add various direction examples

inire/router/danger_map.py

@@ -70,6 +70,10 @@ class DangerMap:
         safe_distances = np.maximum(distances, 0.1)
         self.grid = np.where(distances < self.safety_threshold, self.k / (safe_distances**2), 0.0).astype(np.float32)
 
+    def is_within_bounds(self, x: float, y: float) -> bool:
+        """Check if a coordinate is within the design bounds."""
+        return self.minx <= x <= self.maxx and self.miny <= y <= self.maxy
+
     def get_cost(self, x: float, y: float) -> float:
         """Get the proximity cost at a specific coordinate."""
         ix = int((x - self.minx) / self.resolution)
@@ -77,4 +81,4 @@ class DangerMap:
 
         if 0 <= ix < self.width_cells and 0 <= iy < self.height_cells:
             return float(self.grid[ix, iy])
-        return 1e6  # Outside bounds is expensive
+        return 1e15  # Outside bounds is impossible