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slurm-2812813.out
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World size: 3000
World type: 3
Version: 47
K: 80000
choose Maze
Starting RRT* Algorithm...
First Viable Solution Obtained after 56454 iterations
Cost is 5390.77
Saving the generated plan (vector of points)
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 56852 iterations
Cost is 5390.21
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 56940 iterations
Cost is 5389.8
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 57021 iterations
Cost is 5383.38
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 57109 iterations
Cost is 5382.6
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 57870 iterations
Cost is 5381.62
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 57892 iterations
Cost is 5381.31
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 58607 iterations
Cost is 5381.12
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 59074 iterations
Cost is 5377.81
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 59914 iterations
Cost is 5375.3
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 60302 iterations
Cost is 5374.35
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 60318 iterations
Cost is 5374.19
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 60416 iterations
Cost is 5374.12
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 60452 iterations
Cost is 5372.49
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 61988 iterations
Cost is 5367.45
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 62549 iterations
Cost is 5362.99
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 62638 iterations
Cost is 5362.74
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 62763 iterations
Cost is 5362.7
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 63134 iterations
Cost is 5362.09
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 63250 iterations
Cost is 5360.43
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 63394 iterations
Cost is 5360.19
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 63877 iterations
Cost is 5358.93
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 63927 iterations
Cost is 5357.66
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 64115 iterations
Cost is 5357.41
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 64464 iterations
Cost is 5356.94
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 64631 iterations
Cost is 5345.15
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 64899 iterations
Cost is 5344.12
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 65154 iterations
Cost is 5344.09
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 65313 iterations
Cost is 5340.22
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 65338 iterations
Cost is 5339.19
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 65374 iterations
Cost is 5338.88
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 65565 iterations
Cost is 5334.13
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 66114 iterations
Cost is 5333.62
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 66841 iterations
Cost is 5333.39
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 67075 iterations
Cost is 5331.52
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 67082 iterations
Cost is 5331.03
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 67242 iterations
Cost is 5330.55
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 67676 iterations
Cost is 5330.29
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 68093 iterations
Cost is 5327.18
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 68299 iterations
Cost is 5326.47
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 68903 iterations
Cost is 5326.42
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 69094 iterations
Cost is 5326.36
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 69198 iterations
Cost is 5324.69
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 69200 iterations
Cost is 5324.41
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 69286 iterations
Cost is 5324.13
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 69384 iterations
Cost is 5322.19
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 69397 iterations
Cost is 5319.29
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 69662 iterations
Cost is 5316.78
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 69956 iterations
Cost is 5313.41
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 69969 iterations
Cost is 5303.37
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 70040 iterations
Cost is 5291.24
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 70197 iterations
Cost is 5290.27
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 70986 iterations
Cost is 5288.55
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 71505 iterations
Cost is 5287.99
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 71718 iterations
Cost is 5286.51
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 72147 iterations
Cost is 5285.76
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 72342 iterations
Cost is 5266.48
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 72475 iterations
Cost is 5265.57
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 72689 iterations
Cost is 5264.12
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 72754 iterations
Cost is 5251.03
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 73803 iterations
Cost is 5250.54
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 74126 iterations
Cost is 5241.05
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 74215 iterations
Cost is 5188.14
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 74338 iterations
Cost is 5186.69
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 74649 iterations
Cost is 5170.97
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 75317 iterations
Cost is 5170.22
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 75621 iterations
Cost is 5164.27
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 76673 iterations
Cost is 5161.12
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 77338 iterations
Cost is 5148.89
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 77354 iterations
Cost is 5148.74
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 77520 iterations
Cost is 5147.99
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 77733 iterations
Cost is 5146.67
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 78182 iterations
Cost is 5141.28
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 78321 iterations
Cost is 5122.7
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 78458 iterations
Cost is 5121.79
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 78495 iterations
Cost is 5116.19
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 78780 iterations
Cost is 5112.72
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 79188 iterations
Cost is 5108.5
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 79210 iterations
Cost is 5091.62
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 80000 iterations
Cost is 5091.62
Exceeded max iterations!
Saving the generated plan (vector of points)
Execution time: 718.875000 seconds