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slurm-2812840.out
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World size: 500
World type: 1
Version: 105
K: 8000
choose FOUR_OBS
Starting RRT* Algorithm...
First Viable Solution Obtained after 1872 iterations
Cost is 1016.67
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 1905 iterations
Cost is 1015.6
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 1908 iterations
Cost is 1015.41
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 1929 iterations
Cost is 1015.26
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 1965 iterations
Cost is 1014.42
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2023 iterations
Cost is 1014.01
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2078 iterations
Cost is 1013.81
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2119 iterations
Cost is 1013.76
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2147 iterations
Cost is 1013.76
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2150 iterations
Cost is 1013.39
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2163 iterations
Cost is 1013.23
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2223 iterations
Cost is 1008.8
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2260 iterations
Cost is 1004.51
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2284 iterations
Cost is 1004.49
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2288 iterations
Cost is 1003.61
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2321 iterations
Cost is 1003.51
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2499 iterations
Cost is 1001.22
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2537 iterations
Cost is 1001.11
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2562 iterations
Cost is 999.843
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2563 iterations
Cost is 997.001
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2729 iterations
Cost is 995.216
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2844 iterations
Cost is 995.071
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2894 iterations
Cost is 994.818
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2912 iterations
Cost is 994.764
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 2919 iterations
Cost is 899.428
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3006 iterations
Cost is 892.036
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3043 iterations
Cost is 890.862
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3086 iterations
Cost is 890.081
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3237 iterations
Cost is 889.748
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3239 iterations
Cost is 886.373
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3408 iterations
Cost is 884.915
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3514 iterations
Cost is 881.297
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3536 iterations
Cost is 880.824
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3696 iterations
Cost is 880.65
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3730 iterations
Cost is 880.454
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3818 iterations
Cost is 879.328
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3863 iterations
Cost is 879.155
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4046 iterations
Cost is 878.299
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4082 iterations
Cost is 877.766
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4128 iterations
Cost is 877.179
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4130 iterations
Cost is 876.892
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4142 iterations
Cost is 876.175
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4203 iterations
Cost is 875.457
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4216 iterations
Cost is 875.43
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4333 iterations
Cost is 875.43
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4356 iterations
Cost is 875.269
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4377 iterations
Cost is 875.193
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4400 iterations
Cost is 873.186
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4612 iterations
Cost is 872.854
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4688 iterations
Cost is 872.664
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4731 iterations
Cost is 872.65
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4735 iterations
Cost is 872.401
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 5009 iterations
Cost is 872.292
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 5193 iterations
Cost is 871.355
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 5286 iterations
Cost is 871.328
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 5292 iterations
Cost is 871.251
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 5320 iterations
Cost is 871.039
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 5427 iterations
Cost is 870.798
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 5536 iterations
Cost is 870.791
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 5689 iterations
Cost is 869.83
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 5747 iterations
Cost is 869.821
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 5748 iterations
Cost is 860.95
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 5961 iterations
Cost is 860.907
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 8000 iterations
Cost is 860.907
Exceeded max iterations!
Saving the generated plan (vector of points)
Execution time: 6.750000 seconds