Module traversal_risk_graph 

Traversal-risk graph planning over a 2-D grid.

This is a compact pure-Rust planner inspired by traversal-risk graph planners for unstructured terrain. Each cell has independent risk channels and the planner searches for the minimum distance-plus-risk path.

Structs

ClearanceRiskConfig

Converts clearance from blocked cells into exposure risk.

ElevationRiskConfig

Converts an elevation grid into traversal-risk cells.

RiskMapSmoothingConfig

Gaussian-style local smoothing for terrain-risk channels.

RiskWaypoint

One cell in a planned risk path.

TerrainRiskCell

Risk attributes for one terrain cell.

TraversalRiskGraphConfig

Planner configuration.

TraversalRiskGraphPlanner

Traversal-risk graph planner.

TraversalRiskPath

Planned path plus decomposed costs.

TraversalRiskWeightSample

One result from a risk-weight sweep.

Functions

add_clearance_exposure_risk

Add low-clearance exposure risk while preserving existing terrain channels.

clearance_map

Compute Euclidean clearance from every cell to the nearest blocked cell.

inflate_blocked_cells

Inflate blocked cells by a Euclidean radius expressed in grid cells.

inflate_blocked_cells_by_radius

Inflate blocked cells by a metric footprint radius.

smooth_terrain_risk

Smooth terrain-risk channels while preserving blocked-cell topology.

sweep_traversal_risk_weights

Plan the same query for several risk_weight values.

terrain_risk_from_elevation_map

Build traversal-risk cells from an elevation grid.