Module path_smoothing 

Path smoothing via line-of-sight shortcutting

Removes redundant waypoints from a grid-based path by checking direct visibility between non-adjacent points. Works with any grid planner output but is especially useful for DFS, which produces long, winding paths.

Functions

optimize_path

Full pipeline: shortcutting + waypoint relaxation.

smooth_path

Smooth a path by removing intermediate waypoints that can be skipped via direct line-of-sight.