Multi-part planning has become very complicated using backups and clones for connecting waypoints. It could have been much easier using multiple planner instances instead. Possibly evaluate the option of creating several planner instances to avoid backups (context changes) all together.
Multi-part planning has become very complicated using backups and clones for connecting waypoints. It could have been much easier using multiple planner instances instead. Possibly evaluate the option of creating several planner instances to avoid backups (context changes) all together.