Dstar Lite

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.

Commands:

[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

Using 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;
}