traj_opt_resolver.py

from guided_mrmp.conflict_resolvers.local_resolver import LocalResolver

class TrajOptResolver(LocalResolver):
    """
    A class that resolves conflicts using trajectoy optimization.
    """
    def __init__(self, conflicts, all_robots, dt, starts, goals):
        """
        inputs:
            - starts (list): starts for all robots in the traj opt problem
            - goals (list): goals for all robots in the traj opt problem
        """
        super.__init__(conflicts, all_robots, dt)
        self.starts = starts
        self.goals = goals