odom  : mean success over the 20 legs 0.002; mean arrival error 65.8 cm; legs with success below 0.9: 20; collision probability averaged 0.620; mean leg time 15.29 s  (0 s to compute)
ekf   : mean success over the 20 legs 0.993; mean arrival error 7.1 cm; legs with success below 0.9: 0; collision probability averaged 0.000; mean leg time 15.01 s  (0 s to compute)
oracle: mean success over the 20 legs 1.000; mean arrival error 4.9 cm; legs with success below 0.9: 0; collision probability averaged 0.000; mean leg time 15.25 s  (0 s to compute)
planned leg lengths (m): {'dock->P1': 4.46, 'dock->P2': 9.47, 'dock->P3': 3.37, 'dock->P4': 8.21, 'P1->P2': 4.97, 'P1->P3': 5.38, 'P1->P4': 10.48, 'P2->P3': 6.15, 'P2->P4': 12.44, 'P3->P4': 6.55}
leg dock->P4 (8.21 m): success odom 0.00, ekf 1.00, oracle 1.00; arrival error odom 94.1 cm, ekf 7.0 cm, oracle 4.9 cm; time 17.1 s
leg P3->P4 (6.55 m): success odom 0.00, ekf 1.00, oracle 1.00; arrival error odom 55.1 cm, ekf 7.0 cm, oracle 4.9 cm; time 13.7 s
leg P1->P2 (4.97 m): success odom 0.00, ekf 0.97, oracle 1.00; arrival error odom 36.1 cm, ekf 7.1 cm, oracle 4.9 cm; time 10.8 s
saved /home/user/Documents/DOCUMENTS_SERVER/SKILL_TRAINING/Internet of Things (IoT) and Robotics/sessions/012-unit12-capstone/figures/fig02_legs.png
