Draft
Conversation
Generated-by: Gemini-CLI Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
This adds solve(), derive_mapf_result(), and derive_semantic_plan() to the Scenario struct for tighter integration between MAPF solving and trajectory derivation. Generated-by: Gemini-CLI Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
…cies This allows obstacles in a Scenario to be represented as agents in the MAPFPost output, enabling traffic dependency analysis for moving objects. Generated-by: Gemini-CLI Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
- Changed edition to 2021 in mapf/Cargo.toml - Refactored 'let chains' in post module to nested 'if let' blocks - Removed unused petgraph import - Updated formatting across multiple files to match 2021 edition Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
arjo129
force-pushed
the
arjo/feat/merge-mapf-post
branch
from
0d9939c to
26e2496
Compare
arjo129
commented
Mar 19, 2026
| } | ||
|
|
||
| impl Scenario { | ||
| pub fn add_mobile_objects_as_agents(&mut self) { |
Member
Author
There was a problem hiding this comment.
This method is not used anywhere.
| pub real_position: (f64, f64), | ||
| } | ||
| #[derive(Clone)] | ||
| pub struct Grid2D { |
| &self, | ||
| solution: &NegotiationNode, | ||
| timestep: f64, | ||
| ) -> crate::post::MapfResult { |
Member
Author
There was a problem hiding this comment.
MapfResult maynot contain the right book keeping structures for name->agentId. We should keep this API private.
| &self, | ||
| solution: &NegotiationNode, | ||
| timestep: f64, | ||
| ) -> crate::post::SemanticPlan { |
Member
Author
There was a problem hiding this comment.
SemanticPlan needs some way to map between Agent name and Id.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Implemented feature
#29
Implementation description
This PR merges the mapf_post functionality into the mapf crate, as tracked in issue #29. This consolidation simplifies the codebase and aligns the types between the core MAPF utilities and the post-processing algorithms used for robust plan execution.
Motivation
Previously, mapf_post existed as a separate utility or was part of an external experimental repository. Merging it into mapf allows for tighter integration with the base traits and types of the multi-agent planning framework, facilitating a more seamless transition from planning to execution-ready semantic plans.
Key Changes
Core post Module:
Semantic Planning & Following:
Collision Detection:
Spatial Allocation:
Crate Updates:
Implementation Details
Verification
GenAI Use
We follow OSRA's policy on GenAI tools
Note the original library doesnt use gen-ai I used gen-ai to see if it could merge the two libraries and reconcile APIs.
Generated-by: Gemini-cli