├── .gitignore ├── LICENSE ├── README.md ├── benchmark_results └── astar │ ├── alternating_gaps │ ├── astar_2d_benchmark.json │ └── astar_benchmark_averaged.json │ ├── bugtrap_forest │ ├── astar_2d_benchmark.json │ └── astar_2d_benchmark_averaged.json │ ├── bugtrap_world │ ├── astar_2d_benchmark.json │ └── astar_2d_benchmark_averaged.json │ ├── forest_world │ ├── astar_2d_benchmark.json │ └── astar_2d_benchmark_averaged.json │ ├── gaps_and_forest │ ├── astar_2d_benchmark.json │ ├── astar_2d_benchmark_averaged.json │ └── astar_2d_enchmark_averaged.json │ ├── maze_world │ ├── astar_2d_benchmark.json │ └── astar_2d_benchmark_averaged.json │ ├── multiple_bugtrap_world │ ├── astar_2d_benchmark.json │ └── astar_2d_benchmark_averaged.json │ └── shifting_gap │ ├── astar_2d_benchmark.json │ └── astar_benchmark_2d_averaged.json ├── examples ├── astar_2d_benchmark_example.py ├── astar_xyh_dubins_example.py ├── backward_astar_xy_example.py ├── greedy_planner_example.py └── minimal_astar_example.py └── planning_python ├── .gitignore ├── __init__.py ├── __init__.pyc ├── cost_functions ├── __init__.py └── cost_function.py ├── data_structures ├── Queue.py ├── __init__.py ├── planning_problem.py └── priority_queue.py ├── environment_interface ├── __init__.py └── env_2d.py ├── heuristic_functions ├── __init__.py └── heuristic_function.py ├── planners ├── MHAstar.py ├── __init__.py ├── astar.py ├── backward_astar.py ├── greedy_planner.py ├── search_based_planner.py └── value_iteration.py ├── state_lattices ├── __init__.py ├── common_lattice │ ├── __init__.py │ ├── explicit_graph.py │ ├── xy_analytic_lattice.py │ └── xyh_analytic_lattice.py └── state_lattice.py ├── test ├── env_interface_test.py ├── planner_test.py └── xy_analytic_lattice_test.py └── utils ├── CurveSegment.py ├── __init__.py ├── angles.py ├── dubins_planner.py ├── helpers.py └── plot_dubins_path.py /.gitignore: -------------------------------------------------------------------------------- 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