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slurm-2812842.out
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World size: 1000
World type: 1
Version: 106
K: 20000
choose FOUR_OBS
Starting RRT* Algorithm...
First Viable Solution Obtained after 7772 iterations
Cost is 1399.38
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 7887 iterations
Cost is 1399.35
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 7954 iterations
Cost is 1395.63
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 8232 iterations
Cost is 1394.78
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 8419 iterations
Cost is 1394.59
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 8476 iterations
Cost is 1392.47
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 8533 iterations
Cost is 1388.73
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 8600 iterations
Cost is 1388.61
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 8766 iterations
Cost is 1388.43
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 8866 iterations
Cost is 1386.84
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9015 iterations
Cost is 1385.67
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9037 iterations
Cost is 1385.36
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9104 iterations
Cost is 1374.23
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9165 iterations
Cost is 1373.58
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9234 iterations
Cost is 1372.3
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9327 iterations
Cost is 1360.87
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9375 iterations
Cost is 1344.89
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9431 iterations
Cost is 1341.73
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9462 iterations
Cost is 1338.19
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9506 iterations
Cost is 1337.81
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9531 iterations
Cost is 1335.3
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9640 iterations
Cost is 1332.24
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9975 iterations
Cost is 1331.8
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9983 iterations
Cost is 1331.14
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 10002 iterations
Cost is 1330.89
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 10148 iterations
Cost is 1330.75
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 10231 iterations
Cost is 1329.38
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 10321 iterations
Cost is 1329.38
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 10336 iterations
Cost is 1329.35
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 10489 iterations
Cost is 1329.12
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 11335 iterations
Cost is 1327.22
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 11350 iterations
Cost is 1326.87
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 11411 iterations
Cost is 1326.51
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 11480 iterations
Cost is 1326.27
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 11489 iterations
Cost is 1325.42
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 11665 iterations
Cost is 1322.57
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 11689 iterations
Cost is 1318.24
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 12000 iterations
Cost is 1316.35
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 12113 iterations
Cost is 1315.82
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 12133 iterations
Cost is 1315.46
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 12157 iterations
Cost is 1304.01
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 12251 iterations
Cost is 1303.82
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 12393 iterations
Cost is 1303.25
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 12462 iterations
Cost is 1303.2
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 12529 iterations
Cost is 1291.16
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 12689 iterations
Cost is 1290.04
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 12722 iterations
Cost is 1289.11
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 12799 iterations
Cost is 1286.37
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 12872 iterations
Cost is 1286.31
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 13093 iterations
Cost is 1285.49
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 13147 iterations
Cost is 1280.81
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 13254 iterations
Cost is 1280.11
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 13301 iterations
Cost is 1280
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 13505 iterations
Cost is 1279.83
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 13517 iterations
Cost is 1279.02
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 13650 iterations
Cost is 1265.21
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 13705 iterations
Cost is 1264.5
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 13842 iterations
Cost is 1258.05
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 13872 iterations
Cost is 1252.14
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 14261 iterations
Cost is 1252.1
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 14376 iterations
Cost is 1252.03
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 14557 iterations
Cost is 1251.75
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 14604 iterations
Cost is 1251.07
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 14621 iterations
Cost is 1245.95
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 14785 iterations
Cost is 1239.74
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 14911 iterations
Cost is 1239.34
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 15278 iterations
Cost is 1238.23
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 15480 iterations
Cost is 1237.89
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 15587 iterations
Cost is 1237.09
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 16136 iterations
Cost is 1229.91
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 16310 iterations
Cost is 1229.84
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 16355 iterations
Cost is 1227.03
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 16486 iterations
Cost is 1226.67
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 16513 iterations
Cost is 1226.33
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 17047 iterations
Cost is 1224.68
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 17091 iterations
Cost is 1222.18
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 17397 iterations
Cost is 1221.81
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 17711 iterations
Cost is 1221.62
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 17754 iterations
Cost is 1220.45
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 17975 iterations
Cost is 1220.38
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 18085 iterations
Cost is 1220.31
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 18406 iterations
Cost is 1220.22
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 18629 iterations
Cost is 1220.06
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 18712 iterations
Cost is 1220
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 18716 iterations
Cost is 1216.43
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 18761 iterations
Cost is 1216.25
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 18961 iterations
Cost is 1216.09
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 19077 iterations
Cost is 1213.18
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 19501 iterations
Cost is 1213.14
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 19780 iterations
Cost is 1212.44
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 19830 iterations
Cost is 1212.37
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 20000 iterations
Cost is 1212.37
Exceeded max iterations!
Saving the generated plan (vector of points)
Execution time: 54.750000 seconds