From 4095cd6afe4a29db199512f1116083eb192c0d0d Mon Sep 17 00:00:00 2001 From: Kristoffer Richardsson Date: Wed, 23 May 2018 07:42:00 +0200 Subject: [PATCH] #315 Added sketch of a module-test that exercise the tdoa engine from pre-recorded data off-line --- module-test/tdoa3/Makefile | 22 + module-test/tdoa3/input/ground_truth.yaml | 14724 + module-test/tdoa3/input/toda3_8_anchors.yaml | 239911 ++++++++++++++++ module-test/tdoa3/mocks/FreeRTOS.h | 6 + module-test/tdoa3/mocks/cfassert.h | 1 + module-test/tdoa3/mocks/mocks.c | 93 + module-test/tdoa3/mocks/task.h | 8 + module-test/tdoa3/run.sh | 4 + module-test/tdoa3/runner.py | 150 + 9 files changed, 254919 insertions(+) create mode 100644 module-test/tdoa3/Makefile create mode 100644 module-test/tdoa3/input/ground_truth.yaml create mode 100644 module-test/tdoa3/input/toda3_8_anchors.yaml create mode 100644 module-test/tdoa3/mocks/FreeRTOS.h create mode 100644 module-test/tdoa3/mocks/cfassert.h create mode 100644 module-test/tdoa3/mocks/mocks.c create mode 100644 module-test/tdoa3/mocks/task.h create mode 100755 module-test/tdoa3/run.sh create mode 100644 module-test/tdoa3/runner.py diff --git a/module-test/tdoa3/Makefile b/module-test/tdoa3/Makefile new file mode 100644 index 0000000000..5e9d346b3a --- /dev/null +++ b/module-test/tdoa3/Makefile @@ -0,0 +1,22 @@ +-Wall -Wmissing-braces -fno-strict-aliasing -std=gnu11 +# Fail on warnings +CFLAGS += -Os -g3 -Werror +# Prevent promoting floats to doubles +CFLAGS += -Wdouble-promotion + +OUTDIR = ../../generated-test/module-test/tdoa3 + +$(OUTDIR)/tester.so : $(OUTDIR)/lpsTdoaTagEngine.o $(OUTDIR)/outlierFilter.o $(OUTDIR)/mocks.o + cc -shared -o $(OUTDIR)/tester.so $(OUTDIR)/lpsTdoaTagEngine.o $(OUTDIR)/outlierFilter.o $(OUTDIR)/mocks.o + +$(OUTDIR)/lpsTdoaTagEngine.o : ../../src/deck/drivers/src/lpsTdoaTagEngine.c + cc -c -fPIC $(CFLAGS) -I ../../src/modules/interface -I ../../src/deck/drivers/interface -I ../../src/hal/interface -I ../../vendor/libdw1000/inc -I mocks -o $(OUTDIR)/lpsTdoaTagEngine.o ../../src/deck/drivers/src/lpsTdoaTagEngine.c + +$(OUTDIR)/outlierFilter.o : ../../src/deck/drivers/src/outlierFilter.c + cc -c -fPIC $(CFLAGS) -I ../../src/modules/interface -I ../../src/deck/drivers/interface -I ../../src/hal/interface -I ../../vendor/libdw1000/inc -I mocks -o $(OUTDIR)/outlierFilter.o ../../src/deck/drivers/src/outlierFilter.c + +$(OUTDIR)/mocks.o : mocks/mocks.c + cc -c -fPIC $(CFLAGS) -I ../../src/modules/interface -I ../../src/deck/drivers/interface -I ../../src/hal/interface -I ../../vendor/libdw1000/inc -I mocks -o $(OUTDIR)/mocks.o mocks/mocks.c + +clean : + rm $(OUTDIR)/* \ No newline at end of file diff --git a/module-test/tdoa3/input/ground_truth.yaml b/module-test/tdoa3/input/ground_truth.yaml new file mode 100644 index 0000000000..50d9dc85da --- /dev/null +++ b/module-test/tdoa3/input/ground_truth.yaml @@ -0,0 +1,14724 @@ +--- +{rxSys: 1526996375.62159, src: mocap, x: 0.08772946166992188, y: -0.044268283843994144, + z: 0.7547420043945312} + +--- +{rxSys: 1526996375.631809, src: mocap, x: 0.08771530914306641, y: -0.04425763702392578, + z: 0.754754638671875} + +--- +{rxSys: 1526996375.637308, src: mocap, x: 0.08771733856201172, y: -0.044260337829589845, + z: 0.754752197265625} + +--- +{rxSys: 1526996375.655137, src: mocap, x: 0.08772571563720703, y: -0.04424650192260742, + z: 0.7547267456054687} + +--- +{rxSys: 1526996375.6682198, src: mocap, x: 0.08772160339355468, y: -0.04425941467285156, + z: 0.7547500610351563} + +--- +{rxSys: 1526996375.668845, src: mocap, x: 0.08771563720703125, y: -0.04425325393676758, + z: 0.7547520141601562} + +--- +{rxSys: 1526996375.677977, src: mocap, x: 0.08773361968994141, y: -0.04424815368652344, + z: 0.7547401733398438} + +--- +{rxSys: 1526996375.696525, src: mocap, x: 0.08772721862792969, y: -0.0442598876953125, + z: 0.7547488403320313} + +--- +{rxSys: 1526996375.6980538, src: mocap, x: 0.08772846221923829, y: -0.044251598358154294, + z: 0.7547501220703124} + +--- +{rxSys: 1526996375.7072, src: mocap, x: 0.08773402404785156, y: -0.04425247192382813, + z: 0.7547366943359375} + +--- +{rxSys: 1526996375.7233799, src: mocap, x: 0.08770133209228516, y: -0.044260498046875, + z: 0.7547542114257813} + +--- +{rxSys: 1526996375.7344818, src: mocap, x: 0.08772390747070312, y: -0.04426626968383789, + z: 0.7547384033203125} + +--- +{rxSys: 1526996375.737327, src: mocap, x: 0.08772071075439453, y: -0.044253787994384765, + z: 0.754739013671875} + +--- +{rxSys: 1526996375.7798479, src: mocap, x: 0.08773346710205078, y: -0.044249122619628906, + z: 0.7547604370117188} + +--- +{rxSys: 1526996375.780478, src: mocap, x: 0.08772915649414062, y: -0.044262996673583986, + z: 0.7547362670898438} + +--- +{rxSys: 1526996375.7809658, src: mocap, x: 0.08773592376708984, y: -0.044260528564453124, + z: 0.7547543334960938} + +--- +{rxSys: 1526996375.781346, src: mocap, x: 0.08772125244140624, y: -0.04424859237670899, + z: 0.75474462890625} + +--- +{rxSys: 1526996375.787989, src: mocap, x: 0.08771006774902344, y: -0.04426011276245117, + z: 0.7547423095703125} + +--- +{rxSys: 1526996375.7981708, src: mocap, x: 0.0877331314086914, y: -0.04426284027099609, + z: 0.754749755859375} + +--- +{rxSys: 1526996375.807192, src: mocap, x: 0.08772724914550781, y: -0.04424990081787109, + z: 0.7547522583007813} + +--- +{rxSys: 1526996375.826208, src: mocap, x: 0.08774520874023438, y: -0.044251628875732425, + z: 0.7547448120117187} + +--- +{rxSys: 1526996375.8269172, src: mocap, x: 0.08772799682617187, y: -0.04425243377685547, + z: 0.7547410888671875} + +--- +{rxSys: 1526996375.837207, src: mocap, x: 0.08773050689697266, y: -0.044254241943359376, + z: 0.7547359619140624} + +--- +{rxSys: 1526996375.854959, src: mocap, x: 0.08771544647216797, y: -0.044254653930664065, + z: 0.7547447509765625} + +--- +{rxSys: 1526996375.857171, src: mocap, x: 0.08772120666503906, y: -0.0442509651184082, + z: 0.7547460327148438} + +--- +{rxSys: 1526996375.876468, src: mocap, x: 0.08770950317382813, y: -0.04425129699707031, + z: 0.7547492065429687} + +--- +{rxSys: 1526996375.877138, src: mocap, x: 0.08772872924804688, y: -0.04425745010375977, + z: 0.7547374877929688} + +--- +{rxSys: 1526996375.887181, src: mocap, x: 0.0877278594970703, y: -0.044240909576416014, + z: 0.7547459716796875} + +--- +{rxSys: 1526996375.899061, src: mocap, x: 0.08771749877929688, y: -0.044253883361816404, + z: 0.754758056640625} + +--- +{rxSys: 1526996375.907205, src: mocap, x: 0.08772596740722656, y: -0.04426261901855469, + z: 0.7547462158203125} + +--- +{rxSys: 1526996375.917162, src: mocap, x: 0.0877389907836914, y: -0.044244319915771484, + z: 0.7547518920898437} + +--- +{rxSys: 1526996375.930187, src: mocap, x: 0.087728759765625, y: -0.04425592422485351, + z: 0.7547544555664063} + +--- +{rxSys: 1526996375.937369, src: mocap, x: 0.08773233032226563, y: -0.044250537872314456, + z: 0.7547393798828125} + +--- +{rxSys: 1526996375.947131, src: mocap, x: 0.08772714233398438, y: -0.04427169418334961, + z: 0.7547498168945312} + +--- +{rxSys: 1526996375.957322, src: mocap, x: 0.08771871185302735, y: -0.04425467300415039, + z: 0.7547444458007813} + +--- +{rxSys: 1526996375.973108, src: mocap, x: 0.08772763061523438, y: -0.04424940872192383, + z: 0.754753662109375} + +--- +{rxSys: 1526996375.9773471, src: mocap, x: 0.08771694946289063, y: -0.04423723220825195, + z: 0.7547533569335938} + +--- +{rxSys: 1526996375.987156, src: mocap, x: 0.08773616027832032, y: -0.04425886535644531, + z: 0.754741455078125} + +--- +{rxSys: 1526996376.052788, src: mocap, x: 0.08772592163085938, y: -0.044256248474121095, + z: 0.7547523803710937} + +--- +{rxSys: 1526996376.0532439, src: mocap, x: 0.087716552734375, y: -0.044248863220214846, + z: 0.7547395629882813} + +--- +{rxSys: 1526996376.11132, src: mocap, x: 0.08769451904296875, y: -0.044243755340576174, + z: 0.7547424926757812} + +--- +{rxSys: 1526996376.1118028, src: mocap, x: 0.08772808837890625, y: -0.04425018310546875, + z: 0.7547461547851563} + +--- +{rxSys: 1526996376.112163, src: mocap, x: 0.08770966339111329, y: -0.044263946533203126, + z: 0.7547470092773437} + +--- +{rxSys: 1526996376.112509, src: mocap, x: 0.08773051452636718, y: -0.04425412368774414, + z: 0.7547664794921874} + +--- +{rxSys: 1526996376.119618, src: mocap, x: 0.08773551177978516, y: -0.044265377044677735, + z: 0.754736328125} + +--- +{rxSys: 1526996376.120091, src: mocap, x: 0.08770634460449218, y: -0.04425505828857422, + z: 0.7547378540039062} + +--- +{rxSys: 1526996376.120456, src: mocap, x: 0.08772404479980468, y: -0.0442581787109375, + z: 0.7547575073242188} + +--- +{rxSys: 1526996376.120805, src: mocap, x: 0.08771270751953125, y: -0.04425752258300781, + z: 0.7547293090820313} + +--- +{rxSys: 1526996376.1211462, src: mocap, x: 0.08772929382324218, y: -0.04425608825683594, + z: 0.75476513671875} + +--- +{rxSys: 1526996376.121481, src: mocap, x: 0.08772444152832032, y: -0.04425044250488281, + z: 0.7547525634765625} + +--- +{rxSys: 1526996376.1221561, src: mocap, x: 0.08771842956542969, y: -0.044249919891357424, + z: 0.75475634765625} + +--- +{rxSys: 1526996376.134492, src: mocap, x: 0.08772410583496094, y: -0.0442564811706543, + z: 0.7547427978515625} + +--- +{rxSys: 1526996376.137161, src: mocap, x: 0.08771685028076172, y: -0.044254043579101565, + z: 0.7547681274414062} + +--- +{rxSys: 1526996376.149805, src: mocap, x: 0.08772467041015625, y: -0.04424394989013672, + z: 0.7547388305664062} + +--- +{rxSys: 1526996376.162312, src: mocap, x: 0.08770443725585937, y: -0.04426090621948242, + z: 0.75475390625} + +--- +{rxSys: 1526996376.167092, src: mocap, x: 0.08772341918945313, y: -0.044251209259033204, + z: 0.7547513427734375} + +--- +{rxSys: 1526996376.1778328, src: mocap, x: 0.0877322998046875, y: -0.04425568389892578, + z: 0.7547350463867187} + +--- +{rxSys: 1526996376.187176, src: mocap, x: 0.08771964263916016, y: -0.044260478973388674, + z: 0.754748291015625} + +--- +{rxSys: 1526996376.197471, src: mocap, x: 0.08772859191894532, y: -0.04426730728149414, + z: 0.7547451782226563} + +--- +{rxSys: 1526996376.207838, src: mocap, x: 0.08772518920898438, y: -0.04424652099609375, + z: 0.7547576293945313} + +--- +{rxSys: 1526996376.218118, src: mocap, x: 0.08772496032714844, y: -0.044264663696289064, + z: 0.754752685546875} + +--- +{rxSys: 1526996376.23457, src: mocap, x: 0.08771897125244141, y: -0.04424634170532227, + z: 0.7547447509765625} + +--- +{rxSys: 1526996376.2374961, src: mocap, x: 0.08773015594482422, y: -0.04425586700439453, + z: 0.75474267578125} + +--- +{rxSys: 1526996376.248436, src: mocap, x: 0.08773368072509766, y: -0.04425750732421875, + z: 0.7547537841796875} + +--- +{rxSys: 1526996376.2675378, src: mocap, x: 0.08773031616210937, y: -0.04425028991699219, + z: 0.7547491455078125} + +--- +{rxSys: 1526996376.349365, src: mocap, x: 0.08773761749267578, y: -0.04425764846801758, + z: 0.7547335815429688} + +--- +{rxSys: 1526996376.350372, src: mocap, x: 0.08773428344726562, y: -0.044251537322998045, + z: 0.7547377319335937} + +--- +{rxSys: 1526996376.3519979, src: mocap, x: 0.08772037506103515, y: -0.044264007568359375, + z: 0.7547523803710937} + +--- +{rxSys: 1526996376.3529742, src: mocap, x: 0.08773350524902344, y: -0.04425257110595703, + z: 0.7547530517578125} + +--- +{rxSys: 1526996376.353427, src: mocap, x: 0.08772071838378906, y: -0.04425453186035156, + z: 0.754762939453125} + +--- +{rxSys: 1526996376.353854, src: mocap, x: 0.08772857666015625, y: -0.044265377044677735, + z: 0.754750732421875} + +--- +{rxSys: 1526996376.3542101, src: mocap, x: 0.08771971893310547, y: -0.04426007461547852, + z: 0.754752197265625} + +--- +{rxSys: 1526996376.354552, src: mocap, x: 0.08772452545166015, y: -0.044255416870117185, + z: 0.7547496337890625} + +--- +{rxSys: 1526996376.3550332, src: mocap, x: 0.0877213134765625, y: -0.04426488876342773, + z: 0.7547503662109375} + +--- +{rxSys: 1526996376.3571892, src: mocap, x: 0.08772029876708984, y: -0.04425037002563476, + z: 0.7547496948242187} + +--- +{rxSys: 1526996376.4018502, src: mocap, x: 0.08772604370117187, y: -0.044255016326904296, + z: 0.7547478637695313} + +--- +{rxSys: 1526996376.402803, src: mocap, x: 0.08771915435791015, y: -0.04424635314941406, + z: 0.7547485961914062} + +--- +{rxSys: 1526996376.403351, src: mocap, x: 0.0877164306640625, y: -0.044242374420166014, + z: 0.7547628784179687} + +--- +{rxSys: 1526996376.403726, src: mocap, x: 0.08771632385253907, y: -0.04425710678100586, + z: 0.7547469482421875} + +--- +{rxSys: 1526996376.412493, src: mocap, x: 0.08772831726074219, y: -0.0442411003112793, + z: 0.7547529907226562} + +--- +{rxSys: 1526996376.417851, src: mocap, x: 0.08773426055908203, y: -0.04425149154663086, + z: 0.754756591796875} + +--- +{rxSys: 1526996376.427092, src: mocap, x: 0.08773422241210938, y: -0.044256576538085936, + z: 0.7547478637695313} + +--- +{rxSys: 1526996376.440407, src: mocap, x: 0.0877094955444336, y: -0.04425273895263672, + z: 0.7547496948242187} + +--- +{rxSys: 1526996376.447341, src: mocap, x: 0.08772496795654297, y: -0.044260444641113283, + z: 0.7547452392578125} + +--- +{rxSys: 1526996376.458533, src: mocap, x: 0.08769833374023438, y: -0.04425247192382813, + z: 0.7547465209960937} + +--- +{rxSys: 1526996376.473572, src: mocap, x: 0.08773581695556641, y: -0.04425514221191406, + z: 0.754749755859375} + +--- +{rxSys: 1526996376.4852118, src: mocap, x: 0.08773597717285156, y: -0.04424707794189453, + z: 0.7547470092773437} + +--- +{rxSys: 1526996376.487256, src: mocap, x: 0.08772515869140625, y: -0.04425299453735351, + z: 0.7547557373046875} + +--- +{rxSys: 1526996376.4971552, src: mocap, x: 0.08771947479248046, y: -0.044262317657470705, + z: 0.7547572631835937} + +--- +{rxSys: 1526996376.513696, src: mocap, x: 0.08772604370117187, y: -0.04426287460327148, + z: 0.7547615966796875} + +--- +{rxSys: 1526996376.517201, src: mocap, x: 0.08773580932617188, y: -0.04425472640991211, + z: 0.7547548217773438} + +--- +{rxSys: 1526996376.532227, src: mocap, x: 0.0877144775390625, y: -0.04426264953613281, + z: 0.7547520141601562} + +--- +{rxSys: 1526996376.5514822, src: mocap, x: 0.08773118591308594, y: -0.04425088500976562, + z: 0.75475} + +--- +{rxSys: 1526996376.561257, src: mocap, x: 0.08772510528564453, y: -0.04424536514282226, + z: 0.7547569580078125} + +--- +{rxSys: 1526996376.56225, src: mocap, x: 0.08772467803955078, y: -0.0442504997253418, + z: 0.7547423706054688} + +--- +{rxSys: 1526996376.5738618, src: mocap, x: 0.08772428131103516, y: -0.044252532958984375, + z: 0.7547399291992187} + +--- +{rxSys: 1526996376.57725, src: mocap, x: 0.08772830200195313, y: -0.04425695419311523, + z: 0.754743896484375} + +--- +{rxSys: 1526996376.5872629, src: mocap, x: 0.0877236328125, y: -0.04424722671508789, + z: 0.7547470092773437} + +--- +{rxSys: 1526996376.5971851, src: mocap, x: 0.08772179412841796, y: -0.04425503540039062, + z: 0.7547430419921874} + +--- +{rxSys: 1526996376.607233, src: mocap, x: 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1.3085057373046876} + +--- +{rxSys: 1526996399.625403, src: mocap, x: -0.11356266021728516, y: -0.2296667785644531, + z: 1.3076148681640625} + +--- +{rxSys: 1526996399.625577, src: mocap, x: -0.11133167266845703, y: -0.2289297637939453, + z: 1.306611083984375} + +--- +{rxSys: 1526996399.62575, src: mocap, x: -0.10912461853027344, y: -0.22823081970214842, + z: 1.305532958984375} + +--- +{rxSys: 1526996399.630327, src: mocap, x: -0.10683753967285156, y: -0.22762754821777345, + z: 1.3042279052734376} + +--- +{rxSys: 1526996399.6306481, src: mocap, x: -0.10463912963867188, y: -0.22713478088378905, + z: 1.30281103515625} + +--- +{rxSys: 1526996399.636697, src: mocap, x: -0.10250138092041015, y: -0.2267315673828125, + z: 1.3012882080078125} + +--- +{rxSys: 1526996399.64673, src: mocap, x: -0.10033929443359375, y: -0.22639471435546876, + z: 1.2996741943359376} + +--- +{rxSys: 1526996399.6945589, src: mocap, x: -0.09827053833007812, y: -0.2260827331542969, + z: 1.2979918212890624} + +--- 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src: mocap, x: -0.07802474975585938, y: -0.22160415649414061, + z: 1.2779810791015624} + +--- +{rxSys: 1526996399.768794, src: mocap, x: -0.07547393798828125, y: -0.2207114715576172, + z: 1.27513134765625} + +--- +{rxSys: 1526996399.7690701, src: mocap, x: -0.07291103363037109, y: -0.21976016235351561, + z: 1.2721641845703124} + +--- +{rxSys: 1526996399.7771761, src: mocap, x: -0.07026786041259765, y: -0.21863589477539064, + z: 1.269154541015625} + +--- +{rxSys: 1526996399.787532, src: mocap, x: -0.06751025390625, y: -0.21731459045410156, + z: 1.2660714111328124} + +--- +{rxSys: 1526996399.7967691, src: mocap, x: -0.06470433044433593, y: -0.21587240600585939, + z: 1.2629344482421876} + +--- +{rxSys: 1526996399.80703, src: mocap, x: -0.061834548950195314, y: -0.2142774658203125, + z: 1.259745361328125} + +--- +{rxSys: 1526996399.821285, src: mocap, x: -0.05886100387573242, y: -0.2125768585205078, + z: 1.256404296875} + +--- +{rxSys: 1526996399.836674, src: mocap, x: -0.055758575439453124, y: -0.21084275817871093, + z: 1.252884033203125} + +--- +{rxSys: 1526996399.837261, src: mocap, x: -0.052551219940185544, y: -0.20900328063964843, + z: 1.2492386474609376} + +--- +{rxSys: 1526996399.8473442, src: mocap, x: -0.049264530181884765, y: -0.20714146423339844, + z: 1.2454884033203124} + +--- +{rxSys: 1526996399.86097, src: mocap, x: -0.045766517639160155, y: -0.205112060546875, + z: 1.2416160888671874} + +--- +{rxSys: 1526996399.867685, src: mocap, x: -0.04200479888916016, y: -0.20293359375, + z: 1.237805908203125} + +--- +{rxSys: 1526996399.87676, src: mocap, x: -0.03817633819580078, y: -0.20049179077148438, + z: 1.23417822265625} + +--- +{rxSys: 1526996399.8899121, src: mocap, x: -0.03407425689697265, y: -0.19779049682617186, + z: 1.2308297119140625} + +--- +{rxSys: 1526996399.897043, src: mocap, x: -0.030017932891845702, y: -0.1948040771484375, + z: 1.227812744140625} + +--- +{rxSys: 1526996399.906764, src: mocap, x: -0.02578898811340332, y: -0.19152037048339843, + z: 1.2250960693359374} + +--- +{rxSys: 1526996399.9209821, src: mocap, x: -0.021547964096069336, y: -0.18798493957519533, + z: 1.22253515625} + +--- +{rxSys: 1526996399.929803, src: mocap, x: -0.017311983108520508, y: -0.18429014587402343, + z: 1.2201868896484376} + +--- +{rxSys: 1526996399.936689, src: mocap, x: -0.013174233436584472, y: -0.1804632110595703, + z: 1.2179693603515624} + +--- +{rxSys: 1526996399.946749, src: mocap, x: -0.00904857063293457, y: -0.17648526000976564, + z: 1.21574609375} + +--- +{rxSys: 1526996400.008167, src: mocap, x: -0.0049304990768432614, y: -0.1724511260986328, + z: 1.213470703125} + +--- +{rxSys: 1526996400.008605, src: mocap, x: -0.0008924548029899597, y: -0.16840339660644532, + z: 1.2111099853515626} + +--- +{rxSys: 1526996400.00909, src: mocap, x: 0.003151018142700195, y: -0.16425177001953126, + z: 1.2087080078125} + +--- +{rxSys: 1526996400.0094311, src: mocap, x: 0.007001909732818603, y: -0.1601938934326172, + z: 1.2063302001953125} + +--- +{rxSys: 1526996400.009753, src: mocap, x: 0.010600766181945801, y: -0.1562508087158203, + z: 1.2040831298828125} + +--- +{rxSys: 1526996400.010079, src: mocap, x: 0.013996830940246582, y: -0.15226629638671876, + z: 1.2019337158203125} + +--- +{rxSys: 1526996400.050612, src: mocap, x: 0.01724300003051758, y: -0.1482135467529297, + z: 1.19984326171875} + +--- +{rxSys: 1526996400.051153, src: mocap, x: 0.02038027572631836, y: -0.14409597778320313, + z: 1.1978118896484375} + +--- +{rxSys: 1526996400.053647, src: mocap, x: 0.02342219352722168, y: -0.1399967346191406, + z: 1.1957734375} + +--- +{rxSys: 1526996400.054653, src: mocap, x: 0.026331274032592774, y: -0.13585231018066407, + z: 1.1936846923828126} + +--- +{rxSys: 1526996400.057133, src: mocap, x: 0.02903049659729004, y: -0.13185969543457032, + z: 1.191439453125} + +--- +{rxSys: 1526996400.066994, src: mocap, x: 0.03153717803955078, y: -0.1281245880126953, + z: 1.1890743408203126} + +--- +{rxSys: 1526996400.076962, src: mocap, x: 0.033787837982177736, y: -0.12470258331298828, + z: 1.186440673828125} + +--- +{rxSys: 1526996400.0948522, src: mocap, x: 0.035884635925292965, y: -0.12157817840576172, + z: 1.18360595703125} + +--- +{rxSys: 1526996400.097744, src: mocap, x: 0.0377825927734375, y: -0.11870375823974609, + z: 1.1806248779296875} + +--- +{rxSys: 1526996400.107699, src: mocap, x: 0.03957794570922851, y: -0.11592010498046874, + z: 1.17747900390625} + +--- +{rxSys: 1526996400.127033, src: mocap, x: 0.041357112884521485, y: -0.11307617950439453, + z: 1.174052734375} + +--- +{rxSys: 1526996400.129167, src: mocap, x: 0.0433209114074707, y: -0.11004825592041016, + z: 1.170294677734375} + +--- +{rxSys: 1526996400.168868, src: mocap, x: 0.04546585464477539, y: -0.10668559265136719, + z: 1.1662076416015625} + +--- +{rxSys: 1526996400.169339, src: mocap, x: 0.04785432434082031, y: -0.10302722930908204, + z: 1.1617296142578124} + +--- +{rxSys: 1526996400.169704, src: mocap, x: 0.0502906494140625, y: -0.09923831176757812, + z: 1.15692529296875} + +--- +{rxSys: 1526996400.17026, src: mocap, x: 0.052748527526855465, y: -0.095413818359375, + z: 1.1517928466796874} + +--- +{rxSys: 1526996400.177164, src: mocap, x: 0.05512586975097656, y: -0.09176815032958985, + z: 1.146269775390625} + +--- +{rxSys: 1526996400.197479, src: mocap, x: 0.057430362701416014, y: -0.08834174346923829, + z: 1.140439697265625} + +--- +{rxSys: 1526996400.198068, src: mocap, x: 0.05952456283569336, y: -0.08519287109375, + z: 1.1342750244140625} + +--- +{rxSys: 1526996400.207253, src: mocap, x: 0.06154853820800781, y: -0.08219486236572265, + z: 1.1277877197265624} + +--- +{rxSys: 1526996400.217015, src: mocap, x: 0.06344451141357423, y: -0.07943215942382813, + z: 1.1208531494140626} + +--- +{rxSys: 1526996400.228588, src: mocap, x: 0.06519622802734375, y: -0.07683902740478515, + z: 1.1137574462890625} + +--- +{rxSys: 1526996400.244234, src: mocap, x: 0.06677291107177734, y: -0.07445587158203125, + z: 1.1064075927734376} + +--- +{rxSys: 1526996400.247796, src: mocap, x: 0.06817141723632812, y: -0.0722631607055664, + z: 1.09883837890625} + +--- +{rxSys: 1526996400.256774, src: mocap, x: 0.06941069793701173, y: -0.07030028533935546, + z: 1.0909666748046876} + +--- +{rxSys: 1526996400.29854, src: mocap, x: 0.07053483581542969, y: -0.06855152893066406, + z: 1.082845947265625} + +--- +{rxSys: 1526996400.298784, src: mocap, x: 0.07157425689697265, y: -0.06685042572021484, + z: 1.0743798828125} + +--- +{rxSys: 1526996400.3061981, src: mocap, x: 0.07246328735351562, y: -0.06522357940673829, + z: 1.0656602783203124} + +--- +{rxSys: 1526996400.306468, src: mocap, x: 0.07330433654785157, y: -0.06362101364135742, + z: 1.0568419189453124} + +--- +{rxSys: 1526996400.3072178, src: mocap, x: 0.07395840454101563, y: -0.06203073501586914, + z: 1.0477318115234375} + +--- +{rxSys: 1526996400.317217, src: mocap, x: 0.07448066711425781, y: -0.06050419235229492, + z: 1.0383414306640626} + +--- +{rxSys: 1526996400.357285, src: mocap, x: 0.07496228790283203, y: -0.05914428329467773, + z: 1.0286015625} + +--- +{rxSys: 1526996400.3582878, src: mocap, x: 0.07522682189941406, y: -0.057918350219726564, + z: 1.0185785522460937} + +--- +{rxSys: 1526996400.360659, src: mocap, x: 0.07537892150878907, y: -0.05686297607421875, + z: 1.0081943359375} + +--- +{rxSys: 1526996400.361632, src: mocap, x: 0.0753897705078125, y: -0.05591018295288086, + z: 0.9976580200195313} + +--- +{rxSys: 1526996400.375073, src: mocap, x: 0.07523593902587891, y: -0.05509405899047851, + z: 0.9869769287109375} + +--- +{rxSys: 1526996400.3769999, src: mocap, x: 0.07505485534667969, y: -0.054317344665527345, + z: 0.9760517578125} + +--- +{rxSys: 1526996400.387136, src: mocap, x: 0.07466562652587891, y: -0.053606735229492185, + z: 0.9649851684570312} + +--- +{rxSys: 1526996400.397033, src: mocap, x: 0.07424317932128906, y: -0.0531019287109375, + z: 0.9538638305664062} + +--- +{rxSys: 1526996400.4083042, src: mocap, x: 0.07358781433105469, y: -0.05265755844116211, + z: 0.9427688598632813} + +--- +{rxSys: 1526996400.4178848, src: mocap, x: 0.07282266998291016, y: -0.05214158248901367, + z: 0.9317711791992187} + +--- +{rxSys: 1526996400.437681, src: mocap, x: 0.07198668670654297, y: -0.051483779907226565, + z: 0.9208258056640625} + +--- +{rxSys: 1526996400.438269, src: mocap, x: 0.07109388732910156, y: -0.05071470642089844, + z: 0.9097244873046875} + +--- +{rxSys: 1526996400.44682, src: mocap, x: 0.070260986328125, y: -0.04991191101074219, + z: 0.8983060913085937} + +--- +{rxSys: 1526996400.457354, src: mocap, x: 0.06942758941650391, y: -0.04918321228027344, + z: 0.88646337890625} + +--- +{rxSys: 1526996400.474997, src: mocap, x: 0.06839868927001953, y: -0.04861285400390625, + z: 0.8745569458007812} + +--- +{rxSys: 1526996400.476676, src: mocap, x: 0.0671936798095703, y: -0.0483371467590332, + z: 0.8627459716796875} + +--- +{rxSys: 1526996400.486958, src: mocap, x: 0.06581015014648438, y: -0.048226512908935544, + z: 0.8510272827148437} + +--- +{rxSys: 1526996400.505055, src: mocap, x: 0.06434577941894531, y: -0.04808135604858398, + z: 0.8395848999023438} + +--- +{rxSys: 1526996400.510589, src: mocap, x: 0.06295009994506837, y: -0.047804271697998044, + z: 0.8283019409179687} + +--- +{rxSys: 1526996400.517038, src: mocap, x: 0.06172640991210938, y: -0.047196941375732424, + z: 0.8171005249023438} + +--- +{rxSys: 1526996400.533449, src: mocap, x: 0.060516033172607425, y: -0.04634991073608399, + z: 0.8058174438476563} + +--- +{rxSys: 1526996400.538581, src: mocap, x: 0.05936966323852539, y: -0.04543321228027344, + z: 0.7945233764648437} + +--- +{rxSys: 1526996400.549868, src: mocap, x: 0.05813529586791992, y: -0.044620933532714846, + z: 0.7830602416992187} + +--- +{rxSys: 1526996400.5567691, src: mocap, x: 0.056871330261230466, y: -0.044028362274169924, + z: 0.7715022583007812} + +--- +{rxSys: 1526996400.567582, src: mocap, x: 0.055437847137451174, y: 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z: 0.6706654663085938} + +--- +{rxSys: 1526996400.671288, src: mocap, x: 0.04299290084838867, y: -0.04307508087158203, + z: 0.65971435546875} + +--- +{rxSys: 1526996400.6717298, src: mocap, x: 0.0419769287109375, y: -0.04312684631347656, + z: 0.6486783447265625} + +--- +{rxSys: 1526996400.6821618, src: mocap, x: 0.04104373550415039, y: -0.04308132553100586, + z: 0.6375494995117188} + +--- +{rxSys: 1526996400.6871018, src: mocap, x: 0.040191890716552735, y: -0.042860782623291016, + z: 0.6262792358398438} + +--- +{rxSys: 1526996400.698108, src: mocap, x: 0.039449050903320314, y: -0.042666675567626954, + z: 0.6149609375} + +--- +{rxSys: 1526996400.709093, src: mocap, x: 0.03870703506469726, y: -0.04248310470581055, + z: 0.6036560668945312} + +--- +{rxSys: 1526996400.716833, src: mocap, x: 0.03807331848144531, y: -0.042202522277832034, + z: 0.5922474975585937} + +--- +{rxSys: 1526996400.7268941, src: mocap, x: 0.037548965454101565, y: -0.04184092330932617, + z: 0.58079296875} + +--- 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src: mocap, x: 0.036186599731445314, y: -0.034666259765625, + z: 0.47911465454101565} + +--- +{rxSys: 1526996400.8331141, src: mocap, x: 0.03611265182495117, y: -0.033623031616210934, + z: 0.46798971557617186} + +--- +{rxSys: 1526996400.862262, src: mocap, x: 0.036106765747070314, y: -0.032509815216064455, + z: 0.45716522216796873} + +--- +{rxSys: 1526996400.8628, src: mocap, x: 0.03598813247680664, y: -0.031425264358520506, + z: 0.4465541076660156} + +--- +{rxSys: 1526996400.866496, src: mocap, x: 0.03592275238037109, y: -0.030372135162353514, + z: 0.4361628112792969} + +--- +{rxSys: 1526996400.869031, src: mocap, x: 0.0358397331237793, y: -0.029296245574951172, + z: 0.42610443115234375} + +--- +{rxSys: 1526996400.913878, src: mocap, x: 0.03579228973388672, y: -0.028307723999023437, + z: 0.4161605224609375} + +--- +{rxSys: 1526996400.914239, src: mocap, x: 0.03574649429321289, y: -0.02730828857421875, + z: 0.406374755859375} + +--- +{rxSys: 1526996400.923511, src: mocap, x: 0.03564217758178711, y: -0.026274389266967773, + z: 0.39653323364257814} + +--- +{rxSys: 1526996400.923883, src: mocap, x: 0.03549017333984375, y: -0.025413814544677733, + z: 0.3866341247558594} + +--- +{rxSys: 1526996400.92419, src: mocap, x: 0.03531327056884766, y: -0.024667629241943358, + z: 0.3767352294921875} + +--- +{rxSys: 1526996400.930757, src: mocap, x: 0.035013710021972656, y: -0.0241647891998291, + z: 0.3668096923828125} + +--- +{rxSys: 1526996400.9726028, src: mocap, x: 0.03469443130493164, y: -0.023825117111206055, + z: 0.35708978271484376} + +--- +{rxSys: 1526996400.97311, src: mocap, x: 0.0344417839050293, y: -0.023500572204589842, + z: 0.3477095947265625} + +--- +{rxSys: 1526996400.9736042, src: mocap, x: 0.034315296173095707, y: -0.023069581985473632, + z: 0.3386875} + +--- +{rxSys: 1526996400.973974, src: mocap, x: 0.034264049530029296, y: -0.022557609558105467, + z: 0.3300905151367188} + +--- +{rxSys: 1526996400.977939, src: mocap, x: 0.0343218994140625, y: -0.02199413871765137, + z: 0.3218203430175781} + +--- +{rxSys: 1526996400.987608, src: mocap, x: 0.0344442138671875, y: -0.021264419555664063, + z: 0.3135801696777344} + +--- +{rxSys: 1526996400.996862, src: mocap, x: 0.03465647125244141, y: -0.020434694290161134, + z: 0.30538372802734376} + +--- +{rxSys: 1526996401.017897, src: mocap, x: 0.03483700180053711, y: -0.019699195861816406, + z: 0.29705941772460936} + +--- +{rxSys: 1526996401.0185359, src: mocap, x: 0.035085800170898435, y: -0.018959184646606446, + z: 0.2887694702148437} + +--- +{rxSys: 1526996401.02688, src: mocap, x: 0.03528885269165039, y: -0.018216188430786134, + z: 0.28069003295898437} + +--- +{rxSys: 1526996401.04771, src: mocap, x: 0.03551486968994141, y: -0.017408395767211916, + z: 0.2730235900878906} + +--- +{rxSys: 1526996401.048306, src: mocap, x: 0.035748252868652346, y: -0.016552398681640625, + z: 0.26562924194335935} + +--- +{rxSys: 1526996401.0610309, src: mocap, x: 0.03589678955078125, y: -0.015766115188598634, + z: 0.25828311157226563} + +--- +{rxSys: 1526996401.066831, src: mocap, x: 0.03602341079711914, y: -0.01491921615600586, + z: 0.25111289978027346} + +--- +{rxSys: 1526996401.078927, src: mocap, x: 0.03605767059326172, y: -0.014191774368286133, + z: 0.2440548553466797} + +--- +{rxSys: 1526996401.0893881, src: mocap, x: 0.036055389404296874, y: -0.013546415328979492, + z: 0.23701223754882814} + +--- +{rxSys: 1526996401.0968199, src: mocap, x: 0.03608517074584961, y: -0.012869120597839356, + z: 0.23035462951660157} + +--- +{rxSys: 1526996401.1067982, src: mocap, x: 0.03609243774414062, y: -0.012307571411132813, + z: 0.22401132202148438} + +--- +{rxSys: 1526996401.119526, src: mocap, x: 0.036089221954345704, y: -0.011712950706481933, + z: 0.21791986083984374} + +--- +{rxSys: 1526996401.126685, src: mocap, x: 0.036055713653564456, y: -0.011015903472900391, + z: 0.2118414764404297} + +--- +{rxSys: 1526996401.136735, src: mocap, x: 0.035894031524658206, y: -0.010367741584777832, + z: 0.20578646850585938} + +--- +{rxSys: 1526996401.1499069, src: mocap, x: 0.035686164855957034, y: -0.009835277557373047, + z: 0.1997646026611328} + +--- +{rxSys: 1526996401.175002, src: mocap, x: 0.03515034484863281, y: -0.009514717102050782, + z: 0.19376936340332032} + +--- +{rxSys: 1526996401.17567, src: mocap, x: 0.03453841018676758, y: -0.009366971969604492, + z: 0.18802276611328125} + +--- +{rxSys: 1526996401.176697, src: mocap, x: 0.0337946891784668, y: -0.009351350784301759, + z: 0.1824116668701172} + +--- +{rxSys: 1526996401.214582, src: mocap, x: 0.033066539764404296, y: -0.009036751747131347, + z: 0.17706834411621095} + +--- +{rxSys: 1526996401.2149608, src: mocap, x: 0.03246631622314453, y: -0.008597891807556152, + z: 0.1718069610595703} + +--- +{rxSys: 1526996401.222293, src: mocap, x: 0.031951900482177734, y: -0.007921770095825195, + z: 0.16669790649414062} + +--- +{rxSys: 1526996401.222579, src: mocap, x: 0.03139567184448242, y: 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0.0004119709730148315, + z: 0.08972065734863281} + +--- +{rxSys: 1526996401.3866801, src: mocap, x: 0.02041584587097168, y: 0.0009842975735664368, + z: 0.08604990386962891} + +--- +{rxSys: 1526996401.396669, src: mocap, x: 0.019724842071533202, y: 0.0016509644985198974, + z: 0.08264820861816406} + +--- +{rxSys: 1526996401.4067252, src: mocap, x: 0.0189389591217041, y: 0.0022216951847076416, + z: 0.07929961395263672} + +--- +{rxSys: 1526996401.425758, src: mocap, x: 0.01816705322265625, y: 0.0026670653820037842, + z: 0.07601899719238281} + +--- +{rxSys: 1526996401.426858, src: mocap, x: 0.017410638809204102, y: 0.002963350772857666, + z: 0.07274683380126953} + +--- +{rxSys: 1526996401.4367528, src: mocap, x: 0.016643348693847655, y: 0.003163125991821289, + z: 0.06947775268554687} + +--- +{rxSys: 1526996401.6779578, src: mocap, x: 0.01590044403076172, y: 0.003260603904724121, + z: 0.06644820404052734} + +--- +{rxSys: 1526996401.678244, src: mocap, x: 0.015214415550231933, y: 0.0033346052169799805, + z: 0.0636767921447754} + +--- +{rxSys: 1526996401.679143, src: mocap, x: 0.014592452049255371, y: 0.00346233606338501, + z: 0.061281867980957035} + +--- +{rxSys: 1526996401.679543, src: mocap, x: 0.01392482852935791, y: 0.0035487453937530517, + z: 0.05895401763916015} + +--- +{rxSys: 1526996401.679883, src: mocap, x: 0.013336186408996581, y: 0.0034972331523895265, + z: 0.056822647094726564} + +--- +{rxSys: 1526996401.6801631, src: mocap, x: 0.012847599029541015, y: 0.003522980451583862, + z: 0.05452593231201172} + +--- +{rxSys: 1526996401.680445, src: mocap, x: 0.012366798400878906, y: 0.0035357980728149413, + z: 0.05227241897583008} + +--- +{rxSys: 1526996401.680724, src: mocap, x: 0.011906743049621582, y: 0.003320772886276245, + z: 0.05031342315673828} + +--- +{rxSys: 1526996401.68108, src: mocap, x: 0.011480862617492676, y: 0.003102330207824707, + z: 0.048529167175292966} + +--- +{rxSys: 1526996401.6812959, src: mocap, x: 0.011058805465698242, y: 0.002941911220550537, + z: 0.047050846099853515} + +--- +{rxSys: 1526996401.6814861, src: mocap, x: 0.010792243003845214, y: 0.002849482536315918, + z: 0.046012592315673825} + +--- +{rxSys: 1526996401.681668, src: mocap, x: 0.010465975761413573, y: 0.0028284637928009033, + z: 0.044940105438232424} + +--- +{rxSys: 1526996401.681847, src: mocap, x: 0.010168665885925294, y: 0.0028640623092651366, + z: 0.04357700729370117} + +--- +{rxSys: 1526996401.682059, src: mocap, x: 0.009872068405151367, y: 0.0028166635036468504, + z: 0.04219038009643555} + +--- +{rxSys: 1526996401.682358, src: mocap, x: 0.009469590187072753, y: 0.0026495840549468994, + z: 0.040624000549316405} + +--- +{rxSys: 1526996401.6826801, src: mocap, x: 0.008927983283996582, y: 0.0024969322681427, + z: 0.03900829315185547} + +--- +{rxSys: 1526996401.683182, src: mocap, x: 0.008272348403930664, y: 0.0023077476024627687, + z: 0.03766191482543945} + +--- +{rxSys: 1526996401.683396, src: mocap, x: 0.007520593643188476, y: 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mocap, x: -0.006750898838043213, y: 0.01516310977935791, + z: 0.020580543518066406} + +--- +{rxSys: 1526996409.9067981, src: mocap, x: -0.006754518508911133, y: 0.015186076164245605, + z: 0.020592082977294923} + +--- +{rxSys: 1526996409.907577, src: mocap, x: -0.006770136356353759, y: 0.015216073989868163, + z: 0.020578210830688476} + +--- +{rxSys: 1526996409.9139452, src: mocap, x: -0.006771137714385986, y: 0.01521134090423584, + z: 0.02058509063720703} + +--- +{rxSys: 1526996409.914614, src: mocap, x: -0.0067588453292846675, y: 0.015217744827270507, + z: 0.02059676933288574} + +--- +{rxSys: 1526996409.915048, src: mocap, x: -0.0067575726509094235, y: 0.015184317588806152, + z: 0.020599479675292968} + +--- +{rxSys: 1526996409.915411, src: mocap, x: -0.006761820793151856, y: 0.01518829345703125, + z: 0.020572126388549803} + +--- +{rxSys: 1526996409.9157581, src: mocap, x: -0.006769517898559571, y: 0.01515276336669922, + z: 0.020597528457641602} + +--- +{rxSys: 1526996409.925237, src: mocap, x: -0.006762580871582031, y: 0.015147443771362304, + z: 0.02055657958984375} + +--- +{rxSys: 1526996409.9269319, src: mocap, x: -0.00674797248840332, y: 0.01515110206604004, + z: 0.020571399688720703} + +--- +{rxSys: 1526996409.9367812, src: mocap, x: -0.006760592937469482, y: 0.015138193130493164, + z: 0.02057569694519043} + +--- +{rxSys: 1526996409.9565198, src: mocap, x: -0.006744855880737304, y: 0.015148163795471192, + z: 0.020576520919799803} + +--- +{rxSys: 1526996409.957991, src: mocap, x: -0.0067584595680236816, y: 0.015172982215881347, + z: 0.0205765380859375} + +--- +{rxSys: 1526996409.969909, src: mocap, x: -0.006746776103973388, y: 0.015165098190307617, + z: 0.020561063766479492} + +--- +{rxSys: 1526996409.976941, src: mocap, x: -0.006766304492950439, y: 0.015160385131835938, + z: 0.020566659927368162} + +--- +{rxSys: 1526996409.9876952, src: mocap, x: -0.006748608112335205, y: 0.015166446685791016, + z: 0.020567039489746093} + +--- +{rxSys: 1526996409.998361, src: mocap, x: -0.00675263786315918, y: 0.015161943435668946, + z: 0.020566776275634767} + +--- +{rxSys: 1526996410.007863, src: mocap, x: -0.006762298107147216, y: 0.01516712760925293, + z: 0.02057047653198242} + +--- +{rxSys: 1526996410.016853, src: mocap, x: -0.006754036903381348, y: 0.015158696174621582, + z: 0.020569557189941405} + +--- +{rxSys: 1526996410.0280151, src: mocap, x: -0.0067592387199401855, y: 0.015154297828674317, + z: 0.020549982070922852} + +--- +{rxSys: 1526996410.03681, src: mocap, x: -0.006761014461517334, y: 0.01514023780822754, + z: 0.020556848526000978} + +--- +{rxSys: 1526996410.0468621, src: mocap, x: -0.006770051479339599, y: 0.015156412124633789, + z: 0.02057988739013672} + +--- +{rxSys: 1526996410.056742, src: mocap, x: -0.006757240772247314, y: 0.015149318695068359, + z: 0.020572669982910158} + +--- +{rxSys: 1526996410.072007, src: mocap, x: -0.006740119457244873, y: 0.015145899772644043, + z: 0.020575126647949218} + +--- +{rxSys: 1526996410.076652, src: mocap, x: -0.006743050098419189, y: 0.015159173965454102, + z: 0.02057136917114258} + +--- +{rxSys: 1526996410.086621, src: mocap, x: -0.0067643122673034664, y: 0.015182230949401855, + z: 0.020567089080810546} + +--- +{rxSys: 1526996410.1368692, src: mocap, x: -0.0067522964477539065, y: 0.015175003051757813, + z: 0.020566154479980468} + +--- +{rxSys: 1526996410.137138, src: mocap, x: -0.00675574254989624, y: 0.015181347846984864, + z: 0.020584585189819336} + +--- +{rxSys: 1526996410.145895, src: mocap, x: -0.00676393461227417, y: 0.015177502632141113, + z: 0.02061292839050293} + +--- +{rxSys: 1526996410.1463501, src: mocap, x: -0.006737893104553223, y: 0.015192041397094727, + z: 0.020566490173339842} + +--- +{rxSys: 1526996410.1469738, src: mocap, x: -0.006738545894622802, y: 0.015177903175354003, + z: 0.020582326889038084} + +--- +{rxSys: 1526996410.147583, src: mocap, x: -0.0067397613525390625, y: 0.015188642501831055, + z: 0.020582857131958007} + +--- +{rxSys: 1526996410.1751199, src: mocap, x: -0.006742077350616455, y: 0.015202980041503906, + z: 0.02058653259277344} + +--- +{rxSys: 1526996410.175597, src: mocap, x: -0.00674887752532959, y: 0.015200648307800293, + z: 0.020606487274169923} + +--- +{rxSys: 1526996410.177702, src: mocap, x: -0.006731883525848388, y: 0.015198573112487793, + z: 0.020603092193603515} + +--- +{rxSys: 1526996410.187005, src: mocap, x: -0.0067279767990112305, y: 0.01518796443939209, + z: 0.02059635925292969} + +--- +{rxSys: 1526996410.2039711, src: mocap, x: -0.006753818988800049, y: 0.015183337211608887, + z: 0.02057417869567871} + +--- +{rxSys: 1526996410.2069, src: mocap, x: -0.006732009887695313, y: 0.015208922386169433, + z: 0.02053354835510254} + +--- +{rxSys: 1526996410.216907, src: mocap, x: -0.00673862361907959, y: 0.01520991039276123, + z: 0.020541305541992187} + +--- +{rxSys: 1526996410.232631, src: mocap, x: -0.00674390172958374, y: 0.015191439628601075, + z: 0.020544551849365236} + +--- +{rxSys: 1526996410.238647, src: mocap, x: -0.006737079620361328, y: 0.015189640045166016, + z: 0.020568622589111327} + +--- +{rxSys: 1526996410.248468, src: mocap, x: -0.006741640090942383, y: 0.015188719749450684, + z: 0.020589885711669923} + +--- +{rxSys: 1526996410.265493, src: mocap, x: -0.006738478660583496, y: 0.015192184448242187, + z: 0.02058037757873535} + +--- +{rxSys: 1526996410.266794, src: mocap, x: -0.0067430524826049805, y: 0.015195257186889648, + z: 0.02060835838317871} + +--- +{rxSys: 1526996410.278549, src: mocap, x: -0.006747379779815674, y: 0.015180742263793946, + z: 0.02059917068481445} + +--- +{rxSys: 1526996410.286937, src: mocap, x: -0.006741860866546631, y: 0.015199522018432617, + z: 0.020598190307617188} + +--- +{rxSys: 1526996410.296971, src: mocap, x: -0.006748035907745361, y: 0.015228116989135742, + z: 0.020567371368408204} + +--- +{rxSys: 1526996410.307002, src: mocap, x: -0.006725319862365723, y: 0.01523396110534668, + z: 0.02055623245239258} + +--- +{rxSys: 1526996410.316902, src: mocap, x: -0.006750216484069824, y: 0.015225539207458496, + z: 0.020617258071899413} + +--- +{rxSys: 1526996410.335146, src: mocap, x: -0.0067307958602905275, y: 0.015238293647766113, + z: 0.02061319351196289} + +--- +{rxSys: 1526996410.336791, src: mocap, x: -0.006748233318328857, y: 0.015226845741271972, + z: 0.02057357597351074} + +--- +{rxSys: 1526996410.346653, src: mocap, x: -0.006735943794250489, y: 0.015196290969848633, + z: 0.02061800956726074} + +--- +{rxSys: 1526996410.370013, src: mocap, x: -0.006745319366455078, y: 0.015209650993347168, + z: 0.020620820999145507} + +--- +{rxSys: 1526996410.370294, src: mocap, x: -0.006731247425079346, y: 0.015225796699523926, + z: 0.020591644287109374} + +--- +{rxSys: 1526996410.379264, src: mocap, x: -0.00673186731338501, y: 0.015242169380187989, + z: 0.020611104965209962} + +--- +{rxSys: 1526996410.386689, src: mocap, x: -0.0067349991798400875, y: 0.015219650268554687, + z: 0.02061353874206543} + +--- +{rxSys: 1526996410.3969128, src: mocap, x: -0.0067341475486755375, y: 0.015268445014953613, + z: 0.020604459762573243} + +--- +{rxSys: 1526996410.441514, src: mocap, x: -0.006732418537139893, y: 0.015263568878173829, + z: 0.020610048294067384} + +--- +{rxSys: 1526996410.441868, src: mocap, x: -0.0067400245666503905, y: 0.015251538276672364, + z: 0.020657957077026366} + +--- +{rxSys: 1526996410.516545, src: mocap, x: -0.0067511463165283205, y: 0.015233012199401855, + z: 0.020626691818237303} + +--- +{rxSys: 1526996410.517015, src: mocap, x: -0.006735605239868164, y: 0.015218962669372558, + z: 0.020587968826293945} + +--- +{rxSys: 1526996410.517621, src: mocap, x: -0.006735405921936035, y: 0.015217832565307617, + z: 0.020637548446655274} + +--- +{rxSys: 1526996410.517996, src: mocap, x: -0.006753036022186279, y: 0.015212721824645996, + z: 0.020616081237792967} + +--- +{rxSys: 1526996410.5184362, src: mocap, x: -0.006742686748504639, y: 0.015235630035400391, + z: 0.02058327865600586} + +--- +{rxSys: 1526996410.5189729, src: mocap, x: -0.006743313789367676, y: 0.015234703063964844, + z: 0.02060157585144043} + +--- +{rxSys: 1526996410.519328, src: mocap, x: -0.006726646900177002, y: 0.015214941024780274, + z: 0.020621658325195313} + +--- +{rxSys: 1526996410.519745, src: mocap, x: -0.006747838497161865, y: 0.015233813285827636, + z: 0.020576818466186524} + +--- +{rxSys: 1526996410.520105, src: mocap, x: -0.00673281192779541, y: 0.015228492736816406, + z: 0.02057095718383789} + +--- +{rxSys: 1526996410.52052, src: mocap, x: -0.0067314023971557614, y: 0.015217511177062989, + z: 0.020618429183959962} + +--- +{rxSys: 1526996410.529014, src: mocap, x: -0.0067470049858093266, y: 0.015230814933776855, + z: 0.020627275466918945} + +--- +{rxSys: 1526996410.538362, src: mocap, x: -0.006749999523162842, y: 0.01522976016998291, + z: 0.02058295249938965} + +--- +{rxSys: 1526996410.546796, src: mocap, x: -0.006726413249969482, y: 0.015246885299682617, + z: 0.02061132049560547} + +--- +{rxSys: 1526996410.556996, src: mocap, x: -0.006749781131744384, y: 0.015209593772888184, + z: 0.02061191177368164} + +--- +{rxSys: 1526996410.572951, src: mocap, x: -0.006749660015106201, y: 0.015236072540283203, + z: 0.02062203598022461} + +--- +{rxSys: 1526996410.584109, src: mocap, x: -0.006744273662567139, y: 0.015230932235717774, + z: 0.020582990646362306} + +--- +{rxSys: 1526996410.5869062, src: mocap, x: -0.006745335102081299, y: 0.015212664604187012, + z: 0.020593086242675782} + +--- +{rxSys: 1526996410.597026, src: mocap, x: -0.006749646663665771, y: 0.015236671447753907, + z: 0.020646831512451173} + +--- +{rxSys: 1526996410.612674, src: mocap, x: -0.0067428798675537105, y: 0.015234530448913574, + z: 0.0205946044921875} + +--- +{rxSys: 1526996410.61679, src: mocap, x: -0.006741278171539307, y: 0.015231121063232421, + z: 0.02061581230163574} + +--- +{rxSys: 1526996410.6277251, src: mocap, x: -0.006732592105865479, y: 0.015227688789367675, + z: 0.020618125915527342} + +--- +{rxSys: 1526996410.641889, src: mocap, x: -0.006725207805633545, y: 0.015249329566955567, + z: 0.02059756660461426} + +--- +{rxSys: 1526996410.648812, src: mocap, x: -0.006741001129150391, y: 0.01525344181060791, + z: 0.02063361358642578} + +--- +{rxSys: 1526996410.656737, src: mocap, x: -0.006740705013275146, y: 0.015234795570373535, + z: 0.020621707916259766} + +--- +{rxSys: 1526996410.67609, src: mocap, x: -0.006749029159545898, y: 0.015234587669372558, + z: 0.020606958389282226} + +--- +{rxSys: 1526996410.676506, src: mocap, x: -0.006741223812103271, y: 0.015260491371154785, + z: 0.020619520187377928} + +--- +{rxSys: 1526996410.686657, src: mocap, x: -0.006733725070953369, y: 0.01520745849609375, + z: 0.020594430923461915} + +--- +{rxSys: 1526996410.6966112, src: mocap, x: -0.006741886138916016, y: 0.015235655784606934, + z: 0.020642526626586916} + +--- +{rxSys: 1526996410.7547772, src: mocap, x: -0.006735173702239991, y: 0.015265769004821777, + z: 0.02061266326904297} + +--- +{rxSys: 1526996410.755568, src: mocap, x: -0.006734075546264648, y: 0.015235758781433106, + z: 0.020601329803466798} + +--- +{rxSys: 1526996410.7562618, src: mocap, x: -0.006745648384094238, y: 0.015231852531433105, + z: 0.02059893798828125} + +--- +{rxSys: 1526996410.757087, src: mocap, x: -0.00673530387878418, y: 0.015236259460449219, + z: 0.02059794807434082} + +--- +{rxSys: 1526996410.757503, src: mocap, x: -0.0067321758270263675, y: 0.015262415885925293, + z: 0.020608346939086915} + +--- +{rxSys: 1526996410.758098, src: mocap, x: -0.0067442431449890134, y: 0.015246563911437989, + z: 0.020617609024047853} + +--- +{rxSys: 1526996410.7997, src: mocap, x: -0.0067529363632202145, y: 0.01524102783203125, + z: 0.02060843086242676} + +--- +{rxSys: 1526996410.80067, src: mocap, x: -0.006750286102294922, y: 0.01524303150177002, + z: 0.02059804916381836} + +--- +{rxSys: 1526996410.801209, src: mocap, x: -0.006747038841247559, y: 0.015230417251586914, + z: 0.020616310119628906} + +--- +{rxSys: 1526996410.8015811, src: mocap, x: -0.006742776870727539, y: 0.015229575157165528, + z: 0.020603572845458985} + +--- +{rxSys: 1526996410.807025, src: mocap, x: -0.006742753982543945, y: 0.01524052619934082, + z: 0.02059544563293457} + +--- +{rxSys: 1526996410.819808, src: mocap, x: -0.0067346844673156735, y: 0.015219210624694824, + z: 0.020576663970947266} + +--- +{rxSys: 1526996410.827789, src: mocap, x: -0.006745451927185058, y: 0.015261224746704102, + z: 0.020652599334716797} + +--- +{rxSys: 1526996410.8369348, src: mocap, x: -0.006737539768218994, y: 0.015240952491760254, + z: 0.020598644256591796} + +--- +{rxSys: 1526996410.8477771, src: mocap, x: -0.006749391555786133, y: 0.015261892318725587, + z: 0.020624700546264647} + +--- +{rxSys: 1526996410.8568408, src: mocap, x: -0.006740266799926758, y: 0.015226747512817383, + z: 0.020601945877075194} + +--- +{rxSys: 1526996410.8782778, src: mocap, x: -0.006744484424591065, y: 0.01525180721282959, + z: 0.020617319107055665} + +--- +{rxSys: 1526996410.8788302, src: mocap, x: -0.006739678382873535, y: 0.01526168727874756, + z: 0.020614770889282225} + +--- +{rxSys: 1526996411.058163, src: mocap, x: -0.006742077350616455, y: 0.015224337577819824, + z: 0.020602806091308594} + +--- +{rxSys: 1526996411.058537, src: mocap, x: -0.006732040882110595, y: 0.015241914749145508, + z: 0.020625898361206055} + +--- +{rxSys: 1526996411.1028569, src: mocap, x: -0.0067354412078857425, y: 0.015241419792175293, + z: 0.020593109130859374} + +--- +{rxSys: 1526996411.1034398, src: mocap, x: -0.006739365100860596, y: 0.015246973037719727, + z: 0.020611026763916015} + +--- +{rxSys: 1526996411.103887, src: mocap, x: -0.006744742870330811, y: 0.015233307838439942, + z: 0.02060719871520996} + +--- +{rxSys: 1526996411.104245, src: mocap, x: -0.006744086742401123, y: 0.01523863697052002, + z: 0.020594615936279297} + +--- +{rxSys: 1526996411.1045918, src: mocap, x: -0.0067460303306579586, y: 0.01526644229888916, + z: 0.02062252426147461} + +--- +{rxSys: 1526996411.104934, src: mocap, x: -0.006746777057647705, y: 0.015246582984924316, + z: 0.020608480453491212} + +--- +{rxSys: 1526996411.105272, src: mocap, x: -0.006740739822387695, y: 0.015251358032226563, + z: 0.020590606689453124} + +--- +{rxSys: 1526996411.1056051, src: mocap, x: -0.00675676965713501, y: 0.015260130882263183, + z: 0.020606809616088868} + +--- +{rxSys: 1526996411.105937, src: mocap, x: -0.006741606712341309, y: 0.015258832931518555, + z: 0.02063021659851074} + +--- +{rxSys: 1526996411.106269, src: mocap, x: -0.0067400760650634765, y: 0.015246919631958008, + z: 0.020628211975097656} + +--- +{rxSys: 1526996411.106668, src: mocap, x: -0.006745301723480225, y: 0.015252971649169922, + z: 0.020596866607666017} + +--- +{rxSys: 1526996411.107102, src: mocap, x: -0.006745481491088867, y: 0.015244324684143067, + z: 0.02061263084411621} + +--- +{rxSys: 1526996411.107591, src: mocap, x: -0.00674477767944336, y: 0.015236841201782227, + z: 0.020617746353149415} + +--- +{rxSys: 1526996411.108243, src: mocap, x: -0.006741243839263916, y: 0.015250739097595214, + z: 0.020595500946044922} + +--- +{rxSys: 1526996411.109466, src: mocap, x: -0.00673820447921753, y: 0.015249621391296387, + z: 0.020604547500610353} + +--- +{rxSys: 1526996411.110124, src: mocap, x: -0.006739380359649658, y: 0.015232029914855958, + z: 0.02058774757385254} + +--- +{rxSys: 1526996411.110763, src: mocap, x: -0.00673973798751831, y: 0.01525330352783203, + z: 0.020625255584716798} + +--- +{rxSys: 1526996411.11119, src: mocap, x: -0.006737368106842041, y: 0.015269841194152832, + z: 0.020616342544555664} + +--- +{rxSys: 1526996411.111663, src: mocap, x: -0.0067461271286010744, y: 0.015231775283813477, + z: 0.020597326278686524} + +--- +{rxSys: 1526996411.112083, src: mocap, x: -0.006759407520294189, y: 0.015216792106628418, + z: 0.02059197425842285} + +--- +{rxSys: 1526996411.112582, src: mocap, x: -0.006745601177215576, y: 0.015242168426513672, + z: 0.020590145111083983} + +--- +{rxSys: 1526996411.124907, src: mocap, x: -0.0067588968276977536, y: 0.015244877815246582, + z: 0.020587730407714843} + +--- +{rxSys: 1526996411.126944, src: mocap, x: -0.0067332396507263186, y: 0.015231719970703125, + z: 0.020583017349243164} + +--- +{rxSys: 1526996411.1372218, src: mocap, x: -0.0067646951675415035, y: 0.015257383346557617, + z: 0.020587936401367187} + +--- +{rxSys: 1526996411.15417, src: mocap, x: -0.0067532057762145995, y: 0.015250802040100098, + z: 0.020588300704956056} + +--- +{rxSys: 1526996411.1578271, src: mocap, x: -0.0067508935928344725, y: 0.01524856185913086, + z: 0.020627939224243164} + +--- +{rxSys: 1526996411.1676831, src: mocap, x: -0.006733418464660645, y: 0.015234509468078613, + z: 0.0205976619720459} + +--- +{rxSys: 1526996411.1872342, src: mocap, x: -0.006737724304199218, y: 0.015271329879760742, + z: 0.020613317489624024} + +--- +{rxSys: 1526996411.187826, src: mocap, x: -0.006748139381408691, y: 0.015243142127990723, + z: 0.02061115074157715} + +--- +{rxSys: 1526996411.1984708, src: mocap, x: -0.006733576774597168, y: 0.015234712600708009, + z: 0.02060801887512207} + +--- +{rxSys: 1526996411.206975, src: mocap, x: -0.006739358425140381, y: 0.015235650062561034, + z: 0.02058196258544922} + +--- +{rxSys: 1526996411.216769, src: mocap, x: -0.0067459063529968265, y: 0.015253785133361817, + z: 0.020611513137817384} + +--- +{rxSys: 1526996411.227205, src: mocap, x: -0.00675559139251709, y: 0.015238542556762696, + z: 0.020610910415649414} + +--- +{rxSys: 1526996411.237375, src: mocap, x: -0.0067418479919433595, y: 0.015253680229187012, + z: 0.02061393928527832} + +--- +{rxSys: 1526996411.2589922, src: mocap, x: -0.006755054473876953, y: 0.015251315116882325, + z: 0.02060669708251953} + +--- +{rxSys: 1526996411.259238, src: mocap, x: -0.006755387306213379, y: 0.01525439739227295, + z: 0.020595718383789062} + +--- +{rxSys: 1526996411.266878, src: mocap, x: -0.006746884822845459, y: 0.015249207496643066, + z: 0.020601444244384766} + +--- +{rxSys: 1526996411.289432, src: mocap, x: -0.0067585124969482425, y: 0.015248138427734375, + z: 0.02059217643737793} + +--- +{rxSys: 1526996411.2897348, src: mocap, x: -0.006730728626251221, y: 0.015227778434753418, + z: 0.02058913803100586} + +--- +{rxSys: 1526996411.3006358, src: mocap, x: -0.00674444580078125, y: 0.01526723575592041, + z: 0.02060132598876953} + +--- +{rxSys: 1526996411.3075998, src: mocap, x: -0.006737003803253174, y: 0.015233919143676758, + z: 0.020599727630615235} + +--- +{rxSys: 1526996411.318725, src: mocap, x: -0.006749764919281006, y: 0.01524363899230957, + z: 0.02061183547973633} + +--- +{rxSys: 1526996411.361921, src: mocap, x: -0.006735175132751465, y: 0.01525424861907959, + z: 0.020600439071655274} + +--- +{rxSys: 1526996411.3623838, src: mocap, x: -0.006750528812408447, y: 0.015249950408935547, + z: 0.020630205154418945} + +--- +{rxSys: 1526996411.3681338, src: mocap, x: -0.006714499473571777, y: 0.01522987461090088, + z: 0.020602622985839845} + +--- +{rxSys: 1526996411.36874, src: mocap, x: -0.006758202075958252, y: 0.0152388334274292, + z: 0.020606195449829102} + +--- +{rxSys: 1526996411.369689, src: mocap, x: -0.00674216890335083, y: 0.015259608268737793, + z: 0.02059005355834961} + +--- +{rxSys: 1526996411.376915, src: mocap, x: -0.006743746757507324, y: 0.015241621017456054, + z: 0.020611211776733397} + +--- +{rxSys: 1526996411.451226, src: mocap, x: -0.006741567134857178, y: 0.01526225757598877, + z: 0.02062335014343262} + +--- +{rxSys: 1526996411.451709, src: mocap, x: -0.006740391254425049, y: 0.015265756607055665, + z: 0.020612113952636717} + +--- +{rxSys: 1526996411.460292, src: mocap, x: -0.006751992702484131, y: 0.01522711944580078, + z: 0.020593536376953124} + +--- +{rxSys: 1526996411.4609149, src: mocap, x: -0.006743967533111572, y: 0.015258042335510254, + z: 0.020631811141967774} + +--- +{rxSys: 1526996411.461767, src: mocap, x: -0.006744685649871826, y: 0.015252924919128419, + z: 0.020624292373657226} + +--- +{rxSys: 1526996411.462971, src: mocap, x: -0.006751960277557373, y: 0.015249957084655761, + z: 0.020631484985351563} + +--- +{rxSys: 1526996411.46334, src: mocap, x: -0.006746298789978027, y: 0.015248021125793458, + z: 0.02062705993652344} + +--- +{rxSys: 1526996411.4638321, src: mocap, x: -0.006740897178649902, y: 0.015239282608032227, + z: 0.020605955123901367} + +--- +{rxSys: 1526996411.4716978, src: mocap, x: -0.006755331993103028, y: 0.015242097854614257, + z: 0.020594465255737306} + +--- +{rxSys: 1526996411.477608, src: mocap, x: -0.006736251831054687, y: 0.015249552726745606, + z: 0.020619821548461915} + +--- +{rxSys: 1526996411.492512, src: mocap, x: -0.006738584518432617, y: 0.015265527725219727, + z: 0.020620323181152343} + +--- +{rxSys: 1526996411.497057, src: mocap, x: -0.006746893882751465, y: 0.015237969398498535, + z: 0.020586088180541993} + +--- +{rxSys: 1526996411.506998, src: mocap, x: -0.006745363235473633, y: 0.015245518684387206, + z: 0.020611814498901367} + +--- +{rxSys: 1526996411.5169752, src: mocap, x: -0.006737594604492188, y: 0.015251447677612304, + z: 0.020626176834106447} + +--- +{rxSys: 1526996411.534368, src: mocap, x: -0.006742189884185791, y: 0.015262022018432617, + z: 0.020599241256713866} + +--- +{rxSys: 1526996411.5366101, src: mocap, x: -0.0067485451698303224, y: 0.015236103057861328, + z: 0.02057651710510254} + +--- +{rxSys: 1526996411.547105, src: mocap, x: -0.006747499942779541, y: 0.015255558967590331, + z: 0.02061619758605957} + +--- +{rxSys: 1526996411.563678, src: mocap, x: -0.00674238395690918, y: 0.015245052337646484, + z: 0.020587072372436524} + +--- +{rxSys: 1526996411.566776, src: mocap, x: -0.006735577583312989, y: 0.015261204719543457, + z: 0.020615432739257814} + +--- +{rxSys: 1526996411.5767019, src: mocap, x: -0.0067610893249511715, y: 0.015239171981811524, + z: 0.020610815048217775} + +--- +{rxSys: 1526996411.596344, src: mocap, x: -0.006741829395294189, y: 0.015263412475585937, + z: 0.02062861633300781} + +--- +{rxSys: 1526996411.596868, src: mocap, x: -0.00674510145187378, y: 0.015250721931457519, + z: 0.02060098648071289} + +--- +{rxSys: 1526996411.607861, src: mocap, x: -0.006739881038665772, y: 0.01525690269470215, + z: 0.020627483367919922} + +--- +{rxSys: 1526996411.617834, src: mocap, x: -0.006753448486328125, y: 0.015239413261413575, + z: 0.020598751068115234} + +--- +{rxSys: 1526996411.6277602, src: mocap, x: -0.0067597880363464355, y: 0.015248326301574707, + z: 0.02060896110534668} + +--- +{rxSys: 1526996411.6621382, src: mocap, x: -0.006753895282745361, y: 0.015236289024353027, + z: 0.02060928726196289} + +--- +{rxSys: 1526996411.6689541, src: mocap, x: -0.006767072200775146, y: 0.015242713928222656, + z: 0.020624792098999024} + +--- +{rxSys: 1526996411.6697001, src: mocap, x: -0.00674520206451416, y: 0.015242791175842286, + z: 0.020591791152954102} + +--- +{rxSys: 1526996411.672544, src: mocap, x: -0.0067595686912536625, y: 0.015255599975585938, + z: 0.02060405921936035} + +--- +{rxSys: 1526996411.678626, src: mocap, x: -0.006748817920684815, y: 0.015262548446655273, + z: 0.020634098052978514} + +--- +{rxSys: 1526996411.724083, src: mocap, x: -0.006735337734222412, y: 0.015245665550231933, + z: 0.020623010635375978} + +--- +{rxSys: 1526996411.7247071, src: mocap, x: -0.006750769138336181, y: 0.01524794578552246, + z: 0.020603506088256836} + +--- +{rxSys: 1526996411.729386, src: mocap, x: -0.00674054479598999, y: 0.015252740859985351, + z: 0.020626907348632813} + +--- +{rxSys: 1526996411.730017, src: mocap, x: -0.006747813224792481, y: 0.015254701614379883, + z: 0.020619583129882813} + +--- +{rxSys: 1526996411.730415, src: mocap, x: -0.006743144989013672, y: 0.01526466941833496, + z: 0.020604841232299803} + +--- +{rxSys: 1526996411.741036, src: mocap, x: -0.006748991012573242, y: 0.015245911598205566, + z: 0.020617973327636718} + +--- +{rxSys: 1526996411.748657, src: mocap, x: -0.006763502597808838, y: 0.015246446609497071, + z: 0.020616214752197267} + +--- +{rxSys: 1526996411.757888, src: mocap, x: -0.0067600226402282715, y: 0.015282506942749024, + z: 0.02062908172607422} + +--- +{rxSys: 1526996411.767164, src: mocap, x: -0.006752288818359375, y: 0.015246618270874023, + z: 0.020587461471557617} + +--- +{rxSys: 1526996411.7768168, src: mocap, x: -0.006745570659637451, y: 0.015230055809020995, + z: 0.020591432571411133} + +--- +{rxSys: 1526996411.8001761, src: mocap, x: -0.006744741916656494, y: 0.015249578475952149, + z: 0.020595272064208983} + +--- +{rxSys: 1526996411.800771, src: mocap, x: -0.00674124526977539, y: 0.015252398490905763, + z: 0.020623374938964843} + +--- +{rxSys: 1526996411.8139799, src: mocap, x: -0.0067497043609619145, y: 0.015227198600769043, + z: 0.020592676162719727} + +--- +{rxSys: 1526996411.816937, src: mocap, x: -0.006770021915435791, y: 0.015249722480773926, + z: 0.020610994338989257} + +--- +{rxSys: 1526996411.827214, src: mocap, x: -0.006758661270141602, y: 0.015262887001037598, + z: 0.02062496566772461} + +--- +{rxSys: 1526996411.8414452, src: mocap, x: -0.006754852771759033, y: 0.015246792793273926, + z: 0.02060079002380371} + +--- +{rxSys: 1526996411.8471029, src: mocap, x: -0.0067485814094543455, y: 0.015244823455810547, + z: 0.02060270881652832} + +--- +{rxSys: 1526996411.856946, src: mocap, x: -0.006750436782836914, y: 0.015267541885375976, + z: 0.020597280502319334} + +--- +{rxSys: 1526996411.869241, src: mocap, x: -0.006754844665527344, y: 0.01526359748840332, + z: 0.020612030029296874} + +--- +{rxSys: 1526996411.8767722, src: mocap, x: -0.006754255294799805, y: 0.015275211334228515, + z: 0.020644001007080078} + +--- +{rxSys: 1526996411.904738, src: mocap, x: -0.006759753704071045, y: 0.015261822700500489, + z: 0.020606342315673827} + +--- +{rxSys: 1526996411.905109, src: mocap, x: -0.006755324363708496, y: 0.015248200416564942, + z: 0.020603612899780275} + +--- +{rxSys: 1526996411.917876, src: mocap, x: -0.006736320495605469, y: 0.01523961353302002, + z: 0.020604211807250975} + +--- +{rxSys: 1526996411.91885, src: mocap, x: 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-0.0067472620010375975, y: 0.015233694076538086, + z: 0.020603343963623046} + +--- +{rxSys: 1526996412.028525, src: mocap, x: -0.0067524538040161135, y: 0.015254631996154785, + z: 0.020619890213012696} + +--- +{rxSys: 1526996412.0288901, src: mocap, x: -0.006740180969238281, y: 0.015259223937988281, + z: 0.020631214141845704} + +--- +{rxSys: 1526996412.0292401, src: mocap, x: -0.006745162487030029, y: 0.015272708892822265, + z: 0.020633718490600587} + +--- +{rxSys: 1526996412.037297, src: mocap, x: -0.006757307529449463, y: 0.015250401496887207, + z: 0.020634298324584962} + +--- +{rxSys: 1526996412.047105, src: mocap, x: -0.006747462749481201, y: 0.015253559112548828, + z: 0.02060851287841797} + +--- +{rxSys: 1526996412.05784, src: mocap, x: -0.006755877494812012, y: 0.015266263008117675, + z: 0.020621456146240235} + +--- +{rxSys: 1526996412.0759091, src: mocap, x: -0.006754269599914551, y: 0.015262868881225586, + z: 0.02062732696533203} + +--- +{rxSys: 1526996412.076832, src: mocap, x: -0.006751505374908448, y: 0.01523578929901123, + z: 0.020604188919067384} + +--- +{rxSys: 1526996412.154499, src: mocap, x: -0.006747817039489746, y: 0.015276299476623536, + z: 0.020618083953857422} + +--- +{rxSys: 1526996412.1547468, src: mocap, x: -0.006748199939727783, y: 0.015237602233886718, + z: 0.02059190559387207} + +--- +{rxSys: 1526996412.1596, src: mocap, x: -0.0067498617172241215, y: 0.015257749557495117, + z: 0.020618070602416994} + +--- +{rxSys: 1526996412.1598961, src: mocap, x: -0.006748541355133057, y: 0.015276481628417968, + z: 0.020623743057250978} + +--- +{rxSys: 1526996412.1601121, src: mocap, x: -0.006751510620117187, y: 0.015265853881835937, + z: 0.02064254570007324} + +--- +{rxSys: 1526996412.160374, src: mocap, x: -0.006752278327941895, y: 0.015240619659423828, + z: 0.020610647201538088} + +--- +{rxSys: 1526996412.160643, src: mocap, x: -0.006735780239105225, y: 0.015264693260192872, + z: 0.0206049861907959} + +--- +{rxSys: 1526996412.16139, src: mocap, x: 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x: -0.006750012397766113, y: 0.015262619972229004, + z: 0.020631437301635743} + +--- +{rxSys: 1526996412.4155982, src: mocap, x: -0.00673315143585205, y: 0.015252108573913575, + z: 0.020592424392700197} + +--- +{rxSys: 1526996412.4177449, src: mocap, x: -0.006755723476409912, y: 0.015278728485107421, + z: 0.020627561569213866} + +--- +{rxSys: 1526996412.428106, src: mocap, x: -0.006753304958343506, y: 0.015229312896728516, + z: 0.020609872817993164} + +--- +{rxSys: 1526996412.436822, src: mocap, x: -0.0067414045333862305, y: 0.015259690284729004, + z: 0.020617637634277344} + +--- +{rxSys: 1526996412.446878, src: mocap, x: -0.00672890567779541, y: 0.015269850730895996, + z: 0.020593963623046874} + +--- +{rxSys: 1526996412.456874, src: mocap, x: -0.006756911277770996, y: 0.015263294219970703, + z: 0.02060626792907715} + +--- +{rxSys: 1526996412.46688, src: mocap, x: -0.006748471260070801, y: 0.01525029182434082, + z: 0.020633466720581056} + +--- +{rxSys: 1526996412.485312, src: mocap, x: 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-0.0067533526420593265, y: 0.015255440711975097, + z: 0.020616878509521486} + +--- +{rxSys: 1526996412.589849, src: mocap, x: -0.006746006488800049, y: 0.015271564483642579, + z: 0.020612424850463867} + +--- +{rxSys: 1526996412.590213, src: mocap, x: -0.00674847936630249, y: 0.015258891105651855, + z: 0.020623573303222655} + +--- +{rxSys: 1526996412.590559, src: mocap, x: -0.006748754501342774, y: 0.0152362642288208, + z: 0.020613059997558594} + +--- +{rxSys: 1526996412.603519, src: mocap, x: -0.006742904663085938, y: 0.01525735569000244, + z: 0.020612916946411132} + +--- +{rxSys: 1526996412.606806, src: mocap, x: -0.006752416133880616, y: 0.015273069381713867, + z: 0.02063642120361328} + +--- +{rxSys: 1526996412.6374998, src: mocap, x: -0.006743528366088867, y: 0.015244933128356933, + z: 0.020593671798706054} + +--- +{rxSys: 1526996412.637881, src: mocap, x: -0.00674779224395752, y: 0.01523768138885498, + z: 0.020597518920898436} + +--- +{rxSys: 1526996412.639786, src: mocap, x: -0.006735892295837403, y: 0.015268704414367677, + z: 0.020608808517456053} + +--- +{rxSys: 1526996412.66797, src: mocap, x: -0.006740342140197754, y: 0.015258681297302247, + z: 0.020633914947509765} + +--- +{rxSys: 1526996412.668752, src: mocap, x: -0.0067482666969299315, y: 0.015264667510986329, + z: 0.02065104866027832} + +--- +{rxSys: 1526996412.669822, src: mocap, x: -0.0067501325607299805, y: 0.015260552406311035, + z: 0.020607181549072266} + +--- +{rxSys: 1526996412.679167, src: mocap, x: -0.006749858856201172, y: 0.015258637428283692, + z: 0.020603614807128905} + +--- +{rxSys: 1526996412.690866, src: mocap, x: -0.00675473165512085, y: 0.015260102272033692, + z: 0.020638626098632814} + +--- +{rxSys: 1526996412.697251, src: mocap, x: -0.006752512931823731, y: 0.015264119148254394, + z: 0.020617551803588867} + +--- +{rxSys: 1526996412.70699, src: mocap, x: -0.006754133701324463, y: 0.015267461776733398, + z: 0.020626293182373048} + +--- +{rxSys: 1526996412.720945, src: mocap, x: -0.006763552665710449, y: 0.015255679130554199, + z: 0.020632745742797852} + +--- +{rxSys: 1526996412.734424, src: mocap, x: -0.006742189407348633, y: 0.015235663414001465, + z: 0.02057890319824219} + +--- +{rxSys: 1526996412.737591, src: mocap, x: -0.0067499175071716305, y: 0.015255252838134765, + z: 0.020600217819213867} + +--- +{rxSys: 1526996412.746943, src: mocap, x: -0.006762956142425537, y: 0.015234671592712402, + z: 0.02059846305847168} + +--- +{rxSys: 1526996412.764051, src: mocap, x: -0.006748373508453369, y: 0.015263322830200196, + z: 0.020619823455810548} + +--- +{rxSys: 1526996412.7669408, src: mocap, x: -0.006752610206604004, y: 0.015275127410888672, + z: 0.02061879539489746} + +--- +{rxSys: 1526996412.781965, src: mocap, x: -0.00675057315826416, y: 0.015266715049743652, + z: 0.02061069107055664} + +--- +{rxSys: 1526996412.7926521, src: mocap, x: -0.006734314918518066, y: 0.01523840618133545, + z: 0.02060077095031738} + +--- +{rxSys: 1526996412.798563, src: mocap, x: -0.006744900226593018, y: 0.015238862037658691, + z: 0.020601072311401368} + +--- +{rxSys: 1526996412.8071628, src: mocap, x: -0.006748904705047607, y: 0.015249757766723633, + z: 0.0206026611328125} + +--- +{rxSys: 1526996412.824342, src: mocap, x: -0.006762145042419433, y: 0.015266887664794922, + z: 0.020630571365356447} + +--- +{rxSys: 1526996412.827171, src: mocap, x: -0.00675153636932373, y: 0.01526565933227539, + z: 0.02062014961242676} + +--- +{rxSys: 1526996412.8369899, src: mocap, x: -0.006754028797149658, y: 0.015242399215698242, + z: 0.020598102569580078} + +--- +{rxSys: 1526996412.8468008, src: mocap, x: -0.006735104560852051, y: 0.015268604278564453, + z: 0.0206253719329834} + +--- +{rxSys: 1526996412.88537, src: mocap, x: -0.006745603084564209, y: 0.015246970176696777, + z: 0.020594892501831056} + +--- +{rxSys: 1526996412.901151, src: mocap, x: -0.006740196704864502, y: 0.015251605033874512, + z: 0.020575307846069337} + +--- +{rxSys: 1526996412.90204, src: mocap, x: 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-0.006730064392089844, y: 0.015264811515808106, + z: 0.020614686965942382} + +--- +{rxSys: 1526996412.969169, src: mocap, x: -0.006756272792816162, y: 0.015268403053283692, + z: 0.020618568420410155} + +--- +{rxSys: 1526996412.976908, src: mocap, x: -0.006756980895996093, y: 0.015260906219482421, + z: 0.020637548446655274} + +--- +{rxSys: 1526996412.98688, src: mocap, x: -0.006746694087982178, y: 0.015246504783630372, + z: 0.02058769416809082} + +--- +{rxSys: 1526996412.998469, src: mocap, x: -0.006750462532043457, y: 0.015279162406921386, + z: 0.020595415115356445} + +--- +{rxSys: 1526996413.0075772, src: mocap, x: -0.006743010997772217, y: 0.015273478507995606, + z: 0.020602460861206054} + +--- +{rxSys: 1526996413.016858, src: mocap, x: -0.006757713317871093, y: 0.015223536491394043, + z: 0.020595481872558594} + +--- +{rxSys: 1526996413.02994, src: mocap, x: -0.006758701801300049, y: 0.015273175239562987, + z: 0.020614603042602538} + +--- +{rxSys: 1526996413.042549, src: mocap, x: 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-0.006757269859313965, y: 0.015270772933959962, + z: 0.020629505157470703} + +--- +{rxSys: 1526996414.006851, src: mocap, x: -0.006746642589569092, y: 0.015245796203613281, + z: 0.02060077095031738} + +--- +{rxSys: 1526996414.021387, src: mocap, x: -0.006748301982879639, y: 0.015298093795776367, + z: 0.020605749130249023} + +--- +{rxSys: 1526996414.0273778, src: mocap, x: -0.006739104747772217, y: 0.01528750514984131, + z: 0.020631879806518556} + +--- +{rxSys: 1526996414.228309, src: mocap, x: -0.006749612808227539, y: 0.01526856803894043, + z: 0.020611888885498048} + +--- +{rxSys: 1526996414.228828, src: mocap, x: -0.006738994598388672, y: 0.015260099411010742, + z: 0.020606962203979493} + +--- +{rxSys: 1526996414.24529, src: mocap, x: -0.006752300262451172, y: 0.015273268699645997, + z: 0.02060849952697754} + +--- +{rxSys: 1526996414.245996, src: mocap, x: -0.006737399101257324, y: 0.015268139839172364, + z: 0.02060604476928711} + +--- +{rxSys: 1526996414.271728, src: mocap, x: 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rxTimeStamp: 2385322209, seq: 120} +- {distance: 33891, id: 5, rxTimeStamp: 3066842434, seq: 28} +- {distance: 33393, id: 3, rxTimeStamp: 2807321579, seq: 57} +- {distance: 33822, id: 6, rxTimeStamp: 3289766244, seq: 31} +- {distance: 34026, id: 1, rxTimeStamp: 3894106195, seq: 72} +- {distance: 33710, id: 2, rxTimeStamp: 3236726075, seq: 1} +remoteCount: 6 +rxSys: 1526996412.1828322 +seq: 63 +to: 255 +ts: 686135809022 +txTimeStamp: 3641073664 +type: 48 + +--- diff --git a/module-test/tdoa3/mocks/FreeRTOS.h b/module-test/tdoa3/mocks/FreeRTOS.h new file mode 100644 index 0000000000..af76e2ae58 --- /dev/null +++ b/module-test/tdoa3/mocks/FreeRTOS.h @@ -0,0 +1,6 @@ +#ifndef __FREE_RTOS_H__ +#define __FREE_RTOS_H__ + +#define M2T(X) (X) + +#endif // __FREE_RTOS_H__ diff --git a/module-test/tdoa3/mocks/cfassert.h b/module-test/tdoa3/mocks/cfassert.h new file mode 100644 index 0000000000..9eacdb14e2 --- /dev/null +++ b/module-test/tdoa3/mocks/cfassert.h @@ -0,0 +1 @@ +// Nothing here \ No newline at end of file diff --git a/module-test/tdoa3/mocks/mocks.c b/module-test/tdoa3/mocks/mocks.c new file mode 100644 index 0000000000..4bc902058d --- /dev/null +++ b/module-test/tdoa3/mocks/mocks.c @@ -0,0 +1,93 @@ +#include +#include + +#include "task.h" +#include "stabilizer_types.h" +#include "lpsTdoaTagStats.h" +#include "lpsTdoaTagEngine.h" + +lpsTdoaStats_t lpsTdoaStats; + +static uint32_t currentTick; +static tdoaMeasurement_t output; +static bool wasOutputGenerated; + + +typedef struct { + unsigned int id; + unsigned int seqNr; + unsigned int rxTimeStamp; + unsigned int distance; +} rangeData_t; + +void simulateSetTestCurrentSysTime(const uint32_t tick) { +// printf("%u\n", tick); + currentTick = tick; +} + +// Replace the FreeRTOS implementation +uint32_t xTaskGetTickCount(void) { + return currentTick; +} + +// Replace the normal implementation in the estimator +bool estimatorKalmanEnqueueTDOA(tdoaMeasurement_t *uwb) { + memcpy(&output, uwb, sizeof(output)); + wasOutputGenerated = true; + + return true; +} + +bool simulateGetEnqueuedResult(tdoaMeasurement_t* uwb) { + memcpy(uwb, &output, sizeof(*uwb)); + + return wasOutputGenerated; +} + +static bool isValidTimeStamp(uint64_t ts) { + return (ts != 0); +} + +static void updateRemoteData(anchorInfo_t* anchorCtx, const int rangeDataCount, const rangeData_t* rangeData) { + for (int i = 0; i < rangeDataCount; i++) { + uint8_t remoteId = rangeData[i].id; + int64_t remoteRxTime = rangeData[i].rxTimeStamp; + uint8_t remoteSeqNr = rangeData[i].seqNr & 0x7f; + int64_t tof = rangeData[i].distance; + + if (isValidTimeStamp(remoteRxTime)) { + tdoaEngineSetRemoteRxTime(anchorCtx, remoteId, remoteRxTime, remoteSeqNr); + } + + if (isValidTimeStamp(tof)) { + tdoaEngineSetTimeOfFlight(anchorCtx, remoteId, tof); + } + } +} + +bool callTdoaEngineProcessPacket(uint8_t anchorId, + const int64_t txAn_in_cl_An, + const int64_t rxAn_by_T_in_cl_T, + const uint8_t seqNr, + int rangeDataCount, + rangeData_t* rangeData, + point_t* position) { + wasOutputGenerated = false; + +// printf("id: %i, tx: %lli, rx: %lli, seq: %i, cnt: %i\n", anchorId, txAn_in_cl_An, rxAn_by_T_in_cl_T, seqNr, rangeDataCount); + + anchorInfo_t* anchorCtx = getAnchorCtxForPacketProcessing(anchorId); + if (anchorCtx) { + updateRemoteData(anchorCtx, rangeDataCount, rangeData); + tdoaEngineProcessPacket(anchorCtx, txAn_in_cl_An, rxAn_by_T_in_cl_T); + tdoaEngineSetRxTxData(anchorCtx, rxAn_by_T_in_cl_T, txAn_in_cl_An, seqNr); + if (position) { + tdoaEngineSetAnchorPosition(anchorCtx, position->x, position->y, position->z); + } + } + + return wasOutputGenerated; +} + + + diff --git a/module-test/tdoa3/mocks/task.h b/module-test/tdoa3/mocks/task.h new file mode 100644 index 0000000000..01963cc2f7 --- /dev/null +++ b/module-test/tdoa3/mocks/task.h @@ -0,0 +1,8 @@ +#ifndef __TASK_H__ +#define __TASK_H__ + +#include + +uint32_t xTaskGetTickCount(void); + +#endif // __TASK_H__ \ No newline at end of file diff --git a/module-test/tdoa3/run.sh b/module-test/tdoa3/run.sh new file mode 100755 index 0000000000..b5fd70ec65 --- /dev/null +++ b/module-test/tdoa3/run.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash + +make +python3 runner.py \ No newline at end of file diff --git a/module-test/tdoa3/runner.py b/module-test/tdoa3/runner.py new file mode 100644 index 0000000000..3be652f76a --- /dev/null +++ b/module-test/tdoa3/runner.py @@ -0,0 +1,150 @@ +import ctypes +import yaml +import math + +tester = ctypes.cdll.LoadLibrary( + '../../generated-test/module-test/tdoa3/tester.so') +tester.callTdoaEngineProcessPacket.restype = ctypes.c_bool + + +class RangeData(ctypes.Structure): + _fields_ = [ + ("id", ctypes.c_uint), + ("seqNr", ctypes.c_uint), + ("rxTimestamp", ctypes.c_uint), + ("distance", ctypes.c_uint) + ] + + +class Point(ctypes.Structure): + _fields_ = [ + ('timestamp', ctypes.c_uint), + ("x", ctypes.c_float), + ("y", ctypes.c_float), + ("z", ctypes.c_float) + ] + + +class TdoaMeasurement(ctypes.Structure): + _fields_ = [ + ("anchorPosition", Point * 2), + ("distanceDiff", ctypes.c_float), + ("stdDev", ctypes.c_float) + ] + + +def simulateClock(time): + tick = (int(time * 1000) & 0xffffffff) + tester.simulateSetTestCurrentSysTime(tick) + + +def sendPacketToEngine(packet): + anchorId = packet['from'] + txAn_in_cl_An = packet['txTimeStamp'] + rxAn_by_T_in_cl_T = packet['ts'] + seqNr = packet['seq'] + + position = None + if 'lpp_data' in packet and packet['lpp_data']['type'] == 1: + position = (Point)() + pos = packet['lpp_data']['position'] + position.x = pos['x'] + position.y = pos['y'] + position.z = pos['z'] + + remoteCount = packet['remoteCount'] + remoteData = (RangeData * 8)() + i = 0 + for packetRemoteData in packet['remoteAnchorData']: + remoteData[i].id = packetRemoteData['id'] + remoteData[i].seqNr = packetRemoteData['seq'] + remoteData[i].rxTimestamp = packetRemoteData['rxTimeStamp'] + if 'distance' in packetRemoteData: + remoteData[i].distance = packetRemoteData['distance'] + else: + remoteData[i].distance = 0 + + i += 1 + + return tester.callTdoaEngineProcessPacket( + anchorId, + txAn_in_cl_An, + rxAn_by_T_in_cl_T, + seqNr, + remoteCount, + ctypes.byref(remoteData), + ctypes.byref(position)) + + +class GroundTruth: + def __init__(self, stream): + self.generator = yaml.load_all(stream, Loader=yaml.CLoader) + + self.current = next(self.generator) + self.next = next(self.generator) + + def fast_forward_to(self, time): + try: + while time > self.current['rxSys']: + self.current = self.next + self.next = next(self.generator) + except StopIteration: + pass + + def x(self): + return self.current['x'] + + def y(self): + return self.current['y'] + + def z(self): + return self.current['z'] + + def position(self): + return self.current['x'], self.current['y'], self.current['z'] + + +def calculate_diff(gt, measurement): + x, y, z = gt.position() + + dxa = x - measurement.anchorPosition[0].x + dya = y - measurement.anchorPosition[0].y + dza = z - measurement.anchorPosition[0].z + + dxb = x - measurement.anchorPosition[1].x + dyb = y - measurement.anchorPosition[1].y + dzb = z - measurement.anchorPosition[1].z + + da = math.sqrt(dxa * dxa + dya * dya + dza * dza) + db = math.sqrt(dxb * dxb + dyb * dyb + dzb * dzb) + + return db - da + + +start_time = 0 +with open("input/ground_truth.yaml", 'r') as gt_stream: + gt = GroundTruth(gt_stream) + + with open("input/toda3_8_anchors.yaml", 'r') as stream: + for packet in yaml.load_all(stream, Loader=yaml.CLoader): + if not packet: + continue + + time = packet['rxSys'] + if start_time == 0: + start_time = time + local_time = time - start_time + + gt.fast_forward_to(time) + + simulateClock(local_time) + result = sendPacketToEngine(packet) + if (result): + measurement = (TdoaMeasurement)() + tester.simulateGetEnqueuedResult(ctypes.byref(measurement)) + + expected_diff = calculate_diff(gt, measurement) + print(local_time, measurement.distanceDiff, expected_diff, + measurement.distanceDiff - expected_diff) + else: + print(local_time, "Nothing...")