smoothed path: 159 -> 4 waypoints, length 8.212 m ; waypoints [(0.58, 0.58), (1.88, 4.33), (4.12, 4.98), (6.03, 5.03)]
lookahead 0.1 m: finished True, time 17.20 s, max cross-track error 1.5 cm, rms 0.1 cm, sample points where the rover disc hits an obstacle 0
lookahead 0.2 m: finished True, time 17.46 s, max cross-track error 3.2 cm, rms 0.3 cm, sample points where the rover disc hits an obstacle 0
lookahead 0.3 m: finished True, time 17.46 s, max cross-track error 5.1 cm, rms 0.7 cm, sample points where the rover disc hits an obstacle 3
lookahead 0.4 m: finished True, time 17.42 s, max cross-track error 6.8 cm, rms 1.0 cm, sample points where the rover disc hits an obstacle 3
lookahead 0.6 m: finished True, time 17.38 s, max cross-track error 10.6 cm, rms 1.9 cm, sample points where the rover disc hits an obstacle 5
lookahead 0.8 m: finished True, time 17.32 s, max cross-track error 14.1 cm, rms 3.0 cm, sample points where the rover disc hits an obstacle 8
lookahead 1.2 m: finished True, time 17.24 s, max cross-track error 21.4 cm, rms 5.2 cm, sample points where the rover disc hits an obstacle 11
lookahead 0.1 m: max error with no lag 1.6 cm, 30 ms lag 1.5 cm, 200 ms lag 2.8 cm
lookahead 0.4 m: max error with no lag 7.0 cm, 30 ms lag 6.8 cm, 200 ms lag 5.2 cm
max turn rate along the run (rad/s) at lookahead 0.4: 0.82 ; rover's feasible limit at 0.5 m/s: 2.39
speed 0.2 m/s, lookahead 0.4 m: time 41.0 s, max error 7.1 cm, finished True
speed 0.5 m/s, lookahead 0.4 m: time 17.4 s, max error 6.8 cm, finished True
speed 0.65 m/s, lookahead 0.4 m: time 14.0 s, max error 6.7 cm, finished True
saved /home/user/Documents/DOCUMENTS_SERVER/SKILL_TRAINING/Internet of Things (IoT) and Robotics/sessions/011-unit11-planning/figures/fig04_pursuit.png
