Metrics

The graph has an associated distance metric which defaults to Euclidean. It can be specified at constructor time using the metric option set to one of the strings:

• 'L1' is the Manhattan distance
• 'L2' is the Euclidean distance
• 'SE2' is a mixed norm for planar configurations (x, y, θ) which is the Euclidean norm but the θ distance is wrapped into the interval [-π, π)

You can also pass a function that computes a distance measure.

The default Heuristic used for A* search is this distance measure but it can be set separately at constructor time using the heuristic option.