From 43d7815a07639f9c758cf36e9becee5562295a5e Mon Sep 17 00:00:00 2001
From: beoffre <felix.yriarte@gmail.com>
Date: Fri, 15 Jul 2022 11:33:54 +0200
Subject: [PATCH] loopDetection and centering done
---
graph.ipynb | 618 +++++++++++++++++++++++++++++++++++++++++++++++++---
1 file changed, 583 insertions(+), 35 deletions(-)
diff --git a/graph.ipynb b/graph.ipynb
index 583f2f7..bcb4141 100644
--- a/graph.ipynb
+++ b/graph.ipynb
@@ -20,7 +20,7 @@
},
{
"cell_type": "code",
- "execution_count": 2,
+ "execution_count": 20,
"metadata": {
"id": "M18yRYkw6cJz"
},
@@ -58,7 +58,7 @@
},
{
"cell_type": "code",
- "execution_count": 3,
+ "execution_count": 21,
"metadata": {
"id": "OF2OuaTGDQMl"
},
@@ -68,6 +68,11 @@
"\n",
"def load_image(path):\n",
" im_gray = imread(path, as_gray=True)\n",
+ " # res=np.zeros((im_gray.shape[0]+4,im_gray.shape[1]+4))\n",
+ " # for i in range(im_gray.shape[0]):\n",
+ " # for j in range(im_gray.shape[1]):\n",
+ " # res[i+2][j+2]=im_gray[i][j]\n",
+ " \n",
" return im_gray\n",
"\n",
"def erosion_image(image, structural_elem = 'None'): \n",
@@ -133,7 +138,7 @@
},
{
"cell_type": "code",
- "execution_count": 4,
+ "execution_count": 22,
"metadata": {
"id": "2oa-b7dNPYEX"
},
@@ -163,7 +168,7 @@
},
{
"cell_type": "code",
- "execution_count": 5,
+ "execution_count": 23,
"metadata": {
"id": "boY51esQcZrj"
},
@@ -205,7 +210,7 @@
},
{
"cell_type": "code",
- "execution_count": 6,
+ "execution_count": 24,
"metadata": {
"id": "gdkvRQpQgGCr"
},
@@ -231,7 +236,7 @@
},
{
"cell_type": "code",
- "execution_count": 7,
+ "execution_count": 25,
"metadata": {
"id": "zrZmYUQ0PQ_i"
},
@@ -287,7 +292,7 @@
},
{
"cell_type": "code",
- "execution_count": 8,
+ "execution_count": 26,
"metadata": {},
"outputs": [],
"source": [
@@ -437,7 +442,7 @@
},
{
"cell_type": "code",
- "execution_count": 9,
+ "execution_count": 27,
"metadata": {},
"outputs": [],
"source": [
@@ -504,7 +509,7 @@
},
{
"cell_type": "code",
- "execution_count": 10,
+ "execution_count": 28,
"metadata": {},
"outputs": [],
"source": [
@@ -539,7 +544,7 @@
},
{
"cell_type": "code",
- "execution_count": 11,
+ "execution_count": 29,
"metadata": {},
"outputs": [],
"source": [
@@ -615,7 +620,7 @@
},
{
"cell_type": "code",
- "execution_count": 12,
+ "execution_count": 30,
"metadata": {},
"outputs": [],
"source": [
@@ -644,7 +649,7 @@
},
{
"cell_type": "code",
- "execution_count": 13,
+ "execution_count": 31,
"metadata": {},
"outputs": [],
"source": [
@@ -662,7 +667,7 @@
},
{
"cell_type": "code",
- "execution_count": 14,
+ "execution_count": 32,
"metadata": {},
"outputs": [],
"source": [
@@ -679,7 +684,7 @@
},
{
"cell_type": "code",
- "execution_count": 15,
+ "execution_count": 33,
"metadata": {},
"outputs": [],
"source": [
@@ -708,7 +713,7 @@
},
{
"cell_type": "code",
- "execution_count": 16,
+ "execution_count": 34,
"metadata": {},
"outputs": [],
"source": [
@@ -784,7 +789,7 @@
},
{
"cell_type": "code",
- "execution_count": 17,
+ "execution_count": 83,
"metadata": {},
"outputs": [],
"source": [
@@ -837,8 +842,9 @@
"def relativeWhiteDir(skeleton,x,y):\n",
" res=[]\n",
" for i in [(-1,0),(1,0),(0,1),(0,-1),(-1,-1),(-1,1),(1,-1),(1,1)]:\n",
- " if skeleton[x+i[0]][y+i[1]]:\n",
- " res.append(i)\n",
+ " if x+i[0]>=0 and x+i[0]<skeleton.shape[0] and y+i[1]>=0 and y+i[1]<skeleton.shape[1]:\n",
+ " if skeleton[x+i[0]][y+i[1]]:\n",
+ " res.append(i)\n",
" return res\n",
"\n",
"\n",
@@ -862,14 +868,20 @@
" global veryDebug\n",
" global blocked\n",
" visited=[depart]\n",
+ " #midPoints=[]\n",
+ " encounteredPoints=[[]]\n",
+ " encounteredPoints[0].append(depart)\n",
+ " #moyPoint=[depart[0],depart[1]]\n",
+ " #countPoints=1\n",
" \n",
" posMins=getPosFromMins(mins)\n",
" nextWhite=relativeWhiteDir(skel,depart[0],depart[1])\n",
" flag=False\n",
" if debug:\n",
" print('pos depart : ',depart,posMins.index(posMinDepart))\n",
+ " \n",
" if len(nextWhite)==0:\n",
- " return [(posMins.index(posMinDepart),posMins.index(posMinDepart))],[]\n",
+ " return [(posMins.index(posMinDepart),posMins.index(posMinDepart))],[],[]\n",
" dir=(0,0)\n",
" for i in range(len(nextWhite)):\n",
" if not((nextWhite[i][0]+depart[0],nextWhite[i][1]+depart[1]) in blocked) and (nextWhite[i][0]+depart[0],nextWhite[i][1]+depart[1])!=posMinDepart:\n",
@@ -877,13 +889,17 @@
" dir=(nextWhite[i][0],nextWhite[i][1])\n",
" break\n",
" if not(flag):\n",
- " return [],[]\n",
+ " return [],[],[]\n",
" \n",
" \n",
"\n",
"\n",
" last=depart\n",
" next=(last[0]+dir[0],last[1]+dir[1])\n",
+ " # moyPoint[0]+=next[0]\n",
+ " # moyPoint[1]+=next[1]\n",
+ " encounteredPoints[0].append(next)\n",
+ " # countPoints+=1\n",
" visited.append(next)\n",
"\n",
" while not(next in posMins):\n",
@@ -897,30 +913,43 @@
" dir=(nextWhite[i][0],nextWhite[i][1])\n",
" break\n",
" next=(last[0]+dir[0],last[1]+dir[1])\n",
+ " \n",
" visited.append(next)\n",
+ " # moyPoint[0]+=next[0]\n",
+ " # moyPoint[1]+=next[1]\n",
+ " encounteredPoints[0].append(next)\n",
+ " # countPoints+=1\n",
+ " # moyPoint[0]/=countPoints\n",
+ " # moyPoint[1]/=countPoints\n",
+ " # midPoints.append((int(moyPoint[0]),int(moyPoint[1])))\n",
" blocked.append(last)\n",
" if debug:\n",
" print('blocked :',blocked,'point arrivee :',posMins.index(next)) \n",
" res=[]\n",
" res.append((posMins.index(posMinDepart),posMins.index(next)))\n",
" nextWhite=relativeWhiteDir(skel,next[0],next[1])\n",
+ " \n",
+ "\n",
" for i in range(len(nextWhite)):\n",
" \n",
" if not((next[0]+nextWhite[i][0],next[1]+nextWhite[i][1]) in blocked) and not((next[0]+nextWhite[i][0],next[1]+nextWhite[i][1])==last):\n",
" curr=(next[0]+nextWhite[i][0],next[1]+nextWhite[i][1])\n",
" blocked.append((next[0]+nextWhite[i][0],next[1]+nextWhite[i][1]))\n",
- " childList,visitedChildren=recurseGraph(skel,mins,(next[0]+nextWhite[i][0],next[1]+nextWhite[i][1]),(next[0],next[1]))\n",
+ " childList,visitedChildren,pointsParcourus=recurseGraph(skel,mins,(next[0]+nextWhite[i][0],next[1]+nextWhite[i][1]),(next[0],next[1]))\n",
" for child in childList:\n",
" res.append(child)\n",
" for i in visitedChildren:\n",
" visited.append(i)\n",
- " return res,visited\n",
+ " for i in range(len(pointsParcourus)):\n",
+ " if len(pointsParcourus[i])!=0:\n",
+ " encounteredPoints.append(pointsParcourus[i])\n",
+ " return res,visited,encounteredPoints\n",
" "
]
},
{
"cell_type": "code",
- "execution_count": 18,
+ "execution_count": 76,
"metadata": {},
"outputs": [],
"source": [
@@ -938,6 +967,9 @@
" global nonEncountered\n",
" encounteredCNs=[]\n",
" nonEncountered=[]\n",
+ "\n",
+ " midPoints=[]\n",
+ "\n",
" for i in range(len(CNs)):\n",
" nonEncountered.append(CNs[i])\n",
" tot=[]\n",
@@ -959,8 +991,25 @@
" CNs.append((a[0],a[1],5))\n",
" idx=0\n",
" dot=CNs[CNs.index(nonEncountered[idx])]\n",
- " compCon,visited=recurseGraph(skel,CNs,(dot[0],dot[1]),(dot[0],dot[1]))\n",
+ " compCon,visited,mids=recurseGraph(skel,CNs,(dot[0],dot[1]),(dot[0],dot[1]))\n",
" for i in range(len(compCon)):\n",
+ " if compCon[i][0]==compCon[i][1]:\n",
+ " moyX,moyY=0,0\n",
+ " for j in range(len(mids[i])):\n",
+ " moyX+=mids[i][j][0]\n",
+ " moyY+=mids[i][j][1]\n",
+ "\n",
+ " midPoints.append((int(moyX/len(mids[i])),int(moyY/len(mids[i]))))\n",
+ " if (compCon[i][1],compCon[i][0]) in compCon:\n",
+ " if debug:\n",
+ " print(compCon[i][1],compCon[i][0],compCon.index((compCon[i][1],compCon[i][0])))\n",
+ " print(mids)\n",
+ " both=mids[i]+mids[compCon.index((compCon[i][1],compCon[i][0]))]\n",
+ " moyX,moyY=0,0\n",
+ " for e in both:\n",
+ " moyX+=e[0]\n",
+ " moyY+=e[1]\n",
+ " midPoints.append((int(moyX/len(both)),int(moyY/len(both)))) \n",
" if not(CNs[compCon[i][0]] in encounteredCNs):\n",
" encounteredCNs.append(CNs[compCon[i][0]])\n",
" if not(CNs[compCon[i][1]] in encounteredCNs):\n",
@@ -983,8 +1032,9 @@
" print(count)\n",
" #print(nonEncountered)\n",
" #imshow()\n",
- " plt.imsave('/home/felix/Documents/work/FuzzyDoc/fuzzydoc/hole_skel.png',skel2)\n",
- " return(tot)"
+ " \n",
+ " \n",
+ " return(tot,midPoints)"
]
},
{
@@ -1021,23 +1071,516 @@
},
{
"cell_type": "code",
- "execution_count": 20,
+ "execution_count": 43,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
- "threshold found : 0.533203125\n",
- "threshold found : 0.533203125\n",
+ "threshold found : 102\n"
+ ]
+ }
+ ],
+ "source": [
+ "debug=False ; veryDebug=False ; blocked=[]\n",
+ "\n",
+ "\n",
+ "path=\"subset/Database_Letters/Numeric/a/001.png\"\n",
+ "bin=binarization_image(load_image(path),'otsu')\n",
+ "skel=skeletonization_image(bin,'lee')\n",
+ "CNs=minutia_extraction(skel)\n",
+ "\n",
+ "i=0\n",
+ "pnt=(CNs[i][0],CNs[i][1])\n",
+ "a,b,c=recurseGraph(skel,CNs,pnt,pnt)\n",
+ "# for i in c:\n",
+ "# CNs.append((int(i[0]),int(i[1]),5))\n",
+ "CNs.append((30,22))\n",
+ "plt.imsave(\"testMidPoints.png\",draw_minutia(CNs,skel))"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 41,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "[(0, 1), (1, 2), (2, 1), (2, 3)] [(7.2368421052631575, 20.31578947368421), (32.82142857142857, 15.482142857142858), (28.0, 29.952380952380953), (42.583333333333336, 34.666666666666664)]\n",
+ "30.410714285714285 22.717261904761905\n"
+ ]
+ }
+ ],
+ "source": [
+ "print(a,c)\n",
+ "\n",
+ "print(1/2*(c[1][0]+c[2][0]),1/2*(c[1][1]+c[2][1]))"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 84,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "threshold found : 0.6623621323529412\n",
+ "threshold found : 0.6623621323529412\n",
+ "threshold found : 0.6623621323529412\n",
+ "pos depart : (11, 153) 0\n",
+ "blocked : [(20, 141)] point arrivee : 32\n",
+ "pos depart : (21, 143) 32\n",
+ "blocked : [(20, 141), (21, 143), (21, 151)] point arrivee : 33\n",
+ "pos depart : (22, 141) 32\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152)] point arrivee : 61\n",
"1\n",
+ "pos depart : (11, 181) 1\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169)] point arrivee : 34\n",
+ "pos depart : (21, 171) 34\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180)] point arrivee : 35\n",
+ "pos depart : (22, 169) 34\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169)] point arrivee : 53\n",
"2\n",
- "[[(0, 1)], [(2, 2), (2, 2)]]\n"
+ "pos depart : (11, 231) 2\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231)] point arrivee : 36\n",
+ "pos depart : (21, 233) 36\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244)] point arrivee : 37\n",
+ "pos depart : (20, 246) 37\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246)] point arrivee : 3\n",
+ "pos depart : (22, 246) 37\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246)] point arrivee : 63\n",
+ "pos depart : (22, 231) 36\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231)] point arrivee : 62\n",
+ "3\n",
+ "pos depart : (11, 309) 4\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309)] point arrivee : 41\n",
+ "pos depart : (21, 311) 41\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313)] point arrivee : 38\n",
+ "pos depart : (20, 314) 38\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320)] point arrivee : 5\n",
+ "pos depart : (22, 315) 38\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321)] point arrivee : 65\n",
+ "pos depart : (23, 309) 41\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309)] point arrivee : 64\n",
+ "4\n",
+ "pos depart : (11, 420) 6\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404)] point arrivee : 69\n",
+ "5\n",
+ "pos depart : (11, 594) 7\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601)] point arrivee : 21\n",
+ "pos depart : (13, 602) 21\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602)] point arrivee : 73\n",
+ "pos depart : (11, 603) 21\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610)] point arrivee : 8\n",
+ "6\n",
+ "pos depart : (11, 626) 9\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641)] point arrivee : 24\n",
+ "7\n",
+ "pos depart : (11, 658) 10\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673)] point arrivee : 11\n",
+ "8\n",
+ "pos depart : (11, 689) 12\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707)] point arrivee : 52\n",
+ "pos depart : (29, 708) 52\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708)] point arrivee : 57\n",
+ "pos depart : (28, 709) 52\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714)] point arrivee : 13\n",
+ "9\n",
+ "pos depart : (11, 731) 14\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736)] point arrivee : 30\n",
+ "pos depart : (21, 737) 30\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737)] point arrivee : 43\n",
+ "pos depart : (23, 736) 43\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732)] point arrivee : 58\n",
+ "pos depart : (23, 738) 43\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744)] point arrivee : 74\n",
+ "pos depart : (20, 738) 30\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743)] point arrivee : 22\n",
+ "10\n",
+ "pos depart : (11, 762) 15\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768)] point arrivee : 39\n",
+ "pos depart : (22, 769) 39\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769)] point arrivee : 75\n",
+ "pos depart : (20, 770) 39\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774)] point arrivee : 23\n",
+ "11\n",
+ "pos depart : (11, 792) 16\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806)] point arrivee : 76\n",
+ "12\n",
+ "pos depart : (12, 264) 17\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264)] point arrivee : 54\n",
+ "13\n",
+ "pos depart : (12, 290) 18\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281)] point arrivee : 50\n",
+ "14\n",
+ "pos depart : (12, 339) 19\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351)] point arrivee : 66\n",
+ "15\n",
+ "pos depart : (12, 367) 20\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368)] point arrivee : 28\n",
+ "pos depart : (16, 367) 28\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367)] point arrivee : 67\n",
+ "pos depart : (16, 369) 28\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387)] point arrivee : 68\n",
+ "16\n",
+ "pos depart : (14, 579) 25\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566)] point arrivee : 51\n",
+ "17\n",
+ "pos depart : (15, 91) 26\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90)] point arrivee : 48\n",
+ "18\n",
+ "pos depart : (15, 213) 27\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207)] point arrivee : 40\n",
+ "19\n",
+ "pos depart : (27, 512) 49\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513)] point arrivee : 55\n",
+ "pos depart : (30, 514) 55\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514)] point arrivee : 56\n",
+ "pos depart : (29, 516) 56\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512)] point arrivee : 55\n",
+ "pos depart : (31, 516) 56\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516)] point arrivee : 77\n",
+ "56 55 2\n",
+ "[[(27, 512), (28, 513), (29, 513), (30, 513)], [(30, 514), (30, 515)], [(29, 516), (28, 517), (27, 518), (26, 518), (25, 518), (24, 519), (23, 519), (22, 519), (21, 519), (20, 519), (19, 519), (18, 519), (17, 519), (16, 518), (15, 518), (14, 517), (13, 516), (12, 515), (11, 514), (11, 513), (10, 512), (10, 511), (10, 510), (10, 509), (10, 508), (11, 507), (11, 506), (12, 505), (12, 504), (13, 503), (14, 503), (15, 502), (16, 502), (17, 502), (18, 501), (19, 501), (20, 501), (21, 501), (22, 501), (23, 501), (24, 501), (25, 502), (26, 502), (27, 502), (28, 503), (29, 504), (30, 505), (31, 506), (31, 507), (31, 508), (31, 509), (31, 510), (31, 511), (31, 512), (30, 513)], [(31, 516), (32, 516), (33, 516), (34, 517)]]\n",
+ "55 56 1\n",
+ "[[(27, 512), (28, 513), (29, 513), (30, 513)], [(30, 514), (30, 515)], [(29, 516), (28, 517), (27, 518), (26, 518), (25, 518), (24, 519), (23, 519), (22, 519), (21, 519), (20, 519), (19, 519), (18, 519), (17, 519), (16, 518), (15, 518), (14, 517), (13, 516), (12, 515), (11, 514), (11, 513), (10, 512), (10, 511), (10, 510), (10, 509), (10, 508), (11, 507), (11, 506), (12, 505), (12, 504), (13, 503), (14, 503), (15, 502), (16, 502), (17, 502), (18, 501), (19, 501), (20, 501), (21, 501), (22, 501), (23, 501), (24, 501), (25, 502), (26, 502), (27, 502), (28, 503), (29, 504), (30, 505), (31, 506), (31, 507), (31, 508), (31, 509), (31, 510), (31, 511), (31, 512), (30, 513)], [(31, 516), (32, 516), (33, 516), (34, 517)]]\n",
+ "20\n",
+ "pos depart : (31, 13) 59\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15)] point arrivee : 47\n",
+ "pos depart : (23, 16) 47\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25)] point arrivee : 44\n",
+ "pos depart : (24, 24) 44\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17)] point arrivee : 47\n",
+ "pos depart : (24, 26) 44\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28)] point arrivee : 60\n",
+ "44 47 2\n",
+ "[[(31, 13), (30, 13), (29, 14), (28, 14), (27, 14), (26, 15), (25, 15), (24, 16)], [(23, 16), (22, 16), (21, 16), (20, 17), (19, 17), (18, 18), (17, 18), (16, 18), (15, 19), (14, 19), (13, 20), (12, 21), (13, 22), (14, 22), (15, 23), (16, 23), (17, 24), (18, 24), (19, 24), (20, 25), (21, 25), (22, 25), (23, 25)], [(24, 24), (25, 23), (25, 22), (25, 21), (25, 20), (25, 19), (24, 18), (24, 17), (24, 16)], [(24, 26), (25, 26), (26, 27), (27, 27), (28, 28), (29, 28), (30, 28), (31, 29)]]\n",
+ "47 44 1\n",
+ "[[(31, 13), (30, 13), (29, 14), (28, 14), (27, 14), (26, 15), (25, 15), (24, 16)], [(23, 16), (22, 16), (21, 16), (20, 17), (19, 17), (18, 18), (17, 18), (16, 18), (15, 19), (14, 19), (13, 20), (12, 21), (13, 22), (14, 22), (15, 23), (16, 23), (17, 24), (18, 24), (19, 24), (20, 25), (21, 25), (22, 25), (23, 25)], [(24, 24), (25, 23), (25, 22), (25, 21), (25, 20), (25, 19), (24, 18), (24, 17), (24, 16)], [(24, 26), (25, 26), (26, 27), (27, 27), (28, 28), (29, 28), (30, 28), (31, 29)]]\n",
+ "21\n",
+ "pos depart : (31, 472) 70\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472)] point arrivee : 45\n",
+ "pos depart : (23, 474) 45\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472)] point arrivee : 45\n",
+ "45 45 1\n",
+ "[[(31, 472), (30, 472), (29, 472), (28, 472), (27, 472), (26, 472), (25, 472), (24, 472), (23, 473)], [(23, 474), (23, 475), (23, 476), (23, 477), (23, 478), (23, 479), (23, 480), (22, 481), (22, 482), (21, 483), (20, 484), (19, 485), (18, 485), (17, 485), (16, 485), (15, 485), (14, 484), (13, 483), (12, 482), (11, 481), (11, 480), (11, 479), (11, 478), (11, 477), (11, 476), (11, 475), (11, 474), (11, 473), (12, 472), (13, 472), (14, 472), (15, 472), (16, 472), (17, 472), (18, 472), (19, 472), (20, 472), (21, 472), (22, 472), (23, 473)]]\n",
+ "22\n",
+ "pos depart : (31, 536) 71\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536)] point arrivee : 42\n",
+ "pos depart : (22, 538) 42\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543)] point arrivee : 46\n",
+ "pos depart : (22, 545) 46\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536)] point arrivee : 42\n",
+ "pos depart : (24, 545) 46\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548)] point arrivee : 72\n",
+ "46 42 2\n",
+ "[[(31, 536), (30, 536), (29, 536), (28, 536), (27, 536), (26, 536), (25, 536), (24, 536), (23, 536), (22, 537)], [(22, 538), (22, 539), (22, 540), (22, 541), (22, 542), (22, 543), (23, 544)], [(22, 545), (21, 546), (20, 547), (19, 548), (18, 549), (17, 549), (16, 549), (15, 549), (14, 549), (13, 548), (12, 547), (11, 546), (11, 545), (11, 544), (11, 543), (11, 542), (11, 541), (11, 540), (11, 539), (11, 538), (11, 537), (12, 536), (13, 536), (14, 536), (15, 536), (16, 536), (17, 536), (18, 536), (19, 536), (20, 536), (21, 536), (22, 537)], [(24, 545), (25, 545), (26, 546), (27, 546), (28, 547), (29, 548), (30, 548), (31, 549)]]\n",
+ "42 46 1\n",
+ "[[(31, 536), (30, 536), (29, 536), (28, 536), (27, 536), (26, 536), (25, 536), (24, 536), (23, 536), (22, 537)], [(22, 538), (22, 539), (22, 540), (22, 541), (22, 542), (22, 543), (23, 544)], [(22, 545), (21, 546), (20, 547), (19, 548), (18, 549), (17, 549), (16, 549), (15, 549), (14, 549), (13, 548), (12, 547), (11, 546), (11, 545), (11, 544), (11, 543), (11, 542), (11, 541), (11, 540), (11, 539), (11, 538), (11, 537), (12, 536), (13, 536), (14, 536), (15, 536), (16, 536), (17, 536), (18, 536), (19, 536), (20, 536), (21, 536), (22, 537)], [(24, 545), (25, 545), (26, 546), (27, 546), (28, 547), (29, 548), (30, 548), (31, 549)]]\n",
+ "23\n",
+ "pos depart : (96, 41) 78\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41)] point arrivee : 118\n",
+ "pos depart : (105, 43) 118\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43)] point arrivee : 126\n",
+ "pos depart : (113, 41) 126\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41)] point arrivee : 118\n",
+ "pos depart : (115, 41) 126\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41)] point arrivee : 142\n",
+ "126 118 2\n",
+ "[[(96, 41), (97, 41), (98, 41), (99, 41), (100, 41), (101, 41), (102, 41), (103, 41), (104, 41), (105, 41), (106, 42)], [(105, 43), (104, 44), (103, 45), (102, 46), (102, 47), (102, 48), (102, 49), (103, 50), (103, 51), (104, 52), (105, 53), (106, 53), (107, 53), (108, 54), (109, 54), (110, 54), (111, 54), (112, 54), (113, 53), (114, 53), (115, 52), (116, 51), (117, 50), (117, 49), (117, 48), (117, 47), (117, 46), (117, 45), (116, 44), (115, 43), (114, 42)], [(113, 41), (112, 41), (111, 41), (110, 41), (109, 41), (108, 41), (107, 41), (106, 42)], [(115, 41), (116, 41), (117, 41)]]\n",
+ "118 126 1\n",
+ "[[(96, 41), (97, 41), (98, 41), (99, 41), (100, 41), (101, 41), (102, 41), (103, 41), (104, 41), (105, 41), (106, 42)], [(105, 43), (104, 44), (103, 45), (102, 46), (102, 47), (102, 48), (102, 49), (103, 50), (103, 51), (104, 52), (105, 53), (106, 53), (107, 53), (108, 54), (109, 54), (110, 54), (111, 54), (112, 54), (113, 53), (114, 53), (115, 52), (116, 51), (117, 50), (117, 49), (117, 48), (117, 47), (117, 46), (117, 45), (116, 44), (115, 43), (114, 42)], [(113, 41), (112, 41), (111, 41), (110, 41), (109, 41), (108, 41), (107, 41), (106, 42)], [(115, 41), (116, 41), (117, 41)]]\n",
+ "24\n",
+ "pos depart : (96, 109) 79\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109)] point arrivee : 116\n",
+ "pos depart : (104, 107) 116\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109)] point arrivee : 116\n",
+ "116 116 1\n",
+ "[[(96, 109), (97, 109), (98, 109), (99, 109), (100, 109), (101, 109), (102, 109), (103, 109), (104, 109), (105, 108)], [(104, 107), (103, 106), (103, 105), (102, 104), (102, 103), (102, 102), (102, 101), (103, 100), (104, 99), (105, 98), (106, 97), (107, 97), (108, 97), (109, 97), (110, 97), (111, 97), (112, 97), (113, 97), (114, 97), (115, 98), (116, 99), (117, 100), (117, 101), (117, 102), (117, 103), (117, 104), (117, 105), (116, 106), (116, 107), (116, 108), (115, 109), (114, 109), (113, 109), (112, 109), (111, 109), (110, 109), (109, 109), (108, 109), (107, 109), (106, 109), (105, 108)]]\n",
+ "25\n",
+ "pos depart : (96, 161) 80\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156)] point arrivee : 90\n",
+ "pos depart : (102, 157) 90\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159)] point arrivee : 91\n",
+ "pos depart : (103, 155) 90\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155)] point arrivee : 130\n",
+ "26\n",
+ "pos depart : (96, 205) 81\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205)] point arrivee : 112\n",
+ "pos depart : (104, 207) 112\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216)] point arrivee : 144\n",
+ "pos depart : (105, 205) 112\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205)] point arrivee : 143\n",
+ "27\n",
+ "pos depart : (96, 232) 82\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232)] point arrivee : 83\n",
+ "28\n",
+ "pos depart : (96, 249) 84\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249)] point arrivee : 85\n",
+ "29\n",
+ "pos depart : (96, 267) 86\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267)] point arrivee : 123\n",
+ "pos depart : (110, 269) 123\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270)] point arrivee : 124\n",
+ "pos depart : (109, 271) 124\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276)] point arrivee : 92\n",
+ "pos depart : (111, 272) 124\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276)] point arrivee : 147\n",
+ "pos depart : (111, 267) 123\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267)] point arrivee : 146\n",
+ "30\n",
+ "pos depart : (96, 294) 87\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294)] point arrivee : 148\n",
+ "31\n",
+ "pos depart : (98, 512) 88\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512)] point arrivee : 95\n",
+ "pos depart : (103, 512) 95\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516)] point arrivee : 153\n",
+ "pos depart : (102, 513) 95\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515)] point arrivee : 96\n",
+ "pos depart : (102, 511) 95\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510)] point arrivee : 94\n",
+ "32\n",
+ "pos depart : (102, 152) 89\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154)] point arrivee : 101\n",
+ "pos depart : (104, 155) 101\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155)] point arrivee : 130\n",
+ "pos depart : (102, 156) 101\n",
+ "33\n",
+ "pos depart : (102, 471) 93\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463)] point arrivee : 133\n",
+ "34\n",
+ "pos depart : (102, 543) 97\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543)] point arrivee : 135\n",
+ "pos depart : (115, 541) 135\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532)] point arrivee : 104\n",
+ "pos depart : (116, 543) 135\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543)] point arrivee : 154\n",
+ "35\n",
+ "pos depart : (102, 571) 98\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559)] point arrivee : 105\n",
+ "36\n",
+ "pos depart : (102, 620) 99\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625)] point arrivee : 140\n",
+ "pos depart : (117, 626) 140\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622)] point arrivee : 162\n",
+ "pos depart : (115, 627) 140\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631)] point arrivee : 108\n",
+ "37\n",
+ "pos depart : (102, 673) 100\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684)] point arrivee : 157\n",
+ "38\n",
+ "pos depart : (103, 233) 102\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233)] point arrivee : 145\n",
+ "39\n",
+ "pos depart : (103, 250) 103\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247)] point arrivee : 160\n",
+ "40\n",
+ "pos depart : (103, 586) 106\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589)] point arrivee : 136\n",
+ "pos depart : (116, 590) 136\n",
+ "pos depart : (114, 591) 136\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594)] point arrivee : 117\n",
+ "pos depart : (104, 595) 117\n",
+ "pos depart : (106, 596) 117\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605)] point arrivee : 107\n",
+ "41\n",
+ "pos depart : (103, 648) 109\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651)] point arrivee : 121\n",
+ "pos depart : (110, 652) 121\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652)] point arrivee : 125\n",
+ "pos depart : (112, 651) 125\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648)] point arrivee : 155\n",
+ "pos depart : (112, 653) 125\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656)] point arrivee : 156\n",
+ "pos depart : (108, 653) 121\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656)] point arrivee : 110\n",
+ "42\n",
+ "pos depart : (104, 14) 111\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24)] point arrivee : 120\n",
+ "pos depart : (109, 22) 120\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22)] point arrivee : 128\n",
+ "pos depart : (114, 24) 128\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24)] point arrivee : 120\n",
+ "pos depart : (116, 24) 128\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24)] point arrivee : 141\n",
+ "128 120 2\n",
+ "[[(104, 14), (103, 15), (103, 16), (102, 17), (102, 18), (102, 19), (102, 20), (103, 21), (103, 22), (104, 23), (105, 24), (106, 24), (107, 24), (108, 24), (109, 23)], [(109, 22), (110, 21), (110, 20), (110, 19), (110, 18), (110, 17), (110, 16), (110, 15), (111, 14), (112, 13), (113, 13), (114, 13), (115, 13), (116, 14), (117, 15), (117, 16), (117, 17), (117, 18), (117, 19), (117, 20), (116, 21), (115, 22), (115, 23)], [(114, 24), (113, 24), (112, 24), (111, 24), (110, 24), (109, 23)], [(116, 24), (117, 24)]]\n",
+ "120 128 1\n",
+ "[[(104, 14), (103, 15), (103, 16), (102, 17), (102, 18), (102, 19), (102, 20), (103, 21), (103, 22), (104, 23), (105, 24), (106, 24), (107, 24), (108, 24), (109, 23)], [(109, 22), (110, 21), (110, 20), (110, 19), (110, 18), (110, 17), (110, 16), (110, 15), (111, 14), (112, 13), (113, 13), (114, 13), (115, 13), (116, 14), (117, 15), (117, 16), (117, 17), (117, 18), (117, 19), (117, 20), (116, 21), (115, 22), (115, 23)], [(114, 24), (113, 24), (112, 24), (111, 24), (110, 24), (109, 23)], [(116, 24), (117, 24)]]\n",
+ "43\n",
+ "pos depart : (104, 494) 113\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485)] point arrivee : 134\n",
+ "44\n",
+ "pos depart : (104, 595) 114\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595)] point arrivee : 117\n",
+ "45\n",
+ "pos depart : (105, 81) 115\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80)] point arrivee : 127\n",
+ "46\n",
+ "pos depart : (115, 137) 129\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126)] point arrivee : 122\n",
+ "pos depart : (110, 128) 122\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126)] point arrivee : 122\n",
+ "122 122 1\n",
+ "[[(115, 137), (116, 136), (116, 135), (117, 134), (117, 133), (117, 132), (117, 131), (117, 130), (117, 129), (116, 128), (115, 127), (114, 126), (113, 126), (112, 126), (111, 126), (110, 127)], [(110, 128), (110, 129), (110, 130), (110, 131), (110, 132), (110, 133), (110, 134), (110, 135), (109, 136), (108, 137), (107, 137), (106, 137), (105, 137), (104, 136), (103, 135), (103, 134), (102, 133), (102, 132), (102, 131), (102, 130), (103, 129), (103, 128), (104, 127), (105, 127), (106, 126), (107, 126), (108, 126), (109, 126), (110, 127)]]\n",
+ "47\n",
+ "pos depart : (115, 311) 132\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321)] point arrivee : 119\n",
+ "pos depart : (107, 322) 119\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322)] point arrivee : 149\n",
+ "pos depart : (105, 323) 119\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332)] point arrivee : 150\n",
+ "48\n",
+ "pos depart : (116, 590) 139\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590)] point arrivee : 136\n",
+ "49\n",
+ "pos depart : (117, 349) 151\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360)] point arrivee : 152\n",
+ "50\n",
+ "pos depart : (121, 175) 158\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187)] point arrivee : 131\n",
+ "pos depart : (115, 185) 131\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187)] point arrivee : 131\n",
+ "131 131 1\n",
+ "[[(121, 175), (122, 176), (123, 177), (123, 178), (123, 179), (123, 180), (124, 181), (124, 182), (123, 183), (123, 184), (122, 185), (121, 186), (120, 187), (119, 187), (118, 187), (117, 187), (116, 187), (115, 186)], [(115, 185), (116, 184), (116, 183), (117, 182), (117, 181), (117, 180), (117, 179), (116, 178), (116, 177), (115, 176), (114, 176), (113, 175), (112, 175), (111, 175), (110, 175), (109, 175), (108, 175), (107, 175), (106, 175), (105, 176), (104, 176), (103, 177), (103, 178), (102, 179), (102, 180), (102, 181), (102, 182), (103, 183), (103, 184), (104, 185), (105, 186), (106, 187), (107, 187), (108, 187), (109, 187), (110, 187), (111, 187), (112, 187), (113, 187), (114, 187), (115, 186)]]\n",
+ "51\n",
+ "pos depart : (121, 405) 159\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405)] point arrivee : 137\n",
+ "pos depart : (116, 407) 137\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405)] point arrivee : 137\n",
+ "137 137 1\n",
+ "[[(121, 405), (120, 405), (119, 405), (118, 405), (117, 405), (116, 406)], [(116, 407), (116, 408), (116, 409), (117, 410), (117, 411), (117, 412), (117, 413), (117, 414), (116, 415), (116, 416), (115, 417), (114, 417), (113, 418), (112, 418), (111, 418), (110, 418), (109, 418), (108, 418), (107, 418), (106, 417), (105, 417), (104, 416), (103, 415), (103, 414), (102, 413), (102, 412), (102, 411), (103, 410), (103, 409), (104, 408), (104, 407), (105, 406), (106, 405), (107, 405), (108, 405), (109, 405), (110, 405), (111, 405), (112, 405), (113, 405), (114, 405), (115, 405), (116, 406)]]\n",
+ "52\n",
+ "pos depart : (123, 446) 161\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446)] point arrivee : 138\n",
+ "pos depart : (116, 444) 138\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446)] point arrivee : 138\n",
+ "138 138 1\n",
+ "[[(123, 446), (122, 446), (121, 446), (120, 446), (119, 446), (118, 446), (117, 446), (116, 445)], [(116, 444), (116, 443), (117, 442), (117, 441), (117, 440), (117, 439), (117, 438), (117, 437), (116, 436), (115, 435), (114, 434), (113, 434), (112, 434), (111, 434), (110, 434), (109, 434), (108, 434), (107, 434), (106, 434), (105, 435), (104, 436), (103, 437), (102, 438), (102, 439), (102, 440), (102, 441), (103, 442), (104, 443), (104, 444), (105, 445), (106, 446), (107, 446), (108, 446), (109, 446), (110, 446), (111, 446), (112, 446), (113, 446), (114, 446), (115, 446), (116, 445)]]\n",
+ "53\n",
+ "pos depart : (184, 169) 163\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157)] point arrivee : 178\n",
+ "54\n",
+ "pos depart : (184, 214) 164\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217)] point arrivee : 183\n",
+ "55\n",
+ "pos depart : (186, 198) 165\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185)] point arrivee : 174\n",
+ "pos depart : (194, 187) 174\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185)] point arrivee : 174\n",
+ "174 174 1\n",
+ "[[(186, 198), (185, 197), (184, 196), (184, 195), (183, 194), (183, 193), (183, 192), (183, 191), (183, 190), (184, 189), (185, 188), (186, 187), (187, 186), (188, 186), (189, 186), (190, 185), (191, 185), (192, 185), (193, 185), (194, 185), (195, 186)], [(194, 187), (193, 188), (193, 189), (192, 190), (192, 191), (192, 192), (192, 193), (192, 194), (192, 195), (193, 196), (194, 197), (195, 198), (196, 198), (197, 198), (198, 198), (199, 198), (200, 198), (201, 198), (202, 197), (203, 196), (204, 195), (204, 194), (204, 193), (204, 192), (204, 191), (204, 190), (204, 189), (203, 188), (202, 187), (201, 186), (200, 186), (199, 186), (198, 186), (197, 185), (196, 185), (195, 186)]]\n",
+ "56\n",
+ "pos depart : (187, 97) 166\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106)] point arrivee : 169\n",
+ "pos depart : (194, 104) 169\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101)] point arrivee : 173\n",
+ "pos depart : (194, 106) 169\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97)] point arrivee : 177\n",
+ "57\n",
+ "pos depart : (188, 42) 167\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49)] point arrivee : 181\n",
+ "58\n",
+ "pos depart : (188, 68) 168\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80)] point arrivee : 182\n",
+ "59\n",
+ "pos depart : (199, 141) 176\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137)] point arrivee : 175\n",
+ "pos depart : (198, 136) 175\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135)] point arrivee : 175\n",
+ "pos depart : (200, 136) 175\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136)] point arrivee : 180\n",
+ "175 175 1\n",
+ "[[(199, 141), (199, 140), (199, 139), (199, 138), (199, 137), (199, 136)], [(198, 136), (197, 136), (196, 136), (195, 136), (194, 136), (193, 136), (192, 136), (191, 136), (190, 136), (189, 136), (188, 136), (187, 136), (186, 136), (185, 135), (185, 134), (185, 133), (186, 132), (187, 132), (188, 131), (189, 130), (190, 130), (191, 129), (192, 129), (193, 128), (194, 127), (195, 127), (196, 126), (197, 126), (198, 126), (199, 127), (199, 128), (199, 129), (199, 130), (199, 131), (199, 132), (199, 133), (199, 134), (199, 135), (199, 136)], [(200, 136), (201, 136), (202, 136)]]\n",
+ "60\n",
+ "pos depart : (201, 273) 179\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286)] point arrivee : 172\n",
+ "pos depart : (192, 285) 172\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284)] point arrivee : 172\n",
+ "172 172 1\n",
+ "[[(201, 273), (202, 274), (203, 275), (204, 276), (204, 277), (204, 278), (204, 279), (204, 280), (204, 281), (204, 282), (203, 283), (202, 284), (201, 285), (200, 285), (199, 285), (198, 286), (197, 286), (196, 286), (195, 286), (194, 286), (193, 285)], [(192, 285), (191, 285), (190, 285), (189, 285), (188, 285), (187, 285), (186, 284), (185, 283), (184, 282), (184, 281), (183, 280), (183, 279), (183, 278), (183, 277), (184, 276), (184, 275), (185, 274), (186, 274), (187, 273), (188, 273), (189, 273), (190, 273), (191, 273), (192, 273), (193, 273), (194, 274), (195, 275), (196, 276), (196, 277), (196, 278), (196, 279), (196, 280), (196, 281), (195, 282), (194, 283), (194, 284), (193, 285)]]\n",
+ "61\n",
+ "pos depart : (193, 252) 171\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251)] point arrivee : 171\n",
+ "pos depart : (194, 252) 171\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251), (194, 252), (194, 245)] point arrivee : 170\n",
+ "pos depart : (192, 245) 170\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251), (194, 252), (194, 245), (192, 245), (192, 253)] point arrivee : 171\n",
+ "pos depart : (194, 247) 170\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251), (194, 252), (194, 245), (192, 245), (192, 253), (194, 247), (193, 251)] point arrivee : 171\n",
+ "171 171 0\n",
+ "[[(193, 252), (194, 252), (193, 251), (193, 252)], [(194, 252), (195, 253), (195, 254), (196, 255), (197, 256), (198, 256), (199, 256), (200, 256), (201, 256), (202, 255), (203, 254), (204, 253), (204, 252), (204, 251), (205, 250), (205, 249), (204, 248), (204, 247), (204, 246), (203, 245), (203, 244), (202, 243), (201, 243), (200, 243), (199, 243), (198, 243), (197, 243), (196, 243), (195, 244), (194, 245), (193, 246)], [(192, 245), (191, 244), (190, 244), (189, 244), (188, 244), (187, 244), (186, 244), (185, 245), (184, 246), (184, 247), (183, 248), (183, 249), (183, 250), (183, 251), (184, 252), (184, 253), (185, 254), (186, 255), (187, 255), (188, 255), (189, 255), (190, 255), (191, 254), (192, 253), (193, 252)], [(194, 247), (193, 248), (193, 249), (193, 250), (193, 251), (193, 252)]]\n",
+ "170 171 2\n",
+ "[[(193, 252), (194, 252), (193, 251), (193, 252)], [(194, 252), (195, 253), (195, 254), (196, 255), (197, 256), (198, 256), (199, 256), (200, 256), (201, 256), (202, 255), (203, 254), (204, 253), (204, 252), (204, 251), (205, 250), (205, 249), (204, 248), (204, 247), (204, 246), (203, 245), (203, 244), (202, 243), (201, 243), (200, 243), (199, 243), (198, 243), (197, 243), (196, 243), (195, 244), (194, 245), (193, 246)], [(192, 245), (191, 244), (190, 244), (189, 244), (188, 244), (187, 244), (186, 244), (185, 245), (184, 246), (184, 247), (183, 248), (183, 249), (183, 250), (183, 251), (184, 252), (184, 253), (185, 254), (186, 255), (187, 255), (188, 255), (189, 255), (190, 255), (191, 254), (192, 253), (193, 252)], [(194, 247), (193, 248), (193, 249), (193, 250), (193, 251), (193, 252)]]\n",
+ "171 170 1\n",
+ "[[(193, 252), (194, 252), (193, 251), (193, 252)], [(194, 252), (195, 253), (195, 254), (196, 255), (197, 256), (198, 256), (199, 256), (200, 256), (201, 256), (202, 255), (203, 254), (204, 253), (204, 252), (204, 251), (205, 250), (205, 249), (204, 248), (204, 247), (204, 246), (203, 245), (203, 244), (202, 243), (201, 243), (200, 243), (199, 243), (198, 243), (197, 243), (196, 243), (195, 244), (194, 245), (193, 246)], [(192, 245), (191, 244), (190, 244), (189, 244), (188, 244), (187, 244), (186, 244), (185, 245), (184, 246), (184, 247), (183, 248), (183, 249), (183, 250), (183, 251), (184, 252), (184, 253), (185, 254), (186, 255), (187, 255), (188, 255), (189, 255), (190, 255), (191, 254), (192, 253), (193, 252)], [(194, 247), (193, 248), (193, 249), (193, 250), (193, 251), (193, 252)]]\n",
+ "171 170 1\n",
+ "[[(193, 252), (194, 252), (193, 251), (193, 252)], [(194, 252), (195, 253), (195, 254), (196, 255), (197, 256), (198, 256), (199, 256), (200, 256), (201, 256), (202, 255), (203, 254), (204, 253), (204, 252), (204, 251), (205, 250), (205, 249), (204, 248), (204, 247), (204, 246), (203, 245), (203, 244), (202, 243), (201, 243), (200, 243), (199, 243), (198, 243), (197, 243), (196, 243), (195, 244), (194, 245), (193, 246)], [(192, 245), (191, 244), (190, 244), (189, 244), (188, 244), (187, 244), (186, 244), (185, 245), (184, 246), (184, 247), (183, 248), (183, 249), (183, 250), (183, 251), (184, 252), (184, 253), (185, 254), (186, 255), (187, 255), (188, 255), (189, 255), (190, 255), (191, 254), (192, 253), (193, 252)], [(194, 247), (193, 248), (193, 249), (193, 250), (193, 251), (193, 252)]]\n",
+ "62\n",
+ "pos depart : (21, 46) 31\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251), (194, 252), (194, 245), (192, 245), (192, 253), (194, 247), (193, 251), (21, 54)] point arrivee : 29\n",
+ "pos depart : (19, 56) 29\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251), (194, 252), (194, 245), (192, 245), (192, 253), (194, 247), (193, 251), (21, 54), (19, 56), (20, 45)] point arrivee : 31\n",
+ "pos depart : (21, 47) 31\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251), (194, 252), (194, 245), (192, 245), (192, 253), (194, 247), (193, 251), (21, 54), (19, 56), (20, 45), (21, 47), (21, 54)] point arrivee : 29\n",
+ "pos depart : (21, 56) 29\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251), (194, 252), (194, 245), (192, 245), (192, 253), (194, 247), (193, 251), (21, 54), (19, 56), (20, 45), (21, 47), (21, 54), (21, 56), (22, 45)] point arrivee : 31\n",
+ "29 31 1\n",
+ "[[(21, 46), (21, 47), (21, 48), (21, 49), (21, 50), (21, 51), (20, 52), (20, 53), (21, 54), (20, 55)], [(19, 56), (18, 56), (17, 57), (16, 58), (15, 58), (14, 58), (13, 57), (12, 56), (11, 55), (11, 54), (11, 53), (11, 52), (11, 51), (11, 50), (11, 49), (11, 48), (11, 47), (12, 46), (13, 45), (14, 45), (15, 45), (16, 45), (17, 45), (18, 45), (19, 45), (20, 45), (21, 46)], [(21, 47), (21, 48), (21, 49), (21, 50), (21, 51), (20, 52), (20, 53), (21, 54), (20, 55)], [(21, 56), (22, 57), (23, 58), (24, 59), (25, 59), (26, 59), (27, 59), (28, 59), (29, 58), (30, 57), (30, 56), (31, 55), (31, 54), (31, 53), (31, 52), (31, 51), (31, 50), (31, 49), (31, 48), (31, 47), (30, 46), (29, 45), (28, 45), (27, 45), (26, 45), (25, 45), (24, 45), (23, 45), (22, 45), (21, 46)]]\n",
+ "31 29 0\n",
+ "[[(21, 46), (21, 47), (21, 48), (21, 49), (21, 50), (21, 51), (20, 52), (20, 53), (21, 54), (20, 55)], [(19, 56), (18, 56), (17, 57), (16, 58), (15, 58), (14, 58), (13, 57), (12, 56), (11, 55), (11, 54), (11, 53), (11, 52), (11, 51), (11, 50), (11, 49), (11, 48), (11, 47), (12, 46), (13, 45), (14, 45), (15, 45), (16, 45), (17, 45), (18, 45), (19, 45), (20, 45), (21, 46)], [(21, 47), (21, 48), (21, 49), (21, 50), (21, 51), (20, 52), (20, 53), (21, 54), (20, 55)], [(21, 56), (22, 57), (23, 58), (24, 59), (25, 59), (26, 59), (27, 59), (28, 59), (29, 58), (30, 57), (30, 56), (31, 55), (31, 54), (31, 53), (31, 52), (31, 51), (31, 50), (31, 49), (31, 48), (31, 47), (30, 46), (29, 45), (28, 45), (27, 45), (26, 45), (25, 45), (24, 45), (23, 45), (22, 45), (21, 46)]]\n",
+ "29 31 1\n",
+ "[[(21, 46), (21, 47), (21, 48), (21, 49), (21, 50), (21, 51), (20, 52), (20, 53), (21, 54), (20, 55)], [(19, 56), (18, 56), (17, 57), (16, 58), (15, 58), (14, 58), (13, 57), (12, 56), (11, 55), (11, 54), (11, 53), (11, 52), (11, 51), (11, 50), (11, 49), (11, 48), (11, 47), (12, 46), (13, 45), (14, 45), (15, 45), (16, 45), (17, 45), (18, 45), (19, 45), (20, 45), (21, 46)], [(21, 47), (21, 48), (21, 49), (21, 50), (21, 51), (20, 52), (20, 53), (21, 54), (20, 55)], [(21, 56), (22, 57), (23, 58), (24, 59), (25, 59), (26, 59), (27, 59), (28, 59), (29, 58), (30, 57), (30, 56), (31, 55), (31, 54), (31, 53), (31, 52), (31, 51), (31, 50), (31, 49), (31, 48), (31, 47), (30, 46), (29, 45), (28, 45), (27, 45), (26, 45), (25, 45), (24, 45), (23, 45), (22, 45), (21, 46)]]\n",
+ "31 29 0\n",
+ "[[(21, 46), (21, 47), (21, 48), (21, 49), (21, 50), (21, 51), (20, 52), (20, 53), (21, 54), (20, 55)], [(19, 56), (18, 56), (17, 57), (16, 58), (15, 58), (14, 58), (13, 57), (12, 56), (11, 55), (11, 54), (11, 53), (11, 52), (11, 51), (11, 50), (11, 49), (11, 48), (11, 47), (12, 46), (13, 45), (14, 45), (15, 45), (16, 45), (17, 45), (18, 45), (19, 45), (20, 45), (21, 46)], [(21, 47), (21, 48), (21, 49), (21, 50), (21, 51), (20, 52), (20, 53), (21, 54), (20, 55)], [(21, 56), (22, 57), (23, 58), (24, 59), (25, 59), (26, 59), (27, 59), (28, 59), (29, 58), (30, 57), (30, 56), (31, 55), (31, 54), (31, 53), (31, 52), (31, 51), (31, 50), (31, 49), (31, 48), (31, 47), (30, 46), (29, 45), (28, 45), (27, 45), (26, 45), (25, 45), (24, 45), (23, 45), (22, 45), (21, 46)]]\n",
+ "63\n",
+ "pos depart : (10, 444) 184\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251), (194, 252), (194, 245), (192, 245), (192, 253), (194, 247), (193, 251), (21, 54), (19, 56), (20, 45), (21, 47), (21, 54), (21, 56), (22, 45), (11, 443)] point arrivee : 184\n",
+ "pos depart : (10, 445) 184\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251), (194, 252), (194, 245), (192, 245), (192, 253), (194, 247), (193, 251), (21, 54), (19, 56), (20, 45), (21, 47), (21, 54), (21, 56), (22, 45), (11, 443), (10, 445), (11, 443)] point arrivee : 184\n",
+ "184 184 0\n",
+ "[[(10, 444), (10, 445), (10, 446), (10, 447), (10, 448), (11, 449), (11, 450), (12, 451), (13, 452), (14, 453), (15, 454), (16, 454), (17, 455), (18, 455), (19, 455), (20, 455), (21, 455), (22, 455), (23, 455), (24, 455), (25, 454), (26, 454), (27, 454), (28, 453), (29, 452), (30, 451), (30, 450), (31, 449), (31, 448), (31, 447), (31, 446), (31, 445), (31, 444), (31, 443), (31, 442), (30, 441), (29, 440), (28, 439), (27, 438), (26, 438), (25, 438), (24, 437), (23, 437), (22, 437), (21, 437), (20, 437), (19, 437), (18, 437), (17, 438), (16, 438), (15, 438), (14, 439), (13, 439), (12, 440), (12, 441), (11, 442), (11, 443), (10, 444)], [(10, 445), (10, 446), (10, 447), (10, 448), (11, 449), (11, 450), (12, 451), (13, 452), (14, 453), (15, 454), (16, 454), (17, 455), (18, 455), (19, 455), (20, 455), (21, 455), (22, 455), (23, 455), (24, 455), (25, 454), (26, 454), (27, 454), (28, 453), (29, 452), (30, 451), (30, 450), (31, 449), (31, 448), (31, 447), (31, 446), (31, 445), (31, 444), (31, 443), (31, 442), (30, 441), (29, 440), (28, 439), (27, 438), (26, 438), (25, 438), (24, 437), (23, 437), (22, 437), (21, 437), (20, 437), (19, 437), (18, 437), (17, 438), (16, 438), (15, 438), (14, 439), (13, 439), (12, 440), (12, 441), (11, 442), (11, 443), (10, 444)]]\n",
+ "184 184 0\n",
+ "[[(10, 444), (10, 445), (10, 446), (10, 447), (10, 448), (11, 449), (11, 450), (12, 451), (13, 452), (14, 453), (15, 454), (16, 454), (17, 455), (18, 455), (19, 455), (20, 455), (21, 455), (22, 455), (23, 455), (24, 455), (25, 454), (26, 454), (27, 454), (28, 453), (29, 452), (30, 451), (30, 450), (31, 449), (31, 448), (31, 447), (31, 446), (31, 445), (31, 444), (31, 443), (31, 442), (30, 441), (29, 440), (28, 439), (27, 438), (26, 438), (25, 438), (24, 437), (23, 437), (22, 437), (21, 437), (20, 437), (19, 437), (18, 437), (17, 438), (16, 438), (15, 438), (14, 439), (13, 439), (12, 440), (12, 441), (11, 442), (11, 443), (10, 444)], [(10, 445), (10, 446), (10, 447), (10, 448), (11, 449), (11, 450), (12, 451), (13, 452), (14, 453), (15, 454), (16, 454), (17, 455), (18, 455), (19, 455), (20, 455), (21, 455), (22, 455), (23, 455), (24, 455), (25, 454), (26, 454), (27, 454), (28, 453), (29, 452), (30, 451), (30, 450), (31, 449), (31, 448), (31, 447), (31, 446), (31, 445), (31, 444), (31, 443), (31, 442), (30, 441), (29, 440), (28, 439), (27, 438), (26, 438), (25, 438), (24, 437), (23, 437), (22, 437), (21, 437), (20, 437), (19, 437), (18, 437), (17, 438), (16, 438), (15, 438), (14, 439), (13, 439), (12, 440), (12, 441), (11, 442), (11, 443), (10, 444)]]\n",
+ "64\n",
+ "pos depart : (11, 110) 185\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251), (194, 252), (194, 245), (192, 245), (192, 253), (194, 247), (193, 251), (21, 54), (19, 56), (20, 45), (21, 47), (21, 54), (21, 56), (22, 45), (11, 443), (10, 445), (11, 443), (12, 109)] point arrivee : 185\n",
+ "pos depart : (11, 111) 185\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251), (194, 252), (194, 245), (192, 245), (192, 253), (194, 247), (193, 251), (21, 54), (19, 56), (20, 45), (21, 47), (21, 54), (21, 56), (22, 45), (11, 443), (10, 445), (11, 443), (12, 109), (11, 111), (12, 109)] point arrivee : 185\n",
+ "185 185 0\n",
+ "[[(11, 110), (11, 111), (11, 112), (11, 113), (11, 114), (11, 115), (11, 116), (11, 117), (11, 118), (12, 119), (12, 120), (13, 121), (14, 122), (15, 123), (16, 123), (17, 124), (18, 124), (19, 124), (20, 124), (21, 124), (22, 124), (23, 124), (24, 124), (25, 123), (26, 123), (27, 122), (28, 122), (29, 121), (29, 120), (30, 119), (30, 118), (31, 117), (31, 116), (31, 115), (31, 114), (31, 113), (31, 112), (31, 111), (31, 110), (30, 109), (29, 108), (28, 108), (27, 108), (26, 108), (25, 108), (24, 108), (23, 108), (22, 108), (21, 108), (20, 108), (19, 108), (18, 108), (17, 108), (16, 108), (15, 108), (14, 108), (13, 108), (12, 109), (11, 110)], [(11, 111), (11, 112), (11, 113), (11, 114), (11, 115), (11, 116), (11, 117), (11, 118), (12, 119), (12, 120), (13, 121), (14, 122), (15, 123), (16, 123), (17, 124), (18, 124), (19, 124), (20, 124), (21, 124), (22, 124), (23, 124), (24, 124), (25, 123), (26, 123), (27, 122), (28, 122), (29, 121), (29, 120), (30, 119), (30, 118), (31, 117), (31, 116), (31, 115), (31, 114), (31, 113), (31, 112), (31, 111), (31, 110), (30, 109), (29, 108), (28, 108), (27, 108), (26, 108), (25, 108), (24, 108), (23, 108), (22, 108), (21, 108), (20, 108), (19, 108), (18, 108), (17, 108), (16, 108), (15, 108), (14, 108), (13, 108), (12, 109), (11, 110)]]\n",
+ "185 185 0\n",
+ "[[(11, 110), (11, 111), (11, 112), (11, 113), (11, 114), (11, 115), (11, 116), (11, 117), (11, 118), (12, 119), (12, 120), (13, 121), (14, 122), (15, 123), (16, 123), (17, 124), (18, 124), (19, 124), (20, 124), (21, 124), (22, 124), (23, 124), (24, 124), (25, 123), (26, 123), (27, 122), (28, 122), (29, 121), (29, 120), (30, 119), (30, 118), (31, 117), (31, 116), (31, 115), (31, 114), (31, 113), (31, 112), (31, 111), (31, 110), (30, 109), (29, 108), (28, 108), (27, 108), (26, 108), (25, 108), (24, 108), (23, 108), (22, 108), (21, 108), (20, 108), (19, 108), (18, 108), (17, 108), (16, 108), (15, 108), (14, 108), (13, 108), (12, 109), (11, 110)], [(11, 111), (11, 112), (11, 113), (11, 114), (11, 115), (11, 116), (11, 117), (11, 118), (12, 119), (12, 120), (13, 121), (14, 122), (15, 123), (16, 123), (17, 124), (18, 124), (19, 124), (20, 124), (21, 124), (22, 124), (23, 124), (24, 124), (25, 123), (26, 123), (27, 122), (28, 122), (29, 121), (29, 120), (30, 119), (30, 118), (31, 117), (31, 116), (31, 115), (31, 114), (31, 113), (31, 112), (31, 111), (31, 110), (30, 109), (29, 108), (28, 108), (27, 108), (26, 108), (25, 108), (24, 108), (23, 108), (22, 108), (21, 108), (20, 108), (19, 108), (18, 108), (17, 108), (16, 108), (15, 108), (14, 108), (13, 108), (12, 109), (11, 110)]]\n",
+ "65\n",
+ "pos depart : (102, 381) 186\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251), (194, 252), (194, 245), (192, 245), (192, 253), (194, 247), (193, 251), (21, 54), (19, 56), (20, 45), (21, 47), (21, 54), (21, 56), (22, 45), (11, 443), (10, 445), (11, 443), (12, 109), (11, 111), (12, 109), (103, 380)] point arrivee : 186\n",
+ "pos depart : (102, 382) 186\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251), (194, 252), (194, 245), (192, 245), (192, 253), (194, 247), (193, 251), (21, 54), (19, 56), (20, 45), (21, 47), (21, 54), (21, 56), (22, 45), (11, 443), (10, 445), (11, 443), (12, 109), (11, 111), (12, 109), (103, 380), (102, 382), (103, 380)] point arrivee : 186\n",
+ "186 186 0\n",
+ "[[(102, 381), (102, 382), (102, 383), (102, 384), (103, 385), (103, 386), (104, 387), (105, 388), (106, 388), (107, 389), (108, 389), (109, 389), (110, 389), (111, 389), (112, 389), (113, 388), (114, 388), (115, 387), (116, 386), (117, 385), (117, 384), (117, 383), (117, 382), (117, 381), (117, 380), (117, 379), (116, 378), (115, 378), (114, 377), (113, 377), (112, 376), (111, 376), (110, 376), (109, 376), (108, 376), (107, 377), (106, 377), (105, 377), (104, 378), (103, 379), (103, 380), (102, 381)], [(102, 382), (102, 383), (102, 384), (103, 385), (103, 386), (104, 387), (105, 388), (106, 388), (107, 389), (108, 389), (109, 389), (110, 389), (111, 389), (112, 389), (113, 388), (114, 388), (115, 387), (116, 386), (117, 385), (117, 384), (117, 383), (117, 382), (117, 381), (117, 380), (117, 379), (116, 378), (115, 378), (114, 377), (113, 377), (112, 376), (111, 376), (110, 376), (109, 376), (108, 376), (107, 377), (106, 377), (105, 377), (104, 378), (103, 379), (103, 380), (102, 381)]]\n",
+ "186 186 0\n",
+ "[[(102, 381), (102, 382), (102, 383), (102, 384), (103, 385), (103, 386), (104, 387), (105, 388), (106, 388), (107, 389), (108, 389), (109, 389), (110, 389), (111, 389), (112, 389), (113, 388), (114, 388), (115, 387), (116, 386), (117, 385), (117, 384), (117, 383), (117, 382), (117, 381), (117, 380), (117, 379), (116, 378), (115, 378), (114, 377), (113, 377), (112, 376), (111, 376), (110, 376), (109, 376), (108, 376), (107, 377), (106, 377), (105, 377), (104, 378), (103, 379), (103, 380), (102, 381)], [(102, 382), (102, 383), (102, 384), (103, 385), (103, 386), (104, 387), (105, 388), (106, 388), (107, 389), (108, 389), (109, 389), (110, 389), (111, 389), (112, 389), (113, 388), (114, 388), (115, 387), (116, 386), (117, 385), (117, 384), (117, 383), (117, 382), (117, 381), (117, 380), (117, 379), (116, 378), (115, 378), (114, 377), (113, 377), (112, 376), (111, 376), (110, 376), (109, 376), (108, 376), (107, 377), (106, 377), (105, 377), (104, 378), (103, 379), (103, 380), (102, 381)]]\n",
+ "66\n",
+ "pos depart : (183, 18) 187\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251), (194, 252), (194, 245), (192, 245), (192, 253), (194, 247), (193, 251), (21, 54), (19, 56), (20, 45), (21, 47), (21, 54), (21, 56), (22, 45), (11, 443), (10, 445), (11, 443), (12, 109), (11, 111), (12, 109), (103, 380), (102, 382), (103, 380), (184, 17)] point arrivee : 187\n",
+ "pos depart : (183, 19) 187\n",
+ "blocked : [(20, 141), (21, 143), (21, 151), (22, 141), (31, 152), (20, 169), (21, 171), (21, 180), (22, 169), (29, 169), (20, 231), (21, 233), (21, 244), (20, 246), (12, 246), (22, 246), (30, 246), (22, 231), (30, 231), (21, 309), (21, 311), (21, 313), (20, 314), (12, 320), (22, 315), (30, 321), (23, 309), (30, 309), (30, 404), (11, 601), (13, 602), (30, 602), (11, 603), (11, 610), (14, 641), (12, 673), (27, 707), (29, 708), (29, 708), (28, 709), (12, 714), (19, 736), (21, 737), (21, 737), (23, 736), (29, 732), (23, 738), (30, 744), (20, 738), (13, 743), (21, 768), (22, 769), (30, 769), (20, 770), (13, 774), (31, 806), (29, 264), (29, 281), (31, 351), (14, 368), (16, 367), (30, 367), (16, 369), (30, 387), (29, 566), (28, 90), (22, 207), (29, 513), (30, 514), (30, 514), (29, 516), (31, 512), (31, 516), (33, 516), (25, 15), (23, 16), (22, 25), (24, 24), (24, 17), (24, 26), (30, 28), (24, 472), (23, 474), (22, 472), (23, 536), (22, 538), (22, 543), (22, 545), (21, 536), (24, 545), (30, 548), (105, 41), (105, 43), (115, 43), (113, 41), (107, 41), (115, 41), (116, 41), (104, 109), (104, 107), (106, 109), (101, 156), (102, 157), (102, 159), (103, 155), (114, 155), (103, 205), (104, 207), (116, 216), (105, 205), (116, 205), (96, 232), (96, 249), (109, 267), (110, 269), (110, 270), (109, 271), (103, 276), (111, 272), (116, 276), (111, 267), (116, 267), (116, 294), (101, 512), (103, 512), (117, 516), (102, 513), (102, 515), (102, 511), (102, 510), (102, 154), (104, 155), (114, 155), (102, 156), (114, 463), (114, 543), (115, 541), (104, 532), (116, 543), (116, 543), (104, 559), (115, 625), (117, 626), (123, 622), (115, 627), (104, 631), (117, 684), (116, 233), (123, 247), (114, 589), (116, 590), (114, 591), (106, 594), (104, 595), (106, 596), (104, 605), (108, 651), (110, 652), (110, 652), (112, 651), (116, 648), (112, 653), (116, 656), (108, 653), (104, 656), (108, 24), (109, 22), (115, 22), (114, 24), (110, 24), (116, 24), (116, 24), (116, 485), (104, 595), (115, 80), (111, 126), (110, 128), (109, 126), (105, 321), (107, 322), (116, 322), (105, 323), (116, 332), (116, 590), (116, 360), (116, 187), (115, 185), (114, 187), (117, 405), (116, 407), (115, 405), (117, 446), (116, 444), (115, 446), (202, 157), (203, 217), (194, 185), (194, 187), (196, 185), (192, 106), (194, 104), (194, 101), (194, 106), (202, 97), (203, 49), (204, 80), (199, 137), (198, 136), (199, 135), (200, 136), (201, 136), (194, 286), (192, 285), (194, 284), (193, 251), (194, 252), (194, 245), (192, 245), (192, 253), (194, 247), (193, 251), (21, 54), (19, 56), (20, 45), (21, 47), (21, 54), (21, 56), (22, 45), (11, 443), (10, 445), (11, 443), (12, 109), (11, 111), (12, 109), (103, 380), (102, 382), (103, 380), (184, 17), (183, 19), (184, 17)] point arrivee : 187\n",
+ "187 187 0\n",
+ "[[(183, 18), (183, 19), (183, 20), (183, 21), (184, 22), (184, 23), (185, 24), (186, 25), (187, 26), (188, 26), (189, 26), (190, 27), (191, 27), (192, 27), (193, 27), (194, 27), (195, 27), (196, 27), (197, 27), (198, 26), (199, 26), (200, 26), (201, 25), (202, 25), (203, 24), (204, 23), (204, 22), (204, 21), (205, 20), (204, 19), (204, 18), (204, 17), (203, 16), (202, 15), (201, 15), (200, 14), (199, 14), (198, 14), (197, 14), (196, 14), (195, 14), (194, 14), (193, 14), (192, 14), (191, 14), (190, 14), (189, 14), (188, 14), (187, 15), (186, 15), (185, 16), (184, 17), (183, 18)], [(183, 19), (183, 20), (183, 21), (184, 22), (184, 23), (185, 24), (186, 25), (187, 26), (188, 26), (189, 26), (190, 27), (191, 27), (192, 27), (193, 27), (194, 27), (195, 27), (196, 27), (197, 27), (198, 26), (199, 26), (200, 26), (201, 25), (202, 25), (203, 24), (204, 23), (204, 22), (204, 21), (205, 20), (204, 19), (204, 18), (204, 17), (203, 16), (202, 15), (201, 15), (200, 14), (199, 14), (198, 14), (197, 14), (196, 14), (195, 14), (194, 14), (193, 14), (192, 14), (191, 14), (190, 14), (189, 14), (188, 14), (187, 15), (186, 15), (185, 16), (184, 17), (183, 18)]]\n",
+ "187 187 0\n",
+ "[[(183, 18), (183, 19), (183, 20), (183, 21), (184, 22), (184, 23), (185, 24), (186, 25), (187, 26), (188, 26), (189, 26), (190, 27), (191, 27), (192, 27), (193, 27), (194, 27), (195, 27), (196, 27), (197, 27), (198, 26), (199, 26), (200, 26), (201, 25), (202, 25), (203, 24), (204, 23), (204, 22), (204, 21), (205, 20), (204, 19), (204, 18), (204, 17), (203, 16), (202, 15), (201, 15), (200, 14), (199, 14), (198, 14), (197, 14), (196, 14), (195, 14), (194, 14), (193, 14), (192, 14), (191, 14), (190, 14), (189, 14), (188, 14), (187, 15), (186, 15), (185, 16), (184, 17), (183, 18)], [(183, 19), (183, 20), (183, 21), (184, 22), (184, 23), (185, 24), (186, 25), (187, 26), (188, 26), (189, 26), (190, 27), (191, 27), (192, 27), (193, 27), (194, 27), (195, 27), (196, 27), (197, 27), (198, 26), (199, 26), (200, 26), (201, 25), (202, 25), (203, 24), (204, 23), (204, 22), (204, 21), (205, 20), (204, 19), (204, 18), (204, 17), (203, 16), (202, 15), (201, 15), (200, 14), (199, 14), (198, 14), (197, 14), (196, 14), (195, 14), (194, 14), (193, 14), (192, 14), (191, 14), (190, 14), (189, 14), (188, 14), (187, 15), (186, 15), (185, 16), (184, 17), (183, 18)]]\n",
+ "67\n"
]
},
{
"data": {
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+ "image/png": "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",
"text/plain": [
"<Figure size 432x288 with 1 Axes>"
]
@@ -1050,13 +1593,15 @@
],
"source": [
"# path=\"/home/felix/Documents/work/FuzzyDoc/fuzzydoc/imgs/1_truth.png\"\n",
- "path=\"/home/felix/Documents/work/FuzzyDoc/fuzzydoc/0Dot.jpg\"\n",
+ "path=\"allLetters.png\"\n",
"# path=\"/home/felix/Documents/work/FuzzyDoc/fuzzydoc/imgs/new_database/Bounding_Box/Arial_600/num/8/591.jpg\"\n",
"# path=\"/home/felix/Documents/work/FuzzyDoc/fuzzydoc/testCadre.png\"\n",
"# path=\"/home/felix/Documents/work/FuzzyDoc/fuzzydoc/payslip_Arial_10_1_g.png\"\n",
"# path=\"/home/felix/Documents/work/FuzzyDoc/fuzzydoc/imgs/new_database/documents/2PS_Arial_600.jpg\"\n",
"# mask=detectTextAreas(path,'mask.png',square(25))\n",
- "# im=load_image(path)\n",
+ "im=load_image(path)\n",
+ "skel=skeletonization_image(binarization_image(im,'ostu'),'lee')\n",
+ "CNs=minutia_extraction(skel)\n",
"# for i in range(im.shape[0]):\n",
"# for j in range(im.shape[1]):\n",
"# if not(mask[i][j]):\n",
@@ -1064,8 +1609,11 @@
"# # plt.imshow(skeletonization_image(binarization_image(load_image(path),'otsu'),'lee'))\n",
"# newpath=\"imClean.png\"\n",
"# plt.imsave(newpath,im)\n",
- "debug=False ; veryDebug=False ; blocked=[] \n",
- "print(graph(path))"
+ "debug=True ; veryDebug=False ; blocked=[]\n",
+ "a,b=graph(path)\n",
+ "\n",
+ "\n",
+ "imsave(\"centers.png\",draw_minutia(CNs+b,skel))\n"
]
},
{
--
GitLab