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Signed-off-by: Tan Chian Fern <chianfern@gmail.com>
Signed-off-by: Tan Chian Fern <chianfern@gmail.com>
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This fixes an infinite loop described in #8 here.
The issue was in the A*star search here. Previously, whenever an agent arrived at its goal on a candidate path, the search would return without checking for vertex constraints, even if this path would result in a conflict. This fix adds the check and allows the search for a valid path to continue.
I also added a test for this scenario.
python3 -m venv venv source venv/bin/activate python3 -m pip install -r requirements.txt pytest