Dstar Lite For Linux

Dstar Lite is a C implementation of the D* Lite algorithm as explained in [Koenig, 2002].

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.

[q/Q] - Quit [r/R] - Replan [a/A] - Toggle Auto Replan [c/C] - Clear (restart) left mouse click - make cell untraversable (cost -1) middle mouse click - move goal to cell right mouse click - move start to cell

The cell colors are as follows:

Red - untraversable Green - traversable but with changed cost Red/Green with small purple square - The cell is on the openList Yellow - start cell Purple - goal cell

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; }