Module spiral_spanning_tree_cpp 

Spiral Spanning Tree Coverage Path Planner

Implements the Spiral-STC algorithm for coverage path planning on a grid.

Reference paper: “Spiral-STC: An On-Line Coverage Algorithm of Grid Environments by a Mobile Robot” by Gabriely et al. https://ieeexplore.ieee.org/abstract/document/1013479

The algorithm works by:

1. Merging the original grid into 2x2 mega-cells.
2. Building a spanning tree over the free mega-cells using a recursive DFS.
3. Tracing a spiral coverage path around the spanning tree edges at original resolution.

Structs

CoveragePlanResult

Result of the coverage path planning.

OccupancyGrid

Occupancy grid for the Spiral-STC planner.

SpiralSpanningTreePlanner

Spiral Spanning Tree Coverage Path Planner.

Type Aliases

MergedNode

A node position on the merged (half-resolution) grid.

PathSegment

A path segment consisting of two sub-nodes (entry, exit) in original resolution.

SubNode

A point on the original (full-resolution) grid.

TreeEdge

A directed edge in the spanning tree (from, to).