Merge pull request #31 from whoenig/issue30

Issue30

.github/workflows/build.yml

@@ -1,14 +1,6 @@
 name: Build
 
-on:
- push:
- branches: [ main ]
- pull_request:
- branches: [ main ]
-
-env:
- # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
- BUILD_TYPE: Release
+on: [push, pull_request]
 
 jobs:
  build:
@@ -17,6 +9,10 @@ jobs:
  # cross-platform coverage.
  # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
  runs-on: ubuntu-latest
+ # Also test debug build, to find potential asserts when running tests
+ strategy:
+ matrix:
+ BUILD_TYPE: ["Release", "Debug"]
 
  steps:
  - uses: actions/checkout@v2
@@ -31,11 +27,11 @@ jobs:
  - name: Configure CMake
  # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
  # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
- run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+ run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{matrix.BUILD_TYPE}}
 
  - name: Build
  # Build your program with the given configuration
- run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+ run: cmake --build ${{github.workspace}}/build --config ${{matrix.BUILD_TYPE}}
 
  - name: Test
  run: make run-test

example/cbs.cpp

@@ -627,6 +627,16 @@ int main(int argc, char* argv[]) {
  goals.emplace_back(Location(goal[0].as<int>(), goal[1].as<int>()));
  }
 
+ // sanity check: no identical start states
+ std::unordered_set<State> startStatesSet;
+ for (const auto& s : startStates) {
+ if (startStatesSet.find(s) != startStatesSet.end()) {
+ std::cout << "Identical start states detected -> no solution!" << std::endl;
+ return 0;
+ }
+ startStatesSet.insert(s);
+ }
+
  Environment mapf(dimx, dimy, obstacles, goals, disappearAtGoal);
  CBS<State, Action, int, Conflict, Constraints, Environment> cbs(mapf);
  std::vector<PlanResult<State, Action, int> > solution;

example/cbs_ta.cpp

@@ -567,6 +567,16 @@ int main(int argc, char* argv[]) {
  }
  }
 
+ // sanity check: no identical start states
+ std::unordered_set<State> startStatesSet;
+ for (const auto& s : startStates) {
+ if (startStatesSet.find(s) != startStatesSet.end()) {
+ std::cout << "Identical start states detected -> no solution!" << std::endl;
+ return 0;
+ }
+ startStatesSet.insert(s);
+ }
+
  Environment mapf(dimx, dimy, obstacles, startStates, goals,
  maxTaskAssignments);
  CBSTA<State, Action, int, Conflict, Constraints, Location, Environment>

example/ecbs.cpp

@@ -585,6 +585,16 @@ int main(int argc, char* argv[]) {
  goals.emplace_back(Location(goal[0].as<int>(), goal[1].as<int>()));
  }
 
+ // sanity check: no identical start states
+ std::unordered_set<State> startStatesSet;
+ for (const auto& s : startStates) {
+ if (startStatesSet.find(s) != startStatesSet.end()) {
+ std::cout << "Identical start states detected -> no solution!" << std::endl;
+ return 0;
+ }
+ startStatesSet.insert(s);
+ }
+
  Environment mapf(dimx, dimy, obstacles, goals, disappearAtGoal);
  ECBS<State, Action, int, Conflict, Constraints, Environment> ecbs(mapf, w);
  std::vector<PlanResult<State, Action, int> > solution;

example/ecbs_ta.cpp

@@ -641,6 +641,16 @@ int main(int argc, char* argv[]) {
  }
  }
 
+ // sanity check: no identical start states
+ std::unordered_set<State> startStatesSet;
+ for (const auto& s : startStates) {
+ if (startStatesSet.find(s) != startStatesSet.end()) {
+ std::cout << "Identical start states detected -> no solution!" << std::endl;
+ return 0;
+ }
+ startStatesSet.insert(s);
+ }
+
  Environment mapf(dimx, dimy, obstacles, startStates, goals,
  maxTaskAssignments);
  ECBSTA<State, Action, int, Conflict, Constraints, Location,

test/issue30.yaml

@@ -0,0 +1,3 @@
+{agents: [{goal: [0, 1], name: agent0, start: [3, 2]}, {goal: [0, 1], name: agent1,
+ start: [3, 2]}, {goal: [1, 3], name: agent2, start: [2, 0]}], map: {dimensions: [
+ 4, 4], obstacles: []}}

test/test_ecbs.py

@@ -49,5 +49,9 @@ def test_issue28_disappearingAgents(self):
  r = self.runECBS("../test/issue28.yaml", 1.0, additionalArgs=["--disappear-at-goal"])
  self.assertTrue(r["statistics"]["cost"] == 8)
 
+ def test_issue30(self):
+ r = self.runECBS("../test/issue30.yaml", 1.5)
+ # no need to check anything other than successful process termination
+
 if __name__ == '__main__':
  unittest.main()