bumped version and fixed floatingpoint error

pyproject.toml

@@ -5,7 +5,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "trajallocpy"
-version = "0.0.6"
+version = "0.0.7"
 description = "TrajAllocPy is a Python library that provides functionality for trajectory task Allocaition using Consensus based bundle algorithm"
 readme = "README.md"
 authors = [

trajallocpy/Agent.py

@@ -36,7 +36,7 @@ class BidInformation:
     # sender_id: int
 
 
-def distanceToCost(dist, max_velocity=3, max_acceleration=1):
+def distanceToCost(dist, max_velocity=5, max_acceleration=2):
     d_a = (max_velocity**2) / max_acceleration
     result = math.sqrt(4 * dist / max_acceleration) if dist < d_a else max_velocity / max_acceleration + dist / max_velocity
     return result
@@ -116,7 +116,7 @@ def test_calculatePathRewardWithNewTask(environment, agent, taskCurr, taskPrev,
     return score, minStart, maxStart
 
 
-def calculatePathRewardWithNewTask(j, n, state, tasks, path, environment, use_single_point_estimation=False, Lambda=0.95):
+def calculatePathRewardWithNewTask(j, n, state, tasks, path, environment, Lambda, use_single_point_estimation=False):
     temp_path = list(path)
     temp_path.insert(n, j)
     # print(j)

trajallocpy/CBBA.py

@@ -9,7 +9,7 @@
 from trajallocpy import Agent
 from trajallocpy.Task import TrajectoryTask
 
-EPSILON = 1e-10
+EPSILON = np.finfo(float).eps
 
 
 class BundleResult:
@@ -80,7 +80,7 @@ def __init__(
         else:
             self.state = state.coords[0]
         # socre function parameters
-        self.Lambda = 0.95
+        self.Lambda = 0.99
 
         self.availability_time = 0
 
@@ -123,7 +123,7 @@ def getCij(self):
 
         for n, j in itertools.product(range(len(self.path) + 1), tasks_to_check):
             S_pj, should_be_reversed, best_time = Agent.calculatePathRewardWithNewTask(
-                j, n, self.state, self.tasks, self.path, self.environment, self.use_single_point_estimation
+                j, n, self.state, self.tasks, self.path, self.environment, self.Lambda, self.use_single_point_estimation
             )
             c_ijn = S_pj - S_p
             if c[j] < c_ijn:

trajallocpy/Experiment.py

@@ -196,12 +196,12 @@ def solve(self, profiling_enabled=False, debug=False):
 
         self.end_time = timeit.default_timer()
 
-        print("Robot Routes")
+        # print("Robot Routes")
         routes = {}
         for robot in self.robot_list.values():
             routes[robot.id] = robot.getPathTasks()
 
-        print(routes)
+        # print(routes)
         if self.plot:
             plotter.plotAgents(self.robot_list.values())
         if self.plot: