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Created with Raphaël 2.2.010Mar520Feb1312118762129Jan282725222119181514131110975213Nov5129Oct2117169Sep226Aug2524221916Jun324MarRevised find_all_waiting_robots, queue iteration instead of recursionmainmainDiversified rrt classDo not use ego frame in MPC, use global frame throughoutput more params into settings fileInitial diversified RRT*Centering grid added to costMerge branch 'main' of gitlab.engr.illinois.edu:rmoan2/db-guided-mrmpadd back in plottingmove reroute guide paths into its own functionif a robot is marked as not a part of a grid, skip itmove visualization functions to helper filemove some functions into utils/helpers filedelete comments, change variable namesbetter names for robot variablesadd tree argument to multi path tracker classadd obstacle tolerance to the plan decoupled path functionfix path name in lib fileadd a tolerance for obstacel intersection in klampt motion plannerget ref trajectory purely from guide path, instead of trying to use velocitiesMerge branch 'main' of gitlab.engr.illinois.edu:rmoan2/db-guided-mrmpuse klampt motion planner to get decoupled pathsGrabs random key, idx and fetches solutionParameter tuning file addedWhen turning the db solution into a continuous, first send robot to the first point from its solutionMerge branch 'updated-place-grid' into 'main'Use one MPC for both single and multirobotremove magic constants, improve the name of some variablesFixed error with zero obstacles, main.py worksupdated-place-g…updated-place-gridCleaning up debugging print statements, removing unnecessary cmd line argsRectangular obstacles addedMinor misc changesrobot-robot cost was not being computed correctly in multi mpcadd support for rectangular obstaclesRandom generation of obstacle/robot/subgoals for testcasesAdded obstacle / robot cell overlaps to the cost functionPassing libraries into advance function instead of assigning them as self variables because they cannot be a self var while using joblib (for parallelization).remove old print statementsConstrain robot grid indices to be outside the range of obstacle grid indicesAdding number of obstacle cells to costCheck against global x_mpc what finding waiting robots