Corrected solution produced by the solver

trajallocpy/Agent.py

@@ -60,15 +60,17 @@ def getDistance(start, end, environment=None):
 
 def getTravelPath(position, assigned_tasks, environment):
     full_path = []
+    travel_paths = []
     if len(assigned_tasks) > 0:
         path, dist = environment.find_shortest_path(position, assigned_tasks[0].start, free_space_after=False, verify=False)
         full_path.extend(path)
         for i in range(len(assigned_tasks) - 1):
             full_path.extend(assigned_tasks[i].trajectory.coords)
             path, dist = environment.find_shortest_path(assigned_tasks[i].end, assigned_tasks[i + 1].start, free_space_after=False, verify=False)
             full_path.extend(path)
+            travel_paths.append(path)
         full_path.extend(assigned_tasks[-1].trajectory.coords)
-    return full_path
+    return full_path, travel_paths
 
 
 @cache

trajallocpy/Experiment.py

@@ -30,6 +30,11 @@ def __init__(self, coverage_problem: CoverageProblem.CoverageProblem, agents: li
         self.communication_graph = np.ones((len(agents), len(agents)))
         self.plot = enable_plotting
 
+        # Results
+        self.routes = {}
+        self.transport = {}
+        self.tasks = {}
+
     def evaluateSolution(self):
         total_path_length = 0
         total_task_length = 0
@@ -196,17 +201,15 @@ def solve(self, profiling_enabled=False, debug=False):
 
         self.end_time = timeit.default_timer()
 
-        # print("Robot Routes")
-        routes = {}
+        # Save the results in the object
         for robot in self.robot_list.values():
-            routes[robot.id] = robot.getPathTasks()
+            self.routes[robot.id], self.transport[robot.id] = Agent.getTravelPath(robot.state, robot.getPathTasks(), robot.environment)
+            self.tasks[robot.id] = [[coord for coord in task.trajectory.coords] for task in robot.getPathTasks()]
 
-        # print(routes)
         if self.plot:
             plotter.plotAgents(self.robot_list.values())
         if self.plot:
             plotter.show()
-        return routes
 
 
 # TODO refactor the experiment class, to provide utility to perform replanning.

trajallocpy/Utility.py

@@ -55,7 +55,7 @@ def plotAgents(self, robot_list: list[CBBA.agent]):
     def plotAgent(self, robot: CBBA.agent, total_number_of_robots):
         task_x = []
         task_y = []
-        p = Agent.getTravelPath(robot.state, robot.getPathTasks(), robot.environment)
+        p, _ = Agent.getTravelPath(robot.state, robot.getPathTasks(), robot.environment)
 
         for s in p:
             task_x.append(s[0])