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Refactor: Remove AStarRouter, introduce AStarContext/AStarMetrics

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Jan Petykiewicz 2026-03-21 22:50:45 -07:00
commit a77ae781a7
23 changed files with 226 additions and 276 deletions
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6
examples/01_simple_route.py
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@ -2,7 +2,7 @@ from shapely.geometry import Polygon
from inire.geometry.collision import CollisionEngine
from inire.geometry.primitives import Port
from inire.router.astar import AStarRouter
from inire.router.astar import AStarContext, AStarMetrics, route_astar
from inire.router.cost import CostEvaluator
from inire.router.danger_map import DangerMap
from inire.router.pathfinder import PathFinder
@ -27,8 +27,8 @@ def main() -> None:
danger_map.precompute([obstacle])
evaluator = CostEvaluator(engine, danger_map, bend_penalty=50.0, sbend_penalty=150.0)
router = AStarRouter(evaluator, snap_size=1.0, bend_radii=[10.0])
pf = PathFinder(router, evaluator)
context = AStarContext(evaluator, snap_size=1.0, bend_radii=[10.0])
pf = PathFinder(context)
# 2. Define Netlist
# Route from (10, 10) to (90, 50)