Output path for each agent ?

[miyunluo]

Dear author, is the code able to output the trajectory for each agent given the map and agents' info?

[Jiaoyang-Li]

Yes, it is stored in icbs.paths

[miyunluo]

Thank you very much for replying! Maybe a silly question, but how to generate this icbs.paths file?
./CBSH2 --help does not seem to have an option to save trajectories.

[Jiaoyang-Li]

No, icbs.paths is not a file. "paths" is a variable in Class ICSBSearch that stores the paths for all agents. So you need to change the code in the driver.cpp file to output icbs.paths after icbs.runICBSSearch()