Dstar Lite Dstar Lite is a C implementation of the D* Lite algorithm as explained in .
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library algorithm computation library

Dstar Lite Description

Dstar Lite is a C implementation of the D* Lite algorithm as explained in . Dstar Lite is a C implementation of the D* Lite algorithm as explained in .There are a few minor modifications to this code to improve computation time and path distance. This is a very simple piece of software and should take very little time to understand and integrate.Commands: - Quit - Replan - Toggle Auto Replan - Clear (restart)left mouse click - make cell untraversable (cost -1)middle mouse click - move goal to cellright mouse click - move start to cellThe cell colors are as follows:Red - untraversable Green - traversable but with changed costRed/Green with small purple square - The cell is on the openListYellow - start cellPurple - goal cellUsing in your own source:Here is a simple working test program that uses the Dstar class:#include "Dstar.h"int main() { Dstar *dstar = new Dstar(); list mypath; dstar->init(0,0,10,5); // set start to (0,0) and goal to (10,5) dstar->updateCell(3,4,-1); // set cell (3,4) to be non traversable dstar->updateCell(2,2,42.432); // set set (2,2) to have cost 42.432 dstar->replan(); // plan a path mypath = dstar->getPath(); // retrieve path dstar->updateStart(10,2); // move start to (10,2) dstar->replan(); // plan a path mypath = dstar->getPath(); // retrieve path dstar->updateGoal(0,1); // move goal to (0,1) dstar->replan(); // plan a path mypath = dstar->getPath(); // retrieve path return 0;}

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