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
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