jan/inire
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Refactor: Remove AStarRouter, introduce AStarContext/AStarMetrics

Browse source
This commit is contained in:
Jan Petykiewicz 2026-03-21 22:50:45 -07:00
commit a77ae781a7
23 changed files with 226 additions and 276 deletions
Download patch file Download diff file Expand all files Collapse all files

9
examples/03_locked_paths.py
View file

@ -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
@ -19,8 +19,9 @@ def main() -> None:
danger_map.precompute([])
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])
metrics = AStarMetrics()
pf = PathFinder(context, metrics)
# 2. Add a 'Pre-routed' net and lock it
# Net 'fixed' goes right through the middle
@ -28,7 +29,7 @@ def main() -> None:
fixed_target = Port(90, 50, 0)
print("Routing initial net...")
res_fixed = router.route(fixed_start, fixed_target, net_width=2.0)
res_fixed = route_astar(fixed_start, fixed_target, net_width=2.0, context=context, metrics=metrics)
if res_fixed:
# 3. Lock this net! It now behaves like a static obstacle