merge

Signed-off-by: Reuben Thomas <[email protected]>

.github/workflows/ci.yaml

@@ -0,0 +1,62 @@
+name: ci
+
+on:
+  schedule:
+    # * is a special character in YAML so you have to quote this string
+    # The final 1 indicates that we want to run this test on Tuesdays, making
+    # this a weekly test.
+    - cron:  '30 2 * * 1'
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches: main
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+    runs-on: ${{ matrix.runs-on }}-latest
+    strategy:
+      matrix:
+        runs-on: [ubuntu, windows]
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    - name: Install Rustup on Windows
+      if: matrix.runs-on == 'windows'
+      run: |
+        # Disable the download progress bar which can cause perf issues
+        $ProgressPreference = "SilentlyContinue"
+        Invoke-WebRequest https://win.rustup.rs/ -OutFile rustup-init.exe
+        .\rustup-init.exe -y --default-host=x86_64-pc-windows-msvc --default-toolchain=none
+        del rustup-init.exe
+
+    - name: Set Rust version to nightly
+      run: rustup default nightly
+
+    - name: Add Windows target
+      if: matrix.runs-on == 'windows'
+      run: |
+        rustc -Vv
+        cargo -V
+        rustup target add x86_64-pc-windows-msvc
+
+    - name: Cache Cargo
+      uses: actions/cache@v4
+      with:
+        path: |
+          ~/.cargo/bin/
+          ~/.cargo/registry/index/
+          ~/.cargo/registry/cache/
+          ~/.cargo/git/db/
+          target/
+        key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
+
+    - name: Build workspace
+      run: cargo build --workspace --tests
+
+    - name: Run tests
+      run: cargo test --tests

README.md

@@ -1,6 +1,5 @@
 [![style](https://github.com/open-rmf/mapf/actions/workflows/style.yaml/badge.svg)](https://github.com/open-rmf/mapf/actions/workflows/style.yaml)
-[![ci_linux](https://github.com/open-rmf/mapf/actions/workflows/ci_linux.yaml/badge.svg)](https://github.com/open-rmf/mapf/actions/workflows/ci_linux.yaml)
-[![ci_windows](https://github.com/open-rmf/mapf/actions/workflows/ci_windows.yaml/badge.svg)](https://github.com/open-rmf/mapf/actions/workflows/ci_windows.yaml)
+[![ci](https://github.com/open-rmf/mapf/actions/workflows/ci.yaml/badge.svg)](https://github.com/open-rmf/mapf/actions/workflows/ci.yaml)
 
 # multi-agent (path finding) planning framework
 

mapf/src/lib.rs

@@ -20,6 +20,11 @@
     impl_trait_in_assoc_type,
     result_flattening
 )]
+// TODO(@mxgrey): Eliminate the need for this by reducing the complexity of
+// struct names, e.g. the typename for the complex chain that implements Lifted
+// in activity.rs. This will probably go hand-in-hand with removing the need for
+// nightly features, and improve compile times all at once.
+#![type_length_limit = "157633981"]
 
 pub mod domain;
 

mapf/src/motion/conflict.rs

@@ -148,7 +148,7 @@ where
         }
 
         // The final state should be almost exactly the same as the last move
-        assert!((to_state.point() - last_p).norm() < 1e-3);
+        assert!((to_state.point() - last_p).norm_squared() < 1e-6);
         Arclength {
             translational,
             rotational,

mapf/src/motion/waypoint.rs

@@ -99,7 +99,7 @@ where
         }
 
         // The final state should be almost exactly the same as the last move
-        assert!((to_state.point() - last_p).norm() < 1e-3);
+        assert!((to_state.point() - last_p).norm_squared() < 1e-6);
         Arclength {
             translational,
             rotational,

mapf/src/negotiation/mod.rs

@@ -68,15 +68,17 @@ pub fn negotiate(
     let cs = scenario.cell_size;
     let mut conflicts = HashMap::new();
     triangular_for(scenario.agents.iter(), |(n_a, a), (n_b, b)| {
+        let min_dist = a.radius + b.radius;
+        let min_dist_squared = min_dist * min_dist;
+
         for (cell_a, cell_b) in [
             (a.start_cell(), b.start_cell()),
             (a.goal_cell(), b.goal_cell()),
         ] {
             let pa = cell_a.center_point(cs);
             let pb = cell_b.center_point(cs);
-            let dist = (pa - pb).norm();
-            let min_dist = a.radius + b.radius;
-            if dist < min_dist {
+            let dist_squared = (pa - pb).norm_squared();
+            if dist_squared < min_dist_squared {
                 conflicts.insert(
                     (**n_a).clone().min((*n_b).clone()),
                     (**n_a).clone().max((*n_b).clone()),