paper and codebase discrepancy

[shubham-shahh]

Hi @bigsuperZZZX @USTfgaoaa
I was going through the paper published for ego-swarm-planner, it's an excellent read. I found one thing which I wasn't able to fully understand.
the paper mentions

Subsequently, distinctive trajectories are optimized in parallel in different threads, as illustrated Fig.4d. The trajectory with lowest cost is executed

but In the codebase, I am unable to find the relevant block where parallel optimization is done

thanks

[bigsuperZZZX]

Part of the code can be found here. Parallelization causes some crashes occasionally and as you can see we commented them in the last.