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fix: wrong slices calculation

Arseniy Volynets requested to merge av/calculate-slices-correctly into main

Summarize the changes

  • fix: wrong slices calculation
  • Previously we computed slices based on their level in bfs tree traversal. This was wrong, as motions that were independent could be in different slices
  • Fix that, now we the slice in which motion will be is the max number of other motion nodes in path from this motion to any leaf node

Ensure that

  • New code is covered by unit and integration tests.
  • Related issues would be automatically closed with gitlab's closing pattern (Closes #issue_number).
  • Public modules are documented (check the rendered version with cargo doc --open).
  • (if PEST grammar has changed) EBNF grammar reflects these changes (check the result with railroad diagram generator.

Next steps

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