Module astar 

A* search algorithm implementation

A* is an informed search algorithm that finds the least-cost path from a given initial node to a goal node. It uses a best-first search and finds the least-cost path to the goal.

A* uses a heuristic function to estimate the cost from the current node to the goal. The algorithm maintains a priority queue of nodes to be evaluated, where the priority is determined by f(n) = g(n) + h(n), where:

• g(n) is the cost of the path from the start node to n
• h(n) is the heuristic estimate of the cost from n to the goal

Structs

AStarPlanner

A* search algorithm planner

ContinuousAStarPlanner

2D continuous space A* planner with polygon obstacles

GridAStarPlanner

Grid-based A* planner for 2D grids with obstacles

HashableFloat2D

A wrapper type for f64 arrays that implements Hash and Eq This allows using f64 arrays as keys in HashMaps

Node

A node in the search graph

Path

A path found by the A* algorithm

Functions

euclidean_distance

Euclidean distance for n-dimensional points

euclidean_distance_2d

Euclidean distance heuristic for continuous 2D space

manhattan_distance

Manhattan distance heuristic for 2D grid-based pathfinding

Type Aliases

HeuristicFn

Function that estimates the cost from a state to the goal

NeighborFn

Function that returns neighboring states and costs