Merge branch 'AA-CCBS' of https://github.com/PathPlanning/Continuous-CBS

 into AA-CCBS

README.md

@@ -49,6 +49,7 @@ The examples of input and output files you can find in the [Examples](https://gi
 There are some options that can be controlled either through the `const.h` file or through the input configuration file (see [Examples](https://github.com/PathPlanning/Continuous-CBS/tree/AA-CCBS/Examples)):
 * `<use_disjoint_splitting>` - controls whether the algotihm uses disjoint splitting enhancement or not. Possible values are `1`(true) or `0` (false).
 * `<mc_type>` - controls whether the algorithm uses multiconstraints or not. `0` - multiconstraints disabled; `1` - naive version of multiconstraints that considers all posiible actions; `2` - a version that considers only the actions that lead to the cells crossed by the original movement action; `3` - additionally considers actions that starts from the cells crossed by the original action;
+* `<focal_weight>` - controls the suboptimality factor of the found solutions. If value is `1` AA-CCBS looks for optimal solutions only, if `>1` - the solution might be suboptimal, but not more than the defined bound.
 * `<timelimit>` - controls the maximum runtime of the algorithm. Possible values are >0. For example value 60 means that the algorithm can spend up to 60 seconds to find a solution.
 * `<agent_size>` - controls the size (radii) of the agents' shape. Possible values are in the range (0, 0.5].
 * `<precision>` - additional option, that controls how precise the end of collision interval is detected (the moment of time when there is no more collision between the agents). The lower the value - the preciser the algorithm finds the end of collision interval, but it takes a bit more time. Possible values are >0.