def __init__(self, arguments, geometry, import_manager): self._settings = arguments.get_settings("planning_assignment") self._geometry = geometry self._import_manager = import_manager self._home_locations = self._settings.get("vehicle_home_locations") self._home_directions = self._settings.get("vehicle_home_directions") self._turning_cost = self._settings.get("turning_cost") self._number_of_vehicles = len(self._home_locations) self._vehicle_pairs = list( itertools.permutations(range(1, self._number_of_vehicles + 1), r=2)) self._collision_avoider = Collision_Avoidance(arguments, geometry) self._export = True self._assignment = None self._positions = None self._current_positions = None self._current_directions = None self._number_of_waits = None