Expand description
Jump Point Search (JPS) path planning algorithm
JPS is an optimization of A* for uniform-cost grids that reduces the number of nodes expanded by identifying “jump points” - nodes that have forced neighbors or are the goal.
Reference: Harabor, D., & Grastien, A. (2011). Online Graph Pruning for Pathfinding on Grid Maps.
Structs§
- JPSConfig
- Configuration for JPS planner
- JPSCost
Mismatch Metrics - Additional metrics attached to
cost_mismatchfallback cases. - JPSDetour
Segment - Additional metrics attached to
cost_mismatchfallback cases. - JPSPlan
Diagnostics - Extra execution diagnostics for one JPS planning query.
- JPSPlan
Result - Planning result with path plus JPS-specific diagnostics.
- JPSPlanner
- Jump Point Search path planner
Enums§
- JPSFallback
Reason - Why the JPS planner had to fall back to grid A*.
- JPSInvalid
Jump Path Detail - More specific classification for
InvalidJumpPath.