Expand description
Iterative Deepening A* (IDA*) path planning algorithm.
IDA* combines the admissible heuristic of A* with repeated depth-first
contour searches over increasing f = g + h thresholds. It uses much less
memory than A* at the cost of re-expanding states across iterations.
Structs§
- Contour
Stats - Per-contour (per-threshold-iteration) statistics for IDA* diagnostics.
- IDAStar
Config - Configuration for IDA*.
- IDAStar
Plan Report - IDAStar
Planner - IDA* planner on an 8-connected occupancy grid.
- IDAStar
Search Stats - Search-effort statistics collected during one IDA* query.