example fixes and improvements

examples/03_locked_paths.py

@@ -1,4 +1,7 @@
-from inire import NetSpec, ObjectiveWeights, Port, RoutingOptions, RoutingProblem, SearchOptions, route
+from inire import NetSpec, Port, RoutingOptions, RoutingProblem, SearchOptions
+from inire.router._astar_types import AStarContext
+from inire.router._router import PathFinder
+from inire.router._stack import build_routing_stack
 from inire.utils.visualization import plot_routing_results
 
 
@@ -6,31 +9,31 @@ def main() -> None:
     print("Running Example 03: Locked Paths...")
 
     bounds = (0, -50, 100, 50)
-    options = RoutingOptions(
-        search=SearchOptions(bend_radii=(10.0,)),
-        objective=ObjectiveWeights(
-            bend_penalty=250.0,
-            sbend_penalty=500.0,
-        ),
-    )
     print("Routing initial net...")
-    results_a = route(
-        RoutingProblem(
+    stack = build_routing_stack(
+        problem=RoutingProblem(
             bounds=bounds,
             nets=(NetSpec("netA", Port(10, 0, 0), Port(90, 0, 0), width=2.0),),
         ),
-        options=options,
-    ).results_by_net
+        options=RoutingOptions(search=SearchOptions(bend_radii=(10.0,))),
+    )
+    engine = stack.world
+    evaluator = stack.evaluator
+    results_a = stack.finder.route_all()
 
     print("Routing detour net around locked path...")
-    results_b = route(
-        RoutingProblem(
-            bounds=bounds,
-            nets=(NetSpec("netB", Port(50, -20, 90), Port(50, 20, 90), width=2.0),),
-            static_obstacles=results_a["netA"].locked_geometry,
+    for polygon in results_a["netA"].locked_geometry:
+        engine.add_static_obstacle(polygon)
+    results_b = PathFinder(
+        AStarContext(
+            evaluator,
+            RoutingProblem(
+                bounds=bounds,
+                nets=(NetSpec("netB", Port(50, -20, 90), Port(50, 20, 90), width=2.0),),
+            ),
+            RoutingOptions(search=SearchOptions(bend_radii=(10.0,))),
         ),
-        options=options,
-    ).results_by_net
+    ).route_all()
 
     results = {**results_a, **results_b}
     fig, ax = plot_routing_results(results, [], bounds)