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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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12
examples/08_custom_bend_geometry.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
@ -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. Define Netlist
netlist = {
@ -39,8 +40,9 @@ def main() -> None:
print("Routing with custom collision model...")
# Override bend_collision_type with a literal Polygon
router_custom = AStarRouter(evaluator, snap_size=1.0, bend_radii=[10.0], bend_collision_type=custom_poly)
results_custom = PathFinder(router_custom, evaluator, use_tiered_strategy=False).route_all(
context_custom = AStarContext(evaluator, snap_size=1.0, bend_radii=[10.0], bend_collision_type=custom_poly)
metrics_custom = AStarMetrics()
results_custom = PathFinder(context_custom, metrics_custom, use_tiered_strategy=False).route_all(
{"custom_model": netlist["custom_bend"]}, {"custom_model": 2.0}
)