for i in $(ls pose_stuff.txt|sed s/.txt//|sed s/pose.//);
do
	cat pose_$i.txt |tr , ' '|awk 'NR==3{tt=$1}{x=$2-a;y=$3-b;d=sqrt(x*x+y*y);print $1-tt,$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 ;g=1;else g=0;fi

	cat odom_$i.txt |tr , ' '|awk 'NR==3{tt=$1}{x=$6-a;y=$7-b;print $1-tt,sqrt(x*x+y*y);a=$6;b=$7}'|sed -n "3,$"p >diffodom_$i.txt 
done