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| from itertools import count, pairwise | ||
| from math import hypot, inf | ||
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| Point = tuple[int, int] |
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Variable and function names should follow the snake_case naming convention. Please update the following name accordingly: Point
| self.cells = rows | ||
| self.height, self.width = len(rows), len(rows[0]) | ||
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| def blocked(self, x: int, y: int) -> bool: |
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Please provide descriptive name for the parameter: x
Please provide descriptive name for the parameter: y
| and any(not self.blocked(cx, cy) for cx in (x - 1, x) for cy in (y - 1, y)) | ||
| ) | ||
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| def line_of_sight(self, a: Point, b: Point) -> bool: |
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Please provide descriptive name for the parameter: a
Please provide descriptive name for the parameter: b
| return [q for q in candidates if q != point and self.line_of_sight(point, q)] | ||
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| def distance(a: Point, b: Point) -> float: |
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Please provide descriptive name for the parameter: a
Please provide descriptive name for the parameter: b
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Describe your change
This PR adds Basic Theta* for obstacle grids with paths through cell corners. The search follows the parent-shortcut update from Nash et al. (2007). It includes grid validation, line-of-sight checks, logging and doctest examples. The diff has exactly two new files:
graphs/theta_star.py(the algorithm) andgraphs/tests/test_theta_star.py(separate tests). It contains no AP Theta* or performance cache.Local checks: 26 pytest cases passed; doctests passed; Ruff check and format check passed. The full repository suite is left to CI.
Checklist