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Hello, I have read the paper MAPF-LNS2 and found the code repository. I am preparing to experiment and improve the code sections of Collision-Based Neighborhoods and Adaptive LNS (ALNS), but I have not been able to find them yet? Can you help me

在MAPF-LNS2的论文和代码实现中，提到了soft obstacle和hard obstacle，但是该论文和SIPP论文均没有对这一名词做出定义，所以这个是指的什么？是将agent视为动态障碍物即为soft obstacle吗？hard obstacle是指静止的agent？谢谢解答

While implementing Windowed/RHCR Priortised Planning I Identified that during SIPP::FindPath we initialise the SIT, introducing a lot of unnecessary overhead. I propose we construct one and update/maintain for all agents.

I will implement this fix in parallel to Windowed/RHCR Priortised Planning.

I saw that the code on line 200 mentioned that (location < constraint_table.map_size) is vertex conflict, and other situations are edge conflict. But in theory, any location is smaller than the map size. For example, for a 32x32 map, the maximum location is 31*32+31, which is smaller than 32*32. Can you give an edge conflict situation? Thank you.