{
    "ALGORITHM_PARAMETERS": {
        "COMPUTE_MIN_TIME": true,
        "COMPUTE_VIABLE_SET": true,
        "ITERATION_STOP_LEVEL": 0,
        "LEVEL": 1,
        "PROJECTION_AXIS": [
            1,
            0
        ],
        "SAVE_BOUNDARY": true,
        "SET_TYPE": "CAPT"
    },
    "CONTROL_PARAMETERS": {
        "CONTROL_DIMENSION": 1,
        "CONTROL_GRID_POINTS": [
            21
        ],
        "CONTROL_MAX_VALUES": [
            1.0
        ],
        "CONTROL_MIN_VALUES": [
            -1.0
        ]
    },
    "GRID_PARAMETERS": {
        "GRID_METHOD": 2,
        "LOWER_LIMIT_IS_NOT_CONSTRAINT": [
            0,
            0
        ],
        "OUTPUT_FILE_PREFIX": "autoroute",
        "STATE_DIMENSION": 2,
        "STATE_GRID_POINTS": [
            1601,
            2401
        ],
        "STATE_MAX_VALUES": [
            2.0,
            3.0
        ],
        "STATE_MIN_VALUES": [
            0.0,
            0.0
        ],
        "STATE_PERIODIC": [
            0,
            0
        ],
        "UPPER_LIMIT_IS_NOT_CONSTRAINT": [
            0,
            0
        ]
    },
    "SYSTEM_PARAMETERS": {
        "COST_BOUND_CONSTANT": 1.0,
        "COST_LIPSCHITZ_CONSTANT": 3.95,
        "DYNAMICS_TYPE": "CC",
        "DYN_BOUND": 1.0,
        "DYN_BOUND_COMPUTE_METHOD": "ANALYTICAL",
        "LIPSCHITZ_CONSTANT": 1.0,
        "LIPSCHITZ_CONSTANT_COMPUTE_METHOD": "ANALYTICAL",
        "TIME_DISCRETIZATION_SCHEME": "RK2",
        "TIME_HORIZON": 4.5
    },
	"TRAJECTORY_PARAMETERS": [
	{
        "INITIAL_POINT": [0.0, 0.0],
        "TRAJECTORY_TYPE": "OP",
        "TRAJECTORY_TIME_HORIZON": 4.5
    }
	],
    "MODEL_PARAMETERS": {
        "TARGET_RADIUS": 0.001
    }
}