Module wavefront_cpp 

Wavefront Coverage Path Planner

Uses BFS wavefront expansion from a goal cell to build a distance/path transform matrix, then greedily follows highest-valued unvisited neighbours to produce a coverage path that visits every reachable free cell.

Reference: “Planning paths of complete coverage of an unstructured environment by a mobile robot” — Zelinsky et al.

Structs

WavefrontCppConfig

Configuration for the wavefront coverage path planner.

WavefrontGrid

2D grid for wavefront planning. true = obstacle, false = free.

Enums

DistanceType

Distance metric used during wavefront expansion.

TransformType

Transform type used to build the wavefront matrix.

Functions

wavefront_cpp

Run the wavefront coverage path planner.