final_project_experiments.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Initialize Examples and Experiment Functions"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 57,
   "metadata": {},
   "outputs": [],
   "source": [
    "%reload_ext autoreload\n",
    "%autoreload 2\n",
    "\n",
    "from boat_models import Boat, twoInputBoat, threeInputBoat\n",
    "import numpy as np\n",
    "import pickle\n",
    "from IPython.display import HTML\n",
    "from states_initialization import states_initialization\n",
    "from trajectory_planner import BoatConfigurationPlanning, bold\n",
    "\n",
    "def anim_plot(split, i):\n",
    "    print '%f seconds' % time_configurations[split][i-1][-1]\n",
    "    return HTML(anim_configurations[split][i-1])\n",
    "\n",
    "def to_x0_xN(xy0, xyN, final_offset):\n",
    "    num_boats = len(xy0)\n",
    "    \n",
    "    x0 = np.zeros((len(xy0), Boat.num_states))\n",
    "    xN = np.zeros((len(xy0), Boat.num_states))\n",
    "\n",
    "    x0[:,:2]=xy0\n",
    "    xN[:,:2]=xyN\n",
    "    xN[:,:2]+=final_offset\n",
    "    \n",
    "    return (x0,xN)      \n",
    "\n",
    "def experiment(boat, x0, xN, steps=100, dt_init=0.4, expansion_N=None, shapemove_N=None, min_time=5, max_time=100, expansion_factor=1.4, initialize=True, example_name=None, init_name=None):\n",
    "    boats_S_init, assignments = states_initialization(x0, xN, steps, dt_init, expansion_factor=expansion_factor, expansion_N=expansion_N, shapemove_N=shapemove_N)\n",
    "    return boats_S_init, assignments\n",
    "    xN_assigned = xN[assignments]\n",
    "    planner = BoatConfigurationPlanning(boat)\n",
    "    initialization = boats_S_init if initialize else None\n",
    "    S, U, time, mp, result, solve_time = planner.compute_trajectory(min_time, max_time, x0, xN_assigned, step_initialization=dt_init, states_initialization=initialization)\n",
    "    return {\n",
    "            'S_init':boats_S_init, 'S':S, 'U':U, 'x0':x0, 'xN':xN, 'N':steps, 'time':time, 'result':str(result), 'solve_time':solve_time, 'example_name': example_name, 'init_name':init_name, 'boat_type': boat.__class__.__name__,\n",
    "            'params':{'expansion_N':expansion_N, 'shapemove_N':shapemove_N, 'expansion_factor':expansion_factor, 'min_time':min_time, 'max_time':max_time, 'dt_init':dt_init}\n",
    "           }\n",
    "\n",
    "def run_experiments(boats, examples):\n",
    "    experiments = {}  \n",
    "    for boat in boats:\n",
    "        print bold('====%s EXPERIMENTS====\\n' % boat.__class__.__name__)\n",
    "        boat_experiments = {}\n",
    "        #print bold('----NO_INIT----\\n')\n",
    "        #boat_experiments['no_init']              = [experiment(boat,x0,xN,initialize=False, example_name=name, init_name='none')                                               for x0,xN,name in examples]\n",
    "        print bold('----INTERPOLATE----')\n",
    "        boat_experiments['init']                 = [experiment(boat,x0,xN, example_name=name, init_name='interpolate')                                                         for x0,xN,name in examples]\n",
    "        print bold('----INTERPOLATE EXPANSION----')\n",
    "        boat_experiments['init_expansion']       = [experiment(boat,x0,xN, expansion_N=20, example_name=name, init_name='interpolate expansion')                               for x0,xN,name in examples]\n",
    "        print bold('----INTERPOLATE SHAPE----')\n",
    "        boat_experiments['init_shape']           = [experiment(boat,x0,xN,shapemove_N=50, example_name=name, init_name='interpolate shape')                                    for x0,xN,name in examples]\n",
    "        print bold('----INTERPOLATE SHAPE EXPANSION----')\n",
    "        boat_experiments['init_shape_expansion'] = [experiment(boat,x0,xN,shapemove_N=50, expansion_N=20, example_name=name, init_name='interpolate expansion and shape') for x0,xN,name in examples]\n",
    "        experiments[boat.__class__.__name__] = boat_experiments\n",
    "    return experiments"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "examples = (\n",
    "        #1\n",
    "        (((0, 0),),\n",
    "         ((0, 0),)),\n",
    "\n",
    "        #2 rotate\n",
    "        (((0, 0), (0, 1.5)),\n",
    "         ((1, 0), (2.5, 0))),\n",
    "\n",
    "        #4 line rotate\n",
    "        (((2.25, 0), (0.75, 0), (-.75, 0), (-2.25, 0)),\n",
    "         ((0, 2.25), (0, 0.75), (0, -.75), (0, -2.25))),\n",
    "\n",
    "        #4 line to 4 grid\n",
    "        (((2.25, 0), (0.75, 0), (-.75, 0), (-2.25, 0)),\n",
    "         ((0, 0), (0, 1.5), (1.5, 0), (1.5, 1.5))),\n",
    "\n",
    "        #4 grid rotate\n",
    "        (((0, 0), (0, 1.5), (1.5, 0), (1.5, 1.5)),\n",
    "         ((0, 1.06), (0, -1.06), (-1.06, 0), (1.06, 0))),\n",
    "\n",
    "        #4 triangle rotate\n",
    "        (((0, 0), (0, 1.5), (-1.5, 0), (1.5, 0)),\n",
    "         ((0, 0), (0, 1.5), (0, -1.5), (1.5, 0))),\n",
    "\n",
    "        #9 triangle to 9 grid\n",
    "        (((-1.5, -3), (-1.5, -1.5), (-1.5, 0), (-1.5, 1.5), (-1.5, 3), (0, -1.5), (0, 0), (0, 1.5), (1.5, 0)),\n",
    "         ((-1.5, 1.5), (0, 1.5), (1.5, 1.5), (-1.5, 0), (0, 0), (1.5, 0), (-1.5, -1.5), (0, -1.5), (1.5, -1.5))),\n",
    "\n",
    "        #9 line to 9 grid\n",
    "        (((6,0), (4.5, 0), (3, 0), (1.5, 0), (0, 0), (-1.5, 0), (-3, 0), (-4.5, 0), (-6, 0)),\n",
    "         ((-1.5, 1.5), (0, 1.5), (1.5, 1.5), (-1.5, 0), (0, 0), (1.5, 0), (-1.5, -1.5), (0, -1.5), (1.5, -1.5))),\n",
    "\n",
    "        #9 grid rotate\n",
    "        (((-1.5, 1.5), (0, 1.5), (1.5, 1.5), (-1.5, 0), (0, 0), (1.5, 0), (-1.5, -1.5), (0, -1.5), (1.5, -1.5)),\n",
    "         ((0, 0), (2.12, 0), (-2.12, 0), (1.06, 1.06), (1.06, -1.06), (-1.06, 1.06), (-1.06, -1.06), (0, 2.12), (0, -2.12)))\n",
    "\n",
    "    )\n",
    "\n",
    "final_offset = ((4, 0))\n",
    "\n",
    "example_states = tuple([to_x0_xN(xy0, xyN, final_offset) for (xy0, xyN) in examples])\n",
    "example_names = ['1 Boat Move', '2 Boat Line Rotate','4 Boat Line Rotate', '4 Boat Line to Grid', '4 Boat Grid Rotate', '4 Boat Triangle Rotate', '9 Boat Triangle to Grid', '9 Boat Line to Grid', '9 Boat Grid Rotate']\n",
    "examples = [(x0,xN,name) for (x0,xN),name in zip(example_states,example_names)]\n",
    "\n",
    "assert len(example_names) == len(example_states)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Run Experiments"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\u001b[1m====twoInputBoat EXPERIMENTS====\n",
      "\u001b[0m\n",
      "\u001b[1m----INTERPOLATE----\u001b[0m\n",
      "\u001b[1mINITIALIZED 1 twoInputBoat boats\u001b[0m\n",
      "boats_S:(1, 101, 4), boats_U:(1, 100, 2), time_array:(101,)\n",
      "Number of decision vars 605\n",
      "0.008179 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000159 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.060986 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.049717 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 2 twoInputBoat boats\u001b[0m\n",
      "boats_S:(2, 101, 4), boats_U:(2, 100, 2), time_array:(101,)\n",
      "Number of decision vars 1209\n",
      "0.004087 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000066 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.114375 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "1.127982 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.008234 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000096 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.381859 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "1.995942 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.020702 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000512 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.668622 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "3.819660 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.007806 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000061 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.360617 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "3.074206 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.010512 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000088 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.334648 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "4.296859 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 twoInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 4), boats_U:(9, 100, 2), time_array:(101,)\n",
      "Number of decision vars 5437\n",
      "0.038953 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000120 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "2.067995 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "18.339848 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 twoInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 4), boats_U:(9, 100, 2), time_array:(101,)\n",
      "Number of decision vars 5437\n",
      "0.048312 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000148 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.501411 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "19.658463 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 twoInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 4), boats_U:(9, 100, 2), time_array:(101,)\n",
      "Number of decision vars 5437\n",
      "0.030045 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000148 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.556164 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "49.814247 seconds\n",
      "\n",
      "\u001b[1m----INTERPOLATE EXPANSION----\u001b[0m\n",
      "\u001b[1mINITIALIZED 1 twoInputBoat boats\u001b[0m\n",
      "boats_S:(1, 101, 4), boats_U:(1, 100, 2), time_array:(101,)\n",
      "Number of decision vars 605\n",
      "0.002935 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000076 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.048613 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.073285 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 2 twoInputBoat boats\u001b[0m\n",
      "boats_S:(2, 101, 4), boats_U:(2, 100, 2), time_array:(101,)\n",
      "Number of decision vars 1209\n",
      "0.004584 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000066 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.114537 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.480851 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.008225 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000111 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.316126 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "20.063837 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.011525 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000088 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.424567 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "2.445896 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.009185 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000083 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.361126 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "2.390174 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.008205 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000099 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.314493 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "2.467534 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 twoInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 4), boats_U:(9, 100, 2), time_array:(101,)\n",
      "Number of decision vars 5437\n",
      "0.034743 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000129 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.198250 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "14.318414 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 twoInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 4), boats_U:(9, 100, 2), time_array:(101,)\n",
      "Number of decision vars 5437\n",
      "0.024184 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000100 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.201699 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "11.696789 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 twoInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 4), boats_U:(9, 100, 2), time_array:(101,)\n",
      "Number of decision vars 5437\n",
      "0.022711 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000088 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.177968 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "36.451916 seconds\n",
      "\n",
      "\u001b[1m----INTERPOLATE SHAPE----\u001b[0m\n",
      "\u001b[1mINITIALIZED 1 twoInputBoat boats\u001b[0m\n",
      "boats_S:(1, 101, 4), boats_U:(1, 100, 2), time_array:(101,)\n",
      "Number of decision vars 605\n",
      "0.002866 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000072 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.048672 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.061144 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 2 twoInputBoat boats\u001b[0m\n",
      "boats_S:(2, 101, 4), boats_U:(2, 100, 2), time_array:(101,)\n",
      "Number of decision vars 1209\n",
      "0.004041 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000063 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.115247 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.639574 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.007870 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000105 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.312408 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "5.329564 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.008645 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000110 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.318734 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "2.184125 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.008391 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000082 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.314931 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "6.486185 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.008395 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000087 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.316134 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "6.177519 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 twoInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 4), boats_U:(9, 100, 2), time_array:(101,)\n",
      "Number of decision vars 5437\n",
      "0.020988 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000084 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.193319 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "27.957283 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 twoInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 4), boats_U:(9, 100, 2), time_array:(101,)\n",
      "Number of decision vars 5437\n",
      "0.021456 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000082 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.203177 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "6.639666 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 twoInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 4), boats_U:(9, 100, 2), time_array:(101,)\n",
      "Number of decision vars 5437\n",
      "0.022190 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000088 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.191744 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "15.587816 seconds\n",
      "\n",
      "\u001b[1m----INTERPOLATE SHAPE EXPANSION----\u001b[0m\n",
      "\u001b[1mINITIALIZED 1 twoInputBoat boats\u001b[0m\n",
      "boats_S:(1, 101, 4), boats_U:(1, 100, 2), time_array:(101,)\n",
      "Number of decision vars 605\n",
      "0.002809 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000058 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.049117 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.069002 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 2 twoInputBoat boats\u001b[0m\n",
      "boats_S:(2, 101, 4), boats_U:(2, 100, 2), time_array:(101,)\n",
      "Number of decision vars 1209\n",
      "0.004326 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000060 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.117852 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "SolutionResult.kSolutionFound\n",
      "0.477990 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.008252 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000072 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.316734 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "2.463798 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.008207 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000100 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.316453 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "3.231044 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.008228 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000073 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.314779 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "8.652233 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 twoInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 4), boats_U:(4, 100, 2), time_array:(101,)\n",
      "Number of decision vars 2417\n",
      "0.007915 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000057 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.314570 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "2.779043 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 twoInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 4), boats_U:(9, 100, 2), time_array:(101,)\n",
      "Number of decision vars 5437\n",
      "0.021106 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000096 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.186421 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "69.717653 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 twoInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 4), boats_U:(9, 100, 2), time_array:(101,)\n",
      "Number of decision vars 5437\n",
      "0.021737 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000094 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.192756 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kIterationLimit\n",
      "74.004250 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 twoInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 4), boats_U:(9, 100, 2), time_array:(101,)\n",
      "Number of decision vars 5437\n",
      "0.022278 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000087 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.193332 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "38.813072 seconds\n",
      "\n",
      "\u001b[1m====threeInputBoat EXPERIMENTS====\n",
      "\u001b[0m\n",
      "\u001b[1m----INTERPOLATE----\u001b[0m\n",
      "\u001b[1mINITIALIZED 1 threeInputBoat boats\u001b[0m\n",
      "boats_S:(1, 101, 6), boats_U:(1, 100, 3), time_array:(101,)\n",
      "Number of decision vars 907\n",
      "0.003528 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000067 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.069092 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.092999 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 2 threeInputBoat boats\u001b[0m\n",
      "boats_S:(2, 101, 6), boats_U:(2, 100, 3), time_array:(101,)\n",
      "Number of decision vars 1813\n",
      "0.005875 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000076 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.159872 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.778839 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.011611 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000081 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.402978 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "3.913887 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.012225 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000077 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.403511 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "3.050703 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.011650 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000079 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.404061 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "3.312060 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.012441 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000083 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.400119 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "2.926860 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 threeInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 3), time_array:(101,)\n",
      "Number of decision vars 8155\n",
      "0.029845 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000101 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.398126 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "13.816429 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 threeInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 3), time_array:(101,)\n",
      "Number of decision vars 8155\n",
      "0.030710 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000117 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.398238 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "207.376607 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 threeInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 3), time_array:(101,)\n",
      "Number of decision vars 8155\n",
      "0.031396 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000113 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.371670 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "53.408520 seconds\n",
      "\n",
      "\u001b[1m----INTERPOLATE EXPANSION----\u001b[0m\n",
      "\u001b[1mINITIALIZED 1 threeInputBoat boats\u001b[0m\n",
      "boats_S:(1, 101, 6), boats_U:(1, 100, 3), time_array:(101,)\n",
      "Number of decision vars 907\n",
      "0.003554 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000095 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.069357 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.099596 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 2 threeInputBoat boats\u001b[0m\n",
      "boats_S:(2, 101, 6), boats_U:(2, 100, 3), time_array:(101,)\n",
      "Number of decision vars 1813\n",
      "0.005644 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000102 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.156513 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.815438 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.012014 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000095 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.396756 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "4.216189 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.011698 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000141 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.395886 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "9.372633 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.012016 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000086 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.394895 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "3.034698 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.011631 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000069 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.395392 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "3.318120 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 threeInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 3), time_array:(101,)\n",
      "Number of decision vars 8155\n",
      "0.029981 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000091 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.363314 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "14.237996 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 threeInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 3), time_array:(101,)\n",
      "Number of decision vars 8155\n",
      "0.031265 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000136 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.378582 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "514.051508 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 threeInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 3), time_array:(101,)\n",
      "Number of decision vars 8155\n",
      "0.031219 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000108 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.362478 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "60.279715 seconds\n",
      "\n",
      "\u001b[1m----INTERPOLATE SHAPE----\u001b[0m\n",
      "\u001b[1mINITIALIZED 1 threeInputBoat boats\u001b[0m\n",
      "boats_S:(1, 101, 6), boats_U:(1, 100, 3), time_array:(101,)\n",
      "Number of decision vars 907\n",
      "0.003743 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000079 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.082012 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.096586 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 2 threeInputBoat boats\u001b[0m\n",
      "boats_S:(2, 101, 6), boats_U:(2, 100, 3), time_array:(101,)\n",
      "Number of decision vars 1813\n",
      "0.005689 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000059 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.161775 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "1.871202 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.012060 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000089 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.402104 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "SolutionResult.kSolutionFound\n",
      "5.875794 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.012695 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000091 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.399078 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "3.049655 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.011758 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000067 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.404227 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "24.974589 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.011716 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000080 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.402068 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "12.089206 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 threeInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 3), time_array:(101,)\n",
      "Number of decision vars 8155\n",
      "0.030314 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000107 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.382457 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "27.269839 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 threeInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 3), time_array:(101,)\n",
      "Number of decision vars 8155\n",
      "0.031405 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000097 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.392888 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "8.017685 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 threeInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 3), time_array:(101,)\n",
      "Number of decision vars 8155\n",
      "0.031233 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000082 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.390803 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kIterationLimit\n",
      "601.607519 seconds\n",
      "\n",
      "\u001b[1m----INTERPOLATE SHAPE EXPANSION----\u001b[0m\n",
      "\u001b[1mINITIALIZED 1 threeInputBoat boats\u001b[0m\n",
      "boats_S:(1, 101, 6), boats_U:(1, 100, 3), time_array:(101,)\n",
      "Number of decision vars 907\n",
      "0.003589 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000062 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.069786 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.108865 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 2 threeInputBoat boats\u001b[0m\n",
      "boats_S:(2, 101, 6), boats_U:(2, 100, 3), time_array:(101,)\n",
      "Number of decision vars 1813\n",
      "0.005699 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000092 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.169937 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "1.221423 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.013807 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000092 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.405274 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "8.010886 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.016566 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000111 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.407967 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "23.393655 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.024357 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000110 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.407329 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "33.324754 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 threeInputBoat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 3), time_array:(101,)\n",
      "Number of decision vars 3625\n",
      "0.017652 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000145 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.412699 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "14.041468 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 threeInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 3), time_array:(101,)\n",
      "Number of decision vars 8155\n",
      "0.043715 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000090 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.390985 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "266.857698 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 threeInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 3), time_array:(101,)\n",
      "Number of decision vars 8155\n",
      "0.044306 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000446 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.379259 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "141.498844 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 threeInputBoat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 3), time_array:(101,)\n",
      "Number of decision vars 8155\n",
      "0.033083 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000089 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.381736 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "99.305448 seconds\n",
      "\n",
      "\u001b[1m====Boat EXPERIMENTS====\n",
      "\u001b[0m\n",
      "\u001b[1m----INTERPOLATE----\u001b[0m\n",
      "\u001b[1mINITIALIZED 1 Boat boats\u001b[0m\n",
      "boats_S:(1, 101, 6), boats_U:(1, 100, 4), time_array:(101,)\n",
      "Number of decision vars 1007\n",
      "0.004944 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000092 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.111028 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.683973 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 2 Boat boats\u001b[0m\n",
      "boats_S:(2, 101, 6), boats_U:(2, 100, 4), time_array:(101,)\n",
      "Number of decision vars 2013\n",
      "0.006296 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000079 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.253448 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "5.321627 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.012651 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000116 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.580933 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "21.627899 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.013485 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000130 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.577587 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "44.419963 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.025338 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000109 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.549054 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "20.458271 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.014495 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000092 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.581459 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "27.059765 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 Boat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 4), time_array:(101,)\n",
      "Number of decision vars 9055\n",
      "0.039301 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000193 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.760997 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "76.216920 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 Boat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 4), time_array:(101,)\n",
      "Number of decision vars 9055\n",
      "0.035150 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000097 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.753664 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "108.732831 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 Boat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 4), time_array:(101,)\n",
      "Number of decision vars 9055\n",
      "0.053555 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000360 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.726253 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "83.963921 seconds\n",
      "\n",
      "\u001b[1m----INTERPOLATE EXPANSION----\u001b[0m\n",
      "\u001b[1mINITIALIZED 1 Boat boats\u001b[0m\n",
      "boats_S:(1, 101, 6), boats_U:(1, 100, 4), time_array:(101,)\n",
      "Number of decision vars 1007\n",
      "0.007449 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000100 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.134511 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.614903 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 2 Boat boats\u001b[0m\n",
      "boats_S:(2, 101, 6), boats_U:(2, 100, 4), time_array:(101,)\n",
      "Number of decision vars 2013\n",
      "0.006501 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000075 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.252183 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "5.215898 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.012706 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000115 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.577484 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "77.883770 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.012795 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000103 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "0.577405 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "19.980098 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.014048 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000101 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.578529 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "20.761286 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.020286 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000159 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.575738 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "18.896329 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 Boat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 4), time_array:(101,)\n",
      "Number of decision vars 9055\n",
      "0.036351 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000100 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.744002 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kIterationLimit\n",
      "647.323130 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 Boat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 4), time_array:(101,)\n",
      "Number of decision vars 9055\n",
      "0.033448 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000079 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.763834 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kIterationLimit\n",
      "802.876961 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 Boat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 4), time_array:(101,)\n",
      "Number of decision vars 9055\n",
      "0.051386 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000083 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.759307 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kIterationLimit\n",
      "1730.018516 seconds\n",
      "\n",
      "\u001b[1m----INTERPOLATE SHAPE----\u001b[0m\n",
      "\u001b[1mINITIALIZED 1 Boat boats\u001b[0m\n",
      "boats_S:(1, 101, 6), boats_U:(1, 100, 4), time_array:(101,)\n",
      "Number of decision vars 1007\n",
      "0.005014 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000088 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.107273 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.739789 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 2 Boat boats\u001b[0m\n",
      "boats_S:(2, 101, 6), boats_U:(2, 100, 4), time_array:(101,)\n",
      "Number of decision vars 2013\n",
      "0.006868 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000098 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.258465 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "5.277889 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.014212 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000097 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.563152 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "54.061945 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.012620 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000082 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.521449 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kIterationLimit\n",
      "40.860700 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.012796 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000088 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.523532 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "10.443614 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.012102 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000079 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.521362 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "37.081836 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 Boat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 4), time_array:(101,)\n",
      "Number of decision vars 9055\n",
      "0.032586 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000083 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.624445 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "100.227685 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 Boat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 4), time_array:(101,)\n",
      "Number of decision vars 9055\n",
      "0.032884 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000086 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.609441 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "104.850169 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 Boat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 4), time_array:(101,)\n",
      "Number of decision vars 9055\n",
      "0.031230 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000124 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.590533 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kIterationLimit\n",
      "155.958874 seconds\n",
      "\n",
      "\u001b[1m----INTERPOLATE SHAPE EXPANSION----\u001b[0m\n",
      "\u001b[1mINITIALIZED 1 Boat boats\u001b[0m\n",
      "boats_S:(1, 101, 6), boats_U:(1, 100, 4), time_array:(101,)\n",
      "Number of decision vars 1007\n",
      "0.003426 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000057 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.103784 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "0.672045 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 2 Boat boats\u001b[0m\n",
      "boats_S:(2, 101, 6), boats_U:(2, 100, 4), time_array:(101,)\n",
      "Number of decision vars 2013\n",
      "0.005406 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000069 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.250198 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "4.975130 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.011921 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000098 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.546632 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kIterationLimit\n",
      "43.974201 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.013632 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000106 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.544572 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kIterationLimit\n",
      "19.028532 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.012035 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000135 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.538193 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "70.400932 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 4 Boat boats\u001b[0m\n",
      "boats_S:(4, 101, 6), boats_U:(4, 100, 4), time_array:(101,)\n",
      "Number of decision vars 4025\n",
      "0.012741 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000086 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "0.539693 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kIterationLimit\n",
      "30.688920 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 Boat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 4), time_array:(101,)\n",
      "Number of decision vars 9055\n",
      "0.030127 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000085 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.569062 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kIterationLimit\n",
      "166.022149 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 Boat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 4), time_array:(101,)\n",
      "Number of decision vars 9055\n",
      "0.031418 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000103 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.611122 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kSolutionFound\n",
      "83.856974 seconds\n",
      "\n",
      "\u001b[1mINITIALIZED 9 Boat boats\u001b[0m\n",
      "boats_S:(9, 101, 6), boats_U:(9, 100, 4), time_array:(101,)\n",
      "Number of decision vars 9055\n",
      "0.031188 seconds\n",
      "\u001b[1mADDING COSTS\u001b[0m\n",
      "0.000110 seconds\n",
      "\u001b[1mADDING CONSTRAINTS\u001b[0m\n",
      "1.697330 seconds\n",
      "\u001b[1mPLANNING\u001b[0m\n",
      "SolutionResult.kIterationLimit\n",
      "142.364232 seconds\n",
      "\n"
     ]
    }
   ],
   "source": [
    "boats = [twoInputBoat(), threeInputBoat(), Boat()]\n",
    "experiments1 = run_experiments(boats, examples)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "boats = [twoInputBoat(min_interboat_clearance=0.4), threeInputBoat(min_interboat_clearance=0.4), Boat(min_interboat_clearance=0.4)]\n",
    "experiments1 = run_experiments(boats, examples)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Save Experiments"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "label = '(init)'\n",
    "with open('results/experiments'+label+'.pickle', 'wb') as f:\n",
    "    pickle.dump(experiments, f)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [],
   "source": [
    "label = '(min_interboat_clearance=0.4)'\n",
    "with open('results/experiments'+label+'.pickle', 'wb') as f:\n",
    "    pickle.dump(experiments, f)"
   ]
  }
 ],
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