for i in $(ls pose_2017-01-17*.txt|sed s/.txt//|sed s/pose.//);
do
	a=$(grep robot_pose info_$i.txt |grep -Eo [0-9]+|awk '{a=a+$1}END{print a}')
	b=$(($(cat pose_$i.txt|wc -l)-1))
	if [ $a != $b ]; then echo Pose extraction number mismatch for $i: expected $a, extracted $b;fi
	cat pose_$i.txt |tr , ' '|awk '{x=$2-a;y=$3-b;d=sqrt(x*x+y*y);print $1,$2,$3,d,(d>0.5);a=$2;b=$3}'|sed -n "3,$"p >diffpose_$i.txt 
	if [ $(cat diffpose_$i.txt |grep -c 1$) -gt 0 ];
	then 
		echo Glitch detected in pose of $i ;
		for j in $(cat diffpose_$i.txt |grep  1$|cut -f 1 -d ' ')
		do
			date -d @"$(($j/1000000000))"	
		done
		g=1;
	else 
		g=0;
	fi
	d=$(cat diffpose_$i.txt |awk '{a=a+$4}END{print a}')
	a=$(grep odom info_$i.txt |grep -Eo [0-9]+|awk '{a=a+$1}END{print a}')
	b=$(($(cat odom_$i.txt|wc -l)-1))
	if [ $a != $b ]; then echo Odom extraction number mismatch for $i: expected $a, extracted $b;fi
	cat odom_$i.txt |tr , ' '|awk '{x=$6-a;y=$7-b;print $1,sqrt(x*x+y*y);a=$6;b=$7}'|sed -n "3,$"p >diffodom_$i.txt 
	ts=$(cat diffodom_$i.txt |uniq -f 1|sed -n 2p|cut -f 1 -d ' ')
	te=$(cat diffodom_$i.txt |uniq -f 1|tail -n 1|cut -f 1 -d ' ')
	t=$(echo $te $ts|awk '{print ($1-$2)/3600000000000}')
	echo $i: Time: $t Distance: $d
	echo $i $d $t $g >>results.txt
done