CSAIL map works
superconflict for illustration
Fixed the DPM to support k=2
solver supports k=2; added superconflict problem
removed unused import
Fixes and improvements of the DPM planner
The bump function in the target is now larger
Gradient Optimizer and kDPM-C kind of work
introduced time to penalty function
Fixed SFO after new trajectory optimizer
Fixed broken parts of the code. IIHP is currently broken.
GradientOptimizer seems to work
Gradient Optimizer w.i.p.
Gradient-based trajectory optimizer. w.i.p.
Added progress visualization. Introduced tan multiplier.
Added a new simple instance generator that can generate dense regular grid instances
Added hard constraint phase to SFO planner, SFO uses BumpFunction and refactorizations
KSFO and PP now generate trajectories up to maxtime.
KSFO -k 1 was sometimes willing to accept high penalties instead of returning solution non-existence. Fixed.
Drastic refactoring of the separable optimal flow optimizer (iterative planner) work in progress
Conflict generator can be given a rectangular region in which the conflict should be located.
Conflict generator improved
- now it generates a start and target points ONLY ON the predefined grid- all agents share the very same grid- code cleaned a bit
obsolete todos removed
Fixed unhandled exception
Unhandled exception was thrown if the algorithm did not find an initial solution