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slurm-2812926.out
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World size: 1000
World type: 1
Version: 116
K: 20000
Number of cpus: 4
choose FOUR_OBS
===== Parallel version RRT*! =====
Starting RRT* Algorithm...
First Viable Solution Obtained after 8046 iterations
Cost is 1800.26
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 8079 iterations
Cost is 1800.19
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 8234 iterations
Cost is 1799.84
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 8297 iterations
Cost is 1799.23
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 8299 iterations
Cost is 1444.39
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9241 iterations
Cost is 1344.9
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 9413 iterations
Cost is 615.759
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 20000 iterations
Cost is 615.759
Exceeded max iterations!
Saving the generated plan (vector of points)
Execution time: 23.875000 seconds
World size: 1500
World type: 1
Version: 117
K: 50000
Number of cpus: 4
choose FOUR_OBS
===== Parallel version RRT*! =====
Starting RRT* Algorithm...
First Viable Solution Obtained after 18638 iterations
Cost is 2190.31
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 20113 iterations
Cost is 1437.97
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 50000 iterations
Cost is 1437.97
Exceeded max iterations!
Saving the generated plan (vector of points)
Execution time: 150.875000 seconds