Merge pull request #9 from Kei18/feature/no-parent-check

Feature/no parent check
Kei18 · Jul 21, 2022 · 202dc5c · 202dc5c
2 parents 2e228a0 + 3700f09
commit 202dc5c
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diff --git a/fast_mapf/src/planner.cpp b/fast_mapf/src/planner.cpp
@@ -135,7 +135,7 @@ Solution Planner::solve()
  // check explored list
  auto iter = EXPLORED.find(C);
  if (iter != EXPLORED.end()) {
- if (iter->second != S->parent) OPEN.push(iter->second);
+ OPEN.push(iter->second);
  continue;
  }
 

diff --git a/scripts/config/mapf-bench.yaml b/scripts/config/mapf-bench.yaml
@@ -1,4 +1,4 @@
-num_min_agents: 100
+num_min_agents: 50
 num_interval_agents: 50
 time_limit_sec: 30
 seeds: 5