raygeo.geo.algo.astar

A pathfinding in an open rectangle — the shortest path is a straight line from start to goal*

AStarPath

length

length: float

visited

visited: int

waypoints

waypoints: list[tuple[float, float]]

Functions

find_path()

find_path(
    from_: tuple[float, float],
    to: tuple[float, float],
    free_space: Sequence[Sequence[tuple[float, float]]],
    obstacles: Sequence[Sequence[tuple[float, float]]] = [],
    obstacle_margin: float = 0,
    cell_size: float = 1,
) -> AStarPath | None

Find a path from from_ to to inside free_space, avoiding obstacles.

The walkable area is rasterised at cell_size resolution. Obstacles are dilated by obstacle_margin before pathfinding.

Parameter	Type	Description
from_	tuple[float, float]	Start point (x, y).
to	tuple[float, float]	Goal point (x, y).
free_space	Sequence[Sequence[tuple[float, float]]]	Polygons defining the walkable region.
obstacles	Sequence[Sequence[tuple[float, float]]] = []	Polygons defining forbidden zones (default []).
obstacle_margin	float = 0	Radius by which obstacles are expanded (default 0).
cell_size	float = 1	Raster grid resolution (default 1.0).
Returns	AStarPath | None	AStarPath with waypoints, visited count, and length, or None.

A finds a path around a central obstacle when the direct route is blocked*

A threading a path between multiple disconnected obstacles — the algorithm explores the free cells and finds an optimal route*