Crate condor

Expand description

§Condor

Condor is a pathfinding library with explicit public entrypoints for grids, polygonal scenes, repeated polygonal queries, navmesh routing, and replanning lanes.

The published package is condor-for-games; the Rust library name is condor (cargo add condor-for-games --rename condor). This crate is the public facade: it curates feature-gated re-exports from owner crates (core, geometry, grid, navmesh) and owns a small set of root contracts (solver_portfolio, polygonal pack adapters, artifact error types). Application code should depend on condor, not on implementation crates directly.

Start with SolverPortfolio if you want the current recommended surface for a problem model, then move to the concrete solver or workflow type for that model. Project support catalogs, capture reports, and readiness checklists live outside this curated import surface.

§Problem models

Model	Build and query with	How it relates to the other lanes
Discrete grid	`Grid`, `SearchRequest`, `Pathfinder`	Cell-based static, any-angle, prepared, replanning, and MAPF work
Continuous free space	`PolygonScene`, `PolygonSearchRequest`, `PolygonPathfinder`	Uses world-coordinate `Point2` values and Euclidean polyline paths
Navmesh	`Navmesh`, `NavmeshPathfinder`, `PreparedNavmeshBuilder`	Reuses the continuous `Point2` / polygon-path vocabulary over convex cells and portals
Shared outcome	`SearchOutcome`	Each lane distinguishes invalid requests (`Err`) from computed found/no-path outcomes with stats
Search budget	`SearchBudget` on each request/query	Optional `max_expansions` / `max_duration`; default unlimited; exhaustion is `Err`, not no-path

The grid and continuous/navmesh lanes deliberately use their own request and path types. Choose the model that matches the caller’s world representation; SolverPortfolio maps that choice to the endorsed public entrypoint.

§Features

Feature	Surface
`grid`	Grids, static search, any-angle, preprocessed grids, MAPF, replanning
`polygonal`	Continuous polygon scenes, visibility / SPM / TFS solvers, artifact errors
`navmesh`	Navmesh substrate and routing (implies `polygonal`)
`polyanya`	Optional Polyanya router (implies `navmesh`)
`full`	All of the above (default)

§Add Condor to an application

Give the dependency the library name so application code can use condor::{AStar, Grid, ...} directly:

cargo add condor-for-games --rename condor

[dependencies]
condor = { package = "condor-for-games", version = "0.4.0", default-features = false, features = ["grid"] }

Omit the feature settings when you want Condor’s complete curated surface; full is the default.

§Examples

Choose an endorsed surface for a problem model:

use condor::{SolverPortfolio, SolverUseCase};

let recommendation = SolverPortfolio::recommend(SolverUseCase::ExactNavmeshRouting);
assert_eq!(recommendation.solver(), "TRAStarBuilder");
assert_eq!(recommendation.integration_surface(), "PreparedNavmeshBuilder");

Run a grid-only A* search:

use condor::{AStar, Cell, Grid, Pathfinder, Point, SearchRequest};

let mut grid = Grid::new(5, 5).expect("grid dimensions are valid");
grid.set_cell(Point::new(2, 2), Cell::Blocked)
    .expect("point is in bounds");

let result = AStar.search(
    &grid,
    SearchRequest::new(Point::new(0, 0), Point::new(4, 4)),
).expect("request is valid");

assert!(result.is_found());

Cap expansions or wall-clock time on any online search request:

use condor::{AStar, Grid, Pathfinder, Point, SearchBudget, SearchRequest};

let grid = Grid::new(20, 20).expect("grid dimensions are valid");
let request = SearchRequest::new(Point::new(0, 0), Point::new(19, 19))
    .with_budget(SearchBudget::max_expansions(4));
let error = AStar.search(&grid, request).expect_err("budget should stop a long path");
assert!(matches!(error, condor::GridSearchError::BudgetExhausted(_)));

Re-exports§

pub use error::ArtifactContractError;
pub use error::ArtifactContractKind;
pub use error::ArtifactContractLocation;
pub use error::ArtifactDataError;
pub use error::ArtifactLoadError;
pub use polygonal::NoPathProof;
pub use polygonal::PolygonScenePack;
pub use polygonal::PolygonScenePackKind;
pub use polygonal::SeparationAxis;
pub use polygonal::load_polygon_scene_pack;
pub use polygonal::load_polygon_scene_stress_pack;

Modules§

algorithms: Algorithm taxonomy re-exports grouped by search contract (owner crates hold bodies). Algorithm taxonomy re-exported from owner crates, grouped by search contract.
any_angle: Any-angle grid pathfinder trait and continuous-on-grid request surface (owner: grid). Any-angle grid search contracts re-exported from the grid owner crate.
continuous: Continuous free-space geometry substrate and walkability primitives (owner: geometry). Online continuous pathfinder trait, polyline path, and search result vocabulary. Continuous polygonal path types and the [PolygonPathfinder] search trait.
error: Artifact and pack-boundary error types owned by the facade. Root-owned structured errors for embedded polygon-pack loading.
flow_field: Multi-agent same-goal flow-field amortization (owner: grid). Same-goal multi-agent flow-field build and query amortization. Same-goal flow field for amortizing many independent 4-connected paths.
grid: Discrete grid storage and cell model (owner: grid). Discrete grid storage, cell model, and edit/build errors. Rectangular 4-connected map substrate shared by all discrete grid lanes.
hierarchical: Hierarchical abstract-grid layers for multi-level search (owner: grid). Hierarchical abstract-grid layers for multi-level search. Hierarchical build-once/query-many contracts for cluster abstraction and refinement.
mapf: Multi-agent pathfinding starter surface (owner: grid). Multi-agent pathfinding (MAPF) runtime re-exported from the grid owner crate.
navmesh: Navmesh substrate and pathfinder re-exports (owner: navmesh). Navmesh runtime types re-exported from the navmesh owner crate.
path: Grid path reconstruction and cost types (owner: grid). Discrete path reconstruction and path cost types. Validated discrete path value: ordered cells plus an algorithm-reported cost.
point: Integer grid coordinates (owner: grid). Integer cell coordinates for the discrete grid lane. Integer coordinates for discrete grid cells.
polyanya: Optional Polyanya-backed navmesh pathfinder (owner: navmesh, feature-gated). Optional Polyanya navmesh router re-exported from the navmesh owner crate.
polygonal: Continuous polygonal pack adapters and scene pathfinder surface (owner: geometry + facade packs). Polygonal scene types (re-export) plus root-owned embedded pack loaders.
prepared_any_angle: Prepared any-angle visibility graphs over grids (owner: grid). Prepared any-angle visibility graphs over static grids. Prepared exact any-angle search for many queries over one static grid.
preprocessed_grid: Preprocessed static grid search substrates (owner: grid). Preprocessed static multi-query grid search substrates. Algorithm-neutral build-once/query-many contracts for static grid search.
replanning: Incremental and interpolated grid replanning contracts (owner: grid). Dynamic and interpolated grid replanning contracts re-exported from the grid owner crate.
search: Online grid search traits and request/result contracts (owner: grid). Online Pathfinder trait, search request, budget, and outcome contracts. Online 4-connected grid-search request, result, and Pathfinder contract.
shortest_path_map: Continuous shortest-path maps for fixed-source polygonal queries (owner: geometry). Source-rooted prepared shortest-path maps for repeated polygonal queries. Source-rooted shortest-path maps for repeated polygonal goal queries.
solver_portfolio: Endorsed solver recommendations keyed by problem model / use case. Root-owned recommendation catalog for Condor’s endorsed public solver entrypoints.
topological_fracture_search: Topological fracture search for continuous free space (owner: geometry). Exact topological-fracture continuous polygonal pathfinder. Exact polygonal pathfinder using topological fracture search (TFS).
visibility_graph: Visibility-graph exact polygonal shortest paths (owner: geometry). Exact visibility-graph continuous polygonal pathfinder (sparse-scene baseline). Exact polygonal pathfinder using a visibility graph over scene vertices.

Macros§

grid: Discrete grid storage and cell model (owner: grid). Constructs a Grid from textual rows using Grid::try_from_rows.

Structs§

AStar: Weighted static-grid Pathfinder: A* with Manhattan heuristic.
AnyAnglePath: Non-empty polyline in grid coordinates with Euclidean traversal cost.
AnyAngleSearchRequest: Start and goal endpoints for an any-angle grid search.
AnyAngleSearchStats: Work counters from an any-angle search (algorithm-defined node visits).
Anya: Any-angle pathfinder implementing AnyAnglePathfinder.
AnyaDiagnostics: Solver-local diagnostics for row-interval Anya (inspect path only).
AnyaInspection: Instrumented Anya outcome: pathfinder result plus expansion diagnostics.
Bfs: Online Pathfinder: unweighted 4-connected BFS.
BidirectionalBfs: Online Pathfinder: bidirectional BFS meeting in the middle.
BudgetWatch: Shared search-budget types used across problem models (owner: core). One-shot wall-clock deadline for a single search invocation.
ChannelSearch: Stateless corridor-BFS pathfinder with portal-midpoint funnel seeding.
ContinuousShortestPathMap: Visibility-graph builder for source-rooted continuous shortest-path maps.
DStarLite: Curated dynamic-grid GridReplanner (D* Lite product name).
Dijkstra: Weighted-grid Pathfinder: uniform-priority Dijkstra.
DynamicNavmeshPortalKey: Canonical undirected portal identity for dynamic enable/disable updates.
DynamicNavmeshState: Mutable availability overlay on a validated base Navmesh.
DynamicPreparedNavmeshQuery: Applies dynamic updates, materializes, rebuilds prepared data, and runs connectivity.
DynamicPreparedNavmeshQueryMetadata: Staleness and rebuild bookkeeping from one dynamic prepared query run.
DynamicPreparedNavmeshQueryResult: Materialized navmesh, rebuilt prepared map, and raw vs rebuilt query outcomes.
FieldDStar: Interpolated InterpolatedGridReplanner (Field D* name).
FlowFieldBuilder: Builds a PreparedFlowField for one goal on a uniform-cost 4-connected grid.
Grid: Dense row-major rectangular map: walkability, traversal_cost, optional reachability.
GridBuilder: Builder for applying validated bulk edits to a new Grid.
HPAStarBuilder: Hierarchical / preprocessed builder for HPA* on uniform-cost grids.
InterpolatedPath: Continuous polyline over a grid with an associated traversal cost.
InterpolatedPathOutcomeRef: Borrowed view of a successful interpolated path plus its stats.
InterpolatedSearchOutcome: Grid-owned adapter for an interpolated found/no-path outcome.
InterpolatedSearchRequest: Fractional start/goal coordinates for interpolated grid search.
InterpolatedSearchStats: Work counters for one interpolated search or replan (solver-local).
JpsPlusBuilder: PreprocessedGridBuilder for cardinal JPS+.
JumpPointSearch: Online cardinal Pathfinder: Jump Point Search (4-way).
LazyThetaStar: Online AnyAnglePathfinder with deferred LOS (Lazy Theta*).
LifelongPlanningAStar: Incremental LPA* GridReplanner for dynamic weighted grids.
MapfAgent: One MAPF agent with a static start cell and a static goal cell.
MapfAgentPath: Time-indexed path for one agent (positions[t] is the cell at timestep t).
MapfPlan: Time-stepped multi-agent plan indexed by agent paths.
MapfPlanMetrics: Objective metrics derived from a plan (first-arrival based).
MapfProblem: Static-grid MAPF problem: grid, agents, and objective label.
MapfStarterPlanner: Deterministic fixed-order reservation-table starter baseline for MAPF problems.
MapfStarterPlannerResult: Result from the bounded MAPF starter planner.
MapfValidationReport: Complete MAPF plan validation result.
Navmesh: Graph of convex cells and portal segments for connectivity and walkability.
NavmeshCell: One convex walkable polygon in a navmesh, keyed by a stable cell_id.
NavmeshPortal: Adjacency segment between two cells; endpoints must lie on both cell boundaries.
NavmeshQuery: Start/goal endpoints for connectivity checks and route search.
NavmeshSearchStats: Work counters for a navmesh route search.
Path: Non-empty sequence of grid cells with an associated traversal cost.
Point: A single grid cell address (x column, y row), zero-based.
Point2: Continuous 2D point in world / scene coordinates (not grid cells).
Polyanya: NavmeshPathfinder that routes through Polyanya then Condor string-pulling.
Polygon: Simple polygon obstacle: closed ordered vertex ring, not necessarily convex.
PolygonPath: Non-empty free-space polyline in scene coordinates with Euclidean cost.
PolygonScene: Bounded free space with polygon obstacles and walkability predicates.
PolygonSearchRequest: Start/goal pair for online polygonal search.
PolygonSearchStats: Work counters for polygonal search (typically expanded graph vertices).
PreparedAnyAngleBuildDiagnostics: Build-time diagnostics for a prepared any-angle visibility graph.
PreparedAnyAngleGrid: Immutable prepared visibility graph for repeated exact any-angle queries.
PreparedAnyAngleGridBuilder: Preprocesses a static grid into an exact any-angle visibility-graph snapshot.
PreparedAnyAngleQueryDiagnostics: Per-query diagnostics for prepared any-angle search.
PreparedContinuousShortestPathMap: Precomputed visibility-graph distances from one fixed source.
PreparedFlowField: Prepared same-goal flow field (integration + direction per cell).
PreparedHPAStar: Prepared HPA* map implementing hierarchical and preprocessed search contracts.
PreparedJpsPlus: Prepared map implementing PreparedGridSearch for JPS+.
PreparedSubgoalGraph: Prepared subgoal graph implementing PreparedGridSearch.
PreparedTRAStar: Immutable prepared TRA* map wrapping a StaticPreparedNavmesh.
PreparedTRAStarPortalTransitionCache: Prepared TRA* with an eager map from directed cell transitions to portal midpoints.
PreparedTRAStarWaypointDatabaseAdaptiveLru: Prepared TRA* with a capacity-bounded single-tier LRU of portal midpoints.
PreparedTRAStarWaypointDatabaseCostAwareEviction: Prepared TRA* that evicts cached midpoints using cost-weighted signals (not recency alone).
PreparedTRAStarWaypointDatabaseFixedAdmissionThreshold: Prepared TRA* that gates cache admission on a fixed transition-cost threshold.
PreparedTRAStarWaypointDatabaseFixedDemotionRule: Prepared TRA* that demotes protected midpoints under a fixed overflow policy.
PreparedTRAStarWaypointDatabaseFixedPromotionRule: Prepared TRA* that promotes probation midpoints after a fixed hit count.
PreparedTRAStarWaypointDatabaseLazyQuery: Prepared TRA* that computes midpoints on demand without cross-query retention.
PreparedTRAStarWaypointDatabasePolicyProfile: Prepared TRA* bound to a named TRAStarWaypointDatabasePolicyProfile.
PreparedTRAStarWaypointDatabaseStatic: Prepared TRA* with an eager per-cell portal-midpoint waypoint database.
PreparedTRAStarWaypointDatabaseTwoTierLru: Prepared TRA* with probation/protected two-tier LRU midpoint cache.
PreprocessedGridMetadata: Build-time summary of grid shape, walkability, and movement model.
RectangularSymmetryReduction: Online Pathfinder: Rectangular Symmetry Reduction (RSR).
SearchBudget: Shared search-budget types used across problem models (owner: core). Caller-chosen expansion and/or wall-clock limits for one search.
SearchRequest: Start and goal cell endpoints for a single discrete grid search.
SearchStats: Work counters produced by a grid search (algorithm-defined node visits).
SolverPortfolio: Static recommendation facade over Condor’s current public problem models.
SolverPortfolioRecommendation: One static recommendation row from SolverPortfolio::catalog.
StaticPreparedGrid: Immutable grid snapshot with metadata for repeated online search.
StaticPreparedGridBuilder: Pass-through builder that clones the grid and delegates queries to AStar.
StaticPreparedNavmesh: Pass-through prepared snapshot owning a cloned navmesh and adjacency indexes.
StaticPreparedNavmeshBuilder: Starter builder that indexes neighbors and portals from a static navmesh.
SubgoalGraphBuilder: PreprocessedGridBuilder for sparse corner subgoal graphs.
TAStar: Stateless pathfinder: corridor BFS, funnel, then optional local portal-endpoint refinement.
TRAStarBuilder: Base TRA* preprocess: adjacency snapshot + corridor/funnel search, no waypoint cache.
TRAStarPortalTransitionCacheBuilder: Eager directed portal-midpoint table built at preprocess (no eviction).
TRAStarWaypointDatabaseAdaptiveLruBuilder: Capacity-bounded single-tier LRU of portal midpoints across queries (recency only).
TRAStarWaypointDatabaseCostAwareEvictionBuilder: Cost-weighted eviction of cached midpoints (recency blended with low-cost bias).
TRAStarWaypointDatabaseFixedAdmissionThresholdBuilder: Retain midpoints only when portal segment cost meets a fixed admission threshold.
TRAStarWaypointDatabaseFixedDemotionRuleBuilder: Fixed admission + promotion, with protected overflow that evicts (not demotes).
TRAStarWaypointDatabaseFixedPromotionRuleBuilder: Fixed admission threshold plus multi-hit promotion from probation to protected.
TRAStarWaypointDatabaseLazyQueryBuilder: Per-query lazy midpoints only—scratch storage discarded after each search.
TRAStarWaypointDatabasePolicyProfileBuilder: Preprocess builder that materializes a named TRAStarWaypointDatabasePolicyProfile.
TRAStarWaypointDatabaseStaticBuilder: Eager per-cell portal-midpoint waypoint lists (full static database, no eviction).
TRAStarWaypointDatabaseTwoTierLruBuilder: Two-tier probation/protected midpoint LRU; first hit promotes into protected.
TfsDiagnostics: Expansion counters collected only by TopologicalFractureSearch::inspect.
TfsInspection: Instrumented TFS outcome: pathfinder result plus expansion diagnostics.
ThetaStar: Online AnyAnglePathfinder using Theta* vertex expansion.
TopologicalFractureSearch: Online exact continuous pathfinder via topological fracture search.
VisibilityGraph: Online exact continuous pathfinder: visibility graph + Dijkstra.
WorldBounds: Axis-aligned rectangular world extent that bounds a PolygonScene.

Enums§

AnyAnglePathBuildError: Error returned when any-angle path construction violates invariants.
AnyAngleSearchError: Invalid any-angle search request or budget hard stop.
BudgetExhausted: Shared search-budget types used across problem models (owner: core). Why a search stopped for budget rather than completing found/no-path.
Cell: Walkability state of a single grid cell.
DynamicNavmeshUpdate: Single availability mutation applied to a DynamicNavmeshState.
DynamicPreparedNavmeshRebuildStatus: How a dynamic prepared query restored a fresh prepared snapshot.
FlowDirection: Cardinal step stored in a prepared flow field cell.
FlowFieldBuildError: Error when building a flow field.
GridBuildError: Error returned when a grid cannot be constructed.
GridEditError: Error returned when a requested grid edit violates grid invariants.
GridSearchError: Failure to execute a grid search request (request validation or hard stop).
GridStorage: Storage buffer that could not be allocated while constructing a grid.
HierarchicalGridBuildError: Hierarchical preprocess failed (cluster size or non-uniform costs).
InterpolatedExpectedKind: Expected outcome kind asserted by interpolated replan fixtures and oracles.
InterpolatedPathBuildError: Interpolated path construction failed.
InterpolatedPathOutcome: Path quality returned by an interpolated search (full, partial, or fallback).
InterpolatedPathOutcomeKind: Discriminant for InterpolatedPathOutcome without owning the path.
InterpolatedQueryResult: Connectivity probe for fractional endpoints mapped onto discrete cells.
InterpolatedSearchError: Invalid interpolated-search request or uninitialized replanner state.
InterpolatedTraversalCostModel: Cost model for continuous polylines over a discrete weighted grid.
MapfConflict: Validation issue or conflict found in a MAPF plan.
MapfObjective: Objective label used by the MAPF validation foundation.
MapfStarterPlannerFailure: Explicit bounded-failure reason for the starter planner.
MapfStarterPlannerOutcome: Explicit solved or failed starter-planner outcome.
NavmeshQueryResult: Connectivity outcome for a start/goal pair (no geometric path polyline).
NavmeshSearchError: Failure to validate or prepare a navmesh route search request.
PathBuildError: Path construction failed because the step list was empty or otherwise invalid.
PolygonEndpoint: Endpoint role carried by PolygonValidationError::EndpointNotTraversable.
PolygonPathBuildError: Polygon path construction failed (empty polyline or invariant violation).
PolygonSearchError: Request rejected before search, or budget hard stop mid-search.
PolygonShortestPathMapBuildError: Preprocess failed before a prepared map could be produced.
PolygonValidationError: Static geometry or endpoint validation failure for polygonal scenes.
PreparedAnyAngleBenchmarkAdmission: Default-measurement classification for the prepared-v2 Criterion lane.
PreparedAnyAngleGridBuildError: Error returned when prepared any-angle preprocessing fails.
PreparedNavmeshBuildError: Prepared navmesh preprocess failed because the source mesh failed validation.
PreprocessedGridBuildError: Error returned when static grid preprocessing fails.
SearchOutcome: Successful search computation, separate from request validation failures.
SolverRecommendationStatus: Stability signal for a SolverPortfolioRecommendation.
SolverSurface: Named public surface recommended for a given SolverUseCase.
SolverUseCase: Problem-model bucket used by SolverPortfolio recommendations.
TRAStarWaypointDatabasePolicyProfile: Named admission / promotion / demotion parameter bundle for the curated policy lane.

Constants§

PREPARED_ANY_ANGLE_CSR_U32_INDEX_LIMIT: Maximum CSR neighbor/weight index storable in u32.
PREPARED_ANY_ANGLE_DEFAULT_BENCHMARK_NODE_BUDGET: Maximum retained-node count measured by the default prepared-v2 Criterion lane.
PREPARED_ANY_ANGLE_DIRECTED_EDGE_BUDGET: Conservative upper bound on possible directed visibility edges.
PREPARED_ANY_ANGLE_NODE_BUDGET: Maximum prepared visibility nodes supported by the v0 repeated-query lane.
PREPARED_ANY_ANGLE_RETAINED_BYTES_BUDGET: Conservative upper bound on preprocess-retained bytes (vertices + CSR).

Traits§

AnyAnglePathfinder: Online any-angle algorithm entrypoint for static blocked grids.
GridReplanner: Discrete-grid replanner: initialize once, apply cell/cost deltas, then replan.
HierarchicalGridBuilder: Preprocesses a static grid into a hierarchical search structure.
InterpolatedGridReplanner: Continuous-coordinate replanner over a discrete grid backing store.
InterpolatedMovingGoalReplanner: Interpolated replanner lane that also accepts moving-goal updates between replans.
NavmeshPathfinder: Online route search over a validated static Navmesh snapshot.
Pathfinder: Online algorithm entrypoint for static 4-connected grid search.
PolygonPathfinder: Online exact pathfinder over a static polygonal obstacle scene.
PolygonShortestPathMap: Prepared map that answers shortest-path queries from a fixed source.
PolygonShortestPathMapBuilder: Preprocesses a polygon scene into a source-rooted shortest-path map.
PreparedGridSearch: Prepared static grid that answers repeated point-to-point search requests.
PreparedHierarchicalGrid: Immutable hierarchical map that answers point-to-point grid searches.
PreparedNavmesh: Immutable prepared navmesh snapshot with fast adjacency and portal lookup.
PreparedNavmeshBuilder: Preprocesses a validated static navmesh into an immutable prepared map.
PreprocessedGridBuilder: Preprocesses a static grid into a queryable prepared map.
SearchPathCost: Path value that exposes the cost reported by its search domain.
SearchVisitStats: Search statistics that expose an algorithm-defined node-visit count.

Functions§

best_fallback_interpolated_path: Fallback path when only the start cell is reachable (degenerate partial path).
best_partial_interpolated_path: Best partial path toward an unreachable goal: route to the closest reachable cell.
interpolated_path_cost: Total cost of a continuous polyline under cost_model, if every segment is valid.
interpolated_segment_cost: Cost of one continuous segment under cost_model, if both ends map onto the grid.
query_interpolated_grid: Maps fractional start/goal onto cells and tests 4-connected reachability.

Type Aliases§

AnyAngleSearchResult: Validated result of an any-angle search.
InterpolatedSearchResult: Validation error or search outcome for the interpolated lane.
NavmeshPath: Geometric navmesh route; same continuous polyline type as polygonal free-space paths.
NavmeshSearchResult: Navmesh route return type: validation / budget Err, or found/no-path with stats.
PolygonSearchResult: Polygonal search return type: validation / budget Err, or found/no-path with stats.
SearchResult: Grid search return type: validation error, or found/no-path with stats.

Crate condor

Crate condor Copy item path

§Condor

§Problem models

§Features

§Add Condor to an application

§Examples

Re-exports§

Modules§

Macros§

Structs§

Enums§

Constants§

Traits§

Functions§

Type Aliases§

Crate condor