Module algorithms 

Grid algorithm implementations (static, prepared, any-angle, replanning families). Grid algorithm owner tree: static, prepared, any-angle, and replanning lanes.

Public modules implement the contracts selected at the crate root. Private, not-ready candidates stay beside their mature family, are never re-exported, and use that family’s ordinary validation route rather than an experiment feature or harness lane.

Family map:

• Online crate::Pathfinder: A*, BFS, bidirectional BFS, Dijkstra, cardinal JPS, RSR
• Prepared / hierarchical: JPS+, HPA*, subgoal graph
• Any-angle lane: Theta*, Lazy Theta*, Anya (+ private visibility-graph oracles)
• Replanning: D* Lite surface, LPA*, Field D* interpolated surface

Shared internals (not consumer entrypoints):

• [jps_cardinal] — 4-connected jump classification and path materialization
• [any_angle_visibility_graph_kernel] — CSR storage and Euclidean Dijkstra
• [astar_bounded] / [dijkstra_index_hotpath] — crate-private hotpath helpers

Modules

anya

Anya exact any-angle interval search on grids. Any-angle [AnyAnglePathfinder]: Anya-family entrypoint.

astar

Classical A* for 4-connected discrete grids. Static-grid [Pathfinder]: weighted 4-connected A*.

bfs

Unweighted BFS baseline for unit-cost grids. Static-grid [Pathfinder]: unweighted 4-connected BFS.

bidirectional_bfs

Two-frontier unweighted BFS. Static-grid [Pathfinder]: bidirectional unweighted BFS.

d_star_lite

D* Lite incremental grid replanner surface. Dynamic-grid [GridReplanner] entrypoint: D* Lite surface.

dijkstra

Weighted-grid Dijkstra baseline. Static-grid [Pathfinder]: weighted 4-connected Dijkstra.

field_d_star

Field D* interpolated continuous-on-grid replanner. Interpolated-grid [InterpolatedGridReplanner]: Field D* surface.

hpa_star

Hierarchical pathfinding A* (HPA*) prepared builder. Prepared hierarchical grid: HPA* cluster abstraction with local BFS refinement.

jps_cardinal

Shared 4-connected jump classification used by JPS family solvers. Shared 4-way Jump Point Search primitives for online JPS and JPS+.

jps_plus

Preprocessed jump-point search (JPS+) prepared builder. Prepared-grid [PreparedGridSearch]: cardinal JPS+.

jump_point_search

Online cardinal jump-point search. Static-grid [Pathfinder]: online cardinal Jump Point Search.

lazy_theta_star

Lazy Theta* any-angle pathfinder. Any-angle [AnyAnglePathfinder]: online Lazy Theta*.

lifelong_planning_astar

Lifelong Planning A* incremental replanner. Dynamic-grid [GridReplanner]: Lifelong Planning A* (LPA*).

rectangular_symmetry_reduction

Rectangular symmetry reduction for room/corridor grids. Static-grid [Pathfinder]: Rectangular Symmetry Reduction (RSR).

subgoal_graph

Subgoal-graph prepared multi-query builder. Prepared-grid sparse subgoal graph over free-space corners.

theta_star

Theta* any-angle pathfinder with line-of-sight shortcuts. Any-angle [AnyAnglePathfinder]: online Theta*.