line-of-sight topic
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                        line-of-sight repositories
                    
                tektosyne
                            
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                    The Tektosyne Library for Java provides algorithms for computational geometry and graph-based pathfinding, along with supporting mathematical utilities and specialized collections.
visibility-heuristic-path-planner
                            
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                    Highly efficient holistic 2D visibility solution for grid-based environments/maps (C++ and MATLAB). Extends to a planner.