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            <text x="5.5" y="218.5">
                + is_inside(Point) : bool
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-232-202-26-0)"
           font-size="12px">
            <text x="5.5" y="244.5">
                + is_valid(Point) : bool
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-258-202-26-0)"
           font-size="12px">
            <text x="5.5" y="270.5">
                + ravel(Point) : int64_t
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-284-202-26-0)"
           font-size="12px">
            <text x="5.5" y="296.5">
                + unravel(int64_t) : Point
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-310-202-26-0)"
           font-size="12px">
            <text x="5.5" y="322.5">
                + to_string() : string
            </text>
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        <path d="M 0 423 L 0 769 L 440 769 L 440 423" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"
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        <path d="M 0 423 L 440 423" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="none"/>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" font-weight="bold" pointer-events="none" text-anchor="middle"
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            <text x="219.5" y="414.5">
                AmbientMapInstance
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-428-432-26-0)"
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            <text x="5.5" y="440.5">
                - m_agents: vector&lt;Point&gt;
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        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-454-432-26-0)"
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                - m_tasks: vector&lt;pair&lt;Point, Point&gt;&gt;
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        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-480-432-26-0)"
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                - m_h_table: h_table_t
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        </g>
        <path d="M 0 505 L 440 505" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="none"/>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-514-432-26-0)"
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            <text x="5.5" y="526.5">
                + AmbientMapInstance(path, path)
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-540-432-26-0)"
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                + AmbientMapInstance(AmbientMap, vector&lt;Point&gt;, vector&lt;pair&lt;Point,Point&gt;&gt;)
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        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-566-432-26-0)"
           font-size="12px">
            <text x="5.5" y="578.5">
                + num_agents() : int
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-592-432-26-0)"
           font-size="12px">
            <text x="5.5" y="604.5">
                + num_tasks() : int
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-618-432-26-0)"
           font-size="12px">
            <text x="5.5" y="630.5">
                + is_valid(Point) : bool
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-644-432-26-0)"
           font-size="12px">
            <text x="5.5" y="656.5">
                + to_string() : string
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-670-432-26-0)"
           font-size="12px">
            <text x="5.5" y="682.5">
                + agents() : vector&lt;Point&gt;
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-696-432-26-0)"
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            <text x="5.5" y="708.5">
                + tasks() : vector&lt;pair&lt;Point,Point&gt;&gt;
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-722-432-26-0)"
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            <text x="5.5" y="734.5">
                + h_table() : h_table_t
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-4-748-432-26-0)"
           font-size="12px">
            <text x="5.5" y="760.5">
                + wall() : void
            </text>
        </g>
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        <path d="M 560 73 L 750 73" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="none"/>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" text-anchor="middle" font-size="12px">
            <text x="654.5" y="64.5">
                CmapdSolution
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-564-78-182-26-0)"
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            <text x="565.5" y="90.5">
                + paths: Vector&lt;path_t&gt;
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-564-104-182-26-0)"
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            <text x="565.5" y="116.5">
                + makespan: int
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-564-130-182-26-0)"
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            <text x="565.5" y="142.5">
                + cost: int
            </text>
        </g>
        <path d="M 220 397 L 138.86 341.26" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"
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        <g transform="translate(-0.5 -0.5)">
            <switch>
                <foreignObject pointer-events="none" width="100%" height="100%"
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                                Extends
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                    Extends
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        <path d="M 1020 73 L 1380 73" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="none"/>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" font-weight="bold" pointer-events="none" text-anchor="middle"
           font-size="12px">
            <text x="1199.5" y="64.5">
                MultiAstar::Node
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        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1024-78-352-26-0)"
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            <text x="1025.5" y="90.5">
                - m_location: Point
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1024-104-352-26-0)"
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            <text x="1025.5" y="116.5">
                - m_path: path_t
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        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1024-130-352-26-0)"
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            <text x="1025.5" y="142.5">
                - m_g: int
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1024-156-352-26-0)"
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            <text x="1025.5" y="168.5">
                - m_h: int
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1024-182-352-26-0)"
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            <text x="1025.5" y="194.5">
                - m_label: int
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1024-208-352-26-0)"
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                - m_h_table: h_table_t
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1024-234-352-26-0)"
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            <text x="1025.5" y="246.5">
                - m_goal_sequences: path_t
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        </g>
        <path d="M 1020 259 L 1380 259" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="none"/>
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            <text x="1025.5" y="280.5">
                + Node(Point, h_table_t, path_t)
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1024-298-352-30-0)"
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            <text x="1025.5" y="310.5">
                + Node(Point, Node, h_table_t, path_t,)
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        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1024-328-352-26-0)"
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            <text x="1025.5" y="340.5">
                + get_children(AmbientMapInstance) : vector&lt;Node&gt;
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        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1024-354-352-34-0)"
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            <text x="1025.5" y="366.5">
                + get_path() : path_t
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1024-388-352-34-0)"
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            <text x="1025.5" y="400.5">
                + get_location() : Point
            </text>
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1024-422-352-34-0)"
           font-size="12px">
            <text x="1025.5" y="434.5">
                + get_label() : int
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1024-456-352-34-0)"
           font-size="12px">
            <text x="1025.5" y="468.5">
                + get_f_value() : int
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        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1024-490-352-34-0)"
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            <text x="1025.5" y="502.5">
                + get_g_value() : int
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        </g>
        <path d="M 1010 633 L 1010 607 L 1380 607 L 1380 633" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"
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        <path d="M 1010 633 L 1010 919 L 1380 919 L 1380 633" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"
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        <path d="M 1010 633 L 1380 633" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="none"/>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" font-weight="bold" pointer-events="none" text-anchor="middle"
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            <text x="1194.5" y="624.5">
                CBS::Node
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1014-638-362-26-0)"
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                - m_constraints: vector&lt;Constraint&gt;
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1014-664-362-26-0)"
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                - m_paths: vector&lt;vector&lt;Point&gt;&gt;
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1014-690-362-22-0)"
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                - detect_conflict: optional&lt;Conflict&gt; (int, int, path_t, path_t)
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            <text x="1015.5" y="732.5">
                + Node(AmbientMapInstance, vector&lt;path_t&gt;, vector&lt;Constraint&gt;)
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1014-742-362-26-0)"
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            <text x="1015.5" y="754.5">
                + lengths() : vector&lt;int&gt;
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1014-768-362-26-0)"
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            <text x="1015.5" y="780.5">
                + makespan() : int
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1014-794-362-26-0)"
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            <text x="1015.5" y="806.5">
                + cost() : int
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1014-820-362-26-0)"
           font-size="12px">
            <text x="1015.5" y="832.5">
                + first_conflict() : optional&lt;Conflict&gt;
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1014-846-362-26-0)"
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            <text x="1015.5" y="858.5">
                + num_conflicts() : int
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1014-872-362-26-0)"
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            <text x="1015.5" y="884.5">
                + get_paths() : vector&lt;path_t&gt;
            </text>
        </g>
        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-1014-898-362-26-0)"
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            <text x="1015.5" y="910.5">
                + get_constraints() : vector&lt;Constraints&gt;
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            <text x="585.5" y="906.5">
                + agent: int
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-584-920-132-26-0)"
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                + timestep: int
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            <text x="585.5" y="958.5">
                + from_position: Point
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-584-972-132-26-0)"
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            <text x="585.5" y="984.5">
                + to_position: Point
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        <path d="M 560 518 L 560 674 L 710 674 L 710 518" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"
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        <path d="M 560 518 L 710 518" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="none"/>
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                Conflict
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-564-523-142-26-0)"
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            <text x="565.5" y="535.5">
                + first_agent: int
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-564-549-142-26-0)"
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                + second_agent: int
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            <text x="565.5" y="587.5">
                + timestep: int
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-564-601-142-26-0)"
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            <text x="565.5" y="613.5">
                + first_position: Point
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-564-627-142-26-0)"
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            <text x="565.5" y="639.5">
                + second_position: Point
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        <g fill="rgb(0, 0, 0)" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-564-653-142-26-0)"
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            <text x="565.5" y="665.5">
                + type: ConflictType
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