This is a Python library for graph search. At the moment it has a few variations of A*-based heuristic search algorithm implemented. The data folder contains a few toy 2D planning problems. You are welcome to add your own problems.
To get started run python main_plan.py data/triangle. This will run the
main script for the planning problem inside the triangle folder. You can
similarly choose to run the planner on any of the folders inside the data directory.
As for the start and goal points in the map, you may either use the
utils.inputClickedPoint method or pickle the start-goal and save it inside
the respective environment with the name: start_goal.pkl. The method
save_points.inputSavePoints helps you to do this.