Commits

bergsoe committed 663059f

New utility function [expand_by_intermediary_steps].

Comments (0)

Files changed (1)

               loop its (advance prev path (it prev goal))
       in
         loop intermediaries (start, [], false)
+
+let make_intermediaries ip metric steps =
+  List.map
+    (fun step ->
+       PaplInterpolate.intermediary_steps
+         ip (metric, step))
+    steps
+
+let expand_by_intermediary_steps constr ip metric steps =
+  expand_by_intermediaries
+    (PaplPlannerConstraint.constrain_edge_and_snd constr)
+    (make_intermediaries ip metric steps)