3.2.0

A minor version: faster grid planning, viewer and saving, plus planner fixes. /api/cost_grid now returns an image instead of a point list.

Changed

• Grid planning is faster: the cost grid queries the way KD-tree on all cores, the A* inner loop is tighter, and the grid is only built once a leg actually hits an obstacle (an unobstructed route no longer pays ~1 s for it)
• The viewer converts coordinates to lon/lat in one vectorised call (opening or reloading a large map ~4x faster) and caches the edited map and the graph planner between replans (a graph replan drops from ~130 ms to ~3 ms)
• The Show Cost Grid overlay is one PNG image instead of a marker per cell; /api/cost_grid returns {"image", "bounds"}
• .mapdata files store way geometry at 6 decimals (micrometres) and save ~4x faster; files shrink ~30%. Older files load unchanged, the format version stays 1
• RRT* falls back to Grid A* on the same grid when it finds no path for a leg (not after a cancel)
• plan_route(sub_algorithm=None) derives the grid search from algorithm; an explicit sub_algorithm is honoured

Fixed

• The viewer's All terrain — A* ran RRT*: an explicit sub_algorithm="astar" was overridden by algorithm="rrt"
• The grid planners returned no_path for a start or goal just outside the map edge (within outside_map_tolerance): the planning grid now always contains every waypoint
• The README and docs show a demo route that plans on the bundled demo map with the default planner

Full Changelog: v3.1.0...v3.2.0 · changelog