Jump Point Search Library

C++ implementation of the jump-point search path-finding algorithm in three dimensions. JPS is an improvement for A* on uniform grids that can lead to dramatically reduced solution times.

• Flexible interface via a custom bool state_valid(const JPSL::Point &) function, similar to ompl
• Forced neighbors are identified by solving a local shortest-path problem, leading to maximal pruning
• Solutions to local shortest-path problems are stored in a lookup table for speed

Compilation and Installation

mkdir build && cd build
cmake ..
make
make test          # optional run tests 
sudo make install  # optional

See also

• https://github.com/KumarRobotics/jps3d