use scenario branch as dependency

Signed-off-by: Reuben Thomas <[email protected]>

mapf-rse/Cargo.toml

@@ -5,7 +5,7 @@ edition = "2021"
 
 [dependencies]
 mapf = { path="../mapf" }
-rmf_site_format = { path = "../../rmf_site/rmf_site_format" }
-rmf_site_editor = { path = "../../rmf_site/rmf_site_editor" }
+rmf_site_format = { git = "https://github.com/reuben-thomas/rmf_site.git", branch = "scenarios", package = "rmf_site_format" }
+rmf_site_editor = { git = "https://github.com/reuben-thomas/rmf_site.git", branch = "scenarios", package = "rmf_site_editor" }
 bevy = { version = "0.12", features = ["pnm", "jpeg", "tga"] }
 bevy_egui = "0.23.0"

mapf-rse/src/lib.rs

@@ -19,8 +19,8 @@ pub mod simulation;
 pub use simulation::*;
 
 pub mod negotiation;
-use librmf_site_editor::widgets::PropertiesTilePlugin;
 pub use negotiation::*;
+use rmf_site_editor::widgets::PropertiesTilePlugin;
 
 use bevy::prelude::*;
 

mapf-rse/src/main.rs

@@ -16,15 +16,12 @@
 */
 
 use bevy::prelude::*;
-use librmf_site_editor::*;
 use mapf_rse::MapfRsePlugin;
+use rmf_site_editor::*;
 
 fn main() {
     let mut app = App::new();
-    app.add_plugins((
-        SiteEditor::default(),
-        MapfRsePlugin::default(),
-    ));
+    app.add_plugins((SiteEditor::default(), MapfRsePlugin::default()));
 
     app.run();
 }

mapf-rse/src/negotiation/control_tile.rs

@@ -21,7 +21,7 @@ use bevy_egui::egui::{
     Align, CollapsingHeader, Color32, ComboBox, DragValue, Frame, Layout, ScrollArea, Slider,
     Stroke, Ui,
 };
-use librmf_site_editor::{
+use rmf_site_editor::{
     interaction::{Select, Selection},
     site::{
         location, mobile_robot, Category, Change, ChangeCurrentScenario, CurrentScenario, Delete,

mapf-rse/src/negotiation/mod.rs

@@ -27,7 +27,7 @@ use std::{
     time::Duration,
 };
 
-use librmf_site_editor::{
+use rmf_site_editor::{
     interaction::{Select, Selection},
     occupancy::{Cell, Grid},
     site::{
@@ -142,11 +142,7 @@ pub fn generate_plan(
         };
 
         let agent = Agent {
-            start: to_cell(
-                robot_pose.trans[0],
-                robot_pose.trans[1],
-                cell_size,
-            ),
+            start: to_cell(robot_pose.trans[0], robot_pose.trans[1], cell_size),
             yaw: f64::from(robot_pose.rot.yaw().radians()),
             goal: to_cell(
                 goal_transform.translation.x,
@@ -185,8 +181,9 @@ pub fn generate_plan(
         elapsed_time
     });
     let task_entity = commands.spawn_empty().id();
-    commands.entity(task_entity).insert(ComputeNegotiateTask(task));
-
+    commands
+        .entity(task_entity)
+        .insert(ComputeNegotiateTask(task));
 }
 
 pub fn to_cell(x: f32, y: f32, cell_size: f32) -> [i64; 2] {

mapf-rse/src/simulation.rs

@@ -19,7 +19,7 @@ use bevy::{ecs::system::SystemParam, prelude::*};
 use bevy_egui::egui::{
     Button, CollapsingHeader, Color32, ComboBox, DragValue, Frame, ScrollArea, Slider, Stroke, Ui,
 };
-use librmf_site_editor::{
+use rmf_site_editor::{
     interaction::{Select, Selection},
     site::{
         Category, Change, ChangeCurrentScenario, CurrentScenario, Delete, Group, MobileRobotMarker,

mapf/src/motion/se2/timed_position.rs

@@ -246,7 +246,11 @@ mod tests {
         let p = motion.compute_position(&t).ok().unwrap();
         assert_relative_eq!(p.translation.vector[0], 1f64, max_relative = 0.001);
         assert_relative_eq!(p.translation.vector[1], 7.5f64, max_relative = 0.001);
-        assert_relative_eq!(p.rotation.angle(), -(5f64).to_radians(), max_relative = 0.001);
+        assert_relative_eq!(
+            p.rotation.angle(),
+            -(5f64).to_radians(),
+            max_relative = 0.001
+        );
 
         let v = motion.compute_velocity(&t).ok().unwrap();
         assert_relative_eq!(v.translational[0], 0f64, max_relative = 0.001);