routing.pathfinding.finder.theta_star

Theta*: the compiled search relaxing each neighbour through the parent’s line of sight as well.

class routing.pathfinding.finder.theta_star.ThetaStarFinder(heuristic: object = None, diagonal_movement: int = 1, **keywords: object)

Bases: Finder

Theta* pathfinding: any-angle paths.

A neighbour is also relaxed straight from the state’s parent when the segment between them is clear, the cheaper of the shortcut and the step winning. One state per cell, the segment’s direction standing for the heading, so a turn penalty is charged at each bend. No k shortest paths.