Sample-output.txt

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 planShortest

    0    0    0    *    0    0    0    0    0    0
    s    w    S    *    0    0    0    0    0    0
    s    *    *    0    0    0    0    0    0    0
   se   se   se   se   se   se    e    s    0    0
   se   se   se   se   se    s    *    s    0    0
   se   se   se   se   se    s    *    s    0    0
   se   se   se   se   se    s    *    s    0    0
   se   se   se   se   se    s    *    s    0    0
    e    e    e    e    e    e    e    D    0    0
    0    0    0    0    0    0    0    0    0    0

 quickPlan

    0    0    0    *    0    0    0    0    0    0
    s    w    S    *    0    0    0    0    0    0
    s    *    *    0    0    0    0    0    0    0
    e    e    e    s    0    0    0    0    0    0
    0    0    0    e    s    0    *    0    0    0
    0    0    0    0    e    s    *    0    0    0
    0    0    0    0    0    s    *    0    0    0
    0    0    0    0    0    s    *    0    0    0
    0    0    0    0    0    e    e    D    0    0
    0    0    0    0    0    0    0    0    0    0