Question about `move()` in BasicSystem.cpp

[JiangpengLI86]

Dear Professor Li,

Thank you for this fantastic algorithm.

I have a question regarding this

RHCR/src/BasicSystem.cpp

Line 362 in fa0aea7

if ((!hold_endpoints || paths[k].size() == t + 1) && !goal_locations[k].empty() &&

if statement. It seems that you only remove the finished goal from the goal_locations vector when that goal is finished at the end of a path by using the condition paths[k].size() == t + 1.

I am confused about this condition, because if an agent reaches two goals within one newly added path, then the goal location of the first accomplished path will not be removed.

Could you please shed some light on this issue? Thank you so much for your time and attention to this problem.

Best regards,

Jp