from dataclasses import dataclass
from typing import Dict, Any

@dataclass
class LocalProblem:
    robot_id: str
    target_pos: float
    current_pos: float = 0.0
    dual_var: float = 0.0 # y_i

@dataclass
class SharedVariables:
    version: int
    global_consensus: float # z

@dataclass
class SafetyPolicy:
    max_travel_distance: float
    
    def verify(self, start_pos: float, new_pos: float) -> bool:
        if abs(new_pos - start_pos) > self.max_travel_distance:
            return False
        return True