================================================================
reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
----------------------------------------------------------------
Reading graph...
1,0
11,0
2,1
12,1
3,2
13,2
4,3
14,3
5,4
15,4
6,5
16,5
7,6
17,6
8,7
18,7
19,8
10,9
21,9
12,11
23,11
13,12
24,12
14,13
25,13
15,14
26,14
16,15
27,15
17,16
28,16
18,17
29,17
19,18
30,18
20,19
21,20
31,20
22,21
32,21
24,23
34,23
25,24
35,24
26,25
36,25
27,26
37,26
28,27
38,27
29,28
39,28
30,29
40,29
41,30
32,31
43,31
33,32
44,32
35,34
46,34
36,35
47,35
37,36
48,36
38,37
49,37
39,38
50,38
40,39
51,39
41,40
52,40
42,41
43,42
53,42
44,43
54,43
45,44
55,44
47,46
57,46
48,47
58,47
49,48
59,48
50,49
60,49
51,50
61,50
52,51
62,51
63,52
54,53
65,53
55,54
66,54
56,55
67,55
58,57
69,57
59,58
70,58
60,59
71,59
61,60
72,60
62,61
73,61
63,62
74,62
64,63
75,63
65,64
76,64
66,65
77,65
67,66
78,66
68,67
79,67
70,69
81,69
71,70
72,71
82,71
73,72
83,72
74,73
84,73
75,74
85,74
76,75
86,75
77,76
87,76
78,77
88,77
79,78
89,78
80,79
90,79
92,81
83,82
94,82
84,83
95,83
85,84
96,84
86,85
97,85
87,86
98,86
88,87
99,87
89,88
100,88
90,89
101,89
91,90
102,90
93,92
104,92
94,93
105,93
95,94
106,94
96,95
107,95
97,96
108,96
98,97
109,97
99,98
110,98
100,99
111,99
101,100
112,100
102,101
113,101
103,102
114,102
105,104
116,104
106,105
117,105
107,106
118,106
108,107
119,107
109,108
120,108
110,109
121,109
111,110
122,110
112,111
123,111
113,112
124,112
114,113
125,113
115,114
126,114
117,116
128,116
118,117
129,117
119,118
130,118
120,119
131,119
121,120
132,120
122,121
133,121
123,122
134,122
124,123
135,123
125,124
136,124
126,125
137,125
127,126
22,10
33,22
45,33
56,45
68,56
80,68
91,80
103,91
115,103
127,115
129,128
130,129
131,130
132,131
133,132
134,133
135,134
136,135
137,136
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=138 |E|=245) [
Vertex: (id = 0) {1 11 }
Vertex: (id = 1) {0 2 12 }
Vertex: (id = 2) {1 3 13 }
Vertex: (id = 3) {2 4 14 }
Vertex: (id = 4) {3 5 15 }
Vertex: (id = 5) {4 6 16 }
Vertex: (id = 6) {5 7 17 }
Vertex: (id = 7) {6 8 18 }
Vertex: (id = 8) {7 19 }
Vertex: (id = 9) {10 21 }
Vertex: (id = 10) {9 22 }
Vertex: (id = 11) {0 12 23 }
Vertex: (id = 12) {1 11 13 24 }
Vertex: (id = 13) {2 12 14 25 }
Vertex: (id = 14) {3 13 15 26 }
Vertex: (id = 15) {4 14 16 27 }
Vertex: (id = 16) {5 15 17 28 }
Vertex: (id = 17) {6 16 18 29 }
Vertex: (id = 18) {7 17 19 30 }
Vertex: (id = 19) {8 18 20 }
Vertex: (id = 20) {19 21 31 }
Vertex: (id = 21) {9 20 22 32 }
Vertex: (id = 22) {21 10 33 }
Vertex: (id = 23) {11 24 34 }
Vertex: (id = 24) {12 23 25 35 }
Vertex: (id = 25) {13 24 26 36 }
Vertex: (id = 26) {14 25 27 37 }
Vertex: (id = 27) {15 26 28 38 }
Vertex: (id = 28) {16 27 29 39 }
Vertex: (id = 29) {17 28 30 40 }
Vertex: (id = 30) {18 29 41 }
Vertex: (id = 31) {20 32 43 }
Vertex: (id = 32) {21 31 33 44 }
Vertex: (id = 33) {32 22 45 }
Vertex: (id = 34) {23 35 46 }
Vertex: (id = 35) {24 34 36 47 }
Vertex: (id = 36) {25 35 37 48 }
Vertex: (id = 37) {26 36 38 49 }
Vertex: (id = 38) {27 37 39 50 }
Vertex: (id = 39) {28 38 40 51 }
Vertex: (id = 40) {29 39 41 52 }
Vertex: (id = 41) {30 40 42 }
Vertex: (id = 42) {41 43 53 }
Vertex: (id = 43) {31 42 44 54 }
Vertex: (id = 44) {32 43 45 55 }
Vertex: (id = 45) {44 33 56 }
Vertex: (id = 46) {34 47 57 }
Vertex: (id = 47) {35 46 48 58 }
Vertex: (id = 48) {36 47 49 59 }
Vertex: (id = 49) {37 48 50 60 }
Vertex: (id = 50) {38 49 51 61 }
Vertex: (id = 51) {39 50 52 62 }
Vertex: (id = 52) {40 51 63 }
Vertex: (id = 53) {42 54 65 }
Vertex: (id = 54) {43 53 55 66 }
Vertex: (id = 55) {44 54 56 67 }
Vertex: (id = 56) {55 45 68 }
Vertex: (id = 57) {46 58 69 }
Vertex: (id = 58) {47 57 59 70 }
Vertex: (id = 59) {48 58 60 71 }
Vertex: (id = 60) {49 59 61 72 }
Vertex: (id = 61) {50 60 62 73 }
Vertex: (id = 62) {51 61 63 74 }
Vertex: (id = 63) {52 62 64 75 }
Vertex: (id = 64) {63 65 76 }
Vertex: (id = 65) {53 64 66 77 }
Vertex: (id = 66) {54 65 67 78 }
Vertex: (id = 67) {55 66 68 79 }
Vertex: (id = 68) {67 56 80 }
Vertex: (id = 69) {57 70 81 }
Vertex: (id = 70) {58 69 71 }
Vertex: (id = 71) {59 70 72 82 }
Vertex: (id = 72) {60 71 73 83 }
Vertex: (id = 73) {61 72 74 84 }
Vertex: (id = 74) {62 73 75 85 }
Vertex: (id = 75) {63 74 76 86 }
Vertex: (id = 76) {64 75 77 87 }
Vertex: (id = 77) {65 76 78 88 }
Vertex: (id = 78) {66 77 79 89 }
Vertex: (id = 79) {67 78 80 90 }
Vertex: (id = 80) {79 68 91 }
Vertex: (id = 81) {69 92 }
Vertex: (id = 82) {71 83 94 }
Vertex: (id = 83) {72 82 84 95 }
Vertex: (id = 84) {73 83 85 96 }
Vertex: (id = 85) {74 84 86 97 }
Vertex: (id = 86) {75 85 87 98 }
Vertex: (id = 87) {76 86 88 99 }
Vertex: (id = 88) {77 87 89 100 }
Vertex: (id = 89) {78 88 90 101 }
Vertex: (id = 90) {79 89 91 102 }
Vertex: (id = 91) {90 80 103 }
Vertex: (id = 92) {81 93 104 }
Vertex: (id = 93) {92 94 105 }
Vertex: (id = 94) {82 93 95 106 }
Vertex: (id = 95) {83 94 96 107 }
Vertex: (id = 96) {84 95 97 108 }
Vertex: (id = 97) {85 96 98 109 }
Vertex: (id = 98) {86 97 99 110 }
Vertex: (id = 99) {87 98 100 111 }
Vertex: (id = 100) {88 99 101 112 }
Vertex: (id = 101) {89 100 102 113 }
Vertex: (id = 102) {90 101 103 114 }
Vertex: (id = 103) {102 91 115 }
Vertex: (id = 104) {92 105 116 }
Vertex: (id = 105) {93 104 106 117 }
Vertex: (id = 106) {94 105 107 118 }
Vertex: (id = 107) {95 106 108 119 }
Vertex: (id = 108) {96 107 109 120 }
Vertex: (id = 109) {97 108 110 121 }
Vertex: (id = 110) {98 109 111 122 }
Vertex: (id = 111) {99 110 112 123 }
Vertex: (id = 112) {100 111 113 124 }
Vertex: (id = 113) {101 112 114 125 }
Vertex: (id = 114) {102 113 115 126 }
Vertex: (id = 115) {114 103 127 }
Vertex: (id = 116) {104 117 128 }
Vertex: (id = 117) {105 116 118 129 }
Vertex: (id = 118) {106 117 119 130 }
Vertex: (id = 119) {107 118 120 131 }
Vertex: (id = 120) {108 119 121 132 }
Vertex: (id = 121) {109 120 122 133 }
Vertex: (id = 122) {110 121 123 134 }
Vertex: (id = 123) {111 122 124 135 }
Vertex: (id = 124) {112 123 125 136 }
Vertex: (id = 125) {113 124 126 137 }
Vertex: (id = 126) {114 125 127 }
Vertex: (id = 127) {126 115 }
Vertex: (id = 128) {116 129 }
Vertex: (id = 129) {117 128 130 }
Vertex: (id = 130) {118 129 131 }
Vertex: (id = 131) {119 130 132 }
Vertex: (id = 132) {120 131 133 }
Vertex: (id = 133) {121 132 134 }
Vertex: (id = 134) {122 133 135 }
Vertex: (id = 135) {123 134 136 }
Vertex: (id = 136) {124 135 137 }
Vertex: (id = 137) {125 136 }
Edge 0: 1 <-> 0
Edge 1: 11 <-> 0
Edge 2: 2 <-> 1
Edge 3: 12 <-> 1
Edge 4: 3 <-> 2
Edge 5: 13 <-> 2
Edge 6: 4 <-> 3
Edge 7: 14 <-> 3
Edge 8: 5 <-> 4
Edge 9: 15 <-> 4
Edge 10: 6 <-> 5
Edge 11: 16 <-> 5
Edge 12: 7 <-> 6
Edge 13: 17 <-> 6
Edge 14: 8 <-> 7
Edge 15: 18 <-> 7
Edge 16: 19 <-> 8
Edge 17: 10 <-> 9
Edge 18: 21 <-> 9
Edge 19: 12 <-> 11
Edge 20: 23 <-> 11
Edge 21: 13 <-> 12
Edge 22: 24 <-> 12
Edge 23: 14 <-> 13
Edge 24: 25 <-> 13
Edge 25: 15 <-> 14
Edge 26: 26 <-> 14
Edge 27: 16 <-> 15
Edge 28: 27 <-> 15
Edge 29: 17 <-> 16
Edge 30: 28 <-> 16
Edge 31: 18 <-> 17
Edge 32: 29 <-> 17
Edge 33: 19 <-> 18
Edge 34: 30 <-> 18
Edge 35: 20 <-> 19
Edge 36: 21 <-> 20
Edge 37: 31 <-> 20
Edge 38: 22 <-> 21
Edge 39: 32 <-> 21
Edge 40: 24 <-> 23
Edge 41: 34 <-> 23
Edge 42: 25 <-> 24
Edge 43: 35 <-> 24
Edge 44: 26 <-> 25
Edge 45: 36 <-> 25
Edge 46: 27 <-> 26
Edge 47: 37 <-> 26
Edge 48: 28 <-> 27
Edge 49: 38 <-> 27
Edge 50: 29 <-> 28
Edge 51: 39 <-> 28
Edge 52: 30 <-> 29
Edge 53: 40 <-> 29
Edge 54: 41 <-> 30
Edge 55: 32 <-> 31
Edge 56: 43 <-> 31
Edge 57: 33 <-> 32
Edge 58: 44 <-> 32
Edge 59: 35 <-> 34
Edge 60: 46 <-> 34
Edge 61: 36 <-> 35
Edge 62: 47 <-> 35
Edge 63: 37 <-> 36
Edge 64: 48 <-> 36
Edge 65: 38 <-> 37
Edge 66: 49 <-> 37
Edge 67: 39 <-> 38
Edge 68: 50 <-> 38
Edge 69: 40 <-> 39
Edge 70: 51 <-> 39
Edge 71: 41 <-> 40
Edge 72: 52 <-> 40
Edge 73: 42 <-> 41
Edge 74: 43 <-> 42
Edge 75: 53 <-> 42
Edge 76: 44 <-> 43
Edge 77: 54 <-> 43
Edge 78: 45 <-> 44
Edge 79: 55 <-> 44
Edge 80: 47 <-> 46
Edge 81: 57 <-> 46
Edge 82: 48 <-> 47
Edge 83: 58 <-> 47
Edge 84: 49 <-> 48
Edge 85: 59 <-> 48
Edge 86: 50 <-> 49
Edge 87: 60 <-> 49
Edge 88: 51 <-> 50
Edge 89: 61 <-> 50
Edge 90: 52 <-> 51
Edge 91: 62 <-> 51
Edge 92: 63 <-> 52
Edge 93: 54 <-> 53
Edge 94: 65 <-> 53
Edge 95: 55 <-> 54
Edge 96: 66 <-> 54
Edge 97: 56 <-> 55
Edge 98: 67 <-> 55
Edge 99: 58 <-> 57
Edge 100: 69 <-> 57
Edge 101: 59 <-> 58
Edge 102: 70 <-> 58
Edge 103: 60 <-> 59
Edge 104: 71 <-> 59
Edge 105: 61 <-> 60
Edge 106: 72 <-> 60
Edge 107: 62 <-> 61
Edge 108: 73 <-> 61
Edge 109: 63 <-> 62
Edge 110: 74 <-> 62
Edge 111: 64 <-> 63
Edge 112: 75 <-> 63
Edge 113: 65 <-> 64
Edge 114: 76 <-> 64
Edge 115: 66 <-> 65
Edge 116: 77 <-> 65
Edge 117: 67 <-> 66
Edge 118: 78 <-> 66
Edge 119: 68 <-> 67
Edge 120: 79 <-> 67
Edge 121: 70 <-> 69
Edge 122: 81 <-> 69
Edge 123: 71 <-> 70
Edge 124: 72 <-> 71
Edge 125: 82 <-> 71
Edge 126: 73 <-> 72
Edge 127: 83 <-> 72
Edge 128: 74 <-> 73
Edge 129: 84 <-> 73
Edge 130: 75 <-> 74
Edge 131: 85 <-> 74
Edge 132: 76 <-> 75
Edge 133: 86 <-> 75
Edge 134: 77 <-> 76
Edge 135: 87 <-> 76
Edge 136: 78 <-> 77
Edge 137: 88 <-> 77
Edge 138: 79 <-> 78
Edge 139: 89 <-> 78
Edge 140: 80 <-> 79
Edge 141: 90 <-> 79
Edge 142: 92 <-> 81
Edge 143: 83 <-> 82
Edge 144: 94 <-> 82
Edge 145: 84 <-> 83
Edge 146: 95 <-> 83
Edge 147: 85 <-> 84
Edge 148: 96 <-> 84
Edge 149: 86 <-> 85
Edge 150: 97 <-> 85
Edge 151: 87 <-> 86
Edge 152: 98 <-> 86
Edge 153: 88 <-> 87
Edge 154: 99 <-> 87
Edge 155: 89 <-> 88
Edge 156: 100 <-> 88
Edge 157: 90 <-> 89
Edge 158: 101 <-> 89
Edge 159: 91 <-> 90
Edge 160: 102 <-> 90
Edge 161: 93 <-> 92
Edge 162: 104 <-> 92
Edge 163: 94 <-> 93
Edge 164: 105 <-> 93
Edge 165: 95 <-> 94
Edge 166: 106 <-> 94
Edge 167: 96 <-> 95
Edge 168: 107 <-> 95
Edge 169: 97 <-> 96
Edge 170: 108 <-> 96
Edge 171: 98 <-> 97
Edge 172: 109 <-> 97
Edge 173: 99 <-> 98
Edge 174: 110 <-> 98
Edge 175: 100 <-> 99
Edge 176: 111 <-> 99
Edge 177: 101 <-> 100
Edge 178: 112 <-> 100
Edge 179: 102 <-> 101
Edge 180: 113 <-> 101
Edge 181: 103 <-> 102
Edge 182: 114 <-> 102
Edge 183: 105 <-> 104
Edge 184: 116 <-> 104
Edge 185: 106 <-> 105
Edge 186: 117 <-> 105
Edge 187: 107 <-> 106
Edge 188: 118 <-> 106
Edge 189: 108 <-> 107
Edge 190: 119 <-> 107
Edge 191: 109 <-> 108
Edge 192: 120 <-> 108
Edge 193: 110 <-> 109
Edge 194: 121 <-> 109
Edge 195: 111 <-> 110
Edge 196: 122 <-> 110
Edge 197: 112 <-> 111
Edge 198: 123 <-> 111
Edge 199: 113 <-> 112
Edge 200: 124 <-> 112
Edge 201: 114 <-> 113
Edge 202: 125 <-> 113
Edge 203: 115 <-> 114
Edge 204: 126 <-> 114
Edge 205: 117 <-> 116
Edge 206: 128 <-> 116
Edge 207: 118 <-> 117
Edge 208: 129 <-> 117
Edge 209: 119 <-> 118
Edge 210: 130 <-> 118
Edge 211: 120 <-> 119
Edge 212: 131 <-> 119
Edge 213: 121 <-> 120
Edge 214: 132 <-> 120
Edge 215: 122 <-> 121
Edge 216: 133 <-> 121
Edge 217: 123 <-> 122
Edge 218: 134 <-> 122
Edge 219: 124 <-> 123
Edge 220: 135 <-> 123
Edge 221: 125 <-> 124
Edge 222: 136 <-> 124
Edge 223: 126 <-> 125
Edge 224: 137 <-> 125
Edge 225: 127 <-> 126
Edge 226: 22 <-> 10
Edge 227: 33 <-> 22
Edge 228: 45 <-> 33
Edge 229: 56 <-> 45
Edge 230: 68 <-> 56
Edge 231: 80 <-> 68
Edge 232: 91 <-> 80
Edge 233: 103 <-> 91
Edge 234: 115 <-> 103
Edge 235: 127 <-> 115
Edge 236: 129 <-> 128
Edge 237: 130 <-> 129
Edge 238: 131 <-> 130
Edge 239: 132 <-> 131
Edge 240: 133 <-> 132
Edge 241: 134 <-> 133
Edge 242: 135 <-> 134
Edge 243: 136 <-> 135
Edge 244: 137 <-> 136
]
Robot arrangement: (|R| = 60, |V| = 138) [
robot locations: {1#106 2#55 3#96 4#4 5#115 6#38 7#34 8#30 9#128 10#94 11#47 12#1 13#136 14#82 15#75 16#29 17#15 18#127 19#36 20#31 21#112 22#24 23#45 24#78 25#99 26#74 27#23 28#81 29#95 30#39 31#131 32#93 33#119 34#124 35#98 36#2 37#84 38#60 39#113 40#63 41#120 42#111 43#133 44#9 45#100 46#32 47#110 48#121 49#5 50#103 51#122 52#37 53#89 54#65 55#80 56#85 57#87 58#49 59#41 60#97 }
vertex occupancy: {0#0 12#1 36#2 0#3 4#4 49#5 0#6 0#7 0#8 44#9 0#10 0#11 0#12 0#13 0#14 17#15 0#16 0#17 0#18 0#19 0#20 0#21 0#22 27#23 22#24 0#25 0#26 0#27 0#28 16#29 8#30 20#31 46#32 0#33 7#34 0#35 19#36 52#37 6#38 30#39 0#40 59#41 0#42 0#43 0#44 23#45 0#46 11#47 0#48 58#49 0#50 0#51 0#52 0#53 0#54 2#55 0#56 0#57 0#58 0#59 38#60 0#61 0#62 40#63 0#64 54#65 0#66 0#67 0#68 0#69 0#70 0#71 0#72 0#73 26#74 15#75 0#76 0#77 24#78 0#79 55#80 28#81 14#82 0#83 37#84 56#85 0#86 57#87 0#88 53#89 0#90 0#91 0#92 32#93 10#94 29#95 3#96 60#97 35#98 25#99 45#100 0#101 0#102 50#103 0#104 0#105 1#106 0#107 0#108 0#109 47#110 42#111 21#112 39#113 0#114 5#115 0#116 0#117 0#118 33#119 41#120 48#121 51#122 0#123 34#124 0#125 0#126 18#127 9#128 0#129 0#130 31#131 0#132 43#133 0#134 0#135 13#136 0#137 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 60, |V| = 138) [
robot goals: {
1#{130}
2#{36}
3#{133}
4#{68}
5#{10}
6#{110}
7#{119}
8#{84}
9#{27}
10#{70}
11#{66}
12#{114}
13#{54}
14#{128}
15#{94}
16#{60}
17#{78}
18#{21}
19#{121}
20#{58}
21#{4}
22#{65}
23#{18}
24#{99}
25#{98}
26#{85}
27#{74}
28#{107}
29#{82}
30#{41}
31#{48}
32#{43}
33#{102}
34#{23}
35#{104}
36#{53}
37#{120}
38#{72}
39#{44}
40#{42}
41#{115}
42#{7}
43#{33}
44#{137}
45#{87}
46#{24}
47#{106}
48#{20}
49#{45}
50#{47}
51#{67}
52#{112}
53#{80}
54#{116}
55#{105}
56#{135}
57#{118}
58#{111}
59#{108}
60#{0}
}
vertex compatibilities: {
0@{60}
1@{}
2@{}
3@{}
4@{21}
5@{}
6@{}
7@{42}
8@{}
9@{}
10@{5}
11@{}
12@{}
13@{}
14@{}
15@{}
16@{}
17@{}
18@{23}
19@{}
20@{48}
21@{18}
22@{}
23@{34}
24@{46}
25@{}
26@{}
27@{9}
28@{}
29@{}
30@{}
31@{}
32@{}
33@{43}
34@{}
35@{}
36@{2}
37@{}
38@{}
39@{}
40@{}
41@{30}
42@{40}
43@{32}
44@{39}
45@{49}
46@{}
47@{50}
48@{31}
49@{}
50@{}
51@{}
52@{}
53@{36}
54@{13}
55@{}
56@{}
57@{}
58@{20}
59@{}
60@{16}
61@{}
62@{}
63@{}
64@{}
65@{22}
66@{11}
67@{51}
68@{4}
69@{}
70@{10}
71@{}
72@{38}
73@{}
74@{27}
75@{}
76@{}
77@{}
78@{17}
79@{}
80@{53}
81@{}
82@{29}
83@{}
84@{8}
85@{26}
86@{}
87@{45}
88@{}
89@{}
90@{}
91@{}
92@{}
93@{}
94@{15}
95@{}
96@{}
97@{}
98@{25}
99@{24}
100@{}
101@{}
102@{33}
103@{}
104@{35}
105@{55}
106@{47}
107@{28}
108@{59}
109@{}
110@{6}
111@{58}
112@{52}
113@{}
114@{12}
115@{41}
116@{54}
117@{}
118@{57}
119@{7}
120@{37}
121@{19}
122@{}
123@{}
124@{}
125@{}
126@{}
127@{}
128@{14}
129@{}
130@{1}
131@{}
132@{}
133@{3}
134@{}
135@{56}
136@{}
137@{44}
}
]
Solving layer: 2
Solving layer: 3
Solving layer: 4
Solving layer: 5
Solving layer: 6
Solving layer: 7
Solving layer: 8
Solving layer: 9
Solving layer: 10
Solving layer: 11
Solving layer: 12
Solving layer: 13
Solving layer: 14
Solving layer: 15
Solving layer: 16
Solving layer: 17
Solving layer: 18
Computed optimal makespan:-1
Makespan optimal solution:
Mulirobot solution: (|moves| = 0, paralellism = -nan) [
]
Multirobot solution analysis: (
total makespan = 0
total distance = 0
total trajectory = 0
average parallelism = -nan
average distance = 0.000
average trajectory = 0.000
parallelism distribution = [ ]
distance distribution = [ 59 ]
trajectory distribution = [ ]
)
Phase statistics (current phase = 'root_phase') [
Phase (name = 'root_phase') [
Total SAT solver calls = 17
Satisfiable SAT solver calls = 0
Unsatisfiable SAT solver calls = 16
Indeterminate SAT solver calls = 1
Move executions = 0
Produced CNF variables = 399534
Produced CNF clauses = 4072924
Search steps = 0
Wall clock TIME (seconds) = 263.441
CPU/machine TIME (seconds) = 263.240
]
]
----------------------------------------------------------------