copilot review

Author: SchwartzCode

PathPlanning/TimeBasedPathPlanning/GridWithDynamicObstacles.py

@@ -177,7 +177,7 @@ def generate_narrow_corridor_obstacles(self, obs_count: int) -> list[list[Positi
                 continue
 
             obstacle_path = []
-            x = 10 # middle of the grid
+            x = self.grid_size[0] // 2 # middle of the grid
             for t in range(0, self.time_limit - 1):
                 obstacle_path.append(Position(x, y))
 

PathPlanning/TimeBasedPathPlanning/Plotting.py

@@ -113,7 +113,7 @@ def PlotNodePaths(grid: Grid, start_and_goals: list[StartAndGoal], paths: list[N
 
         # Update each agent's position
         for (j, path) in enumerate(paths):
-            path_postitions = []
+            path_positions = []
             if i <= path.goal_reached_time():
                 res = path.get_position(i)
                 if not res:
@@ -125,8 +125,8 @@ def PlotNodePaths(grid: Grid, start_and_goals: list[StartAndGoal], paths: list[N
 
                 # Verify position is valid
                 assert not path_position in obs_positions
-                assert not path_position in path_postitions
-                path_postitions.append(path_position)
+                assert not path_position in path_positions
+                path_positions.append(path_position)
 
                 path_plots[j].set_data([path_position.x], [path_position.y])
 

PathPlanning/TimeBasedPathPlanning/PriorityBasedPlanner.py

@@ -29,7 +29,7 @@ def plan(grid: Grid, start_and_goals: list[StartAndGoal], single_agent_planner_c
         Returns the re-ordered StartAndGoal combinations, and a list of path plans. The order of the plans
         corresponds to the order of the `start_and_goals` list.
         """
-        print(f"Using planner: {single_agent_planner_class}")
+        print(f"Using single-agent planner: {single_agent_planner_class.__name__}")
 
         # Reserve initial positions
         for start_and_goal in start_and_goals:

PathPlanning/TimeBasedPathPlanning/SafeInterval.py

@@ -70,7 +70,9 @@ def plan(grid: Grid, start: Position, goal: Position, verbose: bool = False) ->
                 continue
 
             if expanded_node.position == goal:
-                print(f"Found path to goal after {len(expanded_list)} expansions")
+                if verbose:
+                    print(f"Found path to goal after {len(expanded_list)} expansions")
+
                 path = []
                 path_walker: SIPPNode = expanded_node
                 while True:

PathPlanning/TimeBasedPathPlanning/SpaceTimeAStar.py

@@ -43,7 +43,9 @@ def plan(grid: Grid, start: Position, goal: Position, verbose: bool = False) ->
                 continue
 
             if expanded_node.position == goal:
-                print(f"Found path to goal after {len(expanded_list)} expansions")
+                if verbose:
+                    print(f"Found path to goal after {len(expanded_list)} expansions")
+
                 path = []
                 path_walker: Node = expanded_node
                 while True: