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examples.txt
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examples.txt
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4-Neighborhood:
Radius = 1
Move 00: Offset = [ 1, 0]; Cost = 1.000000; (cardinal)
Move 01: Offset = [ 0, 1]; Cost = 1.000000; (cardinal)
Move 02: Offset = [-1, 0]; Cost = 1.000000; (cardinal)
Move 03: Offset = [ 0, -1]; Cost = 1.000000; (cardinal)
8-Neighborhood:
Radius = 1
Move 00: Offset = [ 1, 0]; Cost = 1.000000; (cardinal)
Move 01: Offset = [ 1, 1]; Cost = 1.414216; (diagonal)
Move 02: Offset = [ 0, 1]; Cost = 1.000000; (cardinal)
Move 03: Offset = [-1, 1]; Cost = 1.414216; (diagonal)
Move 04: Offset = [-1, 0]; Cost = 1.000000; (cardinal)
Move 05: Offset = [-1, -1]; Cost = 1.414216; (diagonal)
Move 06: Offset = [ 0, -1]; Cost = 1.000000; (cardinal)
Move 07: Offset = [ 1, -1]; Cost = 1.414216; (diagonal)
16-Neighborhood:
Radius = 2
Move 00: Offset = [ 1, 0]; Cost = 1.000000; (cardinal)
Move 01: Offset = [ 2, 1]; Cost = 2.236275;
Move 02: Offset = [ 1, 1]; Cost = 1.414216; (diagonal)
Move 03: Offset = [ 1, 2]; Cost = 2.236275;
Move 04: Offset = [ 0, 1]; Cost = 1.000000; (cardinal)
Move 05: Offset = [-1, 2]; Cost = 2.236275;
Move 06: Offset = [-1, 1]; Cost = 1.414216; (diagonal)
Move 07: Offset = [-2, 1]; Cost = 2.236275;
Move 08: Offset = [-1, 0]; Cost = 1.000000; (cardinal)
Move 09: Offset = [-2, -1]; Cost = 2.236275;
Move 10: Offset = [-1, -1]; Cost = 1.414216; (diagonal)
Move 11: Offset = [-1, -2]; Cost = 2.236275;
Move 12: Offset = [ 0, -1]; Cost = 1.000000; (cardinal)
Move 13: Offset = [ 1, -2]; Cost = 2.236275;
Move 14: Offset = [ 1, -1]; Cost = 1.414216; (diagonal)
Move 15: Offset = [ 2, -1]; Cost = 2.236275;
32-Neighborhood:
Radius = 3
Move 00: Offset = [ 1, 0]; Cost = 1.000000; (cardinal)
Move 01: Offset = [ 3, 1]; Cost = 3.162255;
Move 02: Offset = [ 2, 1]; Cost = 2.236275;
Move 03: Offset = [ 3, 2]; Cost = 3.605392;
Move 04: Offset = [ 1, 1]; Cost = 1.414216; (diagonal)
Move 05: Offset = [ 2, 3]; Cost = 3.605392;
Move 06: Offset = [ 1, 2]; Cost = 2.236275;
Move 07: Offset = [ 1, 3]; Cost = 3.162255;
Move 08: Offset = [ 0, 1]; Cost = 1.000000; (cardinal)
Move 09: Offset = [-1, 3]; Cost = 3.162255;
Move 10: Offset = [-1, 2]; Cost = 2.236275;
Move 11: Offset = [-2, 3]; Cost = 3.605392;
Move 12: Offset = [-1, 1]; Cost = 1.414216; (diagonal)
Move 13: Offset = [-3, 2]; Cost = 3.605392;
Move 14: Offset = [-2, 1]; Cost = 2.236275;
Move 15: Offset = [-3, 1]; Cost = 3.162255;
Move 16: Offset = [-1, 0]; Cost = 1.000000; (cardinal)
Move 17: Offset = [-3, -1]; Cost = 3.162255;
Move 18: Offset = [-2, -1]; Cost = 2.236275;
Move 19: Offset = [-3, -2]; Cost = 3.605392;
Move 20: Offset = [-1, -1]; Cost = 1.414216; (diagonal)
Move 21: Offset = [-2, -3]; Cost = 3.605392;
Move 22: Offset = [-1, -2]; Cost = 2.236275;
Move 23: Offset = [-1, -3]; Cost = 3.162255;
Move 24: Offset = [ 0, -1]; Cost = 1.000000; (cardinal)
Move 25: Offset = [ 1, -3]; Cost = 3.162255;
Move 26: Offset = [ 1, -2]; Cost = 2.236275;
Move 27: Offset = [ 2, -3]; Cost = 3.605392;
Move 28: Offset = [ 1, -1]; Cost = 1.414216; (diagonal)
Move 29: Offset = [ 3, -2]; Cost = 3.605392;
Move 30: Offset = [ 2, -1]; Cost = 2.236275;
Move 31: Offset = [ 3, -1]; Cost = 3.162255;
64-Neighborhood:
Radius = 5
Move 00: Offset = [ 1, 0]; Cost = 1.000000; (cardinal)
Move 01: Offset = [ 4, 1]; Cost = 4.123039;
Move 02: Offset = [ 3, 1]; Cost = 3.162255;
Move 03: Offset = [ 5, 2]; Cost = 5.385294;
Move 04: Offset = [ 2, 1]; Cost = 2.236275;
Move 05: Offset = [ 5, 3]; Cost = 5.830882;
Move 06: Offset = [ 3, 2]; Cost = 3.605392;
Move 07: Offset = [ 4, 3]; Cost = 5.000000;
Move 08: Offset = [ 1, 1]; Cost = 1.414216; (diagonal)
Move 09: Offset = [ 3, 4]; Cost = 5.000000;
Move 10: Offset = [ 2, 3]; Cost = 3.605392;
Move 11: Offset = [ 3, 5]; Cost = 5.830882;
Move 12: Offset = [ 1, 2]; Cost = 2.236275;
Move 13: Offset = [ 2, 5]; Cost = 5.385294;
Move 14: Offset = [ 1, 3]; Cost = 3.162255;
Move 15: Offset = [ 1, 4]; Cost = 4.123039;
Move 16: Offset = [ 0, 1]; Cost = 1.000000; (cardinal)
Move 17: Offset = [-1, 4]; Cost = 4.123039;
Move 18: Offset = [-1, 3]; Cost = 3.162255;
Move 19: Offset = [-2, 5]; Cost = 5.385294;
Move 20: Offset = [-1, 2]; Cost = 2.236275;
Move 21: Offset = [-3, 5]; Cost = 5.830882;
Move 22: Offset = [-2, 3]; Cost = 3.605392;
Move 23: Offset = [-3, 4]; Cost = 5.000000;
Move 24: Offset = [-1, 1]; Cost = 1.414216; (diagonal)
Move 25: Offset = [-4, 3]; Cost = 5.000000;
Move 26: Offset = [-3, 2]; Cost = 3.605392;
Move 27: Offset = [-5, 3]; Cost = 5.830882;
Move 28: Offset = [-2, 1]; Cost = 2.236275;
Move 29: Offset = [-5, 2]; Cost = 5.385294;
Move 30: Offset = [-3, 1]; Cost = 3.162255;
Move 31: Offset = [-4, 1]; Cost = 4.123039;
Move 32: Offset = [-1, 0]; Cost = 1.000000; (cardinal)
Move 33: Offset = [-4, -1]; Cost = 4.123039;
Move 34: Offset = [-3, -1]; Cost = 3.162255;
Move 35: Offset = [-5, -2]; Cost = 5.385294;
Move 36: Offset = [-2, -1]; Cost = 2.236275;
Move 37: Offset = [-5, -3]; Cost = 5.830882;
Move 38: Offset = [-3, -2]; Cost = 3.605392;
Move 39: Offset = [-4, -3]; Cost = 5.000000;
Move 40: Offset = [-1, -1]; Cost = 1.414216; (diagonal)
Move 41: Offset = [-3, -4]; Cost = 5.000000;
Move 42: Offset = [-2, -3]; Cost = 3.605392;
Move 43: Offset = [-3, -5]; Cost = 5.830882;
Move 44: Offset = [-1, -2]; Cost = 2.236275;
Move 45: Offset = [-2, -5]; Cost = 5.385294;
Move 46: Offset = [-1, -3]; Cost = 3.162255;
Move 47: Offset = [-1, -4]; Cost = 4.123039;
Move 48: Offset = [ 0, -1]; Cost = 1.000000; (cardinal)
Move 49: Offset = [ 1, -4]; Cost = 4.123039;
Move 50: Offset = [ 1, -3]; Cost = 3.162255;
Move 51: Offset = [ 2, -5]; Cost = 5.385294;
Move 52: Offset = [ 1, -2]; Cost = 2.236275;
Move 53: Offset = [ 3, -5]; Cost = 5.830882;
Move 54: Offset = [ 2, -3]; Cost = 3.605392;
Move 55: Offset = [ 3, -4]; Cost = 5.000000;
Move 56: Offset = [ 1, -1]; Cost = 1.414216; (diagonal)
Move 57: Offset = [ 4, -3]; Cost = 5.000000;
Move 58: Offset = [ 3, -2]; Cost = 3.605392;
Move 59: Offset = [ 5, -3]; Cost = 5.830882;
Move 60: Offset = [ 2, -1]; Cost = 2.236275;
Move 61: Offset = [ 5, -2]; Cost = 5.385294;
Move 62: Offset = [ 3, -1]; Cost = 3.162255;
Move 63: Offset = [ 4, -1]; Cost = 4.123039;
4-Neighbor Grid with Corner-Aligned Cells
Path produced by Regular A* Search with No Smoothing
+--+--+--+ 0--1--2--3--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--4--5--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ 6--7--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--+--+--+--+--+ +--8--9--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+ +--+--0--+--+--+--+
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+--+--+--1--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--+--+--+--+--+ +--+--+--+--2--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+ +--+--3--4--5--6--7
4-Neighbor Grid with Corner-Aligned Cells
Path produced by Central A* Search with No Smoothing
+--+--+--+ 0--1--2--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--3--4--5--6--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--7--8--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--+--+--+--+--+ +--+--9--0--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+ +--+--+--1--+--+--+
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+--+--+--+--2--3--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--+--+--+--+--+ +--+--+--+--+--+--4--5--+
|><|><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+ +--+--+--+--+--6--7
8-Neighbor Grid with Corner-Aligned Cells
Path produced by Regular A* Search with No Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--4--5--6--7--+ +--+--+--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--3 +--+ +--8 +--+--+--+--+--+--6
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--2--+ +--+ +--9--0--1--2--3--4--5--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--1--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
8-Neighbor Grid with Corner-Aligned Cells
Path produced by Central A* Search with No Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--4--5--6--7--+ +--+--+--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--3--+ +--+ 8--+ +--+--+--+--4--5--6
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--2--+ +--+ +--9--0--1--2--3--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--1--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
8-Neighbor Grid with Corner-Aligned Cells
Path produced by Central A* Search with Greedy Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--1--+--+--2--+ +--+--+--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+ +--+--+--+--+--+--5
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--3--+--+--+--4--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--+--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
8-Neighbor Grid with Corner-Aligned Cells
Path produced by Central A* Search with Tentpole Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--1--+--+--2--+ +--+--+--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+ +--+--+--+--+--+--5
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--3--4--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--+--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
16-Neighbor Grid with Corner-Aligned Cells
Path produced by Regular A* Search with No Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--5--6--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--4--+--+ +--+--7--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--3--+--+--+--+ +--+--+--+--8--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+ +--+--+--+--+--+--9
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--2--+ +--+ +--+--+--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--1--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
16-Neighbor Grid with Corner-Aligned Cells
Path produced by Central A* Search with No Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--5--6--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--4--+--+ +--+--7--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--3--+--+--+--+ +--+--+--+--8--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--2--+ +--+ +--+ +--+--+--+--+--+--9
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+--+--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--1--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
16-Neighbor Grid with Corner-Aligned Cells
Path produced by Central A* Search with Greedy Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--2--3--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--1--+--+--+--+ +--+--+--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+ +--+--+--+--+--+--4
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+--+--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--+--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
16-Neighbor Grid with Corner-Aligned Cells
Path produced by Central A* Search with Tentpole Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--2--3--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--1--+--+--+--+ +--+--+--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+ +--+--+--+--+--+--4
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+--+--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--+--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
4-Neighbor Grid with Center-Aligned Cells
Path produced by Regular A* Search with No Smoothing
+--+--+ +--+--2--3--4--5--6 1
|><| |><|><| |><|><| |
+--+ +--+--+--1 +--+--7--8--9--0
| |><|><|><| |><|><|><| |
+ +--+--8--9--0 +--+--+--+ +
| | | | |><|><|><| |
+--+--+ 7 + +--+--+--+--+--+
|><| | | |><|><|><|><|><|
+--+ 6 + +--+--+--+--+--+
|><| | | |><|><|><|><|><|
+--+--+ 5 +--+--+--+--+--+--+--+
|><|><| | |><|><|><|><|><|
0--1--2--3--4 +--+--+--+--+--+
4-Neighbor Grid with Center-Aligned Cells
Path produced by Regular Mixed A* Search with No Smoothing
+--+--+ +--1--2--3--4--5--+ 1
|><| |><|><| |><|><| |
+--+ +--9--0--+ +--6--7--8--9--0
| |><|><|><| |><|><|><| |
+ +--+--8--+--+ +--+--+--+ +
| | | | |><|><|><| |
+--+--+ 7 + +--+--+--+--+--+
|><| | | |><|><|><|><|><|
+--+ 6 + +--+--+--+--+--+
|><| | | |><|><|><|><|><|
+--+--+ 5 +--+--+--+--+--+--+--+
|><|><| | |><|><|><|><|><|
0--1--2--3--4 +--+--+--+--+--+
4-Neighbor Grid with Corner-Aligned Cells
Path produced by Regular Jump Point Search with No Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--+--8--9--0--+ +--+--+--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ 7--+ 1--+ 5--6--7--8--9--0--1
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ 6--+ 2--3--4--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
1--2--3--4--5--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
4-Neighbor Grid with Corner-Aligned Cells
Path produced by Regular Bounded Jump Point Search with No Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--+--8--9--0--+ +--+--+--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ 7--+ 1--+ 5--6--7--8--9--0--1
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ 6--+ 2--3--4--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
1--2--3--4--5--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
4-Neighbor Grid with Corner-Aligned Cells
Path produced by Regular Mixed Jump Point Search with No Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--+--8--9--0--+ +--+--+--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ 7--+ 1--+ 5--6--7--8--9--0--1
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ 6--+ 2--3--4--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
1--2--3--4--5--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
8-Neighbor Grid with Corner-Aligned Cells
Path produced by Regular Jump Point Search with No Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--4--5--6--7--+ +--+--+--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--3 +--+ +--8 +--1--2--3--4--5--6
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--2--+ +--+ +--9--0--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--1--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
8-Neighbor Grid with Corner-Aligned Cells
Path produced by Regular Bounded Jump Point Search with No Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--4--5--6--7--+ +--+--+--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--3 +--+ +--8 +--1--2--3--4--5--6
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--2--+ +--+ +--9--0--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--1--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
8-Neighbor Grid with Corner-Aligned Cells
Path produced by Regular Mixed Jump Point Search with No Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--4--5--6--7--+ +--+--+--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--3 +--+ +--8 +--1--2--3--4--5--6
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--2--+ +--+ +--9--0--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--1--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
16-Neighbor Grid with Corner-Aligned Cells
Path produced by Regular Jump Point Search with No Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--5--6--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--4--+--+ +--+--7--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--3--+--+--+--+ +--+--+--+--8--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--2--+ +--+ +--+ +--+--+--+--+--+--9
|><|><| |><| |><| |><|><|><|><|><|><|
+--1--+--+ +--+ +--+--+--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--+--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
16-Neighbor Grid with Corner-Aligned Cells
Path produced by Regular Bounded Jump Point Search with No Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--5--6--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--4--+--+ +--+--7--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--3--+--+--+--+ +--+--+--+--8--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--2--+ +--+ +--+ +--+--+--+--+--+--9
|><|><| |><| |><| |><|><|><|><|><|><|
+--1--+--+ +--+ +--+--+--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--+--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
16-Neighbor Grid with Corner-Aligned Cells
Path produced by Regular Mixed Jump Point Search with No Smoothing
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--5--6--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--4--+--+ +--+--7--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--3--+--+--+--+ +--+--+--+--8--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--2--+ +--+ +--+ +--+--+--+--+--+--9
|><|><| |><| |><| |><|><|><|><|><|><|
+--1--+--+ +--+ +--+--+--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--+--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
0--+--+--+--+--+ +--+--+--+--+--+--+
8-Neighbor Grid for Low-Level Demo:
+--+--+ +--+--+--+--+--+--+ +
|><| |><|><| |><|><| |
+--+ +--+--+--+ +--+--+--+--+--+
| |><|><|><| |><|><|><| |
+ +--+--+--+--+ +--+--+--+ +
| | | | |><|><|><| |
+--+--+ + + +--+--+--+--+--+
|><| | | |><|><|><|><|><|
+--+ + + +--+--+--+--+--+
|><| | | |><|><|><|><|><|
+--+--+ + +--+--+--+--+--+--+--+
|><|><| | |><|><|><|><|><|
+--+--+--+--+ +--+--+--+--+--+
Neighbors of [6, 2]:
[7, 2] is not connected
[7, 3] is not connected
[6, 3] is connected
[5, 3] is not connected
[5, 2] is connected
[5, 1] is connected
[6, 1] is connected
[7, 1] is not connected
Sightlines from [8, 1]:
[13, 0] is not visible
[13, 1] is visible
[13, 2] is not visible
[13, 3] is not visible
[13, 4] is not visible
[13, 5] is visible
[13, 6] is visible
8-Neighbor Central Grid Path:
[0, 0], [0, 1], [0, 2], [0, 3], [1, 3], [2, 3], [2, 2], [3, 2], [4, 2], [5, 2], [6, 2], [6, 3], [6, 4], [6, 5], [7, 5], [8, 5], [9, 5], [10, 5], [11, 6], [12, 6], [13, 6]
Path produced by Central A* with Greedy Smoothing:
[0, 0], [0, 3], [2, 3], [2, 2], [6, 2], [6, 5], [10, 5], [13, 6]
8-Neighbor Regular Grid Paths:
[6, 3], [6, 2], [5, 2], [4, 2], [3, 2], [2, 2], [2, 3], [1, 3], [0, 3], [0, 2], [0, 1], [0, 0]
[6, 3], [6, 2], [5, 2], [4, 2], [3, 2], [2, 2], [2, 3], [2, 4], [1, 5], [0, 6]
[6, 3], [6, 2], [6, 1], [6, 0], [7, 0], [8, 0], [9, 0], [10, 1], [11, 1], [12, 1], [13, 1], [13, 0]
[6, 3], [6, 4], [6, 5], [7, 5], [8, 5], [9, 5], [10, 5], [11, 5], [12, 5], [13, 6]
Grid for Mid-Level Demo:
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+ +--+--+--+--+--+--+
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+--+--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--+--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+ +--+--+--+--+--+--+
Paths planned by 8-Neighbor Central A* with Tentpole Smoothing:
[9, 1], [13, 6]
[0, 0], [3, 1], [8, 1], [14, 7]
[0, 0], [3, 1], [6, 3], [7, 5], [13, 7]
[0, 7], [3, 3], [6, 3], [7, 5], [8, 5], [14, 4]
[2, 7], [4, 6], [5, 3], [7, 1], [13, 1], [14, 0]
Grid with last planned path:
+--+--+--+ +--+--+--+--+--+--+--+ +--5
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--3--+--+--+--+--+--4--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--+--+--2--+--+ +--+--+--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+ +--+--+--+--+--+--+
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--+--+--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--+--+--+--1--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
+--+--0--+--+--+ +--+--+--+--+--+--+
Paths sampled by 8-Neighbor Central Dijkstra with Tentpole Smoothing:
[7, 4], [6, 3], [3, 1], [0, 0]
[7, 4], [6, 3], [3, 3], [0, 7]
[7, 4], [6, 3], [5, 3], [4, 6], [2, 7]
[7, 4], [7, 1], [9, 1]
[7, 4], [7, 5], [8, 5], [13, 1], [14, 0]
[7, 4], [7, 5], [8, 5], [14, 4]
[7, 4], [7, 5], [14, 7]
Grid with last sampled path:
+--+--+--+ +--+--+--+--+--+--+--+ +--+
|><|><|><| |><|><|><|><|><|><|><| |><|
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
|><|><| |><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><| |><|><|><|><|><| |><|><|><|><| |><|
+--+--+--+--+--+--+--+ +--+--+--+--+--+--+
|><|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--0 +--+--+--+--+--+--+
|><|><| |><| |><| |><|><|><|><|><|><|
+--+--+--+ +--+ +--1--+--+--+--+--+--+--+
|><|><|><| |><| |><|><|><|><|><|><|><|><|
+--+--+--+--+--+ +--+--+--+--+--+--+--+--+
|><|><|><|><|><| |><|><|><|><|><|><|
+--+--+--+--+--+ +--+--+--+--+--+--2
Grid for High-Level Demo:
+--+--+ +--+--+--+--+--+--+ +
|><| |><|><| |><|><| |
+--+ +--+--+--+ +--+--+--+--+--+
| |><|><|><| |><|><|><| |
+ +--+--+--+--+ +--+--+--+ +
| | | | |><|><|><| |
+--+--+ + + +--+--+--+--+--+
|><| | | |><|><|><|><|><|
+--+ + + +--+--+--+--+--+
|><| | | |><|><|><|><|><|
+--+--+ + +--+--+--+--+--+--+--+
|><|><| | |><|><|><|><|><|
+--+--+--+--+ +--+--+--+--+--+
Paths produced by recommended path planner:
[8, 1], [13, 6]
[0, 0], [0, 3], [2, 3], [2, 2], [6, 2], [6, 5], [8, 5], [13, 6]
[3, 6], [4, 6], [4, 2], [6, 2], [6, 5], [8, 5], [10, 4]
[0, 6], [1, 5], [2, 3], [2, 2], [3, 2], [6, 0], [8, 0], [11, 3], [13, 4]
Grid with last planned path:
+--+--+ +--+--5--+--6--+--+ +
|><| |><|><| |><|><| |
+--+ +--+--+--+ +--+--+--+--+--+
| |><|><|><| |><|><|><| |
+ 3--4--+--+--+ +--+--+--+ +
| | | | |><|><|><| |
+--+--2 + + +--+--+--7--+--+
|><| | | |><|><|><|><|><|
+--+ + + +--+--+--+--+--8
|><| | | |><|><|><|><|><|
+--1--+ + +--+--+--+--+--+--+--+
|><|><| | |><|><|><|><|><|
0--+--+--+--+ +--+--+--+--+--+