Module enhanced_lazy_theta_star 

Enhanced Lazy Theta* path planning algorithm

Extends Lazy Theta* with improved fallback parent selection. When the optimistic line-of-sight check fails at expansion time, standard Lazy Theta* falls back to the best 8-connected grid neighbor. Enhanced Lazy Theta* additionally:

1. Checks line-of-sight to the fallback parent’s ancestors (2-hop LOS), potentially skipping intermediate nodes for shorter paths.
2. On every expansion (not just fallback), scans closed-set neighbors for any-angle shortcuts via line-of-sight, similar to Theta* but only at expansion time (still lazy).

This produces paths that are shorter than both Theta* and Lazy Theta* because the search explores a wider set of parent candidates at each node expansion.

Reference: Builds on Nash et al. (2010) “Lazy Theta*: Any-Angle Path Planning and Path Length Analysis in 3D”

Structs

EnhancedLazyThetaStarConfig

Configuration for Enhanced Lazy Theta* planner

EnhancedLazyThetaStarPlanner