improve visibility checker and add refiner

2026-03-29 15:03:15 -07:00 · 2026-03-29 15:03:15 -07:00 · 6a28dcf312
commit 6a28dcf312
parent a8c876ae69
11 changed files with 440 additions and 3 deletions
--- a/examples/02_congestion_resolution.py
+++ b/examples/02_congestion_resolution.py
@ -17,7 +17,7 @@ def main() -> None:
    danger_map.precompute([])

    # Configure a router with high congestion penalties
-    evaluator = CostEvaluator(engine, danger_map, greedy_h_weight=1.5, bend_penalty=50.0, sbend_penalty=150.0)
+    evaluator = CostEvaluator(engine, danger_map, greedy_h_weight=1.5, bend_penalty=250.0, sbend_penalty=500.0)
    context = AStarContext(evaluator, bend_radii=[10.0], sbend_radii=[10.0])
    metrics = AStarMetrics()
    pf = PathFinder(context, metrics, base_congestion_penalty=1000.0)
--- a/examples/03_locked_paths.png
+++ b/examples/03_locked_paths.png
--- a/examples/03_locked_paths.py
+++ b/examples/03_locked_paths.py
@ -16,7 +16,7 @@ def main() -> None:
    danger_map = DangerMap(bounds=bounds)
    danger_map.precompute([])

-    evaluator = CostEvaluator(engine, danger_map)
+    evaluator = CostEvaluator(engine, danger_map, bend_penalty=250.0, sbend_penalty=500.0)
    context = AStarContext(evaluator, bend_radii=[10.0])
    metrics = AStarMetrics()
    pf = PathFinder(context, metrics)
--- a/examples/06_bend_collision_models.png
+++ b/examples/06_bend_collision_models.png