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Avoid calling detect_collision twice needlessly #7

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Avoid calling detect_collision twice needlessly #7

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25 changes: 13 additions & 12 deletions code/cbs_basic.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,25 +27,26 @@ def detect_collision(path1, path2):

return None


def detect_collisions(paths):
##############################
# Task 3.1: Return a list of first collisions between all robot pairs.
# A collision can be represented as dictionary that contains the id of the two robots, the vertex or edge
# A collision can be represented as a dictionary that contains the id of the two robots, the vertex or edge
# causing the collision, and the timestep at which the collision occurred.
# You should use your detect_collision function to find a collision between two robots.
collisions =[]
for i in range(len(paths)-1):
for j in range(i+1,len(paths)):
if detect_collision(paths[i],paths[j]) !=None:
position,t = detect_collision(paths[i],paths[j])
collisions.append({'a1':i,
'a2':j,
'loc':position,
'timestep':t+1})
collisions = []
for i in range(len(paths) - 1):
for j in range(i + 1, len(paths)):
collision_result = detect_collision(paths[i], paths[j]) # Store result of the function call
if collision_result is not None:
position, t = collision_result # Use the stored result
collisions.append({
'a1': i,
'a2': j,
'loc': position,
'timestep': t + 1
})
return collisions


def standard_splitting(collision):
##############################
# Task 3.2: Return a list of (two) constraints to resolve the given collision
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