Formations in Ketu rely on knowing where nodes need to be placed and which slots in a formation are not filled.
Once this is known we translate the nodes towards the assigned slot in each step.
When you say "which nodes are rotationally reachable", what does that imply for formations? A node will be assigned a slot and has to move towards it while trying to avoid obstacles.
Happy to take a look if you file an issue on Ketu with details.
Once this is known we translate the nodes towards the assigned slot in each step.
When you say "which nodes are rotationally reachable", what does that imply for formations? A node will be assigned a slot and has to move towards it while trying to avoid obstacles.
Happy to take a look if you file an issue on Ketu with details.