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Make planner better about changing floors #163
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Kevinskwk
approved these changes
Aug 24, 2020
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Until now, the planner has not been very good about changing floors, with a high risk of various assertion failures when that happens.
This PR should resolve that issue for the simple case of vertically moving between floors using a lift. This should be made more robust in the future, which will be important for other cases of floor-changing, like ramps.