condor-pathfinding-grid 0.4.0

Grid pathfinding, preprocessing, replanning, and multi-agent algorithms for Condor.
Documentation 
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//! Fixture-free direct MAPF starter-planner smoke.

use condor_grid::{Grid, MapfAgent, MapfObjective, MapfProblem, MapfStarterPlanner, Point};

#[test]
fn starter_planner_builds_a_bounded_single_agent_plan() {
    let problem = MapfProblem {
        problem_id: "direct-owner-smoke".to_string(),
        grid: Grid::new(3, 1).expect("small grid is valid"),
        agents: vec![MapfAgent::new("alpha", Point::new(0, 0), Point::new(2, 0))],
        objective: MapfObjective::SumOfCosts,
    };

    let result = MapfStarterPlanner::new(2).plan(&problem);

    assert!(result.is_solved());
    assert!(
        result
            .validation_report()
            .is_some_and(|report| report.valid)
    );
}