fixed routing bug

main.py

@@ -112,7 +112,8 @@ def run_experiment(experiment_title, n_agents, capacity, show_plots, debug, resu
     ]
     exp = Experiment.Runner(coverage_problem=cp, enable_plotting=show_plots, agents=agent_list)
 
-    allocations = exp.solve(profiling_enabled=False, debug=debug)
+    exp.solve(profiling_enabled=False, debug=debug)
+
     # TODO rewrite this as a function
     # if export:
     #     temp = []
@@ -174,7 +175,7 @@ def run_experiment(experiment_title, n_agents, capacity, show_plots, debug, resu
     else:
         ds = "AC300"
         n_agents = 3
-        capacity = 100000
+        capacity = 5000
         main(
             dataset_name=ds,
             experiment_title=ds + "_" + str(n_agents) + "agents_" + str(capacity) + "capacity",

setup.py

@@ -2,7 +2,7 @@
 
 setup(
     name="trajallocpy",
-    version="0.0.3",
+    version="0.0.10",
     description="TrajAllocPy is a Python library that provides functionality for trajectory task Allocation using Consensus based bundle algorithm",
     long_description="",
     long_description_content_type="text/markdown",

trajallocpy/Agent.py

@@ -61,16 +61,20 @@ def getDistance(start, end, environment=None):
 def getTravelPath(position, assigned_tasks, environment):
     full_path = []
     travel_paths = []
+    task_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)
+            task_paths.append(assigned_tasks[i].trajectory.coords)
             travel_paths.append(path)
         full_path.extend(assigned_tasks[-1].trajectory.coords)
-    return full_path, travel_paths
+        task_paths.append(assigned_tasks[-1].trajectory.coords)
+
+    return full_path, travel_paths, task_paths
 
 
 @cache

trajallocpy/Experiment.py

@@ -203,8 +203,9 @@ def solve(self, profiling_enabled=False, debug=False):
 
         # Save the results in the object
         for robot in self.robot_list.values():
-            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()]
+            self.routes[robot.id], self.transport[robot.id], self.tasks[robot.id] = Agent.getTravelPath(
+                robot.state, robot.getPathTasks(), robot.environment
+            )
 
         if self.plot:
             plotter.plotAgents(self.robot_list.values())