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Author: SchwartzCode

PathPlanning/TimeBasedPathPlanning/BaseClasses.py

@@ -1,6 +1,5 @@
 from abc import ABC, abstractmethod
 from dataclasses import dataclass
-import math
 from PathPlanning.TimeBasedPathPlanning.GridWithDynamicObstacles import (
     Grid,
     Position,

PathPlanning/TimeBasedPathPlanning/PriorityBasedPlanner.py

@@ -22,6 +22,7 @@
 
 class PriorityBasedPlanner(MultiAgentPlanner):
 
+    @staticmethod
     def plan(grid: Grid, start_and_goals: list[StartAndGoal], single_agent_planner_class: SingleAgentPlanner, verbose: bool) -> tuple[list[StartAndGoal], list[NodePath]]:
         """
         Generate a path from the start to the goal for each agent in the `start_and_goals` list.
@@ -41,7 +42,7 @@ def plan(grid: Grid, start_and_goals: list[StartAndGoal], single_agent_planner_c
 
         paths = []
         for start_and_goal in start_and_goals:
-            if True:
+            if verbose:
                 print(f"\nPlanning for agent:  {start_and_goal}" )
 
             grid.clear_initial_reservation(start_and_goal.start, start_and_goal.index)

tests/test_priority_based_planner.py

@@ -24,12 +24,6 @@ def test_1():
         obstacle_arrangement=ObstacleArrangement.ARRANGEMENT1,
     )
 
-    grid_side_length = 21
-    grid = Grid(
-        np.array([grid_side_length, grid_side_length]),
-        obstacle_arrangement=ObstacleArrangement.ARRANGEMENT1,
-    )
-
     m.show_animation = False
 
     start_and_goals: list[StartAndGoal]