max speed of an agent is now represented by a float
refactored the design of solver
Instance generator now supports flag -sgnoverlap that asserts that start and goal positions of the robots do not overlap
Merge with 76dde0ef7b90fb367431f176b8c150a69d82d3ee
conflict generator can be parameterized to a) create single conflict cluster b) ensure that the instance allows start-goal avoiding paths.
GenerateInstance now support parameters -onecluster and -sgavoiding
Refactoring the conflict generator. Work in progress.
Started the implementation of generalized SIPP. Work in progress.
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