- Set Grid size and cell size in the main of the program
- To add obstacles, click the right mouse button
- To add a start point, click the left mouse button
- To add an end point, click the middle mouse button
- To clear the screen, press c
- To clear an obstacle, hover over it with mouse and click x
- To clear the zone without removing obstacles, press z
- To run the pathFinding, press space
- To visualise the algorithm search for the path, press p to toggle on and off
- To select the algorithm
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- Press 1 for A*
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- Press 2 for RRT
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- Press 3 for RRT*
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- Press 4 for InformedRRT*
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- Press 5 for FMT*
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- Press 6 for BIT*
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- Press 7 for ABIT* (not implemented yet)
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- To cycle through optimisation click o
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- To activate Benchmark mode, press b (while in bemchmark mode, progress will not be displayed)