MAPF Solver Constraint Tree Debugger #419
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Implemented feature
This pr allows the user to step through the constraints tree output from the MAPF solver by traversing from the results node and go up to its parent nodes. In each node, the user can see all the constraints added, newly added constraint w.r.t to its parent, and also the resulting paths for all robots.
Implementation description
The current system allows the user to visualize the final node output by the MAPF solver. This is extending it by being able to provide any arbitrary node in the constraint tree and visualizing it as well.
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