Merge pull request #29 from whoenig/issue28

Add regression test for issue28

example/cbs.cpp

@@ -430,7 +430,7 @@ class Environment {
  // This is a trick to avoid changing the rest of the code significantly
  // After an agent disappeared, put it at a unique but invalid position
  // This will cause all calls to equalExceptTime(.) to return false.
- return State(-1 * agentIdx, -1, -1);
+ return State(-1, -1 * (agentIdx + 1), -1);
  }
  return solution[agentIdx].states.back().first;
  }

example/ecbs.cpp

@@ -498,7 +498,7 @@ class Environment {
  // This is a trick to avoid changing the rest of the code significantly
  // After an agent disappeared, put it at a unique but invalid position
  // This will cause all calls to equalExceptTime(.) to return false.
- return State(-1 * agentIdx, -1, -1);
+ return State(-1, -1 * (agentIdx+1), -1);
  }
  return solution[agentIdx].states.back().first;
  }

test/issue28.yaml

@@ -0,0 +1,17 @@
+map:
+ dimensions: [4, 4]
+ obstacles:
+ - [0, 2]
+ - [0, 3]
+ - [1, 3]
+ - [3, 3]
+agents:
+ - name: agent0
+ start: [1, 2]
+ goal: [3, 0]
+ - name: agent1
+ start: [3, 2]
+ goal: [2, 2]
+ - name: agent2
+ start: [2, 1]
+ goal: [0, 0]

test/test_cbs.py

@@ -43,5 +43,9 @@ def test_someAtGoal_disappearingAgents(self):
  r = self.runCBS("../test/mapf_someAtGoal.yaml", additionalArgs=["--disappear-at-goal"])
  self.assertTrue(r["statistics"]["cost"] == 1)
 
+ def test_issue28_disappearingAgents(self):
+ r = self.runCBS("../test/issue28.yaml", additionalArgs=["--disappear-at-goal"])
+ self.assertTrue(r["statistics"]["cost"] == 8)
+
 if __name__ == '__main__':
  unittest.main()

test/test_ecbs.py

@@ -45,5 +45,9 @@ def test_someAtGoal_disappearingAgents(self):
  r = self.runECBS("../test/mapf_someAtGoal.yaml", 1.0, additionalArgs=["--disappear-at-goal"])
  self.assertTrue(r["statistics"]["cost"] == 1)
 
+ def test_issue28_disappearingAgents(self):
+ r = self.runECBS("../test/issue28.yaml", 1.0, additionalArgs=["--disappear-at-goal"])
+ self.assertTrue(r["statistics"]["cost"] == 8)
+
 if __name__ == '__main__':
  unittest.main()