Path Priorities

[Floris-Hoek]

Currently the paths of the robots are calculated in the order that the GoToPos skill is called I think. This does not take into account the priority of the different robots given by the flags. The new BBT pathplanning takes into account the paths of robots that were already calculated such that they do not collide. Right now, it can happen that the path of a robot with a lower priority is calculated first and afterwards the path of higher priority robot. Because the path of the lower priority robot is calculated first, the pathplanning of the higher priority robot will try to avoid this path and thus give higher priority to the lower priority robot.

A play should thus cause the paths to be calculated in correct order of priority.