ReservationTable

class w9_pathfinding.mapf.ReservationTable

Data structure to manage dynamic obstacles.

Can be used to simulate obstacles that move along a known path or agents with precomputed paths.

Parameters:

env (Environment) – The environment (graph or grid).

add_edge_constraint(time, n1, n2)

Add a constraint that prevents movement along a specific edge at a given time.

Parameters:

  • time (int) – The time step of the movement.

  • n1 (node) – The starting node of the edge.

  • n2 (node) – The ending node of the edge.

Raises:

ValueError – If either n1 or n2 is not a valid node in the environment.

add_path(path, start_time=0, reserve_destination=False)

Reserve all nodes along a given path starting at a specified time. If edge_collision is enabled in the environment, this method will also reserve edges along the path.

Parameters:

  • path (List[node]) – The list of nodes representing the path.

  • start_time (int, default 0) – The time step at which the path starts.

  • reserve_destination (bool, default False) – If True, the destination node remains reserved after arrival.

Raises:

ValueError – If any node in the path is not a valid node in the environment.

add_vertex_constraint(time, node, permanent=False)

Add a vertex constraint to block access to a node at a specific time.

Parameters:

  • time (int) – The time step at which the node should be blocked.

  • node (node) – The node to constrain.

  • permanent (bool, default False) – If True, the node is permanently blocked from time onward.

Raises:

ValueError – If node is not a valid node in the environment.

is_edge_reserved(time, n1, n2)

Check if moving from node n1 to n2 is reserved at a given time.

Parameters:

  • time (int) – The time step of the movement.

  • n1 (node) – The start node of the edge.

  • n2 (node) – The end node of the edge.

Returns:

True if the edge is reserved at the given time.

Return type:

bool

Raises:

ValueError – If either n1 or n2 is not a valid node in the environment.

is_reserved(time, node)

Check if a node is reserved at a given time.

Parameters:

  • time (int) – The time step to query.

  • node (node) – The node to check

Returns:

True if the node is reserved at the given time.

Return type:

bool

Raises:

ValueError – If node is not a valid node in the environment.