clean up magic numbers, enable arbitrary gridding, add cache invalidatino

examples/07_large_scale_routing.py

@@ -2,7 +2,7 @@ import numpy as np
 import time
 from inire.geometry.collision import CollisionEngine
 from inire.geometry.primitives import Port
-from inire.router.astar import AStarContext, AStarMetrics, route_astar
+from inire.router.astar import AStarContext, AStarMetrics
 from inire.router.cost import CostEvaluator
 from inire.router.danger_map import DangerMap
 from inire.router.pathfinder import PathFinder
@@ -141,7 +141,7 @@ def main() -> None:
     t1 = time.perf_counter()
     profiler.disable()
 
-    # ... (rest of the code)
+    # Final stats
     stats = pstats.Stats(profiler).sort_stats('tottime')
     stats.print_stats(20)
     print(f"Routing took {t1-t0:.4f}s")