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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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9
examples/09_unroutable_best_effort.py
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@ -1,6 +1,6 @@
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
from inire.router.cost import CostEvaluator
from inire.router.danger_map import DangerMap
from inire.router.pathfinder import PathFinder
@ -28,10 +28,11 @@ def main() -> None:
evaluator = CostEvaluator(engine, danger_map, bend_penalty=50.0, sbend_penalty=150.0)
# Use a low node limit to fail faster
router = AStarRouter(evaluator, node_limit=2000, snap_size=1.0, bend_radii=[10.0])
context = AStarContext(evaluator, node_limit=2000, snap_size=1.0, bend_radii=[10.0])
metrics = AStarMetrics()
# Enable partial path return
pf = PathFinder(router, evaluator)
# Enable partial path return (handled internally by PathFinder calling route_astar with return_partial=True)
pf = PathFinder(context, metrics)
# 2. Define Netlist: start outside, target inside the cage
netlist = {