Dstar Lite

Dstar Lite is a software implementation of the D* Lite algorithm, as explained in [Koenig, 2002]. With a few modifications, this code has been optimized to improve computation time and path distance. This straightforward piece of software is easy to comprehend and integrate into your own code.

The program comes with several commands for easy navigation: [q/Q] to quit, [r/R] to replan, [a/A] to toggle the auto-replan feature, [c/C] to clear or restart, and left, middle, and right mouse clicks for various actions such as making a cell untraversable, moving the goal or start to a specific cell, and more.

In terms of visualization, the cell colors include red for untraversable cells, green for traversable cells, red/green with a small purple square for cells on the openList, yellow for the start cell, and purple for the goal cell.

Using Dstar Lite in your own source code is quite simple. The following code can be used as a basic test program that utilizes 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;
}
```

Overall, Dstar Lite offers a streamlined and efficient way to utilize the D* Lite algorithm in your software projects.