Python D* (D Star) Lite implementation
Based on https://github.com/daniel-beard/DStarLiteJava
Usage example:
from d_star import DStar
# setting start and end points
pf = DStar(x_start=0, y_start=1, x_goal=3, y_goal=1)
# making cell unpassable
pf.update_cell(2, 1, -1)
# making cell passable
pf.update_cell(2, 1, 0)
# recalculating path
pf.replan()
path = pf.get_path()A couple of useful functions:
pf.update_start(x, y)
pf.update_goal(x, y)