#!/usr/bin/env python
# coding: UTF-8
import sys
ll_opy_ = sys.version_info [0] == 2
l1111l_opy_ = 2048
l11l1_opy_ = 7
def l1l11l_opy_ (keyedStringLiteral):
    global l111ll_opy_
    stringNr = ord (keyedStringLiteral [-1])
    rotatedStringLiteral = keyedStringLiteral [:-1]
    rotationDistance = stringNr % len (rotatedStringLiteral)
    recodedStringLiteral = rotatedStringLiteral [:rotationDistance] + rotatedStringLiteral [rotationDistance:]
    if ll_opy_:
        stringLiteral = unicode () .join ([unichr (ord (char) - l1111l_opy_ - (charIndex + stringNr) % l11l1_opy_) for charIndex, char in enumerate (recodedStringLiteral)])
    else:
        stringLiteral = str () .join ([chr (ord (char) - l1111l_opy_ - (charIndex + stringNr) % l11l1_opy_) for charIndex, char in enumerate (recodedStringLiteral)])
    return eval (stringLiteral)
import sys
sys.path.append(l1l11l_opy_ (u"ࠢ࠯ࠤࡳ"))
import numpy
from geometry_msgs.msg import Pose2D
from std_msgs.msg import Int8
from std_msgs.msg import Float64
import rospy
import message_filters
import sensor_msgs.msg
import sys
import time
from state_estimator.msg import RobotPose
class l1l11lll_opy_(object):
    def __init__(self):
        #Set l1lllll1_opy_ l11l1l1_opy_
        self.l1llllll_opy_ = 0
        self.l1l1llll_opy_ = 0
        self.l1lll1l1_opy_ = 0
        self.l1l11l1l_opy_ = 1.1
        #Set up publisher for l1ll11ll_opy_ error
        self.l1l1ll1l_opy_ = rospy.Publisher(l1l11l_opy_ (u"ࠣ࠱ࡤࡧࡨ࡫ࡰࡵࡣࡥࡰࡪࡥ࡯ࡥࡱࡰࡩࡹࡸࡹࡠࡧࡵࡶࡴࡸࠢࡴ"), Float64, queue_size=1)
        self.l111l11_opy_ = rospy.Publisher(l1l11l_opy_ (u"ࠤ࠲ࡥࡨࡩࡥࡱࡶࡤࡦࡱ࡫࡟ࡦࡵࡷ࡭ࡲࡧࡴࡪࡱࡱࡣࡪࡸࡲࡰࡴࠥࡵ"), Float64, queue_size=1)
        self.l1l11ll1_opy_ = rospy.Publisher(l1l11l_opy_ (u"ࠥ࠳ࡸࡺࡵࡥࡧࡱࡸࡤ࡫ࡲࡳࡱࡵࠦࡶ"), Int8, queue_size=1)
        self.l11111l_opy_ = []
        self.l11111l_opy_.append(message_filters.Subscriber(l1l11l_opy_ (u"ࠦ࠴࡭ࡴࡠࡱࡧࡳࡲ࡫ࡴࡳࡻࠥࡷ"), RobotPose))
        self.l11111l_opy_.append(message_filters.Subscriber(l1l11l_opy_ (u"ࠧ࠵ࡧࡵࡡࡳࡳࡸ࡫࡟ࡦࡵࡷ࡭ࡲࡧࡴࡦࠤࡸ"), RobotPose))
        self.l11111l_opy_.append(message_filters.Subscriber(l1l11l_opy_ (u"ࠨ࠯ࡳࡱࡥࡳࡹࡥࡰࡰࡵࡨࡣࡪࡹࡴࡪ࡯ࡤࡸࡪࠨࡹ"), RobotPose))
        self.l11111l_opy_.append(message_filters.Subscriber(l1l11l_opy_ (u"ࠢ࠰ࡴࡲࡦࡴࡺ࡟ࡱࡱࡶࡩࠧࡺ"), RobotPose))
        l1llll11_opy_ = message_filters.TimeSynchronizer(self.l11111l_opy_, 10)
        l1llll11_opy_.registerCallback(self.l1111l1_opy_)
    def l1111l1_opy_(self, l1llll1l_opy_, l1ll11l1_opy_, l11l1ll_opy_, l1l1l1ll_opy_):
        l1l11l11_opy_ = l1llll1l_opy_.pose
        l111lll_opy_ = l1ll11l1_opy_.pose
        l11l111_opy_ = l11l1ll_opy_.pose
        l111l1l_opy_ = l1l1l1ll_opy_.pose
        #l1l1l11l_opy_ difference l1lll11l_opy_ l111ll1_opy_ position and l111111_opy_ position from l1111ll_opy_ implementation
        l1ll1l1l_opy_ = numpy.sqrt((l111l1l_opy_.x - l111lll_opy_.x)**2 + (l111l1l_opy_.y - l111lll_opy_.y)**2)
        #l1l1l11l_opy_ difference l1lll11l_opy_ l111ll1_opy_ position and l111111_opy_ position from l1ll1lll_opy_ implementation
        l1ll1l11_opy_ = numpy.sqrt((l111l1l_opy_.x - l1l11l11_opy_.x)**2 + (l111l1l_opy_.y - l1l11l11_opy_.y)**2)
        l11ll11_opy_ = numpy.sqrt((l111l1l_opy_.x - l11l111_opy_.x)**2 + (l111l1l_opy_.y - l11l111_opy_.y)**2)
        #l1lll111_opy_ l1ll1ll1_opy_ l1ll1lll_opy_ position and l1l1lll1_opy_ are greater than or equal to l111111_opy_ position
        if l1ll1l1l_opy_ < 0.1: l1ll1l1l_opy_ = 0.1
        if l1ll1l11_opy_ < l1ll1l1l_opy_: l1ll1l11_opy_ = l1ll1l1l_opy_
        #l11l11l_opy_ l1ll11ll_opy_ l1l1l111_opy_ for l111111_opy_ differences
        #print l1ll1l11_opy_ * self.l1l11l1l_opy_
        self.l1l1ll1l_opy_.publish(l1ll1l11_opy_ * self.l1l11l1l_opy_)
        self.l111l11_opy_.publish(l1ll1l1l_opy_ * self.l1l11l1l_opy_)
        #l1l111ll_opy_ if l1ll1111_opy_ is l1l1l1l1_opy_ l1ll11ll_opy_ l1l1ll11_opy_ set by l1ll1lll_opy_
        if l11ll11_opy_ > (l1ll1l11_opy_ * self.l1l11l1l_opy_):
            self.l1llllll_opy_ += 1
            self.l1l11ll1_opy_.publish(1)
        if l11ll11_opy_ > (l1ll1l1l_opy_ * self.l1l11l1l_opy_):
            self.l1l1llll_opy_ += 1
            self.l1l11ll1_opy_.publish(2)
        self.l1lll1l1_opy_ += 1
if __name__ == l1l11l_opy_ (u"ࠨࡡࡢࡱࡦ࡯࡮ࡠࡡࠪࡻ"):
    rospy.init_node(l1l11l_opy_ (u"ࠩࡨ࡯࡫ࡥࡧࡳࡣࡧࡩࡷ࠭ࡼ"), anonymous=True)
    g = l1l11lll_opy_()
    l1ll111l_opy_ = 120.0
    print l1l11l_opy_ (u"ࠥࡖࡺࡴ࡮ࡪࡰࡪࠤ࠲ࠦࠥࡴࠢࡶࡩࡨࡵ࡮ࡥࡵࠣࡰࡪ࡬ࡴࠣࡽ")%l1ll111l_opy_
    rospy.sleep(l1ll111l_opy_)
    for sub in g.l11111l_opy_:
        sub.unregister()
    if g.l1lll1l1_opy_ < 0.9*l1ll111l_opy_/0.01:
        print l1l11l_opy_ (u"ࠦࡌࡸࡡࡥࡧࡵࠤࡩ࡯ࡤࠡࡰࡲࡸࠥࡸࡥࡤࡧ࡬ࡺࡪࠦࡳࡶࡨࡩ࡭ࡨ࡯ࡥ࡯ࡶࠣࡲࡺࡳࡢࡦࡴࠣࡳ࡫ࠦࡥࡴࡶ࡬ࡱࡦࡺࡥࡴࠤࡾ")
        print l1l11l_opy_ (u"ࠧࡍࡲࡢࡦࡨ࠾ࠥ࠶ࠢࡿ")
    else:
        if g.l1llllll_opy_:
            print l1l11l_opy_ (u"ࠨࡒࡰࡤࡲࡸࠥࡽࡥ࡯ࡶࠣࡳࡺࡺࡳࡪࡦࡨࠤࡴ࡬ࠠࡵࡪࡨࠤࡦࡲ࡬ࡰࡹࡤࡦࡱ࡫ࠠࡰࡦࡲࡱࡪࡺࡲࡺࠢࡵࡥࡳ࡭ࡥࠡࡨࡲࡶࠥࡶ࡯ࡴ࡫ࡷ࡭ࡴࡴࠠࡢࡶࠣࠩࡸࠦࡴࡪ࡯ࡨࠤࡸࡺࡥࡱࡵࠥࢀ")%g.l1llllll_opy_
            print l1l11l_opy_ (u"ࠢࡈࡴࡤࡨࡪࡀࠠ࠱ࠤࢁ")
        elif g.l1l1llll_opy_:
            print l1l11l_opy_ (u"ࠣࡔࡲࡦࡴࡺࠠࡸࡧࡱࡸࠥࡵࡵࡵࡵ࡬ࡨࡪࠦ࡯ࡧࠢࡷ࡬ࡪࠦࡡ࡭࡮ࡲࡻࡦࡨ࡬ࡦࠢࡈࡏࡋࠦࡲࡢࡰࡪࡩࠥ࡬࡯ࡳࠢࡳࡳࡸ࡯ࡴࡪࡱࡱࠤࡦࡺࠠࠦࡵࠣࡸ࡮ࡳࡥࠡࡵࡷࡩࡵࡹࠢࢂ")%g.l1l1llll_opy_
            print l1l11l_opy_ (u"ࠤࡊࡶࡦࡪࡥ࠻ࠢ࠸ࠦࢃ")
        else:
            print l1l11l_opy_ (u"ࠥࡖࡴࡨ࡯ࡵࠢࡶࡸࡦࡿࡥࡥࠢࡺ࡭ࡹ࡮ࡩ࡯ࠢࡤࡰࡱࡵࡷࡢࡤ࡯ࡩࠥࡋࡋࡇࠢࡵࡥࡳ࡭ࡥࠣࢄ")
            print l1l11l_opy_ (u"ࠦࡌࡸࡡࡥࡧ࠽ࠤ࠶࠶ࠢࢅ")
