A Star LifeLong
u_start = (1; 1); u_goal = (1; 4);
h(..) - Euclides type; Cost = 1
step 1.
starting

U y x key1 key2
1. 1 1 3 0
keys(s_goal) =
[Inf; Inf ]
1; 1
g=Inf
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=Inf
rhs=Inf 		2; 2
g=Inf
rhs=Inf 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=Inf 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 2.
ComputeShortestPath, find

U y x key1 key2
1. 1 1 3 0
keys(s_goal) =
[Inf; Inf ]
1; 1
g=Inf
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=Inf
rhs=Inf 		2; 2
g=Inf
rhs=Inf 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=Inf 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 3.
ComputeShortestPath, use

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=Inf
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=Inf
rhs=Inf 		2; 2
g=Inf
rhs=Inf 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=Inf 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 4.
UpdateVertex, start

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=Inf
rhs=Inf 		2; 2
g=Inf
rhs=Inf 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=Inf 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 5.
UpdateVertex, end

U y x key1 key2
1. 2 1 4.16228 1
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=Inf
rhs=1 		2; 2
g=Inf
rhs=Inf 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=Inf 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 7.
ComputeShortestPath, find

U y x key1 key2
1. 2 1 4.16228 1
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=Inf
rhs=1 		2; 2
g=Inf
rhs=Inf 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=Inf 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 8.
ComputeShortestPath, use

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=Inf
rhs=1 		2; 2
g=Inf
rhs=Inf 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=Inf 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 9.
UpdateVertex, start

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=Inf 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=Inf 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 10.
UpdateVertex, end

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=Inf 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=Inf 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 11.
UpdateVertex, start

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=Inf 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=Inf 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 12.
UpdateVertex, end

U y x key1 key2
1. 2 2 4.23607 2
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=Inf 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 13.
UpdateVertex, start

U y x key1 key2
1. 2 2 4.23607 2
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=Inf 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 14.
UpdateVertex, end

U y x key1 key2
1. 2 2 4.23607 2
2. 3 1 5.60555 2
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 16.
ComputeShortestPath, find

U y x key1 key2
1. 2 2 4.23607 2
2. 3 1 5.60555 2
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 17.
ComputeShortestPath, use

U y x key1 key2
1. 3 1 5.60555 2
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 18.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 19.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 2 3 4.41421 3
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=Inf
rhs=3 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 20.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 2 3 4.41421 3
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=Inf
rhs=3 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 21.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 2 3 4.41421 3
3. 3 2 5.82843 3
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=Inf
rhs=3 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 22.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 2 3 4.41421 3
3. 3 2 5.82843 3
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=Inf
rhs=3 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 23.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 2 3 4.41421 3
3. 3 2 5.82843 3
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=Inf
rhs=3 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 25.
ComputeShortestPath, find

U y x key1 key2
1. 3 1 5.60555 2
2. 2 3 4.41421 3
3. 3 2 5.82843 3
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=Inf
rhs=3 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 26.
ComputeShortestPath, use

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=Inf
rhs=3 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 27.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=Inf 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 28.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 1 3 5 4
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=4 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 29.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 1 3 5 4
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=4 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 30.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 1 3 5 4
4. 2 4 5 4
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=4 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 31.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 1 3 5 4
4. 2 4 5 4
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=4 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 32.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 1 3 5 4
4. 2 4 5 4
5. 3 3 6.23607 4
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=4 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 33.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 1 3 5 4
4. 2 4 5 4
5. 3 3 6.23607 4
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=4 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 34.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 1 3 5 4
4. 2 4 5 4
5. 3 3 6.23607 4
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=4 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 36.
ComputeShortestPath, find

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 1 3 5 4
4. 2 4 5 4
5. 3 3 6.23607 4
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=4 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 37.
ComputeShortestPath, use

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 2 4 5 4
4. 3 3 6.23607 4
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=Inf
rhs=4 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 38.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 2 4 5 4
4. 3 3 6.23607 4
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 39.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 2 4 5 4
4. 3 3 6.23607 4
5. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 40.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 2 4 5 4
4. 3 3 6.23607 4
5. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 41.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 2 4 5 4
4. 3 3 6.23607 4
5. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 43.
ComputeShortestPath, find

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 2 4 5 4
4. 3 3 6.23607 4
5. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 44.
ComputeShortestPath, use

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=Inf
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 45.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 46.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 47.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 48.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 1 4 5 5
5. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 49.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 1 4 5 5
5. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 50.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 1 4 5 5
5. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 52.
ComputeShortestPath, find

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 1 4 5 5
5. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 53.
ComputeShortestPath, use

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 54.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 55.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 56.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 57.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 59.
ComputeShortestPath, find

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		XxX 1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 60.
remove blocks

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=Inf
rhs=Inf 		1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 61.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=Inf
rhs=Inf 		1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 62.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 2 3 1
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=Inf
rhs=1 		1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 63.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 2 3 1
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=Inf
rhs=1 		1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 64.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 2 3 1
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=Inf
rhs=1 		1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 65.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 2 3 1
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=Inf
rhs=1 		1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 66.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 2 3 1
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=Inf
rhs=1 		1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 67.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 2 3 1
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=Inf
rhs=1 		1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 68.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 2 3 1
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=Inf
rhs=1 		1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 69.
ComputeShortestPath, find

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 2 3 1
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=Inf
rhs=1 		1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 70.
ComputeShortestPath, use

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=Inf
rhs=1 		1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 71.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=4
rhs=4 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 72.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 3 3 2
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=4
rhs=2 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 73.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 3 3 2
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=4
rhs=2 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 74.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 3 3 2
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=4
rhs=2 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 75.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 3 3 2
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=4
rhs=2 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 76.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 3 3 2
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=4
rhs=2 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 78.
ComputeShortestPath, find

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 3 3 2
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=4
rhs=2 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 79.
ComputeShortestPath, use

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=4
rhs=2 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 80.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=2
rhs=2 		1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 81.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=2
rhs=2 		1; 4
g=5
rhs=3
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 82.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=2
rhs=2 		1; 4
g=5
rhs=3
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 83.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=2
rhs=2 		1; 4
g=5
rhs=3
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 84.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=2
rhs=2 		1; 4
g=5
rhs=3
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 85.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=2
rhs=2 		1; 4
g=5
rhs=3
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 87.
ComputeShortestPath, find

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=2
rhs=2 		1; 4
g=5
rhs=3
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 88.
ComputeShortestPath, use

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=2
rhs=2 		1; 4
g=5
rhs=3
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 89.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=2
rhs=2 		1; 4
g=3
rhs=3
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 90.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=2
rhs=2 		1; 4
g=3
rhs=3
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 91.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=2
rhs=2 		1; 4
g=3
rhs=3
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 92.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=2
rhs=2 		1; 4
g=3
rhs=3
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 94.
ComputeShortestPath, find

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		1; 3
g=2
rhs=2 		1; 4
g=3
rhs=3
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 95.
insert blocks

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=3
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 96.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=3
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 97.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 98.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 99.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 100.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 101.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 102.
insert blocks

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 103.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 104.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 105.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 106.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
6. 2 3 4.41421 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=5 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 107.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 2 5.82843 3
3. 3 3 6.23607 4
4. 3 4 7 5
5. 1 4 3 3
6. 2 3 4.41421 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=5 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 108.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 3 6.23607 4
3. 3 4 7 5
4. 1 4 3 3
5. 2 3 4.41421 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=5 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 109.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 3 6.23607 4
3. 3 4 7 5
4. 1 4 3 3
5. 2 3 4.41421 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=5 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 110.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 3 6.23607 4
3. 3 4 7 5
4. 1 4 3 3
5. 2 3 4.41421 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=5 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 111.
ComputeShortestPath, find

U y x key1 key2
1. 3 1 5.60555 2
2. 3 3 6.23607 4
3. 3 4 7 5
4. 1 4 3 3
5. 2 3 4.41421 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=5 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 112.
ComputeShortestPath, use

U y x key1 key2
1. 3 1 5.60555 2
2. 3 3 6.23607 4
3. 3 4 7 5
4. 2 3 4.41421 3
keys(s_goal) =
[3; 3 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=3
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=5 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 113.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 3 6.23607 4
3. 3 4 7 5
4. 2 3 4.41421 3
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=5 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 114.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 3 6.23607 4
3. 3 4 7 5
4. 2 3 4.41421 3
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=5 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 115.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 3 6.23607 4
3. 3 4 7 5
4. 2 3 4.41421 3
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=5 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 116.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 3 6.23607 4
3. 3 4 7 5
4. 2 3 4.41421 3
5. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=5 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 118.
ComputeShortestPath, find

U y x key1 key2
1. 3 1 5.60555 2
2. 3 3 6.23607 4
3. 3 4 7 5
4. 2 3 4.41421 3
5. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=5 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 119.
ComputeShortestPath, use

U y x key1 key2
1. 3 1 5.60555 2
2. 3 3 6.23607 4
3. 3 4 7 5
4. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=3
rhs=5 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 120.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 3 6.23607 4
3. 3 4 7 5
4. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=4
rhs=4
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 121.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 3 6.23607 4
3. 3 4 7 5
4. 1 4 5 5
5. 2 4 5 4
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=4
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 122.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 3 6.23607 4
3. 3 4 7 5
4. 1 4 5 5
5. 2 4 5 4
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=4
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=5
step 123.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 4 7 5
3. 1 4 5 5
4. 2 4 5 4
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=4
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=5
step 124.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 4 7 5
3. 1 4 5 5
4. 2 4 5 4
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=4
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=5
step 125.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 4 7 5
3. 1 4 5 5
4. 2 4 5 4
5. 2 3 6.41421 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=4
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=5
step 127.
ComputeShortestPath, find

U y x key1 key2
1. 3 1 5.60555 2
2. 3 4 7 5
3. 1 4 5 5
4. 2 4 5 4
5. 2 3 6.41421 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=4
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=5
step 128.
ComputeShortestPath, use

U y x key1 key2
1. 3 1 5.60555 2
2. 3 4 7 5
3. 1 4 5 5
4. 2 3 6.41421 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=4
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=5
step 129.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 4 7 5
3. 1 4 5 5
4. 2 3 6.41421 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=5
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=5
step 130.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 3 4 7 5
3. 2 3 6.41421 5
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=5
step 131.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 3 4 7 5
3. 2 3 6.41421 5
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=5
step 132.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
2. 2 3 6.41421 5
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 133.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
2. 2 3 6.41421 5
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 134.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 135.
UpdateVertex, start

U y x key1 key2
1. 3 1 5.60555 2
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 136.
UpdateVertex, end

U y x key1 key2
1. 3 1 5.60555 2
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 138.
ComputeShortestPath, find

U y x key1 key2
1. 3 1 5.60555 2
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 139.
ComputeShortestPath, use

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=Inf
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 140.
UpdateVertex, start

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 141.
UpdateVertex, end

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 142.
UpdateVertex, start

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=Inf
rhs=Inf 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 143.
UpdateVertex, end

U y x key1 key2
1. 3 2 5.82843 3
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 145.
ComputeShortestPath, find

U y x key1 key2
1. 3 2 5.82843 3
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 146.
ComputeShortestPath, use

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=Inf
rhs=3 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 147.
UpdateVertex, start

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=Inf
rhs=Inf 		3; 4
g=Inf
rhs=Inf
step 148.
UpdateVertex, end

U y x key1 key2
1. 3 3 6.23607 4
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 149.
UpdateVertex, start

U y x key1 key2
1. 3 3 6.23607 4
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 150.
UpdateVertex, end

U y x key1 key2
1. 3 3 6.23607 4
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 152.
ComputeShortestPath, find

U y x key1 key2
1. 3 3 6.23607 4
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 153.
ComputeShortestPath, use

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=Inf
rhs=4 		3; 4
g=Inf
rhs=Inf
step 154.
UpdateVertex, start

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=Inf 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=Inf
rhs=Inf
step 155.
UpdateVertex, end

U y x key1 key2
1. 2 3 6.41421 5
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=Inf
rhs=Inf
step 156.
UpdateVertex, start

U y x key1 key2
1. 2 3 6.41421 5
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=Inf
rhs=Inf
step 157.
UpdateVertex, end

U y x key1 key2
1. 2 3 6.41421 5
2. 3 4 7 5
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=Inf
rhs=5
step 158.
UpdateVertex, start

U y x key1 key2
1. 2 3 6.41421 5
2. 3 4 7 5
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=Inf
rhs=5
step 159.
UpdateVertex, end

U y x key1 key2
1. 2 3 6.41421 5
2. 3 4 7 5
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=Inf
rhs=5
step 161.
ComputeShortestPath, find

U y x key1 key2
1. 2 3 6.41421 5
2. 3 4 7 5
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=Inf
rhs=5
step 162.
ComputeShortestPath, use

U y x key1 key2
1. 3 4 7 5
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=Inf
rhs=5 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=Inf
rhs=5
step 163.
UpdateVertex, start

U y x key1 key2
1. 3 4 7 5
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=Inf
rhs=Inf
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=Inf
rhs=5
step 164.
UpdateVertex, end

U y x key1 key2
1. 3 4 7 5
2. 2 4 7 6
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=Inf
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=Inf
rhs=5
step 165.
UpdateVertex, start

U y x key1 key2
1. 3 4 7 5
2. 2 4 7 6
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=Inf
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=Inf
rhs=5
step 166.
UpdateVertex, end

U y x key1 key2
1. 3 4 7 5
2. 2 4 7 6
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=Inf
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=Inf
rhs=5
step 168.
ComputeShortestPath, find

U y x key1 key2
1. 3 4 7 5
2. 2 4 7 6
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=Inf
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=Inf
rhs=5
step 169.
ComputeShortestPath, use

U y x key1 key2
1. 2 4 7 6
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=Inf
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=Inf
rhs=5
step 170.
UpdateVertex, start

U y x key1 key2
1. 2 4 7 6
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=Inf
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 171.
UpdateVertex, end

U y x key1 key2
1. 2 4 7 6
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=Inf
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 172.
UpdateVertex, start

U y x key1 key2
1. 2 4 7 6
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=Inf
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 173.
UpdateVertex, end

U y x key1 key2
1. 2 4 7 6
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=Inf
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 175.
ComputeShortestPath, find

U y x key1 key2
1. 2 4 7 6
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=Inf
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 176.
ComputeShortestPath, use

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=Inf
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 177.
UpdateVertex, start

U= {}
keys(s_goal) =
[Inf; Inf ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=Inf
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 178.
UpdateVertex, end

U y x key1 key2
1. 1 4 7 7
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=7
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 179.
UpdateVertex, start

U y x key1 key2
1. 1 4 7 7
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=7
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 180.
UpdateVertex, end

U y x key1 key2
1. 1 4 7 7
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=7
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 181.
UpdateVertex, start

U y x key1 key2
1. 1 4 7 7
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=7
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 182.
UpdateVertex, end

U y x key1 key2
1. 1 4 7 7
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=7
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 184.
ComputeShortestPath, find

U y x key1 key2
1. 1 4 7 7
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=7
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 185.
ComputeShortestPath, use

U= {}
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=Inf
rhs=7
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 186.
UpdateVertex, start

U= {}
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 187.
UpdateVertex, end

U= {}
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		XxX 2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 189.
remove blocks

U= {}
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=Inf 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 190.
UpdateVertex, start

U= {}
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=Inf 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 191.
UpdateVertex, end

U y x key1 key2
1. 2 2 4.23607 2
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 192.
UpdateVertex, start

U y x key1 key2
1. 2 2 4.23607 2
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 193.
UpdateVertex, end

U y x key1 key2
1. 2 2 4.23607 2
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 194.
UpdateVertex, start

U y x key1 key2
1. 2 2 4.23607 2
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 195.
UpdateVertex, end

U y x key1 key2
1. 2 2 4.23607 2
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 196.
UpdateVertex, start

U y x key1 key2
1. 2 2 4.23607 2
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 197.
UpdateVertex, end

U y x key1 key2
1. 2 2 4.23607 2
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 198.
UpdateVertex, start

U y x key1 key2
1. 2 2 4.23607 2
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 199.
UpdateVertex, end

U y x key1 key2
1. 2 2 4.23607 2
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 200.
ComputeShortestPath, find

U y x key1 key2
1. 2 2 4.23607 2
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 201.
ComputeShortestPath, use

U= {}
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=Inf
rhs=2 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 202.
UpdateVertex, start

U= {}
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 203.
UpdateVertex, end

U= {}
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 204.
UpdateVertex, start

U= {}
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=5
rhs=5 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 205.
UpdateVertex, end

U y x key1 key2
1. 2 3 4.41421 3
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=5
rhs=3 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 206.
UpdateVertex, start

U y x key1 key2
1. 2 3 4.41421 3
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=5
rhs=3 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 207.
UpdateVertex, end

U y x key1 key2
1. 2 3 4.41421 3
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=5
rhs=3 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 208.
UpdateVertex, start

U y x key1 key2
1. 2 3 4.41421 3
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=5
rhs=3 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 209.
UpdateVertex, end

U y x key1 key2
1. 2 3 4.41421 3
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=5
rhs=3 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 211.
ComputeShortestPath, find

U y x key1 key2
1. 2 3 4.41421 3
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=5
rhs=3 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 212.
ComputeShortestPath, use

U= {}
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=5
rhs=3 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 213.
UpdateVertex, start

U= {}
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=6
rhs=6
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 214.
UpdateVertex, end

U y x key1 key2
1. 2 4 5 4
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=6
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 215.
UpdateVertex, start

U y x key1 key2
1. 2 4 5 4
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=6
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 216.
UpdateVertex, end

U y x key1 key2
1. 2 4 5 4
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=6
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 217.
UpdateVertex, start

U y x key1 key2
1. 2 4 5 4
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=6
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 218.
UpdateVertex, end

U y x key1 key2
1. 2 4 5 4
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=6
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 220.
ComputeShortestPath, find

U y x key1 key2
1. 2 4 5 4
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=6
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 221.
ComputeShortestPath, use

U= {}
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=6
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 222.
UpdateVertex, start

U= {}
keys(s_goal) =
[7; 7 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=7
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 223.
UpdateVertex, end

U y x key1 key2
1. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 224.
UpdateVertex, start

U y x key1 key2
1. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 225.
UpdateVertex, end

U y x key1 key2
1. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 226.
UpdateVertex, start

U y x key1 key2
1. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 227.
UpdateVertex, end

U y x key1 key2
1. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 229.
ComputeShortestPath, find

U y x key1 key2
1. 1 4 5 5
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 230.
ComputeShortestPath, use

U= {}
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=7
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 231.
UpdateVertex, start

U= {}
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5
step 232.
UpdateVertex, end

U= {}
keys(s_goal) =
[5; 5 ]
1; 1
g=0
rhs=0 		1; 2
g=1
rhs=1 		XxX 1; 4
g=5
rhs=5
2; 1
g=1
rhs=1 		2; 2
g=2
rhs=2 		2; 3
g=3
rhs=3 		2; 4
g=4
rhs=4
3; 1
g=2
rhs=2 		3; 2
g=3
rhs=3 		3; 3
g=4
rhs=4 		3; 4
g=5
rhs=5