Struct DStarLite 

pub struct DStarLite { /* private fields */ }

Curated dynamic-grid GridReplanner (D* Lite product name).

Implementation reuses super::lifelong_planning_astar::LifelongPlanningAStar (g/rhs + priority queue). Cost model: per-cell traversal_cost on 4-connected edges with Manhattan keys. Prefer for discrete cell/cost updates between replans.

Implementations

impl DStarLite

pub fn new() -> DStarLite

Creates an uninitialized replanner; call GridReplanner::initialize before replan.

Trait Implementations

impl Default for DStarLite

fn default() -> DStarLite

Returns the “default value” for a type.

impl GridReplanner for DStarLite

fn name(&self) -> &'static str

Stable algorithm label for capture reports and solver identity.

fn initialize( &mut self, grid: &Grid, request: SearchRequest, ) -> Result<SearchOutcome<Path, SearchStats>, GridSearchError>

Cold-start search on the current grid snapshot.

fn update_cell(&mut self, point: Point, cell: Cell)

Record a walkability change; takes effect on the next Self::replan.

fn update_cost( &mut self, point: Point, cost: usize, ) -> Result<(), GridEditError>

Record a traversal-cost change; takes effect on the next Self::replan.

fn replan( &mut self, ) -> Result<SearchOutcome<Path, SearchStats>, GridSearchError>

Recompute the shortest path, reusing prior search state when possible.