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Jiaoyang-Li / EECBS

A bounded-suboptimal solver for Multi-Agent Path Finding
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unused code #6

Open tc-imba opened 1 year ago

tc-imba commented 1 year ago

Hi Jiaoyang, thanks for your great work!

When using the repo, I find that that this segment of code when finding conflicts is no-op. I'm not sure is it intended for some imcompleted optimization, and will it influence the efficiency of this part.

https://github.com/Jiaoyang-Li/EECBS/blob/2c5bf95ada5ec9b5e4e5cb4cded95f16cf302c4b/src/CBS.cpp#L148-L156

Jiaoyang-Li commented 1 year ago

Thanks for pointing this out. This part of the code was designed for avoiding finding collisions between the same pair of agents twice if both agents are in new_agents. Therefore, I should add "if skip == false" on line 157. (Missing this line won't make the code wrong, but probably less efficient)