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Header file in the folder include.
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testing maps int the folder inputs.
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Code of reading map in the file grid_input.cpp.
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Algorithm code file Dstar_lite_algorithm.cpp.
Dstar_lite buliding on LPAstar, that is a dynamic version of LPAstar. In this algorithm, we need to switch the search direction of so that the g-values are estimates of the goal distances. We use variable Km to maintain lower bounds of priority queue.