SIGSEGV and SIGABRT with hcplanner_exec #33
Description
After launching mbs.launch, when I trigger 2D Nav Goal, an error encountered:
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
Stack trace (most recent call last) in thread 33772:
#12 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#11 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5590e6b352, in clone
#10 Object "/lib/x86_64-linux-gnu/libpthread.so.0", at 0x7f5593526608, in
#9 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f5591180df3, in
#8 Object "/home/easonhua/easondrone_ws/devel_isolated/hierarchical_coverage_planner/lib/hierarchical_coverage_planner/hcplanner_exec", at 0x556f0f763b8b, in std::thread::_State_impl<std::thread::_Invoker<std::tuple<void (predrecon::HCSolver::*)(std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >, std::vector<int, std::allocator<int> >, int), predrecon::HCSolver*, std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >, std::vector<int, std::allocator<int> >, int> > >::_M_run()
#7 Object "/home/easonhua/easondrone_ws/devel_isolated/hierarchical_coverage_planner/lib/hierarchical_coverage_planner/hcplanner_exec", at 0x556f0f754643, in predrecon::HCSolver::LocalPathFinder(std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >, std::vector<int, std::allocator<int> >, int)
#6 Object "/home/easonhua/easondrone_ws/devel_isolated/hierarchical_coverage_planner/lib/hierarchical_coverage_planner/hcplanner_exec", at 0x556f0f747819, in void std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >::_M_realloc_insert<Eigen::Matrix<double, -1, 1, 0, -1, 1> const&>(__gnu_cxx::__normal_iterator<Eigen::Matrix<double, -1, 1, 0, -1, 1>*, std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > > >, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)
#5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f55911546ec, in __cxa_rethrow
#4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f55911543e6, in std::terminate()
#3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f559115437b, in
#2 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f55911488d0, in
#1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5590d6e858, in abort
#0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5590d8f00b, in gsignal
Aborted (Signal sent by tkill() 33760 1000)
================================================================================REQUIRED process [hcplanner_exec-1] has died!
process has died [pid 33760, exit code -6, cmd /home/easonhua/easondrone_ws/devel_isolated/hierarchical_coverage_planner/lib/hierarchical_coverage_planner/hcplanner_exec __name:=hcplanner_exec __log:=/home/easonhua/.ros/log/3f224efc-344b-11f0-bdd7-4fa6cb57f247/hcplanner_exec-1.log].
log file: /home/easonhua/.ros/log/3f224efc-344b-11f0-bdd7-4fa6cb57f247/hcplanner_exec-1*.log
Initiating shutdown!
================================================================================
GDB:
0x00005555555b05c1 in Eigen::DenseStorage<double, -1, -1, 1, 0>::DenseStorage(Eigen::DenseStorage<double, -1, -1, 1, 0> const&) ()
(gdb) bt
#0 0x00005555555b05c1 in Eigen::DenseStorage<double, -1, -1, 1, 0>::DenseStorage(Eigen::DenseStorage<double, -1, -1, 1, 0> const&) ()
#1 0x00005555555b06fa in void std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >::_M_realloc_insert<Eigen::Matrix<double, -1, 1, 0, -1, 1> const&>(__gnu_cxx::__normal_iterator<Eigen::Matrix<double, -1, 1, 0, -1, 1>*, std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > > >, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&) ()
#2 0x00005555555bd644 in predrecon::HCSolver::LocalPathFinder(std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >, std::vector<int, std::allocator<int> >, int) ()
#3 0x00005555555ccb8c in std::thread::_State_impl<std::thread::_Invoker<std::tuple<void (predrecon::HCSolver::*)(std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >, std::vector<int, std::allocator<int> >, int), predrecon::HCSolver*, std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >, std::vector<int, std::allocator<int> >, int> > >::_M_run() ()
#4 0x00007ffff5732df4 in ?? () from /lib/x86_64-linux-gnu/libstdc++.so.6
#5 0x00007ffff7ad8609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#6 0x00007ffff541d353 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
full log:
easonhua@ubuntu:~$ roslaunch hierarchical_coverage_planner mbs.launch
... logging to /home/easonhua/.ros/log/3f224efc-344b-11f0-bdd7-4fa6cb57f247/roslaunch-ubuntu-33865.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu:43355/
SUMMARY
========
PARAMETERS
* /hcplanner_exec/astar/allocate_num: 1000000
* /hcplanner_exec/astar/lambda_heu_hc: 10.0
* /hcplanner_exec/astar/max_search_time: 0.0075
* /hcplanner_exec/astar/resolution_astar: 0.4
* /hcplanner_exec/astar/searching_res: 0.4
* /hcplanner_exec/hcmap/checkScale: 5.0
* /hcplanner_exec/hcmap/checkSize: 7
* /hcplanner_exec/hcmap/dilateRadius: 0.5
* /hcplanner_exec/hcmap/inflateVoxel: 4
* /hcplanner_exec/hcmap/interval: 1.0
* /hcplanner_exec/hcmap/plane_thickness: 3.0
* /hcplanner_exec/hcmap/resolution: 0.4
* /hcplanner_exec/hcopp/TimeStamp: 0.3
* /hcplanner_exec/hcopp/TrajSampleFrequency: 0.1
* /hcplanner_exec/hcopp/droneMesh: /home/easonhua/ea...
* /hcplanner_exec/hcplanner/JointRadius: 1.5
* /hcplanner_exec/hcplanner/amax_: 1.0
* /hcplanner_exec/hcplanner/current_x_: 0.0
* /hcplanner_exec/hcplanner/current_y_: 20.0
* /hcplanner_exec/hcplanner/current_z_: -13.0
* /hcplanner_exec/hcplanner/cx: 320.0
* /hcplanner_exec/hcplanner/cy: 240.0
* /hcplanner_exec/hcplanner/exec_mode: release
* /hcplanner_exec/hcplanner/fullcloud: /home/easonhua/ea...
* /hcplanner_exec/hcplanner/fx: 417.0467
* /hcplanner_exec/hcplanner/fy: 461.0951
* /hcplanner_exec/hcplanner/global_par_file: /home/easonhua/ea...
* /hcplanner_exec/hcplanner/global_problem_file: /home/easonhua/ea...
* /hcplanner_exec/hcplanner/global_result_file: /home/easonhua/ea...
* /hcplanner_exec/hcplanner/global_runs: 1
* /hcplanner_exec/hcplanner/global_solver: /home/easonhua/ea...
* /hcplanner_exec/hcplanner/jmax_: 0.5
* /hcplanner_exec/hcplanner/local2opt_trial: 5000
* /hcplanner_exec/hcplanner/local_folder: /home/easonhua/ea...
* /hcplanner_exec/hcplanner/local_runs: 1
* /hcplanner_exec/hcplanner/mesh: /home/easonhua/ea...
* /hcplanner_exec/hcplanner/model_downsample_size: 2.0
* /hcplanner_exec/hcplanner/precision_: 100
* /hcplanner_exec/hcplanner/safe_inner_dist_coeff: 1.1
* /hcplanner_exec/hcplanner/sample_step4normal: 1.0
* /hcplanner_exec/hcplanner/tripod_head: False
* /hcplanner_exec/hcplanner/vmax_: 2.0
* /hcplanner_exec/hcplanner/yddmax_: 0.5235987666666666
* /hcplanner_exec/hcplanner/ydmax_: 1.0471975333333332
* /hcplanner_exec/hctraj/CloudFile: /home/easonhua/ea...
* /hcplanner_exec/hctraj/PitchFile: /home/easonhua/ea...
* /hcplanner_exec/hctraj/PosFile: /home/easonhua/ea...
* /hcplanner_exec/hctraj/TrajFile: /home/easonhua/ea...
* /hcplanner_exec/hctraj/YawFile: /home/easonhua/ea...
* /hcplanner_exec/hctraj/amax_: 1.0
* /hcplanner_exec/hctraj/drone_radius: 0.3
* /hcplanner_exec/hctraj/jmax_: 0.5
* /hcplanner_exec/hctraj/rho_T: 500.0
* /hcplanner_exec/hctraj/rho_a: 800.0
* /hcplanner_exec/hctraj/rho_e: 500.0
* /hcplanner_exec/hctraj/rho_j: 800.0
* /hcplanner_exec/hctraj/rho_p: 800.0
* /hcplanner_exec/hctraj/rho_v: 800.0
* /hcplanner_exec/hctraj/rho_z: 2000.0
* /hcplanner_exec/hctraj/vmax_: 2.0
* /hcplanner_exec/hctraj/ydmax_: 1.0471975333333332
* /hcplanner_exec/perception_utils/left_angle: 0.6544984583333334
* /hcplanner_exec/perception_utils/max_dist: 11.0
* /hcplanner_exec/perception_utils/right_angle: 0.6544984583333334
* /hcplanner_exec/perception_utils/top_angle: 0.47996553611111115
* /hcplanner_exec/perception_utils/vis_dist: 3.0
* /hcplanner_exec/rosa_main/Ground: True
* /hcplanner_exec/rosa_main/Prune: False
* /hcplanner_exec/rosa_main/alpha: 0.3
* /hcplanner_exec/rosa_main/delta: 0.01
* /hcplanner_exec/rosa_main/estimation_num: 2000
* /hcplanner_exec/rosa_main/estimation_number: 10
* /hcplanner_exec/rosa_main/k_KNN: 6
* /hcplanner_exec/rosa_main/lower_bound_length: 0.1
* /hcplanner_exec/rosa_main/lower_bound_prune_angle: 75.0
* /hcplanner_exec/rosa_main/num_dcrosa: 2
* /hcplanner_exec/rosa_main/num_drosa: 5
* /hcplanner_exec/rosa_main/pcd: /home/easonhua/ea...
* /hcplanner_exec/rosa_main/pt_downsample_size: 0.02
* /hcplanner_exec/rosa_main/radius: 0.1
* /hcplanner_exec/rosa_main/sample_r: 0.05
* /hcplanner_exec/rosa_main/th_mah: 0.01
* /hcplanner_exec/rosa_main/upper_bound_angle_inner_decomp: 45.0
* /hcplanner_exec/rosa_main/upper_bound_length_inner_decomp: 1.0
* /hcplanner_exec/rosa_main/upper_bound_original_points_num: 10000
* /hcplanner_exec/viewpoint_manager/GroundPos: -10.5
* /hcplanner_exec/viewpoint_manager/attitude_type: all
* /hcplanner_exec/viewpoint_manager/fov_h: 55.0
* /hcplanner_exec/viewpoint_manager/fov_w: 75.0
* /hcplanner_exec/viewpoint_manager/max_iter_num: 3
* /hcplanner_exec/viewpoint_manager/pitch_lower: -85.0
* /hcplanner_exec/viewpoint_manager/pitch_upper: 70.0
* /hcplanner_exec/viewpoint_manager/pose_update: True
* /hcplanner_exec/viewpoint_manager/safeHeight: 1.5
* /hcplanner_exec/viewpoint_manager/safe_radius: 3.0
* /hcplanner_exec/viewpoint_manager/viewpoints_distance: 8.0
* /hcplanner_exec/viewpoint_manager/visible_range: 11.0
* /hcplanner_exec/viewpoint_manager/zGround: True
* /rosdistro: noetic
* /rosversion: 1.17.0
NODES
/
hcplanner_exec (hierarchical_coverage_planner/hcplanner_exec)
ROS_MASTER_URI=http://localhost:11311
process[hcplanner_exec-1]: started with pid [33900]
GNU gdb (Ubuntu 9.2-0ubuntu1~20.04.2) 9.2
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Reading symbols from /home/easonhua/easondrone_ws/devel_isolated/hierarchical_coverage_planner/lib/hierarchical_coverage_planner/hcplanner_exec...
(No debugging symbols found in /home/easonhua/easondrone_ws/devel_isolated/hierarchical_coverage_planner/lib/hierarchical_coverage_planner/hcplanner_exec)
Starting program: /home/easonhua/easondrone_ws/devel_isolated/hierarchical_coverage_planner/lib/hierarchical_coverage_planner/hcplanner_exec __name:=hcplanner_exec __log:=/home/easonhua/.ros/log/3f224efc-344b-11f0-bdd7-4fa6cb57f247/hcplanner_exec-1.log
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffe4567700 (LWP 33907)]
[New Thread 0x7fffe3d66700 (LWP 33908)]
[New Thread 0x7fffe3565700 (LWP 33909)]
[New Thread 0x7fffe2d64700 (LWP 33910)]
------------------------YOUR DEVICE INFO------------------------
Project : FC-Planner
Author : Chen Feng
Current Time : Mon May 19 09:50:57 2025
CPU Info : Intel(R) Core(TM) Ultra 7 155H
RAM Info : 7.72GB Physical Memory, 2.00GB Virtual Memory
OS Info : Linux 5.15.0-139-generic (x86_64)
[Detaching after vfork from child process 33911]
GCC Version : 9.4.0
Eigen Version : 3.3.7
PCL Version : 1.10.0
Boost Version : 1.71.0
----------------------------------------------------------------
[New Thread 0x7fffe2563700 (LWP 33913)]
[INFO] [1747619457.166358419]: [SSD] Initialized!
[INFO] [1747619457.184101955]: [ViewpointManager] Initialized!
[INFO] [1747619457.268986463]: [Planner] Initialized!
[INFO] [1747619457.274704994]: [Traj] Initialized!
[INFO] [1747619457.277786769]: [FC-Planner] Initialized!
[ERROR] [1747619465.439055986]: Normal Estimation...
[ERROR] [1747619465.471134955]: Final downsample voxel size: 0.024000, Cloud size: 1616.
[INFO] [1747619465.471327392]: [SSD] normalize time = 32.404838 ms.
[INFO] [1747619465.505668969]: [SSD] calculate adj matrix time = 26.180779 ms.
[INFO] [1747619465.612846606]: [SSD] drosa estimation time = 106.963542 ms.
[INFO] [1747619465.627431677]: [SSD] dcrosa estimation time = 14.166522 ms.
[INFO] [1747619465.628417678]: [SSD] line extraction time = 0.898111 ms.
[INFO] [1747619465.628746959]: [SSD] recentering time = 0.211179 ms.
[INFO] [1747619465.628844560]: [SSD] graph decomposition time = 0.028630 ms.
[INFO] [1747619465.628925769]: [SSD] inner decomposition time = 0.023258 ms.
branch_merge->segments: 31
branch_merge->pairs: 11
[INFO] [1747619465.629048420]: [SSD] branch merge time = 0.069147 ms.
{4 29 23 }
{4 5 6 7 8 20 }
{4 3 2 0 1 }
{13 15 16 17 18 }
{18 28 27 26 24 }
{13 14 19 22 23 }
{13 12 11 10 }
{10 9 20 }
{20 21 }
{23 24 }
{24 25 }
[INFO] [1747619465.629118880]: [SSD] restore scale time = 0.017831 ms.
[INFO] [1747619465.657150818]: [SSD] distribute original cloud time = 27.914599 ms.
[INFO] [1747619465.657772207]: [SSD] calculate inner dist time = 0.199142 ms.
[INFO] [1747619465.657831827]: [SSD] store real graph time = 0.012374 ms.
[INFO] [1747619465.657845420]: [SSD] SSD latency = 186.390724 ms. Normal estimation costs 32.546787 ms.
[INFO] [1747619465.657852547]: [SSD] --- <SSD finished> ---
[INFO] [1747619465.658460544]: [Planner] input points size = 1967.
[INFO] [1747619465.726758937]: [Planner] global mapping time = 66.379121 ms.
[WARN] [1747619465.769229966]: [ViewpointManager] Input map successfully!! size = 75620
[WARN] [1747619465.769340104]: [ViewpointManager] Input model successfully!! size = 1967
[WARN] [1747619465.769616017]: [ViewpointManager] Input model normals successfully!! size = 1967
[WARN] [1747619465.818424860]: [ViewpointManager] Input viewpoints successfully!! size = 912
[INFO] [1747619465.847412508]: [ViewpointManager] primitive viewpoints library size = 1342 generation time = 14.919324 ms.
[INFO] [1747619465.847519767]: [ViewpointManager] ----------------------------------------------------------
[INFO] [1747619465.847554231]: [ViewpointManager] number of updated viewpoints = 157.
[INFO] [1747619465.847633833]: [ViewpointManager] number of total voxels = 1967.
[INFO] [1747619465.847681436]: [ViewpointManager] number of seen voxels before iter updating = 1682.
[INFO] [1747619465.847725058]: [ViewpointManager] number of uncovered voxels before iter updating = 285.
[INFO] [1747619465.847774199]: [ViewpointManager] ----------------------------------------------------------
[INFO] [1747619465.853652848]: [ViewpointManager] Iter_0 -> number of updated viewpoints = 175.
[INFO] [1747619465.853730591]: [ViewpointManager] Iter_0 -> number of total voxels = 1967.
[INFO] [1747619465.853741507]: [ViewpointManager] Iter_0 -> number of seen voxels after updating = 1813.
[INFO] [1747619465.853749663]: [ViewpointManager] Iter_0 -> number of uncovered voxels after updating = 154.
[INFO] [1747619465.853768811]: [ViewpointManager] ----------------------------------------------------------
[INFO] [1747619465.858331752]: [ViewpointManager] Iter_1 -> number of updated viewpoints = 180.
[INFO] [1747619465.858426095]: [ViewpointManager] Iter_1 -> number of total voxels = 1967.
[INFO] [1747619465.858453109]: [ViewpointManager] Iter_1 -> number of seen voxels after updating = 1839.
[INFO] [1747619465.858502983]: [ViewpointManager] Iter_1 -> number of uncovered voxels after updating = 128.
[INFO] [1747619465.858539853]: [ViewpointManager] ----------------------------------------------------------
[INFO] [1747619465.863491145]: [ViewpointManager] Iter_2 -> number of updated viewpoints = 183.
[INFO] [1747619465.863621534]: [ViewpointManager] Iter_2 -> number of total voxels = 1967.
[INFO] [1747619465.863650720]: [ViewpointManager] Iter_2 -> number of seen voxels after updating = 1850.
[INFO] [1747619465.863692128]: [ViewpointManager] Iter_2 -> number of uncovered voxels after updating = 117.
[INFO] [1747619465.863736253]: [ViewpointManager] ----------------------------------------------------------
[INFO] [1747619465.864143693]: [Planner] skeleton-guided viewpoint generation time = 137.099290 ms.
[Detaching after vfork from child process 33922]
PARAMETER_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/global/global.par
Reading PROBLEM_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/global/global.tsp" ... done
ASCENT_CANDIDATES = 23
BACKBONE_TRIALS = 0
BACKTRACKING = NO
# BWTSP =
# CANDIDATE_FILE =
CANDIDATE_SET_TYPE = ALPHA
# DISTANCE =
# DEPOT =
# EDGE_FILE =
EXCESS = 0.0833333
EXTERNAL_SALESMEN = 0
EXTRA_CANDIDATES = 0
EXTRA_CANDIDATE_SET_TYPE = QUADRANT
GAIN23 = NO
GAIN_CRITERION = YES
INITIAL_PERIOD = 100
INITIAL_STEP_SIZE = 1
INITIAL_TOUR_ALGORITHM = WALK
# INITIAL_TOUR_FILE =
INITIAL_TOUR_FRACTION = 1.000
# INPUT_TOUR_FILE =
K = 0
KICK_TYPE = 0
KICKS = 1
# MAX_BREADTH =
MAKESPAN = NO
MAX_CANDIDATES = 5
MAX_SWAPS = 24
MAX_TRIALS = 24
# MERGE_TOUR_FILE =
MOVE_TYPE = 5
# MTSP_MIN_SIZE =
# MTSP_MAX_SIZE =
# MTSP_OBJECTIVE =
# MTSP_SOLUTION_FILE =
# NONSEQUENTIAL_MOVE_TYPE = 5
# OPTIMUM =
OUTPUT_TOUR_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/global/global.txt
PATCHING_A = 1
PATCHING_C = 0
# PI_FILE =
POPMUSIC_INITIAL_TOUR = NO
POPMUSIC_MAX_NEIGHBORS = 5
POPMUSIC_SAMPLE_SIZE = 10
POPMUSIC_SOLUTIONS = 50
POPMUSIC_TRIALS = 1
# POPULATION_SIZE = 0
PRECISION = 100
# PROBABILITY =
PROBLEM_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/global/global.tsp
RECOMBINATION = IPT
RESTRICTED_SEARCH = YES
RUNS = 1
SALESMEN = 1
SCALE = 1
SEED = 1
# SINTEF_SOLUTION_FILE =
STOP_AT_OPTIMUM = YES
SUBGRADIENT = YES
# SUBPROBLEM_SIZE =
# SUBPROBLEM_TOUR_FILE =
SUBSEQUENT_MOVE_TYPE = 5
SUBSEQUENT_PATCHING = YES
# TIME_LIMIT =
# TOTAL_TIME_LIMIT =
# TOUR_FILE =
TRACE_LEVEL = 1
VEHICLES = 1
Lower bound = 20836.0, Ascent time = 0.00 sec.
Cand.min = 5, Cand.avg = 5.0, Cand.max = 5
Edges.fixed = 12 [Cost = 0]
Preprocessing time = 0.00 sec.
Writing OUTPUT_TOUR_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/global/global.txt" ... done
Successes/Runs = 1/0
Cost.min = 20836, Cost.avg = 20836.00, Cost.max = 20836
Gap.min = 0.0000%, Gap.avg = 0.0000%, Gap.max = 0.0000%
Trials.min = 0, Trials.avg = 0.0, Trials.max = 0
Time.min = 0.00 sec., Time.avg = 0.00 sec., Time.max = 0.00 sec.
Time.total = 0.00 sec.
[INFO] [1747619465.869836107]: [Planner] global sequence planning time = 5.513322 ms.
[INFO] [1747619465.870053350]: [Planner] local boundary selection time = 0.080015 ms.
[INFO] [1747619465.922968653]: [Planner] path searching time = 52.783013 ms.
[New Thread 0x7fffc5557700 (LWP 33924)]
[New Thread 0x7fffc4d56700 (LWP 33925)]
[New Thread 0x7fffbffff700 (LWP 33926)]
[New Thread 0x7fffbf7fe700 (LWP 33927)]
[New Thread 0x7fffbeffd700 (LWP 33928)]
[Detaching after vfork from child process 33929]
[New Thread 0x7fffbe7fc700 (LWP 33933)]
[Detaching after vfork from child process 33932]
[Detaching after vfork from child process 33931]
[Detaching after vfork from child process 33930]
[New Thread 0x7fffbdffb700 (LWP 33934)]
[Detaching after vfork from child process 33935]
[Detaching after vfork from child process 33936]
[New Thread 0x7fffbd7fa700 (LWP 33937)]
[New Thread 0x7fffbcff9700 (LWP 33939)]
[Detaching after vfork from child process 33940]
[Detaching after vfork from child process 33938]
[New Thread 0x7fff9ffff700 (LWP 33945)]
PARAMETER_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_0.par
PARAMETER_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_2.par
Reading PROBLEM_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_0.tsp" ... Reading PROBLEM_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_2.tsp" ... [Detaching after done
ASCENT_CANDIDATES = 27
BACKBONE_TRIALS = 0
BACKTRACKING = NO
# BWTSP =
vfork# CANDIDATE_FILE =
from child CANDIDATE_SET_TYPE = ALPHA
process 33947# DISTANCE =
]
PARAMETER_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_4.par
# DEPOT =
# EDGE_FILE =
done
ASCENT_CANDIDATES = 23
EXCESS = 0.0714286
BACKBONE_TRIALS = 0
EXTERNAL_SALESMEN = 0
BACKTRACKING = NO
Reading PROBLEM_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_4.tsp" ... EXTRA_CANDIDATES = 0
# BWTSP =
EXTRA_CANDIDATE_SET_TYPE = QUADRANT
# CANDIDATE_FILE =
GAIN23 = NO
CANDIDATE_SET_TYPE = ALPHA
GAIN_CRITERION = YES
# DISTANCE =
INITIAL_PERIOD = 100
# DEPOT =
INITIAL_STEP_SIZE = 1
INITIAL_TOUR_ALGORITHM = WALK
# EDGE_FILE =
# INITIAL_TOUR_FILE =
INITIAL_TOUR_FRACTION = 1.000
EXCESS = 0.0833333
# INPUT_TOUR_FILE =
EXTERNAL_SALESMEN = 0
K = 0
EXTRA_CANDIDATES = 0
KICK_TYPE = 0
EXTRA_CANDIDATE_SET_TYPE = QUADRANT
KICKS = 1
GAIN23 = NO
# MAX_BREADTH =
GAIN_CRITERION = YES
INITIAL_PERIOD = 100
MAKESPAN = NO
INITIAL_STEP_SIZE = 1
MAX_CANDIDATES = 5
INITIAL_TOUR_ALGORITHM = WALK
MAX_SWAPS = 28
# INITIAL_TOUR_FILE =
MAX_TRIALS = 28
# MERGE_TOUR_FILE =
INITIAL_TOUR_FRACTION = 1.000
MOVE_TYPE = 5
# INPUT_TOUR_FILE =
# MTSP_MIN_SIZE =
K = 0
# MTSP_MAX_SIZE =
KICK_TYPE = 0
# MTSP_OBJECTIVE =
# MTSP_SOLUTION_FILE =
KICKS = 1
# NONSEQUENTIAL_MOVE_TYPE = 5
# MAX_BREADTH =
# OPTIMUM =
MAKESPAN = NO
OUTPUT_TOUR_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_0_solution.txt
MAX_CANDIDATES = 5
PATCHING_A = 1
MAX_SWAPS = 24
PATCHING_C = 0
MAX_TRIALS = 24
# PI_FILE =
# MERGE_TOUR_FILE =
POPMUSIC_INITIAL_TOUR = NO
MOVE_TYPE = 5
POPMUSIC_MAX_NEIGHBORS = 5
POPMUSIC_SAMPLE_SIZE = 10
# MTSP_MIN_SIZE =
POPMUSIC_SOLUTIONS = 50
# MTSP_MAX_SIZE =
POPMUSIC_TRIALS = 1
# MTSP_OBJECTIVE =
# # MTSP_SOLUTION_FILE =
POPULATION_SIZE = 0
# NONSEQUENTIAL_MOVE_TYPE = 5
PRECISION = 100
# OPTIMUM =
# PROBABILITY =
OUTPUT_TOUR_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_2_solution.txt
PROBLEM_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_0.tsp
RECOMBINATION = IPT
PATCHING_A = 1
RESTRICTED_SEARCH = YES
PATCHING_C = 0
RUNS = 1
# PI_FILE =
SALESMEN = 1
POPMUSIC_INITIAL_TOUR = NO
SCALE = 1
POPMUSIC_MAX_NEIGHBORS = 5
SEED = 1
POPMUSIC_SAMPLE_SIZE = 10
# SINTEF_SOLUTION_FILE =
POPMUSIC_SOLUTIONS = 50
POPMUSIC_TRIALS = 1
STOP_AT_OPTIMUM = YES
# SUBGRADIENT = YES
POPULATION_SIZE = 0
done
# SUBPROBLEM_SIZE =
PRECISION = 100
ASCENT_CANDIDATES = 50
# SUBPROBLEM_TOUR_FILE =
# PROBABILITY =
BACKBONE_TRIALS = 0
SUBSEQUENT_MOVE_TYPE = 5
PROBLEM_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_2.tsp
SUBSEQUENT_PATCHING = YES
BACKTRACKING = NO
RECOMBINATION = IPT
# TIME_LIMIT =
# BWTSP =
RESTRICTED_SEARCH = YES
# TOTAL_TIME_LIMIT =
# CANDIDATE_FILE =
RUNS = 1
# TOUR_FILE =
CANDIDATE_SET_TYPE = ALPHA
SALESMEN = 1
TRACE_LEVEL = 1
# DISTANCE =
SCALE = 1
VEHICLES = 1
# DEPOT =
SEED = 1
# EDGE_FILE =
# SINTEF_SOLUTION_FILE =
STOP_AT_OPTIMUM = YES
EXCESS = 0.0285714
SUBGRADIENT = YES
# SUBPROBLEM_SIZE =
EXTERNAL_SALESMEN = 0
# SUBPROBLEM_TOUR_FILE =
EXTRA_CANDIDATES = 0
SUBSEQUENT_MOVE_TYPE = 5
EXTRA_CANDIDATE_SET_TYPE = QUADRANT
SUBSEQUENT_PATCHING = YES
GAIN23 = NO
# TIME_LIMIT =
GAIN_CRITERION = YES
# TOTAL_TIME_LIMIT =
INITIAL_PERIOD = 100
# TOUR_FILE =
INITIAL_STEP_SIZE = 1
INITIAL_TOUR_ALGORITHM = WALK
TRACE_LEVEL = 1
# INITIAL_TOUR_FILE =
VEHICLES = 1
INITIAL_TOUR_FRACTION = 1.000
# INPUT_TOUR_FILE =
K = 0
KICK_TYPE = 0
KICKS = 1
# MAX_BREADTH =
MAKESPAN = NO
MAX_CANDIDATES = 5
MAX_SWAPS = 70
MAX_TRIALS = 70
# MERGE_TOUR_FILE =
MOVE_TYPE = 5
# MTSP_MIN_SIZE =
# MTSP_MAX_SIZE =
# MTSP_OBJECTIVE =
# MTSP_SOLUTION_FILE =
# NONSEQUENTIAL_MOVE_TYPE = 5
# OPTIMUM =
OUTPUT_TOUR_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_4_solution.txt
PATCHING_A = 1
PATCHING_C = 0
# PI_FILE =
POPMUSIC_INITIAL_TOUR = NO
POPMUSIC_MAX_NEIGHBORS = 5
POPMUSIC_SAMPLE_SIZE = 10
POPMUSIC_SOLUTIONS = 50
POPMUSIC_TRIALS = 1
# POPULATION_SIZE = 0
PRECISION = 100
# PROBABILITY =
PROBLEM_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_4.tsp
RECOMBINATION = IPT
RESTRICTED_SEARCH = YES
RUNS = 1
SALESMEN = 1
SCALE = 1
SEED = 1
# SINTEF_SOLUTION_FILE =
STOP_AT_OPTIMUM = YES
SUBGRADIENT = YES
# SUBPROBLEM_SIZE =
# SUBPROBLEM_TOUR_FILE =
SUBSEQUENT_MOVE_TYPE = 5
SUBSEQUENT_PATCHING = YES
# TIME_LIMIT =
# TOTAL_TIME_LIMIT =
# TOUR_FILE =
TRACE_LEVEL = 1
VEHICLES = 1
PARAMETER_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_1.par
Reading PROBLEM_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_1.tsp" ... done
ASCENT_CANDIDATES = 50
BACKBONE_TRIALS = 0
BACKTRACKING = NO
# BWTSP =
# CANDIDATE_FILE =
CANDIDATE_SET_TYPE = ALPHA
# DISTANCE =
# DEPOT =
# EDGE_FILE =
EXCESS = 0.0294118
EXTERNAL_SALESMEN = 0
EXTRA_CANDIDATES = 0
EXTRA_CANDIDATE_SET_TYPE = QUADRANT
GAIN23 = NO
GAIN_CRITERION = YES
INITIAL_PERIOD = 100
INITIAL_STEP_SIZE = 1
INITIAL_TOUR_ALGORITHM = WALK
# INITIAL_TOUR_FILE =
INITIAL_TOUR_FRACTION = 1.000
# INPUT_TOUR_FILE =
K = 0
KICK_TYPE = 0
KICKS = 1
# MAX_BREADTH =
MAKESPAN = NO
MAX_CANDIDATES = 5
MAX_SWAPS = 68
MAX_TRIALS = 68
# MERGE_TOUR_FILE =
MOVE_TYPE = 5
# MTSP_MIN_SIZE =
# MTSP_MAX_SIZE =
# MTSP_OBJECTIVE =
# MTSP_SOLUTION_FILE =
# NONSEQUENTIAL_MOVE_TYPE = 5
# OPTIMUM =
OUTPUT_TOUR_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_1_solution.txt
PATCHING_A = 1
PATCHING_C = 0
# PI_FILE =
POPMUSIC_INITIAL_TOUR = NO
POPMUSIC_MAX_NEIGHBORS = 5
[New Thread 0x7fff9f7fe700 (LWP 33948)]
POPMUSIC_SAMPLE_SIZE = 10
POPMUSIC_SOLUTIONS = 50
POPMUSIC_TRIALS = 1
# POPULATION_SIZE = 0
PRECISION = 100
# PROBABILITY =
PROBLEM_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_1.tsp
RECOMBINATION = IPT
RESTRICTED_SEARCH = YES
RUNS = 1
SALESMEN = 1
SCALE = 1
SEED = 1
# SINTEF_SOLUTION_FILE =
STOP_AT_OPTIMUM = YES
SUBGRADIENT = YES
# SUBPROBLEM_SIZE =
# SUBPROBLEM_TOUR_FILE =
SUBSEQUENT_MOVE_TYPE = 5
SUBSEQUENT_PATCHING = YES
# TIME_LIMIT =
# TOTAL_TIME_LIMIT =
# TOUR_FILE =
TRACE_LEVEL = 1
VEHICLES = 1
[Detaching after vfork from child process 33949]
PARAMETER_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_3.par
Reading PROBLEM_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_3.tsp" ... done
ASCENT_CANDIDATES = 31
BACKBONE_TRIALS = 0
BACKTRACKING = NO
# BWTSP =
# CANDIDATE_FILE =
Lower bound = 5094.0, Ascent time = 0.00 sec.CANDIDATE_SET_TYPE = ALPHA
Cand.min = 2, Cand.avg = 4.2, Cand.max = 5
Edges.fixed = 12 [Cost = 0]
Preprocessing time = 0.00 sec.
# DISTANCE =
# DEPOT =
# EDGE_FILE =
Writing OUTPUT_TOUR_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_2_solution.txt" ... EXCESS = 0.0625
EXTERNAL_SALESMEN = 0
EXTRA_CANDIDATES = 0
EXTRA_CANDIDATE_SET_TYPE = QUADRANT
GAIN23 = NO
GAIN_CRITERION = YES
INITIAL_PERIOD = 100
INITIAL_STEP_SIZE = 1
INITIAL_TOUR_ALGORITHM = WALK
# INITIAL_TOUR_FILE =
INITIAL_TOUR_FRACTION = 1.000
# INPUT_TOUR_FILE =
K = 0
[Detaching after done
vfork from child Successes/Runs = 1/0
process 33951]
Cost.min = 5094, Cost.avg = 5094.00, Cost.max = 5094
Gap.min = 0.0000%, Gap.avg = 0.0000%, Gap.max = 0.0000%
Trials.min = 0, Trials.avg = 0.0, Trials.max = 0
Time.min = 0.00 sec., Time.avg = 0.00 sec., Time.max = 0.00 sec.
Time.total = 0.00 sec.
KICK_TYPE = 0
KICKS = 1
# MAX_BREADTH =
MAKESPAN = NO
MAX_CANDIDATES = 5
MAX_SWAPS = 32
MAX_TRIALS = 32
# MERGE_TOUR_FILE =
MOVE_TYPE = 5
# MTSP_MIN_SIZE =
# MTSP_MAX_SIZE =
# MTSP_OBJECTIVE =
# MTSP_SOLUTION_FILE =
# NONSEQUENTIAL_MOVE_TYPE = 5
# OPTIMUM =
OUTPUT_TOUR_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_3_solution.txt
PATCHING_A = 1
PATCHING_C = 0
# PI_FILE =
POPMUSIC_INITIAL_TOUR = NO
POPMUSIC_MAX_NEIGHBORS = 5
POPMUSIC_SAMPLE_SIZE = 10
POPMUSIC_SOLUTIONS = 50
POPMUSIC_TRIALS = 1
# POPULATION_SIZE = 0
PRECISION = 100
# PROBABILITY =
PROBLEM_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_3.tsp
RECOMBINATION = IPT
RESTRICTED_SEARCH = YES
RUNS = 1
Lower bound = 12466.3SALESMEN = 1
, Ascent time = 0.00 sec.
SCALE = 1
Cand.min = 2, Cand.avg = 4.9, Cand.max = 5
Edges.fixed = 14 [Cost = 0]
Preprocessing time = 0.00 sec.
SEED = 1
# SINTEF_SOLUTION_FILE =
STOP_AT_OPTIMUM = YES
SUBGRADIENT = YES
# SUBPROBLEM_SIZE =
# SUBPROBLEM_TOUR_FILE =
SUBSEQUENT_MOVE_TYPE = 5
SUBSEQUENT_PATCHING = YES
# TIME_LIMIT =
# TOTAL_TIME_LIMIT =
# TOUR_FILE =
TRACE_LEVEL = 1
VEHICLES = 1
PARAMETER_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_5.par
* 1: Cost = 10003982, Time = 0.00 sec.
Writing OUTPUT_TOUR_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_0_solution.txt" ... Reading PROBLEM_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_5.tsp" ... done
done
ASCENT_CANDIDATES = 47
BACKBONE_TRIALS = 0
BACKTRACKING = NO
# BWTSP =
# CANDIDATE_FILE =
CANDIDATE_SET_TYPE = ALPHA
# DISTANCE =
# DEPOT =
# EDGE_FILE =
EXCESS = 0.0416667
EXTERNAL_SALESMEN = 0
EXTRA_CANDIDATES = 0
EXTRA_CANDIDATE_SET_TYPE = QUADRANT
GAIN23 = NO
GAIN_CRITERION = YES
INITIAL_PERIOD = 100
INITIAL_STEP_SIZE = 1
INITIAL_TOUR_ALGORITHM = WALK
# INITIAL_TOUR_FILE =
INITIAL_TOUR_FRACTION = 1.000
# INPUT_TOUR_FILE =
K = 0
KICK_TYPE = 0
KICKS = 1
# MAX_BREADTH =
MAKESPAN = NO
MAX_CANDIDATES = 5
MAX_SWAPS = 48
MAX_TRIALS = 48
# MERGE_TOUR_FILE =
MOVE_TYPE = 5
# MTSP_MIN_SIZE =
# MTSP_MAX_SIZE =
# MTSP_OBJECTIVE =
# MTSP_SOLUTION_FILE =
# NONSEQUENTIAL_MOVE_TYPE = 5
# OPTIMUM =
OUTPUT_TOUR_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_5_solution.txt
PATCHING_A = 1
PATCHING_C = 0
* 4: Cost = 10003706# PI_FILE =
, Time = 0.00 sec.POPMUSIC_INITIAL_TOUR = NO
POPMUSIC_MAX_NEIGHBORS = 5
Writing OUTPUT_TOUR_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_0_solution.txt" ... POPMUSIC_SAMPLE_SIZE = 10
POPMUSIC_SOLUTIONS = 50
POPMUSIC_TRIALS = 1
# POPULATION_SIZE = 0
PRECISION = 100
# PROBABILITY =
PROBLEM_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_5.tsp
done
RECOMBINATION = IPT
RESTRICTED_SEARCH = YES
RUNS = 1
SALESMEN = 1
SCALE = 1
SEED = 1
# SINTEF_SOLUTION_FILE =
STOP_AT_OPTIMUM = YES
SUBGRADIENT = YES
# SUBPROBLEM_SIZE =
# SUBPROBLEM_TOUR_FILE =
SUBSEQUENT_MOVE_TYPE = 5
SUBSEQUENT_PATCHING = YES
# TIME_LIMIT =
# TOTAL_TIME_LIMIT =
# TOUR_FILE =
TRACE_LEVEL = 1
VEHICLES = 1
PARAMETER_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_9.par
Reading PROBLEM_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_9.tsp" ... PARAMETER_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_8.par
Reading PROBLEM_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_8.tsp" ... done
ASCENT_CANDIDATES = 23
BACKBONE_TRIALS = 0
BACKTRACKING = NO
# BWTSP =
# CANDIDATE_FILE =
CANDIDATE_SET_TYPE = ALPHA
# DISTANCE =
# DEPOT =
# EDGE_FILE =
EXCESS = 0.0833333
EXTERNAL_SALESMEN = 0
EXTRA_CANDIDATES = 0
Run 1: Cost = 10003706EXTRA_CANDIDATE_SET_TYPE = QUADRANT
GAIN23 = NO
GAIN_CRITERION = YES
, Time = 0.00 sec.INITIAL_PERIOD = 100
INITIAL_STEP_SIZE = 1
INITIAL_TOUR_ALGORITHM = WALK
Successes/Runs = 0/1
# INITIAL_TOUR_FILE =
Cost.min = 10003706, Cost.avg = 10003706.00, Cost.max = 10003706
INITIAL_TOUR_FRACTION = 1.000
Gap.min = 0.0000%, Gap.avg = 0.0000%, Gap.max = 0.0000%
# INPUT_TOUR_FILE =
Trials.min = 28, Trials.avg = 28.0, Trials.max = 28
K = 0
Time.min = 0.00 sec., Time.avg = 0.00 sec., Time.max = 0.00 sec.
KICK_TYPE = 0
Time.total = 0.00 sec.
KICKS = 1
# MAX_BREADTH =
MAKESPAN = NO
MAX_CANDIDATES = 5
MAX_SWAPS = 24
MAX_TRIALS = 24
# MERGE_TOUR_FILE =
MOVE_TYPE = 5
# MTSP_MIN_SIZE =
# MTSP_MAX_SIZE =
# MTSP_OBJECTIVE =
# MTSP_SOLUTION_FILE =
# NONSEQUENTIAL_MOVE_TYPE = 5
# OPTIMUM =
OUTPUT_TOUR_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_9_solution.txt
PATCHING_A = 1
PATCHING_C = 0
# PI_FILE =
POPMUSIC_INITIAL_TOUR = NO
POPMUSIC_MAX_NEIGHBORS = 5
POPMUSIC_SAMPLE_SIZE = 10
POPMUSIC_SOLUTIONS = 50
POPMUSIC_TRIALS = 1
# POPULATION_SIZE = 0
PRECISION = 100
# PROBABILITY =
PROBLEM_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_9.tsp
RECOMBINATION = IPT
RESTRICTED_SEARCH = YES
RUNS = 1
SALESMEN = 1
SCALE = 1
SEED = 1
# SINTEF_SOLUTION_FILE =
STOP_AT_OPTIMUM = YES
done
SUBGRADIENT = YES
ASCENT_CANDIDATES = 17
# SUBPROBLEM_SIZE =
BACKBONE_TRIALS = 0
# SUBPROBLEM_TOUR_FILE =
BACKTRACKING = NO
SUBSEQUENT_MOVE_TYPE = 5
# BWTSP =
SUBSEQUENT_PATCHING = YES
# CANDIDATE_FILE =
# TIME_LIMIT =
CANDIDATE_SET_TYPE = ALPHA
# TOTAL_TIME_LIMIT =
# DISTANCE =
# TOUR_FILE =
# DEPOT =
TRACE_LEVEL = 1
VEHICLES = 1
# EDGE_FILE =
EXCESS = 0.111111
EXTERNAL_SALESMEN = 0
EXTRA_CANDIDATES = 0
EXTRA_CANDIDATE_SET_TYPE = QUADRANT
GAIN23 = NO
GAIN_CRITERION = YES
INITIAL_PERIOD = 100
INITIAL_STEP_SIZE = 1
INITIAL_TOUR_ALGORITHM = WALK
# INITIAL_TOUR_FILE =
INITIAL_TOUR_FRACTION = 1.000
# INPUT_TOUR_FILE =
K = 0
KICK_TYPE = 0
KICKS = 1
# MAX_BREADTH =
MAKESPAN = NO
MAX_CANDIDATES = 5
MAX_SWAPS = 18
MAX_TRIALS = 18
# MERGE_TOUR_FILE =
MOVE_TYPE = 5
# MTSP_MIN_SIZE =
# MTSP_MAX_SIZE =
# MTSP_OBJECTIVE =
# MTSP_SOLUTION_FILE =
# NONSEQUENTIAL_MOVE_TYPE = 5
# OPTIMUM =
OUTPUT_TOUR_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_8_solution.txt
PATCHING_A = 1
PATCHING_C = 0
# PI_FILE =
POPMUSIC_INITIAL_TOUR = NO
POPMUSIC_MAX_NEIGHBORS = 5
POPMUSIC_SAMPLE_SIZE = 10
POPMUSIC_SOLUTIONS = 50
POPMUSIC_TRIALS = 1
# POPULATION_SIZE = 0
PRECISION = 100
# PROBABILITY =
PROBLEM_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_8.tsp
RECOMBINATION = IPT
RESTRICTED_SEARCH = YES
RUNS = 1
SALESMEN = 1
SCALE = 1
SEED = 1
# SINTEF_SOLUTION_FILE =
STOP_AT_OPTIMUM = YES
SUBGRADIENT = YES
# SUBPROBLEM_SIZE =
# SUBPROBLEM_TOUR_FILE =
SUBSEQUENT_MOVE_TYPE = 5
SUBSEQUENT_PATCHING = YES
# TIME_LIMIT =
# TOTAL_TIME_LIMIT =
# TOUR_FILE =
TRACE_LEVEL = 1
VEHICLES = 1
PARAMETER_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_6.par
Reading PROBLEM_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_6.tsp" ... done
ASCENT_CANDIDATES = 13
BACKBONE_TRIALS = 0
BACKTRACKING = NO
# BWTSP =
# CANDIDATE_FILE =
CANDIDATE_SET_TYPE = ALPHA
# DISTANCE =
# DEPOT =
# EDGE_FILE =
EXCESS = 0.142857
EXTERNAL_SALESMEN = 0
Lower bound = 4689.2, Ascent time = 0.00 sec.
EXTRA_CANDIDATES = 0
Cand.min = 2, Cand.avg = 4.3, Cand.max = 5
Edges.fixed = 12 [Cost = 0]
Preprocessing time = 0.00 sec.
EXTRA_CANDIDATE_SET_TYPE = QUADRANT
GAIN23 = NO
GAIN_CRITERION = YES
INITIAL_PERIOD = 100
* 1: Cost = 4693, Time = 0.00 sec.
INITIAL_STEP_SIZE = 1
Writing OUTPUT_TOUR_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_9_solution.txt" ... INITIAL_TOUR_ALGORITHM = WALK
# INITIAL_TOUR_FILE =
INITIAL_TOUR_FRACTION = 1.000
# INPUT_TOUR_FILE =
K = 0
KICK_TYPE = 0
KICKS = 1
# MAX_BREADTH =
MAKESPAN = NO
Lower bound = 59158.6, Ascent time = 0.00 sec.
MAX_CANDIDATES = 5
done
Cand.min = 2, Cand.avg = 3.9, Cand.max = 5
Edges.fixed = 9 [Cost = 0]
Preprocessing time = 0.00 sec.
MAX_SWAPS = 14
MAX_TRIALS = 14
# MERGE_TOUR_FILE =
MOVE_TYPE = 5
# MTSP_MIN_SIZE =
# MTSP_MAX_SIZE =
# MTSP_OBJECTIVE =
# MTSP_SOLUTION_FILE =
# NONSEQUENTIAL_MOVE_TYPE = 5
# OPTIMUM =
PARAMETER_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_10.par
OUTPUT_TOUR_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_6_solution.txt
* 1: Reading PROBLEM_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_10.tsp" ... Cost = 10003596, Time = 0.00 sec.
Writing OUTPUT_TOUR_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_8_solution.txt" ... PATCHING_A = 1
done
ASCENT_CANDIDATES = 17
BACKBONE_TRIALS = 0
BACKTRACKING = NO
# BWTSP =
# CANDIDATE_FILE =
CANDIDATE_SET_TYPE = ALPHA
# DISTANCE =
# DEPOT =
# EDGE_FILE =
EXCESS = 0.111111
EXTERNAL_SALESMEN = 0
EXTRA_CANDIDATES = 0
EXTRA_CANDIDATE_SET_TYPE = QUADRANT
GAIN23 = NO
GAIN_CRITERION = YES
INITIAL_PERIOD = 100
INITIAL_STEP_SIZE = 1
INITIAL_TOUR_ALGORITHM = WALK
# INITIAL_TOUR_FILE =
INITIAL_TOUR_FRACTION = 1.000
# INPUT_TOUR_FILE =
K = 0
KICK_TYPE = 0
KICKS = 1
# MAX_BREADTH =
MAKESPAN = NO
MAX_CANDIDATES = 5
MAX_SWAPS = 18
MAX_TRIALS = 18
# MERGE_TOUR_FILE =
MOVE_TYPE = 5
# MTSP_MIN_SIZE =
# MTSP_MAX_SIZE =
# MTSP_OBJECTIVE =
# MTSP_SOLUTION_FILE =
# NONSEQUENTIAL_MOVE_TYPE = 5
# OPTIMUM =
OUTPUT_TOUR_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_10_solution.txt
PATCHING_A = 1
PATCHING_C = 0
PATCHING_C = 0
# PI_FILE =
# PI_FILE =
Lower bound = 10971.0POPMUSIC_INITIAL_TOUR = NO
POPMUSIC_INITIAL_TOUR = NO
POPMUSIC_MAX_NEIGHBORS = 5
POPMUSIC_MAX_NEIGHBORS = 5
POPMUSIC_SAMPLE_SIZE = 10
, Ascent time = 0.00 sec.POPMUSIC_SOLUTIONS = 50
POPMUSIC_TRIALS = 1
POPMUSIC_SAMPLE_SIZE = 10
POPMUSIC_SOLUTIONS = 50
# POPMUSIC_TRIALS = 1
Run 1: POPULATION_SIZE = 0
# PRECISION = 100
POPULATION_SIZE = 0
# PROBABILITY =
Cost = 4693PRECISION = 100
# PROBABILITY =
PROBLEM_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_10.tsp
RECOMBINATION = IPT
RESTRICTED_SEARCH = YES
RUNS = 1
, Time = 0.00 sec.SALESMEN = 1
SCALE = 1
SEED = 1
Cand.min = 2, Cand.avg = 4.9, Cand.max = 5
done
Successes/Runs = 0/1
# SINTEF_SOLUTION_FILE =
Edges.fixed = 34 [Cost = 0]
STOP_AT_OPTIMUM = YES
SUBGRADIENT = YES
Preprocessing time = 0.00 sec.
# SUBPROBLEM_SIZE =
Cost.min = 4693, Cost.avg = 4693.00, Cost.max = 4693
# SUBPROBLEM_TOUR_FILE =
SUBSEQUENT_MOVE_TYPE = 5
Gap.min = 0.0000%, Gap.avg = 0.0000%, Gap.max = 0.0000%
SUBSEQUENT_PATCHING = YES
Writing OUTPUT_TOUR_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_1_solution.txt" ... # TIME_LIMIT =
Trials.min = 24, Trials.avg = 24.0, Trials.max = 24
# TOTAL_TIME_LIMIT =
# TOUR_FILE =
Time.min = 0.00 sec., Time.avg = 0.00 sec., Time.max = 0.00 sec.
TRACE_LEVEL = 1
VEHICLES = 1
Time.total = 0.00 sec.
PROBLEM_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_6.tsp
RECOMBINATION = IPT
RESTRICTED_SEARCH = YES
RUNS = 1
SALESMEN = 1
SCALE = 1
SEED = 1
# SINTEF_SOLUTION_FILE =
STOP_AT_OPTIMUM = YES
SUBGRADIENT = YES
# SUBPROBLEM_SIZE =
# SUBPROBLEM_TOUR_FILE =
SUBSEQUENT_MOVE_TYPE = 5
SUBSEQUENT_PATCHING = YES
# TIME_LIMIT =
done
Successes/Runs = 1/0
Cost.min = 10971, Cost.avg = 10971.00, Cost.max = 10971
Gap.min = 0.0000%, Gap.avg = 0.0000%, Gap.max = 0.0000%
Trials.min = 0, Trials.avg = 0.0, Trials.max = 0
Time.min = 0.00 sec., Time.avg = 0.00 sec., Time.max = 0.00 sec.
# TOTAL_TIME_LIMIT =
# TOUR_FILE =
Time.total = 0.00 sec.
Run 1: Cost = 10003596, Time = 0.00 sec.
Successes/Runs = 0/1
Cost.min = 10003596, Cost.avg = 10003596.00, Cost.max = 10003596
TRACE_LEVEL = 1
Gap.min = 0.0000%, Gap.avg = 0.0000%, Gap.max = 0.0000%
Trials.min = 18, Trials.avg = 18.0, Trials.max = 18
Time.min = 0.00 sec., Time.avg = 0.00 sec., Time.max = 0.00 sec.
Time.total = 0.00 sec.
VEHICLES = 1
Lower bound = 24142.1, Ascent time = 0.00 sec.
Cand.min = 2, Cand.avg = 4.4, Cand.max = 5
Edges.fixed = 9 [Cost = 0]
Preprocessing time = 0.00 sec.
* 1: Cost = 10002750, Time = 0.00 sec.
Writing OUTPUT_TOUR_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_10_solution.txt" ... done
Lower bound = 9341.0, Ascent time = 0.00 sec.
Cand.min = 5, Cand.avg = 5.0, Cand.max = 5
Edges.fixed = 24 [Cost = 0]
Preprocessing time = 0.00 sec.
Writing OUTPUT_TOUR_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_5_solution.txt" ... Run 1: Cost = 10002750, Time = 0.00 sec.
Successes/Runs = 0/1
Cost.min = 10002750, Cost.avg = 10002750.00, Cost.max = 10002750
Gap.min = 0.0000%, Gap.avg = 0.0000%, Gap.max = 0.0000%
Trials.min = 18, Trials.avg = 18.0, Trials.max = 18
Time.min = 0.00 sec., Time.avg = 0.00 sec., Time.max = 0.00 sec.
Time.total = 0.00 sec.
done
Successes/Runs = 1/0
Cost.min = 9341, Cost.avg = 9341.00, Cost.max = 9341
Gap.min = 0.0000%, Gap.avg = 0.0000%, Gap.max = 0.0000%
Trials.min = 0, Trials.avg = 0.0, Trials.max = 0
Time.min = 0.00 sec., Time.avg = 0.00 sec., Time.max = 0.00 sec.
Time.total = 0.00 sec.
Lower bound = 820471.3, Ascent time = 0.00 sec.
Cand.min = 2, Cand.avg = 4.1, Cand.max = 5
Edges.fixed = 7 [Cost = 0]
Preprocessing time = 0.00 sec.
* 1: Cost = 10002079, Time = 0.00 sec.
Writing OUTPUT_TOUR_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_6_solution.txt" ... done
Lower bound = 12788.0, Ascent time = 0.01 sec.
Cand.min = 2, Cand.avg = 5.0, Cand.max = 5
Edges.fixed = 35 [Cost = 0]
Preprocessing time = 0.01 sec.
Writing OUTPUT_TOUR_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_4_solution.txt" ... done
Successes/Runs = 1/0
Cost.min = 12788, Cost.avg = 12788.00, Cost.max = 12788
Gap.min = 0.0000%, Gap.avg = 0.0000%, Gap.max = 0.0000%
Trials.min = 0, Trials.avg = 0.0, Trials.max = 0
Time.min = 0.01 sec., Time.avg = 0.01 sec., Time.max = 0.01 sec.
Time.total = 0.01 sec.
Run 1: Cost = 10002079, Time = 0.00 sec.
Successes/Runs = 0/1
Cost.min = 10002079, Cost.avg = 10002079.00, Cost.max = 10002079
Gap.min = 0.0000%, Gap.avg = 0.0000%, Gap.max = 0.0000%
Trials.min = 14, Trials.avg = 14.0, Trials.max = 14
Time.min = 0.00 sec., Time.avg = 0.00 sec., Time.max = 0.00 sec.
Time.total = 0.00 sec.
Lower bound = 7402.0, Ascent time = 0.00 sec.
Cand.min = 2, Cand.avg = 4.9, Cand.max = 5
Edges.fixed = 16 [Cost = 0]
Preprocessing time = 0.00 sec.
Writing OUTPUT_TOUR_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_3_solution.txt" ... done
Successes/Runs = 1/0
Cost.min = 7402, Cost.avg = 7402.00, Cost.max = 7402
Gap.min = 0.0000%, Gap.avg = 0.0000%, Gap.max = 0.0000%
Trials.min = 0, Trials.avg = 0.0, Trials.max = 0
Time.min = 0.00 sec., Time.avg = 0.00 sec., Time.max = 0.00 sec.
Time.total = 0.00 sec.
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
[Thread 0x7fffbeffd700 (LWP 33928) exited]
[Thread 0x7fffc4d56700 (LWP 33925) exited]
[Thread 0x7fffbdffb700 (LWP 33934) exited]
[Thread 0x7fffbe7fc700 (LWP 33933) exited]
[Thread 0x7fff9f7fe700 (LWP 33948) exited]
--Type <RET> for more, q to quit, c to continue without paging--PARAMETER_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_7.par
Reading PROBLEM_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_7.tsp" ... done
ASCENT_CANDIDATES = 25
BACKBONE_TRIALS = 0
BACKTRACKING = NO
# BWTSP =
# CANDIDATE_FILE =
CANDIDATE_SET_TYPE = ALPHA
# DISTANCE =
# DEPOT =
# EDGE_FILE =
EXCESS = 0.0769231
EXTERNAL_SALESMEN = 0
EXTRA_CANDIDATES = 0
EXTRA_CANDIDATE_SET_TYPE = QUADRANT
GAIN23 = NO
GAIN_CRITERION = YES
INITIAL_PERIOD = 100
INITIAL_STEP_SIZE = 1
INITIAL_TOUR_ALGORITHM = WALK
# INITIAL_TOUR_FILE =
INITIAL_TOUR_FRACTION = 1.000
# INPUT_TOUR_FILE =
K = 0
KICK_TYPE = 0
KICKS = 1
# MAX_BREADTH =
MAKESPAN = NO
MAX_CANDIDATES = 5
MAX_SWAPS = 26
MAX_TRIALS = 26
# MERGE_TOUR_FILE =
MOVE_TYPE = 5
# MTSP_MIN_SIZE =
# MTSP_MAX_SIZE =
# MTSP_OBJECTIVE =
# MTSP_SOLUTION_FILE =
# NONSEQUENTIAL_MOVE_TYPE = 5
# OPTIMUM =
OUTPUT_TOUR_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_7_solution.txt
PATCHING_A = 1
PATCHING_C = 0
# PI_FILE =
POPMUSIC_INITIAL_TOUR = NO
POPMUSIC_MAX_NEIGHBORS = 5
POPMUSIC_SAMPLE_SIZE = 10
POPMUSIC_SOLUTIONS = 50
POPMUSIC_TRIALS = 1
# POPULATION_SIZE = 0
PRECISION = 100
# PROBABILITY =
PROBLEM_FILE = /home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_7.tsp
RECOMBINATION = IPT
RESTRICTED_SEARCH = YES
RUNS = 1
SALESMEN = 1
SCALE = 1
SEED = 1
# SINTEF_SOLUTION_FILE =
STOP_AT_OPTIMUM = YES
SUBGRADIENT = YES
# SUBPROBLEM_SIZE =
# SUBPROBLEM_TOUR_FILE =
SUBSEQUENT_MOVE_TYPE = 5
SUBSEQUENT_PATCHING = YES
# TIME_LIMIT =
# TOTAL_TIME_LIMIT =
# TOUR_FILE =
TRACE_LEVEL = 1
VEHICLES = 1
Lower bound = 4561.0, Ascent time = 0.00 sec.
Cand.min = 2, Cand.avg = 4.8, Cand.max = 5
Edges.fixed = 13 [Cost = 0]
Preprocessing time = 0.00 sec.
Writing OUTPUT_TOUR_FILE: "/home/easonhua/easondrone_ws/src/reconstruct/FC-Planner/FC-Planner/src/hierarchical_coverage_planner/solution/local/sub_7_solution.txt" ... done
Successes/Runs = 1/0
Cost.min = 4561, Cost.avg = 4561.00, Cost.max = 4561
Gap.min = 0.0000%, Gap.avg = 0.0000%, Gap.max = 0.0000%
Trials.min = 0, Trials.avg = 0.0, Trials.max = 0
Time.min = 0.00 sec., Time.avg = 0.00 sec., Time.max = 0.00 sec.
Time.total = 0.00 sec.