id:1
id:2
id:0
[ INFO] [1639139025.490239079, 7635.644000000]: Not Connected
[ INFO] [1639139025.491811757, 7635.644000000]:  Connected!! 
[ INFO] [1639139029.081907620, 7639.228000000]: Not OFFBOARD
[ INFO] [1639139080.909667210, 7690.452000000]: Not OFFBOARD
[ INFO] [1639139101.368804306, 7710.452000000]: Not OFFBOARD
[ INFO] [1639139108.301329984, 7717.064000000]: origin position ok! pose control ready start!
uav_id:0 column finished1 
col: 2 rowmin: 1 rowmax: 5
pos:5  -  2
pos_end:1  -  2
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0-1-1-1
20-1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0-1-1-1
19-1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0-1
18-1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0-1
17-1 0 0 0 0 0 0 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
16-1 0 0 0 0 0 0 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
15-1 0 0 0 0 0 0 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
14-1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
13-1 0 0 0 0 0-1-1-1 0 0 1 0 0 0 0 0 0 0 0 0-1
12-1 0 0 0 0 0-1-1-1 0 0 1 0 0 0 0 0 0 0 0 0-1
11-1 0 0 0 0 0-1-1-1 0 0 1 0 0 0-1-1-1-1 0 0-1
10-1 0 0 0 0 0 1 0 0 0 0 1 0 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 0 0 1 0 0 0 0 1 0 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 6-1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 5-1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 4-1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 3-1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 2-1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:0 column finished2 
uav_id:0 neighbor finished1 
uav_id:0 neighbor finished2 
[ INFO] [1639139025.489876294, 7635.644000000]: Not Connected
[ INFO] [1639139025.491426796, 7635.644000000]:  Connected!! 
[ INFO] [1639139029.197510555, 7639.344000000]: Not OFFBOARD
[ INFO] [1639139089.437519280, 7698.644000000]: Not OFFBOARD
[ INFO] [1639139104.339716063, 7713.112000000]: origin position ok! pose control ready start!
uav_id:1 column finished1 
col: 5 rowmin: 9 rowmax: 20
pos:9  -  5
pos_end:20  -  5
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0-1-1-1
20-1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0-1-1-1
19-1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0-1
18-1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0-1
17-1 0 0 0 0 1 0 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
16-1 0 0 0 0 1 0 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
15-1 0 0 0 0 1 0 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
14-1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
13-1 0 0 0 0 1-1-1-1 0 0 1 0 0 0 0 0 0 0 0 0-1
12-1 0 0 0 0 1-1-1-1 0 0 1 0 0 0 0 0 0 0 0 0-1
11-1 0 0 0 0 1-1-1-1 0 0 1 0 0 0-1-1-1-1 0 0-1
10-1 0 0 0 0 1 1 0 0 0 0 1 0 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 0 0 1 0 0 0 0 1 0 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 6-1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 5-1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 4-1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 3-1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 2-1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:1 column finished2 
uav_id:1 neighbor finished1 
uav_id:1 neighbor finished2 
uav_id:0 column finished1 
col: 3 rowmin: 1 rowmax: 5
pos:1  -  3
pos_end:5  -  3
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0-1-1-1
20-1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0-1-1-1
19-1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0-1
18-1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0-1
17-1 0 0 0 0 1 0 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
16-1 0 0 0 0 1 0 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
15-1 0 0 0 0 1 0 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
14-1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
13-1 0 0 0 0 1-1-1-1 0 0 1 0 0 0 0 0 0 0 0 0-1
12-1 0 0 0 0 1-1-1-1 0 0 1 0 0 0 0 0 0 0 0 0-1
11-1 0 0 0 0 1-1-1-1 0 0 1 0 0 0-1-1-1-1 0 0-1
10-1 0 0 0 0 1 1 0 0 0 0 1 0 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 0 0 1 0 0 0 0 1 0 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 6-1 1 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:0 column finished2 
[ INFO] [1639139025.489704468, 7635.644000000]: Not Connected
[ INFO] [1639139025.491127498, 7635.644000000]:  Connected!! 
[ INFO] [1639139029.326170720, 7639.472000000]: Not OFFBOARD
[ INFO] [1639139071.335858851, 7680.888000000]: Not OFFBOARD
[ INFO] [1639139091.688698678, 7700.888000000]: Not OFFBOARD
[ INFO] [1639139112.266222236, 7720.820000000]: origin position ok! pose control ready start!
uav_id:2 column finished1 
col: 10 rowmin: 1 rowmax: 13
pos:13  -  10
pos_end:1  -  10
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0-1-1-1
20-1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0-1-1-1
19-1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0-1
18-1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0-1
17-1 0 0 0 0 1 0 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
16-1 0 0 0 0 1 0 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
15-1 0 0 0 0 1 0 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
14-1 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
13-1 0 0 0 0 1-1-1-1 0 1 1 0 0 0 0 0 0 0 0 0-1
12-1 0 0 0 0 1-1-1-1 0 1 1 0 0 0 0 0 0 0 0 0-1
11-1 0 0 0 0 1-1-1-1 0 1 1 0 0 0-1-1-1-1 0 0-1
10-1 0 0 0 0 1 1 0 0 0 1 1 0 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 0 0 1 0 0 0 1 1 0 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 6-1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:2 column finished2 
uav_id:0 neighbor finished1 
uav_id:0 neighbor finished2 
uav_id:2 neighbor finished1 
uav_id:2 neighbor finished2 
uav_id:0 column finished1 
col: 4 rowmin: 5 rowmax: 20
pos:5  -  4
pos_end:20  -  4
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0-1-1-1
20-1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0-1-1-1
19-1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0-1
18-1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0-1
17-1 0 0 0 1 1 0 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
16-1 0 0 0 1 1 0 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
15-1 0 0 0 1 1 0 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
14-1 0 0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
13-1 0 0 0 1 1-1-1-1 0 1 1 0 0 0 0 0 0 0 0 0-1
12-1 0 0 0 1 1-1-1-1 0 1 1 0 0 0 0 0 0 0 0 0-1
11-1 0 0 0 1 1-1-1-1 0 1 1 0 0 0-1-1-1-1 0 0-1
10-1 0 0 0 1 1 1 0 0 0 1 1 0 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 0 0 0 1 1 0 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:0 column finished2 
uav_id:0 neighbor finished1 
uav_id:0 neighbor finished2 
uav_id:1 column finished1 
col: 6 rowmin: 13 rowmax: 20
pos:20  -  6
pos_end:13  -  6
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0-1-1-1
20-1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0-1-1-1
19-1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0-1
18-1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0-1
17-1 0 0 0 1 1 1 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
16-1 0 0 0 1 1 1 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
15-1 0 0 0 1 1 1 0 0 0-1-1-1 0 0 0 0 0 0 0 0-1
14-1 0 0 0 1 1 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
13-1 0 0 0 1 1-1-1-1 0 1 1 0 0 0 0 0 0 0 0 0-1
12-1 0 0 0 1 1-1-1-1 0 1 1 0 0 0 0 0 0 0 0 0-1
11-1 0 0 0 1 1-1-1-1 0 1 1 0 0 0-1-1-1-1 0 0-1
10-1 0 0 0 1 1 1 0 0 0 1 1 0 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 0 0 0 1 1 0 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:1 column finished2 
uav_id:1 neighbor finished1 
uav_id:1 neighbor finished2 
uav_id:2 column finished1 
col: 9 rowmin: 1 rowmax: 20
pos:1  -  9
pos_end:20  -  9
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 0 0 0 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0-1-1-1
20-1 0 0 0 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0-1-1-1
19-1 0 0 0 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0-1
18-1 0 0 0 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0-1
17-1 0 0 0 1 1 1 0 0 1-1-1-1 0 0 0 0 0 0 0 0-1
16-1 0 0 0 1 1 1 0 0 1-1-1-1 0 0 0 0 0 0 0 0-1
15-1 0 0 0 1 1 1 0 0 1-1-1-1 0 0 0 0 0 0 0 0-1
14-1 0 0 0 1 1 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
13-1 0 0 0 1 1-1-1-1 1 1 1 0 0 0 0 0 0 0 0 0-1
12-1 0 0 0 1 1-1-1-1 1 1 1 0 0 0 0 0 0 0 0 0-1
11-1 0 0 0 1 1-1-1-1 1 1 1 0 0 0-1-1-1-1 0 0-1
10-1 0 0 0 1 1 1 0 0 1 1 1 0 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:2 column finished2 
uav_id:2 neighbor finished1 
uav_id:2 neighbor finished2 
uav_id:1 column finished1 
col: 7 rowmin: 13 rowmax: 20
pos:13  -  7
pos_end:20  -  7
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 0 0 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0-1-1-1
20-1 0 0 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0-1-1-1
19-1 0 0 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0-1
18-1 0 0 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0-1
17-1 0 0 0 1 1 1 1 0 1-1-1-1 0 0 0 0 0 0 0 0-1
16-1 0 0 0 1 1 1 1 0 1-1-1-1 0 0 0 0 0 0 0 0-1
15-1 0 0 0 1 1 1 1 0 1-1-1-1 0 0 0 0 0 0 0 0-1
14-1 0 0 0 1 1 1 1 0 1 1 1 0 0 0 0 0 0 0 0 0-1
13-1 0 0 0 1 1-1-1-1 1 1 1 0 0 0 0 0 0 0 0 0-1
12-1 0 0 0 1 1-1-1-1 1 1 1 0 0 0 0 0 0 0 0 0-1
11-1 0 0 0 1 1-1-1-1 1 1 1 0 0 0-1-1-1-1 0 0-1
10-1 0 0 0 1 1 1 0 0 1 1 1 0 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:1 column finished2 
uav_id:1 neighbor finished1 
uav_id:1 neighbor finished2 
uav_id:0 column finished1 
col: 3 rowmin: 9 rowmax: 20
pos:20  -  3
pos_end:9  -  3
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 0 0 1 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0-1-1-1
20-1 0 0 1 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0-1-1-1
19-1 0 0 1 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0-1
18-1 0 0 1 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0-1
17-1 0 0 1 1 1 1 1 0 1-1-1-1 0 0 0 0 0 0 0 0-1
16-1 0 0 1 1 1 1 1 0 1-1-1-1 0 0 0 0 0 0 0 0-1
15-1 0 0 1 1 1 1 1 0 1-1-1-1 0 0 0 0 0 0 0 0-1
14-1 0 0 1 1 1 1 1 0 1 1 1 0 0 0 0 0 0 0 0 0-1
13-1 0 0 1 1 1-1-1-1 1 1 1 0 0 0 0 0 0 0 0 0-1
12-1 0 0 1 1 1-1-1-1 1 1 1 0 0 0 0 0 0 0 0 0-1
11-1 0 0 1 1 1-1-1-1 1 1 1 0 0 0-1-1-1-1 0 0-1
10-1 0 0 1 1 1 1 0 0 1 1 1 0 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:0 column finished2 
uav_id:0 neighbor finished1 
uav_id:0 neighbor finished2 
uav_id:1 column finished1 
col: 8 rowmin: 13 rowmax: 20
pos:20  -  8
pos_end:13  -  8
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 0 0 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0-1-1-1
20-1 0 0 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0-1-1-1
19-1 0 0 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0-1
18-1 0 0 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0-1
17-1 0 0 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
16-1 0 0 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
15-1 0 0 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
14-1 0 0 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0-1
13-1 0 0 1 1 1-1-1-1 1 1 1 0 0 0 0 0 0 0 0 0-1
12-1 0 0 1 1 1-1-1-1 1 1 1 0 0 0 0 0 0 0 0 0-1
11-1 0 0 1 1 1-1-1-1 1 1 1 0 0 0-1-1-1-1 0 0-1
10-1 0 0 1 1 1 1 0 0 1 1 1 0 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:1 column finished2 
uav_id:1 neighbor finished1 
uav_id:1 neighbor finished2 
uav_id:0 column finished1 
col: 2 rowmin: 9 rowmax: 20
pos:9  -  2
pos_end:20  -  2
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 0 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0-1-1-1
20-1 0 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0-1-1-1
19-1 0 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0-1
18-1 0 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0-1
17-1 0 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
16-1 0 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
15-1 0 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
14-1 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0-1
13-1 0 1 1 1 1-1-1-1 1 1 1 0 0 0 0 0 0 0 0 0-1
12-1 0 1 1 1 1-1-1-1 1 1 1 0 0 0 0 0 0 0 0 0-1
11-1 0 1 1 1 1-1-1-1 1 1 1 0 0 0-1-1-1-1 0 0-1
10-1 0 1 1 1 1 1 0 0 1 1 1 0 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:0 column finished2 
uav_id:2 column finished1 
col: 10 rowmin: 17 rowmax: 20
pos:20  -  10
pos_end:17  -  10
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 0 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0-1-1-1
20-1 0 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0-1-1-1
19-1 0 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0-1
18-1 0 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0-1
17-1 0 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
16-1 0 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
15-1 0 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
14-1 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0-1
13-1 0 1 1 1 1-1-1-1 1 1 1 0 0 0 0 0 0 0 0 0-1
12-1 0 1 1 1 1-1-1-1 1 1 1 0 0 0 0 0 0 0 0 0-1
11-1 0 1 1 1 1-1-1-1 1 1 1 0 0 0-1-1-1-1 0 0-1
10-1 0 1 1 1 1 1 0 0 1 1 1 0 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:2 column finished2 
uav_id:0 neighbor finished1 
uav_id:0 neighbor finished2 
uav_id:2 neighbor finished1 
uav_id:2 neighbor finished2 
uav_id:1 column finished1 
---1 current start pos:20 - 8
---1 current end pos:13 - 8
---2 current start pos:13 - 12
---2 current end pos:1 - 12
13 - 8
13 - 8
13 - 9
13 - 10
13 - 11
13 - 12
[ INFO] [1639139143.616133909, 7751.584000000]: point_num:  5
point: 
13  8 10
13  9 10
13 10 10
13 11 10
13 12 10
[ INFO] [1639139143.628198439, 7751.596000000]: spend 0.012000
----  minisnap trajectory generated finished!----
col: 12 rowmin: 1 rowmax: 13
pos:13  -  12
pos_end:1  -  12
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 0 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0-1-1-1
20-1 0 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0-1-1-1
19-1 0 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0-1
18-1 0 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0-1
17-1 0 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
16-1 0 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
15-1 0 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
14-1 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0-1
13-1 0 1 1 1 1-1-1-1 1 1 1 0 0 0 0 0 0 0 0 0-1
12-1 0 1 1 1 1-1-1-1 1 1 1 0 0 0 0 0 0 0 0 0-1
11-1 0 1 1 1 1-1-1-1 1 1 1 0 0 0-1-1-1-1 0 0-1
10-1 0 1 1 1 1 1 0 0 1 1 1 0 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:1 column finished2 
uav_id:1 move finished1 
uav_id:1 move finished2 
col: 12 rowmin: 1 rowmax: 13
 ----- real pos        
x: 12 y:12.9989
x: 12 y:12.9956
x: 12 y:12.99
x: 12 y:12.9822
x: 12 y:12.9722
x: 12 y:12.96
x: 12 y:12.9456
x: 12 y:12.9289
x: 12 y:12.91
x: 12 y:12.8889
x: 12 y:12.8656
x: 12 y:12.84
x: 12 y:12.8122
x: 12 y:12.7822
x: 12 y:12.75
x: 12 y:12.7156
x: 12 y:12.6789
x: 12 y:12.64
x: 12 y:12.5989
x: 12 y:12.5556
x: 12 y:12.51
x: 12 y:12.4622
x: 12 y:12.4122
x: 12 y:12.36
x: 12 y:12.3056
x: 12 y:12.2489
x: 12 y:12.19
x: 12 y:12.1289
x: 12 y:12.0656
x: 12 y:12
x: 12 y:11.9333
x: 12 y:11.8667
x: 12 y:11.8
x: 12 y:11.7333
x: 12 y:11.6667
x: 12 y:11.6
x: 12 y:11.5333
x: 12 y:11.4667
x: 12 y:11.4
x: 12 y:11.3333
x: 12 y:11.2667
x: 12 y:11.2
x: 12 y:11.1333
x: 12 y:11.0667
x: 12 y:11
x: 12 y:10.9333
x: 12 y:10.8667
x: 12 y:10.8
x: 12 y:10.7333
x: 12 y:10.6667
x: 12 y:10.6
x: 12 y:10.5333
x: 12 y:10.4667
x: 12 y:10.4
x: 12 y:10.3333
x: 12 y:10.2667
x: 12 y:10.2
x: 12 y:10.1333
x: 12 y:10.0667
x: 12 y:10
x: 12 y:9.93333
x: 12 y:9.86667
x: 12 y:9.8
x: 12 y:9.73333
x: 12 y:9.66667
x: 12 y:9.6
x: 12 y:9.53333
x: 12 y:9.46667
x: 12 y:9.4
x: 12 y:9.33333
x: 12 y:9.26667
x: 12 y:9.2
x: 12 y:9.13333
x: 12 y:9.06667
x: 12 y:9
x: 12 y:8.93333
x: 12 y:8.86667
x: 12 y:8.8
x: 12 y:8.73333
x: 12 y:8.66667
x: 12 y:8.6
x: 12 y:8.53333
x: 12 y:8.46667
x: 12 y:8.4
x: 12 y:8.33333
x: 12 y:8.26667
x: 12 y:8.2
x: 12 y:8.13333
x: 12 y:8.06667
x: 12 y:8
x: 12 y:7.93333
x: 12 y:7.86667
x: 12 y:7.8
x: 12 y:7.73333
x: 12 y:7.66667
x: 12 y:7.6
x: 12 y:7.53333
x: 12 y:7.46667
x: 12 y:7.4
x: 12 y:7.33333
x: 12 y:7.26667
x: 12 y:7.2
x: 12 y:7.13333
x: 12 y:7.06667
x: 12 y:7
x: 12 y:6.93333
x: 12 y:6.86667
x: 12 y:6.8
x: 12 y:6.73333
x: 12 y:6.66667
x: 12 y:6.6
x: 12 y:6.53333
x: 12 y:6.46667
x: 12 y:6.4
x: 12 y:6.33333
x: 12 y:6.26667
x: 12 y:6.2
x: 12 y:6.13333
x: 12 y:6.06667
x: 12 y:6
x: 12 y:5.93333
x: 12 y:5.86667
x: 12 y:5.8
x: 12 y:5.73333
x: 12 y:5.66667
x: 12 y:5.6
x: 12 y:5.53333
x: 12 y:5.46667
x: 12 y:5.4
x: 12 y:5.33333
x: 12 y:5.26667
x: 12 y:5.2
x: 12 y:5.13333
x: 12 y:5.06667
x: 12 y:5
x: 12 y:4.93333
x: 12 y:4.86667
x: 12 y:4.8
x: 12 y:4.73333
x: 12 y:4.66667
x: 12 y:4.6
x: 12 y:4.53333
x: 12 y:4.46667
x: 12 y:4.4
x: 12 y:4.33333
x: 12 y:4.26667
x: 12 y:4.2
x: 12 y:4.13333
x: 12 y:4.06667
x: 12 y:4
x: 12 y:3.93333
x: 12 y:3.86667
x: 12 y:3.8
x: 12 y:3.73333
x: 12 y:3.66667
x: 12 y:3.6
x: 12 y:3.53333
x: 12 y:3.46667
x: 12 y:3.4
x: 12 y:3.33333
x: 12 y:3.26667
x: 12 y:3.2
x: 12 y:3.13333
x: 12 y:3.06667
x: 12 y:3
x: 12 y:2.93333
x: 12 y:2.86667
x: 12 y:2.8
x: 12 y:2.73333
x: 12 y:2.66667
x: 12 y:2.6
x: 12 y:2.53333
x: 12 y:2.46667
x: 12 y:2.4
x: 12 y:2.33333
x: 12 y:2.26667
x: 12 y:2.2
x: 12 y:2.13333
x: 12 y:2.06667
x: 12 y:2
x: 12 y:2.93444
x: 12 y:2.87111
x: 12 y:2.81
x: 12 y:2.75111
x: 12 y:2.69444
x: 12 y:2.64
x: 12 y:2.58778
x: 12 y:2.53778
x: 12 y:2.49
x: 12 y:2.44444
x: 12 y:2.40111
x: 12 y:2.36
x: 12 y:2.32111
x: 12 y:2.28444
x: 12 y:2.25
x: 12 y:2.21778
x: 12 y:2.18778
x: 12 y:2.16
x: 12 y:2.13444
x: 12 y:2.11111
x: 12 y:2.09
x: 12 y:2.07111
x: 12 y:2.05444
x: 12 y:2.04
x: 12 y:2.02778
x: 12 y:2.01778
x: 12 y:2.01
x: 12 y:2.00444
x: 12 y:2.00111
x: 12 y:2
uav_id:2 column finished1 
col: 11 rowmin: 17 rowmax: 20
pos:17  -  11
pos_end:20  -  11
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0-1-1-1
20-1 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0-1-1-1
19-1 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0-1
18-1 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0-1
17-1 0 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
16-1 0 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
15-1 0 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
14-1 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0-1
13-1 0 1 1 1 1-1-1-1 1 1 1 1 0 0 0 0 0 0 0 0-1
12-1 0 1 1 1 1-1-1-1 1 1 1 1 0 0 0 0 0 0 0 0-1
11-1 0 1 1 1 1-1-1-1 1 1 1 1 0 0-1-1-1-1 0 0-1
10-1 0 1 1 1 1 1 0 0 1 1 1 1 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 0 0 1 1 1 1 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:2 column finished2 
uav_id:2 neighbor finished1 
uav_id:2 neighbor finished2 
uav_id:0 column finished1 
col: 1 rowmin: 9 rowmax: 20
pos:20  -  1
pos_end:9  -  1
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0-1
18-1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 0 0 0 0 0 0 0 0-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 0 0 0 0 0 0 0 0-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 0 0-1-1-1-1 0 0-1
10-1 1 1 1 1 1 1 0 0 1 1 1 1 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 0 0 1 1 1 1 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:0 column finished2 
uav_id:2 column finished1 
col: 12 rowmin: 17 rowmax: 20
pos:20  -  12
pos_end:17  -  12
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 0 0 0 0 0 0 0 0-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 0 0 0 0 0 0 0 0-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 0 0 0 0 0 0 0 0-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 0 0-1-1-1-1 0 0-1
10-1 1 1 1 1 1 1 0 0 1 1 1 1 0 0-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 0 0 1 1 1 1 0 0-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:2 column finished2 
uav_id:0 neighbor finished1 
uav_id:0 neighbor finished2 
uav_id:2 neighbor finished1 
uav_id:2 neighbor finished2 
uav_id:1 column finished1 
col: 13 rowmin: 1 rowmax: 20
pos:1  -  13
pos_end:20  -  13
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 0 0 0 0 0 0 0-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 0 0 0 0 0 0 0-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 0 0 0 0 0 0 0-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 0 0 0 0 0 0 0-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 0 0 0 0 0 0 0-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 0-1-1-1-1 0 0-1
10-1 1 1 1 1 1 1 0 0 1 1 1 1 1 0-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 0 0 1 1 1 1 1 0-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:1 column finished2 
uav_id:2 column finished1 
---1 current start pos:20 - 12
---1 current end pos:17 - 12
---2 current start pos:17 - 14
---2 current end pos:1 - 14
17 - 12
17 - 12
17 - 13
17 - 14
[ INFO] [1639139153.011358632, 7760.852000000]: point_num:  3
point: 
17 12 10
17 13 10
17 14 10
[ INFO] [1639139153.014514803, 7760.856000000]: spend 0.004000
----  minisnap trajectory generated finished!----
col: 14 rowmin: 1 rowmax: 17
pos:17  -  14
pos_end:1  -  14
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 0 0 0 0 0 0 0-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 0 0 0 0 0 0 0-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 0 0 0 0 0 0 0-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 0 0 0 0 0 0 0-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 0 0 0 0 0 0 0-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 0-1-1-1-1 0 0-1
10-1 1 1 1 1 1 1 0 0 1 1 1 1 1 0-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 0 0 1 1 1 1 1 0-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:2 column finished2 
uav_id:1 neighbor finished1 
uav_id:1 neighbor finished2 
uav_id:2 move finished1 
uav_id:2 move finished2 
col: 14 rowmin: 1 rowmax: 17
 ----- real pos        
x: 14 y:16.9989
x: 14 y:16.9956
x: 14 y:16.99
x: 14 y:16.9822
x: 14 y:16.9722
x: 14 y:16.96
x: 14 y:16.9456
x: 14 y:16.9289
x: 14 y:16.91
x: 14 y:16.8889
x: 14 y:16.8656
x: 14 y:16.84
x: 14 y:16.8122
x: 14 y:16.7822
x: 14 y:16.75
x: 14 y:16.7156
x: 14 y:16.6789
x: 14 y:16.64
x: 14 y:16.5989
x: 14 y:16.5556
x: 14 y:16.51
x: 14 y:16.4622
x: 14 y:16.4122
x: 14 y:16.36
x: 14 y:16.3056
x: 14 y:16.2489
x: 14 y:16.19
x: 14 y:16.1289
x: 14 y:16.0656
x: 14 y:16
x: 14 y:15.9333
x: 14 y:15.8667
x: 14 y:15.8
x: 14 y:15.7333
x: 14 y:15.6667
x: 14 y:15.6
x: 14 y:15.5333
x: 14 y:15.4667
x: 14 y:15.4
x: 14 y:15.3333
x: 14 y:15.2667
x: 14 y:15.2
x: 14 y:15.1333
x: 14 y:15.0667
x: 14 y:15
x: 14 y:14.9333
x: 14 y:14.8667
x: 14 y:14.8
x: 14 y:14.7333
x: 14 y:14.6667
x: 14 y:14.6
x: 14 y:14.5333
x: 14 y:14.4667
x: 14 y:14.4
x: 14 y:14.3333
x: 14 y:14.2667
x: 14 y:14.2
x: 14 y:14.1333
x: 14 y:14.0667
x: 14 y:14
x: 14 y:13.9333
x: 14 y:13.8667
x: 14 y:13.8
x: 14 y:13.7333
x: 14 y:13.6667
x: 14 y:13.6
x: 14 y:13.5333
x: 14 y:13.4667
x: 14 y:13.4
x: 14 y:13.3333
x: 14 y:13.2667
x: 14 y:13.2
x: 14 y:13.1333
x: 14 y:13.0667
x: 14 y:13
x: 14 y:12.9333
x: 14 y:12.8667
x: 14 y:12.8
x: 14 y:12.7333
x: 14 y:12.6667
x: 14 y:12.6
x: 14 y:12.5333
x: 14 y:12.4667
x: 14 y:12.4
x: 14 y:12.3333
x: 14 y:12.2667
x: 14 y:12.2
x: 14 y:12.1333
x: 14 y:12.0667
x: 14 y:12
x: 14 y:11.9333
x: 14 y:11.8667
x: 14 y:11.8
x: 14 y:11.7333
x: 14 y:11.6667
x: 14 y:11.6
x: 14 y:11.5333
x: 14 y:11.4667
x: 14 y:11.4
x: 14 y:11.3333
x: 14 y:11.2667
x: 14 y:11.2
x: 14 y:11.1333
x: 14 y:11.0667
x: 14 y:11
x: 14 y:10.9333
x: 14 y:10.8667
x: 14 y:10.8
x: 14 y:10.7333
x: 14 y:10.6667
x: 14 y:10.6
x: 14 y:10.5333
x: 14 y:10.4667
x: 14 y:10.4
x: 14 y:10.3333
x: 14 y:10.2667
x: 14 y:10.2
x: 14 y:10.1333
x: 14 y:10.0667
x: 14 y:10
x: 14 y:9.93333
x: 14 y:9.86667
x: 14 y:9.8
x: 14 y:9.73333
x: 14 y:9.66667
x: 14 y:9.6
x: 14 y:9.53333
x: 14 y:9.46667
x: 14 y:9.4
x: 14 y:9.33333
x: 14 y:9.26667
x: 14 y:9.2
x: 14 y:9.13333
x: 14 y:9.06667
x: 14 y:9
x: 14 y:8.93333
x: 14 y:8.86667
x: 14 y:8.8
x: 14 y:8.73333
x: 14 y:8.66667
x: 14 y:8.6
x: 14 y:8.53333
x: 14 y:8.46667
x: 14 y:8.4
x: 14 y:8.33333
x: 14 y:8.26667
x: 14 y:8.2
x: 14 y:8.13333
x: 14 y:8.06667
x: 14 y:8
x: 14 y:7.93333
x: 14 y:7.86667
x: 14 y:7.8
x: 14 y:7.73333
x: 14 y:7.66667
x: 14 y:7.6
x: 14 y:7.53333
x: 14 y:7.46667
x: 14 y:7.4
x: 14 y:7.33333
x: 14 y:7.26667
x: 14 y:7.2
x: 14 y:7.13333
x: 14 y:7.06667
x: 14 y:7
x: 14 y:6.93333
x: 14 y:6.86667
x: 14 y:6.8
x: 14 y:6.73333
x: 14 y:6.66667
x: 14 y:6.6
x: 14 y:6.53333
x: 14 y:6.46667
x: 14 y:6.4
x: 14 y:6.33333
x: 14 y:6.26667
x: 14 y:6.2
x: 14 y:6.13333
x: 14 y:6.06667
x: 14 y:6
x: 14 y:5.93333
x: 14 y:5.86667
x: 14 y:5.8
x: 14 y:5.73333
x: 14 y:5.66667
x: 14 y:5.6
x: 14 y:5.53333
x: 14 y:5.46667
x: 14 y:5.4
x: 14 y:5.33333
x: 14 y:5.26667
x: 14 y:5.2
x: 14 y:5.13333
x: 14 y:5.06667
x: 14 y:5
x: 14 y:4.93333
x: 14 y:4.86667
x: 14 y:4.8
x: 14 y:4.73333
x: 14 y:4.66667
x: 14 y:4.6
x: 14 y:4.53333
x: 14 y:4.46667
x: 14 y:4.4
x: 14 y:4.33333
x: 14 y:4.26667
x: 14 y:4.2
x: 14 y:4.13333
x: 14 y:4.06667
x: 14 y:4
x: 14 y:3.93333
x: 14 y:3.86667
x: 14 y:3.8
x: 14 y:3.73333
x: 14 y:3.66667
x: 14 y:3.6
x: 14 y:3.53333
x: 14 y:3.46667
x: 14 y:3.4
x: 14 y:3.33333
x: 14 y:3.26667
x: 14 y:3.2
x: 14 y:3.13333
x: 14 y:3.06667
x: 14 y:3
x: 14 y:2.93333
x: 14 y:2.86667
x: 14 y:2.8
x: 14 y:2.73333
x: 14 y:2.66667
x: 14 y:2.6
x: 14 y:2.53333
x: 14 y:2.46667
x: 14 y:2.4
x: 14 y:2.33333
x: 14 y:2.26667
x: 14 y:2.2
x: 14 y:2.13333
x: 14 y:2.06667
x: 14 y:2
x: 14 y:2.93444
x: 14 y:2.87111
x: 14 y:2.81
x: 14 y:2.75111
x: 14 y:2.69444
x: 14 y:2.64
x: 14 y:2.58778
x: 14 y:2.53778
x: 14 y:2.49
x: 14 y:2.44444
x: 14 y:2.40111
x: 14 y:2.36
x: 14 y:2.32111
x: 14 y:2.28444
x: 14 y:2.25
x: 14 y:2.21778
x: 14 y:2.18778
x: 14 y:2.16
x: 14 y:2.13444
x: 14 y:2.11111
x: 14 y:2.09
x: 14 y:2.07111
x: 14 y:2.05444
x: 14 y:2.04
x: 14 y:2.02778
x: 14 y:2.01778
x: 14 y:2.01
x: 14 y:2.00444
x: 14 y:2.00111
x: 14 y:2
uav_id:0 column finished1 
---1 current start pos:20 - 1
---1 current end pos:9 - 1
---2 current start pos:9 - 7
---2 current end pos:1 - 7
9 - 1
9 - 1
9 - 2
9 - 3
9 - 4
9 - 5
9 - 6
9 - 7
[ INFO] [1639139156.340206204, 7764.164000000]: point_num:  7
point: 
 9  1 10
 9  2 10
 9  3 10
 9  4 10
 9  5 10
 9  6 10
 9  7 10
[ INFO] [1639139156.356276631, 7764.180000000]: spend 0.016000
----  minisnap trajectory generated finished!----
col: 7 rowmin: 1 rowmax: 9
pos:9  -  7
pos_end:1  -  7
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 0 0-1
10-1 1 1 1 1 1 1 0 0 1 1 1 1 1 1-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 0 0 1 1 1 1 1 1-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 0 0 1 1 1 1 1 1 0 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 0 0 1 1 1 1 1 1 0 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 0 0 1 1 1 1 1 1 0 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 0 0 1 1 1 1 1 1 0 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 0 0 1 1 1 1 1 1 0 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 0 0 1 1 1 1 1 1 0 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 0 0 1 1 1 1 1 1 0 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:0 column finished2 
uav_id:0 move finished1 
uav_id:0 move finished2 
col: 7 rowmin: 1 rowmax: 9
 ----- real pos        
x: 7 y:8.99889
x: 7 y:8.99556
x: 7 y:8.99
x: 7 y:8.98222
x: 7 y:8.97222
x: 7 y:8.96
x: 7 y:8.94556
x: 7 y:8.92889
x: 7 y:8.91
x: 7 y:8.88889
x: 7 y:8.86556
x: 7 y:8.84
x: 7 y:8.81222
x: 7 y:8.78222
x: 7 y:8.75
x: 7 y:8.71556
x: 7 y:8.67889
x: 7 y:8.64
x: 7 y:8.59889
x: 7 y:8.55556
x: 7 y:8.51
x: 7 y:8.46222
x: 7 y:8.41222
x: 7 y:8.36
x: 7 y:8.30556
x: 7 y:8.24889
x: 7 y:8.19
x: 7 y:8.12889
x: 7 y:8.06556
x: 7 y:8
x: 7 y:7.93333
x: 7 y:7.86667
x: 7 y:7.8
x: 7 y:7.73333
x: 7 y:7.66667
x: 7 y:7.6
x: 7 y:7.53333
x: 7 y:7.46667
x: 7 y:7.4
x: 7 y:7.33333
x: 7 y:7.26667
x: 7 y:7.2
x: 7 y:7.13333
x: 7 y:7.06667
x: 7 y:7
x: 7 y:6.93333
x: 7 y:6.86667
x: 7 y:6.8
x: 7 y:6.73333
x: 7 y:6.66667
x: 7 y:6.6
x: 7 y:6.53333
x: 7 y:6.46667
x: 7 y:6.4
x: 7 y:6.33333
x: 7 y:6.26667
x: 7 y:6.2
x: 7 y:6.13333
x: 7 y:6.06667
x: 7 y:6
x: 7 y:5.93333
x: 7 y:5.86667
x: 7 y:5.8
x: 7 y:5.73333
x: 7 y:5.66667
x: 7 y:5.6
x: 7 y:5.53333
x: 7 y:5.46667
x: 7 y:5.4
x: 7 y:5.33333
x: 7 y:5.26667
x: 7 y:5.2
x: 7 y:5.13333
x: 7 y:5.06667
x: 7 y:5
x: 7 y:4.93333
x: 7 y:4.86667
x: 7 y:4.8
x: 7 y:4.73333
x: 7 y:4.66667
x: 7 y:4.6
x: 7 y:4.53333
x: 7 y:4.46667
x: 7 y:4.4
x: 7 y:4.33333
x: 7 y:4.26667
x: 7 y:4.2
x: 7 y:4.13333
x: 7 y:4.06667
x: 7 y:4
x: 7 y:3.93333
x: 7 y:3.86667
x: 7 y:3.8
x: 7 y:3.73333
x: 7 y:3.66667
x: 7 y:3.6
x: 7 y:3.53333
x: 7 y:3.46667
x: 7 y:3.4
x: 7 y:3.33333
x: 7 y:3.26667
x: 7 y:3.2
x: 7 y:3.13333
x: 7 y:3.06667
x: 7 y:3
x: 7 y:2.93333
x: 7 y:2.86667
x: 7 y:2.8
x: 7 y:2.73333
x: 7 y:2.66667
x: 7 y:2.6
x: 7 y:2.53333
x: 7 y:2.46667
x: 7 y:2.4
x: 7 y:2.33333
x: 7 y:2.26667
x: 7 y:2.2
x: 7 y:2.13333
x: 7 y:2.06667
x: 7 y:2
x: 7 y:2.93444
x: 7 y:2.87111
x: 7 y:2.81
x: 7 y:2.75111
x: 7 y:2.69444
x: 7 y:2.64
x: 7 y:2.58778
x: 7 y:2.53778
x: 7 y:2.49
x: 7 y:2.44444
x: 7 y:2.40111
x: 7 y:2.36
x: 7 y:2.32111
x: 7 y:2.28444
x: 7 y:2.25
x: 7 y:2.21778
x: 7 y:2.18778
x: 7 y:2.16
x: 7 y:2.13444
x: 7 y:2.11111
x: 7 y:2.09
x: 7 y:2.07111
x: 7 y:2.05444
x: 7 y:2.04
x: 7 y:2.02778
x: 7 y:2.01778
x: 7 y:2.01
x: 7 y:2.00444
x: 7 y:2.00111
x: 7 y:2
uav_id:2 column finished1 
col: 15 rowmin: 1 rowmax: 7
pos:1  -  15
pos_end:7  -  15
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 0 0-1
10-1 1 1 1 1 1 1 1 0 1 1 1 1 1 1-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 1 0 1 1 1 1 1 1-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 1 0 1 1 1 1 1 1 1 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 1 0 1 1 1 1 1 1 1 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 1 0 1 1 1 1 1 1 1 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 1 0 1 1 1 1 1 1 1 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 1 0 1 1 1 1 1 1 1 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 1 0 1 1 1 1 1 1 1 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 1 0 1 1 1 1 1 1 1 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:2 column finished2 
uav_id:0 column finished1 
col: 8 rowmin: 1 rowmax: 9
pos:1  -  8
pos_end:9  -  8
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 0 0-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:0 column finished2 
uav_id:1 column finished1 
col: 14 rowmin: 2 rowmax: 20
pos:20  -  14
pos_end:2  -  14
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 0 0-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:1 column finished2 
uav_id:2 neighbor finished1 
uav_id:2 neighbor finished2 
uav_id:0 neighbor finished1 
uav_id:0 neighbor finished2 
uav_id:1 neighbor finished1 
uav_id:1 neighbor finished2 
uav_id:2 column finished1 
col: 16 rowmin: 1 rowmax: 7
pos:7  -  16
pos_end:1  -  16
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 0 0-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:2 column finished2 
uav_id:0 column finished1 
---1 current start pos:1 - 8
---1 current end pos:9 - 8
---2 current start pos:8 - 5
---2 current end pos:19 - 5
9 - 8
9 - 8
8 - 8
8 - 8
8 - 7
8 - 6
8 - 5
[ INFO] [1639139169.300701879, 7776.776000000]: point_num:  5
point: 
 9  8 10
 8  8 10
 8  7 10
 8  6 10
 8  5 10
[ INFO] [1639139169.304725203, 7776.780000000]: spend 0.004000
----  minisnap trajectory generated finished!----
col: 5 rowmin: 8 rowmax: 19
pos:8  -  5
pos_end:19  -  5
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 0 0-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 9-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:0 column finished2 
uav_id:2 neighbor finished1 
uav_id:2 neighbor finished2 
uav_id:0 move finished1 
uav_id:0 move finished2 
col: 5 rowmin: 8 rowmax: 19
 ----- real pos        
x: 5 y:8.00111
x: 5 y:8.00444
x: 5 y:8.01
x: 5 y:8.01778
x: 5 y:8.02778
x: 5 y:8.04
x: 5 y:8.05444
x: 5 y:8.07111
x: 5 y:8.09
x: 5 y:8.11111
x: 5 y:8.13444
x: 5 y:8.16
x: 5 y:8.18778
x: 5 y:8.21778
x: 5 y:8.25
x: 5 y:8.28444
x: 5 y:8.32111
x: 5 y:8.36
x: 5 y:8.40111
x: 5 y:8.44444
x: 5 y:8.49
x: 5 y:8.53778
x: 5 y:8.58778
x: 5 y:8.64
x: 5 y:8.69444
x: 5 y:8.75111
x: 5 y:8.81
x: 5 y:8.87111
x: 5 y:8.93444
x: 5 y:9
x: 5 y:9.06667
x: 5 y:9.13333
x: 5 y:9.2
x: 5 y:9.26667
x: 5 y:9.33333
x: 5 y:9.4
x: 5 y:9.46667
x: 5 y:9.53333
x: 5 y:9.6
x: 5 y:9.66667
x: 5 y:9.73333
x: 5 y:9.8
x: 5 y:9.86667
x: 5 y:9.93333
x: 5 y:10
x: 5 y:10.0667
x: 5 y:10.1333
x: 5 y:10.2
x: 5 y:10.2667
x: 5 y:10.3333
x: 5 y:10.4
x: 5 y:10.4667
x: 5 y:10.5333
x: 5 y:10.6
x: 5 y:10.6667
x: 5 y:10.7333
x: 5 y:10.8
x: 5 y:10.8667
x: 5 y:10.9333
x: 5 y:11
x: 5 y:11.0667
x: 5 y:11.1333
x: 5 y:11.2
x: 5 y:11.2667
x: 5 y:11.3333
x: 5 y:11.4
x: 5 y:11.4667
x: 5 y:11.5333
x: 5 y:11.6
x: 5 y:11.6667
x: 5 y:11.7333
x: 5 y:11.8
x: 5 y:11.8667
x: 5 y:11.9333
x: 5 y:12
x: 5 y:12.0667
x: 5 y:12.1333
x: 5 y:12.2
x: 5 y:12.2667
x: 5 y:12.3333
x: 5 y:12.4
x: 5 y:12.4667
x: 5 y:12.5333
x: 5 y:12.6
x: 5 y:12.6667
x: 5 y:12.7333
x: 5 y:12.8
x: 5 y:12.8667
x: 5 y:12.9333
x: 5 y:13
x: 5 y:13.0667
x: 5 y:13.1333
x: 5 y:13.2
x: 5 y:13.2667
x: 5 y:13.3333
x: 5 y:13.4
x: 5 y:13.4667
x: 5 y:13.5333
x: 5 y:13.6
x: 5 y:13.6667
x: 5 y:13.7333
x: 5 y:13.8
x: 5 y:13.8667
x: 5 y:13.9333
x: 5 y:14
x: 5 y:14.0667
x: 5 y:14.1333
x: 5 y:14.2
x: 5 y:14.2667
x: 5 y:14.3333
x: 5 y:14.4
x: 5 y:14.4667
x: 5 y:14.5333
x: 5 y:14.6
x: 5 y:14.6667
x: 5 y:14.7333
x: 5 y:14.8
x: 5 y:14.8667
x: 5 y:14.9333
x: 5 y:15
x: 5 y:15.0667
x: 5 y:15.1333
x: 5 y:15.2
x: 5 y:15.2667
x: 5 y:15.3333
x: 5 y:15.4
x: 5 y:15.4667
x: 5 y:15.5333
x: 5 y:15.6
x: 5 y:15.6667
x: 5 y:15.7333
x: 5 y:15.8
x: 5 y:15.8667
x: 5 y:15.9333
x: 5 y:16
x: 5 y:16.0667
x: 5 y:16.1333
x: 5 y:16.2
x: 5 y:16.2667
x: 5 y:16.3333
x: 5 y:16.4
x: 5 y:16.4667
x: 5 y:16.5333
x: 5 y:16.6
x: 5 y:16.6667
x: 5 y:16.7333
x: 5 y:16.8
x: 5 y:16.8667
x: 5 y:16.9333
x: 5 y:17
x: 5 y:17.0667
x: 5 y:17.1333
x: 5 y:17.2
x: 5 y:17.2667
x: 5 y:17.3333
x: 5 y:17.4
x: 5 y:17.4667
x: 5 y:17.5333
x: 5 y:17.6
x: 5 y:17.6667
x: 5 y:17.7333
x: 5 y:17.8
x: 5 y:17.8667
x: 5 y:17.9333
x: 5 y:18
x: 5 y:17.0656
x: 5 y:17.1289
x: 5 y:17.19
x: 5 y:17.2489
x: 5 y:17.3056
x: 5 y:17.36
x: 5 y:17.4122
x: 5 y:17.4622
x: 5 y:17.51
x: 5 y:17.5556
x: 5 y:17.5989
x: 5 y:17.64
x: 5 y:17.6789
x: 5 y:17.7156
x: 5 y:17.75
x: 5 y:17.7822
x: 5 y:17.8122
x: 5 y:17.84
x: 5 y:17.8656
x: 5 y:17.8889
x: 5 y:17.91
x: 5 y:17.9289
x: 5 y:17.9456
x: 5 y:17.96
x: 5 y:17.9722
x: 5 y:17.9822
x: 5 y:17.99
x: 5 y:17.9956
x: 5 y:17.9989
x: 5 y:18
uav_id:2 column finished1 
col: 17 rowmin: 1 rowmax: 7
pos:1  -  17
pos_end:7  -  17
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 0 0-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:2 column finished2 
uav_id:2 neighbor finished1 
uav_id:2 neighbor finished2 
uav_id:1 column finished1 
---1 current start pos:20 - 14
---1 current end pos:2 - 14
---2 current start pos:2 - 18
---2 current end pos:7 - 18
2 - 14
2 - 14
2 - 15
2 - 16
2 - 17
2 - 18
[ INFO] [1639139175.400031036, 7782.444000000]: point_num:  5
point: 
 2 14 10
 2 15 10
 2 16 10
 2 17 10
 2 18 10
[ INFO] [1639139175.407997791, 7782.452000000]: spend 0.008000
----  minisnap trajectory generated finished!----
col: 18 rowmin: 2 rowmax: 7
pos:2  -  18
pos_end:7  -  18
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 0 0-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:1 column finished2 
uav_id:1 move finished1 
uav_id:1 move finished2 
col: 18 rowmin: 2 rowmax: 7
 ----- real pos        
x: 18 y:2.00111
x: 18 y:2.00444
x: 18 y:2.01
x: 18 y:2.01778
x: 18 y:2.02778
x: 18 y:2.04
x: 18 y:2.05444
x: 18 y:2.07111
x: 18 y:2.09
x: 18 y:2.11111
x: 18 y:2.13444
x: 18 y:2.16
x: 18 y:2.18778
x: 18 y:2.21778
x: 18 y:2.25
x: 18 y:2.28444
x: 18 y:2.32111
x: 18 y:2.36
x: 18 y:2.40111
x: 18 y:2.44444
x: 18 y:2.49
x: 18 y:2.53778
x: 18 y:2.58778
x: 18 y:2.64
x: 18 y:2.69444
x: 18 y:2.75111
x: 18 y:2.81
x: 18 y:2.87111
x: 18 y:2.93444
x: 18 y:3
x: 18 y:3.06667
x: 18 y:3.13333
x: 18 y:3.2
x: 18 y:3.26667
x: 18 y:3.33333
x: 18 y:3.4
x: 18 y:3.46667
x: 18 y:3.53333
x: 18 y:3.6
x: 18 y:3.66667
x: 18 y:3.73333
x: 18 y:3.8
x: 18 y:3.86667
x: 18 y:3.93333
x: 18 y:4
x: 18 y:4.06667
x: 18 y:4.13333
x: 18 y:4.2
x: 18 y:4.26667
x: 18 y:4.33333
x: 18 y:4.4
x: 18 y:4.46667
x: 18 y:4.53333
x: 18 y:4.6
x: 18 y:4.66667
x: 18 y:4.73333
x: 18 y:4.8
x: 18 y:4.86667
x: 18 y:4.93333
x: 18 y:5
x: 18 y:5.06667
x: 18 y:5.13333
x: 18 y:5.2
x: 18 y:5.26667
x: 18 y:5.33333
x: 18 y:5.4
x: 18 y:5.46667
x: 18 y:5.53333
x: 18 y:5.6
x: 18 y:5.66667
x: 18 y:5.73333
x: 18 y:5.8
x: 18 y:5.86667
x: 18 y:5.93333
x: 18 y:6
x: 18 y:5.06556
x: 18 y:5.12889
x: 18 y:5.19
x: 18 y:5.24889
x: 18 y:5.30556
x: 18 y:5.36
x: 18 y:5.41222
x: 18 y:5.46222
x: 18 y:5.51
x: 18 y:5.55556
x: 18 y:5.59889
x: 18 y:5.64
x: 18 y:5.67889
x: 18 y:5.71556
x: 18 y:5.75
x: 18 y:5.78222
x: 18 y:5.81222
x: 18 y:5.84
x: 18 y:5.86556
x: 18 y:5.88889
x: 18 y:5.91
x: 18 y:5.92889
x: 18 y:5.94556
x: 18 y:5.96
x: 18 y:5.97222
x: 18 y:5.98222
x: 18 y:5.99
x: 18 y:5.99556
x: 18 y:5.99889
x: 18 y:6
uav_id:0 column finished1 
---1 current start pos:8 - 5
---1 current end pos:19 - 5
---2 current start pos:19 - 15
---2 current end pos:11 - 15
19 - 5
19 - 5
19 - 6
19 - 7
19 - 8
19 - 9
19 - 10
19 - 11
19 - 12
19 - 13
19 - 14
19 - 15
[ INFO] [1639139177.350282303, 7784.392000000]: point_num:  11
point: 
19  5 10
19  6 10
19  7 10
19  8 10
19  9 10
19 10 10
19 11 10
19 12 10
19 13 10
19 14 10
19 15 10
[ INFO] [1639139177.409692355, 7784.452000000]: spend 0.060000
----  minisnap trajectory generated finished!----
col: 15 rowmin: 11 rowmax: 19
pos:19  -  15
pos_end:11  -  15
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 0 0 0 0 0 0-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 0 0 0 0 0 0-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 0 0-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:0 column finished2 
uav_id:2 column finished1 
---1 current start pos:1 - 17
---1 current end pos:7 - 17
---2 current start pos:7 - 19
---2 current end pos:18 - 19
7 - 17
7 - 17
7 - 18
7 - 19
[ INFO] [1639139179.487426329, 7786.404000000]: point_num:  3
point: 
 7 17 10
 7 18 10
 7 19 10
[ INFO] [1639139179.488928821, 7786.404000000]: spend 0.000000
----  minisnap trajectory generated finished!----
col: 19 rowmin: 7 rowmax: 18
pos:7  -  19
pos_end:18  -  19
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 0 0 0 0 0-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 0 0 0 0 0-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 0 0 0 0 0-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 0 0 0 0 0-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 0 0 0 0 0-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 0 0-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 0 0-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:2 column finished2 
uav_id:2 move finished1 
uav_id:2 move finished2 
col: 19 rowmin: 7 rowmax: 18
 ----- real pos        
x: 19 y:7.00111
x: 19 y:7.00444
x: 19 y:7.01
x: 19 y:7.01778
x: 19 y:7.02778
x: 19 y:7.04
x: 19 y:7.05444
x: 19 y:7.07111
x: 19 y:7.09
x: 19 y:7.11111
x: 19 y:7.13444
x: 19 y:7.16
x: 19 y:7.18778
x: 19 y:7.21778
x: 19 y:7.25
x: 19 y:7.28444
x: 19 y:7.32111
x: 19 y:7.36
x: 19 y:7.40111
x: 19 y:7.44444
x: 19 y:7.49
x: 19 y:7.53778
x: 19 y:7.58778
x: 19 y:7.64
x: 19 y:7.69444
x: 19 y:7.75111
x: 19 y:7.81
x: 19 y:7.87111
x: 19 y:7.93444
x: 19 y:8
x: 19 y:8.06667
x: 19 y:8.13333
x: 19 y:8.2
x: 19 y:8.26667
x: 19 y:8.33333
x: 19 y:8.4
x: 19 y:8.46667
x: 19 y:8.53333
x: 19 y:8.6
x: 19 y:8.66667
x: 19 y:8.73333
x: 19 y:8.8
x: 19 y:8.86667
x: 19 y:8.93333
x: 19 y:9
x: 19 y:9.06667
x: 19 y:9.13333
x: 19 y:9.2
x: 19 y:9.26667
x: 19 y:9.33333
x: 19 y:9.4
x: 19 y:9.46667
x: 19 y:9.53333
x: 19 y:9.6
x: 19 y:9.66667
x: 19 y:9.73333
x: 19 y:9.8
x: 19 y:9.86667
x: 19 y:9.93333
x: 19 y:10
x: 19 y:10.0667
x: 19 y:10.1333
x: 19 y:10.2
x: 19 y:10.2667
x: 19 y:10.3333
x: 19 y:10.4
x: 19 y:10.4667
x: 19 y:10.5333
x: 19 y:10.6
x: 19 y:10.6667
x: 19 y:10.7333
x: 19 y:10.8
x: 19 y:10.8667
x: 19 y:10.9333
x: 19 y:11
x: 19 y:11.0667
x: 19 y:11.1333
x: 19 y:11.2
x: 19 y:11.2667
x: 19 y:11.3333
x: 19 y:11.4
x: 19 y:11.4667
x: 19 y:11.5333
x: 19 y:11.6
x: 19 y:11.6667
x: 19 y:11.7333
x: 19 y:11.8
x: 19 y:11.8667
x: 19 y:11.9333
x: 19 y:12
x: 19 y:12.0667
x: 19 y:12.1333
x: 19 y:12.2
x: 19 y:12.2667
x: 19 y:12.3333
x: 19 y:12.4
x: 19 y:12.4667
x: 19 y:12.5333
x: 19 y:12.6
x: 19 y:12.6667
x: 19 y:12.7333
x: 19 y:12.8
x: 19 y:12.8667
x: 19 y:12.9333
x: 19 y:13
x: 19 y:13.0667
x: 19 y:13.1333
x: 19 y:13.2
x: 19 y:13.2667
x: 19 y:13.3333
x: 19 y:13.4
x: 19 y:13.4667
x: 19 y:13.5333
x: 19 y:13.6
x: 19 y:13.6667
x: 19 y:13.7333
x: 19 y:13.8
x: 19 y:13.8667
x: 19 y:13.9333
x: 19 y:14
x: 19 y:14.0667
x: 19 y:14.1333
x: 19 y:14.2
x: 19 y:14.2667
x: 19 y:14.3333
x: 19 y:14.4
x: 19 y:14.4667
x: 19 y:14.5333
x: 19 y:14.6
x: 19 y:14.6667
x: 19 y:14.7333
x: 19 y:14.8
x: 19 y:14.8667
x: 19 y:14.9333
x: 19 y:15
x: 19 y:15.0667
x: 19 y:15.1333
x: 19 y:15.2
x: 19 y:15.2667
x: 19 y:15.3333
x: 19 y:15.4
x: 19 y:15.4667
x: 19 y:15.5333
x: 19 y:15.6
x: 19 y:15.6667
x: 19 y:15.7333
x: 19 y:15.8
x: 19 y:15.8667
x: 19 y:15.9333
x: 19 y:16
x: 19 y:16.0667
x: 19 y:16.1333
x: 19 y:16.2
x: 19 y:16.2667
x: 19 y:16.3333
x: 19 y:16.4
x: 19 y:16.4667
x: 19 y:16.5333
x: 19 y:16.6
x: 19 y:16.6667
x: 19 y:16.7333
x: 19 y:16.8
x: 19 y:16.8667
x: 19 y:16.9333
x: 19 y:17
x: 19 y:16.0656
x: 19 y:16.1289
x: 19 y:16.19
x: 19 y:16.2489
x: 19 y:16.3056
x: 19 y:16.36
x: 19 y:16.4122
x: 19 y:16.4622
x: 19 y:16.51
x: 19 y:16.5556
x: 19 y:16.5989
x: 19 y:16.64
x: 19 y:16.6789
x: 19 y:16.7156
x: 19 y:16.75
x: 19 y:16.7822
x: 19 y:16.8122
x: 19 y:16.84
x: 19 y:16.8656
x: 19 y:16.8889
x: 19 y:16.91
x: 19 y:16.9289
x: 19 y:16.9456
x: 19 y:16.96
x: 19 y:16.9722
x: 19 y:16.9822
x: 19 y:16.99
x: 19 y:16.9956
x: 19 y:16.9989
x: 19 y:17
uav_id:1 column finished1 
---1 current start pos:2 - 18
---1 current end pos:7 - 18
---2 current start pos:7 - 20
---2 current end pos:18 - 20
7 - 18
7 - 18
7 - 19
7 - 20
[ INFO] [1639139180.396803059, 7787.312000000]: point_num:  3
point: 
 7 18 10
 7 19 10
 7 20 10
[ INFO] [1639139180.398469840, 7787.316000000]: spend 0.004000
----  minisnap trajectory generated finished!----
col: 20 rowmin: 7 rowmax: 18
pos:7  -  20
pos_end:18  -  20
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 1 0-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 1 0-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 0 0 0 1 0-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 0 0 0 1 0-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 0 0 0 1 0-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 1 0-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 0 0 0 1 0-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 0 0 0 1 0-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 1 0-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 0-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 0-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:1 column finished2 
uav_id:0 move finished1 
uav_id:0 move finished2 
col: 15 rowmin: 11 rowmax: 19
 ----- real pos        
x: 15 y:18.9989
x: 15 y:18.9956
x: 15 y:18.99
x: 15 y:18.9822
x: 15 y:18.9722
x: 15 y:18.96
x: 15 y:18.9456
x: 15 y:18.9289
x: 15 y:18.91
x: 15 y:18.8889
x: 15 y:18.8656
x: 15 y:18.84
x: 15 y:18.8122
x: 15 y:18.7822
x: 15 y:18.75
x: 15 y:18.7156
x: 15 y:18.6789
x: 15 y:18.64
x: 15 y:18.5989
x: 15 y:18.5556
x: 15 y:18.51
x: 15 y:18.4622
x: 15 y:18.4122
x: 15 y:18.36
x: 15 y:18.3056
x: 15 y:18.2489
x: 15 y:18.19
x: 15 y:18.1289
x: 15 y:18.0656
x: 15 y:18
x: 15 y:17.9333
x: 15 y:17.8667
x: 15 y:17.8
x: 15 y:17.7333
x: 15 y:17.6667
x: 15 y:17.6
x: 15 y:17.5333
x: 15 y:17.4667
x: 15 y:17.4
x: 15 y:17.3333
x: 15 y:17.2667
x: 15 y:17.2
x: 15 y:17.1333
x: 15 y:17.0667
x: 15 y:17
x: 15 y:16.9333
x: 15 y:16.8667
x: 15 y:16.8
x: 15 y:16.7333
x: 15 y:16.6667
x: 15 y:16.6
x: 15 y:16.5333
x: 15 y:16.4667
x: 15 y:16.4
x: 15 y:16.3333
x: 15 y:16.2667
x: 15 y:16.2
x: 15 y:16.1333
x: 15 y:16.0667
x: 15 y:16
x: 15 y:15.9333
x: 15 y:15.8667
x: 15 y:15.8
x: 15 y:15.7333
x: 15 y:15.6667
x: 15 y:15.6
x: 15 y:15.5333
x: 15 y:15.4667
x: 15 y:15.4
x: 15 y:15.3333
x: 15 y:15.2667
x: 15 y:15.2
x: 15 y:15.1333
x: 15 y:15.0667
x: 15 y:15
x: 15 y:14.9333
x: 15 y:14.8667
x: 15 y:14.8
x: 15 y:14.7333
x: 15 y:14.6667
x: 15 y:14.6
x: 15 y:14.5333
x: 15 y:14.4667
x: 15 y:14.4
x: 15 y:14.3333
x: 15 y:14.2667
x: 15 y:14.2
x: 15 y:14.1333
x: 15 y:14.0667
x: 15 y:14
x: 15 y:13.9333
x: 15 y:13.8667
x: 15 y:13.8
x: 15 y:13.7333
x: 15 y:13.6667
x: 15 y:13.6
x: 15 y:13.5333
x: 15 y:13.4667
x: 15 y:13.4
x: 15 y:13.3333
x: 15 y:13.2667
x: 15 y:13.2
x: 15 y:13.1333
x: 15 y:13.0667
x: 15 y:13
x: 15 y:12.9333
x: 15 y:12.8667
x: 15 y:12.8
x: 15 y:12.7333
x: 15 y:12.6667
x: 15 y:12.6
x: 15 y:12.5333
x: 15 y:12.4667
x: 15 y:12.4
x: 15 y:12.3333
x: 15 y:12.2667
x: 15 y:12.2
x: 15 y:12.1333
x: 15 y:12.0667
x: 15 y:12
x: 15 y:12.9344
x: 15 y:12.8711
x: 15 y:12.81
x: 15 y:12.7511
x: 15 y:12.6944
x: 15 y:12.64
x: 15 y:12.5878
x: 15 y:12.5378
x: 15 y:12.49
x: 15 y:12.4444
x: 15 y:12.4011
x: 15 y:12.36
x: 15 y:12.3211
x: 15 y:12.2844
x: 15 y:12.25
x: 15 y:12.2178
x: 15 y:12.1878
x: 15 y:12.16
x: 15 y:12.1344
x: 15 y:12.1111
x: 15 y:12.09
x: 15 y:12.0711
x: 15 y:12.0544
x: 15 y:12.04
x: 15 y:12.0278
x: 15 y:12.0178
x: 15 y:12.01
x: 15 y:12.0044
x: 15 y:12.0011
x: 15 y:12
uav_id:1 move finished1 
uav_id:1 move finished2 
col: 20 rowmin: 7 rowmax: 18
 ----- real pos        
x: 20 y:7.00111
x: 20 y:7.00444
x: 20 y:7.01
x: 20 y:7.01778
x: 20 y:7.02778
x: 20 y:7.04
x: 20 y:7.05444
x: 20 y:7.07111
x: 20 y:7.09
x: 20 y:7.11111
x: 20 y:7.13444
x: 20 y:7.16
x: 20 y:7.18778
x: 20 y:7.21778
x: 20 y:7.25
x: 20 y:7.28444
x: 20 y:7.32111
x: 20 y:7.36
x: 20 y:7.40111
x: 20 y:7.44444
x: 20 y:7.49
x: 20 y:7.53778
x: 20 y:7.58778
x: 20 y:7.64
x: 20 y:7.69444
x: 20 y:7.75111
x: 20 y:7.81
x: 20 y:7.87111
x: 20 y:7.93444
x: 20 y:8
x: 20 y:8.06667
x: 20 y:8.13333
x: 20 y:8.2
x: 20 y:8.26667
x: 20 y:8.33333
x: 20 y:8.4
x: 20 y:8.46667
x: 20 y:8.53333
x: 20 y:8.6
x: 20 y:8.66667
x: 20 y:8.73333
x: 20 y:8.8
x: 20 y:8.86667
x: 20 y:8.93333
x: 20 y:9
x: 20 y:9.06667
x: 20 y:9.13333
x: 20 y:9.2
x: 20 y:9.26667
x: 20 y:9.33333
x: 20 y:9.4
x: 20 y:9.46667
x: 20 y:9.53333
x: 20 y:9.6
x: 20 y:9.66667
x: 20 y:9.73333
x: 20 y:9.8
x: 20 y:9.86667
x: 20 y:9.93333
x: 20 y:10
x: 20 y:10.0667
x: 20 y:10.1333
x: 20 y:10.2
x: 20 y:10.2667
x: 20 y:10.3333
x: 20 y:10.4
x: 20 y:10.4667
x: 20 y:10.5333
x: 20 y:10.6
x: 20 y:10.6667
x: 20 y:10.7333
x: 20 y:10.8
x: 20 y:10.8667
x: 20 y:10.9333
x: 20 y:11
x: 20 y:11.0667
x: 20 y:11.1333
x: 20 y:11.2
x: 20 y:11.2667
x: 20 y:11.3333
x: 20 y:11.4
x: 20 y:11.4667
x: 20 y:11.5333
x: 20 y:11.6
x: 20 y:11.6667
x: 20 y:11.7333
x: 20 y:11.8
x: 20 y:11.8667
x: 20 y:11.9333
x: 20 y:12
x: 20 y:12.0667
x: 20 y:12.1333
x: 20 y:12.2
x: 20 y:12.2667
x: 20 y:12.3333
x: 20 y:12.4
x: 20 y:12.4667
x: 20 y:12.5333
x: 20 y:12.6
x: 20 y:12.6667
x: 20 y:12.7333
x: 20 y:12.8
x: 20 y:12.8667
x: 20 y:12.9333
x: 20 y:13
x: 20 y:13.0667
x: 20 y:13.1333
x: 20 y:13.2
x: 20 y:13.2667
x: 20 y:13.3333
x: 20 y:13.4
x: 20 y:13.4667
x: 20 y:13.5333
x: 20 y:13.6
x: 20 y:13.6667
x: 20 y:13.7333
x: 20 y:13.8
x: 20 y:13.8667
x: 20 y:13.9333
x: 20 y:14
x: 20 y:14.0667
x: 20 y:14.1333
x: 20 y:14.2
x: 20 y:14.2667
x: 20 y:14.3333
x: 20 y:14.4
x: 20 y:14.4667
x: 20 y:14.5333
x: 20 y:14.6
x: 20 y:14.6667
x: 20 y:14.7333
x: 20 y:14.8
x: 20 y:14.8667
x: 20 y:14.9333
x: 20 y:15
x: 20 y:15.0667
x: 20 y:15.1333
x: 20 y:15.2
x: 20 y:15.2667
x: 20 y:15.3333
x: 20 y:15.4
x: 20 y:15.4667
x: 20 y:15.5333
x: 20 y:15.6
x: 20 y:15.6667
x: 20 y:15.7333
x: 20 y:15.8
x: 20 y:15.8667
x: 20 y:15.9333
x: 20 y:16
x: 20 y:16.0667
x: 20 y:16.1333
x: 20 y:16.2
x: 20 y:16.2667
x: 20 y:16.3333
x: 20 y:16.4
x: 20 y:16.4667
x: 20 y:16.5333
x: 20 y:16.6
x: 20 y:16.6667
x: 20 y:16.7333
x: 20 y:16.8
x: 20 y:16.8667
x: 20 y:16.9333
x: 20 y:17
x: 20 y:16.0656
x: 20 y:16.1289
x: 20 y:16.19
x: 20 y:16.2489
x: 20 y:16.3056
x: 20 y:16.36
x: 20 y:16.4122
x: 20 y:16.4622
x: 20 y:16.51
x: 20 y:16.5556
x: 20 y:16.5989
x: 20 y:16.64
x: 20 y:16.6789
x: 20 y:16.7156
x: 20 y:16.75
x: 20 y:16.7822
x: 20 y:16.8122
x: 20 y:16.84
x: 20 y:16.8656
x: 20 y:16.8889
x: 20 y:16.91
x: 20 y:16.9289
x: 20 y:16.9456
x: 20 y:16.96
x: 20 y:16.9722
x: 20 y:16.9822
x: 20 y:16.99
x: 20 y:16.9956
x: 20 y:16.9989
x: 20 y:17
uav_id:0 column finished1 
col: 16 rowmin: 11 rowmax: 20
pos:11  -  16
pos_end:20  -  16
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 1 1-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 1 1-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 0 0 1 1-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 0 0 1 1-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 0 0 1 1-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 1 1-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 0 0 1 1-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 0 0 1 1-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 1 1-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:0 column finished2 
uav_id:0 neighbor finished1 
uav_id:0 neighbor finished2 
uav_id:2 column finished1 
col: 18 rowmin: 11 rowmax: 18
pos:18  -  18
pos_end:11  -  18
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 0 1 1 1-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 0 1 1 1-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 0 1 1 1-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 0 1 1 1-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 0 1 1 1-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 1 1-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:2 column finished2 
uav_id:1 column finished1 
---1 current start pos:7 - 20
---1 current end pos:18 - 20
---2 current start pos:18 - 17
---2 current end pos:11 - 17
18 - 20
18 - 20
18 - 19
18 - 18
18 - 17
[ INFO] [1639139187.839849701, 7794.512000000]: point_num:  4
point: 
18 20 10
18 19 10
18 18 10
18 17 10
[ INFO] [1639139187.844764073, 7794.520000000]: spend 0.008000
----  minisnap trajectory generated finished!----
col: 17 rowmin: 11 rowmax: 18
pos:18  -  17
pos_end:11  -  17
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 0 1 1 1-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 0 1 1 1-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 0 1 1 1-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 0 1 1 1-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 0 1 1 1-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 1 1-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:1 column finished2 
uav_id:2 neighbor finished1 
uav_id:2 neighbor finished2 
uav_id:1 move finished1 
uav_id:1 move finished2 
col: 17 rowmin: 11 rowmax: 18
 ----- real pos        
x: 17 y:17.9989
x: 17 y:17.9956
x: 17 y:17.99
x: 17 y:17.9822
x: 17 y:17.9722
x: 17 y:17.96
x: 17 y:17.9456
x: 17 y:17.9289
x: 17 y:17.91
x: 17 y:17.8889
x: 17 y:17.8656
x: 17 y:17.84
x: 17 y:17.8122
x: 17 y:17.7822
x: 17 y:17.75
x: 17 y:17.7156
x: 17 y:17.6789
x: 17 y:17.64
x: 17 y:17.5989
x: 17 y:17.5556
x: 17 y:17.51
x: 17 y:17.4622
x: 17 y:17.4122
x: 17 y:17.36
x: 17 y:17.3056
x: 17 y:17.2489
x: 17 y:17.19
x: 17 y:17.1289
x: 17 y:17.0656
x: 17 y:17
x: 17 y:16.9333
x: 17 y:16.8667
x: 17 y:16.8
x: 17 y:16.7333
x: 17 y:16.6667
x: 17 y:16.6
x: 17 y:16.5333
x: 17 y:16.4667
x: 17 y:16.4
x: 17 y:16.3333
x: 17 y:16.2667
x: 17 y:16.2
x: 17 y:16.1333
x: 17 y:16.0667
x: 17 y:16
x: 17 y:15.9333
x: 17 y:15.8667
x: 17 y:15.8
x: 17 y:15.7333
x: 17 y:15.6667
x: 17 y:15.6
x: 17 y:15.5333
x: 17 y:15.4667
x: 17 y:15.4
x: 17 y:15.3333
x: 17 y:15.2667
x: 17 y:15.2
x: 17 y:15.1333
x: 17 y:15.0667
x: 17 y:15
x: 17 y:14.9333
x: 17 y:14.8667
x: 17 y:14.8
x: 17 y:14.7333
x: 17 y:14.6667
x: 17 y:14.6
x: 17 y:14.5333
x: 17 y:14.4667
x: 17 y:14.4
x: 17 y:14.3333
x: 17 y:14.2667
x: 17 y:14.2
x: 17 y:14.1333
x: 17 y:14.0667
x: 17 y:14
x: 17 y:13.9333
x: 17 y:13.8667
x: 17 y:13.8
x: 17 y:13.7333
x: 17 y:13.6667
x: 17 y:13.6
x: 17 y:13.5333
x: 17 y:13.4667
x: 17 y:13.4
x: 17 y:13.3333
x: 17 y:13.2667
x: 17 y:13.2
x: 17 y:13.1333
x: 17 y:13.0667
x: 17 y:13
x: 17 y:12.9333
x: 17 y:12.8667
x: 17 y:12.8
x: 17 y:12.7333
x: 17 y:12.6667
x: 17 y:12.6
x: 17 y:12.5333
x: 17 y:12.4667
x: 17 y:12.4
x: 17 y:12.3333
x: 17 y:12.2667
x: 17 y:12.2
x: 17 y:12.1333
x: 17 y:12.0667
x: 17 y:12
x: 17 y:12.9344
x: 17 y:12.8711
x: 17 y:12.81
x: 17 y:12.7511
x: 17 y:12.6944
x: 17 y:12.64
x: 17 y:12.5878
x: 17 y:12.5378
x: 17 y:12.49
x: 17 y:12.4444
x: 17 y:12.4011
x: 17 y:12.36
x: 17 y:12.3211
x: 17 y:12.2844
x: 17 y:12.25
x: 17 y:12.2178
x: 17 y:12.1878
x: 17 y:12.16
x: 17 y:12.1344
x: 17 y:12.1111
x: 17 y:12.09
x: 17 y:12.0711
x: 17 y:12.0544
x: 17 y:12.04
x: 17 y:12.0278
x: 17 y:12.0178
x: 17 y:12.01
x: 17 y:12.0044
x: 17 y:12.0011
x: 17 y:12
uav_id:0 column finished1 
col: 15 rowmin: 20 rowmax: 20
pos:20  -  15
pos_end:20  -  15
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 1 1-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:0 column finished2 
uav_id:2 column finished1 
---1 current start pos:18 - 18
---1 current end pos:11 - 18
---2 current start pos:19 - 18
---2 current end pos:20 - 18
11 - 18
11 - 18
12 - 18
13 - 18
14 - 18
15 - 18
16 - 18
17 - 18
18 - 18
19 - 18
[ INFO] [1639139192.993501158, 7799.548000000]: point_num:  9
point: 
11 18 10
12 18 10
13 18 10
14 18 10
15 18 10
16 18 10
17 18 10
18 18 10
19 18 10
[ INFO] [1639139193.025776321, 7799.580000000]: spend 0.032000
----  minisnap trajectory generated finished!----
col: 18 rowmin: 19 rowmax: 20
pos:19  -  18
pos_end:20  -  18
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 1 1-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:2 column finished2 
uav_id:0 neighbor finished1 
uav_id:0 neighbor finished2 
uav_id:0 column finished1 
---1 current start pos:20 - 15
---1 current end pos:20 - 15
---2 current start pos:20 - 17
---2 current end pos:12 - 17
20 - 15
20 - 15
20 - 16
20 - 17
[ INFO] [1639139193.259274019, 7799.812000000]: point_num:  3
point: 
20 15 10
20 16 10
20 17 10
[ INFO] [1639139193.261346170, 7799.812000000]: spend 0.000000
----  minisnap trajectory generated finished!----
col: 17 rowmin: 12 rowmax: 20
pos:20  -  17
pos_end:12  -  17
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 1 1-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:0 column finished2 
uav_id:1 column finished1 
---1 current start pos:18 - 17
---1 current end pos:11 - 17
---2 current start pos:6 - 19
---2 current end pos:17 - 19
11 - 17
11 - 17
11 - 18
11 - 19
11 - 19
10 - 19
9 - 19
8 - 19
7 - 19
6 - 19
[ INFO] [1639139193.496648656, 7800.048000000]: point_num:  8
point: 
11 17 10
11 18 10
11 19 10
10 19 10
 9 19 10
 8 19 10
 7 19 10
 6 19 10
[ INFO] [1639139193.522117099, 7800.072000000]: spend 0.024000
----  minisnap trajectory generated finished!----
col: 19 rowmin: 6 rowmax: 17
pos:6  -  19
pos_end:17  -  19
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 1 1-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:1 column finished2 
uav_id:0 move finished1 
uav_id:0 move finished2 
col: 17 rowmin: 12 rowmax: 20
 ----- real pos        
x: 17 y:19.9989
x: 17 y:19.9956
x: 17 y:19.99
x: 17 y:19.9822
x: 17 y:19.9722
x: 17 y:19.96
x: 17 y:19.9456
x: 17 y:19.9289
x: 17 y:19.91
x: 17 y:19.8889
x: 17 y:19.8656
x: 17 y:19.84
x: 17 y:19.8122
x: 17 y:19.7822
x: 17 y:19.75
x: 17 y:19.7156
x: 17 y:19.6789
x: 17 y:19.64
x: 17 y:19.5989
x: 17 y:19.5556
x: 17 y:19.51
x: 17 y:19.4622
x: 17 y:19.4122
x: 17 y:19.36
x: 17 y:19.3056
x: 17 y:19.2489
x: 17 y:19.19
x: 17 y:19.1289
x: 17 y:19.0656
x: 17 y:19
x: 17 y:18.9333
x: 17 y:18.8667
x: 17 y:18.8
x: 17 y:18.7333
x: 17 y:18.6667
x: 17 y:18.6
x: 17 y:18.5333
x: 17 y:18.4667
x: 17 y:18.4
x: 17 y:18.3333
x: 17 y:18.2667
x: 17 y:18.2
x: 17 y:18.1333
x: 17 y:18.0667
x: 17 y:18
x: 17 y:17.9333
x: 17 y:17.8667
x: 17 y:17.8
x: 17 y:17.7333
x: 17 y:17.6667
x: 17 y:17.6
x: 17 y:17.5333
x: 17 y:17.4667
x: 17 y:17.4
x: 17 y:17.3333
x: 17 y:17.2667
x: 17 y:17.2
x: 17 y:17.1333
x: 17 y:17.0667
x: 17 y:17
x: 17 y:16.9333
x: 17 y:16.8667
x: 17 y:16.8
x: 17 y:16.7333
x: 17 y:16.6667
x: 17 y:16.6
x: 17 y:16.5333
x: 17 y:16.4667
x: 17 y:16.4
x: 17 y:16.3333
x: 17 y:16.2667
x: 17 y:16.2
x: 17 y:16.1333
x: 17 y:16.0667
x: 17 y:16
x: 17 y:15.9333
x: 17 y:15.8667
x: 17 y:15.8
x: 17 y:15.7333
x: 17 y:15.6667
x: 17 y:15.6
x: 17 y:15.5333
x: 17 y:15.4667
x: 17 y:15.4
x: 17 y:15.3333
x: 17 y:15.2667
x: 17 y:15.2
x: 17 y:15.1333
x: 17 y:15.0667
x: 17 y:15
x: 17 y:14.9333
x: 17 y:14.8667
x: 17 y:14.8
x: 17 y:14.7333
x: 17 y:14.6667
x: 17 y:14.6
x: 17 y:14.5333
x: 17 y:14.4667
x: 17 y:14.4
x: 17 y:14.3333
x: 17 y:14.2667
x: 17 y:14.2
x: 17 y:14.1333
x: 17 y:14.0667
x: 17 y:14
x: 17 y:13.9333
x: 17 y:13.8667
x: 17 y:13.8
x: 17 y:13.7333
x: 17 y:13.6667
x: 17 y:13.6
x: 17 y:13.5333
x: 17 y:13.4667
x: 17 y:13.4
x: 17 y:13.3333
x: 17 y:13.2667
x: 17 y:13.2
x: 17 y:13.1333
x: 17 y:13.0667
x: 17 y:13
x: 17 y:13.9344
x: 17 y:13.8711
x: 17 y:13.81
x: 17 y:13.7511
x: 17 y:13.6944
x: 17 y:13.64
x: 17 y:13.5878
x: 17 y:13.5378
x: 17 y:13.49
x: 17 y:13.4444
x: 17 y:13.4011
x: 17 y:13.36
x: 17 y:13.3211
x: 17 y:13.2844
x: 17 y:13.25
x: 17 y:13.2178
x: 17 y:13.1878
x: 17 y:13.16
x: 17 y:13.1344
x: 17 y:13.1111
x: 17 y:13.09
x: 17 y:13.0711
x: 17 y:13.0544
x: 17 y:13.04
x: 17 y:13.0278
x: 17 y:13.0178
x: 17 y:13.01
x: 17 y:13.0044
x: 17 y:13.0011
x: 17 y:13
uav_id:2 move finished1 
uav_id:2 move finished2 
col: 18 rowmin: 19 rowmax: 20
 ----- real pos        
x: 18 y:19.0333
x: 18 y:19.0667
x: 18 y:19.1
x: 18 y:19.1333
x: 18 y:19.1667
x: 18 y:19.2
x: 18 y:19.2333
x: 18 y:19.2667
x: 18 y:19.3
x: 18 y:19.3333
x: 18 y:19.3667
x: 18 y:19.4
x: 18 y:19.4333
x: 18 y:19.4667
x: 18 y:19.5
x: 18 y:19.5333
x: 18 y:19.5667
x: 18 y:19.6
x: 18 y:19.6333
x: 18 y:19.6667
x: 18 y:19.7
x: 18 y:19.7333
x: 18 y:19.7667
x: 18 y:19.8
x: 18 y:19.8333
x: 18 y:19.8667
x: 18 y:19.9
x: 18 y:19.9333
x: 18 y:19.9667
x: 18 y:20
uav_id:1 move finished1 
uav_id:1 move finished2 
col: 19 rowmin: 6 rowmax: 17
 ----- real pos        
x: 19 y:6.00111
x: 19 y:6.00444
x: 19 y:6.01
x: 19 y:6.01778
x: 19 y:6.02778
x: 19 y:6.04
x: 19 y:6.05444
x: 19 y:6.07111
x: 19 y:6.09
x: 19 y:6.11111
x: 19 y:6.13444
x: 19 y:6.16
x: 19 y:6.18778
x: 19 y:6.21778
x: 19 y:6.25
x: 19 y:6.28444
x: 19 y:6.32111
x: 19 y:6.36
x: 19 y:6.40111
x: 19 y:6.44444
x: 19 y:6.49
x: 19 y:6.53778
x: 19 y:6.58778
x: 19 y:6.64
x: 19 y:6.69444
x: 19 y:6.75111
x: 19 y:6.81
x: 19 y:6.87111
x: 19 y:6.93444
x: 19 y:7
x: 19 y:7.06667
x: 19 y:7.13333
x: 19 y:7.2
x: 19 y:7.26667
x: 19 y:7.33333
x: 19 y:7.4
x: 19 y:7.46667
x: 19 y:7.53333
x: 19 y:7.6
x: 19 y:7.66667
x: 19 y:7.73333
x: 19 y:7.8
x: 19 y:7.86667
x: 19 y:7.93333
x: 19 y:8
x: 19 y:8.06667
x: 19 y:8.13333
x: 19 y:8.2
x: 19 y:8.26667
x: 19 y:8.33333
x: 19 y:8.4
x: 19 y:8.46667
x: 19 y:8.53333
x: 19 y:8.6
x: 19 y:8.66667
x: 19 y:8.73333
x: 19 y:8.8
x: 19 y:8.86667
x: 19 y:8.93333
x: 19 y:9
x: 19 y:9.06667
x: 19 y:9.13333
x: 19 y:9.2
x: 19 y:9.26667
x: 19 y:9.33333
x: 19 y:9.4
x: 19 y:9.46667
x: 19 y:9.53333
x: 19 y:9.6
x: 19 y:9.66667
x: 19 y:9.73333
x: 19 y:9.8
x: 19 y:9.86667
x: 19 y:9.93333
x: 19 y:10
x: 19 y:10.0667
x: 19 y:10.1333
x: 19 y:10.2
x: 19 y:10.2667
x: 19 y:10.3333
x: 19 y:10.4
x: 19 y:10.4667
x: 19 y:10.5333
x: 19 y:10.6
x: 19 y:10.6667
x: 19 y:10.7333
x: 19 y:10.8
x: 19 y:10.8667
x: 19 y:10.9333
x: 19 y:11
x: 19 y:11.0667
x: 19 y:11.1333
x: 19 y:11.2
x: 19 y:11.2667
x: 19 y:11.3333
x: 19 y:11.4
x: 19 y:11.4667
x: 19 y:11.5333
x: 19 y:11.6
x: 19 y:11.6667
x: 19 y:11.7333
x: 19 y:11.8
x: 19 y:11.8667
x: 19 y:11.9333
x: 19 y:12
x: 19 y:12.0667
x: 19 y:12.1333
x: 19 y:12.2
x: 19 y:12.2667
x: 19 y:12.3333
x: 19 y:12.4
x: 19 y:12.4667
x: 19 y:12.5333
x: 19 y:12.6
x: 19 y:12.6667
x: 19 y:12.7333
x: 19 y:12.8
x: 19 y:12.8667
x: 19 y:12.9333
x: 19 y:13
x: 19 y:13.0667
x: 19 y:13.1333
x: 19 y:13.2
x: 19 y:13.2667
x: 19 y:13.3333
x: 19 y:13.4
x: 19 y:13.4667
x: 19 y:13.5333
x: 19 y:13.6
x: 19 y:13.6667
x: 19 y:13.7333
x: 19 y:13.8
x: 19 y:13.8667
x: 19 y:13.9333
x: 19 y:14
x: 19 y:14.0667
x: 19 y:14.1333
x: 19 y:14.2
x: 19 y:14.2667
x: 19 y:14.3333
x: 19 y:14.4
x: 19 y:14.4667
x: 19 y:14.5333
x: 19 y:14.6
x: 19 y:14.6667
x: 19 y:14.7333
x: 19 y:14.8
x: 19 y:14.8667
x: 19 y:14.9333
x: 19 y:15
x: 19 y:15.0667
x: 19 y:15.1333
x: 19 y:15.2
x: 19 y:15.2667
x: 19 y:15.3333
x: 19 y:15.4
x: 19 y:15.4667
x: 19 y:15.5333
x: 19 y:15.6
x: 19 y:15.6667
x: 19 y:15.7333
x: 19 y:15.8
x: 19 y:15.8667
x: 19 y:15.9333
x: 19 y:16
x: 19 y:15.0656
x: 19 y:15.1289
x: 19 y:15.19
x: 19 y:15.2489
x: 19 y:15.3056
x: 19 y:15.36
x: 19 y:15.4122
x: 19 y:15.4622
x: 19 y:15.51
x: 19 y:15.5556
x: 19 y:15.5989
x: 19 y:15.64
x: 19 y:15.6789
x: 19 y:15.7156
x: 19 y:15.75
x: 19 y:15.7822
x: 19 y:15.8122
x: 19 y:15.84
x: 19 y:15.8656
x: 19 y:15.8889
x: 19 y:15.91
x: 19 y:15.9289
x: 19 y:15.9456
x: 19 y:15.96
x: 19 y:15.9722
x: 19 y:15.9822
x: 19 y:15.99
x: 19 y:15.9956
x: 19 y:15.9989
x: 19 y:16
uav_id:2 column finished1 
---1 current start pos:19 - 18
---1 current end pos:20 - 18
---2 current start pos:5 - 19
---2 current end pos:1 - 19
20 - 18
20 - 18
19 - 18
18 - 18
18 - 18
18 - 19
18 - 19
17 - 19
16 - 19
15 - 19
14 - 19
13 - 19
12 - 19
11 - 19
10 - 19
9 - 19
8 - 19
7 - 19
6 - 19
5 - 19
[ INFO] [1639139196.831638232, 7803.380000000]: point_num:  17
point: 
20 18 10
19 18 10
18 18 10
18 19 10
17 19 10
16 19 10
15 19 10
14 19 10
13 19 10
12 19 10
11 19 10
10 19 10
 9 19 10
 8 19 10
 7 19 10
 6 19 10
 5 19 10
[ INFO] [1639139196.965644128, 7803.516000000]: spend 0.136000
----  minisnap trajectory generated finished!----
col: 19 rowmin: 1 rowmax: 5
pos:5  -  19
pos_end:1  -  19
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 1 1-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:2 column finished2 
uav_id:0 column finished1 
---1 current start pos:20 - 17
---1 current end pos:12 - 17
---2 current start pos:6 - 20
---2 current end pos:17 - 20
12 - 17
12 - 17
12 - 18
12 - 19
12 - 20
12 - 20
11 - 20
10 - 20
9 - 20
8 - 20
7 - 20
6 - 20
[ INFO] [1639139198.795186889, 7805.336000000]: point_num:  10
point: 
12 17 10
12 18 10
12 19 10
12 20 10
11 20 10
10 20 10
 9 20 10
 8 20 10
 7 20 10
 6 20 10
[ INFO] [1639139198.850629635, 7805.392000000]: spend 0.056000
----  minisnap trajectory generated finished!----
col: 20 rowmin: 6 rowmax: 17
pos:6  -  20
pos_end:17  -  20
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 1 1-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 1 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:0 column finished2 
uav_id:0 move finished1 
uav_id:0 move finished2 
col: 20 rowmin: 6 rowmax: 17
 ----- real pos        
x: 20 y:6.00111
x: 20 y:6.00444
x: 20 y:6.01
x: 20 y:6.01778
x: 20 y:6.02778
x: 20 y:6.04
x: 20 y:6.05444
x: 20 y:6.07111
x: 20 y:6.09
x: 20 y:6.11111
x: 20 y:6.13444
x: 20 y:6.16
x: 20 y:6.18778
x: 20 y:6.21778
x: 20 y:6.25
x: 20 y:6.28444
x: 20 y:6.32111
x: 20 y:6.36
x: 20 y:6.40111
x: 20 y:6.44444
x: 20 y:6.49
x: 20 y:6.53778
x: 20 y:6.58778
x: 20 y:6.64
x: 20 y:6.69444
x: 20 y:6.75111
x: 20 y:6.81
x: 20 y:6.87111
x: 20 y:6.93444
x: 20 y:7
x: 20 y:7.06667
x: 20 y:7.13333
x: 20 y:7.2
x: 20 y:7.26667
x: 20 y:7.33333
x: 20 y:7.4
x: 20 y:7.46667
x: 20 y:7.53333
x: 20 y:7.6
x: 20 y:7.66667
x: 20 y:7.73333
x: 20 y:7.8
x: 20 y:7.86667
x: 20 y:7.93333
x: 20 y:8
x: 20 y:8.06667
x: 20 y:8.13333
x: 20 y:8.2
x: 20 y:8.26667
x: 20 y:8.33333
x: 20 y:8.4
x: 20 y:8.46667
x: 20 y:8.53333
x: 20 y:8.6
x: 20 y:8.66667
x: 20 y:8.73333
x: 20 y:8.8
x: 20 y:8.86667
x: 20 y:8.93333
x: 20 y:9
x: 20 y:9.06667
x: 20 y:9.13333
x: 20 y:9.2
x: 20 y:9.26667
x: 20 y:9.33333
x: 20 y:9.4
x: 20 y:9.46667
x: 20 y:9.53333
x: 20 y:9.6
x: 20 y:9.66667
x: 20 y:9.73333
x: 20 y:9.8
x: 20 y:9.86667
x: 20 y:9.93333
x: 20 y:10
x: 20 y:10.0667
x: 20 y:10.1333
x: 20 y:10.2
x: 20 y:10.2667
x: 20 y:10.3333
x: 20 y:10.4
x: 20 y:10.4667
x: 20 y:10.5333
x: 20 y:10.6
x: 20 y:10.6667
x: 20 y:10.7333
x: 20 y:10.8
x: 20 y:10.8667
x: 20 y:10.9333
x: 20 y:11
x: 20 y:11.0667
x: 20 y:11.1333
x: 20 y:11.2
x: 20 y:11.2667
x: 20 y:11.3333
x: 20 y:11.4
x: 20 y:11.4667
x: 20 y:11.5333
x: 20 y:11.6
x: 20 y:11.6667
x: 20 y:11.7333
x: 20 y:11.8
x: 20 y:11.8667
x: 20 y:11.9333
x: 20 y:12
x: 20 y:12.0667
x: 20 y:12.1333
x: 20 y:12.2
x: 20 y:12.2667
x: 20 y:12.3333
x: 20 y:12.4
x: 20 y:12.4667
x: 20 y:12.5333
x: 20 y:12.6
x: 20 y:12.6667
x: 20 y:12.7333
x: 20 y:12.8
x: 20 y:12.8667
x: 20 y:12.9333
x: 20 y:13
x: 20 y:13.0667
x: 20 y:13.1333
x: 20 y:13.2
x: 20 y:13.2667
x: 20 y:13.3333
x: 20 y:13.4
x: 20 y:13.4667
x: 20 y:13.5333
x: 20 y:13.6
x: 20 y:13.6667
x: 20 y:13.7333
x: 20 y:13.8
x: 20 y:13.8667
x: 20 y:13.9333
x: 20 y:14
x: 20 y:14.0667
x: 20 y:14.1333
x: 20 y:14.2
x: 20 y:14.2667
x: 20 y:14.3333
x: 20 y:14.4
x: 20 y:14.4667
x: 20 y:14.5333
x: 20 y:14.6
x: 20 y:14.6667
x: 20 y:14.7333
x: 20 y:14.8
x: 20 y:14.8667
x: 20 y:14.9333
x: 20 y:15
x: 20 y:15.0667
x: 20 y:15.1333
x: 20 y:15.2
x: 20 y:15.2667
x: 20 y:15.3333
x: 20 y:15.4
x: 20 y:15.4667
x: 20 y:15.5333
x: 20 y:15.6
x: 20 y:15.6667
x: 20 y:15.7333
x: 20 y:15.8
x: 20 y:15.8667
x: 20 y:15.9333
x: 20 y:16
x: 20 y:15.0656
x: 20 y:15.1289
x: 20 y:15.19
x: 20 y:15.2489
x: 20 y:15.3056
x: 20 y:15.36
x: 20 y:15.4122
x: 20 y:15.4622
x: 20 y:15.51
x: 20 y:15.5556
x: 20 y:15.5989
x: 20 y:15.64
x: 20 y:15.6789
x: 20 y:15.7156
x: 20 y:15.75
x: 20 y:15.7822
x: 20 y:15.8122
x: 20 y:15.84
x: 20 y:15.8656
x: 20 y:15.8889
x: 20 y:15.91
x: 20 y:15.9289
x: 20 y:15.9456
x: 20 y:15.96
x: 20 y:15.9722
x: 20 y:15.9822
x: 20 y:15.99
x: 20 y:15.9956
x: 20 y:15.9989
x: 20 y:16
uav_id:1 column finished1 
---1 current start pos:6 - 19
---1 current end pos:17 - 19
---2 current start pos:5 - 20
---2 current end pos:1 - 20
17 - 19
17 - 19
17 - 20
17 - 20
16 - 20
15 - 20
14 - 20
13 - 20
12 - 20
11 - 20
10 - 20
9 - 20
8 - 20
7 - 20
6 - 20
5 - 20
[ INFO] [1639139202.394010283, 7808.920000000]: point_num:  14
point: 
17 19 10
17 20 10
16 20 10
15 20 10
14 20 10
13 20 10
12 20 10
11 20 10
10 20 10
 9 20 10
 8 20 10
 7 20 10
 6 20 10
 5 20 10
uav_id:2 move finished1 
uav_id:2 move finished2 
col: 19 rowmin: 1 rowmax: 5
 ----- real pos        
x: 19 y:4.99889
x: 19 y:4.99556
x: 19 y:4.99
x: 19 y:4.98222
x: 19 y:4.97222
x: 19 y:4.96
x: 19 y:4.94556
x: 19 y:4.92889
x: 19 y:4.91
x: 19 y:4.88889
x: 19 y:4.86556
x: 19 y:4.84
x: 19 y:4.81222
x: 19 y:4.78222
x: 19 y:4.75
x: 19 y:4.71556
x: 19 y:4.67889
x: 19 y:4.64
x: 19 y:4.59889
x: 19 y:4.55556
x: 19 y:4.51
x: 19 y:4.46222
x: 19 y:4.41222
x: 19 y:4.36
x: 19 y:4.30556
x: 19 y:4.24889
x: 19 y:4.19
x: 19 y:4.12889
x: 19 y:4.06556
x: 19 y:4
x: 19 y:3.93333
x: 19 y:3.86667
x: 19 y:3.8
x: 19 y:3.73333
x: 19 y:3.66667
x: 19 y:3.6
x: 19 y:3.53333
x: 19 y:3.46667
x: 19 y:3.4
x: 19 y:3.33333
x: 19 y:3.26667
x: 19 y:3.2
x: 19 y:3.13333
x: 19 y:3.06667
x: 19 y:3
x: 19 y:2.93333
x: 19 y:2.86667
x: 19 y:2.8
x: 19 y:2.73333
x: 19 y:2.66667
x: 19 y:2.6
x: 19 y:2.53333
x: 19 y:2.46667
x: 19 y:2.4
x: 19 y:2.33333
x: 19 y:2.26667
x: 19 y:2.2
x: 19 y:2.13333
x: 19 y:2.06667
x: 19 y:2
x: 19 y:2.93444
x: 19 y:2.87111
x: 19 y:2.81
x: 19 y:2.75111
x: 19 y:2.69444
x: 19 y:2.64
x: 19 y:2.58778
x: 19 y:2.53778
x: 19 y:2.49
x: 19 y:2.44444
x: 19 y:2.40111
x: 19 y:2.36
x: 19 y:2.32111
x: 19 y:2.28444
x: 19 y:2.25
x: 19 y:2.21778
x: 19 y:2.18778
x: 19 y:2.16
x: 19 y:2.13444
x: 19 y:2.11111
x: 19 y:2.09
x: 19 y:2.07111
x: 19 y:2.05444
x: 19 y:2.04
x: 19 y:2.02778
x: 19 y:2.01778
x: 19 y:2.01
x: 19 y:2.00444
x: 19 y:2.00111
x: 19 y:2
[ INFO] [1639139202.507023360, 7809.036000000]: spend 0.116000
----  minisnap trajectory generated finished!----
col: 20 rowmin: 1 rowmax: 5
pos:5  -  20
pos_end:1  -  20
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 1 1-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 1 0-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:1 column finished2 
uav_id:2 column finished1 
col: 18 rowmin: 1 rowmax: 6
pos:1  -  18
pos_end:6  -  18
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 1 1-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:2 column finished2 
uav_id:2 neighbor finished1 
uav_id:2 neighbor finished2 
uav_id:1 move finished1 
uav_id:1 move finished2 
col: 20 rowmin: 1 rowmax: 5
 ----- real pos        
x: 20 y:4.99889
x: 20 y:4.99556
x: 20 y:4.99
x: 20 y:4.98222
x: 20 y:4.97222
x: 20 y:4.96
x: 20 y:4.94556
x: 20 y:4.92889
x: 20 y:4.91
x: 20 y:4.88889
x: 20 y:4.86556
x: 20 y:4.84
x: 20 y:4.81222
x: 20 y:4.78222
x: 20 y:4.75
x: 20 y:4.71556
x: 20 y:4.67889
x: 20 y:4.64
x: 20 y:4.59889
x: 20 y:4.55556
x: 20 y:4.51
x: 20 y:4.46222
x: 20 y:4.41222
x: 20 y:4.36
x: 20 y:4.30556
x: 20 y:4.24889
x: 20 y:4.19
x: 20 y:4.12889
x: 20 y:4.06556
x: 20 y:4
x: 20 y:3.93333
x: 20 y:3.86667
x: 20 y:3.8
x: 20 y:3.73333
x: 20 y:3.66667
x: 20 y:3.6
x: 20 y:3.53333
x: 20 y:3.46667
x: 20 y:3.4
x: 20 y:3.33333
x: 20 y:3.26667
x: 20 y:3.2
x: 20 y:3.13333
x: 20 y:3.06667
x: 20 y:3
x: 20 y:2.93333
x: 20 y:2.86667
x: 20 y:2.8
x: 20 y:2.73333
x: 20 y:2.66667
x: 20 y:2.6
x: 20 y:2.53333
x: 20 y:2.46667
x: 20 y:2.4
x: 20 y:2.33333
x: 20 y:2.26667
x: 20 y:2.2
x: 20 y:2.13333
x: 20 y:2.06667
x: 20 y:2
x: 20 y:2.93444
x: 20 y:2.87111
x: 20 y:2.81
x: 20 y:2.75111
x: 20 y:2.69444
x: 20 y:2.64
x: 20 y:2.58778
x: 20 y:2.53778
x: 20 y:2.49
x: 20 y:2.44444
x: 20 y:2.40111
x: 20 y:2.36
x: 20 y:2.32111
x: 20 y:2.28444
x: 20 y:2.25
x: 20 y:2.21778
x: 20 y:2.18778
x: 20 y:2.16
x: 20 y:2.13444
x: 20 y:2.11111
x: 20 y:2.09
x: 20 y:2.07111
x: 20 y:2.05444
x: 20 y:2.04
x: 20 y:2.02778
x: 20 y:2.01778
x: 20 y:2.01
x: 20 y:2.00444
x: 20 y:2.00111
x: 20 y:2
uav_id:0 column finished1 
---1 current start pos:6 - 20
---1 current end pos:17 - 20
---2 current start pos:7 - 5
---2 current end pos:1 - 5
17 - 20
17 - 20
16 - 20
15 - 20
14 - 20
13 - 20
12 - 20
11 - 20
10 - 20
9 - 20
8 - 20
7 - 20
7 - 20
7 - 19
7 - 18
7 - 17
7 - 16
7 - 15
7 - 14
7 - 13
7 - 12
7 - 11
7 - 10
7 - 9
7 - 8
7 - 7
7 - 6
7 - 5
[ INFO] [1639139208.092630033, 7814.604000000]: point_num:  26
point: 
17 20 10
16 20 10
15 20 10
14 20 10
13 20 10
12 20 10
11 20 10
10 20 10
 9 20 10
 8 20 10
 7 20 10
 7 19 10
 7 18 10
 7 17 10
 7 16 10
 7 15 10
 7 14 10
 7 13 10
 7 12 10
 7 11 10
 7 10 10
 7  9 10
 7  8 10
 7  7 10
 7  6 10
 7  5 10
[ INFO] [1639139208.493770657, 7815.004000000]: spend 0.400000
----  minisnap trajectory generated finished!----
col: 5 rowmin: 1 rowmax: 7
pos:7  -  5
pos_end:1  -  5
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 1 1-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 8-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 7-1-1-1-1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 6-1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 5-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 4-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 3-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 2-1 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:0 column finished2 
uav_id:1 column finished1 
---1 current start pos:5 - 20
---1 current end pos:1 - 20
---2 current start pos:1 - 4
---2 current end pos:19 - 4
1 - 20
1 - 20
1 - 19
1 - 18
1 - 17
1 - 16
1 - 15
1 - 14
1 - 13
1 - 12
1 - 11
1 - 10
1 - 9
1 - 8
1 - 7
1 - 6
1 - 5
1 - 4
[ INFO] [1639139209.868393701, 7816.376000000]: point_num:  17
point: 
 1 20 10
 1 19 10
 1 18 10
 1 17 10
 1 16 10
 1 15 10
 1 14 10
 1 13 10
 1 12 10
 1 11 10
 1 10 10
 1  9 10
 1  8 10
 1  7 10
 1  6 10
 1  5 10
 1  4 10
[ INFO] [1639139209.975038006, 7816.480000000]: spend 0.104000
----  minisnap trajectory generated finished!----
col: 4 rowmin: 1 rowmax: 19
pos:1  -  4
pos_end:19  -  4
--------------------------the map ------------------------
22-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
21-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1
20-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1
19-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
18-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
17-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
16-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
15-1 1 1 1 1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1-1
14-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
13-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
12-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1-1
11-1 1 1 1 1 1-1-1-1 1 1 1 1 1 1-1-1-1-1 1 1-1
10-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 9-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1-1-1-1-1 1 1-1
 8-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 7-1-1-1-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 6-1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 5-1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 4-1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 3-1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 2-1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1-1
 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1
-- 0 1 2 3 4 5 6 7 8 9101112131415161718192021
uav_id:1 column finished2 
uav_id:2 column finished1 
---1 current start pos:1 - 18
---1 current end pos:6 - 18
uav_id:1 move finished1 
uav_id:1 move finished2 
col: 4 rowmin: 1 rowmax: 19
 ----- real pos        
x: 4 y:1.00111
x: 4 y:1.00444
x: 4 y:1.01
x: 4 y:1.01778
x: 4 y:1.02778
x: 4 y:1.04
x: 4 y:1.05444
x: 4 y:1.07111
x: 4 y:1.09
x: 4 y:1.11111
x: 4 y:1.13444
x: 4 y:1.16
x: 4 y:1.18778
x: 4 y:1.21778
x: 4 y:1.25
x: 4 y:1.28444
x: 4 y:1.32111
x: 4 y:1.36
x: 4 y:1.40111
x: 4 y:1.44444
x: 4 y:1.49
x: 4 y:1.53778
x: 4 y:1.58778
x: 4 y:1.64
x: 4 y:1.69444
x: 4 y:1.75111
x: 4 y:1.81
x: 4 y:1.87111
x: 4 y:1.93444
x: 4 y:2
x: 4 y:2.06667
x: 4 y:2.13333
x: 4 y:2.2
x: 4 y:2.26667
x: 4 y:2.33333
x: 4 y:2.4
x: 4 y:2.46667
x: 4 y:2.53333
x: 4 y:2.6
x: 4 y:2.66667
x: 4 y:2.73333
x: 4 y:2.8
x: 4 y:2.86667
x: 4 y:2.93333
x: 4 y:3
x: 4 y:3.06667
x: 4 y:3.13333
x: 4 y:3.2
x: 4 y:3.26667
x: 4 y:3.33333
x: 4 y:3.4
x: 4 y:3.46667
x: 4 y:3.53333
x: 4 y:3.6
x: 4 y:3.66667
x: 4 y:3.73333
x: 4 y:3.8
x: 4 y:3.86667
x: 4 y:3.93333
x: 4 y:4
x: 4 y:4.06667
x: 4 y:4.13333
x: 4 y:4.2
x: 4 y:4.26667
x: 4 y:4.33333
x: 4 y:4.4
x: 4 y:4.46667
x: 4 y:4.53333
x: 4 y:4.6
x: 4 y:4.66667
x: 4 y:4.73333
x: 4 y:4.8
x: 4 y:4.86667
x: 4 y:4.93333
x: 4 y:5
x: 4 y:5.06667
x: 4 y:5.13333
x: 4 y:5.2
x: 4 y:5.26667
x: 4 y:5.33333
x: 4 y:5.4
x: 4 y:5.46667
x: 4 y:5.53333
x: 4 y:5.6
x: 4 y:5.66667
x: 4 y:5.73333
x: 4 y:5.8
x: 4 y:5.86667
x: 4 y:5.93333
x: 4 y:6
x: 4 y:6.06667
x: 4 y:6.13333
x: 4 y:6.2
x: 4 y:6.26667
x: 4 y:6.33333
x: 4 y:6.4
x: 4 y:6.46667
x: 4 y:6.53333
x: 4 y:6.6
x: 4 y:6.66667
x: 4 y:6.73333
x: 4 y:6.8
x: 4 y:6.86667
x: 4 y:6.93333
x: 4 y:7
x: 4 y:7.06667
x: 4 y:7.13333
x: 4 y:7.2
x: 4 y:7.26667
x: 4 y:7.33333
x: 4 y:7.4
x: 4 y:7.46667
x: 4 y:7.53333
x: 4 y:7.6
x: 4 y:7.66667
x: 4 y:7.73333
x: 4 y:7.8
x: 4 y:7.86667
x: 4 y:7.93333
x: 4 y:8
x: 4 y:8.06667
x: 4 y:8.13333
x: 4 y:8.2
x: 4 y:8.26667
x: 4 y:8.33333
x: 4 y:8.4
x: 4 y:8.46667
x: 4 y:8.53333
x: 4 y:8.6
x: 4 y:8.66667
x: 4 y:8.73333
x: 4 y:8.8
x: 4 y:8.86667
x: 4 y:8.93333
x: 4 y:9
x: 4 y:9.06667
x: 4 y:9.13333
x: 4 y:9.2
x: 4 y:9.26667
x: 4 y:9.33333
x: 4 y:9.4
x: 4 y:9.46667
x: 4 y:9.53333
x: 4 y:9.6
x: 4 y:9.66667
x: 4 y:9.73333
x: 4 y:9.8
x: 4 y:9.86667
x: 4 y:9.93333
x: 4 y:10
x: 4 y:10.0667
x: 4 y:10.1333
x: 4 y:10.2
x: 4 y:10.2667
x: 4 y:10.3333
x: 4 y:10.4
x: 4 y:10.4667
x: 4 y:10.5333
x: 4 y:10.6
x: 4 y:10.6667
x: 4 y:10.7333
x: 4 y:10.8
x: 4 y:10.8667
x: 4 y:10.9333
x: 4 y:11
x: 4 y:11.0667
x: 4 y:11.1333
x: 4 y:11.2
x: 4 y:11.2667
x: 4 y:11.3333
x: 4 y:11.4
x: 4 y:11.4667
x: 4 y:11.5333
x: 4 y:11.6
x: 4 y:11.6667
x: 4 y:11.7333
x: 4 y:11.8
x: 4 y:11.8667
x: 4 y:11.9333
x: 4 y:12
x: 4 y:12.0667
x: 4 y:12.1333
x: 4 y:12.2
x: 4 y:12.2667
x: 4 y:12.3333
x: 4 y:12.4
x: 4 y:12.4667
x: 4 y:12.5333
x: 4 y:12.6
x: 4 y:12.6667
x: 4 y:12.7333
x: 4 y:12.8
x: 4 y:12.8667
x: 4 y:12.9333
x: 4 y:13
x: 4 y:13.0667
x: 4 y:13.1333
x: 4 y:13.2
x: 4 y:13.2667
x: 4 y:13.3333
x: 4 y:13.4
x: 4 y:13.4667
x: 4 y:13.5333
x: 4 y:13.6
x: 4 y:13.6667
x: 4 y:13.7333
x: 4 y:13.8
x: 4 y:13.8667
x: 4 y:13.9333
x: 4 y:14
x: 4 y:14.0667
x: 4 y:14.1333
x: 4 y:14.2
x: 4 y:14.2667
x: 4 y:14.3333
x: 4 y:14.4
x: 4 y:14.4667
x: 4 y:14.5333
x: 4 y:14.6
x: 4 y:14.6667
x: 4 y:14.7333
x: 4 y:14.8
x: 4 y:14.8667
x: 4 y:14.9333
x: 4 y:15
x: 4 y:15.0667
x: 4 y:15.1333
x: 4 y:15.2
x: 4 y:15.2667
x: 4 y:15.3333
x: 4 y:15.4
x: 4 y:15.4667
x: 4 y:15.5333
x: 4 y:15.6
x: 4 y:15.6667
x: 4 y:15.7333
x: 4 y:15.8
x: 4 y:15.8667
x: 4 y:15.9333
x: 4 y:16
x: 4 y:16.0667
x: 4 y:16.1333
x: 4 y:16.2
x: 4 y:16.2667
x: 4 y:16.3333
x: 4 y:16.4
x: 4 y:16.4667
x: 4 y:16.5333
x: 4 y:16.6
x: 4 y:16.6667
x: 4 y:16.7333
x: 4 y:16.8
x: 4 y:16.8667
x: 4 y:16.9333
x: 4 y:17
x: 4 y:17.0667
x: 4 y:17.1333
x: 4 y:17.2
x: 4 y:17.2667
x: 4 y:17.3333
x: 4 y:17.4
x: 4 y:17.4667
x: 4 y:17.5333
x: 4 y:17.6
x: 4 y:17.6667
x: 4 y:17.7333
x: 4 y:17.8
x: 4 y:17.8667
x: 4 y:17.9333
x: 4 y:18
x: 4 y:17.0656
x: 4 y:17.1289
x: 4 y:17.19
x: 4 y:17.2489
x: 4 y:17.3056
x: 4 y:17.36
x: 4 y:17.4122
x: 4 y:17.4622
x: 4 y:17.51
x: 4 y:17.5556
x: 4 y:17.5989
x: 4 y:17.64
x: 4 y:17.6789
x: 4 y:17.7156
x: 4 y:17.75
x: 4 y:17.7822
x: 4 y:17.8122
x: 4 y:17.84
x: 4 y:17.8656
x: 4 y:17.8889
x: 4 y:17.91
x: 4 y:17.9289
x: 4 y:17.9456
x: 4 y:17.96
x: 4 y:17.9722
x: 4 y:17.9822
x: 4 y:17.99
x: 4 y:17.9956
x: 4 y:17.9989
x: 4 y:18
uav_id:0 move finished1 
uav_id:0 move finished2 
col: 5 rowmin: 1 rowmax: 7
 ----- real pos        
x: 5 y:6.99889
x: 5 y:6.99556
x: 5 y:6.99
x: 5 y:6.98222
x: 5 y:6.97222
x: 5 y:6.96
x: 5 y:6.94556
x: 5 y:6.92889
x: 5 y:6.91
x: 5 y:6.88889
x: 5 y:6.86556
x: 5 y:6.84
x: 5 y:6.81222
x: 5 y:6.78222
x: 5 y:6.75
x: 5 y:6.71556
x: 5 y:6.67889
x: 5 y:6.64
x: 5 y:6.59889
x: 5 y:6.55556
x: 5 y:6.51
x: 5 y:6.46222
x: 5 y:6.41222
x: 5 y:6.36
x: 5 y:6.30556
x: 5 y:6.24889
x: 5 y:6.19
x: 5 y:6.12889
x: 5 y:6.06556
x: 5 y:6
x: 5 y:5.93333
x: 5 y:5.86667
x: 5 y:5.8
x: 5 y:5.73333
x: 5 y:5.66667
x: 5 y:5.6
x: 5 y:5.53333
x: 5 y:5.46667
x: 5 y:5.4
x: 5 y:5.33333
x: 5 y:5.26667
x: 5 y:5.2
x: 5 y:5.13333
x: 5 y:5.06667
x: 5 y:5
x: 5 y:4.93333
x: 5 y:4.86667
x: 5 y:4.8
x: 5 y:4.73333
x: 5 y:4.66667
x: 5 y:4.6
x: 5 y:4.53333
x: 5 y:4.46667
x: 5 y:4.4
x: 5 y:4.33333
x: 5 y:4.26667
x: 5 y:4.2
x: 5 y:4.13333
x: 5 y:4.06667
x: 5 y:4
x: 5 y:3.93333
x: 5 y:3.86667
x: 5 y:3.8
x: 5 y:3.73333
x: 5 y:3.66667
x: 5 y:3.6
x: 5 y:3.53333
x: 5 y:3.46667
x: 5 y:3.4
x: 5 y:3.33333
x: 5 y:3.26667
x: 5 y:3.2
x: 5 y:3.13333
x: 5 y:3.06667
x: 5 y:3
x: 5 y:2.93333
x: 5 y:2.86667
x: 5 y:2.8
x: 5 y:2.73333
x: 5 y:2.66667
x: 5 y:2.6
x: 5 y:2.53333
x: 5 y:2.46667
x: 5 y:2.4
x: 5 y:2.33333
x: 5 y:2.26667
x: 5 y:2.2
x: 5 y:2.13333
x: 5 y:2.06667
x: 5 y:2
x: 5 y:2.93444
x: 5 y:2.87111
x: 5 y:2.81
x: 5 y:2.75111
x: 5 y:2.69444
x: 5 y:2.64
x: 5 y:2.58778
x: 5 y:2.53778
x: 5 y:2.49
x: 5 y:2.44444
x: 5 y:2.40111
x: 5 y:2.36
x: 5 y:2.32111
x: 5 y:2.28444
x: 5 y:2.25
x: 5 y:2.21778
x: 5 y:2.18778
x: 5 y:2.16
x: 5 y:2.13444
x: 5 y:2.11111
x: 5 y:2.09
x: 5 y:2.07111
x: 5 y:2.05444
x: 5 y:2.04
x: 5 y:2.02778
x: 5 y:2.01778
x: 5 y:2.01
x: 5 y:2.00444
x: 5 y:2.00111
x: 5 y:2
uav_id:0 column finished1 
---1 current start pos:7 - 5
---1 current end pos:1 - 5
uav_id:1 column finished1 
---1 current start pos:1 - 4
---1 current end pos:19 - 4
... logging to /home/pm/.ros/log/104611f4-59a2-11ec-bbd1-b06ebfc41e2e/roslaunch-pm-580.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
]2;/home/pm/simu_ws/src/trajectory_follower/launch/simu_swarm.launch
started roslaunch server http://pm:45091/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /uav0/uav_id: 0
 * /uav1/uav_id: 1
 * /uav2/uav_id: 2

NODES
  /uav0/
    multi_coverage (trajectory_follower/multi_coverage)
  /uav1/
    multi_coverage (trajectory_follower/multi_coverage)
  /uav2/
    multi_coverage (trajectory_follower/multi_coverage)

ROS_MASTER_URI=http://localhost:11311
]2;/home/pm/simu_ws/src/trajectory_follower/launch/simu_swarm.launch http://localhost:11311
process[uav0/multi_coverage-1]: started with pid [595]
process[uav1/multi_coverage-2]: started with pid [596]
process[uav2/multi_coverage-3]: started with pid [597]
[uav2/multi_coverage-3] killing on exit
[uav1/multi_coverage-2] killing on exit
[uav0/multi_coverage-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done