980164978, 4.71239894665615, 0.01, 245.89871718815, 65.36798331917514)); + right.setSegment(190, new Trajectory.Segment(154.6317554435093, 89.23198636189467, + -100.0014421205691, -0.009538954230947638, 4.71239894665615, 0.01, 226.0987171891333, 65.36778598700023)); - left.setSegment(217, new Trajectory.Segment(189.37931086546413, 88.38361993810688, - -99.99828280343479, 0.004575061041123263, 4.71240779505939, 0.01, 245.89860258221233, 64.62114784806417)); - right.setSegment(217, new Trajectory.Segment(189.3787661253627, 88.3856109924345, - -100.00171720151343, -0.004577269550054552, 4.71240779505939, 0.01, 226.09860258571683, 64.62077531750512)); + left.setSegment(191, new Trajectory.Segment(155.51477105762817, 88.22956756345022, + -99.99846734361313, 0.009053875800191236, 4.712400160530834, 0.01, 245.89872651700554, 64.48568764358996)); + right.setSegment(191, new Trajectory.Segment(155.51407515386254, 88.23197103532378, + -100.00153265708889, -0.009053651979229471, 4.712400160530834, 0.01, 226.098726518243, 64.48546627669631)); - left.setSegment(218, new Trajectory.Segment(190.2531472408081, 87.38363753439585, - -99.99824037110301, 0.004243233178158334, 4.712408782868319, 0.01, 245.8986194552371, 63.74731147288311)); - right.setSegment(218, new Trajectory.Segment(190.25262205932344, 87.3855933960761, - -100.001759635839, -0.004243432556449989, 4.712408782868319, 0.01, 226.09861945911928, 63.746919383707265)); + left.setSegment(192, new Trajectory.Segment(156.38706689509894, 87.22958374707639, + -99.99838163738275, 0.008570623037940095, 4.712401358058461, 0.01, 245.89873679192038, 63.613391806179706)); + right.setSegment(192, new Trajectory.Segment(156.38639470238033, 87.23195485177865, + -100.0016183545128, -0.008569742391273394, 4.712401358058461, 0.01, 226.09873679343713, 63.613146728239045)); - left.setSegment(219, new Trajectory.Segment(191.11698379602973, 86.3836555221652, - -99.9982012230646, 0.003914803841098546, 4.7124097525078215, 0.01, 245.8986369806648, 62.88347491783924)); - right.setSegment(219, new Trajectory.Segment(191.11647781340724, 86.38557540837898, - -100.00179876971202, -0.003913387303100535, 4.7124097525078215, 0.01, 226.09863698493646, 62.883063629801256)); + left.setSegment(193, new Trajectory.Segment(157.24936290249371, 86.2296007394765, + -99.99830075998943, 0.008087739331585908, 4.7124025384220145, 0.01, 245.89874797432844, 62.75109579885745)); + right.setSegment(193, new Trajectory.Segment(157.24871408097346, 86.23193785931196, + -100.00169924666977, -0.00808921569728227, 4.7124025384220145, 0.01, 226.09874797614827, 62.750827349718435)); - left.setSegment(220, new Trajectory.Segment(191.97082053471786, 85.38367386881383, - -99.99816533513695, 0.0035887927651856444, 4.712410703615376, 0.01, 245.89865512325014, 62.02963817934385)); - right.setSegment(220, new Trajectory.Segment(191.97033338402494, 85.38555706177085, - -100.00183466081296, -0.003589110093571435, 4.712410703615376, 0.01, 226.09865512792192, 62.0292080593763)); + left.setSegment(194, new Trajectory.Segment(158.10165908742187, 85.22961849281485, + -99.9982246661645, 0.007609382493001249, 4.712403700852879, 0.01, 245.89876002549082, 61.8987996140145)); + right.setSegment(194, new Trajectory.Segment(158.10103328203274, 85.23192010592744, + -100.00177533845118, -0.007609178140910444, 4.712403700852879, 0.01, 226.09876002763608, 61.89850814874436)); - left.setSegment(221, new Trajectory.Segment(192.81465746014032, 84.3836925422454, - -99.9981326568431, 0.003267829384867582, 4.712411635860881, 0.01, 245.89867384800633, 61.185801254129146)); - right.setSegment(221, new Trajectory.Segment(192.8141887679084, 84.38553838834582, - -100.0018673425032, -0.0032681690242952754, 4.712411635860881, 0.01, 226.09867385308772, 61.1853526757006)); + left.setSegment(195, new Trajectory.Segment(158.9439554570171, 84.22963695952375, + -99.99815332911055, 0.007133705395290235, 4.712404844630532, 0.01, 245.898772906568, 61.05650324451776)); + right.setSegment(195, new Trajectory.Segment(158.9433522984255, 84.23190163927583, + -100.00184666516105, -0.007132670987175516, 4.712404844630532, 0.01, 226.09877290905956, 61.0561891324501)); - left.setSegment(222, new Trajectory.Segment(193.6484945752483, 83.38371151079586, - -99.99810314495363, 0.0029511889465538843, 4.712412548946191, 0.01, 245.89869312024558, 60.351964139243904)); - right.setSegment(222, new Trajectory.Segment(193.6480439621055, 83.38551941970941, - -100.0018968636411, -0.0029521137889787497, 4.712412548946191, 0.01, 226.09869312574483, 60.35149748172623)); + left.setSegment(196, new Trajectory.Segment(159.77625201794004, 83.2296560922943, + -99.99808672294392, 0.0066606166626570484, 4.712405969082173, 0.01, 245.89878657868954, 60.22420668370711)); + right.setSegment(196, new Trajectory.Segment(159.77567112349095, 83.23188250654472, + -100.00191327311114, -0.006660795008883724, 4.712405969082173, 0.01, 226.09878658154682, 60.22387030749695)); - left.setSegment(223, new Trajectory.Segment(194.4723318826822, 82.3837307433912, - -99.9980767404665, 0.002640448713009391, 4.712413442604641, 0.01, 245.8987129056179, 59.528126832047576)); - right.setSegment(223, new Trajectory.Segment(194.4718989639767, 82.38550018712208, - -100.00192325873343, -0.002639509233404169, 4.712413442604641, 0.01, 226.09871291154207, 59.527642480092595)); + left.setSegment(197, new Trajectory.Segment(160.5985487763823, 82.22967584422564, + -99.99802480686668, 0.006191607724304049, 4.7124070735823045, 0.01, 245.89880100302102, 59.401909925391365)); + right.setSegment(197, new Trajectory.Segment(160.5979897510358, 82.23186275448562, + -100.0019752059103, -0.006193279915578387, 4.7124070735823045, 0.01, 226.09880100626194, 59.40155168007861)); - left.setSegment(224, new Trajectory.Segment(195.28616938477555, 81.3837502093336, - -99.99805340575989, 0.0023334706611422007, 4.712414316600531, 0.01, 245.89873317014772, 58.71428933020653)); - right.setSegment(224, new Trajectory.Segment(195.28575377118867, 81.38548072119593, - -100.00194659261439, -0.0023333880960763054, 4.712414316600531, 0.01, 226.09873317650275, 58.713787673132934)); + left.setSegment(198, new Trajectory.Segment(161.41084573807373, 81.2296961691426, + -99.99796750830399, 0.005729856269454103, 4.712408157552251, 0.01, 245.89881614082822, 58.58961296384099)); + right.setSegment(198, new Trajectory.Segment(161.41030817533218, 81.2318424296364, + -100.0020324849217, -0.005727901140062386, 4.712408157552251, 0.01, 226.09881614446908, 58.589233255923304)); - left.setSegment(225, new Trajectory.Segment(196.0900070835603, 80.38376987847408, - -99.99803308595148, 0.002031980841366021, 4.7124151707286, 0.01, 245.89875388026869, 57.91045163168858)); - right.setSegment(225, new Trajectory.Segment(196.08960838170918, 80.38546105205164, - -100.00196691442937, -0.0020321814986346, 4.7124151707286, 0.01, 226.09875388705942, 57.90993306287921)); + left.setSegment(199, new Trajectory.Segment(162.21314290828454, 80.22971702108062, + -99.9979148061982, 0.005270210579055856, 4.71240922045964, 0.01, 245.89883195353858, 57.787315793786014)); + right.setSegment(199, new Trajectory.Segment(162.2126263911093, 80.23182157771097, + -100.00208519254272, -0.005270762102327353, 4.71240922045964, 0.01, 226.09883195759423, 57.78691504030203)); - left.setSegment(226, new Trajectory.Segment(196.88384498077272, 79.38378972124383, - -99.99801572302545, 0.001736292603027323, 4.712416004813473, 0.01, 245.89877500285635, 57.11661373475716)); - right.setSegment(226, new Trajectory.Segment(196.88346279380212, 79.38544120929296, - -100.00198427586753, -0.0017361438153784547, 4.712416004813473, 0.01, 226.09877501008654, 57.116078651067305)); + left.setSegment(200, new Trajectory.Segment(163.00544029183254, 79.22973835479944, + -99.997866628118, 0.0048178080191974, 4.712410261817823, 0.01, 245.8988484027998, 56.995018410408775)); + right.setSegment(200, new Trajectory.Segment(163.0049443935493, 79.23180024400077, + -100.00213337102082, -0.004817847809590603, 4.712410261817823, 0.01, 226.0988484072835, 56.99459703803278)); - left.setSegment(227, new Trajectory.Segment(197.66768307785884, 78.38380970861222, - -99.99800126316103, 0.001445986441694913, 4.712416818709086, 0.01, 245.8987965052591, 56.332775637965966)); - right.setSegment(227, new Trajectory.Segment(197.66731700602136, 78.38542122192354, - -100.00199873694271, -0.0014461075181770866, 4.712416818709086, 0.01, 226.0987965129313, 56.332224439143005)); + left.setSegment(201, new Trajectory.Segment(163.78773789308886, 78.22976012563042, + -99.99782291690167, 0.0043711216335395875, 4.712411281185258, 0.01, 245.89886545053585, 56.21272080933822)); + right.setSegment(201, new Trajectory.Segment(163.78726217828083, 78.23177847315237, + -100.00217708483916, -0.004371381834289423, 4.712411281185258, 0.01, 226.0988654554594, 56.21227925348701)); - left.setSegment(228, new Trajectory.Segment(198.44152137598044, 77.38382981216, - -99.99798964522171, 0.0011617939321695303, 4.712417612298086, 0.01, 245.89881835532682, 55.558937340152845)); - right.setSegment(228, new Trajectory.Segment(198.4411710172052, 77.38540111838178, - -100.00201035417575, -0.0011617233042215958, 4.712417612298086, 0.01, 226.0988183634427, 55.55837042826767)); + left.setSegment(202, new Trajectory.Segment(164.5600357159849, 77.22978228960376, + -99.99778360266589, 0.003931423577796522, 4.712412278164843, 0.01, 245.8988830590001, 55.44042298664292)); + right.setSegment(202, new Trajectory.Segment(164.55957974137266, 77.23175630918247, + -100.0022163969902, -0.00393121510455785, 4.712412278164843, 0.01, 226.09888306437367, 55.43996169059593)); - left.setSegment(229, new Trajectory.Segment(199.20535987602105, 76.38385000405951, - -99.99798081004911, 0.000883517259353539, 4.712418385491229, 0.01, 245.89884052143816, 54.79509884043387)); - right.setSegment(229, new Trajectory.Segment(199.20502482647, 76.38538092648116, - -100.00201919006173, -0.0008835885978442093, 4.712418385491229, 0.01, 226.0988405299983, 54.79451661932449)); + left.setSegment(203, new Trajectory.Segment(165.32233376401896, 76.22980480340726, + -99.99774861964994, 0.003498301595072917, 4.712413252403212, 0.01, 245.89890119082554, 54.67812493882449)); + right.setSegment(203, new Trajectory.Segment(165.32189707932642, 76.23173379537698, + -100.00225138054901, -0.003498355880537929, 4.712413252403212, 0.01, 226.09890119665795, 54.677644352857804)); - left.setSegment(230, new Trajectory.Segment(199.95919857859224, 75.38387025711926, - -99.99797469402552, 0.0006116023598679021, 4.7124191382267355, 0.01, 245.8988629725254, 54.041260138197)); - right.setSegment(230, new Trajectory.Segment(199.95887843320423, 75.3853606734223, - -100.00202530588638, -0.0006115824646713008, 4.7124191382267355, 0.01, 226.09886298152938, 54.0406630129246)); + left.setSegment(204, new Trajectory.Segment(166.07463204026385, 75.22982762448723, + -99.99771789200338, 0.0030727646560535504, 4.712414203589985, 0.01, 245.8989198090727, 53.92582666281)); + right.setSegment(204, new Trajectory.Segment(166.0742141890694, 75.23171097429814, + -100.00228210788435, -0.003072733534281724, 4.712414203589985, 0.01, 226.09891981537118, 53.925327243345215)); - left.setSegment(231, new Trajectory.Segment(200.7030374840401, 74.38389054478553, - -99.9979712333726, 0.00034606529197844793, 4.712419870469647, 0.01, 245.89888567809763, 53.29742123309569)); - right.setSegment(231, new Trajectory.Segment(200.70273183706175, 74.38534038575172, - -100.002028767058, -0.0003461171615981584, 4.712419870469647, 0.01, 226.0988856875442, 53.29680960941363)); + left.setSegment(205, new Trajectory.Segment(166.8169305473746, 74.22985071107345, + -99.9976913413775, 0.0026550625875643163, 4.712415131456984, 0.01, 245.8989388772743, 53.18352815594418)); + right.setSegment(205, new Trajectory.Segment(166.81653106794673, 74.23168788773127, + -100.00230865668698, -0.0026548802622983203, 4.712415131456984, 0.01, 226.09893888404468, 53.18301036471282)); - left.setSegment(232, new Trajectory.Segment(201.43687659245174, 73.383910841165, - -99.99797036205251, 0.00008713200827514811, 4.7124205822111636, 0.01, 245.8989086082623, 52.56358212504229)); - right.setSegment(232, new Trajectory.Segment(201.4365850379554, 73.38532008936757, - -100.00202963841502, -0.00008713570309737406, 4.7124205822111636, 0.01, 226.09890861814918, 52.56295640887821)); + left.setSegment(206, new Trajectory.Segment(167.54922928759652, 73.22987402219331, + -99.99766888801389, 0.0022453363612839894, 4.712416035777407, 0.01, 245.8989583594774, 52.4512294159814)); + right.setSegment(206, new Trajectory.Segment(167.54884771371303, 73.23166457663076, + -100.00233111005059, -0.0022453363612839894, 4.712416035777407, 0.01, 226.09895836672413, 52.450693719205674)); - left.setSegment(233, new Trajectory.Segment(202.16071590366218, 72.38393112104328, - -99.99797201217291, -0.00016501203958796395, 4.712421273467955, 0.01, 245.89893173374463, 51.839742814201266)); - right.setSegment(233, new Trajectory.Segment(202.1604380360503, 72.38529980948977, - -100.0020279877802, 0.00016506348288203299, 4.712421273467955, 0.01, 226.0989317440688, 51.83910341115273)); + left.setSegment(207, new Trajectory.Segment(168.27152826277364, 72.22989751771235, + -99.99765044809692, 0.0018439916971146886, 4.712416916364974, 0.01, 245.89897822028314, 51.72893044107733)); + right.setSegment(207, new Trajectory.Segment(168.271164124524, 72.23164108109664, + -100.00234955341227, -0.001844336168232985, 4.712416916364974, 0.01, 226.0989782280093, 51.72837730866777)); - left.setSegment(234, new Trajectory.Segment(202.87455541726098, 71.38395135988127, - -99.99797611620096, -0.0004104028050733177, 4.7124219442814725, 0.01, 245.8989550259055, 51.12590330098246)); - right.setSegment(234, new Trajectory.Segment(202.87429083175675, 71.38527957064645, - -100.00202388433195, 0.0004103448247860797, 4.7124219442814725, 0.01, 226.09895503666306, 51.125250615826275)); + left.setSegment(208, new Trajectory.Segment(168.9838274743575, 71.22992115838474, + -99.99763593276043, 0.0014515336488329922, 4.712417773073039, 0.01, 245.89899842488327, 51.01663122978004)); + right.setSegment(208, new Trajectory.Segment(168.98348029892753, 71.23161744035258, + -100.0023640744061, -0.0014520993829592044, 4.712417773073039, 0.01, 226.09899843309054, 51.0160611345508)); - left.setSegment(235, new Trajectory.Segment(203.57839513259952, 70.38397153385503, - -99.99798260262338, -0.0006486422421403404, 4.712422594717237, 0.01, 245.89897845675733, 50.422063586033914)); - right.setSegment(235, new Trajectory.Segment(203.57814342572343, 70.3852593966684, - -100.00201739780437, 0.0006486527581728296, 4.712422594717237, 0.01, 226.0989784679436, 50.421398022249605)); + left.setSegment(209, new Trajectory.Segment(169.68612692341716, 70.2299449059662, + -99.99762524185343, 0.0010690907004118344, 4.712418605793661, 0.01, 245.89901893909445, 50.31433178101999)); + right.setSegment(209, new Trajectory.Segment(169.68579623585552, 70.23159369279772, + -100.0023747554863, -0.0010681080198082782, 4.712418605793661, 0.01, 226.09901894778335, 50.313745197922444)); - left.setSegment(236, new Trajectory.Segment(204.27223504879802, 69.38399161984864, - -99.99799140063885, -0.0008798015471711551, 4.712423224864121, 0.01, 245.89900199897855, 49.728223670234826)); - right.setSegment(236, new Trajectory.Segment(204.27199581883022, 69.38523931067894, - -100.00200859894619, 0.0008798858175396163, 4.712423224864121, 0.01, 226.09900201058812, 49.72754562954222)); + left.setSegment(210, new Trajectory.Segment(170.37842661064744, 69.22996872302862, + -99.9976182937587, 0.0006948094721792586, 4.71241941445666, 0.01, 245.89903972938978, 49.622032094101876)); + right.setSegment(210, new Trajectory.Segment(170.37811193461317, 69.2315698757658, + -100.00238170319165, -0.0006947705344373389, 4.71241941445666, 0.01, 226.09903973855947, 49.62142949947697)); - left.setSegment(237, new Trajectory.Segment(204.9560751647527, 68.38401159546765, - -99.99800243809887, -0.0011037460012630618, 4.712423834833614, 0.01, 245.8990256259261, 49.04438355468831)); - right.setSegment(237, new Trajectory.Segment(204.95584801218087, 68.38521933506347, - -100.00199756154728, 0.0011037398905955342, 4.712423834833614, 0.01, 226.09902563795296, 49.04369343659975)); + left.setSegment(211, new Trajectory.Segment(171.06072653637892, 68.22999257314902, + -99.99761498796005, 0.00033057986570383946, 4.712420199028635, 0.01, 245.8990607629278, 48.93973216869459)); + right.setSegment(211, new Trajectory.Segment(171.06042739486978, 68.23154602566021, + -100.00238501055918, -0.0003307367535398953, 4.712420199028635, 0.01, 226.0990607725764, 48.93911403954458)); - left.setSegment(238, new Trajectory.Segment(205.62991547914322, 67.38403143905407, - -99.9980156413585, -0.0013203259641159093, 4.71242442475908, 0.01, 245.89904931164654, 48.37054324071405)); - right.setSegment(238, new Trajectory.Segment(205.62970000709564, 67.38519949147722, - -100.00198435862444, 0.0013202922843902343, 4.71242442475908, 0.01, 226.09904932408392, 48.36984144210127)); + left.setSegment(212, new Trajectory.Segment(171.73302670058817, 67.23001642092444, + -99.99761522245763, -0.000023449757691196282, 4.712420959511961, 0.01, 245.89908200757895, 48.26743200482101)); + right.setSegment(212, new Trajectory.Segment(171.7327426166489, 67.2315221779106, + -100.00238477496026, 0.000023559891815239098, 4.712420959511961, 0.01, 226.09908201770332, 48.266798818101144)); - left.setSegment(239, new Trajectory.Segment(206.29375599044033, 66.38405112971046, - -99.99803093436128, -0.0015293002775251807, 4.712424994795006, 0.01, 245.89907303088523, 47.70670272984069)); - right.setSegment(239, new Trajectory.Segment(206.29355180510407, 66.3851798008439, - -100.0019690633323, 0.0015295292143946426, 4.712424994795006, 0.01, 226.09907304372592, 47.705989644516585)); + left.setSegment(213, new Trajectory.Segment(172.39532710290717, 66.23004023189954, + -99.99761890249061, -0.000368003298945041, 4.712421695943764, 0.01, 245.89910343194947, 47.60513160284854)); + right.setSegment(213, new Trajectory.Segment(172.39505760031759, 66.23149836686916, + -100.00238110414443, 0.000367081582908213, 4.712421695943764, 0.01, 226.09910344254553, 47.60448383477898)); - left.setSegment(240, new Trajectory.Segment(206.947596696913, 65.38407064726509, - -99.99804824453662, -0.00173101753375704, 4.712425545116242, 0.01, 245.89909675909445, 47.052862023798596)); - right.setSegment(240, new Trajectory.Segment(206.94740340793717, 65.38516028331084, - -100.00195175330617, 0.001731002612359589, 4.712425545116242, 0.01, 226.09909677233054, 47.05213804211404)); + left.setSegment(214, new Trajectory.Segment(173.04762774263511, 65.23006397279461, + -99.99762591049262, -0.0007008002000929991, 4.712422408394862, 0.01, 245.8991250054031, 46.95283096347734)); + right.setSegment(214, new Trajectory.Segment(173.04737234657728, 65.23147462596903, + -100.00237409001329, 0.0007014131142568658, 4.712422408394862, 0.01, 226.09912501646568, 46.95216908887605)); - left.setSegment(241, new Trajectory.Segment(207.59143759663596, 64.38408997229615, - -99.99806749689384, -0.001925235721955687, 4.712426075917227, 0.01, 245.89912047243925, 46.40902112451233)); - right.setSegment(241, new Trajectory.Segment(207.59125481751965, 64.38514095824758, - -100.00193250632634, 0.0019246979832132638, 4.712426075917227, 0.01, 226.09912048606245, 46.40828663296826)); + left.setSegment(215, new Trajectory.Segment(173.689928618748, 64.23008761129027, + -99.99763615043378, -0.0010239941161671595, 4.712423096968701, 0.01, 245.89914669808005, 46.310530087730754)); + right.setSegment(215, new Trajectory.Segment(173.68968685645217, 64.23145098749055, + -100.00236384784813, 0.0010242165160434524, 4.712423096968701, 0.01, 226.09914670960305, 46.30985457936747)); - left.setSegment(242, new Trajectory.Segment(208.22527868749785, 63.38410908618853, - -99.99808861076218, -0.0021113868342581554, 4.712426587411221, 0.01, 245.89914414780264, 45.77518003409261)); - right.setSegment(242, new Trajectory.Segment(208.22510603596263, 63.38512184429701, - -100.00191139505645, 0.002111126988779688, 4.712426587411221, 0.01, 226.09914416180408, 45.77443541496746)); + left.setSegment(216, new Trajectory.Segment(174.32222972990948, 63.230111116146155, + -99.99764951441179, -0.0013363978013103406, 4.712423761800261, 0.01, 245.89916848091383, 45.6782289769445)); + right.setSegment(216, new Trajectory.Segment(174.32200113127854, 63.23142748263582, + -100.00235048547239, 0.0013362375739234267, 4.712423761800261, 0.01, 226.09916849289033, 45.67754030491633)); - left.setSegment(243, new Trajectory.Segment(208.84911996720948, 62.38412797116297, - -99.99811150255624, -0.0022891794060342363, 4.712427079829515, 0.01, 245.89916776278866, 45.15133875482794)); - right.setSegment(243, new Trajectory.Segment(208.84895706555648, 62.385102959386096, - -100.0018884910915, 0.00229039649468632, 4.712427079829515, 0.01, 226.09916777715918, 45.15058438582057)); + left.setSegment(217, new Trajectory.Segment(174.94453107448206, 62.23013445725633, + -99.99766588898282, -0.001637457103242923, 4.712424403054948, 0.01, 245.89919032564586, 45.05592763275535)); + right.setSegment(217, new Trajectory.Segment(174.9443151726939, 62.23140414153588, + -100.002334109994, 0.0016375478395502796, 4.712424403054948, 0.01, 226.099190338068, 45.055226263884386)); - left.setSegment(244, new Trajectory.Segment(209.4629614333102, 61.38414661007352, - -99.99813610894464, -0.002460638839352214, 4.71242755342065, 0.01, 245.89919129572448, 44.5374972891783)); - right.setSegment(244, new Trajectory.Segment(209.46280790876168, 61.38508432051896, - -100.00186388671324, 0.0024604378268122673, 4.71242755342065, 0.01, 226.09919131045447, 44.53673354306648)); + left.setSegment(218, new Trajectory.Segment(175.55683265053807, 61.230157605600844, + -99.99768516554823, -0.0019276565410564217, 4.712425020927468, 0.01, 245.8992122048376, 44.44362605709024)); + right.setSegment(218, new Trajectory.Segment(175.55662898262582, 61.23138099319091, + -100.00231483449724, 0.0019275496754289634, 4.712425020927468, 0.01, 226.09921221769693, 44.442912454343386)); - left.setSegment(245, new Trajectory.Segment(210.06680308317576, 60.38416498655531, - -99.99816235182095, -0.0026242876316473485, 4.712428008449615, 0.01, 245.8992147256608, 43.9336556397673)); - right.setSegment(245, new Trajectory.Segment(210.06665856820075, 60.38506594390773, - -100.001837661123, 0.0026225590232797913, 4.712428008449615, 0.01, 226.0992147407404, 43.93288288408197)); + left.setSegment(219, new Trajectory.Segment(176.1591344558711, 60.23018053330489, + -99.99770722959553, -0.0022064047300318634, 4.712425615640694, 0.01, 245.8992340918808, 43.84132425215487)); + right.setSegment(219, new Trajectory.Segment(176.15894256328073, 60.23135806549086, + -100.00229277000514, 0.002206449210007122, 4.712425615640694, 0.01, 226.099234105168, 43.84059887408616)); - left.setSegment(246, new Trajectory.Segment(210.66064491402918, 59.38418308534078, - -99.99819012145323, -0.0027769632282570456, 4.712428445197066, 0.01, 245.89923803237133, 43.33981380937126)); - right.setSegment(246, new Trajectory.Segment(210.6605090466537, 59.38504784529292, - -100.00180986148166, 0.0027799641344472548, 4.712428445197066, 0.01, 226.09923804779032, 43.33903240608641)); + left.setSegment(220, new Trajectory.Segment(176.75143648800736, 59.23020321362511, + -99.9977319679779, -0.0024738382364830613, 4.712426187444508, 0.01, 245.89925596100537, 43.24902222042235)); + right.setSegment(220, new Trajectory.Segment(176.7512559171325, 59.23133538517777, + -100.00226803130872, 0.002473869642471982, 4.712426187444508, 0.01, 226.0992559747106, 43.24828552063812)); - left.setSegment(247, new Trajectory.Segment(211.2444869229431, 58.38420089139276, - -99.99821939480213, -0.0029273348900460405, 4.712428863958514, 0.01, 245.89926119635064, 42.755971800916846)); - right.setSegment(247, new Trajectory.Segment(211.24435934704428, 58.38503003905948, - -100.0017806233437, 0.0029238137955189814, 4.712428863958514, 0.01, 226.09926121209858, 42.75518210615534)); + left.setSegment(221, new Trajectory.Segment(177.3337387442172, 58.230225620981656, + -99.99775926434538, -0.0027296367477447347, 4.712426736614639, 0.01, 245.89927778728534, 42.666719964621585)); + right.setSegment(221, new Trajectory.Segment(177.33356904691092, 58.23131297784225, + -100.00224073355213, 0.002729775658849576, 4.712426736614639, 0.01, 226.09927780139813, 42.66597239126876)); - left.setSegment(248, new Trajectory.Segment(211.81832910685466, 57.384218391156416, - -99.99825002363423, -0.0030628832092816083, 4.712429265043529, 0.01, 245.89928419881096, 42.18212961746631)); - right.setSegment(248, new Trajectory.Segment(211.81820947243915, 57.38501253948601, - -100.00174995734668, 0.0030665997030610015, 4.712429265043529, 0.01, 226.09928421487723, 42.18133198122151)); + left.setSegment(222, new Trajectory.Segment(177.90604122152632, 57.23024773091263, + -99.9977890069026, -0.002974255721710506, 4.712427263451496, 0.01, 245.89929954664285, 42.09441748772611)); + right.setSegment(222, new Trajectory.Segment(177.90588195558982, 57.23129086788929, + -100.00221099529583, 0.0029738256301925503, 4.712427263451496, 0.01, 226.09929956115224, 42.09365948300353)); - left.setSegment(249, new Trajectory.Segment(212.38217146256585, 56.384235571119035, - -99.99828200373813, -0.003198010389837691, 4.712429648774941, 0.01, 245.89930702167777, 41.618287262217024)); - right.setSegment(249, new Trajectory.Segment(212.3820594260323, 56.384995359314324, - -100.00171801716888, 0.0031940177791511815, 4.712429648774941, 0.01, 226.09930703805156, 41.61748202809028)); + left.setSegment(223, new Trajectory.Segment(178.4683439167279, 56.23026952015655, + -99.99782107560833, -0.003206870573535525, 4.712427768278981, 0.01, 245.89932121585016, 41.532114792942075)); + right.setSegment(223, new Trajectory.Segment(178.46819464637557, 56.231269078575195, + -100.0021789314097, 0.003206388612397859, 4.712427768278981, 0.01, 226.09932123074472, 41.53134679263531)); - left.setSegment(250, new Trajectory.Segment(212.9360139867591, 55.384252419323396, - -99.99831517956395, -0.0033175825819853344, 4.712430015488032, 0.01, 245.8993296475843, 41.06444473848595)); - right.setSegment(250, new Trajectory.Segment(212.93590921114472, 55.384978511243034, - -100.00168480712901, 0.0033210039873665664, 4.712430015488032, 0.01, 226.0993296642547, 41.06363224344002)); + left.setSegment(224, new Trajectory.Segment(179.02064682639508, 55.230290966718385, + -99.99785534381616, -0.00342682078269263, 4.712428251443301, 0.01, 245.8993427725297, 40.979811883695575)); + right.setSegment(224, new Trajectory.Segment(179.0205071226963, 55.231247632072275, + -100.00214465029202, 0.0034281117677892325, 4.712428251443301, 0.01, 226.09934278779767, 40.97903431673528)); - left.setSegment(251, new Trajectory.Segment(213.47985667599923, 54.38426892401495, - -99.99834953084488, -0.0034351280930877692, 4.712430365529734, 0.01, 245.89935205986487, 40.52060204970762)); - right.setSegment(251, new Trajectory.Segment(213.47975883121057, 54.384962006586065, - -100.00165046569691, 0.003434143209801732, 4.712430365529734, 0.01, 226.0993520768209, 40.51978262383598)); + left.setSegment(225, new Trajectory.Segment(179.56294994689154, 54.230312049645, + -99.99789170733848, -0.003636352232661011, 4.7124287133117795, 0.01, 245.89936419515263, 40.437508763622255)); + right.setSegment(225, new Trajectory.Segment(179.56281938818864, 54.23122654923288, + -100.0021082839396, 0.003636635241832664, 4.7124287133117795, 0.01, 226.09936421078183, 40.43672205166609)); - left.setSegment(252, new Trajectory.Segment(214.01369952674335, 53.38428507441194, - -99.99838496030051, -0.0035429455635949125, 4.712430699257833, 0.01, 245.8993742425474, 39.98675919942438)); - right.setSegment(252, new Trajectory.Segment(214.01360828977107, 53.3849458560485, - -100.00161505375615, 0.003541194075751264, 4.712430699257833, 0.01, 226.099374259778, 39.98593316573638)); + left.setSegment(226, new Trajectory.Segment(180.09525327438232, 53.23033274907771, + -99.99793005672899, -0.003834939050761932, 4.712429154271653, 0.01, 245.89938546303532, 39.90520543655635)); + right.setSegment(226, new Trajectory.Segment(180.09513144668492, 53.23120584962777, + -100.00206996051091, 0.0038323428697140116, 4.712429154271653, 0.01, 226.0993854790133, 39.90440999359469)); - left.setSegment(253, new Trajectory.Segment(214.53754253535087, 52.38430086075243, - -99.99842136595092, -0.0036405650405413326, 4.71243101704016, 0.01, 245.89939618034455, 39.462916191276214)); - right.setSegment(253, new Trajectory.Segment(214.53745759046868, 52.38493006975929, - -100.0015786289211, 0.003642483505927885, 4.71243101704016, 0.01, 226.09939619783867, 39.46208386549815)); + left.setSegment(227, new Trajectory.Segment(180.61755680485, 52.23035304677027, + -99.99797023074422, -0.004017401522560249, 4.7124295747288745, 0.01, 245.89940655633436, 39.382901906514576)); + right.setSegment(227, new Trajectory.Segment(180.6174433022056, 52.23118555206836, + -100.00202975594092, 0.004020456998432564, 4.7124295747288745, 0.01, 226.09940657264858, 39.38209813849994)); - left.setSegment(254, new Trajectory.Segment(215.05138569808858, 51.38431627377186, - -99.99845869805739, -0.0037332106472831583, 4.712431319253798, 0.01, 245.89941785864437, 38.949073028995784)); - right.setSegment(254, new Trajectory.Segment(215.05130673703644, 51.38491465677597, - -100.00154129833234, 0.0037330588753548, 4.712431319253798, 0.01, 226.09941787639093, 38.948234719387685)); + left.setSegment(228, new Trajectory.Segment(181.1298605341012, 51.23037292511968, + -99.99801216505873, -0.00419343145097173, 4.712429975106908, 0.01, 245.89942745604017, 38.870598177689686)); + right.setSegment(228, new Trajectory.Segment(181.12975495894187, 51.23116567362611, + -100.00198784422523, 0.004191171569800645, 4.712429975106908, 0.01, 226.09942747267777, 38.869786482189994)); - left.setSegment(255, new Trajectory.Segment(215.5552290111395, 50.384331305091855, - -99.99849686800033, -0.0038169942939703105, 4.712431606284289, 0.01, 245.89943926349977, 38.44522971639954)); - right.setSegment(255, new Trajectory.Segment(215.5551557332911, 50.3848996254634, - -100.00150313125715, 0.0038167075189221578, 4.712431606284289, 0.01, 226.09943928148775, 38.44438572358773)); + left.setSegment(229, new Trajectory.Segment(181.63216445778323, 50.23039236820282, + -99.998055691686, -0.00435266272802437, 4.712430355845531, 0.01, 245.89944814396864, 38.368294254433685)); + right.setSegment(229, new Trajectory.Segment(181.63206642124862, 50.231146230676345, + -100.0019442949764, 0.00435492488293221, 4.712430355845531, 0.01, 226.09944816091672, 38.367475020309264)); - left.setSegment(256, new Trajectory.Segment(216.04907247061084, 49.3843459471356, - -99.99853579562554, -0.003892762521218174, 4.7124318785248365, 0.01, 245.89946038161722, 37.95138625737972)); - right.setSegment(256, new Trajectory.Segment(216.04900458312528, 49.38488498341908, - -100.00146420443201, 0.003892682514106127, 4.7124318785248365, 0.01, 226.0994603998357, 37.95053687420508)); + left.setSegment(230, new Trajectory.Segment(182.12446857139116, 49.23041136079163, + -99.99810074111934, -0.004504943333927258, 4.712430717399629, 0.01, 245.89946860275174, 37.875990141250874)); + right.setSegment(230, new Trajectory.Segment(182.12437769362768, 49.231127237904865, + -100.001899277148, 0.004501782839838597, 4.712430717399629, 0.01, 226.09946861999734, 37.87516374835533)); - left.setSegment(257, new Trajectory.Segment(216.5329160725417, 48.38436019308588, - -99.99857540497175, -0.00396093462029512, 4.712432136375524, 0.01, 245.89948120034472, 37.46754265589675)); - right.setSegment(257, new Trajectory.Segment(216.53285329049976, 48.384870737446924, - -100.0014245972153, 0.003960721670637213, 4.712432136375524, 0.01, 226.0994812187829, 37.466688167278505)); + left.setSegment(231, new Trajectory.Segment(182.60677287028525, 48.230429889408974, + -99.99814713826538, -0.004639714603626999, 4.712431060238, 0.01, 245.89948881582663, 37.39368584278034)); + right.setSegment(231, new Trajectory.Segment(182.60668878072153, 48.23110870938367, + -100.00185285211955, 0.004642502844376395, 4.712431060238, 0.01, 226.09948883335667, 37.392852661685055)); - left.setSegment(258, new Trajectory.Segment(217.00675981291099, 47.384374036929195, - -99.99861561566874, -0.00402106969943361, 4.712432380242531, 0.01, 245.89950170765914, 36.99369891597122)); - right.setSegment(258, new Trajectory.Segment(217.0067018594358, 47.38485689360411, - -100.00138438428152, 0.004021293378286828, 4.712432380242531, 0.01, 226.09950172630627, 36.99283959878623)); + left.setSegment(232, new Trajectory.Segment(183.07907734969834, 47.23044794130755, + -99.99819481014214, -0.0047671876757249265, 4.712431384842158, 0.01, 245.89950876742338, 36.921381363788676)); + right.setSegment(232, new Trajectory.Segment(183.0789996872969, 47.23109065754, + -100.00180518436679, 0.004766775276721091, 4.712431384842158, 0.01, 226.09950878522497, 36.92054175553107)); - left.setSegment(259, new Trajectory.Segment(217.4706036876448, 46.38438747338104, - -99.99865635481555, -0.004073914681157476, 4.7124326105373555, 0.01, 245.8995218921525, 36.52985504167658)); - right.setSegment(259, new Trajectory.Segment(217.47055029400713, 46.38484345713356, - -100.0013436470546, 0.004073722692510273, 4.7124326105373555, 0.01, 226.09952191099802, 36.52899116465407)); + left.setSegment(233, new Trajectory.Segment(183.54138200474878, 46.23046550504473, + -99.9982436262826, -0.004881614046325922, 4.712431691705144, 0.01, 245.8995284425517, 36.4590767091569)); + right.setSegment(233, new Trajectory.Segment(183.5413104182345, 46.23107309375813, + -100.00175637818742, 0.00488061793646466, 4.712431691705144, 0.01, 226.09952846061188, 36.45823102501217)); - left.setSegment(260, new Trajectory.Segment(217.9244476926244, 45.3844004979606, - -99.99869754204411, -0.004118722856105705, 4.712432827676045, 0.01, 245.89954174301795, 36.07601103713111)); - right.setSegment(260, new Trajectory.Segment(217.92439859833277, 45.38483043256555, - -100.00130245680126, 0.0041190253341483185, 4.712432827676045, 0.01, 226.09954176205156, 36.075142860762554)); + left.setSegment(234, new Trajectory.Segment(183.99368683045307, 45.23048257042921, + -99.99829346155167, -0.0049835269066988985, 4.712431981330344, 0.01, 245.8995478269863, 36.00677188386799)); + right.setSegment(234, new Trajectory.Segment(183.99362097851775, 45.231056028324595, + -100.00170654335321, 0.00498348342148347, 4.712431981330344, 0.01, 226.0995478452922, 36.00592046514431)); - left.setSegment(261, new Trajectory.Segment(218.36829182369354, 44.38441310691323, - -99.99873910473696, -0.004156269284294467, 4.712433032078433, 0.01, 245.89956125003525, 35.632166906490646)); - right.setSegment(261, new Trajectory.Segment(218.36824677656918, 44.38481782364166, - -100.0012608923889, 0.004156441235636521, 4.712433032078433, 0.01, 226.09956126924672, 35.63129468295481)); + left.setSegment(235, new Trajectory.Segment(184.4359918217373, 44.23049912842441, + -99.99834420047975, -0.005073892808127312, 4.7124322542303085, 0.01, 245.8995669072512, 35.56446689299529)); + right.setSegment(235, new Trajectory.Segment(184.4359313732213, 44.23103947035434, + -100.00165579702553, 0.005074632767332332, 4.7124322542303085, 0.01, 226.0995669257902, 35.56361007085231)); - left.setSegment(262, new Trajectory.Segment(218.80213607666613, 43.38442529725809, - -99.99878096551384, -0.0041860776889279805, 4.712433224167384, 0.01, 245.89958040355518, 35.19832265394086)); - right.setSegment(262, new Trajectory.Segment(218.80209483290298, 43.384805633380886, - -100.00121902607759, 0.004186631130664864, 4.712433224167384, 0.01, 226.09958042293457, 35.1974466270438)); + left.setSegment(236, new Trajectory.Segment(184.868296973448, 43.23051517106956, + -99.99839573548499, -0.005153500524102128, 4.712432510925587, 0.01, 245.89958567060336, 35.13216174169179)); + right.setSegment(236, new Trajectory.Segment(184.86824160749853, 43.231023427721745, + -100.00160426325948, 0.0051533766054490115, 4.712432510925587, 0.01, 226.09958568936293, 35.13129983698229)); - left.setSegment(263, new Trajectory.Segment(219.225980447332, 42.38443706658774, - -99.99882306703469, -0.0042101520847381835, 4.712433404368044, 0.01, 245.89959919448415, 34.77447828369153)); - right.setSegment(263, new Trajectory.Segment(219.22594277154192, 42.38479386389339, - -100.0011769487493, 0.0042077328288314675, 4.712433404368044, 0.01, 226.09959921402168, 34.773598688821416)); + left.setSegment(237, new Trajectory.Segment(185.290602280364, 42.23053069159979, + -99.99844794697736, -0.0052211492373999135, 4.7124327519435685, 0.01, 245.8996041050149, 34.70985643517814)); + right.setSegment(237, new Trajectory.Segment(185.29055168657055, 42.231007907202034, + -100.00155205197103, 0.005221128844823397, 4.7124327519435685, 0.01, 226.0996041239828, 34.708989758312626)); - left.setSegment(264, new Trajectory.Segment(219.6398249314677, 41.38444841357048, - -99.99886530172617, -0.004223469147746073, 4.712433573107102, 0.01, 245.89961761426775, 34.36063379996575)); - right.setSegment(264, new Trajectory.Segment(219.63979059671098, 41.384782516907094, - -100.00113469862981, 0.004225011949188229, 4.712433573107102, 0.01, 226.09961763395404, 34.35975086406227)); + left.setSegment(238, new Trajectory.Segment(185.70290773720788, 41.23054568438921, + -99.99850072105758, -0.005277408021697738, 4.712432977817335, 0.01, 245.89962219915486, 34.29755097873128)); + right.setSegment(238, new Trajectory.Segment(185.70286161571505, 41.230992914448485, + -100.00149927535489, 0.005277661614400131, 4.712432977817335, 0.01, 226.09962221831904, 34.29667982956518)); - left.setSegment(265, new Trajectory.Segment(220.04366952484187, 40.384459337417454, - -99.99890761530281, -0.004231357664252755, 4.712433730812062, 0.01, 245.8996356548745, 33.95678920699453)); - right.setSegment(265, new Trajectory.Segment(220.04363831264337, 40.384771593237545, - -100.00109236695494, 0.00423316748765501, 4.712433730812062, 0.01, 226.0996356747002, 33.955903148532855)); + left.setSegment(239, new Trajectory.Segment(186.10521333865674, 40.230560144884905, + -99.99855395043085, -0.005322937326468491, 4.712433189084523, 0.01, 245.89963994237007, 33.8952453776737)); + right.setSegment(239, new Trajectory.Segment(186.10517140025422, 40.23097845391645, + -100.00144605320358, 0.005322215130831864, 4.712433189084523, 0.01, 226.0996399617187, 33.89437004541729)); - left.setSegment(266, new Trajectory.Segment(220.4375142232194, 39.38446983775262, - -99.99894996648351, -0.004235118069573218, 4.712433877910518, 0.01, 245.89965330877854, 33.56294450901267)); - right.setSegment(266, new Trajectory.Segment(220.43748592357034, 39.38476109269627, - -100.0010500541272, 0.004231282773048406, 4.712433877910518, 0.01, 226.09965332873483, 33.56205553800156)); + left.setSegment(240, new Trajectory.Segment(186.49751907935374, 39.230574069699216, + -99.99860751856886, -0.005356813801427052, 4.712433386286201, 0.01, 245.89965732466507, 33.5029396373618)); + right.setSegment(240, new Trajectory.Segment(186.49748104554442, 39.23096452902101, + -100.00139248954412, 0.005356365946340702, 4.712433386286201, 0.01, 226.09965734418674, 33.50206040051217)); - left.setSegment(267, new Trajectory.Segment(220.8213590223748, 38.384479915539245, - -99.99899222133735, -0.004225485383813066, 4.71243401482945, 0.01, 245.89967056894284, 33.17909971024534)); - right.setSegment(267, new Trajectory.Segment(220.82133343372055, 38.384751015023, - -100.00100776732737, 0.004228679983953043, 4.71243401482945, 0.01, 226.09967058902106, 33.178208028239396)); + left.setSegment(241, new Trajectory.Segment(186.87982495391995, 38.2305874566219, + -99.99866130773185, -0.005378916299036973, 4.712433569965759, 0.01, 245.89967433668204, 33.120633763174084)); + right.setSegment(241, new Trajectory.Segment(186.8797905569659, 38.23095114214768, + -100.00133868733272, 0.005380221139716923, 4.712433569965759, 0.01, 226.09967435636554, 33.1197508894692)); - left.setSegment(268, new Trajectory.Segment(221.19520391809334, 37.38448957185428, - -99.99903436849635, -0.004214715900729971, 4.712434141994518, 0.01, 245.89968742880146, 32.805254814906974)); - right.setSegment(268, new Trajectory.Segment(221.19518084730745, 37.38474135868982, - -100.00096563331766, 0.004213400970343173, 4.712434141994518, 0.01, 226.0996874489932, 32.80436061503268)); + left.setSegment(242, new Trajectory.Segment(187.25213095696387, 37.2306003043919, + -99.99871522299983, -0.005391526798348423, 4.712433740667817, 0.01, 245.8996909696794, 32.74832776050171)); + right.setSegment(242, new Trajectory.Segment(187.25209993991055, 37.230938294465496, + -100.00128476821857, 0.00539191141513129, 4.712433740667817, 0.01, 226.09969098951387, 32.747441506896095)); - left.setSegment(269, new Trajectory.Segment(221.55904890618083, 36.38449880874948, - -99.99907631048046, -0.004194198410800709, 4.712434259829382, 0.01, 245.89970388224197, 32.4414098271915)); - right.setSegment(269, new Trajectory.Segment(221.55902816852526, 36.38473212177941, - -100.00092369104152, 0.004194227614107149, 4.712434259829382, 0.01, 226.0997039025392, 32.44051329418691)); + left.setSegment(243, new Trajectory.Segment(187.61443708309145, 36.23061261275645, + -99.99876916354467, -0.005394054483076616, 4.712433898937137, 0.01, 245.89970721551043, 32.38602163473838)); + right.setSegment(243, new Trajectory.Segment(187.61440919977065, 36.230925986010156, + -100.00123084553394, 0.005392268462856009, 4.712433898937137, 0.01, 226.09970723548543, 32.38513224740023)); - left.setSegment(270, new Trajectory.Segment(221.9128939824696, 35.38450762887697, - -99.99911798725094, -0.0041676770479170955, 4.7124343687550185, 0.01, 245.89971992358767, 32.08756475126634)); - right.setSegment(270, new Trajectory.Segment(221.91287540154164, 35.38472330163755, - -100.00088201418578, 0.004167685574429925, 4.7124343687550185, 0.01, 226.09971994398268, 32.086666061534146)); + left.setSegment(244, new Trajectory.Segment(187.9667433269189, 35.23062438274525, + -99.99882300112048, -0.005383757581967075, 4.712434045317572, 0.01, 245.89972306660138, 32.03371539126751)); + right.setSegment(244, new Trajectory.Segment(187.96671834193072, 35.23091421600658, + -100.00117700035744, 0.005384517649531517, 4.712434045317572, 0.01, 226.09972308670677, 32.032823105596755)); - left.setSegment(271, new Trajectory.Segment(222.25673914282586, 34.38451603562599, - -99.99915932509751, -0.004133784656801254, 4.712434469189062, 0.01, 245.8997355475797, 31.74371959126505)); - right.setSegment(271, new Trajectory.Segment(222.25672255049196, 34.38471489503194, - -100.0008406605609, 0.004135362488000283, 4.712434469189062, 0.01, 226.09973556806509, 31.742818912938798)); + left.setSegment(245, new Trajectory.Segment(188.30904968308238, 34.23063561634683, + -99.99887663984168, -0.005363872119801272, 4.712434180351011, 0.01, 245.8997385159292, 31.691409035452683)); + right.setSegment(245, new Trajectory.Segment(188.3090273717563, 34.23090298255592, + -100.00112334506639, 0.005365529105461064, 4.712434180351011, 0.01, 226.09973853615526, 31.690514076119836)); - left.setSegment(272, new Trajectory.Segment(222.59058438315253, 33.38452403266678, - -99.99920029592104, -0.004097082353382575, 4.71243456154515, 0.01, 245.8997507493589, 31.409874351284493)); - right.setSegment(272, new Trajectory.Segment(222.59056961946916, 33.384706897721635, - -100.00079973103055, 0.004092953034273705, 4.71243456154515, 0.01, 226.09975076992757, 31.408971844307693)); + left.setSegment(246, new Trajectory.Segment(188.64135614624482, 33.23064631624422, + -99.99893001026123, -0.005337041955044697, 4.712434304576356, 0.01, 245.89975355699895, 31.35910257263064)); + right.setSegment(246, new Trajectory.Segment(188.64133629458055, 33.23089228242807, + -100.00107001278451, 0.005333228187964778, 4.712434304576356, 0.01, 226.09975357733632, 31.358205153635957)); - left.setSegment(273, new Trajectory.Segment(222.9144296994031, 32.38453162505683, - -99.99924076099518, -0.004046507413590916, 4.712434646232288, 0.01, 245.8997655244479, 31.086029035370974)); - right.setSegment(273, new Trajectory.Segment(222.91441661252506, 32.38469930559029, - -100.00075921313467, 0.004051789588288557, 4.712434646232288, 0.01, 226.09976554509308, 31.08512485158884)); + left.setSegment(247, new Trajectory.Segment(188.96366271111296, 32.230656486812904, + -99.99898294313141, -0.005293287017593684, 4.712434418528518, 0.01, 245.89976818382104, 31.036796008094406)); + right.setSegment(247, new Trajectory.Segment(188.9636451157015, 32.23088211209302, + -100.00101703350524, 0.005297927927472301, 4.712434418528518, 0.01, 226.09976820426084, 31.035896332846924)); - left.setSegment(274, new Trajectory.Segment(223.22827508757868, 31.384538817560124, - -99.99928074967066, -0.0039988675482049985, 4.712434723654225, 0.01, 245.8997798687331, 30.772183647523175)); - right.setSegment(274, new Trajectory.Segment(223.22826353365502, 31.38469211299601, - -100.00071925942784, 0.003995370683185229, 4.712434723654225, 0.01, 226.0997798894483, 30.771277930786685)); + left.setSegment(248, new Trajectory.Segment(189.2759693724383, 31.230666132535227, + -99.99903542776778, -0.005248463637030909, 4.7124345227374205, 0.01, 245.8997823908885, 30.7244893470922)); + right.setSegment(248, new Trajectory.Segment(189.27595384036312, 31.23087246616296, + -100.000964593006, 0.005244049923192051, 4.7124345227374205, 0.01, 226.09978241142215, 30.723587608508442)); - left.setSegment(275, new Trajectory.Segment(223.53212054373998, 30.38454561612931, - -99.9993201430815, -0.0039393410844468235, 4.712434794208844, 0.01, 245.89979377844665, 30.468338191680267)); - right.setSegment(275, new Trajectory.Segment(223.53211038679777, 30.38468531427335, - -100.00067987226586, 0.003938716197637859, 4.712434794208844, 0.01, 226.0997937992258, 30.46743107796234)); + left.setSegment(249, new Trajectory.Segment(189.57827612503502, 30.230675259670193, + -99.9990872865034, -0.005185873561686094, 4.7124346177270455, 0.01, 245.89979617315382, 30.422182594809666)); + right.setSegment(249, new Trajectory.Segment(189.5782624737544, 30.23086333912746, + -100.00091270355007, 0.005188945593204153, 4.7124346177270455, 0.01, 226.0997961937732, 30.42127897543134)); - left.setSegment(276, new Trajectory.Segment(223.82596606401358, 29.38455202736179, - -99.999358876752, -0.003873367049322951, 4.71243485828756, 0.01, 245.89980725014868, 30.174492671715463)); - right.setSegment(276, new Trajectory.Segment(223.82595717582996, 29.384678903220006, - -100.00064110533451, 0.003876693135396181, 4.71243485828756, 0.01, 226.09980727098605, 30.173584289238953)); + left.setSegment(250, new Trajectory.Segment(189.87058296378405, 29.230683874901956, + -99.99913847682365, -0.005119032024936132, 4.71243470401448, 0.01, 245.89980952600612, 30.12987575636563)); + right.setSegment(250, new Trajectory.Segment(189.87057102099462, 29.23085472402188, + -100.00086151055783, 0.005119299224531915, 4.71243470401448, 0.01, 226.09980954670354, 30.128970428496107)); - left.setSegment(277, new Trajectory.Segment(224.1098116445941, 28.384558058049947, - -99.99939693118414, -0.0038054432138778793, 4.712434916274751, 0.01, 245.89982028070963, 29.89064709143406)); - right.setSegment(277, new Trajectory.Segment(224.10980390455683, 28.38467287268822, - -100.0006030531786, 0.0038052155915124786, 4.712434916274751, 0.01, 226.0998203015997, 29.88973756081117)); + left.setSegment(251, new Trajectory.Segment(190.15288988364142, 28.230691985738503, + -99.99918891634536, -0.005043952171490673, 4.712434782108996, 0.01, 245.89982244524828, 29.84756883680386)); + right.setSegment(251, new Trajectory.Segment(190.15287948712344, 28.2308466128814, + -100.0008111140481, 0.005039650972094023, 4.712434782108996, 0.01, 226.09982246601646, 29.846661962662907)); - left.setSegment(278, new Trajectory.Segment(224.38365728174915, 27.384563715506914, - -99.99943425430331, -0.003732311917303832, 4.712434968547184, 0.01, 245.89983286729262, 29.616801454568247)); - right.setSegment(278, new Trajectory.Segment(224.38365057670606, 27.384667214924068, - -100.00056577641523, 0.0037276763364957333, 4.712434968547184, 0.01, 226.09983288823025, 29.615890888951185)); + left.setSegment(252, new Trajectory.Segment(190.4251968796541, 27.2306996012683, + -99.99923844702039, -0.004953067502810882, 4.712434852511158, 0.01, 245.899834927074, 29.575261841077243)); + right.setSegment(252, new Trajectory.Segment(190.42518787709892, 27.2308389975475, + -100.00076153338995, 0.004958065815685586, 4.712434852511158, 0.01, 226.0998349479061, 29.5743535729735)); - left.setSegment(279, new Trajectory.Segment(224.64750297183096, 26.38456900818123, - -99.99947073256834, -0.0036478265030837065, 4.7124350154734636, 0.01, 245.89984500733618, 29.352955764765728)); - right.setSegment(279, new Trajectory.Segment(224.6474971959282, 26.384661922214768, - -100.00052927093002, 0.00365054852125013, 4.7124350154734636, 0.01, 226.09984502831657, 29.35204427000833)); + left.setSegment(253, new Trajectory.Segment(190.68750394696121, 26.23070673071156, + -99.99928705567385, -0.004860865345790444, 4.712434915711938, 0.01, 245.8998469680454, 29.312954774046492)); + right.setSegment(253, new Trajectory.Segment(190.6874961957815, 26.230831868257525, + -100.00071292899761, 0.0048604392333118085, 4.712434915711938, 0.01, 226.09984698893496, 29.31204525456729)); - left.setSegment(280, new Trajectory.Segment(224.90134871127705, 25.38457394460942, - -99.99950635718093, -0.003562461259321026, 4.71243505741351, 0.01, 245.89985669853726, 29.09911002558886)); - right.setSegment(280, new Trajectory.Segment(224.9013437657872, 25.384656985901042, - -100.00049363137258, 0.00356395574385715, 4.71243505741351, 0.01, 226.0998567195559, 29.09819770041855)); + left.setSegment(254, new Trajectory.Segment(190.93981108080328, 25.230713384205703, + -99.99933465058568, -0.0047594911833925835, 4.712434972191877, 0.01, 245.8998585650706, 29.060647640470957)); + right.setSegment(254, new Trajectory.Segment(190.93980444792635, 25.230825214484902, + -100.00066537726227, 0.0047551735349316004, 4.712434972191877, 0.01, 226.09985858601152, 29.059737002688966)); - left.setSegment(281, new Trajectory.Segment(225.14519449661526, 24.384578533820395, - -99.99954107890261, -0.0034721721675623485, 4.712435094718029, 0.01, 245.89986793883443, 28.855264240509722)); - right.setSegment(281, new Trajectory.Segment(225.14519028975488, 24.384652396768587, - -100.00045891324554, 0.0034718127039923274, 4.712435094718029, 0.01, 226.09986795988712, 28.85435117670993)); + left.setSegment(255, new Trajectory.Segment(191.18211827653573, 24.230719573246283, + -99.99938109594204, -0.004644535636089131, 4.712435022420253, 0.01, 245.8998697153815, 28.818340444995048)); + right.setSegment(255, new Trajectory.Segment(191.18211263818066, 24.230819025430478, + -100.00061890544245, 0.004647181981454196, 4.712435022420253, 0.01, 226.0998697363682, 28.817428812691215)); - left.setSegment(282, new Trajectory.Segment(225.37904032446968, 23.384582785443374, - -99.9995748377021, -0.0033758799489191915, 4.712435127728019, 0.01, 245.89987872639145, 28.62141841290411)); - right.setSegment(282, new Trajectory.Segment(225.37903677120713, 23.384648145224322, - -100.00042515442651, 0.003375881902911715, 4.712435127728019, 0.01, 226.09987874747426, 28.620504695506508)); + left.setSegment(256, new Trajectory.Segment(191.4144255296327, 23.230725309697156, + -99.99942635491266, -0.00452589706156914, 4.712435066854285, 0.01, 245.89988041651227, 28.586033192144548)); + right.setSegment(256, new Trajectory.Segment(191.41442077107146, 23.230813289079606, + -100.00057363508716, 0.004527035528667511, 4.712435066854285, 0.01, 226.0998804375395, 28.58512068004689)); - left.setSegment(283, new Trajectory.Segment(225.60288619156532, 22.384586709562623, - -99.99960758807518, -0.0032750373080148165, 4.712435156774285, 0.01, 245.89988905958117, 28.397572546046984)); - right.setSegment(283, new Trajectory.Segment(225.6028832134188, 22.384644221168827, - -100.00039240554948, 0.0032748877032418022, 4.712435156774285, 0.01, 226.09988908069053, 28.39665825353332)); + left.setSegment(257, new Trajectory.Segment(191.6367328356946, 22.230730606191976, + -99.99947035051804, -0.004399560538104197, 4.712435105938365, 0.01, 245.899890666278, 28.363725886318917)); + right.setSegment(257, new Trajectory.Segment(191.63672885099817, 22.23080799267044, + -100.00052964091672, 0.00439941704399871, 4.712435105938365, 0.01, 226.09989068734092, 28.362812600356477)); - left.setSegment(284, new Trajectory.Segment(225.81673209473152, 21.384590316620088, - -99.99963929425348, -0.003170617830505762, 4.712435182176975, 0.01, 245.89989893697, 28.183726643108898)); - right.setSegment(284, new Trajectory.Segment(225.81672961955826, 21.384640613945912, - -100.0003607222915, 0.003168325797275884, 4.712435182176975, 0.01, 226.0998989581026, 28.182811847621977)); + left.setSegment(258, new Trajectory.Segment(191.84904019045632, 21.23073547617326, + -99.99951300187178, -0.004265135373771045, 4.712435140103306, 0.01, 245.89990046275386, 28.151418531783204)); + right.setSegment(258, new Trajectory.Segment(191.84903688222573, 21.23080312275713, + -100.00048699133082, 0.004264958590738388, 4.712435140103306, 0.01, 226.099900483848, 28.150504569354926)); - left.setSegment(285, new Trajectory.Segment(226.02057803090855, 20.38459361770354, - -99.99966989165472, -0.0030597401234899735, 4.712435204245128, 0.01, 245.89990835730256, 27.979880707149533)); - right.setSegment(285, new Trajectory.Segment(226.0205759926847, 20.384637312645655, - -100.00033013002572, 0.003059226578727703, 4.712435204245128, 0.01, 226.09990837845535, 27.978965474713192)); + left.setSegment(259, new Trajectory.Segment(192.0513475897942, 20.23073993378722, + -99.99955423860385, -0.004123673207345746, 4.712435169765636, 0.01, 245.89990980425472, 27.949111132661002)); + right.setSegment(259, new Trajectory.Segment(192.05134486887775, 20.230798665201327, + -100.00044575558036, 0.004123575045866801, 4.712435169765636, 0.01, 226.09990982537596, 27.948196582918584)); - left.setSegment(286, new Trajectory.Segment(226.2144239971525, 19.38459662439451, - -99.99969933090291, -0.0029439248194762513, 4.712435223276247, 0.01, 245.8999173194869, 27.786034741112765)); - right.setSegment(286, new Trajectory.Segment(226.21442233574484, 19.384634306012025, - -100.000300663363, 0.0029466662709864977, 4.712435223276247, 0.01, 226.09991734065707, 27.78511913186025)); + left.setSegment(260, new Trajectory.Segment(192.2436550297308, 19.2307439936589, + -99.99959401283185, -0.00397742280000557, 4.712435195326902, 0.01, 245.89991868931543, 27.75680369292967)); + right.setSegment(260, new Trajectory.Segment(192.2436528149274, 19.230794604965038, + -100.00040602362894, 0.003973195141782071, 4.712435195326902, 0.01, 226.09991871046003, 27.75588863707419)); - left.setSegment(287, new Trajectory.Segment(226.39826999063624, 18.38459934837394, - -99.99972760205722, -0.002827115430648064, 4.712435239555889, 0.01, 245.89992582258014, 27.602188747825664)); - right.setSegment(287, new Trajectory.Segment(226.39826865156547, 18.38463158206418, - -100.00027239478442, 0.002826857858906351, 4.712435239555889, 0.01, 226.09992584376528, 27.601272816236246)); + left.setSegment(261, new Trajectory.Segment(192.42596250644755, 18.230747671675186, + -99.99963219837156, -0.0038185539708024407, 4.712435217173014, 0.01, 245.89992711667165, 27.5744962164077)); + right.setSegment(261, new Trajectory.Segment(192.42596072419715, 18.23079092697608, + -100.0003677988957, 0.0038224733245328935, 4.712435217173014, 0.01, 226.09992713783626, 27.57358072799921)); - left.setSegment(288, new Trajectory.Segment(226.57211600865497, 17.384601801872666, - -99.99975465012731, -0.002704807009479282, 4.712435253357264, 0.01, 245.89993386577498, 27.428342729993002)); - right.setSegment(288, new Trajectory.Segment(226.5721149428514, 17.384629128595268, - -100.00024534689125, 0.0027047893169651616, 4.712435253357264, 0.01, 226.09993388697274, 27.427426525136358)); + left.setSegment(262, new Trajectory.Segment(192.59827001628503, 17.230750983747726, + -99.99966879274602, -0.0036594374464016255, 4.712435235673615, 0.01, 245.89993508524145, 27.40218870675448)); + right.setSegment(262, new Trajectory.Segment(192.59826860034653, 17.230787614937935, + -100.0003312038146, 0.003659508109876697, 4.712435235673615, 0.01, 226.099935106423, 27.40127285203409)); - left.setSegment(289, new Trajectory.Segment(226.73596204862972, 16.384603997475672, - -99.99978043969939, -0.002578957207788335, 4.71243526494087, 0.01, 245.8999414483862, 27.264496690193702)); - right.setSegment(289, new Trajectory.Segment(226.73596121218156, 16.384626933015742, - -100.00021955795262, 0.002578893862903442, 4.71243526494087, 0.01, 226.09994146959457, 27.26358025598166)); + left.setSegment(263, new Trajectory.Segment(192.76057755575076, 16.2307539465722, + -99.99970371755253, -0.003492480651345886, 4.712435251181483, 0.01, 245.89994259410736, 27.23988116746245)); + right.setSegment(263, new Trajectory.Segment(192.76057644686804, 16.230784652150756, + -100.00029627871783, 0.003492509677016642, 4.712435251181483, 0.01, 226.09994261530312, 27.238965005686275)); - left.setSegment(290, new Trajectory.Segment(226.889808108111, 15.384605948128844, - -99.99980493468286, -0.0024494983463796416, 4.712435274554129, 0.01, 245.89994856983796, 27.110650630877238)); - right.setSegment(290, new Trajectory.Segment(226.88980746200536, 15.384624982380727, - -100.00019506350152, 0.0024494451096757075, 4.712435274554129, 0.01, 226.09994859105515, 27.109734006322675)); + left.setSegment(264, new Trajectory.Segment(192.91288512152474, 15.230756577398413, + -99.99973691737871, -0.003319982617711048, 4.71243526403196, 0.01, 245.89994964249937, 27.087573601851556)); + right.setSegment(264, new Trajectory.Segment(192.91288426708147, 15.230782021343348, + -100.00026308074084, 0.0033197976989640665, 4.71243526403196, 0.01, 226.0999496637069, 27.086657185635932)); - left.setSegment(291, new Trajectory.Segment(227.03365418478202, 14.384607667103078, - -99.99982810257659, -0.002316789372969197, 4.7124352824310565, 0.01, 245.89995522965202, 26.966804554360376)); - right.setSegment(291, new Trajectory.Segment(227.03365369463955, 14.384623263420224, - -100.00017189605028, 0.00231674512463087, 4.7124352824310565, 0.01, 226.09995525087643, 26.965887773842642)); + left.setSegment(265, new Trajectory.Segment(193.05519271046504, 14.230758894031045, + -99.99976833673685, -0.0031419358137441122, 4.712435274542414, 0.01, 245.89995622977864, 26.945266013063705)); + right.setSegment(265, new Trajectory.Segment(193.05519206412876, 14.2307797047293, + -100.00023166140473, 0.0031419336110616314, 4.712435274542414, 0.01, 226.09995625099583, 26.9443493887411)); - left.setSegment(292, new Trajectory.Segment(227.16750027646188, 13.384609167986842, - -99.9998499116236, -0.0021809047012766314, 4.7124352887919425, 0.01, 245.8999614274361, 26.832958462824003)); - right.setSegment(292, new Trajectory.Segment(227.16749991226496, 13.384621762540876, - -100.00015008793478, 0.0021808115491239732, 4.7124352887919425, 0.01, 226.09996144866636, 26.83204155636073)); + left.setSegment(266, new Trajectory.Segment(193.1875003196127, 13.230760914767107, + -99.9997979263938, -0.0029589656946882315, 4.712435283011732, 0.01, 245.89996235542213, 26.812958404057838)); + right.setSegment(266, new Trajectory.Segment(193.18749984096894, 13.230777684018358, + -100.00020207109425, 0.0029590310475668957, 4.712435283011732, 0.01, 226.09996237664706, 26.81204161204272)); - left.setSegment(293, new Trajectory.Segment(227.29134638110864, 12.384610464674786, - -99.99987033120554, -0.0020419581943542653, 4.712435293843055, 0.01, 245.89996716287303, 26.709112358310062)); - right.setSegment(293, new Trajectory.Segment(227.29134611692373, 12.384620465877152, - -100.00012966637239, 0.0020421562396677473, 4.712435293843055, 0.01, 226.0999671841079, 26.708195351834764)); + left.setSegment(267, new Trajectory.Segment(193.3098079461963, 12.230762658358284, + -99.99982564088228, -0.0027714488481933586, 4.712435289719847, 0.01, 245.89996801900776, 26.690650777605384)); + right.setSegment(267, new Trajectory.Segment(193.3098076003732, 12.230775940425655, + -100.0001743592703, 0.0027711823946674485, 4.712435289719847, 0.01, 226.09996804023882, 26.689733852769592)); - left.setSegment(294, new Trajectory.Segment(227.40519249682157, 11.384611571292803, - -99.99988933819832, -0.001900699277257445, 4.712435297776362, 0.01, 245.89997243571074, 26.59526624271924)); - right.setSegment(294, new Trajectory.Segment(227.40519231051616, 11.384619359241231, - -100.00011066359207, 0.0019002780319965495, 4.712435297776362, 0.01, 226.0999724569492, 26.59434915836446)); + left.setSegment(268, new Trajectory.Segment(193.42211558763663, 11.230764144032976, + -99.99985143253073, -0.0025791648454287497, 4.712435294927287, 0.01, 245.89997322020093, 26.578343136285493)); + right.setSegment(268, new Trajectory.Segment(193.42211534492083, 11.230774454763392, + -100.00014856622634, 0.002579304396022053, 4.712435294927287, 0.01, 226.09997324143677, 26.577426108342397)); - left.setSegment(295, new Trajectory.Segment(227.50903862184452, 10.384612502294656, - -99.99990689981466, -0.001756161634602904, 4.712435300769274, 0.01, 245.89997724575267, 26.491420117807692)); - right.setSegment(295, new Trajectory.Segment(227.50903849479874, 10.384618428259447, - -100.00009309817841, 0.00175654136569392, 4.712435300769274, 0.01, 226.0999772669939, 26.490502974193262)); + left.setSegment(269, new Trajectory.Segment(193.52442324155055, 10.230765391393632, + -99.99987526393443, -0.002383140369488501, 4.712435298874771, 0.01, 245.89997795874154, 26.476035482481294)); + right.setSegment(269, new Trajectory.Segment(193.52442307699496, 10.23077320741276, + -100.00012473506317, 0.0023831163176168957, 4.712435298874771, 0.01, 226.09997797998102, 26.475118376378006)); - left.setSegment(296, new Trajectory.Segment(227.60288475456744, 9.384613272292516, - -99.99992300021407, -0.0016100399406582255, 4.7124353029844075, 0.01, 245.8999815928492, 26.39757398518545)); - right.setSegment(296, new Trajectory.Segment(227.60288467138133, 9.384617658257532, - -100.00007700019147, 0.0016097986943464093, 4.7124353029844075, 0.01, 226.09998161409248, 26.39665679771137)); + left.setSegment(270, new Trajectory.Segment(193.61673090575474, 9.230766420418865, + -99.99989709747669, -0.0021833542263038908, 4.712435301782829, 0.01, 245.89998223443214, 26.38372781837613)); + right.setSegment(270, new Trajectory.Segment(193.6167307987787, 9.230772178372986, + -100.00010290397742, 0.002183108574627113, 4.712435301782829, 0.01, 226.0999822556743, 26.3828106546933)); - left.setSegment(297, new Trajectory.Segment(227.68673089352905, 8.384613896160706, - -99.9999376131809, -0.00146129668365802, 4.712435304569369, 0.01, 245.8999854768894, 26.313727846313803)); - right.setSegment(297, new Trajectory.Segment(227.68673084172516, 8.384617034384258, - -100.00006238732747, 0.0014612863992624625, 4.712435304569369, 0.01, 226.09998549813412, 26.312810627457488)); + left.setSegment(271, new Trajectory.Segment(193.69903857826938, 8.230767251464547, + -99.9999168954318, -0.00197979551046501, 4.71243530385145, 0.01, 245.89998604712716, 26.30142014594979)); + right.setSegment(271, new Trajectory.Segment(193.69903851225203, 8.230771347334151, + -100.00008310388341, 0.0019800094008814995, 4.71243530385145, 0.01, 226.09998606837118, 26.300502941308267)); - left.setSegment(298, new Trajectory.Segment(227.7605770374186, 7.3846143889579094, - -99.9999507202797, -0.001310709879476235, 4.712435305656558, 0.01, 245.89998889779372, 26.23988170250346)); - right.setSegment(298, new Trajectory.Segment(227.76057700714108, 7.384616541592605, - -100.00004927916528, 0.001310816219302069, 4.712435305656558, 0.01, 226.09998891903945, 26.238964462120798)); + left.setSegment(272, new Trajectory.Segment(193.77134625732097, 7.230767905157927, + -99.99993463066205, -0.001773523025860868, 4.712435305259778, 0.01, 245.89998939672273, 26.229112466975796)); + right.setSegment(272, new Trajectory.Segment(193.7713462191885, 7.230770693646658, + -100.00006536874935, 0.0017735134065333114, 4.712435305259778, 0.01, 226.09998941796806, 26.228195234449384)); - left.setSegment(299, new Trajectory.Segment(227.82442318507765, 6.384614765903354, - -99.99996230545554, -0.0011585175840878037, 4.712435306362991, 0.01, 245.89999185550758, 26.176035554912936)); - right.setSegment(299, new Trajectory.Segment(227.8244231687875, 6.384616164640837, - -100.00003769517676, 0.0011583988523966582, 4.712435306362991, 0.01, 226.09999187675393, 26.1751183005429)); + left.setSegment(273, new Trajectory.Segment(193.8336539413451, 6.230768402412916, + -99.99995027450107, -0.001564383902064037, 4.712435306165824, 0.01, 245.89999228314812, 26.166804783018524)); + right.setSegment(273, new Trajectory.Segment(193.83365392115235, 6.230770196385532, + -100.00004972611256, 0.0015642636782331465, 4.712435306165824, 0.01, 226.0999923043943, 26.165887532552386)); - left.setSegment(300, new Trajectory.Segment(227.87826933550156, 5.384615042391745, - -99.99997235116086, -0.0010045705323591392, 4.712435306790145, 0.01, 245.89999434999538, 26.1221894045468)); - right.setSegment(300, new Trajectory.Segment(227.87826932766907, 5.3846158881571595, - -100.00002764836778, 0.0010046808981201139, 4.712435306790145, 0.01, 226.09999437124213, 26.121272141719107)); + left.setSegment(274, new Trajectory.Segment(193.88596162898912, 5.230768764404159, + -99.99996380087568, -0.0013526374601724456, 4.712435306706226, 0.01, 245.8999947063576, 26.11449709543061)); + right.setSegment(274, new Trajectory.Segment(193.88596161949633, 5.230769834399097, + -100.00003619864354, 0.0013527469022278638, 4.712435306706226, 0.01, 226.0999947276043, 26.113579834264524)); - left.setSegment(301, new Trajectory.Segment(227.92211548784078, 4.38461523392364, - -99.99998084681056, -0.0008495649694850727, 4.71243530702383, 0.01, 245.8999963812355, 26.078343252254612)); - right.setSegment(301, new Trajectory.Segment(227.92211548463527, 4.384615696618411, - -100.00001915387485, 0.0008494492931276909, 4.71243530702383, 0.01, 226.09999640248247, 26.077425984799973)); + left.setSegment(275, new Trajectory.Segment(193.92826931911404, 4.230769012492078, + -99.9999751912081, -0.0011390332417704485, 4.712435306996033, 0.01, 245.8999966663239, 26.07218940535109)); + right.setSegment(275, new Trajectory.Segment(193.92826931535942, 4.23076958631005, + -100.00002480890471, 0.0011389738830303031, 4.712435306996033, 0.01, 226.0999966875708, 26.071272138446822)); - left.setSegment(302, new Trajectory.Segment(227.95596164140218, 3.3846153561391934, - -99.99998777844463, -0.0006931634075613147, 4.712435307134066, 0.01, 245.8999979492161, 26.04449709872954)); - right.setSegment(302, new Trajectory.Segment(227.95596164037934, 3.3846155744072637, - -100.00001222111474, 0.0006932760101108215, 4.712435307134066, 0.01, 226.09999797046314, 26.04357982909222)); + left.setSegment(276, new Trajectory.Segment(193.9605770107963, 3.230769168225361, + -99.99998442667169, -0.0009235463593881832, 4.712435307128527, 0.01, 245.8999981630321, 26.039881713703505)); + right.setSegment(276, new Trajectory.Segment(193.96057700966506, 3.230769430564134, + -100.00001557459157, 0.0009234313139927508, 4.712435307128527, 0.01, 226.09999818427914, 26.03896444417585)); - left.setSegment(303, new Trajectory.Segment(227.97980779564972, 2.384615424753864, - -99.99999313853296, -0.0005360088323413947, 4.712435307174997, 0.01, 245.89999905393145, 26.02065094450759)); - right.setSegment(303, new Trajectory.Segment(227.97980779543732, 2.384615505796947, - -100.00000686103165, 0.0005360083093819412, 4.712435307174997, 0.01, 226.09999907517854, 26.01973367405984)); + left.setSegment(277, new Trajectory.Segment(193.9828847033294, 2.230769253309703, + -99.99999149156582, -0.0007064894134600763, 4.71243530717508, 0.01, 245.89999919647545, 26.017574021194346)); + right.setSegment(277, new Trajectory.Segment(193.9828847031199, 2.230769345484149, + -100.00000850799853, 0.0007066593042281966, 4.71243530717508, 0.01, 226.09999921772254, 26.016656750744946)); - left.setSegment(304, new Trajectory.Segment(227.99365395020516, 1.3846154555449128, - -99.9999969208951, -0.0003782362142601414, 4.712435307184819, 0.01, 245.89999969537942, 26.006804789967)); - right.setSegment(304, new Trajectory.Segment(227.99365395018725, 1.384615474993178, - -100.00000308037691, 0.0003780654736829092, 4.712435307184819, 0.01, 226.0999997166265, 26.005887519324766)); + left.setSegment(278, new Trajectory.Segment(193.99519239622478, 1.2307692895367595, + -99.99999637729435, -0.0004885728529302469, 4.712435307185042, 0.01, 245.89999976665143, 26.005266328312185)); + right.setSegment(278, new Trajectory.Segment(193.99519239621253, 1.2307693092614258, + -100.0000036222723, 0.0004885726227144005, 4.712435307185042, 0.01, 226.09999978789853, 26.00434905766554)); - left.setSegment(305, new Trajectory.Segment(227.99903856618425, 0.5384615979097896, - -84.61538576351232, 1538.4611157382778, 4.712435307185871, 0.01, 245.89999994483145, 26.00142017399368)); - right.setSegment(305, new Trajectory.Segment(227.99903856618718, 0.5384615999916799, - -84.61538750014982, 1538.4615580227091, 4.712435307185871, 0.01, 226.09999996607854, 26.000502903330627)); + left.setSegment(279, new Trajectory.Segment(193.99942316596193, 0.42307697371409275, + -80.76923158226667, 1923.076479502768, 4.712435307185883, 0.01, 245.89999996264945, 26.001035558579584)); + right.setSegment(279, new Trajectory.Segment(193.99942316596633, 0.4230769753796049, + -80.76923338818209, 1923.0770234090214, 4.712435307185883, 0.01, 226.09999998389654, 26.000118287916283)); - left.setSegment(306, new Trajectory.Segment(228.0000001048472, 0.09615386629399926, - -44.23077316157904, 4038.461260193328, 4.7124353071858955, 0.01, 245.89999998937645, 26.00045863533177)); - right.setSegment(306, new Trajectory.Segment(228.0000001048506, 0.09615386634302671, - -44.230773364865314, 4038.4614135284505, 4.7124353071858955, 0.01, 226.10000001062355, 25.99954136466823)); + left.setSegment(280, new Trajectory.Segment(194.00000008921032, 0.057692324837524435, + -36.53846488765683, 4423.076669460984, 4.7124353071858955, 0.01, 245.89999998937645, 26.000458635331828)); + right.setSegment(280, new Trajectory.Segment(194.00000008921495, 0.057692324861682874, + -36.53846505179221, 4423.076833638987, 4.7124353071858955, 0.01, 226.10000001062355, 25.999541364668286)); - left.setSegment(307, new Trajectory.Segment(228.0000001048472, 0, - -9.615386629399925, 3461.5386532179114, 4.7124353071858955, 0.01, 245.89999998937645, 26.00045863533177)); - right.setSegment(307, new Trajectory.Segment(228.0000001048506, 0, - -9.61538663430267, 3461.5386730562645, 4.7124353071858955, 0.01, 226.10000001062355, 25.99954136466823)); + left.setSegment(281, new Trajectory.Segment(194.00000008921032, 0, + -5.769232483752443, 3076.9232403904384, 4.7124353071858955, 0.01, 245.89999998937645, 26.000458635331828)); + right.setSegment(281, new Trajectory.Segment(194.00000008921495, 0, + -5.7692324861682875, 3076.923256562392, 4.7124353071858955, 0.01, 226.10000001062355, 25.999541364668286)); @@ -1876,7 +1715,7 @@ protected boolean loadPath() { } - // WAYPOINT_DATA: [{"position":{"x":236,"y":254},"theta":-1.5707499999936907,"comment":""},{"position":{"x":236,"y":26},"theta":-1.5707499999936907,"comment":""}] + // WAYPOINT_DATA: [{"position":{"x":236,"y":220},"theta":-1.5707499999936907,"comment":""},{"position":{"x":236,"y":26},"theta":-1.5707499999936907,"comment":""}] // IS_REVERSED: false // FILE_NAME: FarLeftToRightScaleDeadPartTwo // DT: 0.01 From 51e4223061ae78ee0dae406318641dd334edb560 Mon Sep 17 00:00:00 2001 From: Caleb Marston Date: Tue, 10 Apr 2018 15:02:48 -0400 Subject: [PATCH 03/10] add new command sequence for opposite defense --- .../robot/commands/auto/AutoGroup.java | 9 +- .../paths/FarLeftToRightScaleDeadPartTwo.java | 2449 +++++++++-------- .../FarRightToLeftScaleDefensiveOne.java | 1260 +++++++++ .../FarRightToLeftScaleDefensiveTwo.java | 1260 +++++++++ 4 files changed, 3829 insertions(+), 1149 deletions(-) create mode 100644 src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarRightToLeftScaleDefensiveOne.java create mode 100644 src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarRightToLeftScaleDefensiveTwo.java diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java index f15e0928..4b93c0bb 100644 --- a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java +++ b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java @@ -523,12 +523,11 @@ private void secondCubeToLeftSwitch(Robot robot) { private void farLeftToRightScale(Robot robot) { addParallel(new AutoZeroCarriageThenLower(robot)); addSequential(new FarLeftToRightScaleDeadPartOne(robot)); - addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 89, Constants.Auto.Align.SPEED, 3000)); - addParallel(new PrepIntakeForScale(robot, 1600, false)); - addSequential(new FarLeftToRightScaleDeadPartTwo(robot)); + addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 90, Constants.Auto.Align.SPEED, 5000)); + //addSequential(new FarRightToLeftScaleDefensiveOne(robot)); + //addParallel(new PrepIntakeForScale(robot, 1600, false)); addParallel(new AutoEjectAfterNMillis(robot.getIntake(), Constants.Intake.DROP_SPEED, FarLeftToRightScaleDeadPartThree.duration - 340)); - addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 180, Constants.Auto.Align.SPEED, 3000)); - addSequential(new FarLeftToRightScaleDeadPartTwo(robot)); + //addSequential(new FarRightToLeftScaleDefensiveTwo(robot)); //addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), -25, Constants.Auto.Align.SPEED, 3000)); //addParallel(new AutoEjectAfterNMillis(robot.getIntake(), Constants.Intake.DROP_SPEED, FarLeftToRightScaleDeadPartThree.duration - 340)); //addSequential(new FarLeftToRightScaleDeadPartThree(robot)); diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarLeftToRightScaleDeadPartTwo.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarLeftToRightScaleDeadPartTwo.java index 6306c17b..4669ff9e 100644 --- a/src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarLeftToRightScaleDeadPartTwo.java +++ b/src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarLeftToRightScaleDeadPartTwo.java @@ -1,1728 +1,1889 @@ package org.frc5687.powerup.robot.commands.auto.paths; - + import org.frc5687.powerup.robot.Robot; import org.frc5687.powerup.robot.commands.auto.DynamicPathCommand; import com.team254.lib.trajectory.Path; import com.team254.lib.trajectory.Trajectory; public class FarLeftToRightScaleDeadPartTwo extends DynamicPathCommand { - + public FarLeftToRightScaleDeadPartTwo(Robot robot) { super(robot); } + @Override + public double getJitterbugkT() { + return 0.1; + } + @Override protected boolean loadPath() { - int num_elements = 282; + int num_elements = 308; Trajectory left = new Trajectory(num_elements); Trajectory right = new Trajectory(num_elements); - - left.setSegment(0, new Trajectory.Segment(0.0025, 0.5, - 50, 5000, 4.712435307185665, 0.01, 245.90000010519347, 219.99795863533217)); - right.setSegment(0, new Trajectory.Segment(0.0025, 0.5, - 50, 5000, 4.712435307185665, 0.01, 226.10000012644056, 219.99704136467318)); + + left.setSegment(0, new Trajectory.Segment(0.0025, 0.5, + 50, 5000, 4.712435307185729, 0.01, 245.90000010519347, 253.9979586353328)); + right.setSegment(0, new Trajectory.Segment(0.0025, 0.5, + 50, 5000, 4.712435307185729, 0.01, 226.10000012644056, 253.99704136467255)); + + + left.setSegment(1, new Trajectory.Segment(0.012500000039683488, 1.0000000039683488, + 50.00000039683488, 0.00003968348778471409, 4.712435307181718, 0.01, 245.90000056846145, 253.98795863530384)); + right.setSegment(1, new Trajectory.Segment(0.012499999960273232, 0.9999999960273231, + 49.999999602732316, -0.00003972676836383471, 4.712435307181718, 0.01, 226.10000058970854, 253.987041364723)); + + + left.setSegment(2, new Trajectory.Segment(0.03250000027781412, 2.0000000238130635, + 100.00000198447147, 5000.000158763659, 4.712435307157665, 0.01, 245.90000149499718, 253.96795863508717)); + right.setSegment(2, new Trajectory.Segment(0.0324999997221697, 1.999999976189647, + 99.99999801623238, 4999.999841350006, 4.712435307157665, 0.01, 226.10000151624428, 253.96704136498258)); + + + left.setSegment(3, new Trajectory.Segment(0.06250000103166338, 3.0000000753849263, + 100.00000515718628, 0.00031727148126492466, 4.712435307081519, 0.01, 245.9000028847994, 253.93795863436551)); + right.setSegment(3, new Trajectory.Segment(0.06249999896830412, 2.999999924613442, + 99.99999484237951, -0.0003173852874738259, 4.712435307081519, 0.01, 226.10000290604643, 253.93704136576864)); + + + left.setSegment(4, new Trajectory.Segment(0.1025000027766126, 4.000000174494922, + 100.00000991099952, 0.0004753813243496552, 4.712435306905261, 0.01, 245.9000047378641, 253.8979586326635)); + right.setSegment(4, new Trajectory.Segment(0.10249999722335164, 3.999999825504752, + 99.99999008913099, -0.00047532485183410245, 4.712435306905261, 0.01, 226.10000475911096, 253.8970413675565)); + + + left.setSegment(5, new Trajectory.Segment(0.15250000614552756, 5.000000336891496, + 100.00001623965744, 0.0006328657917720193, 4.712435306564966, 0.01, 245.90000705418234, 253.84795862934823)); + right.setSegment(5, new Trajectory.Segment(0.15249999385444563, 4.999999663109398, + 99.99998376046463, -0.0006328666358967894, 4.712435306564966, 0.01, 226.10000707542886, 253.84704137097907)); + + + left.setSegment(6, new Trajectory.Segment(0.21250001192796256, 6.000000578243499, + 100.00002413520032, 0.0007895542879055029, 4.712435305980883, 0.01, 245.90000983373685, 253.78795862363017)); + right.setSegment(6, new Trajectory.Segment(0.2124999880720302, 5.999999421758457, + 99.99997586490589, -0.0007895558738368891, 4.712435305980883, 0.01, 226.10000985498286, 253.78704137682587)); + + + left.setSegment(7, new Trajectory.Segment(0.28250002106902333, 7.000000914106077, + 100.00003358625777, 0.0009451057451315137, 4.712435305057541, 0.01, 245.90001307649823, 253.71795861456422)); + right.setSegment(7, new Trajectory.Segment(0.28249997893094003, 6.999999085890984, + 99.99996641325266, -0.0009451653227188217, 4.712435305057541, 0.01, 226.10001309774339, 253.71704138604207)); + + + left.setSegment(8, new Trajectory.Segment(0.36250003466828684, 8.000001359926348, + 100.00004458202704, 0.0010995769272881262, 4.712435303683882, 0.01, 245.90001678241998, 253.6379586010508)); + right.setSegment(8, new Trajectory.Segment(0.3624999653317076, 7.999998640076755, + 99.99995541857709, -0.001099467557708067, 4.712435303683882, 0.01, 226.1000168036639, 253.63704139972714)); + + + left.setSegment(9, new Trajectory.Segment(0.4525000539780388, 9.000001930975193, + 100.00005710488455, 0.0012522857502972329, 4.712435301733398, 0.01, 245.90002095143325, 253.5479585818376)); + right.setSegment(9, new Trajectory.Segment(0.452499946021927, 8.999998069021943, + 99.99994289451885, -0.0012524058234930635, 4.712435301733398, 0.01, 226.10002097267534, 253.54704141913348)); + + + left.setSegment(10, new Trajectory.Segment(0.5525000804020797, 10.000002642404093, + 100.00007114288998, 0.001403800543187117, 4.712435299064305, 0.01, 245.90002558344028, 253.44795855552084)); + right.setSegment(10, new Trajectory.Segment(0.5524999195979023, 9.99999735759754, + 99.99992885755961, -0.0014036959242957892, 4.712435299064305, 0.01, 226.10002560467993, 253.44704144566478)); + + + left.setSegment(11, new Trajectory.Segment(0.6625001154933656, 11.000003509128597, + 100.00008667245037, 0.0015529560386084995, 4.712435295519731, 0.01, 245.90003067830756, 253.33795852054755)); + right.setSegment(11, new Trajectory.Segment(0.6624998845066085, 10.999996490870615, + 99.99991332730751, -0.0015530252099438258, 4.712435295519731, 0.01, 226.10003069954396, 253.33704148087406)); + + + left.setSegment(12, new Trajectory.Segment(0.782500160952274, 12.000004545890839, + 100.00010367622423, 0.0017003773862711569, 4.712435290927921, 0.01, 245.9000362358579, 253.21795847521733)); + right.setSegment(12, new Trajectory.Segment(0.7824998390477084, 11.999995454109989, + 99.99989632393742, -0.0017003370089696546, 4.712435290927921, 0.01, 226.1000362570901, 253.21704152646166)); - left.setSegment(1, new Trajectory.Segment(0.01250000005483226, 1.0000000054832259, - 50.00000054832259, 0.000054832258911119425, 4.712435307180126, 0.01, 245.90000056846145, 219.98795863528807)); - right.setSegment(1, new Trajectory.Segment(0.01249999994512446, 0.999999994512446, - 49.999999451244605, -0.000054875539490240044, 4.712435307180126, 0.01, 226.10000058970854, 219.9870413647388)); + left.setSegment(13, new Trajectory.Segment(0.9125002186242158, 13.000005767194178, + 100.00012213033393, 0.0018454109707022326, 4.7124352851024724, 0.01, 245.9000422558621, 253.08795841768477)); + right.setSegment(13, new Trajectory.Segment(0.9124997813757698, 12.999994232806145, + 99.99987786961562, -0.001845432180402895, 4.7124352851024724, 0.01, 226.10004227708896, 253.08704158427298)); - left.setSegment(2, new Trajectory.Segment(0.03250000038374183, 2.000000032890957, - 100.00000274077311, 5000.000219245052, 4.712435307146904, 0.01, 245.90000149499707, 219.96795863498062)); - right.setSegment(2, new Trajectory.Segment(0.03249999961624199, 1.9999999671117528, - 99.99999725993067, 4999.999780868606, 4.712435307146904, 0.01, 226.10000151624416, 219.96704136508913)); + left.setSegment(14, new Trajectory.Segment(1.0525002904971625, 14.000007187294663, + 100.00014201004852, 0.001987971458561333, 4.712435277842579, 0.01, 245.90004873802965, 252.9479583459619)); + right.setSegment(14, new Trajectory.Segment(1.0524997095027944, 13.999992812702464, + 99.9998579896319, -0.0019879983710779925, 4.712435277842579, 0.01, 226.10004875924986, 252.94704165629602)); - left.setSegment(3, new Trajectory.Segment(0.06250000142484928, 3.0000001041107445, - 100.00000712197874, 0.00043812056276237854, 4.712435307041741, 0.01, 245.90000288479857, 219.9379586339717)); - right.setSegment(3, new Trajectory.Segment(0.06249999857511816, 2.999999895887617, - 99.99999287758641, -0.0004382344258146986, 4.712435307041741, 0.01, 226.10000290604555, 219.93704136616245)); + left.setSegment(15, new Trajectory.Segment(1.2025003786990023, 15.000008820183968, + 100.00016328893047, 0.0021278881945363537, 4.712435268933303, 0.01, 245.90005568199882, 252.79795825792078)); + right.setSegment(15, new Trajectory.Segment(1.2024996213009742, 14.999991179817984, + 99.99983671155199, -0.002127807991314512, 4.712435268933303, 0.01, 226.10005570321084, 252.79704174465857)); - left.setSegment(4, new Trajectory.Segment(0.10250000383455374, 4.000000240970445, - 100.00001368597009, 0.0006563991348684795, 4.712435306798335, 0.01, 245.9000047378605, 219.89795863160492)); - right.setSegment(4, new Trajectory.Segment(0.10249999616541018, 3.999999759029202, - 99.99998631415852, -0.0006563427888295337, 4.712435306798335, 0.01, 226.10000475910726, 219.89704136861508)); + left.setSegment(16, new Trajectory.Segment(1.362500485494669, 16.000010679566667, + 100.00018593826994, 0.002264933947060399, 4.712435258145864, 0.01, 245.90006308732617, 252.6379581512965)); + right.setSegment(16, new Trajectory.Segment(1.3624995145053342, 15.999989320436002, + 99.99981406180183, -0.002264975016430526, 4.712435258145864, 0.01, 226.1000631085283, 252.63704185162558)); - left.setSegment(5, new Trajectory.Segment(0.15250000848642428, 5.000000465187053, - 100.00002242166079, 0.0008735690698813414, 4.71243530632845, 0.01, 245.90000705417043, 219.8479586270067)); - right.setSegment(5, new Trajectory.Segment(0.15249999151354782, 4.999999534813764, - 99.99997757845618, -0.0008735702337503426, 4.71243530632845, 0.01, 226.10000707541673, 219.8470413733206)); + left.setSegment(17, new Trajectory.Segment(1.5325006132830152, 17.000012778834638, + 100.00020992679701, 0.0023988527075857746, 4.712435245237948, 0.01, 245.90007095347536, 252.46795802369013)); + right.setSegment(17, new Trajectory.Segment(1.532499386716972, 16.999987221163785, + 99.99979007277825, -0.0023989023574699786, 4.712435245237948, 0.01, 226.10007097466567, 252.46704197959593)); - left.setSegment(6, new Trajectory.Segment(0.21250001646989236, 6.000000798346807, - 100.0000333159754, 0.0010894314613096867, 4.712435305522039, 0.01, 245.90000983370456, 219.78795861908762)); - right.setSegment(6, new Trajectory.Segment(0.2124999835300974, 5.999999201654959, - 99.99996668411954, -0.0010894336639921676, 4.712435305522039, 0.01, 226.10000985495012, 219.78704138136843)); + left.setSegment(18, new Trajectory.Segment(1.7125007645937145, 18.000015131069915, + 100.00023522352777, 0.0025296730754575947, 4.71243522995404, 0.01, 245.90007927980528, 252.287957872572)); + right.setSegment(18, new Trajectory.Segment(1.7124992354062691, 17.99998486892971, + 99.99976477659267, -0.0025296185583556507, 4.71243522995404, 0.01, 226.1000793009816, 252.2870421310992)); - left.setSegment(7, new Trajectory.Segment(0.2825000290885462, 7.000001261865384, - 100.00004635185763, 0.0013035882233225493, 4.712435304247426, 0.01, 245.90001307642223, 219.71795860654407)); - right.setSegment(7, new Trajectory.Segment(0.2824999709114101, 6.9999987381312705, - 99.99995364763112, -0.001303648842565508, 4.712435304247426, 0.01, 226.10001309766665, 219.71704139406222)); + left.setSegment(19, new Trajectory.Segment(1.9025009420836212, 19.00001774899067, + 100.0002617920753, 0.0026568547539795873, 4.712435212025765, 0.01, 245.9000880655576, 252.09795769528523)); + right.setSegment(19, new Trajectory.Segment(1.9024990579163574, 18.99998225100883, + 99.9997382079119, -0.0026568680766558828, 4.712435212025765, 0.01, 226.1000880867175, 252.09704230879225)); - left.setSegment(8, new Trajectory.Segment(0.36250004785816947, 8.000001876962324, - 100.00006150969405, 0.0015157836415369275, 4.712435302351507, 0.01, 245.9000167822594, 219.63795858786028)); - right.setSegment(8, new Trajectory.Segment(0.36249995214181, 7.999998123039992, - 99.99993849087217, -0.0015156758948364768, 4.712435302351507, 0.01, 226.10001680350206, 219.63704141291765)); + left.setSegment(20, new Trajectory.Segment(2.1025011485333325, 20.000020644971112, + 100.00028959804439, 0.002780596908280586, 4.7124351911722595, 0.01, 245.90009730984377, 251.89795748904916)); + right.setSegment(20, new Trajectory.Segment(2.1024988514666716, 19.999979355031424, + 99.99971040225937, -0.002780565253601708, 4.7124351911722595, 0.01, 226.10009733098462, 251.89704251545558)); - left.setSegment(9, new Trajectory.Segment(0.45250007450421126, 9.000002664604182, - 100.00007876418574, 0.0017254491694984608, 4.712435299659987, 0.01, 245.90002095112095, 219.5479585613108)); - right.setSegment(9, new Trajectory.Segment(0.45249992549578233, 8.999997335397232, - 99.999921235724, -0.0017255148165418177, 4.712435299659987, 0.01, 226.10002097236116, 219.54704143966023)); + left.setSegment(21, new Trajectory.Segment(2.3125013868431505, 21.000023830981814, + 100.00031860107015, 0.002900302575881142, 4.71243516710056, 0.01, 245.90010701163155, 251.68795725096345)); + right.setSegment(21, new Trajectory.Segment(2.312498613156814, 20.999976169014232, + 99.99968139828077, -0.0029003978596620072, 4.71243516710056, 0.01, 226.10010703275034, 251.68704275398954)); - left.setSegment(10, new Trajectory.Segment(0.5525001109592848, 10.000003645507352, - 100.00009809031702, 0.0019326131280195114, 4.712435295977655, 0.01, 245.90002558287213, 219.44795852496298)); - right.setSegment(10, new Trajectory.Segment(0.5524998890407014, 9.999996354491907, - 99.9999019094675, -0.0019326256506246864, 4.712435295977655, 0.01, 226.10002560410894, 219.44704147622258)); + left.setSegment(22, new Trajectory.Segment(2.5325016600292747, 22.000027318612418, + 100.00034876306039, 0.003016199023875288, 4.712435139506003, 0.01, 245.90011716973072, 251.46795697801184)); + right.setSegment(22, new Trajectory.Segment(2.532498339970703, 21.999972681388904, + 99.99965123746719, -0.003016081357998246, 4.712435139506003, 0.01, 226.10011719082428, 251.46704302741017)); - left.setSegment(11, new Trajectory.Segment(0.6625001593600972, 11.000004840081239, - 100.00011945738869, 0.0021367071667555138, 4.712435291088686, 0.01, 245.90003067732872, 219.33795847668014)); - right.setSegment(11, new Trajectory.Segment(0.6624998406398999, 10.999995159919845, - 99.99988054279373, -0.002136667376362311, 4.712435291088686, 0.01, 226.10003069856108, 219.33704152474135)); + left.setSegment(23, new Trajectory.Segment(2.7625019712194514, 23.00003111901766, + 100.0003800405242, 0.0031277463818923934, 4.712435108072651, 0.01, 245.9001277827786, 251.23795666706653)); + right.setSegment(23, new Trajectory.Segment(2.7624980287805236, 22.999968880982067, + 99.99961995931628, -0.0031278150913749414, 4.712435108072651, 0.01, 226.10012780384346, 251.2370433388452)); - left.setSegment(12, new Trajectory.Segment(0.7825002220439817, 12.00000626838845, - 100.00014283072112, 0.002337333242508066, 4.712435284756981, 0.01, 245.9000362342466, 219.21795841412492)); - right.setSegment(12, new Trajectory.Segment(0.7824997779560219, 11.999993731612198, - 99.99985716923536, -0.0023373558377670633, 4.712435284756981, 0.01, 226.10003625547313, 219.2170415875539)); + left.setSegment(24, new Trajectory.Segment(3.002502323648767, 24.000035242931567, + 100.00041239139073, 0.0032350866518982, 4.712435072473732, 0.01, 245.9001388492251, 250.99795631489235)); + right.setSegment(24, new Trajectory.Segment(3.0024976763512172, 23.999964757069367, + 99.99958760873007, -0.0032350586209872745, 4.712435072473732, 0.01, 226.10013887025744, 250.99704369152965)); - left.setSegment(13, new Trajectory.Segment(0.9125003015453443, 13.000007950136267, - 100.00016817478165, 0.002534406053200655, 4.71243527672654, 0.01, 245.90004225330986, 219.0879583347629)); - right.setSegment(13, new Trajectory.Segment(0.9124996984546321, 12.999992049861019, - 99.99983182488208, -0.0025344353275613685, 4.71243527672654, 0.01, 226.10004227452905, 219.08704166719463)); + left.setSegment(25, new Trajectory.Segment(3.2525027206549018, 25.000039700613442, + 100.00044576818752, 0.0033376796793049834, 4.712435032372101, 0.01, 245.90015036731688, 250.74795591815155)); + right.setSegment(25, new Trajectory.Segment(3.252497279345057, 24.999960299383947, + 99.99955423145792, -0.003337727214614006, 4.712435032372101, 0.01, 226.10015038831267, 250.74704408880115)); - left.setSegment(14, new Trajectory.Segment(1.052500400591656, 14.000009904631163, - 100.00019544948965, 0.0027274708003233172, 4.7124352667218625, 0.01, 245.90004873411834, 218.9479582358666)); - right.setSegment(14, new Trajectory.Segment(1.0524995994083364, 13.999990095370421, - 99.99980455094021, -0.0027273941867633766, 4.7124352667218625, 0.01, 226.10004875532837, 218.94704176639092)); + left.setSegment(26, new Trajectory.Segment(3.5125031656736367, 26.000044501873482, + 100.00048012600402, 0.0034357816502961214, 4.712434987420715, 0.01, 245.90016233508186, 250.48795547340825)); + right.setSegment(26, new Trajectory.Segment(3.512496834326364, 25.9999554981307, + 99.99951987467526, -0.0034356782663280683, 4.712434987420715, 0.01, 226.10016235603666, 250.48704453409528)); - left.setSegment(15, new Trajectory.Segment(1.2025005220990748, 15.000012150741865, - 100.00022461107018, 0.002916158052812534, 4.712435254448386, 0.01, 245.90005567617408, 218.79795811451982)); - right.setSegment(15, new Trajectory.Segment(1.2024994779009304, 14.99998784925941, - 99.9997753888989, -0.002916204131508948, 4.712435254448386, 0.01, 226.10005569737285, 218.79704188805897)); + left.setSegment(27, new Trajectory.Segment(3.7825036622337387, 27.000049656010194, + 100.00051541367121, 0.0035287667188299565, 4.712434937263126, 0.01, 245.90017475031257, 250.2179549771336)); + right.setSegment(27, new Trajectory.Segment(3.7824963377662266, 26.99995034398624, + 99.99948458555394, -0.00352891213140083, 4.712434937263126, 0.01, 226.10017477122173, 250.21704503094085)); - left.setSegment(16, new Trajectory.Segment(1.3625006691678123, 16.00001470687375, - 100.00025561318839, 0.0031002118205947227, 4.712435239592955, 0.01, 245.90006307886688, 218.63795796762233)); - right.setSegment(16, new Trajectory.Segment(1.362499330832146, 15.999985293121574, - 99.99974438621635, -0.0031002682547409677, 4.712435239592955, 0.01, 226.100063100052, 218.637042035299)); + left.setSegment(28, new Trajectory.Segment(4.062504213952156, 28.000055171841716, + 100.00055158315213, 0.003616948092144412, 4.712434881533994, 0.01, 245.9001876105497, 249.9379544257105)); + right.setSegment(28, new Trajectory.Segment(4.062495786047813, 27.999944828158608, + 99.99944841723689, -0.0036168317052442944, 4.712434881533994, 0.01, 226.10018763140815, 249.9370455829546)); - left.setSegment(17, new Trajectory.Segment(1.5325008450773019, 17.00001759094896, - 100.00028840752115, 0.0032794332767593914, 4.71243522182432, 0.01, 245.90007094145898, 218.46795779189466)); - right.setSegment(17, new Trajectory.Segment(1.5324991549226525, 16.99998240905064, - 99.99971159290676, -0.003279330958605442, 4.71243522182432, 0.01, 226.10007096262785, 218.46704221139032)); + left.setSegment(29, new Trajectory.Segment(4.352504824528531, 29.00006105763755, + 100.0005885795833, 0.003699643116306106, 4.712434819859613, 0.01, 245.90020091306505, 249.64795381543922)); + right.setSegment(29, new Trajectory.Segment(4.352495175471458, 28.999938942364505, + 99.99941142058972, -0.003699664716805273, 4.712434819859613, 0.01, 226.1002009338675, 249.64704619383605)); - left.setSegment(18, new Trajectory.Segment(1.7125010532807974, 18.000020820349558, - 100.00032294005976, 0.0034532538606413254, 4.712435200793665, 0.01, 245.90007926306907, 218.28795758388353)); - right.setSegment(18, new Trajectory.Segment(1.7124989467191711, 17.999979179651866, - 99.9996770601225, -0.0034532784269458716, 4.712435200793665, 0.01, 226.10007928421868, 218.28704241978616)); + left.setSegment(30, new Trajectory.Segment(4.652505497740002, 30.00006732114703, + 100.000626350948, 0.0037771364702621213, 4.712434751858455, 0.01, 245.90021465484452, 249.34795314254248)); + right.setSegment(30, new Trajectory.Segment(4.652494502259978, 29.99993267885206, + 99.99937364875535, -0.003777183437136955, 4.712434751858455, 0.01, 226.1002146755853, 249.34704686736225)); - left.setSegment(19, new Trajectory.Segment(1.902501297399802, 19.000024411900448, - 100.00035915508896, 0.0036215029197705917, 4.712435176135178, 0.01, 245.9000880426554, 218.09795733996737)); - right.setSegment(19, new Trajectory.Segment(1.9024987026001599, 18.99997558809886, - 99.9996408446993, -0.0036215423193652896, 4.712435176135178, 0.01, 226.10008806378244, 218.09704266410802)); + left.setSegment(31, new Trajectory.Segment(4.962506237435597, 31.000073969559505, + 100.00066484124766, 0.0038490299658633376, 4.712434677141728, 0.01, 245.90022883257046, 249.0379524031711)); + right.setSegment(31, new Trajectory.Segment(4.962493762564384, 30.999926030440616, + 99.99933515885573, -0.0038489899623073143, 4.712434677141728, 0.01, 226.10022885324355, 249.03704760738205)); - left.setSegment(20, new Trajectory.Segment(2.1025015812183825, 20.00002838185804, - 100.00039699575929, 0.0037840670330524517, 4.7124351474666355, 0.01, 245.90009727899795, 217.89795705636206)); - right.setSegment(20, new Trajectory.Segment(2.1024984187816096, 19.999971618144958, - 99.99960300460984, -0.0037840089461838033, 4.7124351474666355, 0.01, 226.10009730009878, 217.89704294813984)); + left.setSegment(32, new Trajectory.Segment(5.282507047530555, 32.00008100949582, + 100.00070399363175, 0.003915238409035737, 4.712434595313953, 0.01, 245.900243442604, 248.71795159340965)); + right.setSegment(32, new Trajectory.Segment(5.282492952469393, 31.999918990500813, + 99.99929600601973, -0.003915283599553732, 4.712434595313953, 0.01, 226.10024346320313, 248.71704841781056)); - left.setSegment(21, new Trajectory.Segment(2.312501908676774, 21.00003274583916, - 100.00043639811196, 0.003940235266952641, 4.71243511439003, 0.01, 245.90010697068035, 217.6879567291273)); - right.setSegment(21, new Trajectory.Segment(2.3124980913232114, 20.99996725416016, - 99.99956360152034, -0.003940308950234339, 4.71243511439003, 0.01, 226.100106991751, 217.68704327582188)); + left.setSegment(33, new Trajectory.Segment(5.612507932000553, 33.000088446999804, + 100.00074375039816, 0.00397567664123244, 4.71243450597355, 0.01, 245.90025848096752, 248.3879507092823)); + right.setSegment(33, new Trajectory.Segment(5.612492067999422, 32.999911553002924, + 99.99925625021113, -0.003975580860071659, 4.71243450597355, 0.01, 226.10025850148605, 248.38704930262318)); - left.setSegment(22, new Trajectory.Segment(2.532502283865098, 22.00003751883243, - 100.00047729932682, 0.0040901214859445645, 4.71243507649222, 0.01, 245.90011711607076, 217.4679563541729)); - right.setSegment(22, new Trajectory.Segment(2.532497716134864, 21.999962481165248, - 99.99952270050869, -0.004090101164422322, 4.71243507649222, 0.01, 226.1001171371068, 217.46704365124415)); + left.setSegment(34, new Trajectory.Segment(5.952508894875538, 34.00009628749845, + 100.00078404986468, 0.0040299466519400085, 4.712434408713449, 0.01, 245.90027394332645, 248.04794974675892)); + right.setSegment(34, new Trajectory.Segment(5.95249110512442, 33.999903712499815, + 99.9992159496891, -0.004030052203063406, 4.712434408713449, 0.01, 226.1002739637574, 248.04705026584978)); - left.setSegment(23, new Trajectory.Segment(2.7625027110165123, 23.000042715141436, - 100.0005196309008, 0.004233157397948162, 4.712435033345612, 0.01, 245.90012771330217, 217.23795592726563)); - right.setSegment(23, new Trajectory.Segment(2.762497288983466, 22.999957284860184, - 99.99948036949355, -0.004233101513761994, 4.712435033345612, 0.01, 226.1001277342988, 217.23704407863968)); + left.setSegment(35, new Trajectory.Segment(6.302509940233842, 35.00010453583038, + 100.00082483319304, 0.004078332835888432, 4.712434303121703, 0.01, 245.90028982497145, 247.69794870176094)); + right.setSegment(35, new Trajectory.Segment(6.302490059766144, 34.999895464172404, + 99.99917516725887, -0.004078243023286632, 4.712434303121703, 0.01, 226.10028984530751, 247.69705131156837)); - left.setSegment(24, new Trajectory.Segment(3.002503194500274, 24.00004834837617, - 100.0005633234732, 0.0043692572404552266, 4.71243498450887, 0.01, 245.90013876025222, 216.9979554440361)); - right.setSegment(24, new Trajectory.Segment(3.0024968054997356, 23.99995165162697, - 99.9994366766785, -0.004369281505489653, 4.71243498450887, 0.01, 226.10013878120435, 216.99704456237765)); + left.setSegment(36, new Trajectory.Segment(6.662511072195675, 36.000113196183285, + 100.00086603529041, 0.004120209737834557, 4.712434188782122, 0.01, 245.9003061208003, 247.33794757016793)); + right.setSegment(36, new Trajectory.Segment(6.66248892780427, 35.9998868038126, + 99.99913396401965, -0.004120323922052194, 4.712434188782122, 0.01, 226.10030614103394, 247.33705244389907)); - left.setSegment(25, new Trajectory.Segment(3.252503738814321, 25.000054431404735, - 100.00060830285662, 0.004497938341785357, 4.712434929527653, 0.01, 245.90015025452266, 216.7479548999863)); - right.setSegment(25, new Trajectory.Segment(3.252496261185686, 24.99994556859501, - 99.9993916968041, -0.004497987440288398, 4.712434929527653, 0.01, 226.10015027542477, 216.74704510695594)); + left.setSegment(37, new Trajectory.Segment(7.032512294916984, 37.00012227213089, + 100.00090759476024, 0.004155946982109526, 4.712434065274921, 0.01, 245.9003228253, 246.9679463478237)); + right.setSegment(37, new Trajectory.Segment(7.032487705082986, 36.99987772787166, + 99.99909240590625, -0.00415581133950127, 4.712434065274921, 0.01, 226.1003228454232, 246.96705366699743)); - left.setSegment(26, new Trajectory.Segment(3.512504348577769, 26.00006097634482, - 100.0006544940085, 0.004619115188120304, 4.712434867935382, 0.01, 245.90016219341786, 216.48795429049696)); - right.setSegment(26, new Trajectory.Segment(3.5124956514221823, 25.999939023649638, - 99.99934550546286, -0.004619134124084212, 4.712434867935382, 0.01, 226.10016221426397, 216.48704571699355)); + left.setSegment(38, new Trajectory.Segment(7.412513612582688, 38.000131766570426, + 100.00094944395386, 0.004184919362160144, 4.712433932177375, 0.01, 245.90033993252857, 246.58794503054307)); + right.setSegment(38, new Trajectory.Segment(7.412486387417304, 37.99986823343174, + 99.99905055600777, -0.004184989847999532, 4.712433932177375, 0.01, 226.10033995253312, 246.58705498504818)); - left.setSegment(27, new Trajectory.Segment(3.7825050285231785, 27.000067994540938, - 100.00070181961185, 0.004732560334730351, 4.71243479925403, 0.01, 245.90017457392347, 216.2179536108354)); - right.setSegment(27, new Trajectory.Segment(3.7824949714767877, 26.99993200546053, - 99.9992981810891, -0.004732437375309928, 4.71243479925403, 0.01, 226.10017459470723, 216.2170463972228)); + left.setSegment(39, new Trajectory.Segment(7.802515029400171, 39.00014168174823, + 100.00099151778059, 0.004207382673371285, 4.712433789064498, 0.01, 245.90035743609744, 246.19794361411837)); + right.setSegment(39, new Trajectory.Segment(7.80248497059979, 38.999858318248535, + 99.9990084816794, -0.00420743283768843, 4.712433789064498, 0.01, 226.10035745597483, 246.19705640225848)); - left.setSegment(28, new Trajectory.Segment(4.062505783488169, 28.000075496499083, - 100.00075019581445, 0.004837620259934283, 4.712434722994939, 0.01, 245.90018739268422, 215.93795285616383)); - right.setSegment(28, new Trajectory.Segment(4.062494216511804, 27.99992450350162, - 99.99924980410917, -0.004837697993309575, 4.712434722994939, 0.01, 226.10018741339886, 215.9370471524812)); + left.setSegment(40, new Trajectory.Segment(8.202516549592513, 40.000152019234164, + 100.00103374859322, 0.004223081262466621, 4.712433635509716, 0.01, 245.90037532915363, 245.79794209432623)); + right.setSegment(40, new Trajectory.Segment(8.202483450407446, 39.99984798076551, + 99.9989662516974, -0.004222998200020811, 4.712433635509716, 0.01, 226.10037534889506, 245.79705792285102)); - left.setSegment(29, new Trajectory.Segment(4.352506618407378, 29.00008349192083, - 100.00079954217469, 0.004934636024245265, 4.7124346386596665, 0.01, 245.90020064598173, 215.64795202154747)); - right.setSegment(29, new Trajectory.Segment(4.352493381592599, 28.999916508079497, - 99.99920045778765, -0.004934632151787355, 4.7124346386596665, 0.01, 226.10020066662003, 215.64704798770325)); + left.setSegment(41, new Trajectory.Segment(8.612518177391559, 41.00016277990454, + 100.00107606703779, 0.004231844457081024, 4.71243347108557, 0.01, 245.90039360436214, 245.38794046693448)); + right.setSegment(41, new Trajectory.Segment(8.612481822608414, 40.999837220096836, + 99.99892393313274, -0.004231856465253259, 4.71243347108557, 0.01, 226.10039362395844, 245.38705955105735)); - left.setSegment(30, new Trajectory.Segment(4.6525075383035865, 30.00009198962089, - 100.00084977000618, 0.0050227831493998565, 4.712434545740856, 0.01, 245.90021432971193, 215.34795110196333)); - right.setSegment(30, new Trajectory.Segment(4.65249246169636, 29.999908010376064, - 99.99915022965666, -0.005022813098776169, 4.712434545740856, 0.01, 226.10021435026633, 215.34704890791156)); + left.setSegment(42, new Trajectory.Segment(9.032519917030923, 42.00017396393647, + 100.00111840319263, 0.004233615484849906, 4.712433295364421, 0.01, 245.90041225388876, 244.96793872770917)); + right.setSegment(42, new Trajectory.Segment(9.032480082969029, 41.99982603606153, + 99.99888159646915, -0.004233666359709787, 4.712433295364421, 0.01, 226.10041227333056, 244.96706129111078)); - left.setSegment(31, new Trajectory.Segment(4.962508548279143, 31.000100997555585, - 100.00090079346933, 0.005102346314345141, 4.712434443723125, 0.01, 245.9002284393623, 215.03795009230888)); - right.setSegment(31, new Trajectory.Segment(4.962491451720845, 30.999899002448515, - 99.99909920724512, -0.005102241154020248, 4.712434443723125, 0.01, 226.1002284598248, 215.03704991820817)); + left.setSegment(43, new Trajectory.Segment(9.462521772739002, 43.000185570807865, + 100.00116068713965, 0.0042283947010446354, 4.712433107919161, 0.01, 245.90043126938292, 244.53793687242154)); + right.setSegment(43, new Trajectory.Segment(9.462478227260977, 42.99981442919477, + 99.99883931332434, -0.004228314480769768, 4.712433107919161, 0.01, 226.10043128866062, 244.53706314723928)); - left.setSegment(32, new Trajectory.Segment(5.2825096535066605, 32.00011052275174, - 100.00095251961554, 0.00517261462107399, 4.712434332083983, 0.01, 245.9002429699891, 214.71794898741126)); - right.setSegment(32, new Trajectory.Segment(5.282490346493337, 31.999889477249255, - 99.99904748007395, -0.005172717116863623, 4.712434332083983, 0.01, 226.1002429903512, 214.71705102376558)); + left.setSegment(44, new Trajectory.Segment(9.902523748731664, 44.00019759926618, + 100.00120284583147, 0.004215869182644383, 4.712432908323944, 0.01, 245.90045064196113, 244.09793489685535)); + right.setSegment(44, new Trajectory.Segment(9.902476251268315, 43.99980240073376, + 99.99879715389923, -0.004215942510654713, 4.712432908323944, 0.01, 226.10045066106477, 244.0970651236584)); - left.setSegment(33, new Trajectory.Segment(5.6125108592197845, 33.0001205713124, - 100.00100485606609, 0.005233645055113811, 4.7124342102947745, 0.01, 245.90025791619422, 214.3879477820366)); - right.setSegment(33, new Trajectory.Segment(5.6124891407801645, 32.99987942868274, - 99.99899514334842, -0.005233672553117685, 4.7124342102947745, 0.01, 226.10025793644706, 214.38705222981721)); + left.setSegment(45, new Trajectory.Segment(10.352525849204948, 45.00021004732842, + 100.00124480622432, 0.004196039284920516, 4.712432696154923, 0.01, 245.90047036219042, 243.64793279681416)); + right.setSegment(45, new Trajectory.Segment(10.352474150795004, 44.99978995266887, + 99.99875519351065, -0.004196038858594875, 4.712432696154923, 0.01, 226.10047038111, 243.6470672245638)); - left.setSegment(34, new Trajectory.Segment(5.952512170703896, 34.000131148411164, - 100.0010577098763, 0.005285381021735702, 4.7124340778216345, 0.01, 245.90027327210237, 214.04794647089926)); - right.setSegment(34, new Trajectory.Segment(5.952487829296105, 33.9998688515941, - 99.99894229113622, -0.00528522122067443, 4.7124340778216345, 0.01, 226.10027329223675, 214.04705354164804)); + left.setSegment(46, new Trajectory.Segment(10.812528078327901, 46.000222912295364, + 100.00128649669406, 0.004169046974311641, 4.71243247099099, 0.01, 245.90049042007274, 243.1879305681285)); + right.setSegment(46, new Trajectory.Segment(10.81247192167207, 45.99977708770667, + 99.99871350377987, -0.004168973077867122, 4.71243247099099, 0.01, 226.10049043879792, 243.18706945412404)); - left.setSegment(35, new Trajectory.Segment(6.302513593285993, 35.000142258209735, - 100.00111097985709, 0.00532699807820336, 4.712433934126475, 0.01, 245.90028903133813, 213.69794504867195)); - right.setSegment(35, new Trajectory.Segment(6.302486406713996, 34.999857741789064, - 99.99888901949632, -0.00532716398993216, 4.712433934126475, 0.01, 226.10028905134445, 213.69705496458494)); + left.setSegment(47, new Trajectory.Segment(11.282530440234847, 47.0002361906947, + 100.00132783993365, 0.004134323958737696, 4.712432232414531, 0.01, 245.9005108050293, 242.71792820666363)); + right.setSegment(47, new Trajectory.Segment(11.282469559765111, 46.99976380930407, + 99.99867215974021, -0.004134403965849742, 4.712432232414531, 0.01, 226.10051082354963, 242.71707181647307)); - left.setSegment(36, new Trajectory.Segment(6.662515132325027, 36.000153903903396, - 100.0011645693661, 0.005358950900813397, 4.712433778667984, 0.01, 245.9003051870032, 213.33794350999543)); - right.setSegment(36, new Trajectory.Segment(6.66248486767496, 35.99984609609646, - 99.99883543073977, -0.00535887565433768, 4.712433778667984, 0.01, 226.10030520687138, 213.33705650398647)); + left.setSegment(48, new Trajectory.Segment(11.762532939018028, 48.00024987831802, + 100.00136876233228, 0.004092239862529823, 4.712431980012187, 0.01, 245.90053150588577, 242.23792570832683)); + right.setSegment(48, new Trajectory.Segment(11.762467060981937, 47.999750121682546, + 99.99863123784749, -0.004092189271887037, 4.712431980012187, 0.01, 226.10053152419053, 242.2370743157026)); - left.setSegment(37, new Trajectory.Segment(7.032516793201784, 37.000166087675595, - 100.00121837721991, 0.00538078538170339, 4.7124336109026554, 0.01, 245.90032173165375, 212.96794184948857)); - right.setSegment(37, new Trajectory.Segment(7.032483206798188, 36.99983391232279, - 99.998781622633, -0.005380810677024783, 4.7124336109026554, 0.01, 226.1003217513734, 212.96705816523314)); + left.setSegment(49, new Trajectory.Segment(12.252535578720009, 49.00026397019809, + 100.00140918800682, 0.0040425674541211265, 4.712431713375625, 0.01, 245.90055251085772, 241.74792306907506)); + right.setSegment(49, new Trajectory.Segment(12.252464421279933, 48.99973602979971, + 99.99859081171678, -0.004042613070964762, 4.712431713375625, 0.01, 226.1005525289362, 241.74707695585482)); - left.setSegment(38, new Trajectory.Segment(7.41251858130845, 38.00017881066663, - 100.00127229910376, 0.005392188384689689, 4.71243343028582, 0.01, 245.9003386572781, 212.58794006175884)); - right.setSegment(38, new Trajectory.Segment(7.412481418691534, 37.999821189334625, - 99.9987277011833, -0.005392144970528534, 4.71243343028582, 0.01, 226.10033867683848, 212.58705995371673)); + left.setSegment(50, new Trajectory.Segment(12.752538363325899, 50.00027846058893, + 100.00144903908392, 0.00398510771049132, 4.712431432102301, 0.01, 245.90057380753723, 241.2479202849227)); + right.setSegment(50, new Trajectory.Segment(12.752461636674024, 49.99972153940904, + 99.99855096093242, -0.003985078436130607, 4.712431432102301, 0.01, 226.1005738253785, 241.24707974091427)); - left.setSegment(39, new Trajectory.Segment(7.802520502038243, 39.00019207297939, - 100.00132623127556, 0.005393217179516796, 4.71243323627271, 0.01, 245.90035595527476, 212.19793814141266)); - right.setSegment(39, new Trajectory.Segment(7.8024794979617225, 38.999807927018814, - 99.99867376841891, -0.005393276438780958, 4.71243323627271, 0.01, 226.10035597466472, 212.19706187483015)); + left.setSegment(51, new Trajectory.Segment(13.262541296755785, 51.00029334298861, + 100.00148823996824, 0.003920088431641489, 4.712431135796253, 0.01, 245.90059538287954, 240.7379173519492)); + right.setSegment(51, new Trajectory.Segment(13.262458703244167, 50.99970665701433, + 99.99851176052914, -0.003920040327898278, 4.712431135796253, 0.01, 226.10059540047263, 240.7370826748005)); - left.setSegment(40, new Trajectory.Segment(8.202522560774696, 40.00020587364519, - 100.00138006658048, 0.005383530492508726, 4.712433028319535, 0.01, 245.90037361643064, 211.7979360830661)); - right.setSegment(40, new Trajectory.Segment(8.202477439225287, 39.99979412635644, - 99.99861993376271, -0.005383465619956951, 4.712433028319535, 0.01, 226.10037363563882, 211.79706393395648)); + left.setSegment(52, new Trajectory.Segment(13.782544382856779, 52.000308610099424, + 100.00152671108111, 0.0038471112873139646, 4.712430824068879, 0.01, 245.90061722319086, 240.21791426630685)); + right.setSegment(52, new Trajectory.Segment(13.78245561714315, 51.99969138989824, + 99.99847328839095, -0.0038472138186307347, 4.712430824068879, 0.01, 226.10061724052468, 240.21708576136015)); - left.setSegment(41, new Trajectory.Segment(8.612524762880792, 41.00022021060966, - 100.0014336964469, 0.0053629866414439675, 4.712432805884571, 0.01, 245.90039163090015, 211.38793388135576)); - right.setSegment(41, new Trajectory.Segment(8.612475237119146, 40.99977978938583, - 99.9985663029392, -0.005363082351550474, 4.712432805884571, 0.01, 226.10039164991483, 211.38706613645837)); + left.setSegment(53, new Trajectory.Segment(14.312547625395371, 53.00032425385918, + 100.00156437597596, 0.0037664894847466712, 4.712430496539728, 0.01, 245.90063931411666, 239.68791102422864)); + right.setSegment(53, new Trajectory.Segment(14.31245237460457, 52.99967574614212, + 99.99843562438784, -0.0037664003116333333, 4.712430496539728, 0.01, 226.1006393311802, 239.6870890043591)); - left.setSegment(42, new Trajectory.Segment(9.032527113688317, 42.00023508075257, - 100.00148701429055, 0.0053317843651257135, 4.712432568429269, 0.01, 245.90040998818446, 210.96793153094941)); - right.setSegment(42, new Trajectory.Segment(9.032472886311655, 41.99976491925092, - 99.99851298650881, -0.005331643038175571, 4.712432568429269, 0.01, 226.10041000699366, 210.96706848766704)); + left.setSegment(54, new Trajectory.Segment(14.852551028049472, 54.00034026540998, + 100.00160115507981, 0.003677910385135874, 4.7124301528372925, 0.01, 245.90066164063097, 239.1479076220361)); + right.setSegment(54, new Trajectory.Segment(14.85244897195046, 53.99965973458909, + 99.99839884469708, -0.003677969075965848, 4.7124301528372925, 0.01, 226.10066165741318, 239.14709240747476)); - left.setSegment(43, new Trajectory.Segment(9.462529618486258, 43.00025047979408, - 100.00153990415157, 0.005288986102414128, 4.712432315419374, 0.01, 245.9004286771114, 210.5379290265576)); - right.setSegment(43, new Trajectory.Segment(9.462470381513697, 42.99974952020406, - 99.9984600953141, -0.00528911947128563, 4.712432315419374, 0.01, 226.10042869570287, 210.53707099287112)); + left.setSegment(55, new Trajectory.Segment(15.402554594400568, 55.00035663510957, + 100.0016369699587, 0.0035814878884821155, 4.71242979259981, 0.01, 245.9006841870266, 238.59790405614712)); + right.setSegment(55, new Trajectory.Segment(15.402445405599355, 54.99964336488955, + 99.99836303004628, -0.0035814650800602976, 4.71242979259981, 0.01, 226.1006842035164, 238.59709597428798)); - left.setSegment(44, new Trajectory.Segment(9.902532282510059, 44.00026640238004, - 100.0015922585959, 0.00523544443353785, 4.712432046326061, 0.01, 245.90044768581635, 210.0979263629444)); - right.setSegment(44, new Trajectory.Segment(9.902467717489872, 43.999733597617464, - 99.99840774134015, -0.005235397395608743, 4.712432046326061, 0.01, 226.1004477041776, 210.09707365730554)); + left.setSegment(56, new Trajectory.Segment(15.962558327925711, 56.00037335251427, + 100.0016717404705, 0.0034770511803117188, 4.712429415476057, 0.01, 245.90070693690586, 238.03790032308407)); + right.setSegment(56, new Trajectory.Segment(15.962441672074196, 55.99962664748412, + 99.99832825945703, -0.0034770589252275386, 4.712429415476057, 0.01, 226.10070695309236, 238.03709970827524)); - left.setSegment(45, new Trajectory.Segment(10.352535110930026, 45.00028284199672, - 100.00164396166795, 0.0051703072045938825, 4.712431760627075, 0.01, 245.90046700172343, 209.647923534939)); - right.setSegment(45, new Trajectory.Segment(10.35246488906993, 44.999717158005886, - 99.99835603884222, -0.005170249792740833, 4.712431760627075, 0.01, 226.10046701984191, 209.64707648614004)); + left.setSegment(57, new Trajectory.Segment(16.53256223198973, 57.00039040640181, + 100.00170538875395, 0.003364828344842863, 4.712429021126154, 0.01, 245.90072987317285, 237.46789641948152)); + right.setSegment(57, new Trajectory.Segment(16.532437768010176, 56.99960959359797, + 99.99829461138461, -0.003364807241723611, 4.712429021126154, 0.01, 226.1007298890451, 237.4671036128007)); - left.setSegment(46, new Trajectory.Segment(10.812538108839904, 46.00029979098785, - 100.00169489911315, 0.005093744519513166, 4.712431457807894, 0.01, 245.900486611528, 209.1879205374471)); - right.setSegment(46, new Trajectory.Segment(10.812461891160027, 45.99970020900964, - 99.99830510037526, -0.005093846695558568, 4.712431457807894, 0.01, 226.10048662939087, 209.18707948446792)); + left.setSegment(58, new Trajectory.Segment(17.11256630983724, 58.000407784751374, + 100.00173783495612, 0.003244620216946714, 4.712428609222366, 0.01, 245.90075297802613, 236.8878923420942)); + right.setSegment(58, new Trajectory.Segment(17.11243369016267, 57.999592215249365, + 99.9982621651398, -0.0032446244802031288, 4.712428609222366, 0.01, 226.10075299357354, 236.8871076911084)); - left.setSegment(47, new Trajectory.Segment(11.282541281245422, 47.00031724055184, - 100.0017449563984, 0.005005728525020459, 4.712431137362893, 0.01, 245.90050650117965, 208.71791736546243)); - right.setSegment(47, new Trajectory.Segment(11.282458718754512, 46.99968275944859, - 99.99825504389506, -0.005005648020528497, 4.712431137362893, 0.01, 226.10050651877404, 208.71708265729427)); + left.setSegment(59, new Trajectory.Segment(17.70257056458462, 59.000425474737916, + 100.00176899865423, 0.003116369811095865, 4.712428179449905, 0.01, 245.9007762329531, 236.29788808780512)); + right.setSegment(59, new Trajectory.Segment(17.702429435415283, 58.99957452526103, + 99.99823100116672, -0.0031163973090997388, 4.712428179449905, 0.01, 226.10077624816512, 236.2971119463141)); - left.setSegment(48, new Trajectory.Segment(11.762544633052583, 48.00033518071615, - 100.00179401643123, 0.00490600328362234, 4.712430798796513, 0.01, 245.90052665586649, 208.2379140140784)); - right.setSegment(48, new Trajectory.Segment(11.762455366947364, 47.999664819285194, - 99.99820598366043, -0.0049060234630360355, 4.712430798796513, 0.01, 226.1005266731794, 208.23708600952455)); + left.setSegment(60, new Trajectory.Segment(18.302574999212112, 60.00044346274931, + 100.00179880113933, 0.00298024851019818, 4.712427731507735, 0.01, 245.90079961872493, 235.69788365363337)); + right.setSegment(60, new Trajectory.Segment(18.302425000787828, 59.99955653725451, + 99.9982011993481, -0.002980181861289566, 4.712427731507735, 0.01, 226.10079963359124, 235.69711638139728)); - left.setSegment(49, new Trajectory.Segment(12.252548169055986, 49.00035360034024, - 100.00184196240909, 0.004794597785462429, 4.712430441624452, 0.01, 245.90054706000018, 207.74791047849982)); - right.setSegment(49, new Trajectory.Segment(12.25245183094398, 48.99964639966152, - 99.99815803763283, -0.004794602759261579, 4.712430441624452, 0.01, 226.10054707701863, 207.74708954595275)); + left.setSegment(61, new Trajectory.Segment(18.912579616555888, 61.00046173437777, + 100.00182716284627, 0.002836170693854001, 4.712427265109373, 0.01, 245.90082311539288, 235.08787903674212)); + right.setSegment(61, new Trajectory.Segment(18.91242038344402, 60.999538265618924, + 99.99817283644106, -0.002836290704522071, 4.712427265109373, 0.01, 226.10082312990352, 235.08712099919362)); - left.setSegment(50, new Trajectory.Segment(12.752551893927055, 50.00037248710699, - 100.00188867667532, 0.004671426623303887, 4.712430065374848, 0.01, 245.9005676972024, 207.24790675405464)); - right.setSegment(50, new Trajectory.Segment(12.752448106072887, 49.999627512890704, - 99.99811132291825, -0.0046714714585505135, 4.712430065374848, 0.01, 226.1005677139134, 207.24709327124972)); + left.setSegment(62, new Trajectory.Segment(19.5325844193002, 62.00048027443127, + 100.0018540053496, 0.0026842503331181433, 4.712426779983684, 0.01, 245.900846702286, 234.46787423444647)); + right.setSegment(62, new Trajectory.Segment(19.532415580699695, 61.99951972556773, + 99.99814599488062, -0.002684156044097108, 4.712426779983684, 0.01, 226.1008467164312, 234.4671258023866)); - left.setSegment(51, new Trajectory.Segment(13.262555812202283, 51.00039182752272, - 100.00193404157258, 0.004536489726092441, 4.712429669589474, 0.01, 245.90058855029233, 206.73790283620573)); - right.setSegment(51, new Trajectory.Segment(13.262444187797684, 50.99960817247969, - 99.99806595889851, -0.0045364019740645745, 4.712429669589474, 0.01, 226.1005885666829, 206.73709718995124)); + left.setSegment(63, new Trajectory.Segment(20.162589409969364, 63.00049906691645, + 100.00187924851787, 0.002524316826679751, 4.712426275875686, 0.01, 245.90087035800963, 233.83786924422142)); + right.setSegment(63, new Trajectory.Segment(20.162410590030515, 62.99950093308203, + 99.99812075143026, -0.0025243450352263608, 4.712426275875686, 0.01, 226.10087037178005, 233.83713079349988)); - left.setSegment(52, new Trajectory.Segment(13.782559928271171, 52.000411606888804, - 100.00197793660845, 0.004389503587276522, 4.712429253824936, 0.01, 245.90060960127533, 206.21789872056294)); - right.setSegment(52, new Trajectory.Segment(13.782440071728749, 51.99958839310654, - 99.99802206268527, -0.0043896213242078375, 4.712429253824936, 0.01, 226.10060961733262, 206.21710130644627)); + left.setSegment(64, new Trajectory.Segment(20.802594590919977, 64.00051809506142, + 100.00190281449761, 0.002356597974539909, 4.712425752547338, 0.01, 245.9008940604457, 233.19786406370972)); + right.setSegment(64, new Trajectory.Segment(20.802405409079846, 63.999481904933226, + 99.9980971851194, -0.0023566310858313955, 4.712425752547338, 0.01, 226.10089407383236, 233.19713597488945)); - left.setSegment(53, new Trajectory.Segment(14.3125642463647, 53.000431809352854, - 100.00202024640501, 0.004230979655517331, 4.7124288176538744, 0.01, 245.9006308313333, 205.6878944028946)); - right.setSegment(53, new Trajectory.Segment(14.312435753635237, 52.99956819064886, - 99.99797975423164, -0.004230845362940272, 4.7124288176538744, 0.01, 226.1006308470447, 205.68710562496497)); + left.setSegment(65, new Trajectory.Segment(21.452599964333164, 65.0005373413186, + 100.00192462571817, 0.0021811220562995004, 4.7124252097783295, 0.01, 245.90091778675398, 232.54785869072956)); + right.setSegment(65, new Trajectory.Segment(21.45240003566665, 64.99946265868026, + 99.99807537470318, -0.0021810416228618124, 4.7124252097783295, 0.01, 226.10091779974843, 232.54714134873566)); - left.setSegment(54, new Trajectory.Segment(14.852568770542991, 54.000452417829166, - 100.00206084763121, 0.004060122620330731, 4.7124283606661646, 0.01, 245.90065222081608, 205.14788987913994)); - right.setSegment(54, new Trajectory.Segment(14.852431229456904, 53.99954758216677, - 99.99793915179112, -0.004060244052084272, 4.7124283606661646, 0.01, 226.10065223616908, 205.1471101495669)); + left.setSegment(66, new Trajectory.Segment(22.11260553220661, 66.00055678734485, + 100.00194460262435, 0.0019976906173724274, 4.712424647366868, 0.01, 245.90094151337505, 231.88785312328258)); + right.setSegment(66, new Trajectory.Segment(22.1123944677932, 65.99944321265532, + 99.99805539750639, -0.00199771967857032, 4.712424647366868, 0.01, 226.10094152596915, 231.88714691703558)); - left.setSegment(55, new Trajectory.Segment(15.40257350468386, 55.00047341408679, - 100.0020996257625, 0.0038778131283834227, 4.712427882470117, 0.01, 245.90067374923453, 204.5978851454204)); - right.setSegment(55, new Trajectory.Segment(15.40242649531602, 54.99952658591144, - 99.99790037446701, -0.0038777324107286404, 4.712427882470117, 0.01, 226.1006737642169, 204.59711488412913)); + left.setSegment(67, new Trajectory.Segment(22.78261129634711, 67.00057641404973, + 100.00196267048835, 0.0018067864004933654, 4.712424065130456, 0.01, 245.90096521603425, 231.21784735956135)); + right.setSegment(67, new Trajectory.Segment(22.7823887036527, 66.99942358594973, + 99.99803732944059, -0.001806806579907061, 4.712424065130456, 0.01, 226.10096522822056, 231.21715268159534)); - left.setSegment(56, new Trajectory.Segment(15.962578452470531, 56.000494778667175, - 100.0021364580384, 0.0036832275895903877, 4.712427382693686, 0.01, 245.9006953952552, 204.03788019805208)); - right.setSegment(56, new Trajectory.Segment(15.962421547529356, 55.999505221333656, - 99.99786354222167, -0.003683224534256624, 4.712427382693686, 0.01, 226.1006954098551, 204.03711983233413)); + left.setSegment(68, new Trajectory.Segment(23.46261725836267, 68.00059620155587, + 100.00197875061332, 0.0016080124964901188, 4.712423462906661, 0.01, 245.90098886974766, 230.53784139795718)); + right.setSegment(68, new Trajectory.Segment(23.462382741637125, 67.99940379844234, + 99.99802124926163, -0.0016080178966149106, 4.712423462906661, 0.01, 226.10098888151919, 230.5371586440223)); - left.setSegment(57, new Trajectory.Segment(16.532583617380027, 57.00051649094956, - 100.00217122823827, 0.003477019987485619, 4.712426860985658, 0.01, 245.90071713669656, 203.46787503355722)); - right.setSegment(57, new Trajectory.Segment(16.532416382619882, 56.99948350905252, - 99.99782877188608, -0.003477033558851872, 4.712426860985658, 0.01, 226.10071715090245, 203.46712499765823)); + left.setSegment(69, new Trajectory.Segment(24.15262341965514, 69.00061612924708, + 100.00199276912127, 0.0014018507954460802, 4.712422840553882, 0.01, 245.9010124488291, 229.84783523706759)); + right.setSegment(69, new Trajectory.Segment(24.15237658034458, 68.9993838707456, + 99.99800723032592, -0.001401893570118773, 4.712422840553882, 0.01, 226.1010124601796, 229.8471648057177)); - left.setSegment(58, new Trajectory.Segment(17.112589002671196, 58.00053852911684, - 100.00220381672804, 0.0032588489773388574, 4.712426317016852, 0.01, 245.90073895052691, 202.88786964867626)); - right.setSegment(58, new Trajectory.Segment(17.112410997328666, 57.99946147087827, - 99.99779618257563, -0.0032589310450248377, 4.712426317016852, 0.01, 226.10073896432775, 202.88713038335965)); + left.setSegment(70, new Trajectory.Segment(24.85262978141274, 70.00063617576006, + 100.00200465129865, 0.001188217737535524, 4.7124221979521055, 0.01, 245.90103592689908, 229.1478288757037)); + right.setSegment(70, new Trajectory.Segment(24.852370218587005, 69.99936382424241, + 99.99799534968048, -0.0011880645445216942, 4.7124221979521055, 0.01, 226.1010359378228, 229.147171167869)); - left.setSegment(59, new Trajectory.Segment(17.702594611373037, 59.00056087018407, - 100.00223410672291, 0.003028999486787143, 4.71242575048131, 0.01, 245.9007608128643, 202.29786404037947)); - right.setSegment(59, new Trajectory.Segment(17.70240538862679, 58.999439129812316, - 99.99776589340428, -0.0030289171348840682, 4.71242575048131, 0.01, 226.10076082624948, 202.29713599246656)); + left.setSegment(71, new Trajectory.Segment(25.562636344602414, 71.00065631896724, + 100.00201432071805, 0.0009669419398505852, 4.712421535003652, 0.01, 245.90105927689493, 228.437822312898)); + right.setSegment(71, new Trajectory.Segment(25.5623636553973, 70.99934368102933, + 99.9979856786922, -0.000967098827686641, 4.712421535003652, 0.01, 226.10105928738696, 228.43717773144266)); - left.setSegment(60, new Trajectory.Segment(18.302600446272994, 60.000583489995584, - 100.00226198115172, 0.002787442880958224, 4.712425161097476, 0.01, 245.90078269897785, 201.69785820587867)); - right.setSegment(60, new Trajectory.Segment(18.302399553726836, 59.99941651000449, - 99.99773801921705, -0.0027874187225052083, 4.712425161097476, 0.01, 226.1007827119374, 201.69714182776568)); + left.setSegment(72, new Trajectory.Segment(26.282643109962834, 72.00067653604214, + 100.00202170748906, 0.0007386771017081628, 4.71242085163391, 0.01, 245.901082471083, 227.71781554791116)); + right.setSegment(72, new Trajectory.Segment(26.282356890036834, 71.99932346395364, + 99.99797829243136, -0.0007386260847397352, 4.71242085163391, 0.01, 226.1010824811392, 227.7171844971767)); - left.setSegment(61, new Trajectory.Segment(18.91260650990519, 61.00060636321939, - 100.00228732238057, 0.002534122884867429, 4.712424548609375, 0.01, 245.90080458329143, 201.08785214263904)); - right.setSegment(61, new Trajectory.Segment(18.912393490094654, 60.99939363678165, - 99.99771267771607, -0.0025341500986542087, 4.712424548609375, 0.01, 226.1008045958159, 201.0871478917904)); + left.setSegment(73, new Trajectory.Segment(27.012650077997115, 73.00069680342818, + 100.00202673860485, 0.0005031115790643526, 4.712420147792063, 0.01, 245.9011054810722, 226.98780858023952)); + right.setSegment(73, new Trajectory.Segment(27.01234992200254, 72.99930319657057, + 99.99797326169215, -0.0005030739202993573, 4.712420147792063, 0.01, 226.10110549068912, 226.98719146557363)); - left.setSegment(62, new Trajectory.Segment(19.532612804539, 62.00062946338121, - 100.0023100161819, 0.002269380132702281, 4.7124239127877745, 0.01, 245.90082643938914, 200.46784584839045)); - right.setSegment(62, new Trajectory.Segment(19.53238719546079, 61.999370536613505, - 99.99768998318572, -0.00226945303438697, 4.7124239127877745, 0.01, 226.10082645146983, 200.4671541868095)); + left.setSegment(74, new Trajectory.Segment(27.752657248965615, 74.00071709685005, + 100.00202934218692, 0.0002603582061055931, 4.712419423451806, 0.01, 245.90112827782943, 226.24780140962216)); + right.setSegment(74, new Trajectory.Segment(27.75234275103397, 73.99928290314335, + 99.99797065727876, -0.00026044133960567706, 4.712419423451806, 0.01, 226.10112828700457, 226.24719863689333)); - left.setSegment(63, new Trajectory.Segment(20.1626193321677, 63.000652762870246, - 100.00232994890368, 0.0019932721784243768, 4.71242325343134, 0.01, 245.90084824002258, 199.83783932113894)); - right.setSegment(63, new Trajectory.Segment(20.162380667832085, 62.99934723712969, - 99.99767005161857, -0.0019931567152298157, 4.71242325343134, 0.01, 226.10084825165154, 199.83716071481538)); + left.setSegment(75, new Trajectory.Segment(28.50266462287932, 75.00073739137046, + 100.00202945204109, 0.000010985417020492605, 4.712418678612038, 0.01, 245.90115083169664, 225.49779403604757)); + right.setSegment(75, new Trajectory.Segment(28.502335377120232, 74.99926260862622, + 99.99797054828719, -0.000010899157132371329, 4.712418678612038, 0.01, 226.1011508404283, 225.49720601114618)); - left.setSegment(64, new Trajectory.Segment(20.80262609449695, 64.00067623292499, - 100.00234700547423, 0.0017056570555951112, 4.712422570367779, 0.01, 245.9008699571208, 199.19783255917815)); - right.setSegment(64, new Trajectory.Segment(20.8023739055028, 63.99932376707148, - 99.99765299417902, -0.0017057439549716946, 4.712422570367779, 0.01, 226.10086996829085, 199.19716747751312)); + left.setSegment(76, new Trajectory.Segment(29.26267219949268, 76.00075766133631, + 100.00202699658445, -0.00024554566380174947, 4.712417913297556, 0.01, 245.90117311240968, 224.7377864597608)); + right.setSegment(76, new Trajectory.Segment(29.26232780050685, 75.99924233866156, + 99.9979730035335, 0.00024552463173677097, 4.712417913297556, 0.01, 226.1011731206971, 224.73721358808615)); - left.setSegment(65, new Trajectory.Segment(21.452633092933795, 65.00069984368434, - 100.00236107593565, 0.0014070461418214109, 4.712421863454965, 0.01, 245.90089156180179, 198.54782556110035)); - right.setSegment(65, new Trajectory.Segment(21.452366907065947, 64.99930015631453, - 99.99763892430522, -0.0014069873799371635, 4.712421863454965, 0.01, 226.10089157250664, 198.547174476309)); + left.setSegment(77, new Trajectory.Segment(30.032679978297203, 77.00077788045245, + 100.00202191161378, -0.0005084970666757727, 4.712417127559723, 0.01, 245.90119508911906, 223.9677786812699)); + right.setSegment(77, new Trajectory.Segment(30.032320021702308, 76.99922211954575, + 99.9979780884189, 0.0005084885401629435, 4.712417127559723, 0.01, 226.10119509696247, 223.9672213672043)); - left.setSegment(66, new Trajectory.Segment(22.112640328575587, 66.00072356417915, - 100.00237204948093, 0.0010973545272463525, 4.712421132582055, 0.01, 245.90091302438665, 197.88781832580753)); - right.setSegment(66, new Trajectory.Segment(22.112359671424098, 65.99927643581493, - 99.99762795004017, -0.001097426505225485, 4.712421132582055, 0.01, 226.1009130346209, 197.88718171229982)); + left.setSegment(78, new Trajectory.Segment(30.812687958514935, 78.0007980217732, + 100.00201413207606, -0.0007779537725127739, 4.712416321477123, 0.01, 245.9012167304123, 223.18777070135238)); + right.setSegment(78, new Trajectory.Segment(30.81231204148457, 77.99920197822638, + 99.99798586806321, 0.0007779644306538103, 4.712416321477123, 0.01, 226.1012167378129, 223.18722934772225)); - left.setSegment(67, new Trajectory.Segment(22.78264780219922, 67.00074736236346, - 100.00237981843014, 0.0007768949217279442, 4.712420377670576, 0.01, 245.90093431441568, 197.21781085252215)); - right.setSegment(67, new Trajectory.Segment(22.782352197800446, 66.99925263763471, - 99.99762018197771, -0.0007768062459945213, 4.712420377670576, 0.01, 226.100934324175, 197.21718918626172)); + left.setSegment(79, new Trajectory.Segment(31.602696139092018, 79.00081805770814, + 100.00200359349378, -0.0010538582273511565, 4.712415495156203, 0.01, 245.90123800433852, 222.39776252106174)); + right.setSegment(79, new Trajectory.Segment(31.602303860907423, 78.9991819422852, + 99.99799640588236, 0.001053781915061336, 4.712415495156203, 0.01, 226.10123801129853, 222.39723752858583)); - left.setSegment(68, new Trajectory.Segment(23.46265551425031, 68.00077120510886, - 100.00238427454065, 0.0004456110502815136, 4.7124195986755115, 0.01, 245.90095540066713, 196.537803140798)); - right.setSegment(68, new Trajectory.Segment(23.4623444857493, 67.99922879488511, - 99.99761572504013, -0.0004456937574559561, 4.7124195986755115, 0.01, 226.10095540994817, 196.5371968986398)); + left.setSegment(80, new Trajectory.Segment(32.402704518692694, 80.00083796006736, + 100.00199023592131, -0.0013357572470340529, 4.712414648731889, 0.01, 245.9012588784344, 221.5977541417334)); + right.setSegment(80, new Trajectory.Segment(32.40229548130669, 79.9991620399267, + 99.99800976414974, 0.0013358267381136102, 4.712414648731889, 0.01, 226.10125888495716, 221.5972459084589)); - left.setSegment(69, new Trajectory.Segment(24.15266346483301, 69.00079505826984, - 100.00238531609824, 0.0001041557595726772, 4.71241879558635, 0.01, 245.9009762511781, 195.84779519053032)); - right.setSegment(69, new Trajectory.Segment(24.15233653516659, 68.99920494172935, - 99.9976146844233, -0.00010406168371446256, 4.71241879558635, 0.01, 226.10097625997864, 195.84720484953752)); + left.setSegment(81, new Trajectory.Segment(33.212713095693225, 81.00085770005315, + 100.00197399857882, -0.001623734249278641, 4.712413782368196, 0.01, 245.90127931975255, 220.7877455649908)); + right.setSegment(81, new Trajectory.Segment(33.2122869043061, 80.99914229994123, + 99.99802600145244, 0.0016237302702393208, 4.712413782368196, 0.01, 226.1012793258424, 220.7872544857174)); - left.setSegment(70, new Trajectory.Segment(24.85267165369948, 70.00081888664688, - 100.00238283770386, -0.0002478394378613302, 4.71241796842812, 0.01, 245.90099683326798, 195.14778700196644)); - right.setSegment(70, new Trajectory.Segment(24.852328346300105, 69.99918111335141, - 99.99761716220661, 0.00024777833118605486, 4.71241796842812, 0.01, 226.100996841587, 195.14721303870658)); + left.setSegment(82, new Trajectory.Segment(34.03272186817625, 82.00087724830252, + 100.00195482493694, -0.0019173641874203895, 4.712412896258799, 0.01, 245.90129929489143, 219.96773679275105)); + right.setSegment(82, new Trajectory.Segment(34.03227813182306, 81.99912275169639, + 99.99804517551638, 0.0019174063936588936, 4.712412896258799, 0.01, 226.10129930055393, 219.96726325844372)); - left.setSegment(71, new Trajectory.Segment(25.562680080240085, 71.0008426540603, - 100.0023767413424, -0.0006096361460095068, 4.712417117262403, 0.01, 245.90101711356428, 194.43777857571547)); - right.setSegment(71, new Trajectory.Segment(25.562319919759496, 70.99915734593901, - 99.99762325875992, 0.0006096553306633723, 4.712417117262403, 0.01, 226.10101712140195, 194.43722146553682)); + left.setSegment(83, new Trajectory.Segment(34.86273083392504, 83.00089657487867, + 100.0019326576151, -0.002216732184479042, 4.712411990627608, 0.01, 245.90131877002753, 219.13772782723075)); + right.setSegment(83, new Trajectory.Segment(34.862269166074235, 82.99910342511723, + 99.99806734208363, 0.0022166567248405045, 4.712411990627608, 0.01, 226.10131877526928, 219.13727222442103)); - left.setSegment(72, new Trajectory.Segment(26.282688743473503, 72.00086632334182, - 100.00236692815179, -0.000981319061565955, 4.712416242188313, 0.01, 245.90103705803108, 193.71776991275829)); - right.setSegment(72, new Trajectory.Segment(26.28231125652596, 71.9991336766466, - 99.99763307075824, 0.0009811998324948945, 4.712416242188313, 0.01, 226.10103706538882, 193.71723012904658)); + left.setSegment(84, new Trajectory.Segment(35.702739990418266, 84.00091564932218, + 100.00190744435145, -0.0025213263654677576, 4.712411065729295, 0.01, 245.9013377109491, 218.29771867095107)); + right.setSegment(84, new Trajectory.Segment(35.70226000958087, 83.9990843506634, + 99.99809255461685, 0.0025212533216745214, 4.712411065729295, 0.01, 226.10133771577793, 218.29728138112793)); - left.setSegment(73, new Trajectory.Segment(27.012697642037587, 73.00088985640838, - 100.00235330665532, -0.001362149646411126, 4.71241534334346, 0.01, 245.90105663200004, 192.98776101445662)); - right.setSegment(73, new Trajectory.Segment(27.012302357961914, 72.99911014359542, - 99.99764669488229, 0.00136241240511481, 4.71241534334346, 0.01, 226.10105663888058, 192.98723902787304)); + left.setSegment(85, new Trajectory.Segment(36.55274933482509, 85.00093444068226, + 100.00187913600769, -0.0028308343757998955, 4.71241012184982, 0.01, 245.90135608309228, 217.4477093267428)); + right.setSegment(85, new Trajectory.Segment(36.55225066517408, 84.99906555932068, + 99.99812086572888, 0.0028311112032497476, 4.71241012184982, 0.01, 226.1013560875172, 217.44729072573327)); - left.setSegment(74, new Trajectory.Segment(27.752706774179526, 74.00091321419396, - 100.00233577855795, -0.001752809737354255, 4.712414420904874, 0.01, 245.90107580020378, 192.24775188256294)); - right.setSegment(74, new Trajectory.Segment(27.75229322581985, 73.99908678579389, - 99.9976642198476, 0.001752496530116332, 4.712414420904874, 0.01, 226.10107580661128, 192.24724816026335)); + left.setSegment(86, new Trajectory.Segment(37.4127588639998, 86.00095291747121, + 100.00184767889522, -0.0031457112470434367, 4.712409159306918, 0.01, 245.90137385157902, 216.58769979775164)); + right.setSegment(86, new Trajectory.Segment(37.41224113599935, 85.99904708252707, + 99.99815232063867, 0.003145490978795351, 4.712409159306918, 0.01, 226.10137385561018, 216.58730025509155)); - left.setSegment(75, new Trajectory.Segment(28.502716137747726, 75.0009363568201, - 100.00231426261479, -0.0021515943160466122, 4.712413475089902, 0.01, 245.90109452681233, 191.49774251922852)); - right.setSegment(75, new Trajectory.Segment(28.502283862251627, 74.99906364317742, - 99.99768573835297, 0.0021518505377571273, 4.712413475089902, 0.01, 226.10109453275223, 191.49725752406536)); + left.setSegment(87, new Trajectory.Segment(38.28276857447761, 87.00097104778101, + 100.00181303097975, -0.0034647915470031876, 4.712408178450568, 0.01, 245.90139098125692, 215.71769008744246)); + right.setSegment(87, new Trajectory.Segment(38.28223142552145, 86.99902895220968, + 99.9981869682614, 0.0034647622726424743, 4.712408178450568, 0.01, 226.10139098490575, 215.71730996573808)); - left.setSegment(76, new Trajectory.Segment(29.262725730182662, 76.00095924349367, - 100.00228866735625, -0.0025595258534849563, 4.712412506157077, 0.01, 245.90111277547177, 190.73773292701267)); - right.setSegment(76, new Trajectory.Segment(29.26227426981663, 75.99904075650038, - 99.99771133229558, 0.0025593942609702935, 4.712412506157077, 0.01, 226.10111278095107, 190.73726711671944)); + left.setSegment(88, new Trajectory.Segment(39.162778462470186, 88.00098879925767, + 100.0017751476662, -0.003788331355281116, 4.712407179663434, 0.01, 245.90140743674127, 214.83768019960374)); + right.setSegment(88, new Trajectory.Segment(39.16222153752876, 87.99901120073079, + 99.9982248521107, 0.0037883849302033923, 4.712407179663434, 0.01, 226.10140744002027, 214.83731985388462)); - left.setSegment(77, new Trajectory.Segment(30.032735548508953, 77.00098183262885, - 100.00225891351846, -0.0029753837793577986, 4.712411514406945, 0.01, 245.90113050934596, 189.9677231088906)); - right.setSegment(77, new Trajectory.Segment(30.032264451490303, 76.99901816736735, - 99.99774108669754, 0.002975440196451018, 4.712411514406945, 0.01, 226.101130514373, 189.96727693524997)); + left.setSegment(89, new Trajectory.Segment(40.05278852386148, 89.0010061391297, + 100.00173398720307, -0.004116046312674371, 4.712406163361279, 0.01, 245.90142318245876, 213.94767013835173)); + right.setSegment(89, new Trajectory.Segment(40.05221147613741, 88.99899386086501, + 99.99826601342221, 0.0041161311514770205, 4.712406163361279, 0.01, 226.1014231853818, 213.94732991541525)); - left.setSegment(78, new Trajectory.Segment(30.812745589327342, 78.00100408183883, - 100.00222492099766, -0.003399252079816506, 4.712410500182863, 0.01, 245.90114769116067, 189.18771306826144)); - right.setSegment(78, new Trajectory.Segment(30.812254410671866, 77.99899591815642, - 99.99777507890713, 0.0033992209580446797, 4.712410500182863, 0.01, 226.10114769574537, 189.18728697625764)); + left.setSegment(90, new Trajectory.Segment(40.95279875420396, 90.00102303424777, + 100.00168951180655, -0.004447539652119303, 4.712405129993348, 0.01, 245.90143818269377, 213.04765990813425)); + right.setSegment(90, new Trajectory.Segment(40.95220124579483, 89.99897696574247, + 99.99831048774581, 0.004447432360166204, 4.712405129993348, 0.01, 226.1014381852758, 213.04734014588283)); - left.setSegment(79, new Trajectory.Segment(31.602755848807295, 79.00102594799536, - 100.00218661565299, -0.0038305344673972286, 4.712409463871753, 0.01, 245.9011642832506, 188.39770280895573)); - right.setSegment(79, new Trajectory.Segment(31.6022441511918, 78.99897405199353, - 99.99781338371037, 0.0038304803240407637, 4.712409463871753, 0.01, 226.10116428740437, 188.39729723591194)); + left.setSegment(91, new Trajectory.Segment(41.862809148715066, 91.00103945111039, + 100.00164168626213, -0.004782554441362663, 4.712404080042727, 0.01, 245.90145240163596, 212.13764951373423)); + right.setSegment(91, new Trajectory.Segment(41.862190851283636, 90.99896054888004, + 99.99835831375634, 0.004782601052966129, 4.712404080042727, 0.01, 226.10145240389315, 212.1373505405051)); - left.setSegment(80, new Trajectory.Segment(32.402766322679895, 80.00104738726002, - 100.00214392646569, -0.004268918729621873, 4.712408405904817, 0.01, 245.90118024760923, 187.5976923352424)); - right.setSegment(80, new Trajectory.Segment(32.402233677319124, 79.9989526127326, - 99.99785607390663, 0.004269019626690351, 4.712408405904817, 0.01, 226.10118025134503, 187.5973077099439)); + left.setSegment(92, new Trajectory.Segment(42.78281970227405, 92.00105535589789, + 100.0015904787503, -0.005120751183085304, 4.712403014026665, 0.01, 245.90146580343037, 211.21763896027286)); + right.setSegment(92, new Trajectory.Segment(42.782180297724594, 91.99894464409607, + 99.99840952160355, 0.0051207847207024315, 4.712403014026665, 0.01, 226.1014658053801, 211.21736109416176)); - left.setSegment(81, new Trajectory.Segment(33.21277700623119, 81.00106835512965, - 100.00209678696308, -0.004713950261248101, 4.712407326758218, 0.01, 245.90119554594122, 186.78768165183558)); - right.setSegment(81, new Trajectory.Segment(33.21222299376771, 80.99893164485886, - 99.99790321262623, 0.00471387195943862, 4.712407326758218, 0.01, 226.10119554927348, 186.78731839363977)); + left.setSegment(93, new Trajectory.Segment(43.712830409419, 93.00107071449521, + 100.00153585973237, -0.005461901793069046, 4.712401932496869, 0.01, 245.90147835222933, 210.28762825321257)); + right.setSegment(93, new Trajectory.Segment(43.712169590579585, 92.99892928549893, + 99.9984641402861, 0.005461868255451918, 4.712401932496869, 0.01, 226.10147835389012, 210.28737180139143)); - left.setSegment(82, new Trajectory.Segment(34.03278789429587, 82.00108880646766, - 100.00204513380169, -0.005165316139255083, 4.7124062269537, 0.01, 245.90121013971773, 185.96767076390077)); - right.setSegment(82, new Trajectory.Segment(34.03221210570297, 81.9989111935258, - 99.99795486669427, 0.005165406804508166, 4.7124062269537, 0.01, 226.10121014266244, 185.96732928183437)); + left.setSegment(94, new Trajectory.Segment(44.652841264344346, 94.00108549253446, + 100.00147780392439, -0.005805580798323717, 4.712400836039759, 0.01, 245.9014900122463, 209.34761739835955)); + right.setSegment(94, new Trajectory.Segment(44.65215873565414, 93.99891450745582, + 99.99852219568908, 0.005805540297387779, 4.712400836039759, 0.01, 226.10149001363783, 209.3473826563892)); - left.setSegment(83, new Trajectory.Segment(34.86279898125151, 83.00110869556364, - 100.00198890959808, -0.005622420360396063, 4.712405107059185, 0.01, 245.90122399023443, 185.1376596770607)); - right.setSegment(83, new Trajectory.Segment(34.862201018747186, 82.99889130442152, - 99.998011089572, 0.00562228777312157, 4.712405107059185, 0.01, 226.10122399280914, 185.1373403689057)); + left.setSegment(95, new Trajectory.Segment(45.60285226089855, 95.00109965542046, + 100.00141628860035, -0.006151532403464444, 4.712399725276699, 0.01, 245.90150074781187, 208.397606401866)); + right.setSegment(95, new Trajectory.Segment(45.602147739099756, 94.99890034456138, + 99.99858371055552, 0.006151486644512261, 4.712399725276699, 0.01, 226.10150074895486, 208.39739365300423)); - left.setSegment(84, new Trajectory.Segment(35.70281026101338, 84.0011279761873, - 100.00192806236612, -0.006084723196408959, 4.712403967689301, 0.01, 245.9012370586724, 184.29764839740048)); - right.setSegment(84, new Trajectory.Segment(35.70218973898535, 83.99887202381706, - 99.99807193955377, 0.006084998176447698, 4.712403967689301, 0.01, 226.1012370608961, 184.2973516487692)); + left.setSegment(96, new Trajectory.Segment(46.56286339258243, 96.00111316838759, + 100.00135129671293, -0.006499188742736806, 4.712398600864182, 0.01, 245.9015105234313, 207.4375952702319)); + right.setSegment(96, new Trajectory.Segment(46.562136607415795, 95.99888683160357, + 99.9986487042193, 0.006499366378420746, 4.712398600864182, 0.01, 226.10151052434762, 207.43740478473796)); - left.setSegment(85, new Trajectory.Segment(36.55282172702927, 85.00114660158853, - 100.00186254012249, -0.006552224363076675, 4.712402809505873, 0.01, 245.9012493061615, 183.44763693147283)); - right.setSegment(85, new Trajectory.Segment(36.55217827296937, 84.99885339840148, - 99.99813745844222, 0.006551888844796849, 4.712402809505873, 0.01, 226.10124930805483, 183.4473631148734)); + left.setSegment(97, new Trajectory.Segment(47.53287465254726, 97.00112599648267, + 100.00128280950804, -0.006848720488505933, 4.712397463493987, 0.01, 245.90151930384457, 206.4675840103068)); + right.setSegment(97, new Trajectory.Segment(47.53212534745081, 96.99887400350116, + 99.99871718975868, 0.006848553937288671, 4.712397463493987, 0.01, 226.10151930455697, 206.4674160447427)); - left.setSegment(86, new Trajectory.Segment(37.41283337227558, 86.00116452463081, - 100.00179230422788, -0.007023589461141455, 4.712401633218356, 0.01, 245.90126069384698, 182.58762528630191)); - right.setSegment(86, new Trajectory.Segment(37.41216662772284, 85.9988354753472, - 99.99820769457273, 0.007023613051160282, 4.712401633218356, 0.01, 226.10126069543193, 182.58737476019533)); + left.setSegment(98, new Trajectory.Segment(48.51288603359413, 98.00113810468716, + 100.0012108204487, -0.007198905933591959, 4.71239631389329, 0.01, 245.90152705408752, 205.48757262929058)); + right.setSegment(98, new Trajectory.Segment(48.512113966403874, 97.99886189530646, + 99.99878918053042, 0.007199077174391277, 4.71239631389329, 0.01, 226.10152705461996, 205.48742742582027)); - left.setSegment(87, new Trajectory.Segment(38.28284518925355, 87.001181697797, - 100.00171731661851, -0.007498760936641702, 4.7124004395842185, 0.01, 245.90127118295825, 181.71761346938717)); - right.setSegment(87, new Trajectory.Segment(38.28215481074486, 86.99881830220205, - 99.9982826854847, 0.007499091196905283, 4.7124004395842185, 0.01, 226.10127118425825, 181.71738657723654)); + left.setSegment(99, new Trajectory.Segment(49.502897528172646, 99.00114945785168, + 100.0011353164524, -0.007550399629963067, 4.712395152824741, 0.01, 245.90153373955584, 204.49756113473464)); + right.setSegment(99, new Trajectory.Segment(49.502102471825104, 98.99885054212291, + 99.99886468164476, 0.007550111433829443, 4.712395152824741, 0.01, 226.10153373993305, 204.49743892042162)); - left.setSegment(88, new Trajectory.Segment(39.1628571699855, 88.0011980731949, - 100.00163753979052, -0.007977682798809838, 4.7123992294092645, 0.01, 245.90128073488071, 180.83760148870707)); - right.setSegment(88, new Trajectory.Segment(39.16214283001273, 87.99880192678671, - 99.9983624584658, 0.007977298110972697, 4.7123992294092645, 0.01, 226.10128073592065, 180.8373985580205)); + left.setSegment(100, new Trajectory.Segment(50.50290912838128, 100.00116002086381, + 100.00105630121254, -0.007901523986220127, 4.712393981086501, 0.01, 245.90153932607006, 203.4975495345416)); + right.setSegment(100, new Trajectory.Segment(50.50209087161658, 99.9988399791477, + 99.99894370247944, 0.007902083467570264, 4.712393981086501, 0.01, 226.10153932631766, 203.49745052064574)); - left.setSegment(89, new Trajectory.Segment(40.05286930601295, 89.00121360274477, - 100.001552954987, -0.008458480351691833, 4.712398003547903, 0.01, 245.90128931123024, 179.94758935272094)); - right.setSegment(89, new Trajectory.Segment(40.05213069398525, 88.9987863972517, - 99.99844704649945, 0.00845880336441951, 4.712398003547903, 0.01, 226.10128931203627, 179.9474106940893)); + left.setSegment(101, new Trajectory.Segment(51.512920825966454, 101.0011697585171, + 100.00097376532864, -0.008253588390516597, 4.712392799512234, 0.01, 245.9015437799427, 202.48753783696625)); + right.setSegment(101, new Trajectory.Segment(51.51207917403125, 100.99883024146693, + 99.99902623192298, 0.008252944354580904, 4.712392799512234, 0.01, 226.10154378008707, 202.4874622182409)); - left.setSegment(90, new Trajectory.Segment(40.95288158839389, 90.00122823809407, - 100.00146353493022, -0.008942005678136411, 4.712396762903353, 0.01, 245.9012968739301, 179.04757707037177)); - right.setSegment(90, new Trajectory.Segment(40.95211841160409, 89.99877176188399, - 99.99853646322805, 0.008941672859918981, 4.712396762903353, 0.01, 226.10129687452974, 179.04742297650225)); + left.setSegment(102, new Trajectory.Segment(52.53293261232415, 102.00117863576983, + 100.00088772527391, -0.008604005472534482, 4.712391608971055, 0.01, 245.90154706804694, 201.46752605061386)); + right.setSegment(102, new Trajectory.Segment(52.5320673876736, 101.99882136423486, + 99.99911227679235, 0.008604486936292233, 4.712391608971055, 0.01, 226.10154706811537, 201.46747400460384)); - left.setSegment(91, new Trajectory.Segment(41.862894007701975, 91.00124193080782, - 100.00136927137504, -0.009426355518371565, 4.712395508427788, 0.01, 245.90130338529076, 178.137564651087)); - right.setSegment(91, new Trajectory.Segment(41.86210599229598, 90.99875806918932, - 99.99863073053348, 0.0094267305428275, 4.712395508427788, 0.01, 226.10130338571264, 178.13743539583365)); + left.setSegment(103, new Trajectory.Segment(53.56294447849995, 103.00118661758005, + 100.00079818102137, -0.008954425254614762, 4.7123904103674406, 0.01, 245.90154915788753, 200.43751418444018)); + right.setSegment(103, new Trajectory.Segment(53.56205552149783, 102.99881338242356, + 99.99920181887063, 0.00895420782853762, 4.7123904103674406, 0.01, 226.10154915790775, 200.43748587078173)); - left.setSegment(92, new Trajectory.Segment(42.78290655402509, 92.00125463231163, - 100.0012701503806, -0.00991209944345428, 4.7123942411224125, 0.01, 245.90130880809184, 177.21755210477986)); - right.setSegment(92, new Trajectory.Segment(42.782093445972684, 91.99874536767052, - 99.99872984812015, 0.00991175866715821, 4.7123942411224125, 0.01, 226.10130880836581, 177.21744794217292)); + left.setSegment(104, new Trajectory.Segment(54.60295641519017, 104.00119366902203, + 100.00070514419832, -0.009303682304562244, 4.712389204641086, 0.01, 245.90155001767258, 199.3975022477503)); + right.setSegment(104, new Trajectory.Segment(54.60204358480626, 103.9988063308428, + 99.99929484192336, 0.009302305272740341, 4.712389204641086, 0.01, 226.10155001767308, 199.39749780747366)); - left.setSegment(93, new Trajectory.Segment(43.712919216965794, 93.00126629407079, - 100.00116617591601, -0.0103974464593648, 4.7123929620374785, 0.01, 245.90131310566704, 176.28753944184908)); - right.setSegment(93, new Trajectory.Segment(43.712080783031666, 92.9987337058985, - 99.9988338227979, 0.010397467775646874, 4.7123929620374785, 0.01, 226.10131310582398, 176.28746060512387)); + left.setSegment(105, new Trajectory.Segment(55.65296841274545, 105.0011997555279, + 100.00060865058771, -0.009649361061292439, 4.712387992766719, 0.01, 245.9015496163876, 198.3474902501951)); + right.setSegment(105, new Trajectory.Segment(55.652031587249056, 104.99880024427937, + 99.9993913436569, 0.00965017335374796, 4.712387992766719, 0.01, 226.10154961639725, 198.34750980503094)); - left.setSegment(94, new Trajectory.Segment(44.65293198564195, 94.00127686761576, - 100.00105735449694, -0.010882141907586629, 4.712391672272223, 0.01, 245.90131624199114, 175.34752667317815)); - right.setSegment(94, new Trajectory.Segment(44.65206801435579, 93.9987231324127, - 99.99894265142046, 0.010882862255812142, 4.712391672272223, 0.01, 226.10131624206286, 175.34747337380497)); + left.setSegment(106, new Trajectory.Segment(56.71298046117293, 106.00120484274822, + 100.00050872203161, -0.009992855609652906, 4.712386775753866, 0.01, 245.90154792387065, 197.28747820176898)); + right.setSegment(106, new Trajectory.Segment(56.71201953882206, 105.99879515730078, + 99.99949130214105, 0.009995848415655928, 4.712386775753866, 0.01, 226.1015479239188, 197.28752185345928)); - left.setSegment(95, new Trajectory.Segment(45.602944848687, 95.00128630450511, - 100.0009436889357, -0.011366556122993643, 4.712390372974744, 0.01, 245.90131818176945, 174.39751381013508)); - right.setSegment(95, new Trajectory.Segment(45.60205515131076, 94.99871369549645, - 99.99905630837418, 0.011365695371523543, 4.712390372974744, 0.01, 226.10131818178866, 174.397486236852)); + left.setSegment(107, new Trajectory.Segment(57.782992550134246, 107.00120889613132, + 100.0004053383094, -0.0103383722205308, 4.712385554646567, 0.01, 245.9015449108892, 196.2174661128119)); + right.setSegment(107, new Trajectory.Segment(57.782007449858874, 106.99879110368116, + 99.99959463803805, 0.010333589699484946, 4.712385554646567, 0.01, 226.1015449110054, 196.2175339424267)); - left.setSegment(96, new Trajectory.Segment(46.56295779425253, 96.00129455655292, - 100.0008252047806, -0.011848415510939958, 4.712389065341792, 0.01, 245.9013188905297, 173.4375008645698)); - right.setSegment(96, new Trajectory.Segment(46.562042205743836, 95.9987054433077, - 99.99917478112508, 0.011847275089849063, 4.712389065341792, 0.01, 226.10131889052974, 173.43749918241917)); + left.setSegment(108, new Trajectory.Segment(58.86300466895732, 108.00121188230742, + 100.00029861760993, -0.010672069947759155, 4.712384330523038, 0.01, 245.90154054921825, 195.13745399399764)); + right.setSegment(108, new Trajectory.Segment(58.86199533103604, 107.99878811771713, + 99.99970140359693, 0.010676555888267103, 4.712384330523038, 0.01, 226.10154054943231, 195.13754606125835)); - left.setSegment(97, new Trajectory.Segment(47.532970810012294, 97.00130157597643, - 100.00070194235064, -0.012326242995186476, 4.712387750618501, 0.01, 245.90131833471577, 172.4674878488102)); - right.setSegment(97, new Trajectory.Segment(47.532029189982396, 96.99869842385624, - 99.99929805485408, 0.012327372900244882, 4.712387750618501, 0.01, 226.10131833473076, 172.46751219818077)); + left.setSegment(109, new Trajectory.Segment(59.953016806631894, 109.00121376745713, + 100.00018851497146, -0.011010263847310853, 4.712383104495286, 0.01, 245.90153481171987, 194.04744185633817)); + right.setSegment(109, new Trajectory.Segment(59.95198319336115, 108.99878623251107, + 99.99981147939394, 0.011007579701072245, 4.712383104495286, 0.01, 226.10153481206166, 194.04755819894834)); - left.setSegment(98, new Trajectory.Segment(48.51298388316515, 98.00130731528506, - 100.00057393086337, -0.012801148727703549, 4.71238643009802, 0.01, 245.9013164817841, 171.4874747756591)); - right.setSegment(98, new Trajectory.Segment(48.512016116829734, 97.99869268473353, - 99.9994260877287, 0.012803287461338186, 4.71238643009802, 0.01, 226.1013164818485, 171.4875252713352)); + left.setSegment(110, new Trajectory.Segment(61.05302895181962, 110.00121451877231, + 100.00007513151843, -0.011338345302647213, 4.712381877708666, 0.01, 245.90152767242384, 192.9474297111736)); + right.setSegment(110, new Trajectory.Segment(61.05197104817377, 109.99878548126141, + 99.9999248750342, 0.011339564025547588, 4.712381877708666, 0.01, 226.10152767292325, 192.9475703441589)); - left.setSegment(99, new Trajectory.Segment(49.502997000436245, 99.00131172711002, - 100.00044118249605, -0.013274836732080075, 4.712385105121081, 0.01, 245.90131330030152, 170.49746165839312)); - right.setSegment(99, new Trajectory.Segment(49.50200299955745, 98.99868827277162, - 99.99955880380895, 0.013271608025888781, 4.712385105121081, 0.01, 226.10131330045022, 170.49753838861258)); + left.setSegment(111, new Trajectory.Segment(62.16304109285542, 111.0012141035806, + 99.9999584808279, -0.011665069052924082, 4.712380651341384, 0.01, 245.9015191066097, 191.83741757017086)); + right.setSegment(111, new Trajectory.Segment(62.16195890713741, 110.99878589636445, + 100.00004151030453, 0.011663527033078935, 4.712380651341384, 0.01, 226.10151910729647, 191.8375824852283)); - left.setSegment(100, new Trajectory.Segment(50.50301014808781, 100.00131476515617, - 100.00030380461453, -0.013737788151502173, 4.712383777075477, 0.01, 245.90130876004537, 169.49744851075187)); - right.setSegment(100, new Trajectory.Segment(50.50198985190604, 99.99868523485881, - 99.99969620871951, 0.013740491056069004, 4.712383777075477, 0.01, 226.10130876031343, 169.4975515362743)); + left.setSegment(112, new Trajectory.Segment(63.28305321775607, 112.00121249006445, + 99.99983864838526, -0.011983244263547022, 4.71237942660394, 0.01, 245.90150909088962, 190.717405445315)); + right.setSegment(112, new Trajectory.Segment(63.281946782236645, 111.99878750992305, + 100.00016135585952, 0.011984555499111593, 4.71237942660394, 0.01, 226.10150909179325, 190.71759461017385)); - left.setSegment(101, new Trajectory.Segment(51.51302331192002, 101.00131638322145, - 100.00016180652835, -0.014199808617831877, 4.712382447395456, 0.01, 245.90130283210533, 168.48743534693705)); - right.setSegment(101, new Trajectory.Segment(51.511976688073865, 100.99868361678277, - 99.99983819239588, 0.014198367637163756, 4.712382447395456, 0.01, 226.10130283252784, 168.48756470012387)); + left.setSegment(113, new Trajectory.Segment(64.4130653142237, 113.00120964676366, + 99.99971566992087, -0.012297846438968918, 4.712378204738525, 0.01, 245.90149760329237, 189.58739334890575)); + right.setSegment(113, new Trajectory.Segment(64.41193468576908, 112.99879035324354, + 100.00028433204875, 0.012297618923184928, 4.712378204738525, 0.01, 226.1014976044419, 189.5876067066998)); - left.setSegment(102, new Trajectory.Segment(52.53303647728089, 102.00131653608646, - 100.00001528650131, -0.014652002704451661, 4.712381117561022, 0.01, 245.90129548898676, 167.46742218160261)); - right.setSegment(102, new Trajectory.Segment(52.53196352271291, 101.99868346390406, - 99.99998471212876, 0.0146519732879824, 4.712381117561022, 0.01, 226.10129548959884, 167.46757786551126)); + left.setSegment(114, new Trajectory.Segment(65.55307736965347, 114.00120554297615, + 99.99958962124964, -0.012604867123400254, 4.71237698701834, 0.01, 245.901484623348, 188.44738129354988)); + right.setSegment(114, new Trajectory.Segment(65.55192263033918, 113.99879445700903, + 100.0004103765491, 0.012604450034814363, 4.71237698701834, 0.01, 226.10148462477204, 188.4476187622036)); - left.setSegment(103, new Trajectory.Segment(53.56304962907316, 103.00131517922726, - 99.9998643140799, -0.015097242140882372, 4.712379789097153, 0.01, 245.901286704716, 166.4374090298478)); - right.setSegment(103, new Trajectory.Segment(53.56195037092058, 102.9986848207667, - 100.000135686264, 0.015097413523790237, 4.712379789097153, 0.01, 226.10128670555233, 166.43759101734105)); + left.setSegment(115, new Trajectory.Segment(66.70308937114113, 115.00120014876633, + 99.9994605790178, -0.012904223183340946, 4.71237577474687, 0.01, 245.90147013217364, 187.29736929215352)); + right.setSegment(115, new Trajectory.Segment(66.70191062885172, 114.99879985125374, + 100.00053942447096, 0.012904792185963743, 4.71237577474687, 0.01, 226.10147013390008, 187.29763076378237)); - left.setSegment(104, new Trajectory.Segment(54.60306275176279, 104.00131226896319, - 99.99970897359276, -0.015534048714016535, 4.712378463572919, 0.01, 245.90127645494647, 165.39739590720868)); - right.setSegment(104, new Trajectory.Segment(54.60193724823042, 103.99868773098446, - 100.00029102177592, 0.015533551191992956, 4.712378463572919, 0.01, 226.10127645604143, 165.3976041400817)); + left.setSegment(116, new Trajectory.Segment(67.8631013054899, 116.00119343487705, + 99.99932861107226, -0.013196794554914959, 4.712374569257089, 0.01, 245.90145411255943, 186.13735735791536)); + right.setSegment(116, new Trajectory.Segment(67.86189869450283, 115.9988065651101, + 100.00067138563651, 0.013196116555036497, 4.712374569257089, 0.01, 226.10145411461545, 186.13764269824188)); - left.setSegment(105, new Trajectory.Segment(55.65307582938974, 105.00130776269533, - 99.99954937321434, -0.01596003784243294, 4.71237714260051, 0.01, 245.9012647170666, 164.34738282964733)); - right.setSegment(105, new Trajectory.Segment(55.65192417060368, 104.9986922373259, - 100.00045063414404, 0.01596123681224526, 4.71237714260051, 0.01, 226.1012647184539, 164.34761721777406)); + left.setSegment(117, new Trajectory.Segment(69.0331131592199, 117.0011853729995, + 99.99919381224487, -0.013479882738920423, 4.7123733719106, 0.01, 245.9014365490555, 184.9673455043172)); + right.setSegment(117, new Trajectory.Segment(69.03188684077236, 116.99881462695353, + 100.0008061843431, 0.013479870659693916, 4.7123733719106, 0.01, 226.10143655146734, 184.96765455210416)); - left.setSegment(106, new Trajectory.Segment(56.71308884557645, 106.00130161867082, - 99.99938559754895, -0.016377566538494648, 4.712375827834163, 0.01, 245.90125147030847, 163.2873698135434)); - right.setSegment(106, new Trajectory.Segment(56.711911154416704, 105.9986983813024, - 100.00061439765062, 0.016376350657765215, 4.712375827834163, 0.01, 226.1012514720211, 163.2876302340438)); + left.setSegment(118, new Trajectory.Segment(70.21312491857731, 118.00117593574193, + 99.99905627424255, -0.013753800232052527, 4.712372184096711, 0.01, 245.90141742805895, 183.7873337451147)); + right.setSegment(118, new Trajectory.Segment(70.21187508141476, 117.99882406424051, + 100.00094372869768, 0.013754435457258296, 4.712372184096711, 0.01, 226.10141743085188, 183.78766631161668)); - left.setSegment(107, new Trajectory.Segment(57.78310178354162, 107.00129379651695, - 99.99921778461243, -0.016781293652456952, 4.712374520968984, 0.01, 245.90123669585762, 162.21735687568022)); - right.setSegment(107, new Trajectory.Segment(57.78189821645134, 106.99870620346346, - 100.00078221610522, 0.016781845459945544, 4.712374520968984, 0.01, 226.10123669792745, 162.21764317211117)); + left.setSegment(119, new Trajectory.Segment(71.40313656954329, 119.00116509659833, + 99.99891608564013, -0.014018860241549191, 4.712371007231449, 0.01, 245.90139673790136, 182.59732209432858)); + right.setSegment(119, new Trajectory.Segment(71.40186343044857, 118.99883490338057, + 100.00108391400602, 0.014018530833936893, 4.712371007231449, 0.01, 226.10139674109942, 182.59767796276273)); - left.setSegment(108, new Trajectory.Segment(58.86311462611158, 108.00128425699661, - 99.99904604796654, -0.017173664588199244, 4.712373223739679, 0.01, 245.90122037696335, 161.13734403323355)); - right.setSegment(108, new Trajectory.Segment(58.861885373881044, 107.9987157429705, - 100.00095395070474, 0.017173459951891346, 4.712373223739679, 0.01, 226.10122037942125, 161.13765601480475)); + left.setSegment(120, new Trajectory.Segment(72.60314809784528, 120.00115283019852, + 99.9987733600193, -0.014272562083306184, 4.712369842756496, 0.01, 245.9013744689363, 181.39731056623322)); + right.setSegment(120, new Trajectory.Segment(72.6018519021465, 119.99884716979312, + 100.00122664125541, 0.01427272493970122, 4.712369842756496, 0.01, 226.10137447256216, 181.39768949127142)); - left.setSegment(109, new Trajectory.Segment(59.953127355734566, 109.00127296229836, - 99.9988705301746, -0.017551779194491246, 4.712371937919165, 0.01, 245.90120249904993, 160.04733130375718)); - right.setSegment(109, new Trajectory.Segment(59.95187264425786, 108.99872703768199, - 100.00112947114843, 0.01755204436904023, 4.712371937919165, 0.01, 226.10120250192534, 160.04766874457454)); + left.setSegment(121, new Trajectory.Segment(73.81315948896767, 121.00113911223991, + 99.9986282041391, -0.014515588020458381, 4.712368692138063, 0.01, 245.9013506136267, 180.18729917534597)); + right.setSegment(121, new Trajectory.Segment(73.81184051102393, 120.99886088774257, + 100.0013717949443, 0.014515368889078673, 4.712368692138063, 0.01, 226.10135061770168, 180.18770088262914)); - left.setSegment(110, new Trajectory.Segment(61.05313995449512, 110.001259876056, - 99.99869137576383, -0.017915441077320793, 4.7123706653170805, 0.01, 245.90118304982778, 158.94731870516856)); - right.setSegment(110, new Trajectory.Segment(61.05186004549715, 109.99874012392883, - 100.00130862468382, 0.017915353538455747, 4.7123706653170805, 0.01, 226.10118305314867, 158.94768134350718)); + left.setSegment(122, new Trajectory.Segment(75.03317072816411, 122.00112391964373, + 99.99848074038198, -0.014746375711638393, 4.712367556865688, 0.01, 245.90132516663257, 178.96728793641492)); + right.setSegment(122, new Trajectory.Segment(75.03182927182735, 121.99887608034115, + 100.00151925985818, 0.014746491387995775, 4.712367556865688, 0.01, 226.10132517117634, 178.96771212209111)); - left.setSegment(111, new Trajectory.Segment(62.16315240413026, 111.0012449635136, - 99.99850874576026, -0.01826300035645545, 4.712369407778183, 0.01, 245.90116201940515, 157.83730625573264)); - right.setSegment(111, new Trajectory.Segment(62.16184759586206, 110.99875503649162, - 100.001491256279, 0.01826315951802826, 4.712369407778183, 0.01, 226.10116202319773, 157.8376937933415)); + left.setSegment(123, new Trajectory.Segment(76.26318180046991, 123.00110723058069, + 99.99833109369547, -0.014964668650918611, 4.712366438450968, 0.01, 245.90129812489766, 177.73727686440637)); + right.setSegment(123, new Trajectory.Segment(76.26181819952167, 122.99889276943236, + 100.00166890912112, 0.014964926293714598, 4.712366438450968, 0.01, 226.10129812992824, 177.73772319469404)); - left.setSegment(112, new Trajectory.Segment(63.28316468604585, 112.00122819155943, - 99.9983228045835, -0.01859411767668462, 4.712368167180631, 0.01, 245.9011394003996, 156.71729397404545)); - right.setSegment(112, new Trajectory.Segment(63.28183531394614, 111.9987718084073, - 100.0016771915682, 0.018593528920973768, 4.712368167180631, 0.01, 226.10113940468818, 156.7177060754858)); + left.setSegment(124, new Trajectory.Segment(77.5031926907149, 124.00108902449938, + 99.99817939186926, -0.01517018262120473, 4.712365338426203, 0.01, 245.9012694877362, 176.49726597449205)); + right.setSegment(124, new Trajectory.Segment(77.50180730927633, 123.99891097546592, + 100.0018206033559, 0.015169423477345845, 4.712365338426203, 0.01, 226.1012694932697, 176.49773408527005)); - left.setSegment(113, new Trajectory.Segment(64.41317678133603, 113.00120952901872, - 99.9981337459289, -0.01890586545982842, 4.712366945434154, 0.01, 245.901115188049, 155.58728187901465)); - right.setSegment(113, new Trajectory.Segment(64.41182321865608, 112.99879047099476, - 100.00186625874647, 0.018906717826894237, 4.712366945434154, 0.01, 226.10111519285584, 155.58771817103525)); + left.setSegment(125, new Trajectory.Segment(78.75320338353875, 125.00106928238472, + 99.99802578853405, -0.01536033352067534, 4.71236425834298, 0.01, 245.90123925691876, 175.24725528203376)); + right.setSegment(125, new Trajectory.Segment(78.75179661645235, 124.99893071760283, + 100.00197421369137, 0.01536103354737861, 4.71236425834298, 0.01, 226.10123926296944, 175.24774477845958)); - left.setSegment(114, new Trajectory.Segment(65.55318867080092, 114.00118894648878, - 99.99794174700583, -0.019199892307142363, 4.712365744478096, 0.01, 245.90108938032245, 154.44726998984189)); - right.setSegment(114, new Trajectory.Segment(65.55181132919105, 113.9988110534967, - 100.00205825019322, 0.019199144674075797, 4.712365744478096, 0.01, 226.10108938566754, 154.4477300607924)); + left.setSegment(126, new Trajectory.Segment(80.01321386340466, 126.00104798659054, + 99.99787042058159, -0.015536795245907342, 4.712363199770667, 0.01, 245.90120743675726, 173.98724480256965)); + right.setSegment(126, new Trajectory.Segment(80.01178613658647, 125.99895201341138, + 100.00212958085513, 0.015536716375663673, 4.712363199770667, 0.01, 226.10120744333722, 173.98775525872725)); - left.setSegment(115, new Trajectory.Segment(66.70320033496857, 115.00116641676526, - 99.99774702764768, -0.019471935814863173, 4.7123645662793425, 0.01, 245.90106197802987, 153.2972583260007)); - right.setSegment(115, new Trajectory.Segment(66.70179966502339, 114.99883358323292, - 100.00225297362277, 0.019472342955850763, 4.7123645662793425, 0.01, 226.10106198393078, 153.29774172528653)); + left.setSegment(127, new Trajectory.Segment(81.28322411461538, 127.0010251210724, + 99.99771344818669, -0.0156972394904642, 4.712362164294834, 0.01, 245.901174034189, 172.71723455179819)); + right.setSegment(127, new Trajectory.Segment(81.28177588537571, 126.9989748789239, + 100.00228655125198, 0.015697039685846903, 4.712362164294834, 0.01, 226.10117404130813, 172.71776551037726)); - left.setSegment(116, new Trajectory.Segment(67.86321175411568, 116.00114191471147, - 99.99754979462097, -0.01972330267108191, 4.712363412830118, 0.01, 245.90103298493108, 152.1372469072159)); - right.setSegment(116, new Trajectory.Segment(67.86178824587587, 115.99885808524814, - 100.00245020152221, 0.019722789943443786, 4.712363412830118, 0.01, 226.1010329914027, 152.13775314479636)); + left.setSegment(128, new Trajectory.Segment(82.56323412132986, 128.00100067144743, + 99.99755503750265, -0.01584106840368804, 4.712361153515591, 0.01, 245.90113905885946, 171.43722454556155)); + right.setSegment(128, new Trajectory.Segment(82.56176587866113, 127.99899932854304, + 100.00244496191328, 0.015841066129951287, 4.712361153515591, 0.01, 226.10113906652535, 171.43777551756966)); - left.setSegment(117, new Trajectory.Segment(69.0332229082917, 117.00111541760222, - 99.99735028907537, -0.019950554559500233, 4.712362286145662, 0.01, 245.90100240784295, 150.96723575343944)); - right.setSegment(117, new Trajectory.Segment(69.03177709169964, 116.99888458237719, - 100.0026497129042, 0.019951138199303387, 4.712362286145662, 0.01, 226.1010024148975, 150.96776429937213)); + left.setSegment(129, new Trajectory.Segment(83.8532438675803, 129.00097462504544, + 99.99739535980154, -0.015967770110592028, 4.712360169045842, 0.01, 245.90110252320358, 170.14721479982848)); + right.setSegment(129, new Trajectory.Segment(83.85175613241059, 128.999025374945, + 100.00260464019703, 0.01596782837509636, 4.712360169045842, 0.01, 226.10110253142147, 170.14778526433759)); - left.setSegment(118, new Trajectory.Segment(70.21323377734227, 118.00108690505569, - 99.99714874534646, -0.020154372890601735, 4.712361188261769, 0.01, 245.9009702567456, 149.78722488482688)); - right.setSegment(118, new Trajectory.Segment(70.21176622264913, 117.99891309494946, - 100.00285125722712, 0.020154432291974445, 4.712361188261769, 0.01, 226.1009702643924, 149.78777516886063)); + left.setSegment(130, new Trajectory.Segment(85.15075331942377, 129.75094518434622, + 74.99705593007775, -2500.0339429723795, 4.712359214314171, 0.01, 245.90106451694345, 168.84970534854165)); + right.setSegment(130, new Trajectory.Segment(85.14924668056696, 129.7490548156376, + 75.00294406926002, -2499.966057093701, 4.712359214314171, 0.01, 226.10106452571506, 168.85029471673784)); - left.setSegment(119, new Trajectory.Segment(71.40324434093496, 119.00105635926927, - 99.99694542135842, -0.02033239880461224, 4.712360121232193, 0.01, 245.90093654488626, 148.5972143217117)); - right.setSegment(119, new Trajectory.Segment(71.40175565905619, 118.99894364070653, - 100.00305457570704, 0.020331847991883478, 4.712360121232193, 0.01, 226.1009365531315, 148.59778573293107)); + left.setSegment(131, new Trajectory.Segment(86.450762428486, 130.00091090622365, + 24.996572187743027, -5000.048374233472, 4.712358294206869, 0.01, 245.9010252187106, 167.5496962400734)); + right.setSegment(131, new Trajectory.Segment(86.44923757150461, 129.99908909376475, + 25.003427812714563, -4999.951625654546, 4.712358294206869, 0.01, 226.10102522803285, 167.55030382639416)); - left.setSegment(120, new Trajectory.Segment(72.60325457858703, 120.00102376520718, - 99.99674059379089, -0.020482756752926434, 4.712359087125923, 0.01, 245.9009012888808, 147.39720408457754)); - right.setSegment(120, new Trajectory.Segment(72.6017454214041, 119.99897623479086, - 100.00325940843311, 0.020483272606952596, 4.712359087125923, 0.01, 226.1009012977275, 147.39779597110106)); + left.setSegment(132, new Trajectory.Segment(87.75077116864222, 130.00087401562106, + -0.003689060258693644, -2500.026124800172, 4.712357411362806, 0.01, 245.90098474848168, 166.2496875005471)); + right.setSegment(132, new Trajectory.Segment(87.7492288313484, 129.99912598437942, + 0.0036890614666162946, -2499.9738751247946, 4.712357411362806, 0.01, 226.10098475834803, 166.2503125671803)); - left.setSegment(121, new Trajectory.Segment(73.81326446969284, 121.0009891105807, - 99.99653453735249, -0.02060564384009922, 4.712358088024315, 0.01, 245.90086450881307, 146.18719419403072)); - right.setSegment(121, new Trajectory.Segment(73.81173553029812, 120.99901088940182, - 100.00346546109569, 0.020605266257689436, 4.712358088024315, 0.01, 226.100864518261, 146.18780586276603)); + left.setSegment(133, new Trajectory.Segment(89.05077953267062, 130.0008364028401, + -0.003761278097158538, -0.007221783846489416, 4.712356566511453, 0.01, 245.90094315517808, 164.9496791371841)); + right.setSegment(133, new Trajectory.Segment(89.04922046731996, 129.99916359715579, + 0.0037612776367268452, 0.007221617011055059, 4.712356566511453, 0.01, 226.10094316557962, 164.9503209318741)); - left.setSegment(122, new Trajectory.Segment(75.03327399355453, 122.00095238616932, - 99.99632755886125, -0.020697849123507694, 4.712357126018079, 0.01, 245.90082622833125, 144.9671846707696)); - right.setSegment(122, new Trajectory.Segment(75.03172600643634, 121.99904761382143, - 100.00367244196156, 0.020698086586889985, 4.712357126018079, 0.01, 226.10082623837678, 144.96781538722837)); + left.setSegment(134, new Trajectory.Segment(90.3507875136983, 130.0007981027669, + -0.003830007318583739, -0.00687292214252011, 4.712355760347027, 0.01, 245.9009004886466, 163.64967115685658)); + right.setSegment(134, new Trajectory.Segment(90.349212486292, 129.99920189720476, + 0.0038300048970540956, 0.006872726032725041, 4.712355760347027, 0.01, 226.10090049957196, 163.6503289136022)); - left.setSegment(123, new Trajectory.Segment(76.26328312941268, 123.00091358581513, - 99.996119964581, -0.02075942802548525, 4.712356203204129, 0.01, 245.90078647474067, 143.73717553555386)); - right.setSegment(123, new Trajectory.Segment(76.26171687057827, 122.9990864141927, - 100.00388003712715, 0.020759516559110125, 4.712356203204129, 0.01, 226.1007864853767, 143.73782452372885)); + left.setSegment(135, new Trajectory.Segment(91.65079510520168, 130.0007591503392, + -0.0038952427701133274, -0.006523545152958832, 4.712354993528492, 0.01, 245.90085679961356, 162.34966356608732)); + right.setSegment(135, new Trajectory.Segment(91.64920489478844, 129.99924084964323, + 0.003895243847296115, 0.00652389502420192, 4.712354993528492, 0.01, 226.10085681104914, 162.3503365058399)); - left.setSegment(124, new Trajectory.Segment(77.50329185647892, 124.00087270662465, - 99.99591208095211, -0.02078836288887942, 4.7123553216822724, 0.01, 245.90074527909337, 142.49716680917192)); - right.setSegment(124, new Trajectory.Segment(77.50170814351173, 123.99912729334632, - 100.0040879153616, 0.02078782344483443, 4.7123553216822724, 0.01, 226.10074529030913, 142.49783325147968)); + left.setSegment(136, new Trajectory.Segment(92.9508023010062, 130.00071958045257, + -0.0039569886638446405, -0.006174589373131312, 4.71235426667956, 0.01, 245.90081213963893, 161.0496563710499)); + right.setSegment(136, new Trajectory.Segment(92.94919769898407, 129.9992804195631, + 0.003956991986342473, 0.006174813904635812, 4.71235426667956, 0.01, 226.10081215156882, 161.05034370241137)); - left.setSegment(125, new Trajectory.Segment(78.75330015397094, 125.00082974920214, - 99.9957042577492, -0.020782320291345968, 4.712354483551758, 0.01, 245.90070267627337, 141.2471585124059)); - right.setSegment(125, new Trajectory.Segment(78.75169984601958, 124.99917025078375, - 100.00429574374294, 0.02078283813489179, 4.712354483551758, 0.01, 226.10070268805467, 141.24784154969782)); + left.setSegment(137, new Trajectory.Segment(94.25080909528577, 130.0006794279575, + -0.004015249507460794, -0.005826084361615358, 4.712353580388687, 0.01, 245.90076656107055, 159.74964957756933)); + right.setSegment(137, new Trajectory.Segment(94.2491909047044, 129.99932057203395, + 0.004015247085931151, 0.0058255099588677695, 4.712353580388687, 0.01, 226.10076657347685, 159.75035049749002)); - left.setSegment(126, new Trajectory.Segment(80.01330800114738, 126.00078471764387, - 99.99549684417275, -0.020741357644737946, 4.712353690907672, 0.01, 245.9006587050779, 139.9871506659967)); - right.setSegment(126, new Trajectory.Segment(80.0116919988431, 125.99921528235328, - 100.00450315695275, 0.02074132098073278, 4.712353690907672, 0.01, 226.10065871740682, 139.98784939764153)); + left.setSegment(138, new Trajectory.Segment(95.55081548256382, 130.00063872780473, + -0.004070015276624872, -0.005476576916407794, 4.712352935209077, 0.01, 245.90072011699837, 158.4496431911209)); + right.setSegment(138, new Trajectory.Segment(95.54918451742616, 129.99936127217427, + 0.004070014031753999, 0.005476694582284836, 4.712352935209077, 0.01, 226.100720129861, 158.4503568855979)); - left.setSegment(127, new Trajectory.Segment(81.28331537734543, 127.00073761980543, - 99.99529021615672, -0.020662801603066328, 4.712352945837161, 0.01, 245.9006134082934, 138.71714329060643)); - right.setSegment(127, new Trajectory.Segment(81.28168462264505, 126.99926238019331, - 100.00470978400386, 0.02066270511136281, 4.712352945837161, 0.01, 226.1006134211484, 138.71785677464737)); + left.setSegment(139, new Trajectory.Segment(96.85082145771268, 130.00059751488578, + -0.00412129189442112, -0.005127661779624759, 4.712352331658685, 0.01, 245.90067286120848, 157.14963721683094)); + right.setSegment(139, new Trajectory.Segment(96.84917854227727, 129.99940248511174, + 0.0041212937475165745, 0.005127971576257551, 4.712352331658685, 0.01, 226.10067287450545, 157.15036286160566)); - left.setSegment(128, new Trajectory.Segment(82.56332226201975, 128.0006884674327, - 99.9950847627261, -0.02054534306239475, 4.712352250415514, 0.01, 245.90056683276663, 137.43713640677947)); - right.setSegment(128, new Trajectory.Segment(82.56167773797078, 127.9993115325734, - 100.0049152380086, 0.0205454004742478, 4.712352250415514, 0.01, 226.1005668461226, 137.437863660169)); + left.setSegment(140, new Trajectory.Segment(98.15082701595378, 130.00055582411, + -0.004169077578808356, -0.004778568438723596, 4.712351770220205, 0.01, 245.90062484813734, 155.84963165947647)); + right.setSegment(140, new Trajectory.Segment(98.14917298403645, 129.99944417591777, + 0.004169080602878239, 0.004778685536166449, 4.712351770220205, 0.01, 226.10062486184484, 155.8503684207331)); - left.setSegment(129, new Trajectory.Segment(83.85332863478286, 129.00063727630967, - 99.99488088769795, -0.020387502814855907, 4.71235160670207, 0.01, 245.90051902946996, 136.1471300349021)); - right.setSegment(129, new Trajectory.Segment(83.85167136520768, 128.99936272368964, - 100.0051191116242, 0.020387361558960038, 4.71235160670207, 0.01, 226.1005190432982, 136.1478700338178)); + left.setSegment(141, new Trajectory.Segment(99.45083215285686, 130.00051369030766, + -0.0042133802338639725, -0.004430265505561692, 4.712351251341083, 0.01, 245.900576132826, 154.54962652348615)); + right.setSegment(141, new Trajectory.Segment(99.44916784713293, 129.99948630964747, + 0.004213372969275042, 0.004429236639680312, 4.712351251341083, 0.01, 226.10057614691843, 154.55037355854938)); - left.setSegment(130, new Trajectory.Segment(85.15083446477976, 129.7505829996906, - 74.99457233809323, -2500.030854960471, 4.712351017813495, 0.01, 245.90047014846883, 134.84962420582593)); - right.setSegment(130, new Trajectory.Segment(85.14916553521078, 129.74941700031098, - 75.00542766213414, -2499.9691449490056, 4.712351017813495, 0.01, 226.1004701627363, 134.85037586473544)); + left.setSegment(142, new Trajectory.Segment(100.75083686434192, 130.0004711485061, + -0.004254180154816822, -0.004079992095284979, 4.712350775433511, 0.01, 245.90052677087414, 153.24962181293824)); + right.setSegment(142, new Trajectory.Segment(100.74916313564806, 129.999528851513, + 0.004254186552543615, 0.004081358326857298, 4.712350775433511, 0.01, 226.10052678532435, 153.2503782709714)); - left.setSegment(131, new Trajectory.Segment(86.45083971645647, 130.000525167671, - 24.994216798037883, -5000.035554005535, 4.712350487341087, 0.01, 245.90042044562824, 133.54961895509936)); - right.setSegment(131, new Trajectory.Segment(86.44916028353387, 129.9994748323081, - 25.005783199711118, -4999.964446242302, 4.712350487341087, 0.01, 226.1004204602972, 133.5503811173625)); + left.setSegment(143, new Trajectory.Segment(102.05084114667683, 130.00042823349173, + -0.00429150143759216, -0.003732128277533775, 4.7123503428744264, 0.01, 245.9004768183944, 151.94961753156304)); + right.setSegment(143, new Trajectory.Segment(102.04915885331309, 129.99957176650273, + 0.0042914989734299525, 0.003731242088633735, 4.7123503428744264, 0.01, 226.10047683317367, 151.95038255426607)); - left.setSegment(132, new Trajectory.Segment(87.75084437228043, 130.00046558239515, - -0.0059585275835161156, -2500.01753256214, 4.712350017055855, 0.01, 245.90037009225648, 132.24961430025058)); - right.setSegment(132, new Trajectory.Segment(87.74915562771021, 129.99953441763424, - 0.005958532614158685, -2499.982466709696, 4.712350017055855, 0.01, 226.1003701072861, 132.25038577416132)); + left.setSegment(144, new Trajectory.Segment(103.35084499647888, 130.00038498020524, + -0.004325328649201765, -0.0033827211609605, 4.712349954005516, 0.01, 245.90042633196637, 150.64961368274132)); + right.setSegment(144, new Trajectory.Segment(103.34915500351075, 129.99961501976506, + 0.0043253262333564635, 0.0033827259926511033, 4.712349954005516, 0.01, 226.10042634704465, 150.65038640504875)); - left.setSegment(133, new Trajectory.Segment(89.05084842718063, 130.00040549001935, - -0.006009237580428817, -0.005070999691270117, 4.71234960746998, 0.01, 245.90031916693817, 130.94961024634785)); - right.setSegment(133, new Trajectory.Segment(89.04915157281008, 129.9995945099868, - 0.006009235255532985, 0.005070264137430058, 4.71234960746998, 0.01, 226.10031918228543, 130.9503898300589)); + left.setSegment(145, new Trajectory.Segment(104.65084841071503, 130.0003414236138, + -0.004355659143584489, -0.0030330494382724282, 4.712349609133209, 0.01, 245.90037536859094, 149.34961026950413)); + right.setSegment(145, new Trajectory.Segment(104.6491515892752, 129.99965857644636, + 0.004355668130529011, 0.003034189717254776, 4.712349609133209, 0.01, 226.1003753839369, 149.35038982028323)); - left.setSegment(134, new Trajectory.Segment(90.35085187675207, 130.00034495714553, - -0.006053287381746486, -0.0044049801317669335, 4.712349259028385, 0.01, 245.90026774887986, 129.64960679779324)); - right.setSegment(134, new Trajectory.Segment(90.34914812323797, 129.9996550427893, - 0.00605328025073959, 0.004404499520660465, 4.712349259028385, 0.01, 226.10026776449996, 129.65039328064785)); + left.setSegment(146, new Trajectory.Segment(105.95085138669981, 130.00029759847789, + -0.004382513591849602, -0.0026854448265112296, 4.712349308528687, 0.01, 245.90032398564432, 148.0496072945348)); + right.setSegment(146, new Trajectory.Segment(105.9491486132904, 129.99970240152047, + 0.0043825074101278005, 0.002683927959878929, 4.712349308528687, 0.01, 226.1003240012255, 148.05039279728348)); - left.setSegment(135, new Trajectory.Segment(91.65085471725656, 130.0002840504484, - -0.006090669711511509, -0.0037382329765023314, 4.71234897210874, 0.01, 245.90021591782263, 128.349603958322)); - right.setSegment(135, new Trajectory.Segment(91.64914528273346, 129.99971594954937, - 0.006090676006920148, 0.0037395756180558237, 4.71234897210874, 0.01, 226.1002159336692, 128.3503961221856)); + left.setSegment(147, new Trajectory.Segment(107.25085392209785, 130.00025353980337, + -0.004405867451851009, -0.0023353860001407156, 4.712349052427873, 0.01, 245.9002722408323, 146.7496047601666)); + right.setSegment(147, new Trajectory.Segment(107.24914607789236, 129.99974646019515, + 0.0044058674689040345, 0.0023360058776233927, 4.712349052427873, 0.01, 226.10027225661526, 146.75039533371134)); - left.setSegment(136, new Trajectory.Segment(92.95085694562096, 130.00022283643963, - -0.006121400878100758, -0.003073116658924846, 4.712348747021457, 0.01, 245.90016375395479, 127.04960173100417)); - right.setSegment(136, new Trajectory.Segment(92.94914305436963, 129.99977716361727, - 0.006121406789816319, 0.003073078289617115, 4.712348747021457, 0.01, 226.10016376998013, 127.05039835159599)); + left.setSegment(148, new Trajectory.Segment(108.55085601492216, 130.00020928243214, + -0.004425737122915052, -0.001986967106404336, 4.7123488410314405, 0.01, 245.90022019214436, 145.44960266838422)); + right.setSegment(148, new Trajectory.Segment(108.54914398506727, 129.99979071749158, + 0.00442572964232113, 0.001986217341709562, 4.7123488410314405, 0.01, 226.1002202080949, 145.45039742757837)); - left.setSegment(137, new Trajectory.Segment(94.25085855943706, 130.00016138161126, - -0.00614548283692784, -0.0024081958827082417, 4.712348584009692, 0.01, 245.90011133782417, 125.74960011824477)); - right.setSegment(137, new Trajectory.Segment(94.2491414405528, 129.99983861831794, - 0.006145470067053793, 0.0024063277237473812, 4.712348584009692, 0.01, 226.10011135397963, 125.75039996646952)); + left.setSegment(149, new Trajectory.Segment(109.85085766353579, 130.00016486136337, + -0.004442106876467733, -0.0016369753552680777, 4.712348674504808, 0.01, 245.90016789780785, 144.1496010208224)); + right.setSegment(149, new Trajectory.Segment(109.84914233645361, 129.9998351386336, + 0.004442114203584424, 0.0016384561263294017, 4.712348674504808, 0.01, 226.10016791389106, 144.15039907724383)); - left.setSegment(138, new Trajectory.Segment(95.55085955696549, 130.00009975284235, - -0.006162876891835367, -0.001739405490752688, 4.712348483249345, 0.01, 245.900058750251, 124.44959912177998)); - right.setSegment(138, new Trajectory.Segment(95.54914044302636, 129.99990024735484, - 0.006162903690665189, 0.0017433623611395888, 4.712348483249345, 0.01, 226.10005876648717, 124.4504009650596)); + left.setSegment(150, new Trajectory.Segment(111.1508588666496, 130.0001203113811, + -0.00445499822774309, -0.001289135127535701, 4.712348552978141, 0.01, 245.9001154162423, 142.84959981876793)); + right.setSegment(150, new Trajectory.Segment(111.1491411333394, 129.99987968857886, + 0.004454994524394351, 0.001288032080992707, 4.712348552978141, 0.01, 226.1001154324226, 142.8504002814174)); - left.setSegment(139, new Trajectory.Segment(96.85085993712623, 130.0000380160744, - -0.006173676794674066, -0.0010799902838698472, 4.712348444849062, 0.01, 245.90000607224022, 123.14959874268654)); - right.setSegment(139, new Trajectory.Segment(96.8491400628615, 129.99996198351383, - 0.00617361589831944, 0.001071220765425096, 4.712348444849062, 0.01, 226.1000060885072, 123.15040134629176)); + left.setSegment(151, new Trajectory.Segment(112.45085962332523, 130.00007566756318, + -0.004464381791535743, -0.0009383563792653149, 4.712348476546353, 0.01, 245.9000628060133, 141.54959906315685)); + right.setSegment(151, new Trajectory.Segment(112.44914037666564, 129.99992433262418, + 0.004464404531745458, 0.0009410007351107197, 4.712348476546353, 0.01, 226.10006282225487, 141.5504010391557)); - left.setSegment(140, new Trajectory.Segment(98.15085969951939, 129.99997623931563, - -0.0061776758769838125, -0.0003999082309746882, 4.71234846885023, 0.01, 245.89995338489422, 121.84959898136105)); - right.setSegment(140, new Trajectory.Segment(98.1491403004778, 130.00002376163027, - 0.006177811644647591, 0.00041957463281505625, 4.71234846885023, 0.01, 226.09995340114193, 121.85040110974313)); + left.setSegment(152, new Trajectory.Segment(113.75085993296804, 130.00003096428068, + -0.004470328249794875, -0.0005946458259131759, 4.712348445269102, 0.01, 245.90001012578696, 140.24959875458143)); + right.setSegment(152, new Trajectory.Segment(113.7491400670189, 129.99996903532553, + 0.0044702701359256025, 0.0005865604180144146, 4.712348445269102, 0.01, 226.1000101420536, 140.25040134986983)); - left.setSegment(141, new Trajectory.Segment(99.45085884439216, 129.99991448727778, - -0.006175203785119265, 0.000247209186454711, 4.712348555226983, 0.01, 245.89990076932526, 120.54959983755305)); - right.setSegment(141, new Trajectory.Segment(99.44914115561029, 130.0000855132489, - 0.0061751618630978555, -0.0002649781549735053, 4.712348555226983, 0.01, 226.0999007855038, 120.55040025567541)); + left.setSegment(153, new Trajectory.Segment(115.05085979534566, 129.9999862377616, + -0.004472651909281922, -0.00023236594870468252, 4.712348459170795, 0.01, 245.89995743428386, 138.94959889327166)); + right.setSegment(153, new Trajectory.Segment(115.04914020465003, 130.00001376311286, + 0.004472778732633742, 0.0002508596708139521, 4.712348459170795, 0.01, 226.09995745053936, 138.95040121330655)); - left.setSegment(142, new Trajectory.Segment(100.75085737266319, 129.99985282710315, - -0.006166017462305717, 0.0009186322813548031, 4.712348703886194, 0.01, 245.89984830656823, 119.24960131034061)); - right.setSegment(142, new Trajectory.Segment(100.74914262733368, 130.00014717233924, - 0.00616590903348424, -0.0009252829613615177, 4.712348703886194, 0.01, 226.09984832262796, 119.25039878501062)); + left.setSegment(154, new Trajectory.Segment(116.35085921055854, 129.9999415212875, + -0.004471647409332036, 0.00010044999498859397, 4.712348518240585, 0.01, 245.89990479023345, 137.6495994791247)); + right.setSegment(154, new Trajectory.Segment(116.34914078944473, 130.00005847946974, + 0.004471635688219067, -0.00011430444146753871, 4.712348518240585, 0.01, 226.0999048064416, 137.65040062957777)); - left.setSegment(143, new Trajectory.Segment(102.05085528592987, 129.9997913266677, - -0.006150043546426787, 0.0015973915878930711, 4.712348914667487, 0.01, 245.89979607749297, 117.94960339812312)); - right.setSegment(143, new Trajectory.Segment(102.04914471406998, 130.00020867363, - 0.0061501290758769755, -0.0015779957607264805, 4.712348914667487, 0.01, 226.09979609338507, 117.9503966993235)); + left.setSegment(155, new Trajectory.Segment(117.65085817905936, 129.99989685008225, + -0.0044671205245094825, 0.00045268848225532565, 4.71234862243237, 0.01, 245.89985225232797, 136.3496005116855)); + right.setSegment(155, new Trajectory.Segment(117.6491418209429, 130.00010314981634, + 0.004467034659683122, -0.00046010285359443515, 4.71234862243237, 0.01, 226.09985226845274, 136.35039959914124)); - left.setSegment(144, new Trajectory.Segment(103.35085258644014, 129.99973005102697, - -0.006127564071789493, 0.0022479474637293606, 4.712349187343224, 0.01, 245.89974416271704, 116.64960609864944)); - right.setSegment(144, new Trajectory.Segment(103.34914741355982, 130.00026994898414, - 0.006127535414179874, -0.0022593661697101197, 4.712349187343224, 0.01, 226.09974417839354, 116.65039400087026)); + left.setSegment(156, new Trajectory.Segment(118.95085670165807, 129.99985225987083, + -0.004459021141656194, 0.0008099382853288262, 4.712348771664799, 0.01, 245.89979987917678, 135.04960199014178)); + right.setSegment(156, new Trajectory.Segment(118.9491432983437, 130.00014774007957, + 0.004459026322933823, -0.0008008336749298905, 4.712348771664799, 0.01, 226.0997998951825, 135.05039812279543)); - left.setSegment(145, new Trajectory.Segment(104.65084927711396, 129.99966906738277, - -0.006098364420381586, 0.0029199651407907368, 4.712349521618513, 0.01, 245.89969264251823, 115.34960940899651)); - right.setSegment(145, new Trajectory.Segment(104.64915072288439, 130.00033093245625, - 0.0060983472110365256, -0.00291882031433488, 4.712349521618513, 0.01, 226.09969265793245, 115.3503906925666)); + left.setSegment(157, new Trajectory.Segment(120.25085477950739, 129.99980778493264, + -0.004447493819270676, 0.0011527322385518346, 4.712348965821263, 0.01, 245.8997477292605, 133.74960391333846)); + right.setSegment(157, new Trajectory.Segment(120.24914522049104, 130.00019221473508, + 0.004447465551038476, -0.0011560771895346988, 4.712348965821263, 0.01, 226.099747745112, 133.7503962016941)); - left.setSegment(146, new Trajectory.Segment(105.95084536153935, 129.9996084425394, - -0.006062484337121532, 0.0035880083260053652, 4.712349917131207, 0.01, 245.89964159674705, 114.0496133255733)); - right.setSegment(146, new Trajectory.Segment(105.94915463846111, 130.0003915576722, - 0.006062521595140424, -0.0035825615896101226, 4.712349917131207, 0.01, 226.09964161185385, 114.05038677799207)); + left.setSegment(158, new Trajectory.Segment(121.55085241411498, 129.9997634607587, + -0.004432417395605626, 0.0015076423665050243, 4.712349204749904, 0.01, 245.89969586088515, 132.44960627976562)); + right.setSegment(158, new Trajectory.Segment(121.54914758588569, 130.00023653946454, + 0.004432472945836707, -0.0014992605201769038, 4.712349204749904, 0.01, 226.09969587654794, 132.4503938373342)); - left.setSegment(147, new Trajectory.Segment(107.25084084396357, 129.99954824242175, - -0.006020011764462652, 0.004247257265888038, 4.712350373451902, 0.01, 245.89959110473944, 112.74961784412965)); - right.setSegment(147, new Trajectory.Segment(107.24915915603509, 130.00045175739834, - 0.006019972613557911, -0.004254898158251308, 4.712350373451902, 0.01, 226.09959111949536, 112.75038226139866)); + left.setSegment(159, new Trajectory.Segment(122.8508496073293, 129.99971932143126, + -0.004413932742863835, 0.0018484652741790342, 4.712349488263606, 0.01, 245.89964433213638, 131.14960908757254)); + right.setSegment(159, new Trajectory.Segment(122.84915039267133, 130.0002806785635, + 0.004413909897493795, -0.0018563048342912225, 4.712349488263606, 0.01, 226.09964434757669, 131.1503910315698)); - left.setSegment(148, new Trajectory.Segment(108.55083572930705, 129.99948853434776, - -0.005970807399080513, 0.004920436538213835, 4.712350890083938, 0.01, 245.89954124522927, 111.44962295974231)); - right.setSegment(148, new Trajectory.Segment(108.54916427069288, 130.0005114657798, - 0.005970838145685775, -0.004913446787213616, 4.712350890083938, 0.01, 226.0995412595929, 111.45037714769701)); + left.setSegment(160, new Trajectory.Segment(124.15084636135228, 129.99967540229835, + -0.0043919132906466984, 0.002201945221713686, 4.712349816140005, 0.01, 245.89959320083358, 129.8496123345551)); + right.setSegment(160, new Trajectory.Segment(124.14915363864704, 130.00032459757062, + 0.0043919007111981045, -0.0022009186295690597, 4.712349816140005, 0.01, 226.0995932160186, 129.85038778659964)); - left.setSegment(149, new Trajectory.Segment(109.84890695527385, 129.80712259667885, - -19.23659376689102, -1923.0622959491939, 4.712351465566941, 0.01, 245.89949216840358, 110.15155173470326)); - right.setSegment(149, new Trajectory.Segment(109.84724689122312, 129.80826205302404, - -19.224941275575702, -1923.0912113721388, 4.712351465566941, 0.01, 226.09949218233646, 110.15229452809452)); + left.setSegment(161, new Trajectory.Segment(125.45084267873683, 129.99963173845595, + -0.004366384240483967, 0.0025529050162731437, 4.71235018812148, 0.01, 245.89954252448413, 128.54961601815828)); + right.setSegment(161, new Trajectory.Segment(125.44915732126476, 130.00036826177242, + 0.004366420179735542, -0.0025480531462562794, 4.71235018812148, 0.01, 226.09954253938204, 128.55038410496965)); - left.setSegment(150, new Trajectory.Segment(111.14063147632154, 129.1724521047701, - -63.46704919087642, -4423.04554239854, 4.712352096748509, 0.01, 245.8994441110026, 108.85982721454953)); - right.setSegment(150, new Trajectory.Segment(111.13898390966587, 129.1737018442743, - -63.45602087497468, -4423.107959939898, 4.712352096748509, 0.01, 226.09944412447055, 108.86055751054575)); + left.setSegment(162, new Trajectory.Segment(126.75083856237922, 129.99958836423778, + -0.004337421816558162, 0.0028962423925804615, 4.712350603915159, 0.01, 245.89949236023745, 127.24962013548377)); + right.setSegment(162, new Trajectory.Segment(126.74916143762198, 130.00041163572172, + 0.004337394929621041, -0.0029025250114500523, 4.712350603915159, 0.01, 226.09949237481771, 127.25037998958031)); - left.setSegment(151, new Trajectory.Segment(112.42293240135847, 128.23009250369267, - -94.23596010774133, -3076.891091686491, 4.712352780380506, 0.01, 245.8993972473564, 107.57752629036895)); - right.setSegment(151, new Trajectory.Segment(112.42129837061633, 128.23144609504598, - -94.2255749228309, -3076.955404785622, 4.712352780380506, 0.01, 226.09939726032977, 107.57824305045165)); + left.setSegment(163, new Trajectory.Segment(128.05083401552957, 129.99954531503573, + -0.004304920204845075, 0.0032501611713087186, 4.712351063192914, 0.01, 245.89944276483928, 125.94962468327945)); + right.setSegment(163, new Trajectory.Segment(128.0491659844719, 130.0004546849924, + 0.004304927068687903, -0.003246786093313858, 4.712351063192914, 0.01, 226.09944277907263, 125.95037544367644)); - left.setSegment(152, new Trajectory.Segment(113.69523283014385, 127.230042878538, - -100.00496251546735, -576.900240772602, 4.7123535141389965, 0.01, 245.89935165103958, 106.3052258624006)); - right.setSegment(152, new Trajectory.Segment(113.69361332781983, 127.23149572035095, - -99.99503746950325, -576.9462546672344, 4.7123535141389965, 0.01, 226.0993516634923, 106.30592809406518)); + left.setSegment(164, new Trajectory.Segment(129.35082904178415, 129.99950262545667, + -0.004268957906106152, 0.003596229873892298, 4.7123515655913675, 0.01, 245.8993937945858, 124.64962965794723)); + right.setSegment(164, new Trajectory.Segment(129.34917095821584, 130.0004973743934, + 0.004268940099905194, -0.0035986968782708573, 4.7123515655913675, 0.01, 226.0993938084445, 124.65037047085485)); - left.setSegment(153, new Trajectory.Segment(114.95753278318827, 126.22999530444261, - -100.00475740953902, 0.020510592833034025, 4.712354295952033, 0.01, 245.89930736984348, 105.04292591013287)); - right.setSegment(153, new Trajectory.Segment(114.95592876076238, 126.23154329425456, - -99.99524260963852, -0.02051401352787252, 4.712354295952033, 0.01, 226.0993073817533, 105.04361266189933)); + left.setSegment(165, new Trajectory.Segment(130.65082364509132, 129.999460330718, + -0.004229473867667366, 0.003948403843878623, 4.712352110711887, 0.01, 245.89934550527784, 123.34963505553692)); + right.setSegment(165, new Trajectory.Segment(130.64917635490932, 130.00053966934684, + 0.004229495343111012, -0.003944475679418247, 4.712352110711887, 0.01, 226.09934551873562, 123.35036507505826)); - left.setSegment(154, new Trajectory.Segment(116.20983228113248, 125.22994979442035, - -100.0045510022261, 0.020640731293042336, 4.712355123734879, 0.01, 245.89926444748383, 103.79062641292424)); - right.setSegment(154, new Trajectory.Segment(116.20824464880693, 125.2315888044555, - -99.9954489799066, -0.020637026807435177, 4.712355123734879, 0.01, 226.09926445883193, 103.79129677459036)); + left.setSegment(166, new Trajectory.Segment(131.95081782974532, 129.99941846539835, + -0.00418653196447849, 0.0042941903188875585, 4.712352698120585, 0.01, 245.89929795217506, 122.04964087175267)); + right.setSegment(166, new Trajectory.Segment(131.94918217025554, 130.00058153462192, + 0.004186527507954452, -0.004296783515655989, 4.712352698120585, 0.01, 226.09929796520743, 122.05035926058179)); - left.setSegment(155, new Trajectory.Segment(117.452131344701, 124.22990635685171, - -100.00434375686353, 0.02072453625601156, 4.712355995393967, 0.01, 245.89922292366995, 102.54832735004969)); - right.setSegment(155, new Trajectory.Segment(117.45056097122539, 124.23163224184634, - -99.99565626091567, -0.020728100906808322, 4.712355995393967, 0.01, 226.09922293444126, 102.54898045286588)); + left.setSegment(167, new Trajectory.Segment(133.2508116003906, 129.99937706452764, + -0.004140087071391463, 0.0046444893087027594, 4.712353327348325, 0.01, 245.89925118995004, 120.74964710194844)); + right.setSegment(167, new Trajectory.Segment(133.24918839961003, 130.0006229354506, + 0.004140082867820638, -0.004644464013381366, 4.712353327348325, 0.01, 226.0992512025343, 120.75035303206833)); - left.setSegment(156, new Trajectory.Segment(118.68442999467146, 123.22986499704535, - -100.00413598063602, 0.02077762275121131, 4.712356908830707, 0.01, 245.89918283418024, 101.31602870073134)); - right.setSegment(156, new Trajectory.Segment(118.68287770724329, 123.23167360179102, - -99.99586400553255, -0.02077446168868846, 4.712356908830707, 0.01, 226.0991828443632, 101.31666371750008)); + left.setSegment(168, new Trajectory.Segment(134.5508049620206, 129.9993361630014, + -0.004090152623348331, 0.004993444804313185, 4.712353997890712, 0.01, 245.89920527264258, 119.44965374112935)); + right.setSegment(168, new Trajectory.Segment(134.5491950379793, 130.00066383692752, + 0.004090147692181745, -0.004993517563889327, 4.712353997890712, 0.01, 226.09920528475794, 119.45034639450999)); - left.setSegment(157, new Trajectory.Segment(119.90672825183273, 122.22982571612673, - -100.0039280918628, 0.02078887732182011, 4.712357861945131, 0.01, 245.89914421094184, 100.0937304441803)); - right.setSegment(157, new Trajectory.Segment(119.90519483607015, 122.23171288268652, - -99.9960719104493, -0.020790491674915756, 4.712357861945131, 0.01, 226.0991442205286, 100.09434658928345)); + left.setSegment(169, new Trajectory.Segment(135.8507979199789, 129.99929579582968, + -0.004036717172084536, 0.0053435451263794675, 4.7123547092081015, 0.01, 245.89916025361367, 118.14966078395057)); + right.setSegment(169, new Trajectory.Segment(135.8492020800219, 130.00070420426178, + 0.0040367334264601595, -0.005341426572158525, 4.7123547092081015, 0.01, 226.09916026524138, 118.15033935324689)); - left.setSegment(158, new Trajectory.Segment(121.1190261369534, 121.22978851206693, - -100.00372040597938, 0.02076858834243467, 4.712358852639381, 0.01, 245.89910708211536, 98.8814325596282)); - right.setSegment(158, new Trajectory.Segment(121.11751233693697, 121.23175008668187, - -99.99627960046524, -0.020769001594089787, 4.712358852639381, 0.01, 226.0991070911014, 98.8820290889852)); + left.setSegment(170, new Trajectory.Segment(137.150790479956, 129.9992559977089, + -0.003979812078114264, 0.005690509397027199, 4.712355460725595, 0.01, 245.89911618550002, 116.8496682247204)); + right.setSegment(170, new Trajectory.Segment(137.14920952004536, 130.00074400234624, + 0.003979808445819799, -0.0056924980640360445, 4.712355460725595, 0.01, 226.09911619662336, 116.85033191397036)); - left.setSegment(159, new Trajectory.Segment(122.32132367074848, 120.22975337950908, - -100.00351325578549, 0.020715019388717337, 4.712359878821048, 0.01, 245.89907147218312, 97.67913502636046)); - right.setSegment(159, new Trajectory.Segment(122.31983018912906, 120.23178521920912, - -99.99648674727553, -0.02071468102826657, 4.712359878821048, 0.01, 226.09907148056746, 97.67971123732048)); + left.setSegment(171, new Trajectory.Segment(138.45078264799184, 129.99921680358636, + -0.003919412253594601, 0.0060399824519663525, 4.712356251833041, 0.01, 245.89907312016783, 115.54967605739786)); + right.setSegment(171, new Trajectory.Segment(138.44921735200867, 130.00078319633005, + 0.003919398380958228, -0.00604100648615713, 4.712356251833041, 0.01, 226.0990731307723, 115.5503240827204)); - left.setSegment(160, new Trajectory.Segment(123.5136208738482, 119.2297203099715, - -100.00330695375794, 0.020630202755000937, 4.712360938406364, 0.01, 245.89903740204173, 96.48683782374752)); - right.setSegment(160, new Trajectory.Segment(123.51214837201803, 119.23181828889646, - -99.99669303126524, -0.020628398971211936, 4.712360938406364, 0.01, 226.0990374098266, 96.4873930549183)); + left.setSegment(172, new Trajectory.Segment(139.75077443047726, 129.99917824854342, + -0.0038555042948473783, 0.006390795874722244, 4.712357081885035, 0.01, 245.8990311086672, 114.24968427559126)); + right.setSegment(172, new Trajectory.Segment(139.7492255695236, 130.0008217514908, + 0.0038555160756459372, -0.0063882305312290555, 4.712357081885035, 0.01, 226.09903111874058, 114.25031586588433)); - left.setSegment(161, new Trajectory.Segment(124.69591776676506, 118.22968929168715, - -100.00310182843464, 0.020512532330485556, 4.712362029323241, 0.01, 245.89900488909726, 95.3045409312777)); - right.setSegment(161, new Trajectory.Segment(124.69446686508907, 118.23184930710357, - -99.99689817928896, -0.020514802372417762, 4.712362029323241, 0.01, 226.09900489628822, 95.30507456229432)); + left.setSegment(173, new Trajectory.Segment(141.05076583415, 129.99914036727532, + -0.0037881268099226872, 0.006737748492469109, 4.712357950200916, 0.01, 245.89899020118628, 112.94969287256214)); + right.setSegment(173, new Trajectory.Segment(141.04923416585078, 130.00085963272014, + 0.003788122933201521, -0.00673931424444163, 4.712357950200916, 0.01, 226.09899021071874, 112.95030727020077)); - left.setSegment(162, new Trajectory.Segment(125.8682143698682, 117.22966031031399, - -100.00289813731627, 0.020369111837226228, 4.712363149514177, 0.01, 245.8989739473641, 94.1322443285829)); - right.setSegment(162, new Trajectory.Segment(125.86678564797275, 117.23187828836771, - -99.9971018735863, -0.020369429734046207, 4.712363149514177, 0.01, 226.0989739539697, 94.13275577981899)); + left.setSegment(174, new Trajectory.Segment(142.3507568660977, 129.99910319476913, + -0.0037172506182514553, 0.007087619167123194, 4.712358856064775, 0.01, 245.8989504470054, 111.6497018412223)); + right.setSegment(174, new Trajectory.Segment(142.3492431339029, 130.00089680520986, + 0.0037172489726344793, -0.007087396056704165, 4.712358856064775, 0.01, 226.09895045598938, 111.65029830275653)); - left.setSegment(163, new Trajectory.Segment(127.03051070335675, 116.2296333488554, - -100.00269614585875, 0.020199145751575998, 4.71236429693901, 0.01, 245.898944587566, 92.96994799546516)); - right.setSegment(163, new Trajectory.Segment(127.029104700473, 116.2319052500257, - -99.99730383420058, -0.02019606142766861, 4.71236429693901, 0.01, 226.09894459359782, 92.97043672768956)); + left.setSegment(175, new Trajectory.Segment(143.6492090836767, 129.84522175790224, + -15.38814368668966, -1538.4426436071408, 4.71235979758843, 0.01, 245.89891193934668, 110.35124962421428)); + right.setSegment(175, new Trajectory.Segment(143.64771399365029, 129.84708597473872, + -15.38108304711443, -1538.4800296087064, 4.71235979758843, 0.01, 226.09891194777785, 110.35182744358015)); - left.setSegment(164, new Trajectory.Segment(128.1828067872289, 115.2296083872168, - -100.00249616386014, 0.01999819986053808, 4.712365469577548, 0.01, 245.89891681723955, 91.81765191192763)); - right.setSegment(164, new Trajectory.Segment(128.18142400258822, 115.23193021152045, - -99.9975038505255, -0.020001632492494537, 4.712365469577548, 0.01, 226.09891682271186, 91.818117425909)); + left.setSegment(176, new Trajectory.Segment(144.9420840652239, 129.28749815471804, + -55.772360318420056, -4038.4216631730396, 4.712360770764416, 0.01, 245.89887483494226, 109.05837464319953)); + right.setSegment(176, new Trajectory.Segment(144.940608244082, 129.28942504317172, + -55.76609315669998, -4038.501010958555, 4.712360770764416, 0.01, 226.09887484282052, 109.05893319368087)); - left.setSegment(165, new Trajectory.Segment(129.3251026412634, 114.22958540345047, - -100.00229837663284, 0.019778722730734444, 4.71236666543205, 0.01, 245.89889064083965, 90.67535605819305)); - right.setSegment(165, new Trajectory.Segment(129.32374353454185, 114.23195319536421, - -99.99770161562367, -0.019776509816438193, 4.71236666543205, 0.01, 226.09889064576944, 90.67579789425528)); + left.setSegment(177, new Trajectory.Segment(146.22592031175407, 128.38362465301623, + -90.38735017018098, -3461.4989851760924, 4.712361771584872, 0.01, 245.89883925722518, 107.77453839716233)); + right.setSegment(177, new Trajectory.Segment(146.2244643068572, 128.38560627751846, + -90.38187656532557, -3461.578340862559, 4.712361771584872, 0.01, 226.09883926455433, 107.77507713139866)); - left.setSegment(166, new Trajectory.Segment(130.45739828499114, 113.22956437277209, - -100.00210306783828, 0.01953087945594234, 4.712367882529596, 0.01, 245.89886605984668, 89.54306041473214)); - right.setSegment(166, new Trajectory.Segment(130.456063276801, 113.23197422591389, - -99.9978969450325, -0.019532940882527328, 4.712367882529596, 0.01, 226.09886606425334, 89.54347815226296)); + left.setSegment(178, new Trajectory.Segment(147.49975630765042, 127.38359958963541, + -100.00250633808179, -961.5156167900807, 4.712362797721861, 0.01, 245.89880524778457, 106.50070240171998)); + right.setSegment(178, new Trajectory.Segment(147.4983206202659, 127.3856313408727, + -99.99749366457564, -961.5617099250073, 4.712362797721861, 0.01, 226.09880525457132, 106.50122081844394)); - left.setSegment(167, new Trajectory.Segment(131.57969373767793, 112.2295452686779, - -100.00191040941928, 0.019265841899596126, 4.7123691189243, 0.01, 245.89884307287494, 88.42076496228077)); - right.setSegment(167, new Trajectory.Segment(131.5783832101029, 112.23199333019227, - -99.99808957216203, -0.019262712953604932, 4.7123691189243, 0.01, 226.09884307678024, 88.42115821919646)); + left.setSegment(179, new Trajectory.Segment(148.76359206880514, 126.38357611547322, + -100.0023474162191, 0.015892186269184094, 4.712363847570151, 0.01, 245.89877281732876, 105.23686664098133)); + right.setSegment(179, new Trajectory.Segment(148.7621771684168, 126.38565481508847, + -99.99765257842341, -0.015891384776978157, 4.712363847570151, 0.01, 226.09877282358215, 105.23736427070915)); - left.setSegment(168, new Trajectory.Segment(132.69198901829816, 111.22952806202215, - -100.00172066557411, 0.018974384516923237, 4.71237037269943, 0.01, 245.89882167578244, 87.30846968186636)); - right.setSegment(168, new Trajectory.Segment(132.6907033154707, 111.23201053677816, - -99.99827934141052, -0.018976924849312127, 4.71237037269943, 0.01, 226.09882167921026, 87.30883811403449)); + left.setSegment(180, new Trajectory.Segment(150.01742761097162, 125.38355421664906, + -100.00218988241585, 0.015753380324667887, 4.712364919538389, 0.01, 245.89874197382662, 103.9830310991942)); + right.setSegment(180, new Trajectory.Segment(150.0160339355544, 125.38567671376038, + -99.99781013280966, -0.015755438624864837, 4.712364919538389, 0.01, 226.09874197955796, 103.98350750395092)); - left.setSegment(169, new Trajectory.Segment(133.7942841455196, 110.22951272214429, - -100.00153398778622, 0.018667778789449585, 4.712371641969378, 0.01, 245.89880186178124, 86.206174554823)); - right.setSegment(169, new Trajectory.Segment(133.79302357423714, 110.23202587664342, - -99.99846601347429, -0.018667206376221657, 4.712371641969378, 0.01, 226.09880186475738, 86.20651785544614)); + left.setSegment(181, new Trajectory.Segment(151.26126294975202, 124.38353387803906, + -100.00203386099997, 0.015602141587578444, 4.712366012050796, 0.01, 245.89871272258966, 102.73919576075777)); + right.setSegment(181, new Trajectory.Segment(151.25989090608044, 124.385697052605, + -99.9979661155379, -0.015598272824490778, 4.712366012050796, 0.01, 226.09871272781237, 102.73965053376882)); - left.setSegment(170, new Trajectory.Segment(134.88657913768327, 109.2294992163672, - -100.00135057770905, 0.018341007717026514, 4.7123729248815245, 0.01, 245.8987836215487, 85.11387956281162)); - right.setSegment(170, new Trajectory.Segment(134.8853439680613, 109.23203938241555, - -99.99864942278691, -0.018340931262628146, 4.7123729248815245, 0.01, 226.09878362410072, 85.11419746177428)); + left.setSegment(182, new Trajectory.Segment(152.4950981005748, 123.38351508227724, + -100.0018795761818, 0.015428481816570638, 4.712367123548771, 0.01, 245.89868506635577, 101.50536061024495)); + right.setSegment(182, new Trajectory.Segment(152.4937480645631, 123.38571584826575, + -99.99812043392495, -0.015431838704671463, 4.712367123548771, 0.01, 226.09868507108519, 101.50579337559613)); - left.setSegment(171, new Trajectory.Segment(135.96887401278605, 108.22948751027866, - -100.0011706088543, 0.017996885475213276, 4.712374219617982, 0.01, 245.89876694333876, 84.03158468783734)); - right.setSegment(171, new Trajectory.Segment(135.96766447894598, 108.23205108846567, - -99.99882939498832, -0.01799722014084182, 4.712374219617982, 0.01, 226.09876694549578, 84.03187695101813)); + left.setSegment(183, new Trajectory.Segment(153.71893307868507, 122.38349781102582, + -100.00172712514228, 0.015245103952565842, 4.712368252492428, 0.01, 245.89865900537364, 100.28152563241217)); + right.setSegment(183, new Trajectory.Segment(153.7176053957578, 122.38573311946956, + -99.99827287961836, -0.015244569340211456, 4.712368252492428, 0.01, 226.0986590096271, 100.28193604467891)); - left.setSegment(172, new Trajectory.Segment(137.041168788465, 107.22947756789482, - -100.00099423838407, 0.017637047022844854, 4.712375524397222, 0.01, 245.8987518130935, 82.95928991226513)); - right.setSegment(172, new Trajectory.Segment(137.0399850892539, 107.23206103079077, - -99.99900576748928, -0.017637250095958734, 4.712375524397222, 0.01, 226.09875181488604, 82.95955634081697)); + left.setSegment(184, new Trajectory.Segment(154.93276789912827, 121.38348204431868, + -100.00157667071363, 0.015045442864902725, 4.712369397362053, 0.01, 245.8986345374887, 99.06769081221559)); + right.setSegment(184, new Trajectory.Segment(154.93146288461958, 121.38574888617721, + -99.99842332923521, -0.015044961685362068, 4.712369397362053, 0.01, 226.09863454128532, 99.06807855606375)); - left.setSegment(173, new Trajectory.Segment(138.10346348198365, 106.22946935186627, - -100.00082160285473, 0.017263552933854953, 4.712376837475597, 0.01, 245.89873821455467, 81.89699521883351)); - right.setSegment(173, new Trajectory.Segment(138.10230578172434, 106.23206924704635, - -99.99917837444201, -0.017260695273080273, 4.712376837475597, 0.01, 226.0987382160144, 81.89723564843355)); + left.setSegment(185, new Trajectory.Segment(156.13660257673652, 120.3834677608244, + -100.00142834942807, 0.014832128556463431, 4.712370556659472, 0.01, 245.8986116582291, 97.86385613482476)); + right.setSegment(185, new Trajectory.Segment(156.1353205163167, 120.38576316971248, + -99.99857164647352, -0.014831723831321142, 4.712370556659472, 0.01, 226.0986116615895, 97.86422092458405)); - left.setSegment(174, new Trajectory.Segment(139.15575811021307, 105.22946282294095, - -100.00065289253257, 0.016871032215703963, 4.7123781571487395, 0.01, 245.89872612937467, 80.8447005906735)); - right.setSegment(174, new Trajectory.Segment(139.154626539482, 105.23207577576483, - -99.99934712815275, -0.016875371073865608, 4.7123781571487395, 0.01, 226.09872613053437, 80.8449148907453)); + left.setSegment(186, new Trajectory.Segment(157.33043712611544, 119.38345493789298, + -100.00128229314242, 0.01460562856436809, 4.71237172890936, 0.01, 245.89859036089277, 96.6700215856358)); + right.setSegment(186, new Trajectory.Segment(157.3291782762434, 119.38577599266999, + -99.99871770424846, -0.014605777494125505, 4.71237172890936, 0.01, 226.09859036383912, 96.67036316484732)); - left.setSegment(175, new Trajectory.Segment(140.19805268962543, 104.22945794123461, - -100.00048817063316, 0.016472189940941462, 4.712379481752872, 0.01, 245.89871553722733, 79.80240601131497)); - right.setSegment(175, new Trajectory.Segment(140.19694734605616, 104.23208065741586, - -99.99951183489628, -0.016470674353286086, 4.712379481752872, 0.01, 226.09871553812056, 79.80259408422496)); + left.setSegment(187, new Trajectory.Segment(158.5142715616323, 118.38344355168675, + -100.0011386206225, 0.014367251992553065, 4.712372912660465, 0.01, 245.89857063663456, 95.48618715028324)); + right.setSegment(187, new Trajectory.Segment(158.51303615003215, 118.38578737887524, + -99.99886137947556, -0.01436752270933539, 4.712372912660465, 0.01, 226.09857063919046, 95.48650529122288)); - left.setSegment(176, new Trajectory.Segment(141.23034723627953, 103.229454665411, - -100.00032758236159, 0.016058827156939515, 4.712380809665998, 0.01, 245.8987064159176, 78.77011146470116)); - right.setSegment(176, new Trajectory.Segment(141.22926818539017, 103.23208393340164, - -99.9996724014224, -0.016056652611950994, 4.712380809665998, 0.01, 226.0987064165785, 78.77027324493125)); + left.setSegment(188, new Trajectory.Segment(159.68810589740403, 117.38343357717045, + -100.00099745163027, 0.014116899222926804, 4.712374106486767, 0.01, 245.8985524745538, 94.31235281465204)); + right.setSegment(188, new Trajectory.Segment(159.68689412356463, 117.38579735324694, + -99.99900256282928, -0.014118335371904323, 4.712374106486767, 0.01, 226.09855247674403, 94.31264731783092)); - left.setSegment(177, new Trajectory.Segment(142.25264176580717, 102.22945295276284, - -100.00017126481566, 0.015631754592959624, 4.7123821393090015, 0.01, 245.8986987414906, 77.74781693520234)); - right.setSegment(177, new Trajectory.Segment(142.25158904184926, 102.23208564590765, - -99.99982874939946, -0.015634797705388337, 4.7123821393090015, 0.01, 226.0986987419539, 77.74795238850098)); + left.setSegment(189, new Trajectory.Segment(160.85194014728938, 116.38342498853602, + -100.00085886344294, 0.013858818732614964, 4.712375308988558, 0.01, 245.89853586178194, 93.14851856488525)); + right.setSegment(189, new Trajectory.Segment(160.85075218298545, 116.38580594208258, + -99.99914111643591, -0.013855360663228566, 4.712375308988558, 0.01, 226.0985358636323, 93.14878925852867)); - left.setSegment(178, new Trajectory.Segment(143.26493629340976, 101.22945276025783, - -100.00001925050128, 0.015201431438072177, 4.712383469146641, 0.01, 245.89869248833972, 76.73552240761907)); - right.setSegment(178, new Trajectory.Segment(143.2639099002371, 101.23208583878396, - -99.9999807123686, -0.015196296914155027, 4.712383469146641, 0.01, 226.0986924886404, 76.73563153013245)); + left.setSegment(190, new Trajectory.Segment(162.00577432487282, 115.38341775834448, + -100.00072301915424, 0.013584428870672127, 4.7123765187934685, 0.01, 245.89852078356964, 91.99468438740033)); + right.setSegment(190, new Trajectory.Segment(162.00461031470613, 115.38581317206948, + -99.99927700131082, -0.013588487490778789, 4.7123765187934685, 0.01, 226.098520785107, 91.9949311269065)); - left.setSegment(179, new Trajectory.Segment(144.26723083383996, 100.22945404302108, - -99.99987172367497, 0.014752682631069547, 4.712384797688453, 0.01, 245.89868762931317, 75.73322786720064)); - right.setSegment(179, new Trajectory.Segment(144.2662307457952, 100.23208455581145, - -100.00012829725051, -0.014758488191546348, 4.712384797688453, 0.01, 226.09868762948636, 75.73331068458612)); + left.setSegment(191, new Trajectory.Segment(163.1496084434632, 114.38341185903784, + -100.00058993066432, 0.01330884899175544, 4.712377734557405, 0.01, 245.8985072233746, 90.85085026889033)); + right.setSegment(191, new Trajectory.Segment(163.14846850542244, 114.38581907163187, + -99.9994100437604, -0.013304244959044809, 4.712377734557405, 0.01, 226.09850722462662, 90.85107293627055)); - left.setSegment(180, new Trajectory.Segment(145.25952540140264, 99.2294567562677, - -99.99972867533842, 0.014304833655387483, 4.712386123489559, 0.01, 245.89868413581934, 74.74093329964411)); - right.setSegment(180, new Trajectory.Segment(145.2585515642198, 99.23208184245844, - -100.00027133530125, -0.014303805073723197, 4.712386123489559, 0.01, 226.09868413590016, 74.74098986616768)); + left.setSegment(192, new Trajectory.Segment(164.28344251607632, 113.3834072613121, + -100.00045977257344, 0.013015809088301467, 4.712378954965443, 0.01, 245.89849516294794, 89.71701619634135)); + right.setSegment(192, new Trajectory.Segment(164.28232674211472, 113.38582366922725, + -99.99954024046218, -0.013019670177527587, 4.712378954965443, 0.01, 226.09849516394297, 89.71721469964243)); - left.setSegment(181, new Trajectory.Segment(146.24182000994054, 98.229460853791, - -99.9995902476698, 0.013842766861671407, 4.712387445151379, 0.01, 245.89868197793075, 73.75863869110857)); - right.setSegment(181, new Trajectory.Segment(146.2408723416617, 98.23207774419244, - -100.00040982660039, -0.013849129913978686, 4.712387445151379, 0.01, 226.0986819779541, 73.75866908872813)); + left.setSegment(193, new Trajectory.Segment(165.40727655543375, 112.38340393574447, + -100.00033255676328, 0.012721581015284755, 4.712380178732637, 0.01, 245.898484582421, 88.59318215703371)); + right.setSegment(193, new Trajectory.Segment(165.4061850120626, 112.38582699478864, + -99.99966744386057, -0.01272033983923393, 4.712380178732637, 0.01, 226.0984845831879, 88.59335642974435)); - left.setSegment(182, new Trajectory.Segment(147.21411467284656, 97.22946629060141, - -99.99945631895883, 0.013392871096584713, 4.71238876132226, 0.01, 245.8986811244862, 72.78634402820293)); - right.setSegment(182, new Trajectory.Segment(147.21319306475118, 97.23207230894582, - -100.00054352466208, -0.013369806168839204, 4.71238876132226, 0.01, 226.0986811244867, 72.78634836563904)); + left.setSegment(194, new Trajectory.Segment(166.5211105739523, 111.38340185185673, + -100.00020838877361, 0.012416798966796705, 4.712381404604784, 0.01, 245.8984754603909, 87.4793481385525)); + right.setSegment(194, new Trajectory.Segment(166.52004330284964, 111.38582907870583, + -99.9997916082819, -0.012416442132234806, 4.712381404604784, 0.01, 226.0984754609591, 87.47949813899464)); - left.setSegment(183, new Trajectory.Segment(148.17640940302502, 96.2294730178448, - -99.99932727566119, 0.01290432976475131, 4.712390070698019, 0.01, 245.89868154319112, 71.82404929802458)); - right.setSegment(183, new Trajectory.Segment(148.17551372056965, 96.23206558184648, - -100.00067270993327, -0.012918527119154533, 4.712390070698019, 0.01, 226.09868154320287, 71.82402770982067)); + left.setSegment(195, new Trajectory.Segment(167.62494458373672, 110.38340097844095, + -100.00008734157859, 0.012104719502303851, 4.712382631359115, 0.01, 245.8984677740058, 86.37551412879485)); + right.setSegment(195, new Trajectory.Segment(167.6239016023698, 110.38582995201725, + -99.99991266885786, -0.012106057596383835, 4.712382631359115, 0.01, 226.0984677744049, 86.37563983950123)); - left.setSegment(184, new Trajectory.Segment(149.12870421290546, 95.22948098804493, - -99.99920297998699, 0.012429567419758314, 4.712391372022397, 0.01, 245.8986832007162, 70.87175448814557)); - right.setSegment(184, new Trajectory.Segment(149.1278342966728, 95.2320576103155, - -100.00079715309909, -0.012444316581650128, 4.712391372022397, 0.01, 226.0986832007728, 70.87170713371896)); + left.setSegment(196, new Trajectory.Segment(168.7187785965746, 109.38340128378677, + -99.99996946541785, 0.011787616074343532, 4.712383857804927, 0.01, 245.89846149904918, 85.28168011597498)); + right.setSegment(196, new Trajectory.Segment(168.71775989883477, 109.38582964649521, + -100.00003055220361, -0.011788334575157933, 4.712383857804927, 0.01, 226.09846149930894, 85.28178154305428)); - left.setSegment(185, new Trajectory.Segment(150.0709991144537, 94.22949015482496, - -99.9990833219968, 0.01196579901829864, 4.712392664087436, 0.01, 245.8986860627939, 69.92945958660167)); - right.setSegment(185, new Trajectory.Segment(150.0701547811088, 94.23204844360082, - -100.00091667146762, -0.011951836853540954, 4.712392664087436, 0.01, 226.09868606292827, 69.9293866492873)); + left.setSegment(197, new Trajectory.Segment(169.8026126239348, 108.38340273602107, + -99.99985477656992, 0.011468884792975587, 4.712385082784161, 0.01, 245.89845661002298, 84.1978460886258)); + right.setSegment(197, new Trajectory.Segment(169.8016181807838, 108.38582819490337, + -100.00014515918423, -0.011460698061682706, 4.712385082784161, 0.01, 226.09845661017337, 84.19792326111627)); - left.setSegment(186, new Trajectory.Segment(151.00329411915115, 93.22950046974282, - -99.99896850821415, 0.011481378265898456, 4.712393945733776, 0.01, 245.89869009431308, 68.99716458191295)); - right.setSegment(186, new Trajectory.Segment(151.00247516240378, 93.23203812949629, - -100.00103141045287, -0.011473898524627657, 4.712393945733776, 0.01, 226.09869009455716, 68.99706626800105)); + left.setSegment(198, new Trajectory.Segment(170.8764466769474, 107.38340530125929, + -99.99974347617808, 0.01113003918362665, 4.712386305171924, 0.01, 245.8984530802302, 83.124012035619)); + right.setSegment(198, new Trajectory.Segment(170.87547643707413, 107.38582562903112, + -100.00025658722507, -0.01114280408387458, 4.712386305171924, 0.01, 226.09845308030108, 83.12406500483176)); - left.setSegment(187, new Trajectory.Segment(151.92558923798398, 92.22951188328457, - -99.99885864582438, 0.010986238976329332, 4.7123952158508775, 0.01, 245.89869525941086, 68.07486946309457)); - right.setSegment(187, new Trajectory.Segment(151.92479542955522, 92.23202671514451, - -100.00114143517749, -0.011002472461996149, 4.7123952158508775, 0.01, 226.0986952597958, 68.07474600086407)); + left.setSegment(199, new Trajectory.Segment(171.94028076641573, 106.3834089468313, + -99.99963544279922, 0.01080333788650023, 4.712387523876942, 0.01, 245.89845088185595, 82.06017794615296)); + right.setSegment(199, new Trajectory.Segment(171.9393346569018, 106.38582198276629, + -100.00036462648296, -0.010803925789559798, 4.712387523876942, 0.01, 226.09845088187697, 82.06020678500637)); - left.setSegment(188, new Trajectory.Segment(152.83788448146768, 91.22952434836887, - -99.99875349157037, 0.01051542540153605, 4.712396473377161, 0.01, 245.89870152156305, 67.16257421963238)); - right.setSegment(188, new Trajectory.Segment(152.83711557205933, 91.23201425041063, - -100.0012464733885, -0.01050382110179271, 4.712396473377161, 0.01, 226.09870152211892, 67.16242585838145)); + left.setSegment(200, new Trajectory.Segment(172.99411490281935, 105.38341364036341, + -99.99953064678806, 0.01047960111577595, 4.712388737841982, 0.01, 245.89844998604738, 81.00634380974971)); + right.setSegment(200, new Trajectory.Segment(172.9931928298132, 105.38581729114298, + -100.00046916233032, -0.01045358473561464, 4.712388737841982, 0.01, 226.09844998604794, 81.00634861209532)); - left.setSegment(189, new Trajectory.Segment(153.7401798596248, 90.22953781571006, - -99.99865326588093, 0.010022568943668375, 4.712397717300085, 0.01, 245.89870884367164, 66.26027884150498)); - right.setSegment(189, new Trajectory.Segment(153.73943557989034, 90.23200078310036, - -100.00134673102679, -0.010025763828025447, 4.712397717300085, 0.01, 226.09870884442736, 66.26010585058016)); + left.setSegment(201, new Trajectory.Segment(174.0379490962749, 104.38341934555635, + -99.99942948070668, 0.010116608137877847, 4.712389946044196, 0.01, 245.89845036299235, 79.96250961629421)); + right.setSegment(201, new Trajectory.Segment(174.0370509456726, 104.38581158594047, + -100.00057052025113, -0.010135792081200634, 4.712389946044196, 0.01, 226.0984503630016, 79.96249049623599)); - left.setSegment(190, new Trajectory.Segment(154.63247538199366, 89.22955223688635, - -99.99855788237113, 0.009538350980164978, 4.71239894665615, 0.01, 245.89871718815, 65.36798331917514)); - right.setSegment(190, new Trajectory.Segment(154.6317554435093, 89.23198636189467, - -100.0014421205691, -0.009538954230947638, 4.71239894665615, 0.01, 226.0987171891333, 65.36778598700023)); + left.setSegment(202, new Trajectory.Segment(175.0717833565592, 103.38342602842971, + -99.99933171266377, 0.009776804290595464, 4.712391147495429, 0.01, 245.898451981997, 78.92867535601118)); + right.setSegment(202, new Trajectory.Segment(175.0709089946913, 103.3858049018707, + -100.00066840697741, -0.009788672628019413, 4.712391147495429, 0.01, 226.09845198204349, 78.92863244721855)); - left.setSegment(191, new Trajectory.Segment(155.51477105762817, 88.22956756345022, - -99.99846734361313, 0.009053875800191236, 4.712400160530834, 0.01, 245.89872651700554, 64.48568764358996)); - right.setSegment(191, new Trajectory.Segment(155.51407515386254, 88.23197103532378, - -100.00153265708889, -0.009053651979229471, 4.712400160530834, 0.01, 226.098726518243, 64.48546627669631)); + left.setSegment(203, new Trajectory.Segment(176.0956176931133, 102.38343365541047, + -99.99923730192393, 0.009441073984817194, 4.712392341242478, 0.01, 245.89845481156124, 77.90484101946099)); + right.setSegment(203, new Trajectory.Segment(176.09476696743698, 102.38579727456758, + -100.00076273031198, -0.009432333456516062, 4.712392341242478, 0.01, 226.09845481167304, 77.90477447447678)); - left.setSegment(192, new Trajectory.Segment(156.38706689509894, 87.22958374707639, - -99.99838163738275, 0.008570623037940095, 4.712401358058461, 0.01, 245.89873679192038, 63.613391806179706)); - right.setSegment(192, new Trajectory.Segment(156.38639470238033, 87.23195485177865, - -100.0016183545128, -0.008569742391273394, 4.712401358058461, 0.01, 226.09873679343713, 63.613146728239045)); + left.setSegment(204, new Trajectory.Segment(177.10945211503164, 101.38344219183388, + -99.99914635765919, 0.009094426474121065, 4.71239352636729, 0.01, 245.8984588194534, 76.89100659755057)); + right.setSegment(204, new Trajectory.Segment(177.1086248548266, 101.38578873895977, + -100.00085356078046, -0.009083046847990772, 4.71239352636729, 0.01, 226.09845881965796, 76.8909165870951)); - left.setSegment(193, new Trajectory.Segment(157.24936290249371, 86.2296007394765, - -99.99830075998943, 0.008087739331585908, 4.7124025384220145, 0.01, 245.89874797432844, 62.75109579885745)); - right.setSegment(193, new Trajectory.Segment(157.24871408097346, 86.23193785931196, - -100.00169924666977, -0.00808921569728227, 4.7124025384220145, 0.01, 226.09874797614827, 62.750827349718435)); + left.setSegment(205, new Trajectory.Segment(178.11328663104706, 100.38345160154138, + -99.99905902924979, 0.008732840939273956, 4.712394701987121, 0.01, 245.8984639727829, 75.88717208154839)); + right.setSegment(205, new Trajectory.Segment(178.11248264811468, 100.3857793288089, + -100.00094101508807, -0.008745430761791795, 4.712394701987121, 0.01, 226.09846397310702, 75.88705879382024)); - left.setSegment(194, new Trajectory.Segment(158.10165908742187, 85.22961849281485, - -99.9982246661645, 0.007609382493001249, 4.712403700852879, 0.01, 245.89876002549082, 61.8987996140145)); - right.setSegment(194, new Trajectory.Segment(158.10103328203274, 85.23192010592744, - -100.00177533845118, -0.007609178140910444, 4.712403700852879, 0.01, 226.09876002763608, 61.89850814874436)); + left.setSegment(206, new Trajectory.Segment(179.10712124955273, 99.38346185056686, + -99.9989750974521, 0.008393179768972914, 4.712395867254652, 0.01, 245.89847023807155, 74.89333746306247)); + right.setSegment(206, new Trajectory.Segment(179.10634033891745, 99.38576908027659, + -100.00102485323055, -0.008383814247281407, 4.712395867254652, 0.01, 226.09847023854113, 74.89320110303723)); - left.setSegment(195, new Trajectory.Segment(158.9439554570171, 84.22963695952375, - -99.99815332911055, 0.007133705395290235, 4.712404844630532, 0.01, 245.898772906568, 61.05650324451776)); - right.setSegment(195, new Trajectory.Segment(158.9433522984255, 84.23190163927583, - -100.00184666516105, -0.007132670987175516, 4.712404844630532, 0.01, 226.09877290905956, 61.0561891324501)); + left.setSegment(207, new Trajectory.Segment(180.0909559785809, 98.38347290281523, + -99.9988947751632, 0.008032228890897386, 4.71239702135805, 0.01, 245.89847758132282, 73.90950273406172)); + right.setSegment(207, new Trajectory.Segment(180.0901979191929, 98.38575802754332, + -100.00110527332708, -0.008042009653763671, 4.71239702135805, 0.01, 226.09847758196292, 73.9093435227892)); - left.setSegment(196, new Trajectory.Segment(159.77625201794004, 83.2296560922943, - -99.99808672294392, 0.0066606166626570484, 4.712405969082173, 0.01, 245.89878657868954, 60.22420668370711)); - right.setSegment(196, new Trajectory.Segment(159.77567112349095, 83.23188250654472, - -100.00191327311114, -0.006660795008883724, 4.712405969082173, 0.01, 226.09878658154682, 60.22387030749695)); + left.setSegment(208, new Trajectory.Segment(181.06479082582007, 97.38348472391648, + -99.99881788987466, 0.007688528853577736, 4.712398163520994, 0.01, 245.89848596808974, 72.93566788685867)); + right.setSegment(208, new Trajectory.Segment(181.06405538125838, 97.38574620654866, + -100.00118209946578, -0.007682613869519628, 4.712398163520994, 0.01, 226.0984859689246, 72.93548606075983)); - left.setSegment(197, new Trajectory.Segment(160.5985487763823, 82.22967584422564, - -99.99802480686668, 0.006191607724304049, 4.7124070735823045, 0.01, 245.89880100302102, 59.401909925391365)); - right.setSegment(197, new Trajectory.Segment(160.5979897510358, 82.23186275448562, - -100.0019752059103, -0.006193279915578387, 4.7124070735823045, 0.01, 226.09880100626194, 59.40155168007861)); + left.setSegment(209, new Trajectory.Segment(182.02862579860422, 96.38349727841475, + -99.99874455017306, 0.007333970160061654, 4.712399293002657, 0.01, 245.8984953635408, 71.97183291412031)); + right.setSegment(209, new Trajectory.Segment(182.02791271777946, 96.38573365210661, + -100.00125544420513, -0.0073344739348613075, 4.712399293002657, 0.01, 226.09849536459365, 71.97162872428456)); - left.setSegment(198, new Trajectory.Segment(161.41084573807373, 81.2296961691426, - -99.99796750830399, 0.005729856269454103, 4.712408157552251, 0.01, 245.89881614082822, 58.58961296384099)); - right.setSegment(198, new Trajectory.Segment(161.41030817533218, 81.2318424296364, - -100.0020324849217, -0.005727901140062386, 4.712408157552251, 0.01, 226.09881614446908, 58.589233255923304)); + left.setSegment(210, new Trajectory.Segment(182.98246090391677, 95.38351053125632, + -99.9986747158431, 0.006983432996321426, 4.712400409097641, 0.01, 245.89850573252423, 71.01799780886411)); + right.setSegment(210, new Trajectory.Segment(182.9817699217727, 95.38572039932241, + -100.00132527841998, -0.006983421485529107, 4.712400409097641, 0.01, 226.09850573381735, 71.0177715203477)); - left.setSegment(199, new Trajectory.Segment(162.21314290828454, 80.22971702108062, - -99.9979148061982, 0.005270210579055856, 4.71240922045964, 0.01, 245.89883195353858, 57.787315793786014)); - right.setSegment(199, new Trajectory.Segment(162.2126263911093, 80.23182157771097, - -100.00208519254272, -0.005270762102327353, 4.71240922045964, 0.01, 226.09883195759423, 57.78691504030203)); + left.setSegment(211, new Trajectory.Segment(183.92629614839146, 94.38352444746845, + -99.99860837878742, 0.00663370556708287, 4.712401511135882, 0.01, 245.89851703963032, 70.07416256445715)); + right.setSegment(211, new Trajectory.Segment(183.92562698660456, 94.38570648318623, + -100.0013916136183, -0.006633519831211743, 4.712401511135882, 0.01, 226.0985170411848, 70.07391445558356)); - left.setSegment(200, new Trajectory.Segment(163.00544029183254, 79.22973835479944, - -99.997866628118, 0.0048178080191974, 4.712410261817823, 0.01, 245.8988484027998, 56.995018410408775)); - right.setSegment(200, new Trajectory.Segment(163.0049443935493, 79.23180024400077, - -100.00213337102082, -0.004817847809590603, 4.712410261817823, 0.01, 226.0988484072835, 56.99459703803278)); + left.setSegment(212, new Trajectory.Segment(184.86013153831178, 93.38353899203288, + -99.99854554355636, 0.006283523106276334, 4.712402598482508, 0.01, 245.89852924925162, 69.14032717461664)); + right.setSegment(212, new Trajectory.Segment(184.85948390598807, 93.38569193835278, + -100.00145448334479, -0.006286972649149902, 4.712402598482508, 0.01, 226.0985292510876, 69.14005753627985)); - left.setSegment(201, new Trajectory.Segment(163.78773789308886, 78.22976012563042, - -99.99782291690167, 0.0043711216335395875, 4.712411281185258, 0.01, 245.89886545053585, 56.21272080933822)); - right.setSegment(201, new Trajectory.Segment(163.78726217828083, 78.23177847315237, - -100.00217708483916, -0.004371381834289423, 4.712411281185258, 0.01, 226.0988654554594, 56.21227925348701)); + left.setSegment(213, new Trajectory.Segment(185.78396707961818, 92.38355413063921, + -99.99848613936706, 0.005940418930094893, 4.712403670537667, 0.01, 245.8985423256418, 68.2164916334028)); + right.setSegment(213, new Trajectory.Segment(185.78334067398663, 92.38567679985493, + -100.00151384978437, -0.005936643958648347, 4.712403670537667, 0.01, 226.09854232777826, 68.21620076837385)); - left.setSegment(202, new Trajectory.Segment(164.5600357159849, 77.22978228960376, - -99.99778360266589, 0.003931423577796522, 4.712412278164843, 0.01, 245.8988830590001, 55.44042298664292)); - right.setSegment(202, new Trajectory.Segment(164.55957974137266, 77.23175630918247, - -100.0022163969902, -0.00393121510455785, 4.712412278164843, 0.01, 226.09888306437367, 55.43996169059593)); + left.setSegment(214, new Trajectory.Segment(186.69780277790483, 91.38356982866583, + -99.99843019733845, 0.005594202860947917, 4.712404726736313, 0.01, 245.8985562329721, 67.30265593522196)); + right.setSegment(214, new Trajectory.Segment(186.69719728500647, 91.38566110198519, + -100.00156978697419, -0.005593718981344864, 4.712404726736313, 0.01, 226.09855623542677, 67.30234415745983)); - left.setSegment(203, new Trajectory.Segment(165.32233376401896, 76.22980480340726, - -99.99774861964994, 0.003498301595072917, 4.712413252403212, 0.01, 245.89890119082554, 54.67812493882449)); - right.setSegment(203, new Trajectory.Segment(165.32189707932642, 76.23173379537698, - -100.00225138054901, -0.003498355880537929, 4.712413252403212, 0.01, 226.09890119665795, 54.677644352857804)); + left.setSegment(215, new Trajectory.Segment(187.60163863842163, 90.38358605168168, + -99.9983776984152, 0.005249892325309702, 4.712405766547958, 0.01, 245.8985709353858, 66.39882007482473)); + right.setSegment(215, new Trajectory.Segment(187.60105373379383, 90.3856448787378, + -100.00162232473855, -0.005253776436120461, 4.712405766547958, 0.01, 226.09857093817538, 66.39848770879203)); - left.setSegment(204, new Trajectory.Segment(166.07463204026385, 75.22982762448723, - -99.99771789200338, 0.0030727646560535504, 4.712414203589985, 0.01, 245.8989198090727, 53.92582666281)); - right.setSegment(204, new Trajectory.Segment(166.0742141890694, 75.23171097429814, - -100.00228210788435, -0.003072733534281724, 4.712414203589985, 0.01, 226.09891981537118, 53.925327243345215)); + left.setSegment(216, new Trajectory.Segment(188.49547466608306, 89.38360276614122, + -99.9983285540452, 0.004914436999570171, 4.712406789476397, 0.01, 245.89858639705128, 65.50498404729704)); + right.setSegment(216, new Trajectory.Segment(188.49491001543834, 89.38562816444963, + -100.00167142881793, -0.004910407938041317, 4.712406789476397, 0.01, 226.09858640019118, 65.50463142728127)); - left.setSegment(205, new Trajectory.Segment(166.8169305473746, 74.22985071107345, - -99.9976913413775, 0.0026550625875643163, 4.712415131456984, 0.01, 245.8989388772743, 53.18352815594418)); - right.setSegment(205, new Trajectory.Segment(166.81653106794673, 74.23168788773127, - -100.00230865668698, -0.0026548802622983203, 4.712415131456984, 0.01, 226.09893888404468, 53.18301036471282)); + left.setSegment(217, new Trajectory.Segment(189.37931086546413, 88.38361993810688, + -99.99828280343479, 0.004575061041123263, 4.71240779505939, 0.01, 245.89860258221233, 64.62114784806417)); + right.setSegment(217, new Trajectory.Segment(189.3787661253627, 88.3856109924345, + -100.00171720151343, -0.004577269550054552, 4.71240779505939, 0.01, 226.09860258571683, 64.62077531750512)); - left.setSegment(206, new Trajectory.Segment(167.54922928759652, 73.22987402219331, - -99.99766888801389, 0.0022453363612839894, 4.712416035777407, 0.01, 245.8989583594774, 52.4512294159814)); - right.setSegment(206, new Trajectory.Segment(167.54884771371303, 73.23166457663076, - -100.00233111005059, -0.0022453363612839894, 4.712416035777407, 0.01, 226.09895836672413, 52.450693719205674)); + left.setSegment(218, new Trajectory.Segment(190.2531472408081, 87.38363753439585, + -99.99824037110301, 0.004243233178158334, 4.712408782868319, 0.01, 245.8986194552371, 63.74731147288311)); + right.setSegment(218, new Trajectory.Segment(190.25262205932344, 87.3855933960761, + -100.001759635839, -0.004243432556449989, 4.712408782868319, 0.01, 226.09861945911928, 63.746919383707265)); - left.setSegment(207, new Trajectory.Segment(168.27152826277364, 72.22989751771235, - -99.99765044809692, 0.0018439916971146886, 4.712416916364974, 0.01, 245.89897822028314, 51.72893044107733)); - right.setSegment(207, new Trajectory.Segment(168.271164124524, 72.23164108109664, - -100.00234955341227, -0.001844336168232985, 4.712416916364974, 0.01, 226.0989782280093, 51.72837730866777)); + left.setSegment(219, new Trajectory.Segment(191.11698379602973, 86.3836555221652, + -99.9982012230646, 0.003914803841098546, 4.7124097525078215, 0.01, 245.8986369806648, 62.88347491783924)); + right.setSegment(219, new Trajectory.Segment(191.11647781340724, 86.38557540837898, + -100.00179876971202, -0.003913387303100535, 4.7124097525078215, 0.01, 226.09863698493646, 62.883063629801256)); - left.setSegment(208, new Trajectory.Segment(168.9838274743575, 71.22992115838474, - -99.99763593276043, 0.0014515336488329922, 4.712417773073039, 0.01, 245.89899842488327, 51.01663122978004)); - right.setSegment(208, new Trajectory.Segment(168.98348029892753, 71.23161744035258, - -100.0023640744061, -0.0014520993829592044, 4.712417773073039, 0.01, 226.09899843309054, 51.0160611345508)); + left.setSegment(220, new Trajectory.Segment(191.97082053471786, 85.38367386881383, + -99.99816533513695, 0.0035887927651856444, 4.712410703615376, 0.01, 245.89865512325014, 62.02963817934385)); + right.setSegment(220, new Trajectory.Segment(191.97033338402494, 85.38555706177085, + -100.00183466081296, -0.003589110093571435, 4.712410703615376, 0.01, 226.09865512792192, 62.0292080593763)); - left.setSegment(209, new Trajectory.Segment(169.68612692341716, 70.2299449059662, - -99.99762524185343, 0.0010690907004118344, 4.712418605793661, 0.01, 245.89901893909445, 50.31433178101999)); - right.setSegment(209, new Trajectory.Segment(169.68579623585552, 70.23159369279772, - -100.0023747554863, -0.0010681080198082782, 4.712418605793661, 0.01, 226.09901894778335, 50.313745197922444)); + left.setSegment(221, new Trajectory.Segment(192.81465746014032, 84.3836925422454, + -99.9981326568431, 0.003267829384867582, 4.712411635860881, 0.01, 245.89867384800633, 61.185801254129146)); + right.setSegment(221, new Trajectory.Segment(192.8141887679084, 84.38553838834582, + -100.0018673425032, -0.0032681690242952754, 4.712411635860881, 0.01, 226.09867385308772, 61.1853526757006)); - left.setSegment(210, new Trajectory.Segment(170.37842661064744, 69.22996872302862, - -99.9976182937587, 0.0006948094721792586, 4.71241941445666, 0.01, 245.89903972938978, 49.622032094101876)); - right.setSegment(210, new Trajectory.Segment(170.37811193461317, 69.2315698757658, - -100.00238170319165, -0.0006947705344373389, 4.71241941445666, 0.01, 226.09903973855947, 49.62142949947697)); + left.setSegment(222, new Trajectory.Segment(193.6484945752483, 83.38371151079586, + -99.99810314495363, 0.0029511889465538843, 4.712412548946191, 0.01, 245.89869312024558, 60.351964139243904)); + right.setSegment(222, new Trajectory.Segment(193.6480439621055, 83.38551941970941, + -100.0018968636411, -0.0029521137889787497, 4.712412548946191, 0.01, 226.09869312574483, 60.35149748172623)); - left.setSegment(211, new Trajectory.Segment(171.06072653637892, 68.22999257314902, - -99.99761498796005, 0.00033057986570383946, 4.712420199028635, 0.01, 245.8990607629278, 48.93973216869459)); - right.setSegment(211, new Trajectory.Segment(171.06042739486978, 68.23154602566021, - -100.00238501055918, -0.0003307367535398953, 4.712420199028635, 0.01, 226.0990607725764, 48.93911403954458)); + left.setSegment(223, new Trajectory.Segment(194.4723318826822, 82.3837307433912, + -99.9980767404665, 0.002640448713009391, 4.712413442604641, 0.01, 245.8987129056179, 59.528126832047576)); + right.setSegment(223, new Trajectory.Segment(194.4718989639767, 82.38550018712208, + -100.00192325873343, -0.002639509233404169, 4.712413442604641, 0.01, 226.09871291154207, 59.527642480092595)); - left.setSegment(212, new Trajectory.Segment(171.73302670058817, 67.23001642092444, - -99.99761522245763, -0.000023449757691196282, 4.712420959511961, 0.01, 245.89908200757895, 48.26743200482101)); - right.setSegment(212, new Trajectory.Segment(171.7327426166489, 67.2315221779106, - -100.00238477496026, 0.000023559891815239098, 4.712420959511961, 0.01, 226.09908201770332, 48.266798818101144)); + left.setSegment(224, new Trajectory.Segment(195.28616938477555, 81.3837502093336, + -99.99805340575989, 0.0023334706611422007, 4.712414316600531, 0.01, 245.89873317014772, 58.71428933020653)); + right.setSegment(224, new Trajectory.Segment(195.28575377118867, 81.38548072119593, + -100.00194659261439, -0.0023333880960763054, 4.712414316600531, 0.01, 226.09873317650275, 58.713787673132934)); - left.setSegment(213, new Trajectory.Segment(172.39532710290717, 66.23004023189954, - -99.99761890249061, -0.000368003298945041, 4.712421695943764, 0.01, 245.89910343194947, 47.60513160284854)); - right.setSegment(213, new Trajectory.Segment(172.39505760031759, 66.23149836686916, - -100.00238110414443, 0.000367081582908213, 4.712421695943764, 0.01, 226.09910344254553, 47.60448383477898)); + left.setSegment(225, new Trajectory.Segment(196.0900070835603, 80.38376987847408, + -99.99803308595148, 0.002031980841366021, 4.7124151707286, 0.01, 245.89875388026869, 57.91045163168858)); + right.setSegment(225, new Trajectory.Segment(196.08960838170918, 80.38546105205164, + -100.00196691442937, -0.0020321814986346, 4.7124151707286, 0.01, 226.09875388705942, 57.90993306287921)); - left.setSegment(214, new Trajectory.Segment(173.04762774263511, 65.23006397279461, - -99.99762591049262, -0.0007008002000929991, 4.712422408394862, 0.01, 245.8991250054031, 46.95283096347734)); - right.setSegment(214, new Trajectory.Segment(173.04737234657728, 65.23147462596903, - -100.00237409001329, 0.0007014131142568658, 4.712422408394862, 0.01, 226.09912501646568, 46.95216908887605)); + left.setSegment(226, new Trajectory.Segment(196.88384498077272, 79.38378972124383, + -99.99801572302545, 0.001736292603027323, 4.712416004813473, 0.01, 245.89877500285635, 57.11661373475716)); + right.setSegment(226, new Trajectory.Segment(196.88346279380212, 79.38544120929296, + -100.00198427586753, -0.0017361438153784547, 4.712416004813473, 0.01, 226.09877501008654, 57.116078651067305)); - left.setSegment(215, new Trajectory.Segment(173.689928618748, 64.23008761129027, - -99.99763615043378, -0.0010239941161671595, 4.712423096968701, 0.01, 245.89914669808005, 46.310530087730754)); - right.setSegment(215, new Trajectory.Segment(173.68968685645217, 64.23145098749055, - -100.00236384784813, 0.0010242165160434524, 4.712423096968701, 0.01, 226.09914670960305, 46.30985457936747)); + left.setSegment(227, new Trajectory.Segment(197.66768307785884, 78.38380970861222, + -99.99800126316103, 0.001445986441694913, 4.712416818709086, 0.01, 245.8987965052591, 56.332775637965966)); + right.setSegment(227, new Trajectory.Segment(197.66731700602136, 78.38542122192354, + -100.00199873694271, -0.0014461075181770866, 4.712416818709086, 0.01, 226.0987965129313, 56.332224439143005)); - left.setSegment(216, new Trajectory.Segment(174.32222972990948, 63.230111116146155, - -99.99764951441179, -0.0013363978013103406, 4.712423761800261, 0.01, 245.89916848091383, 45.6782289769445)); - right.setSegment(216, new Trajectory.Segment(174.32200113127854, 63.23142748263582, - -100.00235048547239, 0.0013362375739234267, 4.712423761800261, 0.01, 226.09916849289033, 45.67754030491633)); + left.setSegment(228, new Trajectory.Segment(198.44152137598044, 77.38382981216, + -99.99798964522171, 0.0011617939321695303, 4.712417612298086, 0.01, 245.89881835532682, 55.558937340152845)); + right.setSegment(228, new Trajectory.Segment(198.4411710172052, 77.38540111838178, + -100.00201035417575, -0.0011617233042215958, 4.712417612298086, 0.01, 226.0988183634427, 55.55837042826767)); - left.setSegment(217, new Trajectory.Segment(174.94453107448206, 62.23013445725633, - -99.99766588898282, -0.001637457103242923, 4.712424403054948, 0.01, 245.89919032564586, 45.05592763275535)); - right.setSegment(217, new Trajectory.Segment(174.9443151726939, 62.23140414153588, - -100.002334109994, 0.0016375478395502796, 4.712424403054948, 0.01, 226.099190338068, 45.055226263884386)); + left.setSegment(229, new Trajectory.Segment(199.20535987602105, 76.38385000405951, + -99.99798081004911, 0.000883517259353539, 4.712418385491229, 0.01, 245.89884052143816, 54.79509884043387)); + right.setSegment(229, new Trajectory.Segment(199.20502482647, 76.38538092648116, + -100.00201919006173, -0.0008835885978442093, 4.712418385491229, 0.01, 226.0988405299983, 54.79451661932449)); - left.setSegment(218, new Trajectory.Segment(175.55683265053807, 61.230157605600844, - -99.99768516554823, -0.0019276565410564217, 4.712425020927468, 0.01, 245.8992122048376, 44.44362605709024)); - right.setSegment(218, new Trajectory.Segment(175.55662898262582, 61.23138099319091, - -100.00231483449724, 0.0019275496754289634, 4.712425020927468, 0.01, 226.09921221769693, 44.442912454343386)); + left.setSegment(230, new Trajectory.Segment(199.95919857859224, 75.38387025711926, + -99.99797469402552, 0.0006116023598679021, 4.7124191382267355, 0.01, 245.8988629725254, 54.041260138197)); + right.setSegment(230, new Trajectory.Segment(199.95887843320423, 75.3853606734223, + -100.00202530588638, -0.0006115824646713008, 4.7124191382267355, 0.01, 226.09886298152938, 54.0406630129246)); - left.setSegment(219, new Trajectory.Segment(176.1591344558711, 60.23018053330489, - -99.99770722959553, -0.0022064047300318634, 4.712425615640694, 0.01, 245.8992340918808, 43.84132425215487)); - right.setSegment(219, new Trajectory.Segment(176.15894256328073, 60.23135806549086, - -100.00229277000514, 0.002206449210007122, 4.712425615640694, 0.01, 226.099234105168, 43.84059887408616)); + left.setSegment(231, new Trajectory.Segment(200.7030374840401, 74.38389054478553, + -99.9979712333726, 0.00034606529197844793, 4.712419870469647, 0.01, 245.89888567809763, 53.29742123309569)); + right.setSegment(231, new Trajectory.Segment(200.70273183706175, 74.38534038575172, + -100.002028767058, -0.0003461171615981584, 4.712419870469647, 0.01, 226.0988856875442, 53.29680960941363)); - left.setSegment(220, new Trajectory.Segment(176.75143648800736, 59.23020321362511, - -99.9977319679779, -0.0024738382364830613, 4.712426187444508, 0.01, 245.89925596100537, 43.24902222042235)); - right.setSegment(220, new Trajectory.Segment(176.7512559171325, 59.23133538517777, - -100.00226803130872, 0.002473869642471982, 4.712426187444508, 0.01, 226.0992559747106, 43.24828552063812)); + left.setSegment(232, new Trajectory.Segment(201.43687659245174, 73.383910841165, + -99.99797036205251, 0.00008713200827514811, 4.7124205822111636, 0.01, 245.8989086082623, 52.56358212504229)); + right.setSegment(232, new Trajectory.Segment(201.4365850379554, 73.38532008936757, + -100.00202963841502, -0.00008713570309737406, 4.7124205822111636, 0.01, 226.09890861814918, 52.56295640887821)); - left.setSegment(221, new Trajectory.Segment(177.3337387442172, 58.230225620981656, - -99.99775926434538, -0.0027296367477447347, 4.712426736614639, 0.01, 245.89927778728534, 42.666719964621585)); - right.setSegment(221, new Trajectory.Segment(177.33356904691092, 58.23131297784225, - -100.00224073355213, 0.002729775658849576, 4.712426736614639, 0.01, 226.09927780139813, 42.66597239126876)); + left.setSegment(233, new Trajectory.Segment(202.16071590366218, 72.38393112104328, + -99.99797201217291, -0.00016501203958796395, 4.712421273467955, 0.01, 245.89893173374463, 51.839742814201266)); + right.setSegment(233, new Trajectory.Segment(202.1604380360503, 72.38529980948977, + -100.0020279877802, 0.00016506348288203299, 4.712421273467955, 0.01, 226.0989317440688, 51.83910341115273)); - left.setSegment(222, new Trajectory.Segment(177.90604122152632, 57.23024773091263, - -99.9977890069026, -0.002974255721710506, 4.712427263451496, 0.01, 245.89929954664285, 42.09441748772611)); - right.setSegment(222, new Trajectory.Segment(177.90588195558982, 57.23129086788929, - -100.00221099529583, 0.0029738256301925503, 4.712427263451496, 0.01, 226.09929956115224, 42.09365948300353)); + left.setSegment(234, new Trajectory.Segment(202.87455541726098, 71.38395135988127, + -99.99797611620096, -0.0004104028050733177, 4.7124219442814725, 0.01, 245.8989550259055, 51.12590330098246)); + right.setSegment(234, new Trajectory.Segment(202.87429083175675, 71.38527957064645, + -100.00202388433195, 0.0004103448247860797, 4.7124219442814725, 0.01, 226.09895503666306, 51.125250615826275)); - left.setSegment(223, new Trajectory.Segment(178.4683439167279, 56.23026952015655, - -99.99782107560833, -0.003206870573535525, 4.712427768278981, 0.01, 245.89932121585016, 41.532114792942075)); - right.setSegment(223, new Trajectory.Segment(178.46819464637557, 56.231269078575195, - -100.0021789314097, 0.003206388612397859, 4.712427768278981, 0.01, 226.09932123074472, 41.53134679263531)); + left.setSegment(235, new Trajectory.Segment(203.57839513259952, 70.38397153385503, + -99.99798260262338, -0.0006486422421403404, 4.712422594717237, 0.01, 245.89897845675733, 50.422063586033914)); + right.setSegment(235, new Trajectory.Segment(203.57814342572343, 70.3852593966684, + -100.00201739780437, 0.0006486527581728296, 4.712422594717237, 0.01, 226.0989784679436, 50.421398022249605)); - left.setSegment(224, new Trajectory.Segment(179.02064682639508, 55.230290966718385, - -99.99785534381616, -0.00342682078269263, 4.712428251443301, 0.01, 245.8993427725297, 40.979811883695575)); - right.setSegment(224, new Trajectory.Segment(179.0205071226963, 55.231247632072275, - -100.00214465029202, 0.0034281117677892325, 4.712428251443301, 0.01, 226.09934278779767, 40.97903431673528)); + left.setSegment(236, new Trajectory.Segment(204.27223504879802, 69.38399161984864, + -99.99799140063885, -0.0008798015471711551, 4.712423224864121, 0.01, 245.89900199897855, 49.728223670234826)); + right.setSegment(236, new Trajectory.Segment(204.27199581883022, 69.38523931067894, + -100.00200859894619, 0.0008798858175396163, 4.712423224864121, 0.01, 226.09900201058812, 49.72754562954222)); - left.setSegment(225, new Trajectory.Segment(179.56294994689154, 54.230312049645, - -99.99789170733848, -0.003636352232661011, 4.7124287133117795, 0.01, 245.89936419515263, 40.437508763622255)); - right.setSegment(225, new Trajectory.Segment(179.56281938818864, 54.23122654923288, - -100.0021082839396, 0.003636635241832664, 4.7124287133117795, 0.01, 226.09936421078183, 40.43672205166609)); + left.setSegment(237, new Trajectory.Segment(204.9560751647527, 68.38401159546765, + -99.99800243809887, -0.0011037460012630618, 4.712423834833614, 0.01, 245.8990256259261, 49.04438355468831)); + right.setSegment(237, new Trajectory.Segment(204.95584801218087, 68.38521933506347, + -100.00199756154728, 0.0011037398905955342, 4.712423834833614, 0.01, 226.09902563795296, 49.04369343659975)); - left.setSegment(226, new Trajectory.Segment(180.09525327438232, 53.23033274907771, - -99.99793005672899, -0.003834939050761932, 4.712429154271653, 0.01, 245.89938546303532, 39.90520543655635)); - right.setSegment(226, new Trajectory.Segment(180.09513144668492, 53.23120584962777, - -100.00206996051091, 0.0038323428697140116, 4.712429154271653, 0.01, 226.0993854790133, 39.90440999359469)); + left.setSegment(238, new Trajectory.Segment(205.62991547914322, 67.38403143905407, + -99.9980156413585, -0.0013203259641159093, 4.71242442475908, 0.01, 245.89904931164654, 48.37054324071405)); + right.setSegment(238, new Trajectory.Segment(205.62970000709564, 67.38519949147722, + -100.00198435862444, 0.0013202922843902343, 4.71242442475908, 0.01, 226.09904932408392, 48.36984144210127)); - left.setSegment(227, new Trajectory.Segment(180.61755680485, 52.23035304677027, - -99.99797023074422, -0.004017401522560249, 4.7124295747288745, 0.01, 245.89940655633436, 39.382901906514576)); - right.setSegment(227, new Trajectory.Segment(180.6174433022056, 52.23118555206836, - -100.00202975594092, 0.004020456998432564, 4.7124295747288745, 0.01, 226.09940657264858, 39.38209813849994)); + left.setSegment(239, new Trajectory.Segment(206.29375599044033, 66.38405112971046, + -99.99803093436128, -0.0015293002775251807, 4.712424994795006, 0.01, 245.89907303088523, 47.70670272984069)); + right.setSegment(239, new Trajectory.Segment(206.29355180510407, 66.3851798008439, + -100.0019690633323, 0.0015295292143946426, 4.712424994795006, 0.01, 226.09907304372592, 47.705989644516585)); - left.setSegment(228, new Trajectory.Segment(181.1298605341012, 51.23037292511968, - -99.99801216505873, -0.00419343145097173, 4.712429975106908, 0.01, 245.89942745604017, 38.870598177689686)); - right.setSegment(228, new Trajectory.Segment(181.12975495894187, 51.23116567362611, - -100.00198784422523, 0.004191171569800645, 4.712429975106908, 0.01, 226.09942747267777, 38.869786482189994)); + left.setSegment(240, new Trajectory.Segment(206.947596696913, 65.38407064726509, + -99.99804824453662, -0.00173101753375704, 4.712425545116242, 0.01, 245.89909675909445, 47.052862023798596)); + right.setSegment(240, new Trajectory.Segment(206.94740340793717, 65.38516028331084, + -100.00195175330617, 0.001731002612359589, 4.712425545116242, 0.01, 226.09909677233054, 47.05213804211404)); - left.setSegment(229, new Trajectory.Segment(181.63216445778323, 50.23039236820282, - -99.998055691686, -0.00435266272802437, 4.712430355845531, 0.01, 245.89944814396864, 38.368294254433685)); - right.setSegment(229, new Trajectory.Segment(181.63206642124862, 50.231146230676345, - -100.0019442949764, 0.00435492488293221, 4.712430355845531, 0.01, 226.09944816091672, 38.367475020309264)); + left.setSegment(241, new Trajectory.Segment(207.59143759663596, 64.38408997229615, + -99.99806749689384, -0.001925235721955687, 4.712426075917227, 0.01, 245.89912047243925, 46.40902112451233)); + right.setSegment(241, new Trajectory.Segment(207.59125481751965, 64.38514095824758, + -100.00193250632634, 0.0019246979832132638, 4.712426075917227, 0.01, 226.09912048606245, 46.40828663296826)); - left.setSegment(230, new Trajectory.Segment(182.12446857139116, 49.23041136079163, - -99.99810074111934, -0.004504943333927258, 4.712430717399629, 0.01, 245.89946860275174, 37.875990141250874)); - right.setSegment(230, new Trajectory.Segment(182.12437769362768, 49.231127237904865, - -100.001899277148, 0.004501782839838597, 4.712430717399629, 0.01, 226.09946861999734, 37.87516374835533)); + left.setSegment(242, new Trajectory.Segment(208.22527868749785, 63.38410908618853, + -99.99808861076218, -0.0021113868342581554, 4.712426587411221, 0.01, 245.89914414780264, 45.77518003409261)); + right.setSegment(242, new Trajectory.Segment(208.22510603596263, 63.38512184429701, + -100.00191139505645, 0.002111126988779688, 4.712426587411221, 0.01, 226.09914416180408, 45.77443541496746)); - left.setSegment(231, new Trajectory.Segment(182.60677287028525, 48.230429889408974, - -99.99814713826538, -0.004639714603626999, 4.712431060238, 0.01, 245.89948881582663, 37.39368584278034)); - right.setSegment(231, new Trajectory.Segment(182.60668878072153, 48.23110870938367, - -100.00185285211955, 0.004642502844376395, 4.712431060238, 0.01, 226.09948883335667, 37.392852661685055)); + left.setSegment(243, new Trajectory.Segment(208.84911996720948, 62.38412797116297, + -99.99811150255624, -0.0022891794060342363, 4.712427079829515, 0.01, 245.89916776278866, 45.15133875482794)); + right.setSegment(243, new Trajectory.Segment(208.84895706555648, 62.385102959386096, + -100.0018884910915, 0.00229039649468632, 4.712427079829515, 0.01, 226.09916777715918, 45.15058438582057)); - left.setSegment(232, new Trajectory.Segment(183.07907734969834, 47.23044794130755, - -99.99819481014214, -0.0047671876757249265, 4.712431384842158, 0.01, 245.89950876742338, 36.921381363788676)); - right.setSegment(232, new Trajectory.Segment(183.0789996872969, 47.23109065754, - -100.00180518436679, 0.004766775276721091, 4.712431384842158, 0.01, 226.09950878522497, 36.92054175553107)); + left.setSegment(244, new Trajectory.Segment(209.4629614333102, 61.38414661007352, + -99.99813610894464, -0.002460638839352214, 4.71242755342065, 0.01, 245.89919129572448, 44.5374972891783)); + right.setSegment(244, new Trajectory.Segment(209.46280790876168, 61.38508432051896, + -100.00186388671324, 0.0024604378268122673, 4.71242755342065, 0.01, 226.09919131045447, 44.53673354306648)); - left.setSegment(233, new Trajectory.Segment(183.54138200474878, 46.23046550504473, - -99.9982436262826, -0.004881614046325922, 4.712431691705144, 0.01, 245.8995284425517, 36.4590767091569)); - right.setSegment(233, new Trajectory.Segment(183.5413104182345, 46.23107309375813, - -100.00175637818742, 0.00488061793646466, 4.712431691705144, 0.01, 226.09952846061188, 36.45823102501217)); + left.setSegment(245, new Trajectory.Segment(210.06680308317576, 60.38416498655531, + -99.99816235182095, -0.0026242876316473485, 4.712428008449615, 0.01, 245.8992147256608, 43.9336556397673)); + right.setSegment(245, new Trajectory.Segment(210.06665856820075, 60.38506594390773, + -100.001837661123, 0.0026225590232797913, 4.712428008449615, 0.01, 226.0992147407404, 43.93288288408197)); - left.setSegment(234, new Trajectory.Segment(183.99368683045307, 45.23048257042921, - -99.99829346155167, -0.0049835269066988985, 4.712431981330344, 0.01, 245.8995478269863, 36.00677188386799)); - right.setSegment(234, new Trajectory.Segment(183.99362097851775, 45.231056028324595, - -100.00170654335321, 0.00498348342148347, 4.712431981330344, 0.01, 226.0995478452922, 36.00592046514431)); + left.setSegment(246, new Trajectory.Segment(210.66064491402918, 59.38418308534078, + -99.99819012145323, -0.0027769632282570456, 4.712428445197066, 0.01, 245.89923803237133, 43.33981380937126)); + right.setSegment(246, new Trajectory.Segment(210.6605090466537, 59.38504784529292, + -100.00180986148166, 0.0027799641344472548, 4.712428445197066, 0.01, 226.09923804779032, 43.33903240608641)); - left.setSegment(235, new Trajectory.Segment(184.4359918217373, 44.23049912842441, - -99.99834420047975, -0.005073892808127312, 4.7124322542303085, 0.01, 245.8995669072512, 35.56446689299529)); - right.setSegment(235, new Trajectory.Segment(184.4359313732213, 44.23103947035434, - -100.00165579702553, 0.005074632767332332, 4.7124322542303085, 0.01, 226.0995669257902, 35.56361007085231)); + left.setSegment(247, new Trajectory.Segment(211.2444869229431, 58.38420089139276, + -99.99821939480213, -0.0029273348900460405, 4.712428863958514, 0.01, 245.89926119635064, 42.755971800916846)); + right.setSegment(247, new Trajectory.Segment(211.24435934704428, 58.38503003905948, + -100.0017806233437, 0.0029238137955189814, 4.712428863958514, 0.01, 226.09926121209858, 42.75518210615534)); - left.setSegment(236, new Trajectory.Segment(184.868296973448, 43.23051517106956, - -99.99839573548499, -0.005153500524102128, 4.712432510925587, 0.01, 245.89958567060336, 35.13216174169179)); - right.setSegment(236, new Trajectory.Segment(184.86824160749853, 43.231023427721745, - -100.00160426325948, 0.0051533766054490115, 4.712432510925587, 0.01, 226.09958568936293, 35.13129983698229)); + left.setSegment(248, new Trajectory.Segment(211.81832910685466, 57.384218391156416, + -99.99825002363423, -0.0030628832092816083, 4.712429265043529, 0.01, 245.89928419881096, 42.18212961746631)); + right.setSegment(248, new Trajectory.Segment(211.81820947243915, 57.38501253948601, + -100.00174995734668, 0.0030665997030610015, 4.712429265043529, 0.01, 226.09928421487723, 42.18133198122151)); - left.setSegment(237, new Trajectory.Segment(185.290602280364, 42.23053069159979, - -99.99844794697736, -0.0052211492373999135, 4.7124327519435685, 0.01, 245.8996041050149, 34.70985643517814)); - right.setSegment(237, new Trajectory.Segment(185.29055168657055, 42.231007907202034, - -100.00155205197103, 0.005221128844823397, 4.7124327519435685, 0.01, 226.0996041239828, 34.708989758312626)); + left.setSegment(249, new Trajectory.Segment(212.38217146256585, 56.384235571119035, + -99.99828200373813, -0.003198010389837691, 4.712429648774941, 0.01, 245.89930702167777, 41.618287262217024)); + right.setSegment(249, new Trajectory.Segment(212.3820594260323, 56.384995359314324, + -100.00171801716888, 0.0031940177791511815, 4.712429648774941, 0.01, 226.09930703805156, 41.61748202809028)); - left.setSegment(238, new Trajectory.Segment(185.70290773720788, 41.23054568438921, - -99.99850072105758, -0.005277408021697738, 4.712432977817335, 0.01, 245.89962219915486, 34.29755097873128)); - right.setSegment(238, new Trajectory.Segment(185.70286161571505, 41.230992914448485, - -100.00149927535489, 0.005277661614400131, 4.712432977817335, 0.01, 226.09962221831904, 34.29667982956518)); + left.setSegment(250, new Trajectory.Segment(212.9360139867591, 55.384252419323396, + -99.99831517956395, -0.0033175825819853344, 4.712430015488032, 0.01, 245.8993296475843, 41.06444473848595)); + right.setSegment(250, new Trajectory.Segment(212.93590921114472, 55.384978511243034, + -100.00168480712901, 0.0033210039873665664, 4.712430015488032, 0.01, 226.0993296642547, 41.06363224344002)); - left.setSegment(239, new Trajectory.Segment(186.10521333865674, 40.230560144884905, - -99.99855395043085, -0.005322937326468491, 4.712433189084523, 0.01, 245.89963994237007, 33.8952453776737)); - right.setSegment(239, new Trajectory.Segment(186.10517140025422, 40.23097845391645, - -100.00144605320358, 0.005322215130831864, 4.712433189084523, 0.01, 226.0996399617187, 33.89437004541729)); + left.setSegment(251, new Trajectory.Segment(213.47985667599923, 54.38426892401495, + -99.99834953084488, -0.0034351280930877692, 4.712430365529734, 0.01, 245.89935205986487, 40.52060204970762)); + right.setSegment(251, new Trajectory.Segment(213.47975883121057, 54.384962006586065, + -100.00165046569691, 0.003434143209801732, 4.712430365529734, 0.01, 226.0993520768209, 40.51978262383598)); - left.setSegment(240, new Trajectory.Segment(186.49751907935374, 39.230574069699216, - -99.99860751856886, -0.005356813801427052, 4.712433386286201, 0.01, 245.89965732466507, 33.5029396373618)); - right.setSegment(240, new Trajectory.Segment(186.49748104554442, 39.23096452902101, - -100.00139248954412, 0.005356365946340702, 4.712433386286201, 0.01, 226.09965734418674, 33.50206040051217)); + left.setSegment(252, new Trajectory.Segment(214.01369952674335, 53.38428507441194, + -99.99838496030051, -0.0035429455635949125, 4.712430699257833, 0.01, 245.8993742425474, 39.98675919942438)); + right.setSegment(252, new Trajectory.Segment(214.01360828977107, 53.3849458560485, + -100.00161505375615, 0.003541194075751264, 4.712430699257833, 0.01, 226.099374259778, 39.98593316573638)); - left.setSegment(241, new Trajectory.Segment(186.87982495391995, 38.2305874566219, - -99.99866130773185, -0.005378916299036973, 4.712433569965759, 0.01, 245.89967433668204, 33.120633763174084)); - right.setSegment(241, new Trajectory.Segment(186.8797905569659, 38.23095114214768, - -100.00133868733272, 0.005380221139716923, 4.712433569965759, 0.01, 226.09967435636554, 33.1197508894692)); + left.setSegment(253, new Trajectory.Segment(214.53754253535087, 52.38430086075243, + -99.99842136595092, -0.0036405650405413326, 4.71243101704016, 0.01, 245.89939618034455, 39.462916191276214)); + right.setSegment(253, new Trajectory.Segment(214.53745759046868, 52.38493006975929, + -100.0015786289211, 0.003642483505927885, 4.71243101704016, 0.01, 226.09939619783867, 39.46208386549815)); - left.setSegment(242, new Trajectory.Segment(187.25213095696387, 37.2306003043919, - -99.99871522299983, -0.005391526798348423, 4.712433740667817, 0.01, 245.8996909696794, 32.74832776050171)); - right.setSegment(242, new Trajectory.Segment(187.25209993991055, 37.230938294465496, - -100.00128476821857, 0.00539191141513129, 4.712433740667817, 0.01, 226.09969098951387, 32.747441506896095)); + left.setSegment(254, new Trajectory.Segment(215.05138569808858, 51.38431627377186, + -99.99845869805739, -0.0037332106472831583, 4.712431319253798, 0.01, 245.89941785864437, 38.949073028995784)); + right.setSegment(254, new Trajectory.Segment(215.05130673703644, 51.38491465677597, + -100.00154129833234, 0.0037330588753548, 4.712431319253798, 0.01, 226.09941787639093, 38.948234719387685)); - left.setSegment(243, new Trajectory.Segment(187.61443708309145, 36.23061261275645, - -99.99876916354467, -0.005394054483076616, 4.712433898937137, 0.01, 245.89970721551043, 32.38602163473838)); - right.setSegment(243, new Trajectory.Segment(187.61440919977065, 36.230925986010156, - -100.00123084553394, 0.005392268462856009, 4.712433898937137, 0.01, 226.09970723548543, 32.38513224740023)); + left.setSegment(255, new Trajectory.Segment(215.5552290111395, 50.384331305091855, + -99.99849686800033, -0.0038169942939703105, 4.712431606284289, 0.01, 245.89943926349977, 38.44522971639954)); + right.setSegment(255, new Trajectory.Segment(215.5551557332911, 50.3848996254634, + -100.00150313125715, 0.0038167075189221578, 4.712431606284289, 0.01, 226.09943928148775, 38.44438572358773)); - left.setSegment(244, new Trajectory.Segment(187.9667433269189, 35.23062438274525, - -99.99882300112048, -0.005383757581967075, 4.712434045317572, 0.01, 245.89972306660138, 32.03371539126751)); - right.setSegment(244, new Trajectory.Segment(187.96671834193072, 35.23091421600658, - -100.00117700035744, 0.005384517649531517, 4.712434045317572, 0.01, 226.09972308670677, 32.032823105596755)); + left.setSegment(256, new Trajectory.Segment(216.04907247061084, 49.3843459471356, + -99.99853579562554, -0.003892762521218174, 4.7124318785248365, 0.01, 245.89946038161722, 37.95138625737972)); + right.setSegment(256, new Trajectory.Segment(216.04900458312528, 49.38488498341908, + -100.00146420443201, 0.003892682514106127, 4.7124318785248365, 0.01, 226.0994603998357, 37.95053687420508)); - left.setSegment(245, new Trajectory.Segment(188.30904968308238, 34.23063561634683, - -99.99887663984168, -0.005363872119801272, 4.712434180351011, 0.01, 245.8997385159292, 31.691409035452683)); - right.setSegment(245, new Trajectory.Segment(188.3090273717563, 34.23090298255592, - -100.00112334506639, 0.005365529105461064, 4.712434180351011, 0.01, 226.09973853615526, 31.690514076119836)); + left.setSegment(257, new Trajectory.Segment(216.5329160725417, 48.38436019308588, + -99.99857540497175, -0.00396093462029512, 4.712432136375524, 0.01, 245.89948120034472, 37.46754265589675)); + right.setSegment(257, new Trajectory.Segment(216.53285329049976, 48.384870737446924, + -100.0014245972153, 0.003960721670637213, 4.712432136375524, 0.01, 226.0994812187829, 37.466688167278505)); - left.setSegment(246, new Trajectory.Segment(188.64135614624482, 33.23064631624422, - -99.99893001026123, -0.005337041955044697, 4.712434304576356, 0.01, 245.89975355699895, 31.35910257263064)); - right.setSegment(246, new Trajectory.Segment(188.64133629458055, 33.23089228242807, - -100.00107001278451, 0.005333228187964778, 4.712434304576356, 0.01, 226.09975357733632, 31.358205153635957)); + left.setSegment(258, new Trajectory.Segment(217.00675981291099, 47.384374036929195, + -99.99861561566874, -0.00402106969943361, 4.712432380242531, 0.01, 245.89950170765914, 36.99369891597122)); + right.setSegment(258, new Trajectory.Segment(217.0067018594358, 47.38485689360411, + -100.00138438428152, 0.004021293378286828, 4.712432380242531, 0.01, 226.09950172630627, 36.99283959878623)); - left.setSegment(247, new Trajectory.Segment(188.96366271111296, 32.230656486812904, - -99.99898294313141, -0.005293287017593684, 4.712434418528518, 0.01, 245.89976818382104, 31.036796008094406)); - right.setSegment(247, new Trajectory.Segment(188.9636451157015, 32.23088211209302, - -100.00101703350524, 0.005297927927472301, 4.712434418528518, 0.01, 226.09976820426084, 31.035896332846924)); + left.setSegment(259, new Trajectory.Segment(217.4706036876448, 46.38438747338104, + -99.99865635481555, -0.004073914681157476, 4.7124326105373555, 0.01, 245.8995218921525, 36.52985504167658)); + right.setSegment(259, new Trajectory.Segment(217.47055029400713, 46.38484345713356, + -100.0013436470546, 0.004073722692510273, 4.7124326105373555, 0.01, 226.09952191099802, 36.52899116465407)); - left.setSegment(248, new Trajectory.Segment(189.2759693724383, 31.230666132535227, - -99.99903542776778, -0.005248463637030909, 4.7124345227374205, 0.01, 245.8997823908885, 30.7244893470922)); - right.setSegment(248, new Trajectory.Segment(189.27595384036312, 31.23087246616296, - -100.000964593006, 0.005244049923192051, 4.7124345227374205, 0.01, 226.09978241142215, 30.723587608508442)); + left.setSegment(260, new Trajectory.Segment(217.9244476926244, 45.3844004979606, + -99.99869754204411, -0.004118722856105705, 4.712432827676045, 0.01, 245.89954174301795, 36.07601103713111)); + right.setSegment(260, new Trajectory.Segment(217.92439859833277, 45.38483043256555, + -100.00130245680126, 0.0041190253341483185, 4.712432827676045, 0.01, 226.09954176205156, 36.075142860762554)); - left.setSegment(249, new Trajectory.Segment(189.57827612503502, 30.230675259670193, - -99.9990872865034, -0.005185873561686094, 4.7124346177270455, 0.01, 245.89979617315382, 30.422182594809666)); - right.setSegment(249, new Trajectory.Segment(189.5782624737544, 30.23086333912746, - -100.00091270355007, 0.005188945593204153, 4.7124346177270455, 0.01, 226.0997961937732, 30.42127897543134)); + left.setSegment(261, new Trajectory.Segment(218.36829182369354, 44.38441310691323, + -99.99873910473696, -0.004156269284294467, 4.712433032078433, 0.01, 245.89956125003525, 35.632166906490646)); + right.setSegment(261, new Trajectory.Segment(218.36824677656918, 44.38481782364166, + -100.0012608923889, 0.004156441235636521, 4.712433032078433, 0.01, 226.09956126924672, 35.63129468295481)); - left.setSegment(250, new Trajectory.Segment(189.87058296378405, 29.230683874901956, - -99.99913847682365, -0.005119032024936132, 4.71243470401448, 0.01, 245.89980952600612, 30.12987575636563)); - right.setSegment(250, new Trajectory.Segment(189.87057102099462, 29.23085472402188, - -100.00086151055783, 0.005119299224531915, 4.71243470401448, 0.01, 226.09980954670354, 30.128970428496107)); + left.setSegment(262, new Trajectory.Segment(218.80213607666613, 43.38442529725809, + -99.99878096551384, -0.0041860776889279805, 4.712433224167384, 0.01, 245.89958040355518, 35.19832265394086)); + right.setSegment(262, new Trajectory.Segment(218.80209483290298, 43.384805633380886, + -100.00121902607759, 0.004186631130664864, 4.712433224167384, 0.01, 226.09958042293457, 35.1974466270438)); - left.setSegment(251, new Trajectory.Segment(190.15288988364142, 28.230691985738503, - -99.99918891634536, -0.005043952171490673, 4.712434782108996, 0.01, 245.89982244524828, 29.84756883680386)); - right.setSegment(251, new Trajectory.Segment(190.15287948712344, 28.2308466128814, - -100.0008111140481, 0.005039650972094023, 4.712434782108996, 0.01, 226.09982246601646, 29.846661962662907)); + left.setSegment(263, new Trajectory.Segment(219.225980447332, 42.38443706658774, + -99.99882306703469, -0.0042101520847381835, 4.712433404368044, 0.01, 245.89959919448415, 34.77447828369153)); + right.setSegment(263, new Trajectory.Segment(219.22594277154192, 42.38479386389339, + -100.0011769487493, 0.0042077328288314675, 4.712433404368044, 0.01, 226.09959921402168, 34.773598688821416)); - left.setSegment(252, new Trajectory.Segment(190.4251968796541, 27.2306996012683, - -99.99923844702039, -0.004953067502810882, 4.712434852511158, 0.01, 245.899834927074, 29.575261841077243)); - right.setSegment(252, new Trajectory.Segment(190.42518787709892, 27.2308389975475, - -100.00076153338995, 0.004958065815685586, 4.712434852511158, 0.01, 226.0998349479061, 29.5743535729735)); + left.setSegment(264, new Trajectory.Segment(219.6398249314677, 41.38444841357048, + -99.99886530172617, -0.004223469147746073, 4.712433573107102, 0.01, 245.89961761426775, 34.36063379996575)); + right.setSegment(264, new Trajectory.Segment(219.63979059671098, 41.384782516907094, + -100.00113469862981, 0.004225011949188229, 4.712433573107102, 0.01, 226.09961763395404, 34.35975086406227)); - left.setSegment(253, new Trajectory.Segment(190.68750394696121, 26.23070673071156, - -99.99928705567385, -0.004860865345790444, 4.712434915711938, 0.01, 245.8998469680454, 29.312954774046492)); - right.setSegment(253, new Trajectory.Segment(190.6874961957815, 26.230831868257525, - -100.00071292899761, 0.0048604392333118085, 4.712434915711938, 0.01, 226.09984698893496, 29.31204525456729)); + left.setSegment(265, new Trajectory.Segment(220.04366952484187, 40.384459337417454, + -99.99890761530281, -0.004231357664252755, 4.712433730812062, 0.01, 245.8996356548745, 33.95678920699453)); + right.setSegment(265, new Trajectory.Segment(220.04363831264337, 40.384771593237545, + -100.00109236695494, 0.00423316748765501, 4.712433730812062, 0.01, 226.0996356747002, 33.955903148532855)); - left.setSegment(254, new Trajectory.Segment(190.93981108080328, 25.230713384205703, - -99.99933465058568, -0.0047594911833925835, 4.712434972191877, 0.01, 245.8998585650706, 29.060647640470957)); - right.setSegment(254, new Trajectory.Segment(190.93980444792635, 25.230825214484902, - -100.00066537726227, 0.0047551735349316004, 4.712434972191877, 0.01, 226.09985858601152, 29.059737002688966)); + left.setSegment(266, new Trajectory.Segment(220.4375142232194, 39.38446983775262, + -99.99894996648351, -0.004235118069573218, 4.712433877910518, 0.01, 245.89965330877854, 33.56294450901267)); + right.setSegment(266, new Trajectory.Segment(220.43748592357034, 39.38476109269627, + -100.0010500541272, 0.004231282773048406, 4.712433877910518, 0.01, 226.09965332873483, 33.56205553800156)); - left.setSegment(255, new Trajectory.Segment(191.18211827653573, 24.230719573246283, - -99.99938109594204, -0.004644535636089131, 4.712435022420253, 0.01, 245.8998697153815, 28.818340444995048)); - right.setSegment(255, new Trajectory.Segment(191.18211263818066, 24.230819025430478, - -100.00061890544245, 0.004647181981454196, 4.712435022420253, 0.01, 226.0998697363682, 28.817428812691215)); + left.setSegment(267, new Trajectory.Segment(220.8213590223748, 38.384479915539245, + -99.99899222133735, -0.004225485383813066, 4.71243401482945, 0.01, 245.89967056894284, 33.17909971024534)); + right.setSegment(267, new Trajectory.Segment(220.82133343372055, 38.384751015023, + -100.00100776732737, 0.004228679983953043, 4.71243401482945, 0.01, 226.09967058902106, 33.178208028239396)); - left.setSegment(256, new Trajectory.Segment(191.4144255296327, 23.230725309697156, - -99.99942635491266, -0.00452589706156914, 4.712435066854285, 0.01, 245.89988041651227, 28.586033192144548)); - right.setSegment(256, new Trajectory.Segment(191.41442077107146, 23.230813289079606, - -100.00057363508716, 0.004527035528667511, 4.712435066854285, 0.01, 226.0998804375395, 28.58512068004689)); + left.setSegment(268, new Trajectory.Segment(221.19520391809334, 37.38448957185428, + -99.99903436849635, -0.004214715900729971, 4.712434141994518, 0.01, 245.89968742880146, 32.805254814906974)); + right.setSegment(268, new Trajectory.Segment(221.19518084730745, 37.38474135868982, + -100.00096563331766, 0.004213400970343173, 4.712434141994518, 0.01, 226.0996874489932, 32.80436061503268)); - left.setSegment(257, new Trajectory.Segment(191.6367328356946, 22.230730606191976, - -99.99947035051804, -0.004399560538104197, 4.712435105938365, 0.01, 245.899890666278, 28.363725886318917)); - right.setSegment(257, new Trajectory.Segment(191.63672885099817, 22.23080799267044, - -100.00052964091672, 0.00439941704399871, 4.712435105938365, 0.01, 226.09989068734092, 28.362812600356477)); + left.setSegment(269, new Trajectory.Segment(221.55904890618083, 36.38449880874948, + -99.99907631048046, -0.004194198410800709, 4.712434259829382, 0.01, 245.89970388224197, 32.4414098271915)); + right.setSegment(269, new Trajectory.Segment(221.55902816852526, 36.38473212177941, + -100.00092369104152, 0.004194227614107149, 4.712434259829382, 0.01, 226.0997039025392, 32.44051329418691)); - left.setSegment(258, new Trajectory.Segment(191.84904019045632, 21.23073547617326, - -99.99951300187178, -0.004265135373771045, 4.712435140103306, 0.01, 245.89990046275386, 28.151418531783204)); - right.setSegment(258, new Trajectory.Segment(191.84903688222573, 21.23080312275713, - -100.00048699133082, 0.004264958590738388, 4.712435140103306, 0.01, 226.099900483848, 28.150504569354926)); + left.setSegment(270, new Trajectory.Segment(221.9128939824696, 35.38450762887697, + -99.99911798725094, -0.0041676770479170955, 4.7124343687550185, 0.01, 245.89971992358767, 32.08756475126634)); + right.setSegment(270, new Trajectory.Segment(221.91287540154164, 35.38472330163755, + -100.00088201418578, 0.004167685574429925, 4.7124343687550185, 0.01, 226.09971994398268, 32.086666061534146)); - left.setSegment(259, new Trajectory.Segment(192.0513475897942, 20.23073993378722, - -99.99955423860385, -0.004123673207345746, 4.712435169765636, 0.01, 245.89990980425472, 27.949111132661002)); - right.setSegment(259, new Trajectory.Segment(192.05134486887775, 20.230798665201327, - -100.00044575558036, 0.004123575045866801, 4.712435169765636, 0.01, 226.09990982537596, 27.948196582918584)); + left.setSegment(271, new Trajectory.Segment(222.25673914282586, 34.38451603562599, + -99.99915932509751, -0.004133784656801254, 4.712434469189062, 0.01, 245.8997355475797, 31.74371959126505)); + right.setSegment(271, new Trajectory.Segment(222.25672255049196, 34.38471489503194, + -100.0008406605609, 0.004135362488000283, 4.712434469189062, 0.01, 226.09973556806509, 31.742818912938798)); - left.setSegment(260, new Trajectory.Segment(192.2436550297308, 19.2307439936589, - -99.99959401283185, -0.00397742280000557, 4.712435195326902, 0.01, 245.89991868931543, 27.75680369292967)); - right.setSegment(260, new Trajectory.Segment(192.2436528149274, 19.230794604965038, - -100.00040602362894, 0.003973195141782071, 4.712435195326902, 0.01, 226.09991871046003, 27.75588863707419)); + left.setSegment(272, new Trajectory.Segment(222.59058438315253, 33.38452403266678, + -99.99920029592104, -0.004097082353382575, 4.71243456154515, 0.01, 245.8997507493589, 31.409874351284493)); + right.setSegment(272, new Trajectory.Segment(222.59056961946916, 33.384706897721635, + -100.00079973103055, 0.004092953034273705, 4.71243456154515, 0.01, 226.09975076992757, 31.408971844307693)); - left.setSegment(261, new Trajectory.Segment(192.42596250644755, 18.230747671675186, - -99.99963219837156, -0.0038185539708024407, 4.712435217173014, 0.01, 245.89992711667165, 27.5744962164077)); - right.setSegment(261, new Trajectory.Segment(192.42596072419715, 18.23079092697608, - -100.0003677988957, 0.0038224733245328935, 4.712435217173014, 0.01, 226.09992713783626, 27.57358072799921)); + left.setSegment(273, new Trajectory.Segment(222.9144296994031, 32.38453162505683, + -99.99924076099518, -0.004046507413590916, 4.712434646232288, 0.01, 245.8997655244479, 31.086029035370974)); + right.setSegment(273, new Trajectory.Segment(222.91441661252506, 32.38469930559029, + -100.00075921313467, 0.004051789588288557, 4.712434646232288, 0.01, 226.09976554509308, 31.08512485158884)); - left.setSegment(262, new Trajectory.Segment(192.59827001628503, 17.230750983747726, - -99.99966879274602, -0.0036594374464016255, 4.712435235673615, 0.01, 245.89993508524145, 27.40218870675448)); - right.setSegment(262, new Trajectory.Segment(192.59826860034653, 17.230787614937935, - -100.0003312038146, 0.003659508109876697, 4.712435235673615, 0.01, 226.099935106423, 27.40127285203409)); + left.setSegment(274, new Trajectory.Segment(223.22827508757868, 31.384538817560124, + -99.99928074967066, -0.0039988675482049985, 4.712434723654225, 0.01, 245.8997798687331, 30.772183647523175)); + right.setSegment(274, new Trajectory.Segment(223.22826353365502, 31.38469211299601, + -100.00071925942784, 0.003995370683185229, 4.712434723654225, 0.01, 226.0997798894483, 30.771277930786685)); - left.setSegment(263, new Trajectory.Segment(192.76057755575076, 16.2307539465722, - -99.99970371755253, -0.003492480651345886, 4.712435251181483, 0.01, 245.89994259410736, 27.23988116746245)); - right.setSegment(263, new Trajectory.Segment(192.76057644686804, 16.230784652150756, - -100.00029627871783, 0.003492509677016642, 4.712435251181483, 0.01, 226.09994261530312, 27.238965005686275)); + left.setSegment(275, new Trajectory.Segment(223.53212054373998, 30.38454561612931, + -99.9993201430815, -0.0039393410844468235, 4.712434794208844, 0.01, 245.89979377844665, 30.468338191680267)); + right.setSegment(275, new Trajectory.Segment(223.53211038679777, 30.38468531427335, + -100.00067987226586, 0.003938716197637859, 4.712434794208844, 0.01, 226.0997937992258, 30.46743107796234)); - left.setSegment(264, new Trajectory.Segment(192.91288512152474, 15.230756577398413, - -99.99973691737871, -0.003319982617711048, 4.71243526403196, 0.01, 245.89994964249937, 27.087573601851556)); - right.setSegment(264, new Trajectory.Segment(192.91288426708147, 15.230782021343348, - -100.00026308074084, 0.0033197976989640665, 4.71243526403196, 0.01, 226.0999496637069, 27.086657185635932)); + left.setSegment(276, new Trajectory.Segment(223.82596606401358, 29.38455202736179, + -99.999358876752, -0.003873367049322951, 4.71243485828756, 0.01, 245.89980725014868, 30.174492671715463)); + right.setSegment(276, new Trajectory.Segment(223.82595717582996, 29.384678903220006, + -100.00064110533451, 0.003876693135396181, 4.71243485828756, 0.01, 226.09980727098605, 30.173584289238953)); - left.setSegment(265, new Trajectory.Segment(193.05519271046504, 14.230758894031045, - -99.99976833673685, -0.0031419358137441122, 4.712435274542414, 0.01, 245.89995622977864, 26.945266013063705)); - right.setSegment(265, new Trajectory.Segment(193.05519206412876, 14.2307797047293, - -100.00023166140473, 0.0031419336110616314, 4.712435274542414, 0.01, 226.09995625099583, 26.9443493887411)); + left.setSegment(277, new Trajectory.Segment(224.1098116445941, 28.384558058049947, + -99.99939693118414, -0.0038054432138778793, 4.712434916274751, 0.01, 245.89982028070963, 29.89064709143406)); + right.setSegment(277, new Trajectory.Segment(224.10980390455683, 28.38467287268822, + -100.0006030531786, 0.0038052155915124786, 4.712434916274751, 0.01, 226.0998203015997, 29.88973756081117)); - left.setSegment(266, new Trajectory.Segment(193.1875003196127, 13.230760914767107, - -99.9997979263938, -0.0029589656946882315, 4.712435283011732, 0.01, 245.89996235542213, 26.812958404057838)); - right.setSegment(266, new Trajectory.Segment(193.18749984096894, 13.230777684018358, - -100.00020207109425, 0.0029590310475668957, 4.712435283011732, 0.01, 226.09996237664706, 26.81204161204272)); + left.setSegment(278, new Trajectory.Segment(224.38365728174915, 27.384563715506914, + -99.99943425430331, -0.003732311917303832, 4.712434968547184, 0.01, 245.89983286729262, 29.616801454568247)); + right.setSegment(278, new Trajectory.Segment(224.38365057670606, 27.384667214924068, + -100.00056577641523, 0.0037276763364957333, 4.712434968547184, 0.01, 226.09983288823025, 29.615890888951185)); - left.setSegment(267, new Trajectory.Segment(193.3098079461963, 12.230762658358284, - -99.99982564088228, -0.0027714488481933586, 4.712435289719847, 0.01, 245.89996801900776, 26.690650777605384)); - right.setSegment(267, new Trajectory.Segment(193.3098076003732, 12.230775940425655, - -100.0001743592703, 0.0027711823946674485, 4.712435289719847, 0.01, 226.09996804023882, 26.689733852769592)); + left.setSegment(279, new Trajectory.Segment(224.64750297183096, 26.38456900818123, + -99.99947073256834, -0.0036478265030837065, 4.7124350154734636, 0.01, 245.89984500733618, 29.352955764765728)); + right.setSegment(279, new Trajectory.Segment(224.6474971959282, 26.384661922214768, + -100.00052927093002, 0.00365054852125013, 4.7124350154734636, 0.01, 226.09984502831657, 29.35204427000833)); - left.setSegment(268, new Trajectory.Segment(193.42211558763663, 11.230764144032976, - -99.99985143253073, -0.0025791648454287497, 4.712435294927287, 0.01, 245.89997322020093, 26.578343136285493)); - right.setSegment(268, new Trajectory.Segment(193.42211534492083, 11.230774454763392, - -100.00014856622634, 0.002579304396022053, 4.712435294927287, 0.01, 226.09997324143677, 26.577426108342397)); + left.setSegment(280, new Trajectory.Segment(224.90134871127705, 25.38457394460942, + -99.99950635718093, -0.003562461259321026, 4.71243505741351, 0.01, 245.89985669853726, 29.09911002558886)); + right.setSegment(280, new Trajectory.Segment(224.9013437657872, 25.384656985901042, + -100.00049363137258, 0.00356395574385715, 4.71243505741351, 0.01, 226.0998567195559, 29.09819770041855)); - left.setSegment(269, new Trajectory.Segment(193.52442324155055, 10.230765391393632, - -99.99987526393443, -0.002383140369488501, 4.712435298874771, 0.01, 245.89997795874154, 26.476035482481294)); - right.setSegment(269, new Trajectory.Segment(193.52442307699496, 10.23077320741276, - -100.00012473506317, 0.0023831163176168957, 4.712435298874771, 0.01, 226.09997797998102, 26.475118376378006)); + left.setSegment(281, new Trajectory.Segment(225.14519449661526, 24.384578533820395, + -99.99954107890261, -0.0034721721675623485, 4.712435094718029, 0.01, 245.89986793883443, 28.855264240509722)); + right.setSegment(281, new Trajectory.Segment(225.14519028975488, 24.384652396768587, + -100.00045891324554, 0.0034718127039923274, 4.712435094718029, 0.01, 226.09986795988712, 28.85435117670993)); - left.setSegment(270, new Trajectory.Segment(193.61673090575474, 9.230766420418865, - -99.99989709747669, -0.0021833542263038908, 4.712435301782829, 0.01, 245.89998223443214, 26.38372781837613)); - right.setSegment(270, new Trajectory.Segment(193.6167307987787, 9.230772178372986, - -100.00010290397742, 0.002183108574627113, 4.712435301782829, 0.01, 226.0999822556743, 26.3828106546933)); + left.setSegment(282, new Trajectory.Segment(225.37904032446968, 23.384582785443374, + -99.9995748377021, -0.0033758799489191915, 4.712435127728019, 0.01, 245.89987872639145, 28.62141841290411)); + right.setSegment(282, new Trajectory.Segment(225.37903677120713, 23.384648145224322, + -100.00042515442651, 0.003375881902911715, 4.712435127728019, 0.01, 226.09987874747426, 28.620504695506508)); - left.setSegment(271, new Trajectory.Segment(193.69903857826938, 8.230767251464547, - -99.9999168954318, -0.00197979551046501, 4.71243530385145, 0.01, 245.89998604712716, 26.30142014594979)); - right.setSegment(271, new Trajectory.Segment(193.69903851225203, 8.230771347334151, - -100.00008310388341, 0.0019800094008814995, 4.71243530385145, 0.01, 226.09998606837118, 26.300502941308267)); + left.setSegment(283, new Trajectory.Segment(225.60288619156532, 22.384586709562623, + -99.99960758807518, -0.0032750373080148165, 4.712435156774285, 0.01, 245.89988905958117, 28.397572546046984)); + right.setSegment(283, new Trajectory.Segment(225.6028832134188, 22.384644221168827, + -100.00039240554948, 0.0032748877032418022, 4.712435156774285, 0.01, 226.09988908069053, 28.39665825353332)); - left.setSegment(272, new Trajectory.Segment(193.77134625732097, 7.230767905157927, - -99.99993463066205, -0.001773523025860868, 4.712435305259778, 0.01, 245.89998939672273, 26.229112466975796)); - right.setSegment(272, new Trajectory.Segment(193.7713462191885, 7.230770693646658, - -100.00006536874935, 0.0017735134065333114, 4.712435305259778, 0.01, 226.09998941796806, 26.228195234449384)); + left.setSegment(284, new Trajectory.Segment(225.81673209473152, 21.384590316620088, + -99.99963929425348, -0.003170617830505762, 4.712435182176975, 0.01, 245.89989893697, 28.183726643108898)); + right.setSegment(284, new Trajectory.Segment(225.81672961955826, 21.384640613945912, + -100.0003607222915, 0.003168325797275884, 4.712435182176975, 0.01, 226.0998989581026, 28.182811847621977)); - left.setSegment(273, new Trajectory.Segment(193.8336539413451, 6.230768402412916, - -99.99995027450107, -0.001564383902064037, 4.712435306165824, 0.01, 245.89999228314812, 26.166804783018524)); - right.setSegment(273, new Trajectory.Segment(193.83365392115235, 6.230770196385532, - -100.00004972611256, 0.0015642636782331465, 4.712435306165824, 0.01, 226.0999923043943, 26.165887532552386)); + left.setSegment(285, new Trajectory.Segment(226.02057803090855, 20.38459361770354, + -99.99966989165472, -0.0030597401234899735, 4.712435204245128, 0.01, 245.89990835730256, 27.979880707149533)); + right.setSegment(285, new Trajectory.Segment(226.0205759926847, 20.384637312645655, + -100.00033013002572, 0.003059226578727703, 4.712435204245128, 0.01, 226.09990837845535, 27.978965474713192)); - left.setSegment(274, new Trajectory.Segment(193.88596162898912, 5.230768764404159, - -99.99996380087568, -0.0013526374601724456, 4.712435306706226, 0.01, 245.8999947063576, 26.11449709543061)); - right.setSegment(274, new Trajectory.Segment(193.88596161949633, 5.230769834399097, - -100.00003619864354, 0.0013527469022278638, 4.712435306706226, 0.01, 226.0999947276043, 26.113579834264524)); + left.setSegment(286, new Trajectory.Segment(226.2144239971525, 19.38459662439451, + -99.99969933090291, -0.0029439248194762513, 4.712435223276247, 0.01, 245.8999173194869, 27.786034741112765)); + right.setSegment(286, new Trajectory.Segment(226.21442233574484, 19.384634306012025, + -100.000300663363, 0.0029466662709864977, 4.712435223276247, 0.01, 226.09991734065707, 27.78511913186025)); - left.setSegment(275, new Trajectory.Segment(193.92826931911404, 4.230769012492078, - -99.9999751912081, -0.0011390332417704485, 4.712435306996033, 0.01, 245.8999966663239, 26.07218940535109)); - right.setSegment(275, new Trajectory.Segment(193.92826931535942, 4.23076958631005, - -100.00002480890471, 0.0011389738830303031, 4.712435306996033, 0.01, 226.0999966875708, 26.071272138446822)); + left.setSegment(287, new Trajectory.Segment(226.39826999063624, 18.38459934837394, + -99.99972760205722, -0.002827115430648064, 4.712435239555889, 0.01, 245.89992582258014, 27.602188747825664)); + right.setSegment(287, new Trajectory.Segment(226.39826865156547, 18.38463158206418, + -100.00027239478442, 0.002826857858906351, 4.712435239555889, 0.01, 226.09992584376528, 27.601272816236246)); - left.setSegment(276, new Trajectory.Segment(193.9605770107963, 3.230769168225361, - -99.99998442667169, -0.0009235463593881832, 4.712435307128527, 0.01, 245.8999981630321, 26.039881713703505)); - right.setSegment(276, new Trajectory.Segment(193.96057700966506, 3.230769430564134, - -100.00001557459157, 0.0009234313139927508, 4.712435307128527, 0.01, 226.09999818427914, 26.03896444417585)); + left.setSegment(288, new Trajectory.Segment(226.57211600865497, 17.384601801872666, + -99.99975465012731, -0.002704807009479282, 4.712435253357264, 0.01, 245.89993386577498, 27.428342729993002)); + right.setSegment(288, new Trajectory.Segment(226.5721149428514, 17.384629128595268, + -100.00024534689125, 0.0027047893169651616, 4.712435253357264, 0.01, 226.09993388697274, 27.427426525136358)); - left.setSegment(277, new Trajectory.Segment(193.9828847033294, 2.230769253309703, - -99.99999149156582, -0.0007064894134600763, 4.71243530717508, 0.01, 245.89999919647545, 26.017574021194346)); - right.setSegment(277, new Trajectory.Segment(193.9828847031199, 2.230769345484149, - -100.00000850799853, 0.0007066593042281966, 4.71243530717508, 0.01, 226.09999921772254, 26.016656750744946)); + left.setSegment(289, new Trajectory.Segment(226.73596204862972, 16.384603997475672, + -99.99978043969939, -0.002578957207788335, 4.71243526494087, 0.01, 245.8999414483862, 27.264496690193702)); + right.setSegment(289, new Trajectory.Segment(226.73596121218156, 16.384626933015742, + -100.00021955795262, 0.002578893862903442, 4.71243526494087, 0.01, 226.09994146959457, 27.26358025598166)); - left.setSegment(278, new Trajectory.Segment(193.99519239622478, 1.2307692895367595, - -99.99999637729435, -0.0004885728529302469, 4.712435307185042, 0.01, 245.89999976665143, 26.005266328312185)); - right.setSegment(278, new Trajectory.Segment(193.99519239621253, 1.2307693092614258, - -100.0000036222723, 0.0004885726227144005, 4.712435307185042, 0.01, 226.09999978789853, 26.00434905766554)); + left.setSegment(290, new Trajectory.Segment(226.889808108111, 15.384605948128844, + -99.99980493468286, -0.0024494983463796416, 4.712435274554129, 0.01, 245.89994856983796, 27.110650630877238)); + right.setSegment(290, new Trajectory.Segment(226.88980746200536, 15.384624982380727, + -100.00019506350152, 0.0024494451096757075, 4.712435274554129, 0.01, 226.09994859105515, 27.109734006322675)); - left.setSegment(279, new Trajectory.Segment(193.99942316596193, 0.42307697371409275, - -80.76923158226667, 1923.076479502768, 4.712435307185883, 0.01, 245.89999996264945, 26.001035558579584)); - right.setSegment(279, new Trajectory.Segment(193.99942316596633, 0.4230769753796049, - -80.76923338818209, 1923.0770234090214, 4.712435307185883, 0.01, 226.09999998389654, 26.000118287916283)); + left.setSegment(291, new Trajectory.Segment(227.03365418478202, 14.384607667103078, + -99.99982810257659, -0.002316789372969197, 4.7124352824310565, 0.01, 245.89995522965202, 26.966804554360376)); + right.setSegment(291, new Trajectory.Segment(227.03365369463955, 14.384623263420224, + -100.00017189605028, 0.00231674512463087, 4.7124352824310565, 0.01, 226.09995525087643, 26.965887773842642)); - left.setSegment(280, new Trajectory.Segment(194.00000008921032, 0.057692324837524435, - -36.53846488765683, 4423.076669460984, 4.7124353071858955, 0.01, 245.89999998937645, 26.000458635331828)); - right.setSegment(280, new Trajectory.Segment(194.00000008921495, 0.057692324861682874, - -36.53846505179221, 4423.076833638987, 4.7124353071858955, 0.01, 226.10000001062355, 25.999541364668286)); + left.setSegment(292, new Trajectory.Segment(227.16750027646188, 13.384609167986842, + -99.9998499116236, -0.0021809047012766314, 4.7124352887919425, 0.01, 245.8999614274361, 26.832958462824003)); + right.setSegment(292, new Trajectory.Segment(227.16749991226496, 13.384621762540876, + -100.00015008793478, 0.0021808115491239732, 4.7124352887919425, 0.01, 226.09996144866636, 26.83204155636073)); - left.setSegment(281, new Trajectory.Segment(194.00000008921032, 0, - -5.769232483752443, 3076.9232403904384, 4.7124353071858955, 0.01, 245.89999998937645, 26.000458635331828)); - right.setSegment(281, new Trajectory.Segment(194.00000008921495, 0, - -5.7692324861682875, 3076.923256562392, 4.7124353071858955, 0.01, 226.10000001062355, 25.999541364668286)); + left.setSegment(293, new Trajectory.Segment(227.29134638110864, 12.384610464674786, + -99.99987033120554, -0.0020419581943542653, 4.712435293843055, 0.01, 245.89996716287303, 26.709112358310062)); + right.setSegment(293, new Trajectory.Segment(227.29134611692373, 12.384620465877152, + -100.00012966637239, 0.0020421562396677473, 4.712435293843055, 0.01, 226.0999671841079, 26.708195351834764)); + + + left.setSegment(294, new Trajectory.Segment(227.40519249682157, 11.384611571292803, + -99.99988933819832, -0.001900699277257445, 4.712435297776362, 0.01, 245.89997243571074, 26.59526624271924)); + right.setSegment(294, new Trajectory.Segment(227.40519231051616, 11.384619359241231, + -100.00011066359207, 0.0019002780319965495, 4.712435297776362, 0.01, 226.0999724569492, 26.59434915836446)); + + + left.setSegment(295, new Trajectory.Segment(227.50903862184452, 10.384612502294656, + -99.99990689981466, -0.001756161634602904, 4.712435300769274, 0.01, 245.89997724575267, 26.491420117807692)); + right.setSegment(295, new Trajectory.Segment(227.50903849479874, 10.384618428259447, + -100.00009309817841, 0.00175654136569392, 4.712435300769274, 0.01, 226.0999772669939, 26.490502974193262)); + + + left.setSegment(296, new Trajectory.Segment(227.60288475456744, 9.384613272292516, + -99.99992300021407, -0.0016100399406582255, 4.7124353029844075, 0.01, 245.8999815928492, 26.39757398518545)); + right.setSegment(296, new Trajectory.Segment(227.60288467138133, 9.384617658257532, + -100.00007700019147, 0.0016097986943464093, 4.7124353029844075, 0.01, 226.09998161409248, 26.39665679771137)); + + + left.setSegment(297, new Trajectory.Segment(227.68673089352905, 8.384613896160706, + -99.9999376131809, -0.00146129668365802, 4.712435304569369, 0.01, 245.8999854768894, 26.313727846313803)); + right.setSegment(297, new Trajectory.Segment(227.68673084172516, 8.384617034384258, + -100.00006238732747, 0.0014612863992624625, 4.712435304569369, 0.01, 226.09998549813412, 26.312810627457488)); + + + left.setSegment(298, new Trajectory.Segment(227.7605770374186, 7.3846143889579094, + -99.9999507202797, -0.001310709879476235, 4.712435305656558, 0.01, 245.89998889779372, 26.23988170250346)); + right.setSegment(298, new Trajectory.Segment(227.76057700714108, 7.384616541592605, + -100.00004927916528, 0.001310816219302069, 4.712435305656558, 0.01, 226.09998891903945, 26.238964462120798)); + + + left.setSegment(299, new Trajectory.Segment(227.82442318507765, 6.384614765903354, + -99.99996230545554, -0.0011585175840878037, 4.712435306362991, 0.01, 245.89999185550758, 26.176035554912936)); + right.setSegment(299, new Trajectory.Segment(227.8244231687875, 6.384616164640837, + -100.00003769517676, 0.0011583988523966582, 4.712435306362991, 0.01, 226.09999187675393, 26.1751183005429)); + + + left.setSegment(300, new Trajectory.Segment(227.87826933550156, 5.384615042391745, + -99.99997235116086, -0.0010045705323591392, 4.712435306790145, 0.01, 245.89999434999538, 26.1221894045468)); + right.setSegment(300, new Trajectory.Segment(227.87826932766907, 5.3846158881571595, + -100.00002764836778, 0.0010046808981201139, 4.712435306790145, 0.01, 226.09999437124213, 26.121272141719107)); + + + left.setSegment(301, new Trajectory.Segment(227.92211548784078, 4.38461523392364, + -99.99998084681056, -0.0008495649694850727, 4.71243530702383, 0.01, 245.8999963812355, 26.078343252254612)); + right.setSegment(301, new Trajectory.Segment(227.92211548463527, 4.384615696618411, + -100.00001915387485, 0.0008494492931276909, 4.71243530702383, 0.01, 226.09999640248247, 26.077425984799973)); + + + left.setSegment(302, new Trajectory.Segment(227.95596164140218, 3.3846153561391934, + -99.99998777844463, -0.0006931634075613147, 4.712435307134066, 0.01, 245.8999979492161, 26.04449709872954)); + right.setSegment(302, new Trajectory.Segment(227.95596164037934, 3.3846155744072637, + -100.00001222111474, 0.0006932760101108215, 4.712435307134066, 0.01, 226.09999797046314, 26.04357982909222)); + + + left.setSegment(303, new Trajectory.Segment(227.97980779564972, 2.384615424753864, + -99.99999313853296, -0.0005360088323413947, 4.712435307174997, 0.01, 245.89999905393145, 26.02065094450759)); + right.setSegment(303, new Trajectory.Segment(227.97980779543732, 2.384615505796947, + -100.00000686103165, 0.0005360083093819412, 4.712435307174997, 0.01, 226.09999907517854, 26.01973367405984)); + + + left.setSegment(304, new Trajectory.Segment(227.99365395020516, 1.3846154555449128, + -99.9999969208951, -0.0003782362142601414, 4.712435307184819, 0.01, 245.89999969537942, 26.006804789967)); + right.setSegment(304, new Trajectory.Segment(227.99365395018725, 1.384615474993178, + -100.00000308037691, 0.0003780654736829092, 4.712435307184819, 0.01, 226.0999997166265, 26.005887519324766)); + + + left.setSegment(305, new Trajectory.Segment(227.99903856618425, 0.5384615979097896, + -84.61538576351232, 1538.4611157382778, 4.712435307185871, 0.01, 245.89999994483145, 26.00142017399368)); + right.setSegment(305, new Trajectory.Segment(227.99903856618718, 0.5384615999916799, + -84.61538750014982, 1538.4615580227091, 4.712435307185871, 0.01, 226.09999996607854, 26.000502903330627)); + + + left.setSegment(306, new Trajectory.Segment(228.0000001048472, 0.09615386629399926, + -44.23077316157904, 4038.461260193328, 4.7124353071858955, 0.01, 245.89999998937645, 26.00045863533177)); + right.setSegment(306, new Trajectory.Segment(228.0000001048506, 0.09615386634302671, + -44.230773364865314, 4038.4614135284505, 4.7124353071858955, 0.01, 226.10000001062355, 25.99954136466823)); + + + left.setSegment(307, new Trajectory.Segment(228.0000001048472, 0, + -9.615386629399925, 3461.5386532179114, 4.7124353071858955, 0.01, 245.89999998937645, 26.00045863533177)); + right.setSegment(307, new Trajectory.Segment(228.0000001048506, 0, + -9.61538663430267, 3461.5386730562645, 4.7124353071858955, 0.01, 226.10000001062355, 25.99954136466823)); + - path = new Path("FarLeftToRightScaleDeadPartTwo", new Trajectory.Pair(left, right)); return true; } - - // WAYPOINT_DATA: [{"position":{"x":236,"y":220},"theta":-1.5707499999936907,"comment":""},{"position":{"x":236,"y":26},"theta":-1.5707499999936907,"comment":""}] - // IS_REVERSED: false - // FILE_NAME: FarLeftToRightScaleDeadPartTwo - // DT: 0.01 - // MAX_VEL: 130 - // MAX_ACC: 100 - // MAX_JERK: 9999 - // WHEEL_BASE: 19.8 - // PACKAGE: org.frc5687.powerup.robot.commands.auto.paths - // PARENT: DynamicPathCommand + + // WAYPOINT_DATA: [{"position":{"x":236,"y":254},"theta":-1.5707499999936907,"comment":""},{"position":{"x":236,"y":26},"theta":-1.5707499999936907,"comment":""}] + // IS_REVERSED: false + // FILE_NAME: FarLeftToRightScaleDeadPartTwo + // DT: 0.01 + // MAX_VEL: 130 + // MAX_ACC: 100 + // MAX_JERK: 9999 + // WHEEL_BASE: 19.8 + // PACKAGE: org.frc5687.powerup.robot.commands.auto.paths + // PARENT: DynamicPathCommand } \ No newline at end of file diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarRightToLeftScaleDefensiveOne.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarRightToLeftScaleDefensiveOne.java new file mode 100644 index 00000000..bf49cc72 --- /dev/null +++ b/src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarRightToLeftScaleDefensiveOne.java @@ -0,0 +1,1260 @@ +package org.frc5687.powerup.robot.commands.auto.paths; + +import org.frc5687.powerup.robot.Robot; +import org.frc5687.powerup.robot.commands.auto.DynamicPathCommand; +import com.team254.lib.trajectory.Path; +import com.team254.lib.trajectory.Trajectory; + +public class FarRightToLeftScaleDefensiveOne extends DynamicPathCommand { + + public FarRightToLeftScaleDefensiveOne(Robot robot) { + super(robot); + } + + @Override + protected boolean loadPath() { + int num_elements = 204; + Trajectory left = new Trajectory(num_elements); + Trajectory right = new Trajectory(num_elements); + + left.setSegment(0, new Trajectory.Segment(0.002499998756672527, 0.49999975133450536, + 49.99997513345053, 4999.997513345053, 1.5707499999945422, 0.01, 226.10000012644048, 41.00295863407734)); + right.setSegment(0, new Trajectory.Segment(0.002499998756672527, 0.49999975133450536, + 49.99997513345053, 4999.997513345053, 1.5707499999945422, 0.01, 245.90000010519339, 41.00204136343064)); + + + left.setSegment(1, new Trajectory.Segment(0.012499993581093119, 0.9999994824420593, + 49.99997311075539, -0.00020226951420454498, 1.5707500000149732, 0.01, 226.10000058970817, 41.01295862889103)); + right.setSegment(1, new Trajectory.Segment(0.01249999398563352, 0.9999995228960994, + 49.9999771561594, 0.00020227088697311046, 1.5707500000149732, 0.01, 245.90000056846108, 41.01204135864887)); + + + left.setSegment(2, new Trajectory.Segment(0.03249998242142898, 1.9999988840335858, + 99.99994015915266, 4999.996704839727, 1.5707500001375034, 0.01, 226.10000151624223, 41.0329586177099)); + right.setSegment(2, new Trajectory.Segment(0.032499985252060715, 1.999999126642719, + 99.99996037466197, 4999.998321850257, 1.5707500001375034, 0.01, 245.90000149499525, 41.03204134989384)); + + + left.setSegment(3, new Trajectory.Segment(0.06249996366302828, 2.9999981241599296, + 99.99992401263438, -0.0016146518277082578, 1.5707500005252268, 0.01, 226.10000290603588, 41.06295859891931)); + right.setSegment(3, new Trajectory.Segment(0.06249997417059111, 2.999998891853039, + 99.99997652103201, 0.0016146370043657043, 1.5707500005252268, 0.01, 245.90000288478925, 41.062041338780176)); + + + left.setSegment(4, new Trajectory.Segment(0.10249993488998081, 3.9999971226952535, + 99.99989985353238, -0.002415910199715654, 1.5707500014221774, 0.01, 226.1000047590688, 41.10295857010334)); + right.setSegment(4, new Trajectory.Segment(0.10249996315716145, 3.9999988986570334, + 100.00000068039942, 0.0024159367413290056, 1.5707500014221774, 0.01, 245.90000473782302, 41.102041327723825)); + + + left.setSegment(5, new Trajectory.Segment(0.15249989289222293, 4.999995800224211, + 99.99986775289571, -0.0032100636673249028, 1.5707500031526032, 0.01, 226.10000707529505, 41.15295852805193)); + right.setSegment(5, new Trajectory.Segment(0.15249995542183115, 4.99999922646697, + 100.00003278099369, 0.0032100594268058558, 1.5707500031526032, 0.01, 245.90000705405086, 41.152041319934845)); + + + left.setSegment(6, new Trajectory.Segment(0.21249983367514322, 5.999994078292029, + 99.99982780678182, -0.003994611388691283, 1.570750006119999, 0.01, 226.10000985462668, 41.21295846877048)); + right.setSegment(6, new Trajectory.Segment(0.21249995495918927, 5.999999953735811, + 100.00007272688407, 0.0039945890378589866, 1.570750006119999, 0.01, 245.9000098333852, 41.21204131940783)); + + + left.setSegment(7, new Trajectory.Segment(0.28249975247155434, 6.999991879641111, + 99.99978013490818, -0.004767187364507208, 1.5707500108058994, 0.01, 226.10001309691384, 41.2829583874918)); + right.setSegment(7, new Trajectory.Segment(0.2824999665364377, 7.000001157724844, + 100.00012039890329, 0.0047672019221067785, 1.5707500108058994, 0.01, 245.90001307567664, 41.28204133090999)); + + + left.setSegment(8, new Trajectory.Segment(0.36249964375598087, 7.99998912844265, + 99.99972488015389, -0.005525475428669324, 1.5707500177684341, 0.01, 226.10001680192084, 41.362958278690435)); + right.setSegment(8, new Trajectory.Segment(0.36249999567904434, 8.000002914260664, + 100.00017565358199, 0.005525467869915701, 1.5707500177684341, 0.01, 245.90001678069, 41.3620413599668)); + + + left.setSegment(9, new Trajectory.Segment(0.45249950126126337, 8.999985750528248, + 99.99966220855984, -0.006267159405126677, 1.5707500276406494, 0.01, 226.1000209692985, 41.452958136099234)); + right.setSegment(9, new Trajectory.Segment(0.45250004865419313, 9.000005297514877, + 100.00023832542126, 0.006267183927377573, 1.5707500276406494, 0.01, 245.90002094807676, 41.45204141284547)); + + + left.setSegment(10, new Trajectory.Segment(0.5524993179975214, 9.999981673625802, + 99.99959230975541, -0.006989880442631602, 1.570750041128593, 0.01, 226.1000255985531, 41.55295795272834)); + right.setSegment(10, new Trajectory.Segment(0.552500132451733, 10.000008379753984, + 100.00030822391075, 0.006989848948535382, 1.570750041128593, 0.01, 245.90002557734368, 41.55204149653586)); + + + left.setSegment(11, new Trajectory.Segment(0.6624990862733758, 10.999976827585444, + 99.99951539596417, -0.007691379124707964, 1.570750059009173, 0.01, 226.1000306890114, 41.66295772088641)); + right.setSegment(11, new Trajectory.Segment(0.6625002547630661, 11.000012231133308, + 100.00038513793238, 0.007691402163345629, 1.570750059009173, 0.01, 245.90003066781836, 41.662041618729404)); + + + left.setSegment(12, new Trajectory.Segment(0.7824987977194021, 11.999971144602627, + 99.99943170171832, -0.008369424584486751, 1.5707500821277836, 0.01, 226.10003623978275, 41.78295743220406)); + right.setSegment(12, new Trajectory.Segment(0.7825004239575915, 12.000016919452541, + 100.00046883192333, 0.008369399094476648, 1.5707500821277836, 0.01, 245.90003621861092, 41.78204178779555)); + + + left.setSegment(13, new Trajectory.Segment(0.9124984433138855, 12.999964559448337, + 99.99934148457096, -0.009021714735979458, 1.5707501113957125, 0.01, 226.1000422497181, 41.91295707765962)); + right.setSegment(13, new Trajectory.Segment(0.91250064905706, 13.000022509946845, + 100.0005590494304, 0.009021750706494913, 1.5707501113957125, 0.01, 245.90004222857303, 41.912042012756096)); + + + left.setSegment(14, new Trajectory.Segment(1.0524980134105943, 13.999957009670874, + 99.99924502225372, -0.00964623172450274, 1.5707501477873236, 0.01, 226.10004871736538, 42.05295664760693)); + right.setSegment(14, new Trajectory.Segment(1.0525009397076688, 14.000029065060874, + 100.00065551140284, 0.009646197244705945, 1.5707501477873236, 0.01, 245.90004869625363, 42.05204230325731)); + + + left.setSegment(15, new Trajectory.Segment(1.2024974977689045, 14.99994843583102, + 99.99914261601468, -0.010240623903712276, 1.5707501923370246, 0.01, 226.10005564092305, 42.20295613180546)); + right.setSegment(15, new Trajectory.Segment(1.2025013061500605, 15.00003664423916, + 100.00075791782858, 0.0102406425739332, 1.5707501923370246, 0.01, 245.900055619852, 42.202042669539914)); + + + left.setSegment(16, new Trajectory.Segment(1.3624968855858577, 15.999938781695313, + 99.99903458642922, -0.01080295854620772, 1.5707502461360234, 0.01, 226.10006301819018, 42.362955519452335)); + right.setSegment(16, new Trajectory.Segment(1.36250175918719, 16.000045303712945, + 100.00086594737851, 0.01080295499349404, 1.5707502461360234, 0.01, 245.90006299716825, 42.362043122406966)); + + + left.setSegment(17, new Trajectory.Segment(1.5324961655303495, 16.99992799444919, + 99.99892127538779, -0.01133110414315297, 1.5707503103288762, 0.01, 226.10007084651474, 42.53295479921658)); + right.setSegment(17, new Trajectory.Segment(1.5325023101501736, 17.000055096298368, + 100.00097925854234, 0.011331116382962136, 1.5707503103288762, 0.01, 245.90007082555135, 42.532043673189705)); + + + left.setSegment(18, new Trajectory.Segment(1.7124953257792948, 17.999916024894514, + 99.99880304453228, -0.01182308555058853, 1.5707503861098333, 0.01, 226.1000791227396, 42.71295395927526)); + right.setSegment(18, new Trajectory.Segment(1.7125029708620636, 18.000066071188996, + 100.00109748906283, 0.011823052048498539, 1.5707503861098333, 0.01, 245.90007910184517, 42.712044333711326)); + + + left.setSegment(19, new Trajectory.Segment(1.902494354055766, 18.999902827647112, + 99.99868027525984, -0.012276927243703994, 1.5707504747189889, 0.01, 226.1000878431466, 42.90295298735161)); + right.setSegment(19, new Trajectory.Segment(1.9025037535998168, 19.000078273775326, + 100.00122025863298, 0.012276957015444623, 1.5707504747189889, 0.01, 245.90008782233272, 42.902045116248956)); + + + left.setSegment(20, new Trajectory.Segment(2.102493237669002, 19.999888361323634, + 99.99855336765222, -0.012690760762268383, 1.570750577438238, 0.01, 226.10009700339918, 43.10295187075507)); + right.setSegment(20, new Trajectory.Segment(2.102504671054183, 20.000091745436603, + 100.00134716612763, 0.012690749464638884, 1.570750577438238, 0.01, 245.90009698267846, 43.102046033493544)); + + + left.setSegment(21, new Trajectory.Segment(2.3124919635562438, 20.999872588724173, + 99.99842274005388, -0.013062759833815107, 1.5707506955870507, 0.01, 226.10010659848356, 43.31295059642311)); + right.setSegment(21, new Trajectory.Segment(2.3125057362879216, 21.000106523373844, + 100.00147779372419, 0.013062759656179423, 1.5707506955870507, 0.01, 245.9001065778697, 43.312047098508074)); + + + left.setSegment(22, new Trajectory.Segment(2.5324905183263855, 21.99985547701415, + 99.99828882899777, -0.01339110561104917, 1.5707508305180649, 0.01, 226.10011662264884, 43.532949150964875)); + right.setSegment(22, new Trajectory.Segment(2.5325069626921444, 22.000122640422266, + 100.00161170484212, 0.013391111792770971, 1.5707508305180649, 0.01, 245.90011660215674, 43.53204832468392)); + + + left.setSegment(23, new Trajectory.Segment(2.7624888883052563, 22.999836997887076, + 99.99815208729252, -0.013674170524780038, 1.5707509836125093, 0.01, 226.10012706934657, 43.7629475207065)); + right.setSegment(23, new Trajectory.Segment(2.762508363941016, 23.000140124887157, + 100.0017484464891, 0.013674164698329605, 1.5707509836125093, 0.01, 245.90012704899215, 43.76204972569554)); + + + left.setSegment(24, new Trajectory.Segment(3.0024870595825996, 23.99981712773434, + 99.99801298472626, -0.013910256626559203, 1.5707511562754608, 0.01, 226.1001379311697, 44.00294569173805)); + right.setSegment(24, new Trajectory.Segment(3.002509953944799, 24.000159000378304, + 100.0018875491147, 0.013910262559591047, 1.5707511562754608, 0.01, 245.90013791097002, 44.00205131545353)); + + + left.setSegment(25, new Trajectory.Segment(3.2524850180605798, 24.999795847798012, + 99.99787200636732, -0.014097835894233413, 1.5707513499309431, 0.01, 226.10014919979156, 44.25294364996206)); + right.setSegment(25, new Trajectory.Segment(3.2525117468013294, 25.000179285653022, + 100.00202852747186, 0.014097835716597729, 1.5707513499309431, 0.01, 245.90014917976467, 44.25205310805609)); + + + left.setSegment(26, new Trajectory.Segment(3.5124827495037736, 25.999773144319366, + 99.99772965213545, -0.014235423186903517, 1.5707515660168778, 0.01, 226.1001608659048, 44.51294138114353)); + right.setSegment(26, new Trajectory.Segment(3.51251375674602, 26.000200994469065, + 100.00217088160426, 0.014235413239305217, 1.5707515660168778, 0.01, 245.90016084606987, 44.512055117739045)); + + + left.setSegment(27, new Trajectory.Segment(3.782480239590562, 26.99974900867887, + 99.99758643595023, -0.01432161852221725, 1.570751805979892, 0.01, 226.10017291916142, 44.782938870961274)); + right.setSegment(27, new Trajectory.Segment(3.7825159981004948, 27.000224135447493, + 100.00231409784277, 0.014321623851287768, 1.570751805979892, 0.01, 245.90017289953857, 44.782057358824474)); + + + left.setSegment(28, new Trajectory.Segment(4.062477473965881, 27.99972343753192, + 99.99744288530508, -0.01435506451485935, 1.5707520712699932, 0.01, 226.10018534811306, 45.062936105060736)); + right.setSegment(28, new Trajectory.Segment(4.062518485219822, 28.000248711932773, + 100.00245764852806, 0.014355068529425807, 1.5707520712699932, 0.01, 245.90018532872338, 45.06205984566794)); + + + left.setSegment(29, new Trajectory.Segment(4.352474438295142, 28.999696432926143, + 99.99729953942236, -0.0143345882719359, 1.5707523633351197, 0.01, 226.10019814015305, 45.35293306910786)); + right.setSegment(29, new Trajectory.Segment(4.352521232438578, 29.000274721875517, + 100.00260099427436, 0.014334574629515373, 1.5707523633351197, 0.01, 245.9001981210185, 45.352062592604554)); + + + left.setSegment(30, new Trajectory.Segment(4.652471118319329, 29.999668002418623, + 99.99715694924802, -0.01425901743346003, 1.5707526836155756, 0.01, 226.1002112814599, 45.65292974884422)); + right.setSegment(30, new Trajectory.Segment(4.652524254015803, 30.00030215772243, + 100.00274358469134, 0.014259041698494457, 1.5707526836155756, 0.01, 245.90021126260314, 45.652065613893946)); + + + left.setSegment(31, new Trajectory.Segment(4.9624674999111615, 30.999638159183267, + 99.99701567646433, -0.01412727836935801, 1.5707530335383597, 0.01, 226.10022475694265, 45.96292613014317)); + right.setSegment(31, new Trajectory.Segment(4.9625275640787505, 31.000331006294807, + 100.00288485723772, 0.014127254637230635, 1.5707530335383597, 0.01, 245.90022473838704, 45.962068923664)); + + + left.setSegment(32, new Trajectory.Segment(5.282463569132158, 31.999606922099648, + 99.99687629163816, -0.013938482616993042, 1.5707534145113984, 0.01, 226.10023855018875, 46.28292219906689)); + right.setSegment(32, new Trajectory.Segment(5.282531176565919, 32.000361248716814, + 100.00302424220067, 0.013938496294940705, 1.5707534145113984, 0.01, 245.90023853195828, 46.282072535853885)); + + + left.setSegment(33, new Trajectory.Segment(5.612459312290634, 32.99957431584758, + 99.99673937479336, -0.013691684479510968, 1.570753827917691, 0.01, 226.10025264341468, 46.61291794192442)); + right.setSegment(33, new Trajectory.Segment(5.612535105168988, 33.000392860306846, + 100.00316115900318, 0.01369168025178169, 1.570753827917691, 0.01, 245.90025262553374, 46.612076464156004)); + + + left.setSegment(34, new Trajectory.Segment(5.952454716000358, 33.99954037097247, + 99.99660551248866, -0.01338623047075771, 1.5707542751093815, 0.01, 226.10026701741947, 46.9529133453303)); + right.setSegment(34, new Trajectory.Segment(5.95253936327418, 34.0004258105193, + 100.00329502124572, 0.013386224253508772, 1.5707542751093815, 0.01, 245.90026699991284, 46.952080721957344)); + + + left.setSegment(35, new Trajectory.Segment(6.302449767239916, 34.999505123955814, + 99.99647529833453, -0.013021415412595161, 1.5707547574017646, 0.01, 226.100281651542, 47.302908396263916)); + right.setSegment(35, new Trajectory.Segment(6.302543963902923, 35.00046006287428, + 100.0034252354979, 0.013021425218084914, 1.5707547574017646, 0.01, 245.90028163443463, 47.302085322280135)); + + + left.setSegment(36, new Trajectory.Segment(6.662444453412579, 35.99946861726634, + 99.99634933105241, -0.01259672821163349, 1.5707552760672363, 0.01, 226.10029652362186, 47.66290308212938)); + right.setSegment(36, new Trajectory.Segment(6.662548919651931, 36.00049557490082, + 100.00355120265354, 0.012596715563972793, 1.5707552760672363, 0.01, 245.90029650693873, 47.66209027772194)); + + + left.setSegment(37, new Trajectory.Segment(7.032438762406628, 36.99943089940484, + 99.99622821385046, -0.012111720195662201, 1.5707558323292043, 0.01, 226.1003116099646, 48.03289739081586)); + right.setSegment(37, new Trajectory.Segment(7.032554242632951, 37.000532298102094, + 100.00367232012763, 0.01211174740944898, 1.5707558323292043, 0.01, 245.90031159373058, 48.03209560039538)); + + + left.setSegment(38, new Trajectory.Segment(7.412432682655905, 37.99939202492774, + 99.99611255228942, -0.011566156103981484, 1.5707564273559664, 0.01, 226.1003268853117, 48.41289131075811)); + right.setSegment(38, new Trajectory.Segment(7.412559944412116, 38.00057017791647, + 100.00378798143785, 0.011566131021822912, 1.5707564273559664, 0.01, 245.90032686955124, 48.41210130186751)); + + + left.setSegment(39, new Trajectory.Segment(7.802426203200617, 38.99935205447122, + 99.99600295434803, -0.01095979413889836, 1.5707570622545715, 0.01, 226.10034232281524, 48.802884830997286)); + right.setSegment(39, new Trajectory.Segment(7.802566035949207, 39.000609153709, + 100.00389757925277, 0.010959781491237663, 1.5707570622545715, 0.01, 245.9003423075524, 48.80210739309905)); + + + left.setSegment(40, new Trajectory.Segment(8.202419313748223, 39.999311054760625, + 99.99590002894081, -0.010292540721934529, 1.570757738064672, 0.01, 226.10035789401832, 49.20287794124181)); + right.setSegment(40, new Trajectory.Segment(8.2025725275368, 40.00064915875938, + 100.004000505038, 0.010292578522808071, 1.570757738064672, 0.01, 245.90035787927633, 49.20211388438355)); + + + left.setSegment(41, new Trajectory.Segment(8.612412004734129, 40.99926909859058, + 99.9958043829956, -0.00956459452083891, 1.5707584557523875, 0.01, 226.10037356884072, 49.612870631928075)); + right.setSegment(41, new Trajectory.Segment(8.612579428739478, 41.00069012026778, + 100.00409615083967, 0.009564580167875647, 1.5707584557523875, 0.01, 245.900373554642, 49.61212078528658)); + + + left.setSegment(42, new Trajectory.Segment(9.032404267382322, 41.99922626481939, + 99.99571662288105, -0.008776011455324806, 1.570759216204183, 0.01, 226.10038931557122, 50.032862894281074)); + right.setSegment(42, new Trajectory.Segment(9.032586748333225, 42.00073195937473, + 100.00418391069559, 0.008775985591569224, 1.570759216204183, 0.01, 245.900389301937, 50.03212810458512)); + + + left.setSegment(43, new Trajectory.Segment(9.462396093765637, 42.999182638331426, + 99.99563735120347, -0.007927167757770803, 1.5707600202207845, 0.01, 226.10040510086603, 50.462854720374644)); + right.setSegment(43, new Trajectory.Segment(9.462594494245243, 43.00077459120176, + 100.00426318270286, 0.007927200726953743, 1.5707600202207845, 0.01, 245.90040508781615, 50.46213585020738)); + + + left.setSegment(44, new Trajectory.Segment(9.902387476865469, 43.99913830998322, + 99.99556716517972, -0.007018602374841976, 1.5707608685111396, 0.01, 226.1004208897539, 50.90284610319119)); + right.setSegment(44, new Trajectory.Segment(9.902602673494112, 44.00081792488694, + 100.0043333685177, 0.007018581484885544, 1.5707608685111396, 0.01, 245.90042087730674, 50.90214402917295)); + + + left.setSegment(45, new Trajectory.Segment(10.352378410631035, 44.99909337655665, + 99.99550665734276, -0.006050783696309736, 1.57076176168644, 0.01, 226.10043664564884, 51.35283703668092)); + right.setSegment(45, new Trajectory.Segment(10.352611292130614, 45.00086186365033, + 100.00439387633904, 0.0060507821331157174, 1.57076176168644, 0.01, 245.90043663382087, 51.35215264753361)); + + + left.setSegment(46, new Trajectory.Segment(10.812368890037735, 45.999047940670124, + 99.9954564113473, -0.005024599545322417, 1.57076270025422, 0.01, 226.10045233036988, 51.81282751582021)); + right.setSegment(46, new Trajectory.Segment(10.812620355179359, 46.00090630487435, + 100.00444412240199, 0.0050246062954784065, 1.57076270025422, 0.01, 245.90045231917549, 51.81216171031493)); + + + left.setSegment(47, new Trajectory.Segment(11.282358911144748, 46.999002110701234, + 99.99541700311099, -0.003940823631864987, 1.5707636846125446, 0.01, 226.10046790416868, 52.28281753666919)); + right.setSegment(47, new Trajectory.Segment(11.2826298665812, 47.000951140184114, + 100.00448353097653, 0.003940857453699209, 1.5707636846125446, 0.01, 245.9004678936201, 52.28217122145873)); + + + left.setSegment(48, new Trajectory.Segment(11.762348471151421, 47.998956000667455, + 99.99538899662213, -0.002800648886136514, 1.5707647150443043, 0.01, 226.10048332576557, 52.762807096428126)); + right.setSegment(48, new Trajectory.Segment(11.762639829136726, 48.00099625555266, + 100.00451153685432, 0.002800587779461239, 1.5707647150443043, 0.01, 245.9004833158725, 52.76218118376651)); + + + left.setSegment(49, new Trajectory.Segment(12.252337568452688, 48.99890973012665, + 99.99537294591931, -0.0016050702811298834, 1.5707657917116304, 0.01, 226.1004985523935, 53.252796193492806)); + right.setSegment(49, new Trajectory.Segment(12.252650244451043, 49.001041531431696, + 100.00452758790388, 0.0016051049556153885, 1.5707657917116304, 0.01, 245.90049854316283, 53.25219159884423)); + + + left.setSegment(50, new Trajectory.Segment(12.752326202692869, 49.998863424018026, + 99.99536938913778, -0.00035567815359627275, 1.5707669146504477, 0.01, 226.100513539851, 53.75278482750836)); + right.setSegment(50, new Trajectory.Segment(12.75266111287981, 50.00108684287676, + 100.00453114450636, 0.0003556602479193316, 1.5707669146504477, 0.01, 245.90051353128675, 53.752202467048356)); + + + left.setSegment(51, new Trajectory.Segment(13.262314374818196, 50.998817212532785, + 99.99537885147589, 0.0009462338113053193, 1.5707680837651796, 0.01, 226.1005282425638, 54.26277299942175)); + right.setSegment(51, new Trajectory.Segment(13.262672433476832, 51.0011320597021, + 100.00452168253418, -0.0009461972183544276, 1.5707680837651796, 0.01, 245.9005282346669, 54.26221378743343)); + + + left.setSegment(52, new Trajectory.Segment(13.782302087127462, 51.99877123092662, + 99.99540183938365, 0.002298790775512316, 1.5707692988236237, 0.01, 226.10054261365585, 54.782760711532426)); + right.setSegment(52, new Trajectory.Segment(13.782684203943287, 52.001177046645566, + 100.00449869434647, -0.002298818770896105, 1.5707692988236237, 0.01, 245.90054260642378, 54.78222555770129)); + + + left.setSegment(53, new Trajectory.Segment(14.312289343320947, 52.99872561934842, + 99.99543884217985, 0.0037002796204888, 1.5707705594520136, 0.01, 226.10055660502957, 55.31274796754123)); + right.setSegment(53, new Trajectory.Segment(14.312696420578884, 53.001221663559726, + 100.00446169141597, -0.003700293049746506, 1.5707705594520136, 0.01, 245.90055659845638, 55.312237774152194)); + + + left.setSegment(54, new Trajectory.Segment(14.852276148547297, 53.99868052263499, + 99.99549032865716, 0.005148647730379707, 1.5707718651302833, 0.01, 226.10057016745552, 55.85273477259726)); + right.setSegment(54, new Trajectory.Segment(14.852709078234986, 54.001265765610164, + 100.00441020504383, -0.005148637214347218, 1.5707718651302833, 0.01, 245.90057016153165, 55.85225043163797)); + + + left.setSegment(55, new Trajectory.Segment(15.402262509448233, 54.998636090093555, + 99.99555674585636, 0.006641719920708056, 1.570773215187555, 0.01, 226.1005832506723, 56.40272113334258)); + right.setSegment(55, new Trajectory.Segment(15.4027221702699, 55.00130920349143, + 100.0043437881267, -0.006641691712161446, 1.570773215187555, 0.01, 245.9005832453842, 56.40226352351726)); + + + left.setSegment(56, new Trajectory.Segment(15.962248434200779, 55.998592475254526, + 99.99563851609707, 0.008177024071187589, 1.570774608797863, 0.01, 226.1005958034955, 56.96270705795443)); + right.setSegment(56, new Trajectory.Segment(15.962735688506545, 56.001351823664365, + 100.0042620172934, -0.008177083330451751, 1.570774608797863, 0.01, 245.90059579882595, 56.962277041613206)); + + + left.setSegment(57, new Trajectory.Segment(16.532233932557162, 56.99854983563834, + 99.99573603838172, 0.009752228464776636, 1.5707760449761365, 0.01, 226.10060777393778, 57.53269255618512)); + right.setSegment(57, new Trajectory.Segment(16.532749623192732, 57.00139346861891, + 100.00416449545426, -0.009752183913747103, 1.5707760449761365, 0.01, 245.90060776986542, 57.53229097617369)); + + + left.setSegment(58, new Trajectory.Segment(17.112219015881745, 57.99850833245845, + 99.99584968201063, 0.011364362890731172, 1.570777522574459, 0.01, 226.100619109338, 58.11267763939893)); + right.setSegment(58, new Trajectory.Segment(17.112763962964102, 58.001433977137005, + 100.00405085180972, -0.011364364453925191, 1.570777522574459, 0.01, 245.90061910583736, 58.112305315834284)); + + + left.setSegment(59, new Trajectory.Segment(17.702203697185208, 58.99846813034624, + 99.99597978877901, 0.013010676838121071, 1.5707790402786186, 0.01, 226.10062975650106, 58.70266232060632)); + right.setSegment(59, new Trajectory.Segment(17.702778694809933, 59.001473184583105, + 100.00392074461004, -0.013010719968065132, 1.5707790402786186, 0.01, 245.90062975354272, 58.70232004758404)); + + + left.setSegment(60, new Trajectory.Segment(18.302187991155634, 59.99842939704255, + 99.99612666963102, 0.014688085201441936, 1.570780596604976, 0.01, 226.100639661848, 59.30264661449498)); + right.setSegment(60, new Trajectory.Segment(18.302793804042228, 60.00151092322955, + 100.00377386464478, -0.014687996525708513, 1.570780596604976, 0.01, 245.90063965939834, 59.302335156734564)); + + + left.setSegment(61, new Trajectory.Segment(18.912171914186057, 60.99839230304236, + 99.99629059998085, 0.01639303498279787, 1.570782189897663, 0.01, 226.10064877157595, 59.91263053745738)); + right.setSegment(61, new Trajectory.Segment(18.91280927426786, 61.00154702256335, + 100.00360993337978, -0.016393126500702238, 1.570782189897663, 0.01, 245.9006487695974, 59.91235062689217)); + + + left.setSegment(62, new Trajectory.Segment(19.532155484398906, 61.9983570212848, + 99.99647182424383, 0.018122426297395577, 1.5707838183261356, 0.01, 226.10065703182863, 60.5326141076152)); + right.setSegment(62, new Trajectory.Segment(19.53282508736446, 62.00158130965987, + 100.00342870965184, -0.018122372793527575, 1.5707838183261356, 0.01, 245.90065703027966, 60.53236643993374)); + + + left.setSegment(63, new Trajectory.Segment(20.16213872166638, 62.99832372674733, + 99.99667054625334, 0.019872200951454033, 1.5707854798830987, 0.01, 226.10066438887668, 61.16259734483972)); + right.setSegment(63, new Trajectory.Segment(20.162841223459804, 63.00161360953437, + 100.00322998744977, -0.019872220207162172, 1.5707854798830987, 0.01, 245.9006643877119, 61.16238257598612)); + + + left.setSegment(64, new Trajectory.Segment(20.802121647627157, 63.99829259607751, + 99.9968869330182, 0.02163867648619089, 1.5707871723828273, 0.01, 226.1006707893081, 61.80258027076849)); + right.setSegment(64, new Trajectory.Segment(20.8028576609152, 64.00164374553978, + 100.00301360054138, -0.02163869083915415, 1.5707871723828273, 0.01, 245.90067078847844, 61.80239901340951)); + + + left.setSegment(65, new Trajectory.Segment(21.45210428569891, 64.99826380717502, + 99.99712110975096, 0.023417673276071582, 1.570788893459898, 0.01, 226.1006761802284, 62.45256290881788)); + right.setSegment(65, new Trajectory.Segment(21.45287437631296, 65.00167153977577, + 100.00277942359901, -0.023417694237082287, 1.570788893459898, 0.01, 245.9006761796814, 62.45241572878491)); + + + left.setSegment(66, new Trajectory.Segment(22.11208666108657, 65.99823753876588, + 99.99737315908561, 0.025204933464806345, 1.5707906405683616, 0.01, 226.1006805094707, 63.11254528419134)); + right.setSegment(66, new Trajectory.Segment(22.1128913444482, 66.00169681352416, + 100.00252737483919, -0.025204875981899022, 1.5707906405683616, 0.01, 245.90068050915062, 63.112432696905955)); + + + left.setSegment(67, new Trajectory.Segment(22.78206880078595, 66.9982139699382, + 99.99764311723283, 0.02699581472143109, 1.570792410981369, 0.01, 226.10068372581483, 63.782527423883)); + right.setSegment(67, new Trajectory.Segment(22.782908538325128, 67.00171938769273, + 100.00225741685682, -0.02699579823683962, 1.570792410981369, 0.01, 245.90068372566301, 63.78244989077516)); + + + left.setSegment(68, new Trajectory.Segment(23.46205073358264, 67.99819327966883, + 99.99793097306195, 0.028785582912860264, 1.570794201791277, 0.01, 226.10068577921592, 64.46250935667659)); + right.setSegment(68, new Trajectory.Segment(23.462925929157997, 68.00173908328686, + 100.00196955941334, -0.02878574434816983, 1.570794201791277, 0.01, 245.9006857791712, 64.46246728160493)); + + + left.setSegment(69, new Trajectory.Segment(24.15203249004618, 68.99817564635404, + 99.99823666852166, 0.03056954597013828, 1.570796009910259, 0.01, 226.10068662104152, 65.15249111313962)); + right.setSegment(69, new Trajectory.Segment(24.152943486377364, 69.00175572193652, + 100.00166386496545, -0.030569444788852707, 1.570796009910259, 0.01, 245.9006866210405, 65.15248483882378)); + + + left.setSegment(70, new Trajectory.Segment(24.85201410251828, 69.9981612472097, + 99.9985600855652, 0.03234170435462147, 1.5707978320714338, 0.01, 226.10068620431733, 65.85247272561159)); + right.setSegment(70, new Trajectory.Segment(24.852961177640744, 70.00176912633795, + 100.00134044014288, -0.03234248225680858, 1.5707978320714338, 0.01, 245.90068620429489, 65.85250253008704)); + + + left.setSegment(71, new Trajectory.Segment(25.5619956050978, 70.99815025795189, + 99.99890107421976, 0.03409886545568952, 1.5707996648305467, 0.01, 226.10068448398079, 66.56245422818903)); + right.setSegment(71, new Trajectory.Segment(25.562978968850675, 71.00177912099308, + 100.00099946551302, -0.03409746298643768, 1.5707996648305467, 0.01, 245.90068448387046, 66.56252032129488)); + + + left.setSegment(72, new Trajectory.Segment(26.28197703361649, 71.99814285186879, + 99.99925939169003, 0.03583174702725955, 1.5708015045682184, 0.01, 226.10068141714228, 67.28243565670118)); + right.setSegment(72, new Trajectory.Segment(26.28299682417527, 72.00178553245942, + 100.00064114663445, -0.03583188785682978, 1.5708015045682184, 0.01, 245.9006814168769, 67.28253817661295)); + + + left.setSegment(73, new Trajectory.Segment(27.011958425611528, 72.99813919950407, + 99.99963476352747, 0.037537183743552305, 1.570803347492787, 0.01, 226.10067696335327, 68.01241704868264)); + right.setSegment(73, new Trajectory.Segment(27.013014706076792, 73.00178819015193, + 100.00026576925052, -0.03753773839321184, 1.570803347492787, 0.01, 245.90067696286528, 68.01255605850088)); + + + left.setSegment(74, new Trajectory.Segment(27.751939820291742, 73.99813946802152, + 100.00002685174536, 0.03920882178931606, 1.5708051896437683, 0.01, 226.10067108488047, 68.7523984433395)); + right.setSegment(74, new Trajectory.Segment(27.75303257534643, 74.0017869269638, + 99.99987368118752, -0.03920880629948442, 1.5708051896437683, 0.01, 245.9006710841028, 68.75257392774716)); + + + left.setSegment(75, new Trajectory.Segment(28.501921258496726, 74.99814382049841, + 100.00043524768927, 0.04083959439071805, 1.570807026895959, 0.01, 226.1006637469864, 69.50237988150859)); + right.setSegment(75, new Trajectory.Segment(28.503050391144793, 75.00178157983609, + 99.99946528722887, -0.04083939586507768, 1.570807026895959, 0.01, 245.90066374585297, 69.50259174350963)); + + + left.setSegment(76, new Trajectory.Segment(29.261902782649443, 75.99815241527163, + 100.00085947732202, 0.042422963275612346, 1.5708088549642045, 0.01, 226.10065491821433, 70.26236140561002)); + right.setSegment(76, new Trajectory.Segment(29.26306811104876, 76.00177199039683, + 99.99904105607413, -0.042423115473866346, 1.5708088549642045, 0.01, 245.90065491666047, 70.26260946336231)); + + + left.setSegment(77, new Trajectory.Segment(30.031884436702452, 76.99816540530072, + 100.00129900290915, 0.04395255871258996, 1.5708106694088586, 0.01, 226.10064457067747, 71.0323430595935)); + right.setSegment(77, new Trajectory.Segment(30.033085691105928, 77.00175800571695, + 99.99860153201183, -0.04395240623011887, 1.5708106694088586, 0.01, 245.90064456864096, 71.03262704334995)); + + + left.setSegment(78, new Trajectory.Segment(30.811866266076454, 77.99818293740022, + 100.00175320994913, 0.04542070399793374, 1.5708124656419604, 0.01, 226.10063268035188, 71.81232488887687)); + right.setSegment(78, new Trajectory.Segment(30.813103085895335, 78.00173947894085, + 99.99814732238974, -0.04542096220916392, 1.5708124656419604, 0.01, 245.9006326777733, 71.81264443804872)); + + + left.setSegment(79, new Trajectory.Segment(31.601848317592157, 78.99820515157023, + 100.00222141700164, 0.04682070525063864, 1.5708142389341526, 0.01, 226.10061922737125, 72.60230694027803)); + right.setSegment(79, new Trajectory.Segment(31.603120248596454, 79.0017162701119, + 99.99767911710506, -0.04682052846760598, 1.5708142389341526, 0.01, 245.9006192241949, 72.60266160063529)); + + + left.setSegment(80, new Trajectory.Segment(32.401830639393964, 79.99823218018041, + 100.00270286101767, 0.04814440160316735, 1.5708159844223677, 0.01, 226.10060419632362, 73.40228926193862)); + right.setSegment(80, new Trajectory.Segment(32.403137131064916, 80.00168824684587, + 99.99719767339741, -0.04814437076561262, 1.5708159844223677, 0.01, 245.900604192498, 73.40267848296253)); + + + left.setSegment(81, new Trajectory.Segment(33.21181328086589, 80.9982641471925, + 100.00319670120916, 0.04938401914955648, 1.5708176971183088, 0.01, 226.10058757654792, 74.21227190324004)); + right.setSegment(81, new Trajectory.Segment(33.21315368391648, 81.00165528515636, + 99.9967038310487, -0.049384234870331056, 1.5708176971183088, 0.01, 245.90058757202667, 74.21269503564358)); + + + left.setSegment(82, new Trajectory.Segment(34.03179629253993, 81.99830116740418, + 100.00370202116784, 0.05053199586768642, 1.5708193719177523, 0.01, 226.10056936243012, 75.03225491471179)); + right.setSegment(82, new Trajectory.Segment(34.033169856619494, 82.00161727030164, + 99.99619851452763, -0.05053165210711086, 1.5708193719177523, 0.01, 245.90056935717246, 75.03271120814429)); + + + left.setSegment(83, new Trajectory.Segment(34.861779725994985, 82.99834334550536, + 100.00421781011823, 0.05157889503948354, 1.570821003610696, 0.01, 226.10054955369722, 75.86223834793046)); + right.setSegment(83, new Trajectory.Segment(34.863185597594814, 83.00157409753201, + 99.99568272303776, -0.0515791489874573, 1.570821003610696, 0.01, 245.90054954766865, 75.86272694888322)); + + + left.setSegment(84, new Trajectory.Segment(35.701763633748094, 83.99839077531075, + 100.00474298053916, 0.0525170420928589, 1.5708225868923842, 0.01, 226.10052815570765, 76.70222225541102)); + right.setSegment(84, new Trajectory.Segment(35.703200854325374, 84.0015256730562, + 99.99515755241788, -0.0525170619880555, 1.5708225868923842, 0.01, 245.90052814888065, 76.70274220534122)); + + + left.setSegment(85, new Trajectory.Segment(36.5517480691365, 84.99844353884038, + 100.00527635296237, 0.05333724232059467, 1.5708241163752346, 0.01, 226.10050517973733, 77.55220669048889)); + right.setSegment(85, new Trajectory.Segment(36.55321557347421, 85.00147191488387, + 99.99462418276721, -0.053336965066819175, 1.5708241163752346, 0.01, 245.90050517209195, 77.55275692417952)); + + + left.setSegment(86, new Trajectory.Segment(37.41173308618976, 85.99850170532629, + 100.0058166485914, 0.05402956290367911, 1.570825586601697, 0.01, 226.10048064325935, 78.41219170719212)); + right.setSegment(86, new Trajectory.Segment(37.41322970101141, 86.00141275371968, + 99.9940838835812, -0.05402991860137263, 1.570825586601697, 0.01, 245.9004806347836, 78.41277105136668)); + + + left.setSegment(87, new Trajectory.Segment(38.28171873949373, 86.99856533039699, + 100.00636250706947, 0.05458584780626552, 1.5708269920580682, 0.01, 226.10045457021573, 79.2821773601054)); + right.setSegment(87, new Trajectory.Segment(38.283243182351534, 87.00134813401209, + 99.99353802924134, -0.05458543398617621, 1.5708269920580682, 0.01, 245.9004545609062, 79.28278453231609)); + + + left.setSegment(88, new Trajectory.Segment(39.161705084043156, 87.99863445494206, + 100.00691245450781, 0.054994743834413384, 1.570828327189298, 0.01, 226.10042699128002, 80.16216370422265)); + right.setSegment(88, new Trajectory.Segment(39.16325596249933, 88.00127801477912, + 99.99298807670272, -0.05499525386198911, 1.570828327189298, 0.01, 245.90042698114218, 80.1627973120317)); + + + left.setSegment(89, new Trajectory.Segment(40.051692175086025, 88.99870910428687, + 100.00746493448105, 0.05524799732370411, 1.5708295864148079, 0.01, 226.1003979441085, 81.0521507947915)); + right.setSegment(89, new Trajectory.Segment(40.05326798620728, 89.00120237079523, + 99.99243560161091, -0.055247509180844645, 1.5708295864148079, 0.01, 245.9003979331571, 81.05280933526562)); + + + left.setSegment(90, new Trajectory.Segment(40.9516800679556, 89.99878928695779, + 100.00801826709136, 0.05533326103090985, 1.5708307641453587, 0.01, 226.1003674735785, 81.95213868714526)); + right.setSegment(90, new Trajectory.Segment(40.953279198141765, 90.00112119344854, + 99.99188226533136, -0.0553336279551786, 1.5708307641453587, 0.01, 245.9003674618378, 81.95282054668428)); + + + left.setSegment(91, new Trajectory.Segment(41.86166881789363, 90.99887499380301, + 100.00857068452262, 0.05524174312654395, 1.5708318548009912, 0.01, 226.10033563201168, 82.86212743652621)); + right.setSegment(91, new Trajectory.Segment(41.86328954306133, 91.00103449195619, + 99.991329850765, -0.05524145663571289, 1.5708318548009912, 0.01, 245.90033561951552, 82.86283089104674)); + + + left.setSegment(92, new Trajectory.Segment(42.78165847986108, 91.9989661967452, + 100.00912029421869, 0.0549609696065545, 1.5708328528300728, 0.01, 226.10030247938022, 83.78211709789632)); + right.setSegment(92, new Trajectory.Segment(42.78329896600458, 92.00094229432538, + 99.99078023691936, -0.05496138456351218, 1.5708328528300728, 0.01, 245.90030246617215, 83.78284031339264)); + + + left.setSegment(93, new Trajectory.Segment(43.71164910833908, 92.99906284780008, + 100.0096651054875, 0.05448112688100082, 1.5708337527294807, 0.01, 226.10026808349411, 84.71210772573825)); + right.setSegment(93, new Trajectory.Segment(43.71330741249086, 93.0008446486287, + 99.99023543033161, -0.0544806587754465, 1.5708337527294807, 0.01, 245.90026806962717, 84.71284875924285)); + + + left.setSegment(94, new Trajectory.Segment(44.65164075711698, 93.99916487778947, + 100.01020299893923, 0.05378934517352718, 1.5708345490659494, 0.01, 226.10023252016654, 85.6520993738434)); + right.setSegment(94, new Trajectory.Segment(44.65331482873083, 94.00074162399655, + 99.98969753678466, -0.05378935469479984, 1.5708345490659494, 0.01, 245.9002325057032, 85.65285617481005)); + + + left.setSegment(95, new Trajectory.Segment(45.60163347906903, 94.99927219520508, + 100.01073174156119, 0.05287426219524605, 1.5708352364986171, 0.01, 226.10019587335606, 86.60209209508861)); + right.setSegment(95, new Trajectory.Segment(45.60332116184971, 95.00063331188821, + 99.98916878916617, -0.05287476184889783, 1.5708352364986171, 0.01, 245.90019585836782, 86.60286250722208)); + + + left.setSegment(96, new Trajectory.Segment(46.56162732591988, 95.99938468508522, + 100.01124898801379, 0.05172464526026488, 1.5708358098027992, 0.01, 226.10015823528198, 87.56208594120163)); + right.setSegment(96, new Trajectory.Segment(46.56332636012336, 96.00051982736458, + 99.98865154763763, -0.051724152854149, 1.5708358098027992, 0.01, 245.90015821984878, 87.56286770475789)); + + + left.setSegment(97, new Trajectory.Segment(47.53162234799595, 96.9995022076072, + 100.01175225219754, 0.05032641837487972, 1.5708362638950228, 0.01, 226.10011970651115, 88.53208096251251)); + right.setSegment(97, new Trajectory.Segment(47.53333037322546, 97.00040131021005, + 99.9881482845467, -0.05032630909340696, 1.5708362638950228, 0.01, 245.9001196907209, 88.53287171709479)); + + + left.setSegment(98, new Trajectory.Segment(48.51161859396447, 97.99962459685186, + 100.0122389244666, 0.048667226906218275, 1.5708365938593527, 0.01, 226.100080396013, 89.5120772076926)); + right.setSegment(98, new Trajectory.Segment(48.513333152487725, 98.00027792622663, + 99.98766160165786, -0.04866828888339114, 1.5708365938593527, 0.01, 245.90008037996077, 89.51287449556862)); + + + left.setSegment(99, new Trajectory.Segment(49.501616110561656, 98.99975165971885, + 100.01270628669943, 0.04673622328255078, 1.5708367949750426, 0.01, 226.1000404211804, 90.50207472348272)); + right.setSegment(99, new Trajectory.Segment(49.503334651175564, 99.00014986878385, + 99.98719425572204, -0.04673459358173204, 1.5708367949750426, 0.01, 245.90004040496743, 90.5028759934494)); + + + left.setSegment(100, new Trajectory.Segment(50.4991149435411, 99.74988329794428, + 75.0131638225426, -2499.954246415683, 1.5708368627459584, 0.01, 226.10000000915267, 91.49957355564355)); + right.setSegment(100, new Trajectory.Segment(50.500834826019144, 99.75001748435784, + 74.986761557399, -2500.043269832304, 1.5708368627459584, 0.01, 245.89999999288534, 91.50037616747436)); + + + left.setSegment(101, new Trajectory.Segment(51.496615244013896, 99.75003004727924, + 0.014674933495939513, -7499.848888904666, 1.5708367949818554, 0.01, 226.09995959706208, 92.49707385529773)); + right.setSegment(101, new Trajectory.Segment(51.49833378476269, 99.74989587435462, + -0.012161000321952997, -7499.892255772096, 1.5708367949818554, 0.01, 245.8999595808491, 92.49787512539929)); + + + left.setSegment(102, new Trajectory.Segment(52.48661711971136, 99.00018756974661, + -74.98424775326242, -7499.892268675836, 1.5708365938728097, 0.01, 226.0999196220435, 93.48707573018812)); + right.setSegment(102, new Trajectory.Segment(52.48833167850105, 98.99978937383523, + -75.01065005193936, -7499.848905161741, 1.5708365938728097, 0.01, 245.89991960599127, 93.48787301833057)); + + + left.setSegment(103, new Trajectory.Segment(53.46662040167998, 98.00032819686238, + -99.98593728842309, -2500.1689535160663, 1.5708362639148743, 0.01, 226.09988031124686, 94.46707901136831)); + right.setSegment(103, new Trajectory.Segment(53.46832842730257, 97.99967488015233, + -100.01144936829007, -2500.079931635071, 1.5708362639148743, 0.01, 245.89988029545663, 94.46786976634367)); + + + left.setSegment(104, new Trajectory.Segment(54.43662491748953, 97.00045158095524, + -99.98766159071408, -0.17243022909951833, 1.5708358098288022, 0.01, 226.09984178207674, 95.43708352641266)); + right.setSegment(104, new Trajectory.Segment(54.43832395220788, 96.99955249053109, + -100.01223896212394, -0.07895938338720043, 1.5708358098288022, 0.01, 245.89984176664353, 95.43786529048378)); + + + left.setSegment(105, new Trajectory.Segment(55.39663061847353, 96.0005700983997, + -99.98814825555371, -0.048666483962733764, 1.5708352365305194, 0.01, 226.09980414351023, 96.39708922665882)); + right.setSegment(105, new Trajectory.Segment(55.3983183018859, 95.99943496780166, + -100.01175227294254, 0.04866891814003793, 1.5708352365305194, 0.01, 245.89980412852194, 96.39785963942397)); + + + left.setSegment(106, new Trajectory.Segment(56.34663745430571, 95.00068358321752, + -99.98865151821832, -0.05032626646084282, 1.5708345491034907, 0.01, 226.0997674961224, 97.34709606178414)); + right.setSegment(106, new Trajectory.Segment(56.34831152666288, 94.99932247769844, + -100.01124901032199, 0.050326262055477855, 1.5708345491034907, 0.01, 245.89976748165907, 97.34785286349411)); + + + left.setSegment(107, new Trajectory.Segment(57.28664537326078, 94.00079189550776, + -99.98916877097628, -0.05172527579588859, 1.5708337527723948, 0.01, 226.0997319321416, 98.28710398006646)); + right.setSegment(107, new Trajectory.Segment(57.288303678262274, 93.99921515993893, + -100.01073177595146, 0.05172343705339699, 1.5708337527723948, 0.01, 245.89973191827465, 98.28784501442075)); + + + left.setSegment(108, new Trajectory.Segment(58.21665432246537, 93.00089492045826, + -99.9896975049495, -0.05287339732262808, 1.5708328528780877, 0.01, 226.09969753553574, 99.21711292863496)); + right.setSegment(108, new Trajectory.Segment(58.21829480955958, 92.9991131297307, + -100.01020302082253, 0.05287551289256953, 1.5708328528780877, 0.01, 245.8996975223276, 99.21783614508199)); + + + left.setSegment(109, new Trajectory.Segment(59.13666424813003, 92.00099256646617, + -99.99023539920984, -0.05378942603329051, 1.5708318548538307, 0.01, 226.09966438212786, 100.13712285370227)); + right.setSegment(109, new Trajectory.Segment(59.13828497434394, 91.99901647843568, + -100.00966512950242, 0.05378913201070645, 1.5708318548538307, 0.01, 245.89966436963164, 100.137826309269)); + + + left.setSegment(110, new Trajectory.Segment(60.046675095773345, 91.00108476433145, + -99.99078021347145, -0.05448142616160112, 1.5708307642027444, 0.01, 226.09963253973783, 101.04713370078848)); + right.setSegment(110, new Trajectory.Segment(60.04827422709576, 90.99892527518227, + -100.00912032534046, 0.05448041619615651, 1.5708307642027444, 0.01, 245.89963252799706, 101.04781556146374)); + + + left.setSegment(111, new Trajectory.Segment(60.946686810434386, 90.00117146610377, + -99.9913298227682, -0.05496092967405275, 1.5708295864764583, 0.01, 226.09960206834788, 101.94714541493369)); + right.setSegment(111, new Trajectory.Segment(60.94826262277633, 89.99883956805711, + -100.00857071251659, 0.05496128238746678, 1.5708295864764583, 0.01, 245.89960205739644, 101.94780395662849)); + + + left.setSegment(112, new Trajectory.Segment(61.836699336871405, 89.00125264370199, + -99.99188224017814, -0.055241740994915745, 1.5708283272549315, 0.01, 226.09957302028977, 102.83715794089667)); + right.setSegment(112, new Trajectory.Segment(61.83825021662711, 88.9987593850778, + -100.00801829793033, 0.05524145862523255, 1.5708283272549315, 0.01, 245.89957301015187, 102.83779155000525)); + + + left.setSegment(113, new Trajectory.Segment(62.71671261975159, 88.00132828801841, + -99.99243556835751, -0.05533281793645983, 1.570826992127403, 0.01, 226.09954544045058, 103.71717122334468)); + right.setSegment(113, new Trajectory.Segment(62.71823706398222, 87.99868473551132, + -100.00746495664856, 0.055334128177264574, 1.570826992127403, 0.01, 245.899545431141, 103.7177783969282)); + + + left.setSegment(114, new Trajectory.Segment(63.58672660382662, 87.00139840750292, + -99.9929880515495, -0.05524831919956341, 1.5708255866744516, 0.01, 226.09951936649628, 104.587185207029)); + right.setSegment(114, new Trajectory.Segment(63.58822322008883, 86.99861561066069, + -100.00691248506257, 0.05524715859905882, 1.5708255866744516, 0.01, 245.89951935802048, 104.5877645526441)); + + + left.setSegment(115, new Trajectory.Segment(64.44674123410151, 86.00146302748904, + -99.99353800138806, -0.054994983855749524, 1.5708241164511298, 0.01, 226.09949482910966, 105.44719983695384)); + right.setSegment(115, new Trajectory.Segment(64.44820873994195, 85.99855198531148, + -100.00636253492132, 0.05499501412487007, 1.5708241164511298, 0.01, 245.89949482146423, 105.44775007214719)); + + + left.setSegment(116, new Trajectory.Segment(65.29675645599049, 85.00152218889764, + -99.99408385913995, -0.054585775188797925, 1.5708225869711427, 0.01, 226.09947185224158, 106.29721505853227)); + right.setSegment(116, new Trajectory.Segment(65.29819367812719, 84.9984938185243, + -100.00581667871842, 0.05458562029048153, 1.5708225869711427, 0.01, 245.89947184541458, 106.2977350100219)); + + + left.setSegment(117, new Trajectory.Segment(66.13677221546448, 84.00157594739824, + -99.99462414994014, -0.054029080018835884, 1.5708210036920445, 0.01, 226.09945045337352, 107.1372308177337)); + right.setSegment(117, new Trajectory.Segment(66.13817808867502, 83.99844105478292, + -100.00527637413796, 0.05403045804541762, 1.5708210036920445, 0.01, 245.89945044734495, 107.13771942029717)); + + + left.setSegment(118, new Trajectory.Segment(66.96678845918551, 83.00162437210284, + -99.99515752953982, -0.05333795996875779, 1.5708193720014205, 0.01, 226.09943064378925, 107.96724706121833)); + right.setSegment(118, new Trajectory.Segment(66.96816202492168, 82.99839362466629, + -100.00474301166236, 0.053336247560764605, 1.5708193720014205, 0.01, 245.89943063853153, 107.96770335630745)); + + + left.setSegment(119, new Trajectory.Segment(67.78680513463709, 82.00166754515807, + -99.99568269447678, -0.05251649369597544, 1.570817697204031, 0.01, 226.09941242885438, 108.78726373646761)); + right.setSegment(119, new Trajectory.Segment(67.78814553938496, 81.99835144632777, + -100.00421783385178, 0.05251778105730409, 1.570817697204031, 0.01, 245.89941242433312, 108.78768687056844)); + + + left.setSegment(120, new Trajectory.Segment(68.59682219023966, 81.00170556025722, + -99.99619849008496, -0.05157956081802695, 1.5708159845098835, 0.01, 226.09939580830252, 109.59728079189966)); + right.setSegment(120, new Trajectory.Segment(68.59812868364342, 80.99831442584608, + -100.00370204816988, 0.05157856818982509, 1.5708159845098835, 0.01, 245.8993958044769, 109.59767001465639)); + + + left.setSegment(121, new Trajectory.Segment(69.39683957546166, 80.00173852219969, + -99.99670380575338, -0.05053156684198257, 1.5708142390232072, 0.01, 226.09938077652558, 110.39729817698044)); + right.setSegment(121, new Trajectory.Segment(69.39811150822923, 79.99828245858102, + -100.0031967265059, 0.050532166397943, 1.5708142390232072, 0.01, 245.89938077334918, 110.39765283910099)); + + + left.setSegment(122, new Trajectory.Segment(70.1868572409188, 79.00176654571436, + -99.99719764853268, -0.04938427792922084, 1.5708124657323048, 0.01, 226.09936732286775, 111.18731584232303)); + right.setSegment(122, new Trajectory.Segment(70.18809406252652, 78.99825542972782, + -100.00270288531965, 0.049384118625539486, 1.5708124657323048, 0.01, 245.89936732028912, 111.18763539328371)); + + + left.setSegment(123, new Trajectory.Segment(70.96687513846648, 78.00178975476784, + -99.99767909465191, -0.04814461192381714, 1.5708106695002504, 0.01, 226.09935543192154, 111.96733373978007)); + right.setSegment(123, new Trajectory.Segment(70.96807639467951, 77.99823321529917, + -100.00222144286539, 0.04814424542587403, 1.5708106695002504, 0.01, 245.89935542988496, 111.96761772534607)); + + + left.setSegment(124, new Trajectory.Segment(71.73689322128408, 77.00180828175993, + -99.99814730079066, -0.04682061387484282, 1.570808855056408, 0.01, 226.09934508382455, 112.73735182252814)); + right.setSegment(124, new Trajectory.Segment(71.73805855150904, 76.99821568295236, + -100.00175323468028, 0.04682081851115072, 1.570808855056408, 0.01, 245.89934508227068, 112.73759988210607)); + + + left.setSegment(125, new Trajectory.Segment(72.49691144395109, 76.00182226670128, + -99.99860150586528, -0.04542050746181303, 1.5708070269887464, 0.01, 226.09933625455594, 113.49737004514387)); + right.setSegment(125, new Trajectory.Segment(72.49804057843635, 75.99820269273, + -100.00129902223591, 0.04542124443673856, 1.5708070269887464, 0.01, 245.89933625342243, 113.49758190898208)); + + + left.setSegment(126, new Trajectory.Segment(73.24692976251508, 75.00183185639916, + -99.9990410302118, -0.0439524346518283, 1.570805189736919, 0.01, 226.0993289162314, 114.24738836367196)); + right.setSegment(126, new Trajectory.Segment(73.24802251941415, 74.99819409778056, + -100.0008594949449, 0.043952729100738, 1.570805189736919, 0.01, 245.89932891545374, 114.24756384992399)); + + + left.setSegment(127, new Trajectory.Segment(73.9869481345516, 74.00183720365192, + -99.99946527472474, -0.042424451294209575, 1.5708033475860883, 0.01, 226.09932303739595, 114.98740673568513)); + right.setSegment(127, new Trajectory.Segment(73.98800441686423, 73.99818974500806, + -100.00043527724927, 0.04242176956381627, 1.5708033475860883, 0.01, 245.89932303690796, 114.98754574735072)); + + + left.setSegment(128, new Trajectory.Segment(74.71696651922228, 73.00183846706881, + -99.99987365831089, -0.040838358614792014, 1.570801504661466, 0.01, 226.09931858331316, 115.71742512034223)); + right.setSegment(128, new Trajectory.Segment(74.71798631162739, 72.99818947631582, + -100.00002686922471, 0.04084080245547739, 1.570801504661466, 0.01, 245.89931858304772, 115.7175276421003)); + + + left.setSegment(129, new Trajectory.Segment(75.43698487731886, 72.00183580965766, + -100.00026574111445, -0.03920828035575141, 1.5707996649235445, 0.01, 226.09931551625039, 116.43744347843227)); + right.setSegment(129, new Trajectory.Segment(75.43796824291312, 71.99819312857252, + -99.99963477432914, 0.03920948955737913, 1.5707996649235445, 0.01, 245.89931551614006, 116.43750957337949)); + + + left.setSegment(130, new Trajectory.Segment(76.14700317129962, 71.00182939807479, + -100.00064115828735, -0.03754171729042355, 1.5707978321639942, 0.01, 226.09931379575886, 117.14746177241094)); + right.setSegment(130, new Trajectory.Segment(76.14795024825479, 70.99820053416676, + -99.9992594405768, 0.03753337523448863, 1.5707978321639942, 0.01, 245.89931379573642, 117.14749157871907)); + + + left.setSegment(131, new Trajectory.Segment(76.84702136534136, 70.00181940417424, + -100.0009993900548, -0.03582317674499791, 1.5707960100022034, 0.01, 226.09931337894835, 117.84747996645255)); + right.setSegment(131, new Trajectory.Segment(76.84793236349309, 69.99821152382954, + -99.99890103372167, 0.03584068551276687, 1.5707960100022034, 0.01, 245.89931337894734, 117.84747369395724)); + + + left.setSegment(132, new Trajectory.Segment(77.5370394253381, 69.00180599967332, + -100.0013404500919, -0.03410600371012151, 1.570794201882436, 0.01, 226.0993142207551, 118.53749802644877)); + right.setSegment(132, new Trajectory.Segment(77.53791462271842, 68.99822592253334, + -99.99856012962027, 0.03409041013924252, 1.570794201882436, 0.01, 245.89931422071038, 118.53745595318206)); + + + left.setSegment(133, new Trajectory.Segment(78.21705731894791, 68.00178936098173, + -100.00166386915907, -0.032341906717192614, 1.570792411071581, 0.01, 226.09931627420312, 119.21751592005549)); + right.setSegment(133, new Trajectory.Segment(78.21789705827331, 67.9982435554893, + -99.99823670440406, 0.03234252162087614, 1.570792411071581, 0.01, 245.8993162740513, 119.21743838873385)); + + + left.setSegment(134, new Trajectory.Segment(78.8870750156047, 67.0017696656789, + -100.00196953028251, -0.03056611234342199, 1.5707906406574754, 0.01, 226.09931949065785, 119.88753361670456)); + right.setSegment(134, new Trajectory.Segment(78.88787970073078, 66.9982642457473, + -99.99793097420024, 0.0305730203820076, 1.5707906406574754, 0.01, 245.89931949033777, 119.8874210311836)); + + + left.setSegment(135, new Trajectory.Segment(79.54709248652101, 66.00174709163184, + -100.00225740470654, -0.028787442403199748, 1.5707888935477707, 0.01, 226.09932382007196, 120.54755108760668)); + right.setSegment(135, new Trajectory.Segment(79.54786257887494, 65.99828781441651, + -99.99764313307793, 0.028784112231505787, 1.5707888935477707, 0.01, 245.89932381952497, 120.54740390931357)); + + + left.setSegment(136, new Trajectory.Segment(80.19710970470125, 65.00172181802415, + -100.00252736076902, -0.026995606248192416, 1.5707871724693252, 0.01, 226.0993292112224, 121.19756830576456)); + right.setSegment(136, new Trajectory.Segment(80.19784571970197, 64.99831408270343, + -99.99737317130837, 0.02699617695611778, 1.5707871724693252, 0.01, 245.89932921039278, 121.19738705011825)); + + + left.setSegment(137, new Trajectory.Segment(80.83712664494038, 64.0016940239139, + -100.00277941102524, -0.025205025622199173, 1.5707854799680978, 0.01, 226.09933561193907, 121.8375852459717)); + right.setSegment(137, new Trajectory.Segment(80.83782914841682, 63.998342871484404, + -99.99712112190267, 0.025204940570233703, 1.5707854799680978, 0.01, 245.8993356107743, 121.83737047880109)); + + + left.setSegment(138, new Trajectory.Segment(81.4671432838207, 63.00166388803212, + -100.00301358817794, -0.023417715269147266, 1.57078381840952, 0.01, 226.09934296932414, 122.46760188480906)); + right.setSegment(138, new Trajectory.Segment(81.4678128884373, 62.99837400204764, + -99.99688694367634, 0.02341782263215464, 1.57078381840952, 0.01, 245.89934296777517, 122.46735421877861)); + + + left.setSegment(139, new Trajectory.Segment(82.08715959970299, 62.00163158822867, + -100.00322998034505, -0.021639216711832887, 1.5707821899793266, 0.01, 226.09935122996194, 123.08761820063631)); + right.setSegment(139, new Trajectory.Segment(82.08779696140175, 61.99840729644583, + -99.99667056018069, 0.021638349565478165, 1.5707821899793266, 0.01, 245.8993512279834, 123.08733829168804)); + + + left.setSegment(140, new Trajectory.Segment(82.69717557271544, 61.00159730124511, + -100.00342869835563, -0.019871801058002347, 1.5707805966848216, 0.01, 226.09936034011923, 123.69763417358074)); + right.setSegment(140, new Trajectory.Segment(82.697781387183, 60.998442578124525, + -99.99647183213085, 0.019872804983833703, 1.5707805966848216, 0.01, 245.89936033766963, 123.69732271740126)); + + + left.setSegment(141, new Trajectory.Segment(83.29719118473508, 60.00156120196461, + -100.00360992805, -0.018122969436262792, 1.5707790403565576, 0.01, 226.09937024593583, 124.29764978551862)); + right.setSegment(141, new Trajectory.Segment(83.29776618390302, 59.99847967200179, + -99.99629061227324, 0.018121985760899406, 1.5707790403565576, 0.01, 245.89937024297748, 124.29730751403952)); + + + left.setSegment(142, new Trajectory.Segment(83.88720641936949, 59.001523463440385, + -100.00377385242274, -0.01639243727424855, 1.5707775226504117, 0.01, 226.09938089360483, 124.88766502005694)); + right.setSegment(142, new Trajectory.Segment(83.88775136795574, 58.99851840527278, + -99.99612667290094, 0.01639393722996374, 1.5707775226504117, 0.01, 245.89938089010425, 124.88729269799617)); + + + left.setSegment(143, new Trajectory.Segment(84.46722126192986, 58.001484256037614, + -100.00392074027715, -0.014688785441308028, 1.5707760450500319, 0.01, 226.09939222954316, 125.46767986250654)); + right.setSegment(143, new Trajectory.Segment(84.4677369540286, 57.99855860728482, + -99.99597979879624, 0.014687410470060058, 1.5707760450500319, 0.01, 245.8993922254708, 125.46727828395825)); + + + left.setSegment(144, new Trajectory.Segment(85.03723569940598, 57.00144374761118, + -100.00405084264372, -0.013010236656896268, 1.570774608869638, 0.01, 226.09940420055162, 126.03769429985695)); + right.setSegment(144, new Trajectory.Segment(85.0377229551329, 56.99860011043132, + -99.99584968535018, 0.013011344606184139, 1.570774608869638, 0.01, 245.8994041958821, 126.03726428493687)); + + + left.setSegment(145, new Trajectory.Segment(85.59724972043304, 56.00140210270567, + -100.0041644905508, -0.011364790708512373, 1.5707732152571556, 0.01, 226.09941675396507, 126.59770832074331)); + right.setSegment(145, new Trajectory.Segment(85.59770938263281, 55.998642749991355, + -99.99573604399643, 0.011364135374947182, 1.5707732152571556, 0.01, 245.89941674867706, 126.59725071229609)); + + + left.setSegment(146, new Trajectory.Segment(86.1472633152586, 55.001359482555465, + -100.00426201502037, -0.009752446956667882, 1.5707718651976634, 0.01, 226.09942983779192, 127.14772191541324)); + right.setSegment(146, new Trajectory.Segment(86.14769624628042, 54.998686364760765, + -99.99563852305897, 0.009752093745873935, 1.5707718651976634, 0.01, 245.89942983186805, 127.14723757578808)); + + + left.setSegment(147, new Trajectory.Segment(86.68727647570581, 54.0013160447211, + -100.00434378343641, -0.008176841603813045, 1.5707705595171346, 0.01, 226.09944340084402, 127.68773507569013)); + right.setSegment(147, new Trajectory.Segment(86.68768355425316, 53.998730797273765, + -99.99555674869995, 0.008177435901757235, 1.5707705595171346, 0.01, 245.8994433942709, 127.6872248835905)); + + + left.setSegment(148, new Trajectory.Segment(87.21728919513288, 53.00127194270689, + -100.00441020142077, -0.006641798435680357, 1.5707692988864552, 0.01, 226.09945739285598, 128.2177477949325)); + right.setSegment(148, new Trajectory.Segment(87.21767131319277, 52.99877589396091, + -99.99549033128545, 0.006641741450152949, 1.5707692988864552, 0.01, 245.89945738562398, 128.21721264234543)); + + + left.setSegment(149, new Trajectory.Segment(87.73730146839098, 52.001227325810504, + -100.0044616896389, -0.005148821813349969, 1.5707680838256985, 0.01, 226.09947176459474, 128.737760067992)); + right.setSegment(149, new Trajectory.Segment(87.73765952824786, 51.99882150550997, + -99.99543884509379, 0.00514861916656173, 1.5707680838256985, 0.01, 245.89947175669784, 128.73720085720194)); + + + left.setSegment(150, new Trajectory.Segment(88.24731329177983, 51.00118233888552, + -100.00449869249834, -0.0037002859443191483, 1.5707669147086383, 0.01, 226.09948646795905, 129.24777189116892)); + right.setSegment(150, new Trajectory.Segment(88.24764820311896, 50.998867487109045, + -99.99540184009277, 0.0037005001018997064, 1.5707669147086383, 0.01, 245.89948645939486, 129.2471895318611)); + + + left.setSegment(151, new Trajectory.Segment(88.74732466300055, 50.00113712207156, + -100.00452168139589, -0.0022988897541154074, 1.570765791767484, 0.01, 226.09950145606953, 129.747783262165)); + right.setSegment(151, new Trajectory.Segment(88.74763734010482, 49.99891369858576, + -99.99537885232854, 0.0022987764225490537, 1.570765791767484, 0.01, 245.8995014468389, 129.74717866862233)); + + + left.setSegment(152, new Trajectory.Segment(89.23733558110675, 49.001091810619386, + -100.00453114521761, -0.000946382172628546, 1.5707647150978188, 0.01, 226.09951668334875, 130.2377941800346)); + right.setSegment(152, new Trajectory.Segment(89.23762694015166, 48.99896000468444, + -99.99536939013183, 0.0009462196715048776, 1.5707647150978188, 0.01, 245.89951667345568, 130.23716826843258)); + + + left.setSegment(153, new Trajectory.Segment(89.71734604645417, 48.00104653474177, + -100.00452758776177, 0.0003557455841018964, 1.5707636846637245, 0.01, 226.09953210559212, 130.71780464513427)); + right.setSegment(153, new Trajectory.Segment(89.717617002904, 47.999006275235196, + -99.99537294492455, -0.0003554792726845335, 1.5707636846637245, 0.01, 245.89953209504358, 130.7171583309372)); + + + left.setSegment(154, new Trajectory.Segment(90.18735606064772, 47.00100141935476, + -100.00451153870102, 0.0016049060747036492, 1.5707627003030764, 0.01, 226.0995476800299, 131.18781465906977)); + right.setSegment(154, new Trajectory.Segment(90.18760752675671, 46.9990523852704, + -99.9953889964793, -0.001605155475203901, 1.5707627003030764, 0.01, 245.89954766883557, 131.18714885453187)); + + + left.setSegment(155, new Trajectory.Segment(90.64736562648807, 46.00095658403505, + -100.00448353197058, 0.00280067304458953, 1.5707617617329894, 0.01, 226.09956336537974, 131.6478242246427)); + right.setSegment(155, new Trajectory.Segment(90.64759850890931, 45.99909821526062, + -99.99541700097865, -0.0028004499341705014, 1.5707617617329894, 0.01, 245.89956335355177, 131.64713983641707)); + + + left.setSegment(156, new Trajectory.Segment(91.09737474791588, 45.000912142781196, + -100.00444412538556, 0.003940658501733196, 1.5707608685554046, 0.01, 226.09957912189105, 132.09783334579467)); + right.setSegment(156, new Trajectory.Segment(91.09758994542096, 44.999143651165625, + -99.99545640949918, -0.003940852053574417, 1.5707608685554046, 0.01, 245.8995791094439, 132.0971312726529)); + + + left.setSegment(157, new Trajectory.Segment(91.53738342995592, 44.000868204005016, + -100.00439387761801, 0.005024776754680715, 1.570760020262793, 0.01, 226.09959491138065, 132.53784202755142)); + right.setSegment(157, new Trajectory.Segment(91.53758183126727, 43.99918858463057, + -99.99550665350512, -0.005024400593356404, 1.570760020262793, 0.01, 245.89959489833083, 132.5371231582159)); + + + left.setSegment(158, new Trajectory.Segment(91.96739167865886, 43.00082487029284, + -100.00433337121777, 0.006050640024568565, 1.5707592162439676, 0.01, 226.09961069726072, 132.9678502759646)); + right.setSegment(158, new Trajectory.Segment(91.96757416039748, 42.99923291301999, + -99.99556716105857, -0.006050755345654579, 1.5707592162439676, 0.01, 245.8996106836265, 132.96711548705636)); + + + left.setSegment(159, new Trajectory.Segment(92.38739950104285, 42.000782238399744, + -100.00426318930948, 0.0070181908284894234, 1.5707584557899863, 0.01, 226.09962644455834, 133.38785809805339)); + right.setSegment(159, new Trajectory.Segment(92.38756692579268, 41.99927653952003, + -99.99563734999555, -0.007018893697363637, 1.5707584557899863, 0.01, 245.8996264303596, 133.38710825215637)); + + + left.setSegment(160, new Trajectory.Segment(92.79740690503571, 41.00074039928639, + -100.00418391133508, 0.007927797440743234, 1.5707577381001272, 0.01, 226.09964211992823, 133.7978655017466)); + right.setSegment(160, new Trajectory.Segment(92.79756011952631, 40.999319373363, + -99.99571661570315, -0.007926570759764218, 1.5707577381001272, 0.01, 245.89964210518625, 133.79710144559036)); + + + left.setSegment(161, new Trajectory.Segment(93.19741389941264, 40.00069943769274, + -100.00409615936547, 0.008775196960186804, 1.5707570622879292, 0.01, 226.09965769165797, 134.19787249582043)); + right.setSegment(161, new Trajectory.Segment(93.19755373282175, 39.999361329543, + -99.99580438200013, -0.00877662969855919, 1.5707570622879292, 0.01, 245.89965767639512, 134.1970950585827)); + + + left.setSegment(162, new Trajectory.Segment(93.58742049373876, 39.000659432612515, + -100.00400050802227, 0.009565134320155266, 1.5707564273872774, 0.01, 226.09967312966643, 134.587879089841)); + right.setSegment(162, new Trajectory.Segment(93.58754775611493, 38.99940232931896, + -99.99590002240382, -0.00956404036855929, 1.5707564273872774, 0.01, 245.89967311390598, 134.58708908157035)); + + + left.setSegment(163, new Trajectory.Segment(93.9674266983065, 38.000620456773106, + -100.00389758394093, 0.010292408134660036, 1.5707558323585222, 0.01, 226.09968840549578, 134.9678852941017)); + right.setSegment(163, new Trajectory.Segment(93.9675421791133, 37.99944229983658, + -99.99600294823807, -0.010292583425552948, 1.5707558323585222, 0.01, 245.89968838926177, 134.9670835042617)); + + + left.setSegment(164, new Trajectory.Segment(94.3374325240755, 37.00058257689975, + -100.00378798733536, 0.010959660556864037, 1.5707552760946184, 0.01, 226.0997034922976, 135.33789111956312)); + right.setSegment(164, new Trajectory.Segment(94.33753699085699, 36.99948117436983, + -99.99611254667471, -0.010959843663727042, 1.5707552760946184, 0.01, 245.89970347561453, 135.33707831569782)); + + + left.setSegment(165, new Trajectory.Segment(94.69743798261177, 36.00054585362742, + -100.00367232723306, 0.011566010229557833, 1.5707547574272709, 0.01, 226.09971836481296, 135.6978965777922)); + right.setSegment(165, new Trajectory.Segment(94.69753217977983, 35.99951889228391, + -99.99622820859244, -0.01156619177322682, 1.5707547574272709, 0.01, 245.89971834770566, 135.69707350431347)); + + + left.setSegment(166, new Trajectory.Segment(95.04744308602714, 35.000510341537655, + -100.00355120897666, 0.012111825640204188, 1.570754275133075, 0.01, 226.09973299934714, 136.04790168090162)); + right.setSegment(166, new Trajectory.Segment(95.0475277337701, 34.99955539902668, + -99.99634932572263, -0.01211171301918057, 1.570754275133075, 0.01, 245.89973298184057, 136.0470690579978)); + + + left.setSegment(167, new Trajectory.Segment(95.38744784691848, 34.00047608913294, + -100.0034252404717, 0.012596850496038314, 1.5707538279396365, 0.01, 226.09974737373977, 136.3879064414891)); + right.setSegment(167, new Trajectory.Segment(95.38752364023135, 33.99959064612577, + -99.99647529009152, -0.012596436889111828, 1.5707538279396365, 0.01, 245.8997473558589, 136.3870649641552)); + + + left.setSegment(168, new Trajectory.Segment(95.71745227830698, 33.00044313885086, + -100.00329502820762, 0.013021226408227449, 1.5707534145316633, 0.01, 226.09976146732976, 136.71791087257665)); + right.setSegment(168, new Trajectory.Segment(95.71751988614201, 32.999624591066244, + -99.99660550595237, -0.01302158608496029, 1.5707534145316633, 0.01, 245.8997614490993, 136.71706120976492)); + + + left.setSegment(169, new Trajectory.Segment(96.03745639357878, 32.00041152718053, + -100.00316116703303, 0.013386117458935587, 1.5707530335570132, 0.01, 226.09977526091646, 137.03791498755118)); + right.setSegment(169, new Trajectory.Segment(96.03751645811575, 31.999657197373036, + -99.99673936932076, -0.013386336839005253, 1.5707530335570132, 0.01, 245.89977524236085, 137.03705778144138)); + + + left.setSegment(170, new Trajectory.Segment(96.34746020642578, 31.000381284699557, + -100.00302424809746, 0.013691893556710966, 1.5707526836326877, 0.01, 226.09978873671665, 137.34791880010528)); + right.setSegment(170, new Trajectory.Segment(96.34751334246108, 30.999688434534107, + -99.99687628389289, -0.013691457212416935, 1.5707526836326877, 0.01, 245.89978871785988, 137.34705466549383)); + + + left.setSegment(171, new Trajectory.Segment(96.64746373078654, 30.000352436076742, + -100.0028848622815, 0.013938581595596133, 1.5707523633507618, 0.01, 226.0998018783184, 137.6479223241782)); + right.setSegment(171, new Trajectory.Segment(96.6475105252397, 29.999718277861124, + -99.99701566729833, -0.013938340543973027, 1.5707523633507618, 0.01, 245.89980185918384, 137.6470518479846)); + + + left.setSegment(172, new Trajectory.Segment(96.93746698078786, 29.000325000131777, + -100.00274359449648, 0.014126778502543402, 1.5707520712842378, 0.01, 226.09981467063133, 137.9379255738974)); + right.setSegment(172, new Trajectory.Segment(96.93750799232382, 28.999746708412697, + -99.99715694484266, -0.014127754432990969, 1.5707520712842378, 0.01, 245.8998146512417, 137.9370493147866)); + + + left.setSegment(173, new Trajectory.Segment(97.21746997068902, 28.00029899011655, + -100.0026010015226, 0.01425929738729792, 1.5707518059928118, 0.01, 226.09982709983467, 138.2179285635227)); + right.setSegment(173, new Trajectory.Segment(97.21750572945476, 27.9997737130938, + -99.9972995318899, -0.014258704723602023, 1.5707518059928118, 0.01, 245.89982708021188, 138.21704705164169)); + + + left.setSegment(174, new Trajectory.Segment(97.48747271482466, 27.000274413564483, + -100.00245765520681, 0.014334631579515644, 1.5707515660285463, 0.01, 226.0998391533225, 138.4879313073893)); + right.setSegment(174, new Trajectory.Segment(97.48750372229799, 26.99979928432317, + -99.99744287706278, -0.014334517288716597, 1.5707515660285463, 0.01, 245.89983913348757, 138.48704504421588)); + + + left.setSegment(175, new Trajectory.Segment(97.74747522754996, 26.000251272529216, + -100.00231410352676, 0.014355168005408814, 1.570751349941433, 0.01, 226.0998508196474, 138.74793381985285)); + right.setSegment(175, new Trajectory.Segment(97.74750195649844, 25.999823420044677, + -99.99758642784933, -0.014355078654659792, 1.570751349941433, 0.01, 245.8998507996205, 138.7470432781546)); + + + left.setSegment(176, new Trajectory.Segment(97.99747752318598, 25.00022956360163, + -100.00217089275871, 0.014321076804435506, 1.570751156284845, 0.01, 226.09986208846223, 138.9979361152349)); + right.setSegment(176, new Trajectory.Segment(97.997500417734, 24.999846123556722, + -99.99772964879554, -0.014322094621377346, 1.570751156284845, 0.01, 245.89986206826254, 138.9970417391362)); + + + left.setSegment(177, new Trajectory.Segment(98.2374796159686, 24.00020927826225, + -100.0020285339378, 0.014235882090929408, 1.5707509836208604, 0.01, 226.0998729504607, 139.23793820777172)); + right.setSegment(177, new Trajectory.Segment(98.23749909176969, 23.999867403569073, + -99.99787199876486, -0.014234996932316335, 1.5707509836208604, 0.01, 245.89987293010628, 139.2370404129261)); + + + left.setSegment(178, new Trajectory.Segment(98.46748151999604, 23.00019040274481, + -100.00188755174406, 0.014098219374147902, 1.5707508305254543, 0.01, 226.09988339731714, 139.46794011156192)); + right.setSegment(178, new Trajectory.Segment(98.46749796450814, 22.999887273844738, + -99.99801297243351, -0.014097366864973537, 1.5707508305254543, 0.01, 245.89988337682504, 139.4670392854273)); + + + left.setSegment(179, new Trajectory.Segment(98.68748324917766, 22.000172918161265, + -100.00174845835446, 0.013909338960615969, 1.5707506955935489, 0.01, 226.09989342162558, 139.68794184051515)); + right.setSegment(179, new Trajectory.Segment(98.68749702203797, 21.999905752983896, + -99.99815208608425, -0.013911365073226989, 1.5707506955935489, 0.01, 245.89989340101172, 139.68703834272875)); + + + left.setSegment(180, new Trajectory.Segment(98.89748481718841, 21.000156801075892, + -100.0016117085373, 0.013674981715894319, 1.5707505774439143, 0.01, 226.0999030168385, 139.8979434083067)); + right.setSegment(180, new Trajectory.Segment(98.89749625068602, 20.999922864804763, + -99.9982888179133, -0.013673182905904468, 1.5707505774439143, 0.01, 245.8999029961178, 139.8970375711576)); + + + left.setSegment(181, new Trajectory.Segment(99.09748623741878, 20.000142023036332, + -100.001477803956, 0.013390458128981209, 1.5707504747239107, 0.01, 226.09991217720622, 140.0979448283273)); + right.setSegment(181, new Trajectory.Segment(99.09749563706028, 19.99993863742554, + -99.99842273792225, -0.013392000894896228, 1.5707504747239107, 0.01, 245.89991215639233, 140.09703695732208)); + + + left.setSegment(182, new Trajectory.Segment(99.2874875229327, 19.00012855139211, + -100.00134716442233, 0.0130639533679755, 1.5707503861140666, 0.01, 226.09992089771595, 140.28794611364108)); + right.setSegment(182, new Trajectory.Segment(99.28749516809928, 18.999953103901078, + -99.99855335244625, -0.013061452399654172, 1.5707503861140666, 0.01, 245.89992087682157, 140.28703648816096)); + + + left.setSegment(183, new Trajectory.Segment(99.46748868641902, 18.00011634863241, + -100.00122027596987, 0.012688845245634184, 1.570750310332485, 0.01, 226.0999291740322, 140.46794727693714)); + right.setSegment(183, new Trajectory.Segment(99.46749483111029, 17.999966301100166, + -99.99868028009118, -0.012692764492783226, 1.570750310332485, 0.01, 245.89992915306883, 140.4670361509817)); + + + left.setSegment(184, new Trajectory.Segment(99.63748974015618, 17.000105373716206, + -100.00109749162043, 0.012278434944335004, 1.5707502461390692, 0.01, 226.0999370024379, 140.63794833049405)); + right.setSegment(184, new Trajectory.Segment(99.63749461381781, 16.999978270751473, + -99.99880303486925, -0.012275477807577317, 1.5707502461390692, 0.01, 245.89993698141598, 140.63703593350897)); + + + left.setSegment(185, new Trajectory.Segment(99.79749069596733, 16.000095581114437, + -100.00097926017695, 0.011823144347999914, 1.570750192339567, 0.01, 226.09994437977687, 140.79794928613512)); + right.setSegment(185, new Trajectory.Segment(99.79749450439886, 15.999989058104887, + -99.99892126465859, -0.01182297893365103, 1.570750192339567, 0.01, 245.89994435870582, 140.79703582391994)); + + + left.setSegment(186, new Trajectory.Segment(99.94749156518353, 15.000086921620047, + -100.0008659494389, 0.011331073804399239, 1.5707501477894192, 0.01, 226.09995130339811, 140.94795015519153)); + right.setSegment(186, new Trajectory.Segment(99.94749449152212, 14.999998712326573, + -99.99903457783148, -0.011331317288920673, 1.5707501477894192, 0.01, 245.89995128228637, 140.94703581088342)); + + + left.setSegment(187, new Trajectory.Segment(100.08749235860655, 14.000079342302493, + -100.0007579317554, 0.010801768350177099, 1.5707501113974156, 0.01, 226.09995777110169, 141.08795094846516)); + right.setSegment(187, new Trajectory.Segment(100.08749456438348, 14.000007286135164, + -99.99914261914088, -0.010804130940300638, 1.5707501113974156, 0.01, 245.89995774995663, 141.08703588359538)); + + + left.setSegment(188, new Trajectory.Segment(100.21749308647769, 13.000072787113151, + -100.00065551893424, 0.010241282116396633, 1.570750082129145, 0.01, 226.09996378108684, 141.21795167619737)); + right.setSegment(188, new Trajectory.Segment(100.21749471274283, 13.000014835935364, + -99.99924501997998, -0.01024008390970721, 1.570750082129145, 0.01, 245.899963759915, 141.2170360318158)); + + + left.setSegment(189, new Trajectory.Segment(100.33749375844359, 12.000067196589715, + -100.00055905234362, 0.009646659061957052, 1.5707500590102408, 0.01, 226.0999693319025, 141.3379523480349)); + right.setSegment(189, new Trajectory.Segment(100.33749492695442, 12.000021421158575, + -99.99934147767888, -0.009645769890198608, 1.5707500590102408, 0.01, 245.89996931070948, 141.33703624589901)); + + + left.setSegment(190, new Trajectory.Segment(100.44749438352595, 11.000062508237086, + -100.00046883526288, 0.009021708073930768, 1.5707500411294122, 0.01, 226.09997442240032, 141.44795297299947)); + right.setSegment(190, new Trajectory.Segment(100.44749519799642, 11.000027104200369, + -99.99943169582063, -0.009021814175014242, 1.5707500411294122, 0.01, 245.89997440119092, 141.44703651682323)); + + + left.setSegment(191, new Trajectory.Segment(100.54749497009426, 10.000058656831474, + -100.00038514056122, 0.00836947016580325, 1.570750027641261, 0.01, 226.09997905169047, 141.54795355946064)); + right.setSegment(191, new Trajectory.Segment(100.54749551749929, 10.000031950286914, + -99.99951539134545, -0.008369552482179188, 1.570750027641261, 0.01, 245.89997903046873, 141.54703683621895)); + + + left.setSegment(192, new Trajectory.Segment(100.63749552583982, 9.000055574556837, + -100.00030822746363, 0.0076913097586839285, 1.5707500177688765, 0.01, 226.0999832191004, 141.63795411510972)); + right.setSegment(192, new Trajectory.Segment(100.63749587777164, 9.000036027236256, + -99.99959230506583, -0.007691372037754718, 1.5707500177688765, 0.01, 245.89998319786963, 141.63703719639483)); + + + left.setSegment(193, new Trajectory.Segment(100.71749605775257, 8.000053191274912, + -100.00023832819255, 0.006989927108236316, 1.5707500108062065, 0.01, 226.09998692413706, 141.71795464693668)); + right.setSegment(193, new Trajectory.Segment(100.71749627182352, 8.000039405188316, + -99.99966220479396, -0.006989972813187251, 1.5707500108062065, 0.01, 245.89998690289985, 141.71703759036092)); + + + left.setSegment(194, new Trajectory.Segment(100.78749657209964, 7.00005143470712, + -100.00017565677916, 0.006267141338867077, 1.5707500061202015, 0.01, 226.09999016645176, 141.78795516120866)); + right.setSegment(194, new Trajectory.Segment(100.7874966933877, 7.000042156417329, + -99.99972487709864, -0.006267230467926765, 1.5707500061202015, 0.01, 245.8999901452103, 141.78703801185)); + + + left.setSegment(195, new Trajectory.Segment(100.84749707440658, 6.000050230693218, + -100.00012040139019, 0.005525538897188653, 1.570750003152728, 0.01, 226.0999929458094, 141.84795566345122)); + right.setSegment(195, new Trajectory.Segment(100.84749713693866, 6.000044355095959, + -99.99978013213706, -0.005525503841852242, 1.570750003152728, 0.01, 245.8999929245652, 141.8470384553366)); + + + left.setSegment(196, new Trajectory.Segment(100.89749756944056, 5.000049503398798, + -100.00007272944202, 0.004767194816679421, 1.5707500014222473, 0.01, 226.0999952620605, 141.89795615843155)); + right.setSegment(196, new Trajectory.Segment(100.89749759770913, 5.000046077048036, + -99.9998278047923, -0.004767265524208142, 1.5707500014222473, 0.01, 245.89999524081472, 141.89703891605342)); + + + left.setSegment(197, new Trajectory.Segment(100.93749806119627, 4.000049175571097, + -100.00003278277009, 0.003994667193296664, 1.570750000525261, 0.01, 226.0999971151176, 141.93795665014434)); + right.setSegment(197, new Trajectory.Segment(100.93749807170451, 4.000047399538263, + -99.99986775097724, -0.00399461849411864, 1.570750000525261, 0.01, 245.89999709387095, 141.93703939000588)); + + + left.setSegment(198, new Trajectory.Segment(100.96749855288378, 3.0000491687521817, + -100.00000068189152, 0.003210087857041799, 1.5707500001375168, 0.01, 226.0999985049349, 141.96795714179967)); + right.setSegment(198, new Trajectory.Segment(100.9674985557147, 3.0000484010192814, + -99.99989985189819, -0.003210092094718675, 1.5707500001375168, 0.01, 245.8999984836879, 141.96703987398388)); + + + left.setSegment(199, new Trajectory.Segment(100.9874990469191, 2.000049403531914, + -99.99997652202678, 0.002415986473636167, 1.5707500000149766, 0.01, 226.09999943149234, 141.98795763581353)); + right.setSegment(199, new Trajectory.Segment(100.98749904732371, 2.0000491609014643, + -99.9999240117817, -0.002415988350890075, 1.5707500000149766, 0.01, 245.89999941024524, 141.98704036557143)); + + + left.setSegment(200, new Trajectory.Segment(100.99749954491688, 1.0000497997781885, + -99.99996037537252, 0.0016146654260751347, 1.5707499999945425, 0.01, 226.0999998947833, 141.99795813380058)); + right.setSegment(200, new Trajectory.Segment(100.99749954491688, 1.0000497593170432, + -99.99994015844212, -0.001614666041405144, 1.5707499999945425, 0.01, 245.89999987353622, 141.99704086315387)); + + + left.setSegment(201, new Trajectory.Segment(100.99999992075853, 0.2500375841646128, + -75.00122156135758, 2499.873881401494, 1.5707499999936907, 0.01, 226.10000001061772, 142.00045850963954)); + right.setSegment(201, new Trajectory.Segment(100.9999999207417, 0.2500375824820476, + -75.00121768349956, 2499.872247494255, 1.5707499999936907, 0.01, 245.89999998937063, 141.999541238976)); + + + left.setSegment(202, new Trajectory.Segment(101.00000004645072, 0.00001256921963417704, + -25.002501494497864, 4999.872006685971, 1.5707499999936907, 0.01, 226.10000001062355, 142.00045863533174)); + right.setSegment(202, new Trajectory.Segment(101.0000000464339, 0.00001256921963417704, + -25.002501326241344, 4999.871635725822, 1.5707499999936907, 0.01, 245.89999998937645, 141.9995413646682)); + + + left.setSegment(203, new Trajectory.Segment(101.00000004645072, 0, + -0.001256921963417704, 2500.1244572534447, 1.5707499999936907, 0.01, 226.10000001062355, 142.00045863533174)); + right.setSegment(203, new Trajectory.Segment(101.0000000464339, 0, + -0.001256921963417704, 2500.1244404277927, 1.5707499999936907, 0.01, 245.89999998937645, 141.9995413646682)); + + + + path = new Path("FarRightToLeftScaleDefensiveOne", new Trajectory.Pair(left, right)); + return true; + } + + + // WAYPOINT_DATA: [{"position":{"x":236,"y":41},"theta":1.5707499999936907,"comment":""},{"position":{"x":236,"y":142},"theta":1.5707499999936907,"comment":""}] + // IS_REVERSED: false + // FILE_NAME: FarRightToLeftScaleDefensiveOne + // DT: 0.01 + // MAX_VEL: 130 + // MAX_ACC: 100 + // MAX_JERK: 9999 + // WHEEL_BASE: 19.8 + // PACKAGE: org.frc5687.powerup.robot.commands.auto.paths + // PARENT: DynamicPathCommand +} \ No newline at end of file diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarRightToLeftScaleDefensiveTwo.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarRightToLeftScaleDefensiveTwo.java new file mode 100644 index 00000000..589a6691 --- /dev/null +++ b/src/main/java/org/frc5687/powerup/robot/commands/auto/paths/FarRightToLeftScaleDefensiveTwo.java @@ -0,0 +1,1260 @@ +package org.frc5687.powerup.robot.commands.auto.paths; + +import org.frc5687.powerup.robot.Robot; +import org.frc5687.powerup.robot.commands.auto.DynamicPathCommand; +import com.team254.lib.trajectory.Path; +import com.team254.lib.trajectory.Trajectory; + +public class FarRightToLeftScaleDefensiveTwo extends DynamicPathCommand { + + public FarRightToLeftScaleDefensiveTwo(Robot robot) { + super(robot); + } + + @Override + protected boolean loadPath() { + int num_elements = 204; + Trajectory left = new Trajectory(num_elements); + Trajectory right = new Trajectory(num_elements); + + left.setSegment(0, new Trajectory.Segment(0.002499998756672527, 0.49999975133450536, + 49.99997513345053, 4999.997513345053, 4.712342653584335, 0.01, 245.89999987355952, 141.99704136592266)); + right.setSegment(0, new Trajectory.Segment(0.002499998756672527, 0.49999975133450536, + 49.99997513345053, 4999.997513345053, 4.712342653584335, 0.01, 226.09999989480661, 141.99795863656936)); + + + left.setSegment(1, new Trajectory.Segment(0.012499993581086014, 0.9999994824413487, + 49.99997311068434, -0.00020227661963190258, 4.712342653604766, 0.01, 245.89999941029183, 141.98704137110897)); + right.setSegment(1, new Trajectory.Segment(0.012499993985640624, 0.9999995228968097, + 49.999977156230436, 0.00020227799026883986, 4.712342653604766, 0.01, 226.09999943153892, 141.98795864135113)); + + + left.setSegment(2, new Trajectory.Segment(0.03249998242142898, 1.9999988840342964, + 99.99994015929477, 4999.996704861042, 4.712342653727297, 0.01, 245.89999848375777, 141.9670413822901)); + right.setSegment(2, new Trajectory.Segment(0.03249998525206071, 1.9999991266420085, + 99.99996037451987, 4999.9983218289435, 4.712342653727297, 0.01, 226.09999850500475, 141.96795865010617)); + + + left.setSegment(3, new Trajectory.Segment(0.06249996366303538, 2.99999812416064, + 99.99992401263438, -0.001614666038562973, 4.7123426541150195, 0.01, 245.89999709396412, 141.93704140108068)); + right.setSegment(3, new Trajectory.Segment(0.0624999741705982, 2.9999988918537497, + 99.99997652117412, 0.0016146654246540493, 4.7123426541150195, 0.01, 226.09999711521075, 141.93795866121982)); + + + left.setSegment(4, new Trajectory.Segment(0.1024999348899737, 3.9999971226938325, + 99.99989985331922, -0.002415931515997727, 4.7123426550119705, 0.01, 245.8999952409312, 141.89704142989666)); + right.setSegment(4, new Trajectory.Segment(0.10249996315718274, 3.9999988986584545, + 100.00000068047048, 0.002415929635901648, 4.7123426550119705, 0.01, 226.09999526217698, 141.89795867227616)); + + + left.setSegment(5, new Trajectory.Segment(0.15249989289220872, 4.9999958002235, + 99.99986775296676, -0.0032100352456154724, 4.712342656742396, 0.01, 245.89999292470495, 141.84704147194807)); + right.setSegment(5, new Trajectory.Segment(0.15249995542184533, 4.99999922646626, + 100.00003278078053, 0.0032100310050964254, 4.712342656742396, 0.01, 226.09999294594914, 141.84795868006515)); + + + left.setSegment(6, new Trajectory.Segment(0.2124998336751219, 5.999994078291318, + 99.99982780678182, -0.00399461849411864, 4.712342659709792, 0.01, 245.89999014537332, 141.78704153122953)); + right.setSegment(6, new Trajectory.Segment(0.21249995495919632, 5.9999999537351005, + 100.00007272688407, 0.003994610354141059, 4.712342659709792, 0.01, 226.0999901666148, 141.78795868059217)); + + + left.setSegment(7, new Trajectory.Segment(0.28249975247156145, 6.999991879643955, + 99.99978013526362, -0.004767151820317395, 4.712342664395693, 0.01, 245.89998690308616, 141.71704161250818)); + right.setSegment(7, new Trajectory.Segment(0.28249996653643056, 7.000001157723425, + 100.00012039883241, 0.004767194833732447, 4.712342664395693, 0.01, 226.09998692432336, 141.71795866909002)); + + + left.setSegment(8, new Trajectory.Segment(0.3624996437559951, 7.99998912844336, + 99.99972487994056, -0.005525532306194236, 4.712342671358227, 0.01, 245.89998319807916, 141.63704172130954)); + right.setSegment(8, new Trajectory.Segment(0.3624999956790585, 8.000002914262796, + 100.00017565393708, 0.00552551046695271, 4.712342671358227, 0.01, 226.09998321931, 141.6379586400332)); + + + left.setSegment(9, new Trajectory.Segment(0.4524995012612776, 8.999985750528248, + 99.99966220848879, -0.006267145177218936, 4.712342681230442, 0.01, 245.8999790307015, 141.54704186390074)); + right.setSegment(9, new Trajectory.Segment(0.452500048654193, 9.000005297513455, + 100.000238325066, 0.006267112891578108, 4.712342681230442, 0.01, 226.09997905192324, 141.54795858715454)); + + + left.setSegment(10, new Trajectory.Segment(0.5524993179975214, 9.999981673624381, + 99.9995923096133, -0.0069898875480589595, 4.712342694718386, 0.01, 245.8999744014469, 141.44704204727165)); + right.setSegment(10, new Trajectory.Segment(0.5525001324517329, 10.000008379753984, + 100.00030822405286, 0.006989898686526885, 4.712342694718386, 0.01, 226.09997442265632, 141.44795850346415)); + + + left.setSegment(11, new Trajectory.Segment(0.6624990862733829, 10.999976827586154, + 99.99951539617733, -0.007691343597571176, 4.712342712598966, 0.01, 245.8999693109886, 141.33704227911358)); + right.setSegment(11, new Trajectory.Segment(0.6625002547630731, 11.000012231134018, + 100.00038513800344, 0.007691395057918271, 4.712342712598966, 0.01, 226.09996933218164, 141.3379583812706)); + + + left.setSegment(12, new Trajectory.Segment(0.782498797719395, 11.999971144601206, + 99.99943170150516, -0.008369467217050897, 4.712342735717577, 0.01, 245.89996376021725, 141.21704256779594)); + right.setSegment(12, new Trajectory.Segment(0.7825004239575984, 12.000016919452541, + 100.00046883185227, 0.008369384883621933, 4.712342735717577, 0.01, 226.09996378138908, 141.21795821220445)); + + + left.setSegment(13, new Trajectory.Segment(0.9124984433138571, 12.999964559446205, + 99.99934148449991, -0.009021700525124743, 4.712342764985506, 0.01, 245.8999577502819, 141.0870429223404)); + right.setSegment(13, new Trajectory.Segment(0.912500649057074, 13.000022509947556, + 100.00055904950145, 0.009021764917349628, 4.712342764985506, 0.01, 226.09995777142697, 141.0879579872439)); + + + left.setSegment(14, new Trajectory.Segment(1.052498013410573, 13.999957009671585, + 99.99924502253793, -0.009646196197365953, 4.712342801377116, 0.01, 245.89995128263462, 140.94704335239308)); + right.setSegment(14, new Trajectory.Segment(1.0525009397076754, 14.00002906506016, + 100.00065551126038, 0.009646175892896736, 4.712342801377116, 0.01, 226.09995130374637, 140.9479576967427)); + + + left.setSegment(15, new Trajectory.Segment(1.2024974977688903, 14.999948435831731, + 99.99914261601468, -0.010240652325421706, 4.712342845926818, 0.01, 245.89994435907695, 140.79704386819455)); + right.setSegment(15, new Trajectory.Segment(1.20250130615006, 15.000036644238449, + 100.00075791782893, 0.01024065685584219, 4.712342845926818, 0.01, 226.099944380148, 140.7979573304601)); + + + left.setSegment(16, new Trajectory.Segment(1.362496885585872, 15.999938781698155, + 99.99903458664238, -0.010802937229925647, 4.712342899725816, 0.01, 245.89993698180982, 140.63704448054764)); + right.setSegment(16, new Trajectory.Segment(1.3625017591871895, 16.000045303712945, + 100.00086594744957, 0.010802962063394261, 4.712342899725816, 0.01, 226.09993700283175, 140.63795687759304)); + + + left.setSegment(17, new Trajectory.Segment(1.5324961655303424, 16.99992799444706, + 99.9989212748904, -0.011331175197426546, 4.712342963918669, 0.01, 245.89992915348526, 140.46704520078342)); + right.setSegment(17, new Trajectory.Segment(1.532502310150166, 17.00005509629766, + 100.00097925847165, 0.011331102207634558, 4.712342963918669, 0.01, 226.09992917444865, 140.4679563268103)); + + + left.setSegment(18, new Trajectory.Segment(1.7124953257792948, 17.999916024895228, + 99.99880304481685, -0.01182300735536046, 4.712343039699626, 0.01, 245.8999208772604, 140.28704604072473)); + right.setSegment(18, new Trajectory.Segment(1.712502970862049, 18.000066071188286, + 100.00109748906247, 0.011823059082871623, 4.712343039699626, 0.01, 226.09992089815483, 140.2879556662887)); + + + left.setSegment(19, new Trajectory.Segment(1.9024943540557446, 18.99990282764498, + 99.99868027497527, -0.012276984158177129, 4.712343128308782, 0.01, 245.8999121568534, 140.0970470126484)); + right.setSegment(19, new Trajectory.Segment(1.9025037535998235, 19.000078273777458, + 100.0012202589172, 0.01227698547268119, 4.712343128308782, 0.01, 226.09991217766728, 140.09795488375104)); + + + left.setSegment(20, new Trajectory.Segment(2.102493237669002, 19.99988836132577, + 99.9985533680789, -0.012690689636940533, 4.712343231028031, 0.01, 245.89990299660082, 139.89704812924492)); + right.setSegment(20, new Trajectory.Segment(2.1025046710541826, 20.00009174543589, + 100.00134716584306, 0.012690692585692886, 4.712343231028031, 0.01, 226.09990301732154, 139.89795396650646)); + + + left.setSegment(21, new Trajectory.Segment(2.312491963556251, 20.99987258872488, + 99.99842273991106, -0.013062816783815379, 4.712343349176844, 0.01, 245.89989340151644, 139.68704940357688)); + right.setSegment(21, new Trajectory.Segment(2.3125057362879424, 21.000106523375976, + 100.00147779400876, 0.013062816570652558, 4.712343349176844, 0.01, 226.0998934221303, 139.6879529014919)); + + + left.setSegment(22, new Trajectory.Segment(2.5324905183263997, 21.99985547701486, + 99.99828882899813, -0.013391091293613044, 4.7123434841078575, 0.01, 245.89988337735116, 139.4670508490351)); + right.setSegment(22, new Trajectory.Segment(2.5325069626921297, 22.000122640418716, + 100.00161170427404, 0.01339102652764268, 4.7123434841078575, 0.01, 226.09988339784326, 139.4679516753161)); + + + left.setSegment(23, new Trajectory.Segment(2.7624888883052705, 22.999836997887076, + 99.99815208722147, -0.013674177665734533, 4.712343637202302, 0.01, 245.89987293065343, 139.23705247929348)); + right.setSegment(23, new Trajectory.Segment(2.7625083639410155, 23.000140124888578, + 100.00174844698613, 0.013674271208685695, 4.712343637202302, 0.01, 226.09987295100785, 139.23795027430447)); + + + left.setSegment(24, new Trajectory.Segment(3.0024870595826068, 23.99981712773363, + 99.9980129846552, -0.013910256626559203, 4.712343809865254, 0.01, 245.8998620688303, 138.99705430826194)); + right.setSegment(24, new Trajectory.Segment(3.00250995394482, 24.00015900038044, + 100.00188754918611, 0.013910219998081175, 4.712343809865254, 0.01, 226.09986208902998, 138.99794868454646)); + + + left.setSegment(25, new Trajectory.Segment(3.252485018060587, 24.999795847798012, + 99.99787200643837, -0.014097821683378697, 4.712344003520736, 0.01, 245.89985080020844, 138.74705635003792)); + right.setSegment(25, new Trajectory.Segment(3.2525117468013076, 25.00017928564876, + 100.00202852683202, 0.014097764591269879, 4.712344003520736, 0.01, 226.09985082023533, 138.74794689194394)); + + + left.setSegment(26, new Trajectory.Segment(3.5124827495037594, 25.999773144317235, + 99.99772965192228, -0.014235451608612948, 4.7123442196066705, 0.01, 245.8998391340952, 138.48705861885648)); + right.setSegment(26, new Trajectory.Segment(3.5125137567460194, 26.00020099447119, + 100.00217088224304, 0.014235541101470517, 4.7123442196066705, 0.01, 226.09983915393013, 138.48794488226096)); + + + left.setSegment(27, new Trajectory.Segment(3.782480239590541, 26.999749008678158, + 99.99758643609233, -0.014321582995080462, 4.712344459569685, 0.01, 245.89982708083858, 138.21706112903874)); + right.setSegment(27, new Trajectory.Segment(3.782515998100487, 27.000224135446782, + 100.00231409755926, 0.014321531622840666, 4.712344459569685, 0.01, 226.09982710046143, 138.21794264117554)); + + + left.setSegment(28, new Trajectory.Segment(4.062477473965853, 27.99972343753121, + 99.99744288530508, -0.014355078725714066, 4.712344724859786, 0.01, 245.89981465188694, 137.93706389493929)); + right.setSegment(28, new Trajectory.Segment(4.062518485219822, 28.000248711933477, + 100.00245764866946, 0.014355111019881406, 4.712344724859786, 0.01, 226.09981467127662, 137.93794015433207)); + + + left.setSegment(29, new Trajectory.Segment(4.3524744382951495, 28.999696432929696, + 99.99729953984868, -0.014334545639371754, 4.712345016924912, 0.01, 245.89980185984695, 137.64706693089212)); + right.setSegment(29, new Trajectory.Segment(4.352521232438571, 29.000274721874806, + 100.00260099413296, 0.01433454634991449, 4.712345016924912, 0.01, 226.0998018789815, 137.64793740739546)); + + + left.setSegment(30, new Trajectory.Segment(4.652471118319329, 29.999668002417913, + 99.9971569488217, -0.014259102698588322, 4.7123453372053685, 0.01, 245.8997887185401, 137.34707025115577)); + right.setSegment(30, new Trajectory.Segment(4.652524254015803, 30.00030215772314, + 100.00274358483345, 0.014259070049149614, 4.7123453372053685, 0.01, 226.09978873739686, 137.34793438610606)); + + + left.setSegment(31, new Trajectory.Segment(4.962467499911147, 30.999638159181846, + 99.99701567639327, -0.014127242842221222, 4.712345687128153, 0.01, 245.89977524305735, 137.03707386985684)); + right.setSegment(31, new Trajectory.Segment(4.9625275640787505, 31.000331006294807, + 100.00288485716666, 0.014127233320948562, 4.712345687128153, 0.01, 226.09977526161296, 137.037931076336)); + + + left.setSegment(32, new Trajectory.Segment(5.282463569132151, 31.99960692210036, + 99.99687629185132, -0.013938454195283612, 4.7123460681011915, 0.01, 245.89976144981125, 136.7170778009331)); + right.setSegment(32, new Trajectory.Segment(5.28253117656594, 32.000361248718946, + 100.00302424241383, 0.013938524716650136, 4.7123460681011915, 0.01, 226.09976146804172, 136.7179274641461)); + + + left.setSegment(33, new Trajectory.Segment(5.612459312290627, 32.99957431584758, + 99.99673937472231, -0.013691712901220399, 4.712346481507484, 0.01, 245.89974735658532, 136.38708205807558)); + right.setSegment(33, new Trajectory.Segment(5.612535105169009, 33.000392860306846, + 100.00316115879002, 0.013691637619217545, 4.712346481507484, 0.01, 226.09974737446626, 136.38792353584398)); + + + left.setSegment(34, new Trajectory.Segment(5.952454716000351, 33.99954037097247, + 99.99660551248866, -0.013386223365330352, 4.712346928699175, 0.01, 245.89973298258053, 136.0470866546697)); + right.setSegment(34, new Trajectory.Segment(5.952539363274187, 34.00042581051788, + 100.00329502110361, 0.01338623135893613, 4.712346928699175, 0.01, 226.09973300008716, 136.04791927804266)); + + + left.setSegment(35, new Trajectory.Segment(6.302449767239909, 34.999505123955814, + 99.99647529833453, -0.013021415412595161, 4.7123474109915575, 0.01, 245.899718348458, 135.69709160373608)); + right.setSegment(35, new Trajectory.Segment(6.30254396390293, 35.00046006287428, + 100.00342523564001, 0.013021453639794345, 4.7123474109915575, 0.01, 226.09971836556537, 135.69791467771987)); + + + left.setSegment(36, new Trajectory.Segment(6.662444453412579, 35.99946861726705, + 99.99634933112347, -0.012596721106206132, 4.712347929657029, 0.01, 245.89970347637814, 135.3370969178706)); + right.setSegment(36, new Trajectory.Segment(6.6625489196519165, 36.000495574898686, + 100.00355120244038, 0.012596680036836005, 4.712347929657029, 0.01, 226.09970349306127, 135.33790972227808)); + + + left.setSegment(37, new Trajectory.Segment(7.0324387624066205, 36.99943089940413, + 99.99622821370835, -0.012111741511944274, 4.712348485918997, 0.01, 245.8996883900354, 134.96710260918414)); + right.setSegment(37, new Trajectory.Segment(7.032554242632944, 37.000532298102804, + 100.00367232041185, 0.012111797147440484, 4.712348485918997, 0.01, 226.09968840626942, 134.96790439960463)); + + + left.setSegment(38, new Trajectory.Segment(7.412432682655898, 37.99939202492774, + 99.99611255236047, -0.011566134787699411, 4.71234908094576, 0.01, 245.8996731146883, 134.5871086892419)); + right.setSegment(38, new Trajectory.Segment(7.412559944412138, 38.000570177919315, + 100.00378798165102, 0.011566123916395554, 4.71234908094576, 0.01, 226.09967313044876, 134.58789869813248)); + + + left.setSegment(39, new Trajectory.Segment(7.802426203200624, 38.99935205447264, + 99.99600295449014, -0.010959787033471002, 4.712349715844365, 0.01, 245.89965767718476, 134.1971151690027)); + right.setSegment(39, new Trajectory.Segment(7.802566035949214, 39.00060915370758, + 100.00389757882644, 0.010959717542391445, 4.712349715844365, 0.01, 226.0996576924476, 134.19789260690095)); + + + left.setSegment(40, new Trajectory.Segment(8.202419313748216, 39.999311054759204, + 99.99590002865659, -0.010292583354498674, 4.712350391654465, 0.01, 245.89964210598168, 133.7971220587582)); + right.setSegment(40, new Trajectory.Segment(8.202572527536807, 40.00064915875938, + 100.0040005051801, 0.010292635366226932, 4.712350391654465, 0.01, 226.09964212072367, 133.79788611561645)); + + + left.setSegment(41, new Trajectory.Segment(8.612412004734121, 40.99926909859058, + 99.99580438313771, -0.009564551888274764, 4.712351109342181, 0.01, 245.89962643115928, 133.38712936807192)); + right.setSegment(41, new Trajectory.Segment(8.612579428739485, 41.00069012026778, + 100.00409615083967, 0.009564565957020932, 4.712351109342181, 0.01, 226.099626445358, 133.38787921471342)); + + + left.setSegment(42, new Trajectory.Segment(9.032404267382308, 41.99922626481868, + 99.99571662281, -0.008776032771606879, 4.712351869793976, 0.01, 245.89961068442878, 132.96713710571893)); + right.setSegment(42, new Trajectory.Segment(9.03258674833321, 42.00073195937261, + 100.00418391048314, 0.008775964346341425, 4.712351869793976, 0.01, 226.099610698063, 132.9678718954149)); + + + left.setSegment(43, new Trajectory.Segment(9.462396093765609, 42.999182638330005, + 99.99563735113242, -0.007927167757770803, 4.712352673810578, 0.01, 245.89959489913397, 132.53714527962538)); + right.setSegment(43, new Trajectory.Segment(9.462594494245243, 43.00077459120318, + 100.00426318305742, 0.007927257428264056, 4.712352673810578, 0.01, 226.09959491218385, 132.53786414979263)); + + + left.setSegment(44, new Trajectory.Segment(9.902387476865469, 43.99913830998607, + 99.99556716560676, -0.007018552565796199, 4.7123535221009325, 0.01, 245.8995791102461, 132.0971538968088)); + right.setSegment(44, new Trajectory.Segment(9.902602673494112, 44.00081792488694, + 100.0043333683756, 0.007018531817948315, 4.7123535221009325, 0.01, 226.09957912269326, 132.09785597082706)); + + + left.setSegment(45, new Trajectory.Segment(10.35237841063102, 44.99909337655523, + 99.99550665691572, -0.0060508691035465745, 4.712354415276233, 0.01, 245.89956335435116, 131.6471629633191)); + right.setSegment(45, new Trajectory.Segment(10.352611292130629, 45.00086186365175, + 100.00439387648115, 0.006050810554825148, 4.712354415276233, 0.01, 226.09956336617913, 131.64784735246639)); + + + left.setSegment(46, new Trajectory.Segment(10.812368890037721, 45.999047940670124, + 99.99545641148941, -0.005024542630849282, 4.712355353844013, 0.01, 245.89954766963012, 131.1871724841798)); + right.setSegment(46, new Trajectory.Segment(10.812620355179373, 46.00090630487435, + 100.00444412225988, 0.005024577873768976, 4.712355353844013, 0.01, 226.09954768082451, 131.18783828968506)); + + + left.setSegment(47, new Trajectory.Segment(11.282358911144748, 46.999002110702655, + 99.9954170032531, -0.003940823631864987, 4.712356338202338, 0.01, 245.89953209583132, 130.7171824633308)); + right.setSegment(47, new Trajectory.Segment(11.2826298665812, 47.00095114018269, + 100.00448353083442, 0.003940857453699209, 4.712356338202338, 0.01, 226.0995321063799, 130.71782877854127)); + + + left.setSegment(48, new Trajectory.Segment(11.762348471151421, 47.998956000667455, + 99.99538899648002, -0.0028006773078459446, 4.712357368634097, 0.01, 245.89951667423443, 130.23719290357187)); + right.setSegment(48, new Trajectory.Segment(11.762639829136726, 48.00099625555266, + 100.00451153699643, 0.0028006162011706692, 4.712357368634097, 0.01, 226.0995166841275, 130.2378188162335)); + + + left.setSegment(49, new Trajectory.Segment(12.252337568452674, 48.99890973012523, + 99.9953729457772, -0.0016050702811298834, 4.712358445301423, 0.01, 245.8995014476065, 129.7472038065072)); + right.setSegment(49, new Trajectory.Segment(12.252650244451058, 49.00104153143312, + 100.00452758804599, 0.0016051049556153885, 4.712358445301423, 0.01, 226.09950145683717, 129.74780840115577)); + + + left.setSegment(50, new Trajectory.Segment(12.752326202692855, 49.998863424018026, + 99.99536938927989, -0.00035564973188684235, 4.712359568240241, 0.01, 245.899486460149, 129.24721517249165)); + right.setSegment(50, new Trajectory.Segment(12.752661112879824, 50.00108684287676, + 100.00453114436425, 0.0003556318262099012, 4.712359568240241, 0.01, 226.09948646871325, 129.24779753295164)); + + + left.setSegment(51, new Trajectory.Segment(13.262314374818182, 50.998817212532785, + 99.99537885147589, 0.000946219600450604, 4.712360737354973, 0.01, 245.8994717574362, 128.73722700057826)); + right.setSegment(51, new Trajectory.Segment(13.262672433476817, 51.00113205969926, + 100.00452168224996, -0.0009462114292091428, 4.712360737354973, 0.01, 226.0994717653331, 128.7377862125666)); + + + left.setSegment(52, new Trajectory.Segment(13.782302087127462, 51.99877123092804, + 99.99540183952575, 0.0022988049863670312, 4.712361952413417, 0.01, 245.89945738634415, 128.21723928846757)); + right.setSegment(52, new Trajectory.Segment(13.782684203943287, 52.00117704664699, + 100.00449869477279, -0.002298747716622529, 4.712361952413417, 0.01, 226.09945739357622, 128.21777444229872)); + + + left.setSegment(53, new Trajectory.Segment(14.31228934332094, 52.99872561934771, + 99.99543884196669, 0.003700244093352012, 4.712363213041806, 0.01, 245.89944339497043, 127.68725203245877)); + right.setSegment(53, new Trajectory.Segment(14.312696420578892, 53.00122166356043, + 100.0044616913442, -0.0037003428587922826, 4.712363213041806, 0.01, 226.09944340154362, 127.6877622258478)); + + + left.setSegment(54, new Trajectory.Segment(14.852276148547304, 53.99868052263641, + 99.99549032887032, 0.005148690362943853, 4.712364518720077, 0.01, 245.89942983254448, 127.14726522740273)); + right.setSegment(54, new Trajectory.Segment(14.852709078234993, 54.001265765610164, + 100.00441020497348, -0.005148637072238671, 4.712364518720077, 0.01, 226.09942983846835, 127.14774956836203)); + + + left.setSegment(55, new Trajectory.Segment(15.402262509448226, 54.99863609009214, + 99.99555674557286, 0.006641670253770826, 4.712365868777348, 0.01, 245.8994167493277, 126.59727886665742)); + right.setSegment(55, new Trajectory.Segment(15.402722170269893, 55.001309203490024, + 100.00434378798602, -0.00664169874653453, 4.712365868777348, 0.01, 226.0994167546158, 126.59773647648275)); + + + left.setSegment(56, new Trajectory.Segment(15.962248434200772, 55.998592475254526, + 99.99563851623847, 0.008177066561643187, 4.712367262387656, 0.01, 245.8994041965045, 126.03729294204557)); + right.setSegment(56, new Trajectory.Segment(15.962735688506552, 56.001351823665786, + 100.0042620175762, -0.0081770409821047, 4.712367262387656, 0.01, 226.09940420117405, 126.0377229583868)); + + + left.setSegment(57, new Trajectory.Segment(16.532233932557148, 56.99854983563763, + 99.99573603831067, 0.009752207219548836, 4.71236869856593, 0.01, 245.89939222606222, 125.46730744381489)); + right.setSegment(57, new Trajectory.Segment(16.532749623192746, 57.00139346861962, + 100.00416449538321, -0.009752219298775344, 4.71236869856593, 0.01, 226.09939223013458, 125.4677090238263)); + + + left.setSegment(58, new Trajectory.Segment(17.11221901588173, 57.99850833245845, + 99.99584968208168, 0.011364377101585887, 4.712370176164252, 0.01, 245.899380890662, 124.88732236060108)); + right.setSegment(58, new Trajectory.Segment(17.112763962964102, 58.001433977135584, + 100.00405085159656, -0.011364378664779906, 4.712370176164252, 0.01, 226.09938089416264, 124.88769468416572)); + + + left.setSegment(59, new Trajectory.Segment(17.7022036971852, 58.99846813034695, + 99.99597978885006, 0.013010676838121071, 4.712371693868412, 0.01, 245.89937024349894, 124.29733767939368)); + right.setSegment(59, new Trajectory.Segment(17.70277869480994, 59.001473184583816, + 100.0039207448232, -0.013010677335500986, 4.712371693868412, 0.01, 226.09937024645728, 124.29767995241596)); + + + left.setSegment(60, new Trajectory.Segment(18.30218799115562, 59.99842939704184, + 99.99612666948892, 0.014688063885159863, 4.712373250194769, 0.01, 245.899360338152, 123.69735338550502)); + right.setSegment(60, new Trajectory.Segment(18.302793804042242, 60.00151092323026, + 100.00377386464478, -0.014688017841990586, 4.712373250194769, 0.01, 226.09936034060166, 123.69766484326543)); + + + left.setSegment(61, new Trajectory.Segment(18.912171914186043, 60.99839230304236, + 99.9962906000519, 0.016393056299079944, 4.712374843487456, 0.01, 245.89935122842405, 123.08736946254263)); + right.setSegment(61, new Trajectory.Segment(18.91280927426786, 61.00154702256193, + 100.00360993316662, -0.01639314781698431, 4.712374843487456, 0.01, 226.0993512304026, 123.08764937310784)); + + + left.setSegment(62, new Trajectory.Segment(19.5321554843989, 61.99835702128551, + 99.99647182431488, 0.018122426297395577, 4.7123764719159285, 0.01, 245.89934296817137, 122.4673858923848)); + right.setSegment(62, new Trajectory.Segment(19.53282508736447, 62.00158130966058, + 100.003428709865, -0.01812233016096343, 4.7123764719159285, 0.01, 226.09934296972034, 122.46763356006626)); + + + left.setSegment(63, new Trajectory.Segment(20.16213872166638, 62.99832372674804, + 99.99667054625334, 0.019872193846026676, 4.712378133472892, 0.01, 245.89933561112332, 121.83740265516028)); + right.setSegment(63, new Trajectory.Segment(20.162841223459818, 63.00161360953508, + 100.00322998744977, -0.019872241523444245, 4.712378133472892, 0.01, 226.0993356122881, 121.83761742401387)); + + + left.setSegment(64, new Trajectory.Segment(20.80212164762715, 63.9982925960768, + 99.9968869328761, 0.021638662275336173, 4.71237982597262, 0.01, 245.8993292106919, 121.19741972923151)); + right.setSegment(64, new Trajectory.Segment(20.80285766091521, 64.00164374553907, + 100.00301360039927, -0.021638705050008866, 4.71237982597262, 0.01, 226.09932921152156, 121.19760098659049)); + + + left.setSegment(65, new Trajectory.Segment(21.4521042856989, 64.99826380717502, + 99.99712110982202, 0.023417694592353655, 4.7123815470496915, 0.01, 245.8993238197716, 120.54743709118212)); + right.setSegment(65, new Trajectory.Segment(21.452874376312966, 65.00167153977577, + 100.00277942367006, -0.023417672920800214, 4.7123815470496915, 0.01, 226.0993238203186, 120.54758427121509)); + + + left.setSegment(66, new Trajectory.Segment(22.112086661086575, 65.9982375387673, + 99.99737315922772, 0.025204940570233703, 4.712383294158155, 0.01, 245.8993194905293, 119.88745471580864)); + right.setSegment(66, new Trajectory.Segment(22.112891344448208, 66.00169681352416, + 100.00252737483919, -0.02520488308732638, 4.712383294158155, 0.01, 226.09931949084938, 119.88756730309404)); + + + left.setSegment(67, new Trajectory.Segment(22.78206880078595, 66.9982139699375, + 99.99764311701966, 0.0269957791942943, 4.712385064571162, 0.01, 245.89931627418517, 119.21747257611699)); + right.setSegment(67, new Trajectory.Segment(22.782908538325128, 67.001719387692, + 100.00225741678435, -0.026995805484375524, 4.712385064571162, 0.01, 226.09931627433699, 119.21755010922485)); + + + left.setSegment(68, new Trajectory.Segment(23.462050733582632, 67.99819327966811, + 99.99793097306195, 0.028785604229142336, 4.71238685538107, 0.01, 245.89931422078408, 118.53749064332341)); + right.setSegment(68, new Trajectory.Segment(23.462925929158004, 68.00173908328757, + 100.00196955955687, -0.02878572274767066, 4.71238685538107, 0.01, 226.0993142208288, 118.53753271839507)); + + + left.setSegment(69, new Trajectory.Segment(24.152032490046174, 68.99817564635404, + 99.99823666859271, 0.030569553075565636, 4.712388663500052, 0.01, 245.89931337895848, 117.84750888686038)); + right.setSegment(69, new Trajectory.Segment(24.15294348637737, 69.00175572193652, + 100.0016638648944, -0.030569466247243327, 4.712388663500052, 0.01, 226.0993133789595, 117.84751516117622)); + + + left.setSegment(70, new Trajectory.Segment(24.85201410251827, 69.9981612472097, + 99.9985600855652, 0.03234169724919411, 4.712390485661227, 0.01, 245.8993137956827, 117.14752727438841)); + right.setSegment(70, new Trajectory.Segment(24.85296117764075, 70.00176912633795, + 100.00134044014288, -0.03234247515138122, 4.712390485661227, 0.01, 226.09931379570514, 117.14749746991296)); + + + left.setSegment(71, new Trajectory.Segment(25.561995605097778, 70.99815025795047, + 99.99890107407765, 0.034098851244834805, 4.71239231842034, 0.01, 245.89931551601921, 116.43754577181099)); + right.setSegment(71, new Trajectory.Segment(25.562978968850697, 71.0017791209945, + 100.00099946565513, -0.03409744877558296, 4.71239231842034, 0.01, 226.09931551612954, 116.4374796787051)); + + + left.setSegment(72, new Trajectory.Segment(26.28197703361648, 71.99814285187021, + 99.99925939197425, 0.0358317896598237, 4.712394158158012, 0.01, 245.89931858285772, 115.71756434329882)); + right.setSegment(72, new Trajectory.Segment(26.282996824175278, 72.001785532458, + 100.00064114635023, -0.035831930489393926, 4.712394158158012, 0.01, 226.0993185831231, 115.71746182338705)); + + + left.setSegment(73, new Trajectory.Segment(27.01195842561152, 72.99813919950407, + 99.99963476338536, 0.03753714111098816, 4.71239600108258, 0.01, 245.89932303664673, 114.98758295131736)); + right.setSegment(73, new Trajectory.Segment(27.0130147060768, 73.00178819015193, + 100.00026576939263, -0.037537695760647694, 4.71239600108258, 0.01, 226.09932303713472, 114.98744394149912)); + + + left.setSegment(74, new Trajectory.Segment(27.751939820291735, 73.99813946802152, + 100.00002685174536, 0.03920883600017078, 4.712397843233561, 0.01, 245.89932891511953, 114.2476015566605)); + right.setSegment(74, new Trajectory.Segment(27.753032575346438, 74.0017869269638, + 99.99987368118752, -0.03920882051033914, 4.712397843233561, 0.01, 226.0993289158972, 114.24742607225284)); + + + left.setSegment(75, new Trajectory.Segment(28.50192125849672, 74.99814382049841, + 100.00043524768927, 0.04083959439071805, 4.712399680485753, 0.01, 245.89933625301362, 113.49762011849141)); + right.setSegment(75, new Trajectory.Segment(28.5030503911448, 75.00178157983609, + 99.99946528722887, -0.04083939586507768, 4.712399680485753, 0.01, 226.09933625414706, 113.49740825649037)); + + + left.setSegment(76, new Trajectory.Segment(29.261902782649436, 75.99815241527163, + 100.00085947732202, 0.042422963275612346, 4.712401508553998, 0.01, 245.89934508178567, 112.73763859438998)); + right.setSegment(76, new Trajectory.Segment(29.263068111048767, 76.00177199039683, + 99.99904105607413, -0.042423115473866346, 4.712401508553998, 0.01, 226.09934508333953, 112.73739053663769)); + + + left.setSegment(77, new Trajectory.Segment(30.031884436702445, 76.99816540530072, + 100.00129900290915, 0.04395255871258996, 4.712403322998652, 0.01, 245.89935542932253, 111.9676569404065)); + right.setSegment(77, new Trajectory.Segment(30.033085691105935, 77.00175800571695, + 99.99860153201183, -0.04395240623011887, 4.712403322998652, 0.01, 226.09935543135904, 111.96737295665005)); + + + left.setSegment(78, new Trajectory.Segment(30.811866266076446, 77.99818293740022, + 100.00175320994913, 0.04542070399793374, 4.712405119231754, 0.01, 245.89936731964812, 111.18767511112313)); + right.setSegment(78, new Trajectory.Segment(30.813103085895342, 78.00173947894085, + 99.99814732238974, -0.04542096220916392, 4.712405119231754, 0.01, 226.0993673222267, 111.18735556195128)); + + + left.setSegment(79, new Trajectory.Segment(31.60184831759215, 78.99820515157023, + 100.00222141700164, 0.04682070525063864, 4.712406892523946, 0.01, 245.89938077262875, 110.39769305972197)); + right.setSegment(79, new Trajectory.Segment(31.60312024859646, 79.0017162701119, + 99.99767911710506, -0.04682052846760598, 4.712406892523946, 0.01, 226.0993807758051, 110.39733839936471)); + + + left.setSegment(80, new Trajectory.Segment(32.40183063939397, 79.99823218018183, + 100.00270286115978, 0.04814441581402207, 4.71240863801216, 0.01, 245.89939580367638, 109.59771073806137)); + right.setSegment(80, new Trajectory.Segment(32.40313713106491, 80.00168824684445, + 99.9971976732553, -0.048144384976467336, 4.71240863801216, 0.01, 226.099395807502, 109.59732151703749)); + + + left.setSegment(81, new Trajectory.Segment(33.2118132808659, 80.9982641471925, + 100.00319670106705, 0.04938399072784705, 4.712410350708102, 0.01, 245.89941242345208, 108.78772809675995)); + right.setSegment(81, new Trajectory.Segment(33.213153683916474, 81.00165528515636, + 99.99670383119081, -0.049384206448621626, 4.712410350708102, 0.01, 226.09941242797333, 108.78730496435644)); + + + left.setSegment(82, new Trajectory.Segment(34.03179629253994, 81.99830116740418, + 100.00370202116784, 0.050532010078541134, 4.712412025507545, 0.01, 245.89943063756988, 107.9677450852882)); + right.setSegment(82, new Trajectory.Segment(34.03316985661949, 82.00161727030164, + 99.99619851452763, -0.05053166631796557, 4.712412025507545, 0.01, 226.09943064282754, 107.96728879185572)); + + + left.setSegment(83, new Trajectory.Segment(34.861779725994964, 82.99834334550252, + 100.00421780983402, 0.05157886661777411, 4.712413657200489, 0.01, 245.89945044630278, 107.13776165206956)); + right.setSegment(83, new Trajectory.Segment(34.863185597594835, 83.00157409753486, + 99.99568272332198, -0.05157912056574787, 4.712413657200489, 0.01, 226.09945045233135, 107.13727305111676)); + + + left.setSegment(84, new Trajectory.Segment(35.7017636337481, 83.9983907753136, + 100.0047429811076, 0.05251712735798719, 4.712415240482177, 0.01, 245.89947184429235, 106.29777774458897)); + right.setSegment(84, new Trajectory.Segment(35.70320085432537, 84.00152567305335, + 99.99515755184945, -0.052517147253183794, 4.712415240482177, 0.01, 226.09947185111935, 106.29725779465879)); + + + left.setSegment(85, new Trajectory.Segment(36.551748069136494, 84.99844353883896, + 100.00527635253604, 0.05333714284461166, 4.712416769965028, 0.01, 245.89949482026267, 105.44779330951111)); + right.setSegment(85, new Trajectory.Segment(36.55321557347422, 85.0014719148853, + 99.99462418319496, -0.05333686544872762, 4.712416769965028, 0.01, 226.09949482790805, 105.44724307582048)); + + + left.setSegment(86, new Trajectory.Segment(37.411733086189756, 85.99850170532629, + 100.00581664873351, 0.05402961974709797, 4.71241824019149, 0.01, 245.89951935674065, 104.58780829280788)); + right.setSegment(86, new Trajectory.Segment(37.41322970101142, 86.00141275371968, + 99.99408388343767, -0.054029975729008584, 4.71241824019149, 0.01, 226.0995193652164, 104.58722894863332)); + + + left.setSegment(87, new Trajectory.Segment(38.281718739493726, 86.99856533039699, + 100.00636250706947, 0.054585833595410804, 4.712419645647861, 0.01, 245.89954542978427, 103.7178226398946)); + right.setSegment(87, new Trajectory.Segment(38.28324318235154, 87.00134813401209, + 99.99353802924134, -0.05458541963321295, 4.712419645647861, 0.01, 226.0995454390938, 103.71721546768391)); + + + left.setSegment(88, new Trajectory.Segment(39.16170508404315, 87.99863445494206, + 100.00691245450781, 0.054994743834413384, 4.7124209807790916, 0.01, 245.89957300871998, 102.83783629577735)); + right.setSegment(88, new Trajectory.Segment(39.163255962499335, 88.00127801477912, + 99.99298807670272, -0.05499525386198911, 4.7124209807790916, 0.01, 226.09957301885782, 102.8372026879683)); + + + left.setSegment(89, new Trajectory.Segment(40.05169217508602, 88.99870910428687, + 100.00746493448105, 0.05524799732370411, 4.712422240004601, 0.01, 245.8996020558915, 101.9478492052085)); + right.setSegment(89, new Trajectory.Segment(40.05326798620729, 89.00120237079523, + 99.99243560161091, -0.055247509180844645, 4.712422240004601, 0.01, 226.0996020668429, 101.94719066473438)); + + + left.setSegment(90, new Trajectory.Segment(40.95168006795559, 89.99878928695779, + 100.00801826709136, 0.05533326103090985, 4.712423417735152, 0.01, 245.8996325264215, 101.04786131285474)); + right.setSegment(90, new Trajectory.Segment(40.95327919814177, 90.00112119344854, + 99.99188226533136, -0.0553336279551786, 4.712423417735152, 0.01, 226.0996325381622, 101.04717945331572)); + + + left.setSegment(91, new Trajectory.Segment(41.86166881789364, 90.99887499380444, + 100.00857068466473, 0.05524175733739867, 4.712424508390784, 0.01, 245.89966436798832, 100.13787256347378)); + right.setSegment(91, new Trajectory.Segment(41.86328954306132, 91.00103449195477, + 99.99132985062289, -0.05524147084656761, 4.712424508390784, 0.01, 226.09966438048448, 100.13716910895327)); + + + left.setSegment(92, new Trajectory.Segment(42.78165847986107, 91.99896619674377, + 100.00912029393305, 0.05496092683188181, 4.712425506419866, 0.01, 245.89969752061978, 99.21788290210368)); + right.setSegment(92, new Trajectory.Segment(42.78329896600459, 92.0009422943268, + 99.99078023720358, -0.05496134193094804, 4.712425506419866, 0.01, 226.09969753382785, 99.21715968660736)); + + + left.setSegment(93, new Trajectory.Segment(43.711649108339074, 92.99906284780008, + 100.00966510563103, 0.05448116979778206, 4.712426406319274, 0.01, 245.8997319165059, 98.28789227426175)); + right.setSegment(93, new Trajectory.Segment(43.71330741249088, 93.0008446486287, + 99.9902354301895, -0.054480701408010646, 4.712426406319274, 0.01, 226.09973193037285, 98.28715124075715)); + + + left.setSegment(94, new Trajectory.Segment(44.65164075711697, 93.99916487778947, + 100.01020299893923, 0.05378933082056392, 4.712427202655743, 0.01, 245.89976747983346, 97.3479006261566)); + right.setSegment(94, new Trajectory.Segment(44.65331482873084, 94.00074162399655, + 99.98969753678466, -0.053789340483945125, 4.712427202655743, 0.01, 226.0997674942968, 97.34714382518995)); + + + left.setSegment(95, new Trajectory.Segment(45.60163347906902, 94.99927219520508, + 100.01073174156119, 0.05287426219524605, 4.71242789008841, 0.01, 245.89980412664394, 96.39790790491139)); + right.setSegment(95, new Trajectory.Segment(45.60332116184973, 95.00063331188821, + 99.98916878916617, -0.05287476184889783, 4.71242789008841, 0.01, 226.09980414163218, 96.39713749277792)); + + + left.setSegment(96, new Trajectory.Segment(46.56162732591987, 95.99938468508522, + 100.01124898801379, 0.05172464526026488, 4.712428463392593, 0.01, 245.89984176471802, 95.43791405879837)); + right.setSegment(96, new Trajectory.Segment(46.563326360123376, 96.00051982736458, + 99.98865154763763, -0.051724152854149, 4.712428463392593, 0.01, 226.09984178015122, 95.43713229524211)); + + + left.setSegment(97, new Trajectory.Segment(47.53162234799594, 96.9995022076072, + 100.01175225219754, 0.05032641837487972, 4.712428917484816, 0.01, 245.89988029348888, 94.46791903748749)); + right.setSegment(97, new Trajectory.Segment(47.533330373225475, 97.00040131021005, + 99.9881482845467, -0.05032630909340696, 4.712428917484816, 0.01, 226.09988030927911, 94.46712828290521)); + + + left.setSegment(98, new Trajectory.Segment(48.511618593964464, 97.99962459685185, + 100.01223892446518, 0.04866722676410973, 4.712429247449146, 0.01, 245.899919603987, 93.4879227923074)); + right.setSegment(98, new Trajectory.Segment(48.51333315248774, 98.00027792622663, + 99.98766160165786, -0.04866828888339114, 4.712429247449146, 0.01, 226.09991962003923, 93.48712550443138)); + + + left.setSegment(99, new Trajectory.Segment(49.50161611056165, 98.99975165971885, + 100.01270628670085, 0.046736223566767876, 4.712429448564835, 0.01, 245.8999595788196, 92.49792527651728)); + right.setSegment(99, new Trajectory.Segment(49.50333465117558, 99.00014986878385, + 99.98719425572204, -0.04673459358173204, 4.712429448564835, 0.01, 226.09995959503257, 92.4971240065506)); + + + left.setSegment(100, new Trajectory.Segment(50.499114943541095, 99.74988329794428, + 75.0131638225426, -2499.9542464158253, 4.712429516335751, 0.01, 245.89999999084733, 91.50042644435645)); + right.setSegment(100, new Trajectory.Segment(50.50083482601916, 99.75001748435784, + 74.986761557399, -2500.043269832304, 4.712429516335751, 0.01, 226.10000000711466, 91.49962383252564)); + + + left.setSegment(101, new Trajectory.Segment(51.49661524401389, 99.75003004727924, + 0.014674933495939513, -7499.848888904666, 4.7124294485716485, 0.01, 245.90004040293792, 90.50292614470227)); + right.setSegment(101, new Trajectory.Segment(51.49833378476271, 99.74989587435462, + -0.012161000321952997, -7499.892255772096, 4.7124294485716485, 0.01, 226.1000404191509, 90.50212487460071)); + + + left.setSegment(102, new Trajectory.Segment(52.48661711971134, 99.0001875697452, + -74.98424775340453, -7499.892268690047, 4.7124292474626035, 0.01, 245.90008037795653, 89.51292426981189)); + right.setSegment(102, new Trajectory.Segment(52.488331678501076, 98.99978937383663, + -75.01065005179868, -7499.848905147673, 4.7124292474626035, 0.01, 226.10008039400876, 89.51212698166941)); + + + left.setSegment(103, new Trajectory.Segment(53.466620401679975, 98.00032819686382, + -99.98593728813745, -2500.168953473292, 4.712428917504668, 0.01, 245.90011968875314, 88.53292098863169)); + right.setSegment(103, new Trajectory.Segment(53.46832842730259, 97.9996748801509, + -100.01144936857287, -2500.079931677419, 4.712428917504668, 0.01, 226.10011970454337, 88.53213023365633)); + + + left.setSegment(104, new Trajectory.Segment(54.436624917489524, 97.00045158095524, + -99.98766159085761, -0.17243027201629957, 4.712428463418595, 0.01, 245.90015821792326, 87.56291647358734)); + right.setSegment(104, new Trajectory.Segment(54.438323952207895, 96.99955249053109, + -100.01223896198184, -0.07895934089674483, 4.712428463418595, 0.01, 226.10015823335647, 87.56213470951622)); + + + left.setSegment(105, new Trajectory.Segment(55.39663061847354, 96.00057009840113, + -99.9881482554116, -0.04866645539891579, 4.7124278901203125, 0.01, 245.9001958564898, 86.60291077334116)); + right.setSegment(105, new Trajectory.Segment(55.3983183018859, 95.99943496780024, + -100.01175227308465, 0.0486688897183285, 4.7124278901203125, 0.01, 226.1001958714781, 86.60214036057604)); + + + left.setSegment(106, new Trajectory.Segment(56.346637454305686, 95.00068358321468, + -99.98865151864464, -0.05032632330426168, 4.712427202693284, 0.01, 245.9002325038776, 85.65290393821587)); + right.setSegment(106, new Trajectory.Segment(56.34831152666291, 94.99932247770128, + -100.01124900989566, 0.050326318898896716, 4.712427202693284, 0.01, 226.10023251834093, 85.65214713650587)); + + + left.setSegment(107, new Trajectory.Segment(57.286645373260775, 94.00079189550918, + -99.98916877054995, -0.0517251905307603, 4.712426406362188, 0.01, 245.9002680678584, 84.71289601993354)); + right.setSegment(107, new Trajectory.Segment(57.28830367826229, 93.9992151599375, + -100.01073177637778, 0.0517233517882687, 4.712426406362188, 0.01, 226.10026808172535, 84.71215498557925)); + + + left.setSegment(108, new Trajectory.Segment(58.21665432246536, 93.00089492045826, + -99.98969750509161, -0.05287345416604694, 4.712425506467881, 0.01, 245.90030246446426, 83.78288707136504)); + right.setSegment(108, new Trajectory.Segment(58.218294809559595, 92.9991131297307, + -100.01020302068042, 0.05287556973598839, 4.712425506467881, 0.01, 226.1003024776724, 83.78216385491801)); + + + left.setSegment(109, new Trajectory.Segment(59.13666424813002, 92.00099256646617, + -99.99023539920984, -0.053789411822435795, 4.712424508443624, 0.01, 245.90033561787214, 82.86287714629773)); + right.setSegment(109, new Trajectory.Segment(59.138284974343954, 91.99901647843568, + -100.00966512950242, 0.05378911779985174, 4.712424508443624, 0.01, 226.10033563036836, 82.862173690731)); + + + left.setSegment(110, new Trajectory.Segment(60.04667509577333, 91.00108476433145, + -99.99078021347145, -0.05448142616160112, 4.712423417792538, 0.01, 245.9003674602622, 81.95286629921152)); + right.setSegment(110, new Trajectory.Segment(60.048274227095774, 90.99892527518227, + -100.00912032534046, 0.05448041619615651, 4.712423417792538, 0.01, 226.10036747200297, 81.95218443853626)); + + + left.setSegment(111, new Trajectory.Segment(60.94668681043437, 90.00117146610377, + -99.9913298227682, -0.05496092967405275, 4.712422240066251, 0.01, 245.90039793165212, 81.05285458506631)); + right.setSegment(111, new Trajectory.Segment(60.94826262277635, 89.99883956805711, + -100.00857071251659, 0.05496128238746678, 4.712422240066251, 0.01, 226.10039794260356, 81.05219604337151)); + + + left.setSegment(112, new Trajectory.Segment(61.83669933687139, 89.00125264370199, + -99.99188224017814, -0.055241740994915745, 4.712420980844724, 0.01, 245.90042697971026, 80.16284205910333)); + right.setSegment(112, new Trajectory.Segment(61.838250216627124, 88.9987593850778, + -100.00801829793033, 0.05524145862523255, 4.712420980844724, 0.01, 226.10042698984816, 80.16220844999475)); + + + left.setSegment(113, new Trajectory.Segment(62.716712619751576, 88.00132828801841, + -99.99243556835751, -0.05533281793645983, 4.712419645717196, 0.01, 245.90045455954944, 79.28282877665532)); + right.setSegment(113, new Trajectory.Segment(62.71823706398224, 87.99868473551132, + -100.00746495664856, 0.055334128177264574, 4.712419645717196, 0.01, 226.10045456885902, 79.2822216030718)); + + + left.setSegment(114, new Trajectory.Segment(63.586726603826605, 87.00139840750292, + -99.9929880515495, -0.05524831919956341, 4.7124182402642445, 0.01, 245.90048063350372, 78.412814792971)); + right.setSegment(114, new Trajectory.Segment(63.58822322008884, 86.99861561066069, + -100.00691248506257, 0.05524715859905882, 4.7124182402642445, 0.01, 226.10048064197952, 78.4122354473559)); + + + left.setSegment(115, new Trajectory.Segment(64.4467412341015, 86.00146302748904, + -99.99353800138806, -0.054994983855749524, 4.712416770040923, 0.01, 245.90050517089037, 77.55280016304616)); + right.setSegment(115, new Trajectory.Segment(64.44820873994196, 85.99855198531148, + -100.00636253492132, 0.05499501412487007, 4.712416770040923, 0.01, 226.1005051785358, 77.55224992785281)); + + + left.setSegment(116, new Trajectory.Segment(65.29675645599048, 85.00152218889764, + -99.99408385913995, -0.054585775188797925, 4.7124152405609365, 0.01, 245.90052814775842, 76.70278494146773)); + right.setSegment(116, new Trajectory.Segment(65.2981936781272, 84.9984938185243, + -100.00581667871842, 0.05458562029048153, 4.7124152405609365, 0.01, 226.10052815458542, 76.7022649899781)); + + + left.setSegment(117, new Trajectory.Segment(66.13677221546446, 84.00157594739824, + -99.99462414994014, -0.054029080018835884, 4.712413657281838, 0.01, 245.90054954662648, 75.8627691822663)); + right.setSegment(117, new Trajectory.Segment(66.13817808867503, 83.99844105478292, + -100.00527637413796, 0.05403045804541762, 4.712413657281838, 0.01, 226.10054955265505, 75.86228057970283)); + + + left.setSegment(118, new Trajectory.Segment(66.9667884591855, 83.00162437210284, + -99.99515752953982, -0.05333795996875779, 4.712412025591213, 0.01, 245.90056935621078, 75.03275293878167)); + right.setSegment(118, new Trajectory.Segment(66.9681620249217, 82.99839362466629, + -100.00474301166236, 0.053336247560764605, 4.712412025591213, 0.01, 226.1005693614685, 75.03229664369255)); + + + left.setSegment(119, new Trajectory.Segment(67.78680513463708, 82.00166754515807, + -99.99568269447678, -0.05251649369597544, 4.712410350793824, 0.01, 245.90058757114562, 74.21273626353239)); + right.setSegment(119, new Trajectory.Segment(67.78814553938497, 81.99835144632777, + -100.00421783385178, 0.05251778105730409, 4.712410350793824, 0.01, 226.10058757566688, 74.21231312943156)); + + + left.setSegment(120, new Trajectory.Segment(68.59682219023966, 81.00170556025864, + -99.99619848994286, -0.05157954660717223, 4.712408638099676, 0.01, 245.90060419169748, 73.40271920810032)); + right.setSegment(120, new Trajectory.Segment(68.59812868364342, 80.99831442584465, + -100.003702048312, 0.051578553978970376, 4.712408638099676, 0.01, 226.1006041955231, 73.40232998534363)); + + + left.setSegment(121, new Trajectory.Segment(69.39683957546166, 80.00173852219969, + -99.99670380589549, -0.050531595263692, 4.712406892613, 0.01, 245.90061922347442, 72.60270182301954)); + right.setSegment(121, new Trajectory.Segment(69.39811150822923, 79.99828245858102, + -100.0031967263638, 0.05053219481965243, 4.712406892613, 0.01, 226.10061922665082, 72.60234716089903)); + + + left.setSegment(122, new Trajectory.Segment(70.1868572409188, 79.00176654571436, + -99.99719764853268, -0.04938426371836613, 4.7124051193220975, 0.01, 245.90063267713225, 71.81268415767696)); + right.setSegment(122, new Trajectory.Segment(70.18809406252652, 78.99825542972782, + -100.00270288531965, 0.04938410441468477, 4.7124051193220975, 0.01, 226.10063267971088, 71.8123646067163)); + + + left.setSegment(123, new Trajectory.Segment(70.96687513846646, 78.0017897547664, + -99.99767909479544, -0.0481446262767804, 4.712403323090044, 0.01, 245.90064456807846, 71.03266626021993)); + right.setSegment(123, new Trajectory.Segment(70.96807639467953, 77.99823321530059, + -100.00222144272328, 0.04814425963672875, 4.712403323090044, 0.01, 226.10064457011504, 71.03238227465393)); + + + left.setSegment(124, new Trajectory.Segment(71.73689322128406, 77.00180828175993, + -99.99814730064713, -0.046820585168916296, 4.712401508646201, 0.01, 245.90065491617545, 70.26264817747186)); + right.setSegment(124, new Trajectory.Segment(71.73805855150906, 76.99821568295236, + -100.00175323482239, 0.04682079008944129, 4.712401508646201, 0.01, 226.10065491772932, 70.26240011789393)); + + + left.setSegment(125, new Trajectory.Segment(72.49691144395108, 76.00182226670128, + -99.99860150586528, -0.04542052181477629, 4.71239968057854, 0.01, 245.90066374544406, 69.50262995485613)); + right.setSegment(125, new Trajectory.Segment(72.49804057843636, 75.99820269273, + -100.00129902223591, 0.04542125864759328, 4.71239968057854, 0.01, 226.10066374657757, 69.50241809101792)); + + + left.setSegment(126, new Trajectory.Segment(73.24692976251505, 75.00183185639774, + -99.99904103035391, -0.04395244886268301, 4.712397843326713, 0.01, 245.9006710837686, 68.75261163632806)); + right.setSegment(126, new Trajectory.Segment(73.24802251941418, 74.99819409778198, + -100.0008594948028, 0.04395274331159271, 4.712397843326713, 0.01, 226.10067108454626, 68.752436150076)); + + + left.setSegment(127, new Trajectory.Segment(73.98694813455158, 74.00183720365332, + -99.99946527444195, -0.04242440880375398, 4.712396001175882, 0.01, 245.90067696260405, 68.01259326431487)); + right.setSegment(127, new Trajectory.Segment(73.98800441686424, 73.99818974500664, + -100.00043527753348, 0.042421726931252124, 4.712396001175882, 0.01, 226.10067696309204, 68.01245425264928)); + + + left.setSegment(128, new Trajectory.Segment(74.71696651922227, 73.00183846706881, + -99.99987365845158, -0.040838400963139065, 4.712394158251259, 0.01, 245.90068141668684, 67.28257487965777)); + right.setSegment(128, new Trajectory.Segment(74.7179863116274, 72.99818947631582, + -100.0000268690826, 0.04084084508804153, 4.712394158251259, 0.01, 226.10068141695228, 67.2824723578997)); + + + left.setSegment(129, new Trajectory.Segment(75.43698487731884, 72.00183580965626, + -100.00026574125513, -0.03920828035575141, 4.712392318513338, 0.01, 245.90068448374964, 66.56255652156774)); + right.setSegment(129, new Trajectory.Segment(75.43796824291314, 71.99819312857394, + -99.99963477418703, 0.03920948955737913, 4.712392318513338, 0.01, 226.10068448385996, 66.5624904266205)); + + + left.setSegment(130, new Trajectory.Segment(76.1470031712996, 71.00182939807623, + -100.00064115800313, -0.03754167479996795, 4.7123904857537875, 0.01, 245.90068620424114, 65.85253822758906)); + right.setSegment(130, new Trajectory.Segment(76.1479502482548, 70.99820053416532, + -99.99925944086243, 0.03753333245981594, 4.7123904857537875, 0.01, 226.10068620426358, 65.85250842128093)); + + + left.setSegment(131, new Trajectory.Segment(76.84702136534136, 70.00181940417566, + -100.00099939005622, -0.035823205308815886, 4.712388663591996, 0.01, 245.90068662105165, 65.15252003354743)); + right.setSegment(131, new Trajectory.Segment(76.84793236349309, 69.99821152382812, + -99.99890103372024, 0.03584071421869339, 4.712388663591996, 0.01, 226.10068662105266, 65.15252630604277)); + + + left.setSegment(132, new Trajectory.Segment(77.5370394253381, 69.00180599967332, + -100.00134045023401, -0.03410601777886768, 4.712386855472229, 0.01, 245.90068577924492, 64.46250197355121)); + right.setSegment(132, new Trajectory.Segment(77.53791462271842, 68.99822592253334, + -99.99856012947816, 0.03409042420798869, 4.712386855472229, 0.01, 226.10068577928965, 64.46254404681795)); + + + left.setSegment(133, new Trajectory.Segment(78.21705731894791, 68.00178936098102, + -100.00166386923013, -0.03234189961176526, 4.712385064661374, 0.01, 245.9006837257969, 63.7824840799445)); + right.setSegment(133, new Trajectory.Segment(78.21789705827332, 67.99824355549, + -99.99823670433301, 0.032342514515448784, 4.712385064661374, 0.01, 226.10068372594873, 63.78256161126615)); + + + left.setSegment(134, new Trajectory.Segment(78.8870750156047, 67.0017696656782, + -100.00196953028251, -0.030566105237994634, 4.712383294247268, 0.01, 245.90068050934215, 63.11246638329544)); + right.setSegment(134, new Trajectory.Segment(78.8878797007308, 66.998264245748, + -99.99793097420024, 0.03057301327658024, 4.712383294247268, 0.01, 226.10068050966223, 63.11257896881639)); + + + left.setSegment(135, new Trajectory.Segment(79.54709248652101, 66.00174709163184, + -100.00225740463549, -0.02878743529777239, 4.712381547137563, 0.01, 245.90067617992807, 62.45244891239332)); + right.setSegment(135, new Trajectory.Segment(79.54786257887497, 65.99828781441651, + -99.99764313314898, 0.02878410512607843, 4.712381547137563, 0.01, 226.10067618047506, 62.45259609068643)); + + + left.setSegment(136, new Trajectory.Segment(80.19710970470125, 65.00172181802415, + -100.00252736076902, -0.026995613353619774, 4.712379826059118, 0.01, 245.90067078877763, 61.80243169423544)); + right.setSegment(136, new Trajectory.Segment(80.197845719702, 64.99831408270343, + -99.99737317130837, 0.026996184061545137, 4.712379826059118, 0.01, 226.10067078960725, 61.80261294988175)); + + + left.setSegment(137, new Trajectory.Segment(80.83712664494038, 64.0016940239139, + -100.00277941102524, -0.025205025622199173, 4.712378133557891, 0.01, 245.90066438806093, 61.162414754028305)); + right.setSegment(137, new Trajectory.Segment(80.83782914841684, 63.998342871484404, + -99.99712112190267, 0.025204940570233703, 4.712378133557891, 0.01, 226.1006643892257, 61.16262952119891)); + + + left.setSegment(138, new Trajectory.Segment(81.4671432838207, 63.00166388803212, + -100.00301358817794, -0.023417715269147266, 4.712376471999313, 0.01, 245.90065703067586, 60.532398115190944)); + right.setSegment(138, new Trajectory.Segment(81.46781288843732, 62.99837400204764, + -99.99688694367634, 0.02341782263215464, 4.712376471999313, 0.01, 226.10065703222483, 60.53264578122139)); + + + left.setSegment(139, new Trajectory.Segment(82.08715959970299, 62.00163158822867, + -100.00322998034505, -0.021639216711832887, 4.71237484356912, 0.01, 245.90064877003806, 59.912381799363686)); + right.setSegment(139, new Trajectory.Segment(82.08779696140178, 61.99840729644583, + -99.99667056018069, 0.021638349565478165, 4.71237484356912, 0.01, 226.1006487720166, 59.91266170831196)); + + + left.setSegment(140, new Trajectory.Segment(82.69717557271544, 61.00159730124511, + -100.00342869835563, -0.019871801058002347, 4.712373250274615, 0.01, 245.9006396598808, 59.30236582641926)); + right.setSegment(140, new Trajectory.Segment(82.69778138718303, 60.998442578124525, + -99.99647183213085, 0.019872804983833703, 4.712373250274615, 0.01, 226.1006396623304, 59.30267728259874)); + + + left.setSegment(141, new Trajectory.Segment(83.29719118473508, 60.00156120196532, + -100.00360992797894, -0.018122962330835435, 4.71237169394635, 0.01, 245.90062975406417, 58.70235021448138)); + right.setSegment(141, new Trajectory.Segment(83.29776618390304, 59.99847967200108, + -99.9962906123443, 0.01812197865547205, 4.71237169394635, 0.01, 226.10062975702252, 58.70269248596049)); + + + left.setSegment(142, new Trajectory.Segment(83.88720641936949, 59.001523463440385, + -100.0037738524938, -0.016392451485103265, 4.712370176240205, 0.01, 245.9006191063952, 58.11233497994305)); + right.setSegment(142, new Trajectory.Segment(83.88775136795576, 58.99851840527278, + -99.99612667282989, 0.016393951440818455, 4.712370176240205, 0.01, 226.10061910989577, 58.112707302003834)); + + + left.setSegment(143, new Trajectory.Segment(84.46722126192986, 58.001484256037614, + -100.00392074027715, -0.01468877833588067, 4.712368698639825, 0.01, 245.90060777045684, 57.53232013749345)); + right.setSegment(143, new Trajectory.Segment(84.46773695402861, 57.99855860728482, + -99.99597979879624, 0.0146874033646327, 4.712368698639825, 0.01, 226.1006077745292, 57.532721716041756)); + + + left.setSegment(144, new Trajectory.Segment(85.03723569940598, 57.00144374761118, + -100.00405084264372, -0.013010236656896268, 4.712367262459431, 0.01, 245.90059579944838, 56.96230570014304)); + right.setSegment(144, new Trajectory.Segment(85.03772295513292, 56.99860011043132, + -99.99584968535018, 0.013011344606184139, 4.712367262459431, 0.01, 226.1005958041179, 56.96273571506314)); + + + left.setSegment(145, new Trajectory.Segment(85.59724972043304, 56.00140210270638, + -100.00416449047975, -0.011364783603085016, 4.712365868846948, 0.01, 245.90058324603496, 56.40229167925668)); + right.setSegment(145, new Trajectory.Segment(85.59770938263283, 55.99864274999066, + -99.99573604406606, 0.011364128411628371, 4.712365868846948, 0.01, 226.10058325132297, 56.40274928770393)); + + + left.setSegment(146, new Trajectory.Segment(86.14726331525858, 55.00135948255477, + -100.00426201516106, -0.009752468130841407, 4.7123645187874565, 0.01, 245.90057016220808, 55.85227808458675)); + right.setSegment(146, new Trajectory.Segment(86.14769624628045, 54.998686364761475, + -99.99563852291828, 0.009752114777938914, 4.7123645187874565, 0.01, 226.10057016813195, 55.852762424211924)); + + + left.setSegment(147, new Trajectory.Segment(86.6872764757058, 54.0013160447211, + -100.00434378336678, -0.008176820571748067, 4.7123632131069275, 0.01, 245.90055659915598, 55.312264924309865)); + right.setSegment(147, new Trajectory.Segment(86.68768355425318, 53.998730797273765, + -99.99555674877101, 0.00817741472758371, 4.7123632131069275, 0.01, 226.1005566057291, 55.312775116409505)); + + + left.setSegment(148, new Trajectory.Segment(87.21728919513285, 53.00127194270476, + -100.00441020163393, -0.0066418267152812405, 4.712361952476249, 0.01, 245.90054260714405, 54.78225220506751)); + right.setSegment(148, new Trajectory.Segment(87.21767131319278, 52.9987758939602, + -99.9954903313565, 0.006641741450152949, 4.712361952476249, 0.01, 226.10054261437605, 54.782787357654584)); + + + left.setSegment(149, new Trajectory.Segment(87.73730146839097, 52.00122732581192, + -100.00446168928434, -0.005148765040985381, 4.712360737415492, 0.01, 245.90052823540526, 54.26223993200799)); + right.setSegment(149, new Trajectory.Segment(87.73765952824792, 51.998821505514236, + -99.9954388445964, 0.005148676009980591, 4.712360737415492, 0.01, 226.10052824330216, 54.26279914279803)); + + + left.setSegment(150, new Trajectory.Segment(88.24731329177982, 51.00118233888552, + -100.00449869263974, -0.0037003355402021043, 4.712359568298432, 0.01, 245.90051353204095, 53.752228108831076)); + right.setSegment(150, new Trajectory.Segment(88.24764820311898, 50.9988674871062, + -99.99540184080331, 0.003700379309634627, 4.712359568298432, 0.01, 226.10051354060514, 53.752810468138904)); + + + left.setSegment(151, new Trajectory.Segment(88.74732466300053, 50.00113712207014, + -100.004521681538, -0.002298889825169681, 4.712358445357277, 0.01, 245.90049854393047, 53.25221673783501)); + right.setSegment(151, new Trajectory.Segment(88.74763734010483, 49.99891369858434, + -99.99537885218643, 0.002298861687677345, 4.712358445357277, 0.01, 226.1004985531611, 53.25282133137769)); + + + left.setSegment(152, new Trajectory.Segment(89.23733558110676, 49.00109181062365, + -100.00453114464918, -0.00094631111835497, 4.712357368687612, 0.01, 245.90048331665128, 52.762205819965374)); + right.setSegment(152, new Trajectory.Segment(89.23762694015169, 48.99896000468586, + -99.99536938984761, 0.0009462338823595928, 4.712357368687612, 0.01, 226.10048332654435, 52.76283173156742)); + + + left.setSegment(153, new Trajectory.Segment(89.71734604645415, 48.001046534738926, + -100.00452758847231, 0.00035561768640945957, 4.712356338253517, 0.01, 245.90046789440788, 52.282195354865735)); + right.setSegment(153, new Trajectory.Segment(89.717617002904, 47.999006275232354, + -99.99537294535088, -0.0003555503269581095, 4.712356338253517, 0.01, 226.10046790495642, 52.28284166906283)); + + + left.setSegment(154, new Trajectory.Segment(90.1873560606477, 47.00100141935547, + -100.00451153834575, 0.0016050126561140132, 4.712355353892869, 0.01, 245.90045231997013, 51.81218534093022)); + right.setSegment(154, new Trajectory.Segment(90.18760752675674, 46.999052385272535, + -99.99538899598193, -0.0016050631046482522, 4.712355353892869, 0.01, 226.10045233116446, 51.81285114546814)); + + + left.setSegment(155, new Trajectory.Segment(90.64736562648802, 46.00095658403221, + -100.00448353232585, 0.002800601990315954, 4.712354415322783, 0.01, 245.90043663462026, 51.35217577535732)); + right.setSegment(155, new Trajectory.Segment(90.64759850890934, 45.99909821526062, + -99.99541700119181, -0.0028005209884440774, 4.712354415322783, 0.01, 226.10043664644823, 51.35286016358294)); + + + left.setSegment(156, new Trajectory.Segment(91.09737474791588, 45.00091214278545, + -100.00444412467573, 0.003940765012089287, 4.7123535221451975, 0.01, 245.90042087810897, 50.90216665420531)); + right.setSegment(156, new Trajectory.Segment(91.097589945421, 44.999143651167046, + -99.99545640935708, -0.003940816526437629, 4.7123535221451975, 0.01, 226.10042089055614, 50.902868727347105)); + + + left.setSegment(157, new Trajectory.Segment(91.53738342995591, 44.000868204002884, + -100.00439387825679, 0.005024641893669468, 4.712352673852585, 0.01, 245.90040508861935, 50.46215797244858)); + right.setSegment(157, new Trajectory.Segment(91.5375818312673, 43.99918858462986, + -99.99550665371828, -0.005024436120493192, 4.712352673852585, 0.01, 226.10040510166917, 50.462876841784094)); + + + left.setSegment(158, new Trajectory.Segment(91.96739167865883, 43.00082487029142, + -100.00433337114671, 0.006050711007787868, 4.7123518698337605, 0.01, 245.9003893027393, 50.03214972403542)); + right.setSegment(158, new Trajectory.Segment(91.96757416039749, 42.99923291301857, + -99.99556716112963, -0.006050741134799864, 4.7123518698337605, 0.01, 226.10038931637354, 50.03288451294365)); + + + left.setSegment(159, new Trajectory.Segment(92.38739950104285, 42.00078223840187, + -100.00426318895492, 0.00701821917914458, 4.712351109379779, 0.01, 245.90037355544172, 49.61214190194661)); + right.setSegment(159, new Trajectory.Segment(92.38756692579267, 41.9992765395179, + -99.9956373500666, -0.007018893697363637, 4.712351109379779, 0.01, 226.1003735696404, 49.61289174784367)); + + + left.setSegment(160, new Trajectory.Segment(92.79740690503569, 41.00074039928426, + -100.00418391176069, 0.007927719423150847, 4.71235039168992, 0.01, 245.90035788007177, 49.202134498253415)); + right.setSegment(160, new Trajectory.Segment(92.79756011952632, 40.99931937336513, + -99.99571661527682, -0.007926521021772714, 4.71235039168992, 0.01, 226.10035789481375, 49.20289855440966)); + + + left.setSegment(161, new Trajectory.Segment(93.19741389941262, 40.00069943769416, + -100.0040961590102, 0.008775275048833464, 4.712349715877722, 0.01, 245.90034230834203, 48.802127504179566)); + right.setSegment(161, new Trajectory.Segment(93.19755373282175, 39.99936132954157, + -99.99580438235611, -0.008776707929314398, 4.712349715877722, 0.01, 226.10034232360488, 48.802904941417324)); + + + left.setSegment(162, new Trajectory.Segment(93.58742049373876, 39.000659432613936, + -100.00400050802227, 0.009565098793018478, 4.71234908097707, 0.01, 245.9003268703336, 48.412120910158976)); + right.setSegment(162, new Trajectory.Segment(93.58754775611497, 38.999402329323225, + -99.99590002183467, -0.009563947855895094, 4.71234908097707, 0.01, 226.10032688609405, 48.41291091842963)); + + + left.setSegment(163, new Trajectory.Segment(93.96742669830648, 38.000620456771685, + -100.00389758422514, 0.010292379712950606, 4.712348485948315, 0.01, 245.90031159450425, 48.032114705898294)); + right.setSegment(163, new Trajectory.Segment(93.96754217911332, 37.99944229983517, + -99.9960029488058, -0.01029269711239067, 4.712348485948315, 0.01, 226.10031161073826, 48.032916495738306)); + + + left.setSegment(164, new Trajectory.Segment(94.33743252407547, 37.00058257689904, + -100.0037879872643, 0.010959696084000825, 4.7123479296844115, 0.01, 245.9002965077024, 47.66210888043688)); + right.setSegment(164, new Trajectory.Segment(94.33753699085703, 36.999481174370544, + -99.99611254646226, -0.010959765646134656, 4.7123479296844115, 0.01, 226.10029652438547, 47.66292168430217)); + + + left.setSegment(165, new Trajectory.Segment(94.69743798261176, 36.00054585362955, + -100.00367232694884, 0.011566031545839905, 4.712347411017064, 0.01, 245.90028163518707, 47.30210342220779)); + right.setSegment(165, new Trajectory.Segment(94.69753217977986, 35.99951889228178, + -99.99622820887666, -0.011566241440164049, 4.712347411017064, 0.01, 226.10028165229437, 47.30292649568655)); + + + left.setSegment(166, new Trajectory.Segment(95.04744308602713, 35.000510341537655, + -100.00355120918982, 0.012111775902212685, 4.712346928722868, 0.01, 245.90026700065286, 46.95209831909837)); + right.setSegment(166, new Trajectory.Segment(95.04752773377015, 34.99955539902953, + -99.99634932522454, -0.012111634788425363, 4.712346928722868, 0.01, 226.10026701815943, 46.9529309420022)); + + + left.setSegment(167, new Trajectory.Segment(95.38744784691845, 34.00047608913152, + -100.00342524061381, 0.012596857601465672, 4.71234648152943, 0.01, 245.90025262626023, 46.61209355851091)); + right.setSegment(167, new Trajectory.Segment(95.3875236402314, 33.99959064612435, + -99.99647529051856, -0.012596529401776024, 4.71234648152943, 0.01, 226.10025264414116, 46.6129350358448)); + + + left.setSegment(168, new Trajectory.Segment(95.71745227830698, 33.000443138853704, + -100.00329502778129, 0.01302128325164631, 4.712346068121456, 0.01, 245.90023853267024, 46.28208912742332)); + right.setSegment(168, new Trajectory.Segment(95.71751988614206, 32.999624591066244, + -99.99660550581027, -0.013021529170487156, 4.712346068121456, 0.01, 226.1002385509007, 46.28293879023508)); + + + left.setSegment(169, new Trajectory.Segment(96.03745639357876, 32.00041152717911, + -100.00316116745935, 0.013386032193807296, 4.712345687146806, 0.01, 245.90022473908357, 45.96208501244881)); + right.setSegment(169, new Trajectory.Segment(96.03751645811577, 31.999657197371615, + -99.99673936946287, -0.013386365260714683, 4.712345687146806, 0.01, 226.10022475763918, 45.96294221855864)); + + + left.setSegment(170, new Trajectory.Segment(96.34746020642577, 31.000381284699557, + -100.00302424795535, 0.013691950400129826, 4.71234533722248, 0.01, 245.90021126328335, 45.65208119989471)); + right.setSegment(170, new Trajectory.Segment(96.34751334246111, 30.999688434534107, + -99.99687628375078, -0.013691428790707505, 4.71234533722248, 0.01, 226.10021128214012, 45.652945334506185)); + + + left.setSegment(171, new Trajectory.Segment(96.64746373078653, 30.000352436076742, + -100.0028848622815, 0.013938567384741418, 4.712345016940555, 0.01, 245.9001981216816, 45.352077675821775)); + right.setSegment(171, new Trajectory.Segment(96.64751052523975, 29.999718277863966, + -99.99701566701411, -0.013938326333118312, 4.712345016940555, 0.01, 226.10019814081616, 45.35294815201537)); + + + left.setSegment(172, new Trajectory.Segment(96.93746698078782, 29.000325000129646, + -100.00274359470964, 0.01412675718626133, 4.712344724874031, 0.01, 245.90018532936867, 45.06207442610262)); + right.setSegment(172, new Trajectory.Segment(96.93750799232387, 28.999746708411987, + -99.99715694519793, -0.014127818381837187, 4.712344724874031, 0.01, 226.1001853487583, 45.06295068521339)); + + + left.setSegment(173, new Trajectory.Segment(97.21746997068897, 28.00029899011513, + -100.00260100145155, 0.01425932580900735, 4.712344459582605, 0.01, 245.90017290016536, 44.78207143647733)); + right.setSegment(173, new Trajectory.Segment(97.2175057294548, 27.999773713092377, + -99.99729953196095, -0.014258676301892592, 4.712344459582605, 0.01, 226.10017291978815, 44.78295294835832)); + + + left.setSegment(174, new Trajectory.Segment(97.48747271482463, 27.000274413566622, + -100.00245765485083, 0.014334660072279348, 4.712344219618339, 0.01, 245.9001608466775, 44.51206869261071)); + right.setSegment(174, new Trajectory.Segment(97.48750372229802, 26.99979928432104, + -99.99744287713384, -0.014334517288716597, 4.712344219618339, 0.01, 226.10016086651243, 44.51295495578415)); + + + left.setSegment(175, new Trajectory.Segment(97.74747522754996, 26.000251272532058, + -100.00231410345641, 0.014355139441590836, 4.712344003531226, 0.01, 245.9001491803526, 44.252066180147125)); + right.setSegment(175, new Trajectory.Segment(97.7475019564985, 25.99982342004752, + -99.99758642735195, -0.014355021811240931, 4.712344003531226, 0.01, 226.1001492003795, 44.25295672184541)); + + + left.setSegment(176, new Trajectory.Segment(97.99747752318596, 25.000229563600918, + -100.00217089311398, 0.014321034242925634, 4.712343809874638, 0.01, 245.90013791153777, 44.002063884765086)); + right.setSegment(176, new Trajectory.Segment(97.99750041773407, 24.999846123557433, + -99.9977296490087, -0.014322165675650922, 4.712343809874638, 0.01, 226.10013793173746, 44.0029582608638)); + + + left.setSegment(177, new Trajectory.Segment(98.23747961596857, 24.00020927826083, + -100.00202853400886, 0.014235910512638839, 4.712343637210654, 0.01, 245.9001270495393, 43.76206179222827)); + right.setSegment(177, new Trajectory.Segment(98.23749909176978, 23.999867403570494, + -99.99787199869381, -0.014234968510606905, 4.712343637210654, 0.01, 226.10012706989372, 43.76295958707389)); + + + left.setSegment(178, new Trajectory.Segment(98.46748151999601, 23.0001904027441, + -100.00188755167301, 0.014098233585002617, 4.712343484115247, 0.01, 245.90011660268286, 43.532059888438084)); + right.setSegment(178, new Trajectory.Segment(98.46749796450817, 22.999887273839764, + -99.998012973073, -0.014097437919247113, 4.712343484115247, 0.01, 226.10011662317496, 43.53296071457274)); + + + left.setSegment(179, new Trajectory.Segment(98.6874832491776, 22.000172918158423, + -100.00174845856762, 0.013909310538906539, 4.712343349183342, 0.01, 245.90010657837445, 43.31205815948488)); + right.setSegment(179, new Trajectory.Segment(98.68749702203803, 21.999905752986738, + -99.99815208530265, -0.013911222964679837, 4.712343349183342, 0.01, 226.1001065989883, 43.312961657271245)); + + + left.setSegment(180, new Trajectory.Segment(98.8974848171884, 21.000156801080156, + -100.00161170782675, 0.013675074086449968, 4.7123432310337074, 0.01, 245.90009698316152, 43.102056591693284)); + right.setSegment(180, new Trajectory.Segment(98.89749625068606, 20.999922864803338, + -99.99828881833999, -0.013673303733696685, 4.7123432310337074, 0.01, 226.10009700388224, 43.10296242884242)); + + + left.setSegment(181, new Trajectory.Segment(99.09748623741875, 20.00014202303491, + -100.00147780452444, 0.013390330231288772, 4.712343128313703, 0.01, 245.90008782279378, 42.902055171672714)); + right.setSegment(181, new Trajectory.Segment(99.09749563706033, 19.999938637426965, + -99.99842273763733, -0.013391929734041241, 4.712343128313703, 0.01, 226.10008784360767, 42.902963042677925)); + + + left.setSegment(182, new Trajectory.Segment(99.28748752293266, 19.00012855139211, + -100.00134716428022, 0.013064024422249076, 4.7123430397038595, 0.01, 245.90007910228405, 42.712053886358916)); + right.setSegment(182, new Trajectory.Segment(99.28749516809934, 18.999953103901078, + -99.99855335258871, -0.013061495138799728, 4.7123430397038595, 0.01, 226.10007912317843, 42.712963511839035)); + + + left.setSegment(183, new Trajectory.Segment(99.467488686419, 18.00011634863383, + -100.00122027582776, 0.012688845245634184, 4.712342963922278, 0.01, 245.9000708259678, 42.53205272306285)); + right.setSegment(183, new Trajectory.Segment(99.46749483111036, 17.999966301101587, + -99.99868027994907, -0.012692736035546659, 4.712342963922278, 0.01, 226.10007084693117, 42.53296384901829)); + + + left.setSegment(184, new Trajectory.Segment(99.63748974015616, 17.000105373714785, + -100.00109749190464, 0.012278392311770858, 4.7123428997288626, 0.01, 245.90006299756212, 42.362051669505945)); + right.setSegment(184, new Trajectory.Segment(99.63749461381789, 16.999978270752894, + -99.99880303486925, -0.012275492018432033, 4.7123428997288626, 0.01, 226.10006301858405, 42.362964066491)); + + + left.setSegment(185, new Trajectory.Segment(99.79749069596731, 16.000095581115858, + -100.00097925989273, 0.011823201191418775, 4.71234284592936, 0.01, 245.90005562022313, 42.202050713864864)); + right.setSegment(185, new Trajectory.Segment(99.7974945043989, 15.999989058100624, + -99.99892126522703, -0.01182303577706989, 4.71234284592936, 0.01, 226.10005564129418, 42.20296417608007)); + + + left.setSegment(186, new Trajectory.Segment(99.9474915651835, 15.000086921617916, + -100.00086594979417, 0.01133100985555302, 4.712342801379212, 0.01, 245.9000486966019, 42.05204984480847)); + right.setSegment(186, new Trajectory.Segment(99.94749449152215, 14.999998712325862, + -99.99903457747621, -0.011331224918365024, 4.712342801379212, 0.01, 226.10004871771366, 42.0529641891166)); + + + left.setSegment(187, new Trajectory.Segment(100.08749235860653, 14.000079342303206, + -100.000757931471, 0.010801832317497428, 4.712342764987208, 0.01, 245.90004222889831, 41.91204905153484)); + right.setSegment(187, new Trajectory.Segment(100.08749456438349, 14.000007286134453, + -99.99914261914088, -0.010804166467437426, 4.712342764987208, 0.01, 226.10004225004337, 41.91296411640465)); + + + left.setSegment(188, new Trajectory.Segment(100.21749308647766, 13.000072787113147, + -100.00065551900583, 0.010241246516784486, 4.712342735718938, 0.01, 245.9000362189132, 41.78204832380263)); + right.setSegment(188, new Trajectory.Segment(100.21749471274288, 13.000014835938206, + -99.99924501962471, -0.010240048382570421, 4.712342735718938, 0.01, 226.10003624008502, 41.78296396818419)); + + + left.setSegment(189, new Trajectory.Segment(100.33749375844356, 12.000067196590425, + -100.00055905227221, 0.009646673362340152, 4.712342712600034, 0.01, 245.9000306680975, 41.6620476519651)); + right.setSegment(189, new Trajectory.Segment(100.33749492695448, 12.000021421160707, + -99.99934147774994, -0.009645812522762753, 4.712342712600034, 0.01, 226.10003068929052, 41.662963754100964)); + + + left.setSegment(190, new Trajectory.Segment(100.44749438352595, 11.000062508239216, + -100.00046883512094, 0.009021715126777963, 4.712342694719205, 0.01, 245.90002557759968, 41.5520470270005)); + right.setSegment(190, new Trajectory.Segment(100.44749519799646, 11.000027104198235, + -99.99943169624714, -0.009021849720625141, 4.712342694719205, 0.01, 226.10002559880908, 41.55296348317677)); + + + left.setSegment(191, new Trajectory.Segment(100.54749497009423, 10.000058656827921, + -100.00038514112947, 0.00836939914705681, 4.712342681231053, 0.01, 245.90002094830956, 41.45204644053937)); + right.setSegment(191, new Trajectory.Segment(100.54749551749934, 10.000031950287623, + -99.99951539106124, -0.0083694814094315, 4.712342681231053, 0.01, 226.1000209695313, 41.45296316378104)); + + + left.setSegment(192, new Trajectory.Segment(100.6374955258398, 9.000055574556837, + -100.00030822710836, 0.007691402110765466, 4.71234267135867, 0.01, 245.9000167808996, 41.362045884890286)); + right.setSegment(192, new Trajectory.Segment(100.6374958777717, 9.000036027236256, + -99.9995923051367, -0.007691407546417395, 4.71234267135867, 0.01, 226.10001680213037, 41.362962803605164)); + + + left.setSegment(193, new Trajectory.Segment(100.71749605775254, 8.000053191274912, + -100.00023832819255, 0.006989891581099528, 4.712342664395999, 0.01, 245.90001307586294, 41.28204535306333)); + right.setSegment(193, new Trajectory.Segment(100.71749627182358, 8.000039405188316, + -99.99966220479396, -0.006989965726234004, 4.712342664395999, 0.01, 226.10001309710015, 41.282962409639076)); + + + left.setSegment(194, new Trajectory.Segment(100.78749657209961, 7.00005143470712, + -100.00017565677916, 0.006267141338867077, 4.712342659709995, 0.01, 245.90000983354824, 41.21204483879135)); + right.setSegment(194, new Trajectory.Segment(100.78749669338775, 7.000042156417329, + -99.99972487709864, -0.006267230467926765, 4.712342659709995, 0.01, 226.1000098547897, 41.21296198814999)); + + + left.setSegment(195, new Trajectory.Segment(100.84749707440653, 6.000050230691797, + -100.0001204015323, 0.005525524686333938, 4.712342656742521, 0.01, 245.9000070541906, 41.152044336548805)); + right.setSegment(195, new Trajectory.Segment(100.8474971369387, 6.000044355094538, + -99.99978013227917, -0.005525518052706957, 4.712342656742521, 0.01, 226.1000070754348, 41.15296154466342)); + + + left.setSegment(196, new Trajectory.Segment(100.89749756944053, 5.000049503400219, + -100.00007272915781, 0.0047672374492435665, 4.712342655012041, 0.01, 245.9000047379395, 41.10204384156845)); + right.setSegment(196, new Trajectory.Segment(100.89749759770919, 5.000046077049457, + -99.99982780450809, -0.004767222891643996, 4.712342655012041, 0.01, 226.10000475918528, 41.102961083946575)); + + + left.setSegment(197, new Trajectory.Segment(100.93749806119625, 4.0000491755718075, + -100.00003278284115, 0.003994631666159876, 4.712342654115054, 0.01, 245.9000028848824, 41.06204334985566)); + right.setSegment(197, new Trajectory.Segment(100.93749807170457, 4.000047399537553, + -99.99986775119041, -0.0039946682321101434, 4.712342654115054, 0.01, 226.10000290612905, 41.06296060999412)); + + + left.setSegment(198, new Trajectory.Segment(100.96749855288377, 3.0000491687521817, + -100.00000068196258, 0.003210087857041799, 4.71234265372731, 0.01, 245.9000014950651, 41.03204285820033)); + right.setSegment(198, new Trajectory.Segment(100.96749855571476, 3.0000484010192814, + -99.99989985182714, -0.0032100636730092447, 4.71234265372731, 0.01, 226.1000015163121, 41.03296012601612)); + + + left.setSegment(199, new Trajectory.Segment(100.98749904691908, 2.0000494035312033, + -99.99997652209784, 0.002415986473636167, 4.71234265360477, 0.01, 245.9000005685077, 41.01204236418648)); + right.setSegment(199, new Trajectory.Segment(100.98749904732378, 2.000049160902175, + -99.99992401171065, -0.002415988350890075, 4.71234265360477, 0.01, 226.10000058975479, 41.01295963442856)); + + + left.setSegment(200, new Trajectory.Segment(100.99749954491685, 1.0000497997760571, + -99.99996037551462, 0.0016146583220688626, 4.712342653584336, 0.01, 245.9000001052167, 41.00204186619945)); + right.setSegment(200, new Trajectory.Segment(100.99749954491695, 1.0000497593163327, + -99.99994015858422, -0.0016146873576872167, 4.712342653584336, 0.01, 226.10000012646378, 41.00295913684613)); + + + left.setSegment(201, new Trajectory.Segment(100.99999992075853, 0.2500375841681655, + -75.00122156078916, 2499.8738814725457, 4.712342653583484, 0.01, 245.89999998938228, 40.99954149036045)); + right.setSegment(201, new Trajectory.Segment(100.99999992074176, 0.25003758248133706, + -75.00121768349956, 2499.872247508466, 4.712342653583484, 0.01, 226.10000001062937, 41.000458761024)); + + + left.setSegment(202, new Trajectory.Segment(101.00000004645072, 0.00001256921963417704, + -25.002501494853135, 4999.872006593602, 4.712342653583484, 0.01, 245.89999998937645, 40.999541364668254)); + right.setSegment(202, new Trajectory.Segment(101.00000004643395, 0.00001256921963417704, + -25.00250132617029, 4999.871635732927, 4.712342653583484, 0.01, 226.10000001062355, 41.0004586353318)); + + + left.setSegment(203, new Trajectory.Segment(101.00000004645072, 0, + -0.001256921963417704, 2500.124457288972, 4.712342653583484, 0.01, 245.89999998937645, 40.999541364668254)); + right.setSegment(203, new Trajectory.Segment(101.00000004643395, 0, + -0.001256921963417704, 2500.1244404206873, 4.712342653583484, 0.01, 226.10000001062355, 41.0004586353318)); + + + + path = new Path("FarRightToLeftScaleDefensiveTwo", new Trajectory.Pair(left, right)); + return true; + } + + + // WAYPOINT_DATA: [{"position":{"x":236,"y":142},"theta":1.5707499999936907,"comment":""},{"position":{"x":236,"y":41},"theta":1.5707499999936907,"comment":""}] + // IS_REVERSED: false + // FILE_NAME: FarRightToLeftScaleDefensiveTwo + // DT: 0.01 + // MAX_VEL: 130 + // MAX_ACC: 100 + // MAX_JERK: 9999 + // WHEEL_BASE: 19.8 + // PACKAGE: org.frc5687.powerup.robot.commands.auto.paths + // PARENT: DynamicPathCommand +} \ No newline at end of file From 8b18a9034ed19870daadaf968bbd92a2345e9a79 Mon Sep 17 00:00:00 2001 From: Caleb Marston Date: Tue, 10 Apr 2018 17:03:37 -0400 Subject: [PATCH 04/10] replace trajectories with auto drive --- .../powerup/robot/commands/auto/AutoGroup.java | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java index 4b93c0bb..4d82e171 100644 --- a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java +++ b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java @@ -8,7 +8,9 @@ import org.frc5687.powerup.robot.commands.*; import org.frc5687.powerup.robot.commands.actions.IntakeToScale; import org.frc5687.powerup.robot.commands.actions.IntakeToSwitch; +import org.frc5687.powerup.robot.commands.actions.IntakeToFloor; import org.frc5687.powerup.robot.commands.auto.paths.*; +import org.frc5687.powerup.robot.commands.auto.AutoIntake; /** * Created by Ben Bernard on 2/2/2018. @@ -523,10 +525,16 @@ private void secondCubeToLeftSwitch(Robot robot) { private void farLeftToRightScale(Robot robot) { addParallel(new AutoZeroCarriageThenLower(robot)); addSequential(new FarLeftToRightScaleDeadPartOne(robot)); + addParallel(new IntakeToFloor(robot.getCarriage(), robot.getArm())); addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 90, Constants.Auto.Align.SPEED, 5000)); - //addSequential(new FarRightToLeftScaleDefensiveOne(robot)); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 52, 0.75, false, true, 3000, "move a bit")); //addParallel(new PrepIntakeForScale(robot, 1600, false)); - addParallel(new AutoEjectAfterNMillis(robot.getIntake(), Constants.Intake.DROP_SPEED, FarLeftToRightScaleDeadPartThree.duration - 340)); + addParallel(new AutoEjectAfterNMillis(robot.getIntake(), Constants.Intake.DROP_SPEED, 300)); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), -80, 0.75, false, true, 3000, "move a bit")); + addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 125, Constants.Auto.Align.SPEED, 3000)); + addParallel(new AutoIntake(robot.getIntake())); + addParallel(new IntakeToFloor(robot.getCarriage(), robot.getArm())); + //addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 24, 0.75, false, true, 3000, "move a bit")); //addSequential(new FarRightToLeftScaleDefensiveTwo(robot)); //addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), -25, Constants.Auto.Align.SPEED, 3000)); //addParallel(new AutoEjectAfterNMillis(robot.getIntake(), Constants.Intake.DROP_SPEED, FarLeftToRightScaleDeadPartThree.duration - 340)); From e2d3ad0f86d0a27244cb640944cc9a21f8b747b5 Mon Sep 17 00:00:00 2001 From: Caleb Marston Date: Tue, 10 Apr 2018 17:30:53 -0400 Subject: [PATCH 05/10] refactor into own function --- .../org/frc5687/powerup/robot/Constants.java | 1 + .../robot/commands/auto/AutoGroup.java | 42 +++++++++++++++++++ 2 files changed, 43 insertions(+) diff --git a/src/main/java/org/frc5687/powerup/robot/Constants.java b/src/main/java/org/frc5687/powerup/robot/Constants.java index c25f2864..9101b01d 100644 --- a/src/main/java/org/frc5687/powerup/robot/Constants.java +++ b/src/main/java/org/frc5687/powerup/robot/Constants.java @@ -486,6 +486,7 @@ public class Mode { public static final int SCALE_THEN_SCALE = 3; public static final int SWITCH_THEN_SWITCH = 4; public static final int SCALE_THEN_SWITCH = 5; + public static final int DEFENSIVE_OPPOSITE = 6; public static final int SWITCH_DRIVE = 1001; public static final int SWITCH_ONLY = 10002; public static final int SCALE_DRIVE = 1003; diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java index 4d82e171..98abfb90 100644 --- a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java +++ b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java @@ -150,6 +150,35 @@ public AutoGroup(int mode, int position, int switchSide, int scaleSide, long del break; } break; + case Constants.AutoChooser.Mode.DEFENSIVE_OPPOSITE: + SmartDashboard.putString("Auto/Mode", "DEFENSIVE_OPPOSITE"); + switch (scaleFactor) { + case -Constants.AutoChooser.Position.FAR_LEFT: + farLeftToLeftScale(robot); + break; + case Constants.AutoChooser.Position.FAR_LEFT: + if (!stayInYourOwnLane) { // Traverse allowed + farLeftToRightScale(robot); + } else if (switchSide == Constants.AutoChooser.LEFT) { // Traverse not allowed. Go for switch + farLeftToLeftSwitch(robot); + } else { + buildAutoCross(robot); + } + break; + case -Constants.AutoChooser.Position.FAR_RIGHT: + if (!stayInYourOwnLane) { // Traverse allowed + farRightToLeftScale(robot); + } else if (switchSide == Constants.AutoChooser.RIGHT){ // Traverse !allowed. Go for switch + farRightToRightSwitch(robot); + } else { + buildAutoCross(robot); + } + break; + case Constants.AutoChooser.Position.FAR_RIGHT: + farRightToRightScale(robot); + break; + } + break; case Constants.AutoChooser.Mode.SCALE_THEN_SCALE: switch (scaleFactor) { case -Constants.AutoChooser.Position.FAR_LEFT: @@ -548,6 +577,19 @@ private void farLeftToRightScale(Robot robot) { //addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), -110, Constants.Auto.Align.SPEED, 4000)); } + private void farLeftDefensive(Robot robot) { + addParallel(new AutoZeroCarriageThenLower(robot)); + addSequential(new FarLeftToRightScaleDeadPartOne(robot)); + addParallel(new IntakeToFloor(robot.getCarriage(), robot.getArm())); + addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 90, Constants.Auto.Align.SPEED, 5000)); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 52, 0.75, false, true, 3000, "goes halfway accross field")); + addParallel(new AutoEjectAfterNMillis(robot.getIntake(), Constants.Intake.DROP_SPEED, 300)); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), -80, 0.75, false, true, 3000, "moves back")); + addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 125, Constants.Auto.Align.SPEED, 3000)); + addParallel(new AutoIntake(robot.getIntake())); + addParallel(new IntakeToFloor(robot.getCarriage(), robot.getArm())); + } + private void farRightToLeftScale(Robot robot) { addParallel(new AutoZeroCarriageThenLower(robot)); addSequential(new FarRightToLeftScaleDeadPartOne(robot)); From dfc0f1b1bec6e6c93afb78be5b1874be95727c44 Mon Sep 17 00:00:00 2001 From: Caleb Marston Date: Tue, 10 Apr 2018 17:40:09 -0400 Subject: [PATCH 06/10] revert changes on left opposite auto --- .../robot/commands/auto/AutoGroup.java | 29 +++++++------------ 1 file changed, 11 insertions(+), 18 deletions(-) diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java index 98abfb90..3db68206 100644 --- a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java +++ b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java @@ -554,29 +554,22 @@ private void secondCubeToLeftSwitch(Robot robot) { private void farLeftToRightScale(Robot robot) { addParallel(new AutoZeroCarriageThenLower(robot)); addSequential(new FarLeftToRightScaleDeadPartOne(robot)); - addParallel(new IntakeToFloor(robot.getCarriage(), robot.getArm())); - addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 90, Constants.Auto.Align.SPEED, 5000)); - addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 52, 0.75, false, true, 3000, "move a bit")); - //addParallel(new PrepIntakeForScale(robot, 1600, false)); - addParallel(new AutoEjectAfterNMillis(robot.getIntake(), Constants.Intake.DROP_SPEED, 300)); - addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), -80, 0.75, false, true, 3000, "move a bit")); - addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 125, Constants.Auto.Align.SPEED, 3000)); - addParallel(new AutoIntake(robot.getIntake())); - addParallel(new IntakeToFloor(robot.getCarriage(), robot.getArm())); - //addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 24, 0.75, false, true, 3000, "move a bit")); - //addSequential(new FarRightToLeftScaleDefensiveTwo(robot)); - //addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), -25, Constants.Auto.Align.SPEED, 3000)); - //addParallel(new AutoEjectAfterNMillis(robot.getIntake(), Constants.Intake.DROP_SPEED, FarLeftToRightScaleDeadPartThree.duration - 340)); - //addSequential(new FarLeftToRightScaleDeadPartThree(robot)); + addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 89, Constants.Auto.Align.SPEED, 3000)); + addParallel(new PrepIntakeForScale(robot, 1600, false)); + addSequential(new FarLeftToRightScaleDeadPartTwo(robot)); + addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), -25, Constants.Auto.Align.SPEED, 3000)); + addParallel(new AutoEjectAfterNMillis(robot.getIntake(), Constants.Intake.DROP_SPEED, FarLeftToRightScaleDeadPartThree.duration - 340)); + addSequential(new FarLeftToRightScaleDeadPartThree(robot)); /* Go to intake position and turn towards second cube */ - //adParallel(new MoveCarriageToSetpointPIDButWaitForNMillisFirst(robot.getCarriage(), Constants.Carriage.ENCODER_BOTTOM_COMP, 700)); - //addSequential(new FarLeftToRightScaleDeadPartFour(robot)); - //addParallel(new MoveArmToSetpointPID(robot.getArm(), Constants.Arm.Pot.INTAKE)); - //addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), -110, Constants.Auto.Align.SPEED, 4000)); + addParallel(new MoveCarriageToSetpointPIDButWaitForNMillisFirst(robot.getCarriage(), Constants.Carriage.ENCODER_BOTTOM_COMP, 700)); + addSequential(new FarLeftToRightScaleDeadPartFour(robot)); + addParallel(new MoveArmToSetpointPID(robot.getArm(), Constants.Arm.Pot.INTAKE)); + addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), -110, Constants.Auto.Align.SPEED, 4000)); } + private void farLeftDefensive(Robot robot) { addParallel(new AutoZeroCarriageThenLower(robot)); addSequential(new FarLeftToRightScaleDeadPartOne(robot)); From 78b7f20e7e0e933be2b512f9004144fe2a07dea9 Mon Sep 17 00:00:00 2001 From: Caleb Marston Date: Tue, 10 Apr 2018 17:54:40 -0400 Subject: [PATCH 07/10] add reference to defensive auto --- .../java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java | 2 +- src/main/java/org/frc5687/powerup/robot/utils/AutoChooser.java | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java index 3db68206..d6bf503d 100644 --- a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java +++ b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java @@ -158,7 +158,7 @@ public AutoGroup(int mode, int position, int switchSide, int scaleSide, long del break; case Constants.AutoChooser.Position.FAR_LEFT: if (!stayInYourOwnLane) { // Traverse allowed - farLeftToRightScale(robot); + farLeftDefensive(robot); } else if (switchSide == Constants.AutoChooser.LEFT) { // Traverse not allowed. Go for switch farLeftToLeftSwitch(robot); } else { diff --git a/src/main/java/org/frc5687/powerup/robot/utils/AutoChooser.java b/src/main/java/org/frc5687/powerup/robot/utils/AutoChooser.java index 13f5de87..285af4e7 100644 --- a/src/main/java/org/frc5687/powerup/robot/utils/AutoChooser.java +++ b/src/main/java/org/frc5687/powerup/robot/utils/AutoChooser.java @@ -34,6 +34,7 @@ public AutoChooser(boolean isCompetitionBot) { modeLabels.put(3, "Scale Then Scale"); modeLabels.put(4, "Switch Then Switch"); modeLabels.put(5, "Scale Then Switch"); + modeLabels.put(6, "Defensive Scale"); modeLabels.put(9, "Switch using AutoDrive"); modeLabels.put(10, "Scale using AutoDrive"); From 758638fc84dc0f80ea65fdaa3fc444ce91251f40 Mon Sep 17 00:00:00 2001 From: BenBernardCIS Date: Wed, 11 Apr 2018 14:27:19 -0400 Subject: [PATCH 08/10] Tweaks to left side. Added logic to score switch if same side. Rough copy to right side (needs work). --- .../robot/commands/auto/AutoGroup.java | 52 +++++++++++++++---- 1 file changed, 43 insertions(+), 9 deletions(-) diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java index d6bf503d..769622c8 100644 --- a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java +++ b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java @@ -6,6 +6,7 @@ import org.frc5687.powerup.robot.Constants; import org.frc5687.powerup.robot.Robot; import org.frc5687.powerup.robot.commands.*; +import org.frc5687.powerup.robot.commands.actions.IntakeToDrive; import org.frc5687.powerup.robot.commands.actions.IntakeToScale; import org.frc5687.powerup.robot.commands.actions.IntakeToSwitch; import org.frc5687.powerup.robot.commands.actions.IntakeToFloor; @@ -158,7 +159,7 @@ public AutoGroup(int mode, int position, int switchSide, int scaleSide, long del break; case Constants.AutoChooser.Position.FAR_LEFT: if (!stayInYourOwnLane) { // Traverse allowed - farLeftDefensive(robot); + farLeftDefensive(robot, switchSide == Constants.AutoChooser.LEFT); } else if (switchSide == Constants.AutoChooser.LEFT) { // Traverse not allowed. Go for switch farLeftToLeftSwitch(robot); } else { @@ -167,7 +168,7 @@ public AutoGroup(int mode, int position, int switchSide, int scaleSide, long del break; case -Constants.AutoChooser.Position.FAR_RIGHT: if (!stayInYourOwnLane) { // Traverse allowed - farRightToLeftScale(robot); + farRightDefensive(robot, switchSide == Constants.AutoChooser.RIGHT); } else if (switchSide == Constants.AutoChooser.RIGHT){ // Traverse !allowed. Go for switch farRightToRightSwitch(robot); } else { @@ -570,17 +571,50 @@ private void farLeftToRightScale(Robot robot) { } - private void farLeftDefensive(Robot robot) { + private void farLeftDefensive(Robot robot, boolean doSwitch) { addParallel(new AutoZeroCarriageThenLower(robot)); - addSequential(new FarLeftToRightScaleDeadPartOne(robot)); + // addSequential(new FarLeftToRightScaleDeadPartOne(robot)); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 204, 0.75, true, true, 6000, "pass the switch")); addParallel(new IntakeToFloor(robot.getCarriage(), robot.getArm())); - addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 90, Constants.Auto.Align.SPEED, 5000)); - addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 52, 0.75, false, true, 3000, "goes halfway accross field")); - addParallel(new AutoEjectAfterNMillis(robot.getIntake(), Constants.Intake.DROP_SPEED, 300)); - addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), -80, 0.75, false, true, 3000, "moves back")); - addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 125, Constants.Auto.Align.SPEED, 3000)); + addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 90, Constants.Auto.Align.SPEED, 4000)); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 52, 0.75, true, true, 3000, "goes halfway accross field")); + addParallel(new AutoEject(robot.getIntake(), Constants.Intake.DROP_SPEED)); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), -72, 0.75, true, true, 3000, "moves back")); + addSequential(new IntakeToFloor(robot.getCarriage(), robot.getArm())); + addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 150, Constants.Auto.Align.SPEED, 3000)); addParallel(new AutoIntake(robot.getIntake())); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 12, 0.6, true, true, 2000, "attack cube")); + if (doSwitch) { + DriverStation.reportError("Attacking swithc", false); + addSequential(new MoveCarriageToSetpointPID(robot.getCarriage(), Constants.Carriage.ENCODER_TOP_COMP, 2000)); + addSequential(new IntakeToSwitch(robot.getCarriage(), robot.getArm())); + addSequential(new AutoEject(robot.getIntake(), Constants.Intake.OUTTAKE_SPEED)); + } + addParallel(new IntakeToDrive(robot.getCarriage(), robot.getArm())); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), -24, 0.6, true, true, 2000, "reposition")); + } + + private void farRightDefensive(Robot robot, boolean doSwitch) { + addParallel(new AutoZeroCarriageThenLower(robot)); + // addSequential(new FarLeftToRightScaleDeadPartOne(robot)); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 204, 0.75, true, true, 6000, "pass the switch")); addParallel(new IntakeToFloor(robot.getCarriage(), robot.getArm())); + addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), -90, Constants.Auto.Align.SPEED, 4000)); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 78, 0.75, true, true, 3000, "goes halfway accross field")); + addParallel(new AutoEject(robot.getIntake(), Constants.Intake.DROP_SPEED)); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), -72, 0.75, true, true, 3000, "moves back")); + addSequential(new IntakeToFloor(robot.getCarriage(), robot.getArm())); + addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), -150, Constants.Auto.Align.SPEED, 3000)); + addParallel(new AutoIntake(robot.getIntake())); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 24, 0.6, true, true, 2000, "attack cube")); + if (doSwitch) { + DriverStation.reportError("Attacking swithc", false); + addSequential(new MoveCarriageToSetpointPID(robot.getCarriage(), Constants.Carriage.ENCODER_TOP_COMP, 2000)); + addSequential(new IntakeToSwitch(robot.getCarriage(), robot.getArm())); + addSequential(new AutoEject(robot.getIntake(), Constants.Intake.OUTTAKE_SPEED)); + } + addParallel(new IntakeToDrive(robot.getCarriage(), robot.getArm())); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), -24, 0.6, true, true, 2000, "reposition")); } private void farRightToLeftScale(Robot robot) { From bead4d1a9db234ad3dc99afb94926b3fc976b682 Mon Sep 17 00:00:00 2001 From: BenBernardCIS Date: Fri, 13 Apr 2018 15:34:40 -0400 Subject: [PATCH 09/10] Moving defensive logic to a coop mode. --- .../org/frc5687/powerup/robot/Constants.java | 18 ++++++- .../java/org/frc5687/powerup/robot/Robot.java | 5 +- .../org/frc5687/powerup/robot/RobotMap.java | 2 +- .../robot/commands/auto/AutoGroup.java | 16 ++++-- .../powerup/robot/utils/AutoChooser.java | 52 ++++++++++++++----- 5 files changed, 73 insertions(+), 20 deletions(-) diff --git a/src/main/java/org/frc5687/powerup/robot/Constants.java b/src/main/java/org/frc5687/powerup/robot/Constants.java index 9101b01d..6ab9aa0c 100644 --- a/src/main/java/org/frc5687/powerup/robot/Constants.java +++ b/src/main/java/org/frc5687/powerup/robot/Constants.java @@ -486,12 +486,28 @@ public class Mode { public static final int SCALE_THEN_SCALE = 3; public static final int SWITCH_THEN_SWITCH = 4; public static final int SCALE_THEN_SWITCH = 5; - public static final int DEFENSIVE_OPPOSITE = 6; public static final int SWITCH_DRIVE = 1001; public static final int SWITCH_ONLY = 10002; public static final int SCALE_DRIVE = 1003; public static final int SCALE_ONLY = 1004; } + + public class Coop { + public static final int DELAY_0 = 0; + public static final int DELAY_1 = 1; + public static final int DELAY_2 = 2; + public static final int DELAY_3 = 3; + public static final int DELAY_4 = 4; + public static final int DELAY_5 = 5; + public static final int DELAY_6 = 6; + public static final int DELAY_7 = 7; + public static final int DELAY_8 = 8; + public static final int DELAY_9 = 9; + public static final int DEFENSE = 10; + public static final int STAY_IN_LANE = 11; + } + + } public class Limits { /*** diff --git a/src/main/java/org/frc5687/powerup/robot/Robot.java b/src/main/java/org/frc5687/powerup/robot/Robot.java index a712e647..64f1a544 100644 --- a/src/main/java/org/frc5687/powerup/robot/Robot.java +++ b/src/main/java/org/frc5687/powerup/robot/Robot.java @@ -148,15 +148,16 @@ public void autonomousInit() { } int autoPosition = _autoChooser.positionSwitchValue(); int autoMode = _autoChooser.modeSwitchValue(); + int coopMode = _autoChooser.coopSwitchValue(); boolean stayInYourOwnLane = _autoChooser.stayInYourOwnLane(); long autoDelayInMillis = _autoChooser.getDelayMillis(); SmartDashboard.putNumber("Auto/SwitchSide", switchSide); SmartDashboard.putNumber("Auto/ScaleSide", scaleSide); SmartDashboard.putNumber("Auto/Position", autoPosition); SmartDashboard.putNumber("Auto/Mode", autoMode); - SmartDashboard.putString("Auto/Delay", Long.toString(autoDelayInMillis) + "ms"); + SmartDashboard.putNumber("Auto/Coop", coopMode); DriverStation.reportError("Running AutoGroup with mode: " + autoMode + ", position: " + autoPosition + ", delay:" + Long.toString(autoDelayInMillis) + "ms, switchSide: " + switchSide + ", scaleSide: " + scaleSide, false); - autoCommand = new AutoGroup(autoMode, autoPosition, switchSide, scaleSide, autoDelayInMillis,stayInYourOwnLane, this); + autoCommand = new AutoGroup(autoMode, autoPosition, switchSide, scaleSide, autoDelayInMillis,coopMode, this); autoCommand.start(); } diff --git a/src/main/java/org/frc5687/powerup/robot/RobotMap.java b/src/main/java/org/frc5687/powerup/robot/RobotMap.java index 1c1e6ff2..414bfb54 100644 --- a/src/main/java/org/frc5687/powerup/robot/RobotMap.java +++ b/src/main/java/org/frc5687/powerup/robot/RobotMap.java @@ -47,7 +47,7 @@ public class Climber { public class AutoChooser { public static final int POSITION_SWITCH = ANALOG.RIO2; public static final int MODE_SWITCH = ANALOG.RIO3; - public static final int DELAY_SWITCH = ANALOG.navX5; + public static final int COOP_SWITCH = ANALOG.navX5; } public class PDP { diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java index 769622c8..f311eadf 100644 --- a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java +++ b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java @@ -17,10 +17,12 @@ * Created by Ben Bernard on 2/2/2018. */ public class AutoGroup extends CommandGroup { - public AutoGroup(int mode, int position, int switchSide, int scaleSide, long delayInMillis, boolean stayInYourOwnLane, Robot robot) { + public AutoGroup(int mode, int position, int switchSide, int scaleSide, long delayInMillis, int coopMode, Robot robot) { super(); int switchFactor = switchSide * (position ); int scaleFactor = scaleSide * (position); + boolean stayInYourOwnLane = coopMode == Constants.AutoChooser.Coop.STAY_IN_LANE; + boolean defensive = coopMode == Constants.AutoChooser.Coop.DEFENSE; /* if (robot.getCarriage().isHealthy()) { addParallel(new AutoZeroCarriage(robot.getCarriage())); @@ -129,8 +131,11 @@ public AutoGroup(int mode, int position, int switchSide, int scaleSide, long del farLeftToLeftScale(robot); break; case Constants.AutoChooser.Position.FAR_LEFT: - if (!stayInYourOwnLane) { // Traverse allowed + if (!(stayInYourOwnLane || defensive)) { // Traverse allowed farLeftToRightScale(robot); + } else if (defensive) { + // Drop off the cube...then + farLeftDefensive(robot, switchSide == Constants.AutoChooser.LEFT); } else if (switchSide == Constants.AutoChooser.LEFT) { // Traverse not allowed. Go for switch farLeftToLeftSwitch(robot); } else { @@ -138,8 +143,10 @@ public AutoGroup(int mode, int position, int switchSide, int scaleSide, long del } break; case -Constants.AutoChooser.Position.FAR_RIGHT: - if (!stayInYourOwnLane) { // Traverse allowed + if (!(stayInYourOwnLane || defensive)) { // Traverse allowed farRightToLeftScale(robot); + } else if (defensive) { + farRightDefensive(robot, switchSide == Constants.AutoChooser.RIGHT); } else if (switchSide == Constants.AutoChooser.RIGHT){ // Traverse !allowed. Go for switch farRightToRightSwitch(robot); } else { @@ -151,7 +158,7 @@ public AutoGroup(int mode, int position, int switchSide, int scaleSide, long del break; } break; - case Constants.AutoChooser.Mode.DEFENSIVE_OPPOSITE: + /* case Constants.AutoChooser.Mode.DEFENSIVE_OPPOSITE: SmartDashboard.putString("Auto/Mode", "DEFENSIVE_OPPOSITE"); switch (scaleFactor) { case -Constants.AutoChooser.Position.FAR_LEFT: @@ -180,6 +187,7 @@ public AutoGroup(int mode, int position, int switchSide, int scaleSide, long del break; } break; +*/ case Constants.AutoChooser.Mode.SCALE_THEN_SCALE: switch (scaleFactor) { case -Constants.AutoChooser.Position.FAR_LEFT: diff --git a/src/main/java/org/frc5687/powerup/robot/utils/AutoChooser.java b/src/main/java/org/frc5687/powerup/robot/utils/AutoChooser.java index 285af4e7..3df8586a 100644 --- a/src/main/java/org/frc5687/powerup/robot/utils/AutoChooser.java +++ b/src/main/java/org/frc5687/powerup/robot/utils/AutoChooser.java @@ -13,9 +13,10 @@ public class AutoChooser { private RotarySwitch positionSwitch; private RotarySwitch modeSwitch; - private RotarySwitch delaySwitch; + private RotarySwitch coopSwitch; private Map positionLabels; private Map modeLabels; + private Map coopLabels; private Map delayQuantities; public AutoChooser(boolean isCompetitionBot) { @@ -38,6 +39,19 @@ public AutoChooser(boolean isCompetitionBot) { modeLabels.put(9, "Switch using AutoDrive"); modeLabels.put(10, "Scale using AutoDrive"); + coopLabels = new HashMap(); + coopLabels.put(0, "0"); + coopLabels.put(1, "250"); + coopLabels.put(2, "500"); + coopLabels.put(3, "750"); + coopLabels.put(4, "1000"); + coopLabels.put(5, "1250"); + coopLabels.put(6, "1500"); + coopLabels.put(7, "1750"); + coopLabels.put(8, "2000"); + coopLabels.put(9, "Defensive"); + coopLabels.put(10, "Stay in Lane"); + delayQuantities = new HashMap(); delayQuantities.put(0, 0); delayQuantities.put(1, 250); @@ -50,15 +64,17 @@ public AutoChooser(boolean isCompetitionBot) { delayQuantities.put(8, 2000); delayQuantities.put(9, 2500); delayQuantities.put(10, 3000); + delayQuantities.put(11, 3500); + delayQuantities.put(10, 3000); if (isCompetitionBot) { positionSwitch = new RotarySwitch(RobotMap.AutoChooser.POSITION_SWITCH, Constants.RotarySwitch.TOLERANCE, 0.07692, 0.15384, 0.23076, 0.30768, 0.3846, 0.46152, 0.53844, 0.61536, 0.69228, 0.7692, 0.84612, 0.92304); modeSwitch = new RotarySwitch(RobotMap.AutoChooser.MODE_SWITCH, Constants.RotarySwitch.TOLERANCE, 0.07692, 0.15384, 0.23076, 0.30768, 0.3846, 0.46152, 0.53844, 0.61536, 0.69228, 0.7692, 0.84612, 0.92304); - delaySwitch = new RotarySwitch(RobotMap.AutoChooser.DELAY_SWITCH, Constants.RotarySwitch.TOLERANCE, 0.07692, 0.15384, 0.23076, 0.30768, 0.3846, 0.46152, 0.53844, 0.61536, 0.69228, 0.7692, 0.84612, 0.92304); + coopSwitch = new RotarySwitch(RobotMap.AutoChooser.COOP_SWITCH, Constants.RotarySwitch.TOLERANCE, 0.07692, 0.15384, 0.23076, 0.30768, 0.3846, 0.46152, 0.53844, 0.61536, 0.69228, 0.7692, 0.84612, 0.92304); } else { positionSwitch = new RotarySwitch(RobotMap.AutoChooser.POSITION_SWITCH, Constants.RotarySwitch.TOLERANCE * 3, .092, .235, .505, .680, .823, .958); modeSwitch = new RotarySwitch(RobotMap.AutoChooser.MODE_SWITCH, Constants.RotarySwitch.TOLERANCE, .09, .17, .23, .31, .5, .59, .68, .75, .82, .91, .96); - delaySwitch = new RotarySwitch(RobotMap.AutoChooser.DELAY_SWITCH, Constants.RotarySwitch.TOLERANCE, 0.07692, 0.15384, 0.23076, 0.30768, 0.3846, 0.46152, 0.53844, 0.61536, 0.69228, 0.7692, 0.84612, 0.92304); + coopSwitch = new RotarySwitch(RobotMap.AutoChooser.COOP_SWITCH, Constants.RotarySwitch.TOLERANCE, 0.07692, 0.15384, 0.23076, 0.30768, 0.3846, 0.46152, 0.53844, 0.61536, 0.69228, 0.7692, 0.84612, 0.92304); } } @@ -71,8 +87,8 @@ public int modeSwitchValue(){ return modeSwitch.get(); } - public int delaySwitchValue(){ - return delaySwitch.get(); + public int coopSwitchValue(){ + return coopSwitch.get(); } private String getPositionLabel() { @@ -89,18 +105,29 @@ private String getModeLabel() { return modeLabels.getOrDefault(mode, "Unused"); } + private String getCoopLabel() { + int coop = coopSwitchValue(); + return coopLabels.getOrDefault(coop, "Unused"); + } + private String getModeLabel(int mode) { return modeLabels.getOrDefault(mode, "Unused"); } public Integer getDelayMillis() { - int val = delaySwitchValue(); - return delayQuantities.getOrDefault(val, 0); + int val = coopSwitchValue(); + switch (val) { + case Constants.AutoChooser.Coop.DEFENSE: + case Constants.AutoChooser.Coop.STAY_IN_LANE: + return delayQuantities.getOrDefault(0, 0); + default: + return delayQuantities.getOrDefault(val, 0); + } } public boolean stayInYourOwnLane() { - int val = delaySwitchValue(); - return val == 11; + int val = coopSwitchValue(); + return val == Constants.AutoChooser.Coop.STAY_IN_LANE; } private Integer getDelayMillis(int val) { @@ -110,14 +137,15 @@ private Integer getDelayMillis(int val) { public void updateDashboard(){ SmartDashboard.putString("AutoChooser/Label/Position", getPositionLabel()); SmartDashboard.putString("AutoChooser/Label/Mode", getModeLabel()); - SmartDashboard.putString("AutoChooser/Label/Delay", Long.toString(getDelayMillis()) + "ms"); + SmartDashboard.putString("AutoChooser/Label/Coop", getCoopLabel()); + SmartDashboard.putNumber("AutoChooser/Label/Delay", getDelayMillis()); SmartDashboard.putBoolean("AutoChooser/Label/stayInYourOwnLane", stayInYourOwnLane()); SmartDashboard.putNumber("AutoChooser/Raw/Position", positionSwitch.getRaw()); SmartDashboard.putNumber("AutoChooser/Raw/Mode", modeSwitch.getRaw()); - SmartDashboard.putNumber("AutoChooser/Raw/Delay", delaySwitch.getRaw()); + SmartDashboard.putNumber("AutoChooser/Raw/Coop", coopSwitch.getRaw()); SmartDashboard.putNumber("AutoChooser/Numeric/Position", positionSwitchValue()); SmartDashboard.putNumber("AutoChooser/Numeric/Mode", modeSwitchValue()); - SmartDashboard.putNumber("AutoChooser/Numeric/Delay", delaySwitchValue()); + SmartDashboard.putNumber("AutoChooser/Numeric/Coop", coopSwitchValue()); // SmartDashboard.putString("AutoChooser/Selection", AutoGroup.getDescription(springSwitch.get(), gearSwitch.get(), hopperSwitch.get())); } } From e8d8312b48f330341bf049c71b99857f17f63125 Mon Sep 17 00:00:00 2001 From: BenBernardCIS Date: Sun, 22 Apr 2018 08:51:24 -0400 Subject: [PATCH 10/10] Abort and defensive Adjusted autoalign maxpitch and maxroll to 7 Added static requestAbort to Robot Cleaned up autochoosers for defensive mode Tested it all on Jitterbug --- .../org/frc5687/powerup/robot/Constants.java | 4 +- .../java/org/frc5687/powerup/robot/Robot.java | 21 ++++-- .../robot/commands/auto/AutoAlign.java | 4 +- .../robot/commands/auto/AutoGroup.java | 71 +++++++++---------- .../powerup/robot/utils/AutoChooser.java | 11 +-- 5 files changed, 59 insertions(+), 52 deletions(-) diff --git a/src/main/java/org/frc5687/powerup/robot/Constants.java b/src/main/java/org/frc5687/powerup/robot/Constants.java index 5d8485cb..aff6d14d 100644 --- a/src/main/java/org/frc5687/powerup/robot/Constants.java +++ b/src/main/java/org/frc5687/powerup/robot/Constants.java @@ -153,8 +153,8 @@ public class Auto { public static final double MIN_IMU_ANGLE = -180; public static final double MAX_IMU_ANGLE = 180; - public static final double MAX_PITCH = 1.5; - public static final double MAX_ROLL = 1.5; + public static final double MAX_PITCH = 7.0; + public static final double MAX_ROLL = 7.0; public class Align { diff --git a/src/main/java/org/frc5687/powerup/robot/Robot.java b/src/main/java/org/frc5687/powerup/robot/Robot.java index 89ddebfe..d4b65f80 100644 --- a/src/main/java/org/frc5687/powerup/robot/Robot.java +++ b/src/main/java/org/frc5687/powerup/robot/Robot.java @@ -20,7 +20,7 @@ public class Robot extends TimedRobot { - // I really don't like the idea of public static refrences to subsystems... + private static Robot _instance; private Command autoCommand; @@ -58,6 +58,7 @@ public void startCompetition() { @Override public void robotInit() { + _instance = this; _identityFlag = new DigitalInput(RobotMap.IDENTITY_FLAG); _isCompetitionBot = _identityFlag.get(); imu = new AHRS(SPI.Port.kMXP, (byte) 100); @@ -78,13 +79,17 @@ public void robotInit() { setPeriod(1 / Constants.CYCLES_PER_SECOND); try { - // camera0 = CameraServer.getInstance().startAutomaticCapture(0); + if (isCompetitionBot()) { + camera0 = CameraServer.getInstance().startAutomaticCapture(0); + } } catch (Exception e) { DriverStation.reportError(e.getMessage(), true); } try { - // camera1 = CameraServer.getInstance().startAutomaticCapture(1); + if (isCompetitionBot()) { + camera1 = CameraServer.getInstance().startAutomaticCapture(1); + } } catch (Exception e) { DriverStation.reportError(e.getMessage(), true); } @@ -159,8 +164,8 @@ public void autonomousInit() { SmartDashboard.putNumber("Auto/Position", autoPosition); SmartDashboard.putNumber("Auto/Mode", autoMode); SmartDashboard.putNumber("Auto/Coop", coopMode); - DriverStation.reportError("Running AutoGroup with mode: " + autoMode + ", position: " + autoPosition + ", delay:" + Long.toString(autoDelayInMillis) + "ms, switchSide: " + switchSide + ", scaleSide: " + scaleSide, false); - autoCommand = new AutoGroup(autoMode, autoPosition, switchSide, scaleSide, autoDelayInMillis,coopMode, this); + DriverStation.reportError("Running AutoGroup with mode: " + autoMode + ", position: " + autoPosition + ", delay:" + Long.toString(autoDelayInMillis) + "ms, switchSide: " + switchSide + ", scaleSide: " + scaleSide + ", coop: " + coopMode, false); + autoCommand = new AutoGroup(autoMode, autoPosition, switchSide, scaleSide, autoDelayInMillis, coopMode, this); autoCommand.start(); } @@ -293,5 +298,11 @@ public boolean isManualLightFlashRequested() { public void requestAbortAuton() { abortAuton = true; + DriverStation.reportError("Auto abort requested", true); } + + public static void requestAbortAutonStatic() { + _instance.requestAbortAuton(); + } + } diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoAlign.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoAlign.java index 5e6c5910..b617dea5 100644 --- a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoAlign.java +++ b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoAlign.java @@ -110,14 +110,14 @@ protected void execute() { DriverStation.reportError("Excessive pitch detected (" + pitch + ")", false); this.controller.disable(); _aborted = true; - Scheduler.getInstance().removeAll(); + Robot.requestAbortAutonStatic(); } if (Math.abs(roll) > Constants.Auto.MAX_ROLL) { DriverStation.reportError("Excessive roll detected (" + roll + ")", false); this.controller.disable(); _aborted = true; - Scheduler.getInstance().removeAll(); + Robot.requestAbortAutonStatic(); } diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java index 9856a142..c9808dd5 100644 --- a/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java +++ b/src/main/java/org/frc5687/powerup/robot/commands/auto/AutoGroup.java @@ -131,92 +131,87 @@ public AutoGroup(int mode, int position, int switchSide, int scaleSide, long del SmartDashboard.putString("Auto/Mode", "Scale Only"); switch (scaleFactor) { case -Constants.AutoChooser.Position.FAR_LEFT: + DriverStation.reportError("AUTO: Left scale only from far left", false); farLeftToLeftScale(robot); break; case Constants.AutoChooser.Position.FAR_LEFT: if (!(stayInYourOwnLane || defensive)) { // Traverse allowed + DriverStation.reportError("AUTO: Right scale only from far left", false); farLeftToRightScale(robot); } else if (defensive) { // Drop off the cube...then + DriverStation.reportError("AUTO: Defensive from far left", false); farLeftDefensive(robot, switchSide == Constants.AutoChooser.LEFT); } else if (switchSide == Constants.AutoChooser.LEFT) { // Traverse not allowed. Go for switch + DriverStation.reportError("AUTO: Left switch from far left", false); farLeftToLeftSwitch(robot); } else { + DriverStation.reportError("AUTO: Auto cross from far left", false); buildAutoCross(robot); } break; case -Constants.AutoChooser.Position.FAR_RIGHT: if (!(stayInYourOwnLane || defensive)) { // Traverse allowed + DriverStation.reportError("AUTO: Left scale only from far right", false); farRightToLeftScale(robot); } else if (defensive) { + DriverStation.reportError("AUTO: Defensive from far right", false); farRightDefensive(robot, switchSide == Constants.AutoChooser.RIGHT); } else if (switchSide == Constants.AutoChooser.RIGHT){ // Traverse !allowed. Go for switch + DriverStation.reportError("AUTO: RIght switch from far right", false); farRightToRightSwitch(robot); } else { + DriverStation.reportError("AUTO: Cross the line from far right", false); buildAutoCross(robot); } break; case Constants.AutoChooser.Position.FAR_RIGHT: + DriverStation.reportError("AUTO: Right scale only from far right", false); farRightToRightScale(robot); break; } break; - /* case Constants.AutoChooser.Mode.DEFENSIVE_OPPOSITE: - SmartDashboard.putString("Auto/Mode", "DEFENSIVE_OPPOSITE"); - switch (scaleFactor) { - case -Constants.AutoChooser.Position.FAR_LEFT: - farLeftToLeftScale(robot); - break; - case Constants.AutoChooser.Position.FAR_LEFT: - if (!stayInYourOwnLane) { // Traverse allowed - farLeftDefensive(robot, switchSide == Constants.AutoChooser.LEFT); - } else if (switchSide == Constants.AutoChooser.LEFT) { // Traverse not allowed. Go for switch - farLeftToLeftSwitch(robot); - } else { - buildAutoCross(robot); - } - break; - case -Constants.AutoChooser.Position.FAR_RIGHT: - if (!stayInYourOwnLane) { // Traverse allowed - farRightDefensive(robot, switchSide == Constants.AutoChooser.RIGHT); - } else if (switchSide == Constants.AutoChooser.RIGHT){ // Traverse !allowed. Go for switch - farRightToRightSwitch(robot); - } else { - buildAutoCross(robot); - } - break; - case Constants.AutoChooser.Position.FAR_RIGHT: - farRightToRightScale(robot); - break; - } - break; -*/ case Constants.AutoChooser.Mode.SCALE_THEN_SCALE: switch (scaleFactor) { case -Constants.AutoChooser.Position.FAR_LEFT: + DriverStation.reportError("AUTO: Left scale x 2 from far left", false); farLeftToLeftScale(robot); leftScaleToSecondCube(robot); secondCubeToLeftScale(robot); break; case Constants.AutoChooser.Position.FAR_LEFT: - if (!stayInYourOwnLane) { // Traverse allowed + if (!(stayInYourOwnLane || defensive)) { // Traverse allowed + DriverStation.reportError("AUTO: Right scale from far left", false); farLeftToRightScale(robot); - } else if (switchSide == Constants.AutoChooser.LEFT) { // Traverse !allowed. Get switch. + } else if (defensive) { + // Drop off the cube...then + DriverStation.reportError("AUTO: Defensive from far left", false); + farLeftDefensive(robot, switchSide == Constants.AutoChooser.LEFT); + } else if (switchSide == Constants.AutoChooser.LEFT) { // Traverse not allowed. Go for switch + DriverStation.reportError("AUTO: Left switch from far left", false); farLeftToLeftSwitch(robot); } else { + DriverStation.reportError("AUTO: Cross the line from far left", false); buildAutoCross(robot); } break; case -Constants.AutoChooser.Position.FAR_RIGHT: - if (!stayInYourOwnLane) { // Traverse allowed. + if (!(stayInYourOwnLane || defensive)) { // Traverse allowed + DriverStation.reportError("AUTO: Left scale from far right", false); farRightToLeftScale(robot); - } else if (switchSide == Constants.AutoChooser.RIGHT) { // Traverse !allowed. Get switch. + } else if (defensive) { + DriverStation.reportError("AUTO: Defensive from far right", false); + farRightDefensive(robot, switchSide == Constants.AutoChooser.RIGHT); + } else if (switchSide == Constants.AutoChooser.RIGHT){ // Traverse !allowed. Go for switch + DriverStation.reportError("AUTO: RIght switch from far right", false); farRightToRightSwitch(robot); } else { + DriverStation.reportError("AUTO: Cross the line from far right", false); buildAutoCross(robot); } break; case Constants.AutoChooser.Position.FAR_RIGHT: + DriverStation.reportError("AUTO: Right scale only from far right", false); farRightToRightScale(robot); /* // Second cube not competition ready, so it is commented out. @@ -669,12 +664,12 @@ public RaiseCarriageAfterWaitingNMillis(Robot robot, long millis) { private void farLeftDefensive(Robot robot, boolean doSwitch) { addParallel(new AutoZeroCarriageThenLower(robot)); // addSequential(new FarLeftToRightScaleDeadPartOne(robot)); - addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 204, 0.75, true, true, 6000, "pass the switch")); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 210, 0.75, true, true, 6000, "pass the switch")); addParallel(new IntakeToFloor(robot.getCarriage(), robot.getArm())); addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 90, Constants.Auto.Align.SPEED, 4000)); addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 52, 0.75, true, true, 3000, "goes halfway accross field")); addParallel(new AutoEject(robot.getIntake(), Constants.Intake.DROP_SPEED)); - addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), -72, 0.75, true, true, 3000, "moves back")); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), -54, 0.75, true, true, 3000, "moves back")); addSequential(new IntakeToFloor(robot.getCarriage(), robot.getArm())); addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), 150, Constants.Auto.Align.SPEED, 3000)); addParallel(new AutoIntake(robot.getIntake())); @@ -692,12 +687,12 @@ private void farLeftDefensive(Robot robot, boolean doSwitch) { private void farRightDefensive(Robot robot, boolean doSwitch) { addParallel(new AutoZeroCarriageThenLower(robot)); // addSequential(new FarLeftToRightScaleDeadPartOne(robot)); - addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 204, 0.75, true, true, 6000, "pass the switch")); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 214, 0.75, true, true, 6000, "pass the switch")); addParallel(new IntakeToFloor(robot.getCarriage(), robot.getArm())); addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), -90, Constants.Auto.Align.SPEED, 4000)); addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), 78, 0.75, true, true, 3000, "goes halfway accross field")); addParallel(new AutoEject(robot.getIntake(), Constants.Intake.DROP_SPEED)); - addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), -72, 0.75, true, true, 3000, "moves back")); + addSequential(new AutoDrive(robot.getDriveTrain(), robot.getIMU(), -60, 0.75, true, true, 3000, "moves back")); addSequential(new IntakeToFloor(robot.getCarriage(), robot.getArm())); addSequential(new AutoAlign(robot.getDriveTrain(), robot.getIMU(), -150, Constants.Auto.Align.SPEED, 3000)); addParallel(new AutoIntake(robot.getIntake())); diff --git a/src/main/java/org/frc5687/powerup/robot/utils/AutoChooser.java b/src/main/java/org/frc5687/powerup/robot/utils/AutoChooser.java index b4cc594e..975aaed3 100644 --- a/src/main/java/org/frc5687/powerup/robot/utils/AutoChooser.java +++ b/src/main/java/org/frc5687/powerup/robot/utils/AutoChooser.java @@ -37,6 +37,7 @@ public AutoChooser(boolean isCompetitionBot) { modeLabels.put(5, "Scale Then Switch"); modeLabels.put(6, "Scale Then Backoff"); modeLabels.put(7, "Switch Only"); + modeLabels.put(7, "Scale Only"); coopLabels = new HashMap(); coopLabels.put(0, "0"); @@ -48,8 +49,9 @@ public AutoChooser(boolean isCompetitionBot) { coopLabels.put(6, "1500"); coopLabels.put(7, "1750"); coopLabels.put(8, "2000"); - coopLabels.put(9, "Defensive"); - coopLabels.put(10, "Stay in Lane"); + coopLabels.put(9, "2500"); + coopLabels.put(10, "Defensive"); + coopLabels.put(11, "Stay in Lane"); delayQuantities = new HashMap(); delayQuantities.put(0, 0); @@ -62,9 +64,8 @@ public AutoChooser(boolean isCompetitionBot) { delayQuantities.put(7, 1750); delayQuantities.put(8, 2000); delayQuantities.put(9, 2500); - delayQuantities.put(10, 3000); - delayQuantities.put(11, 3500); - delayQuantities.put(10, 3000); + delayQuantities.put(10, 0); + delayQuantities.put(11, 0); if (isCompetitionBot) { positionSwitch = new RotarySwitch(RobotMap.AutoChooser.POSITION_SWITCH, Constants.RotarySwitch.TOLERANCE, 0.07692, 0.15384, 0.23076, 0.30768, 0.3846, 0.46152, 0.53844, 0.61536, 0.69228, 0.7692, 0.84612, 0.92304);