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rasterize.py : This file has the Bresenham line drawing algo which is used for heuristic calculation as well as planning straight line paths.
Contains 2 functions- planLineLow and planLinehigh - that rasterize the line in pixels based on its slope. A third function rasterize calls these two functions.
The remaining two are versions of the rasterize function based on the requirement at the time of calling.
search_path.py : This file contains the implementations of both A - star search algos used in this work.
AuxillaryFunctions.py : This file contains functions for creating graphs for searching. eight_neighbors function is used for identifying neighbors of a particular node.
RecoverPath function is used by both A-Star implementations to recover path after reaching goal.