diff --git a/.buildinfo b/.buildinfo index e486315..f3fadba 100644 --- a/.buildinfo +++ b/.buildinfo @@ -1,4 +1,4 @@ # Sphinx build info version 1 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done. -config: 05ccd148a58c33ac0e0a5411ba9a6286 +config: 710cf036416f692d6f7dc18c81dcb327 tags: 645f666f9bcd5a90fca523b33c5a78b7 diff --git a/.doctrees/environment.pickle b/.doctrees/environment.pickle index 54dde40..7d8d068 100644 Binary files a/.doctrees/environment.pickle and b/.doctrees/environment.pickle differ diff --git a/.doctrees/pathfinding3d.core.doctree b/.doctrees/pathfinding3d.core.doctree index b577908..5bdf88f 100644 Binary files a/.doctrees/pathfinding3d.core.doctree and b/.doctrees/pathfinding3d.core.doctree differ diff --git a/.doctrees/pathfinding3d.finder.doctree b/.doctrees/pathfinding3d.finder.doctree index a0ebf4c..4311c78 100644 Binary files a/.doctrees/pathfinding3d.finder.doctree and b/.doctrees/pathfinding3d.finder.doctree differ diff --git a/404.html b/404.html index 32285fa..5628055 100644 --- a/404.html +++ b/404.html @@ -3,7 +3,7 @@ - Page not found — pathfinding3d 0.2 documentation + Page not found — pathfinding3d 0.3 documentation @@ -14,7 +14,7 @@ - + @@ -37,7 +37,7 @@ pathfinding3d
- 0.2 + 0.3
diff --git a/_modules/index.html b/_modules/index.html index 56adea2..7fd3620 100644 --- a/_modules/index.html +++ b/_modules/index.html @@ -3,7 +3,7 @@ - Overview: module code — pathfinding3d 0.2 documentation + Overview: module code — pathfinding3d 0.3 documentation @@ -14,7 +14,7 @@ - + @@ -37,7 +37,7 @@ pathfinding3d
- 0.2 + 0.3
diff --git a/_modules/pathfinding3d/core/diagonal_movement.html b/_modules/pathfinding3d/core/diagonal_movement.html index a839a4c..810efbd 100644 --- a/_modules/pathfinding3d/core/diagonal_movement.html +++ b/_modules/pathfinding3d/core/diagonal_movement.html @@ -3,7 +3,7 @@ - pathfinding3d.core.diagonal_movement — pathfinding3d 0.2 documentation + pathfinding3d.core.diagonal_movement — pathfinding3d 0.3 documentation @@ -14,7 +14,7 @@ - + @@ -37,7 +37,7 @@ pathfinding3d
- 0.2 + 0.3
diff --git a/_modules/pathfinding3d/core/grid.html b/_modules/pathfinding3d/core/grid.html index fd6a6d3..ca349a8 100644 --- a/_modules/pathfinding3d/core/grid.html +++ b/_modules/pathfinding3d/core/grid.html @@ -3,7 +3,7 @@ - pathfinding3d.core.grid — pathfinding3d 0.2 documentation + pathfinding3d.core.grid — pathfinding3d 0.3 documentation @@ -14,7 +14,7 @@ - + @@ -37,7 +37,7 @@ pathfinding3d
- 0.2 + 0.3
@@ -89,7 +89,7 @@

Source code for pathfinding3d.core.grid

 import math
-from typing import List
+from typing import List, Optional
 
 from .diagonal_movement import DiagonalMovement
 from .node import GridNode
@@ -103,7 +103,12 @@ 
Source code for pathfinding3d.core.grid
 
 
 
[docs]def build_nodes(
-    width: int, height: int, depth: int, matrix: List = None, inverse: bool = False, grid_id: int = None
+    width: int,
+    height: int,
+    depth: int,
+    matrix: Optional[List] = None,
+    inverse: bool = False,
+    grid_id: Optional[int] = None,
 ) -> List[List[List[GridNode]]]:
     """
     Create nodes according to grid size. If a matrix is given it
@@ -132,7 +137,7 @@ 
Source code for pathfinding3d.core.grid
     list
         A list of list of lists containing the nodes in the grid.
     """
-    nodes = []
+    nodes: List = []
     use_matrix = (isinstance(matrix, (tuple, list))) or (
         USE_NUMPY and isinstance(matrix, np.ndarray) and matrix.size > 0
     )
@@ -151,7 +156,11 @@ 
Source code for pathfinding3d.core.grid
                 weight = int(matrix[x][y][z]) if use_matrix else 1
                 walkable = weight <= 0 if inverse else weight >= 1
 
-                nodes[x][y].append(GridNode(x=x, y=y, z=z, walkable=walkable, weight=weight, grid_id=grid_id))
+                nodes[x][y].append(
+                    GridNode(
+                        x=x, y=y, z=z, walkable=walkable, weight=weight, grid_id=grid_id
+                    )
+                )
     return nodes

 
 
@@ -161,8 +170,8 @@ 
Source code for pathfinding3d.core.grid
         width: int = 0,
         height: int = 0,
         depth: int = 0,
-        matrix: List = None,
-        grid_id: int = None,
+        matrix: Optional[List] = None,
+        grid_id: Optional[int] = None,
         inverse: bool = False,
     ):
         """
@@ -187,16 +196,20 @@ 
Source code for pathfinding3d.core.grid
         self.width = width
         self.height = height
         self.depth = depth
-        if isinstance(matrix, (tuple, list)) or (USE_NUMPY and isinstance(matrix, np.ndarray) and (matrix.size > 0)):
+        if isinstance(matrix, (tuple, list)) or (
+            USE_NUMPY and isinstance(matrix, np.ndarray) and (matrix.size > 0)
+        ):
             self.width = len(matrix)
             self.height = len(matrix[0]) if self.width > 0 else 0
             self.depth = len(matrix[0][0]) if self.height > 0 else 0
         if self.width > 0 and self.height > 0 and self.depth > 0:
-            self.nodes = build_nodes(self.width, self.height, self.depth, matrix, inverse, grid_id)
+            self.nodes = build_nodes(
+                self.width, self.height, self.depth, matrix, inverse, grid_id
+            )
         else:
             self.nodes = [[[]]]

 
-
[docs]    def node(self, x: int, y: int, z: int) -> GridNode:
+
[docs]    def node(self, x: int, y: int, z: int) -> Optional[GridNode]:
         """
         Get node at position
 
@@ -256,7 +269,9 @@ 
Source code for pathfinding3d.core.grid
         """
         return self.inside(x, y, z) and self.nodes[x][y][z].walkable

 
-
[docs]    def calc_cost(self, node_a: GridNode, node_b: GridNode, weighted: bool = False) -> float:
+
[docs]    def calc_cost(
+        self, node_a: GridNode, node_b: GridNode, weighted: bool = False
+    ) -> float:
         """
         Get the distance between current node and the neighbor (cost)
 
@@ -287,7 +302,11 @@ 
Source code for pathfinding3d.core.grid
 
         return node_a.g + ng

 
-
[docs]    def neighbors(self, node: GridNode, diagonal_movement: DiagonalMovement = DiagonalMovement.never) -> List[GridNode]:
+
[docs]    def neighbors(
+        self,
+        node: GridNode,
+        diagonal_movement: int = DiagonalMovement.never,
+    ) -> List[GridNode]:
         """
         Get all neighbors of one node
 
@@ -295,6 +314,9 @@ 
Source code for pathfinding3d.core.grid
         ----------
         node : GridNode
             node to get neighbors from
+        diagonal_movement : int, optional
+            if diagonal movement is allowed
+            (see enum in diagonal_movement), by default DiagonalMovement.never
 
         Returns
         -------
diff --git a/_modules/pathfinding3d/core/heuristic.html b/_modules/pathfinding3d/core/heuristic.html
index 57492b9..d3edd26 100644
--- a/_modules/pathfinding3d/core/heuristic.html
+++ b/_modules/pathfinding3d/core/heuristic.html
@@ -3,7 +3,7 @@
 
   
   
-  pathfinding3d.core.heuristic — pathfinding3d 0.2 documentation
+  pathfinding3d.core.heuristic — pathfinding3d 0.3 documentation
       
       
       
@@ -14,7 +14,7 @@
   
         
         
-        
+        
         
         
         
@@ -37,7 +37,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
@@ -118,7 +118,9 @@ 
Source code for pathfinding3d.core.heuristic
return 0.0

 
 
-
[docs]def manhattan(dx: Union[int, float], dy: Union[int, float], dz: Union[int, float]) -> float:
+
[docs]def manhattan(
+    dx: Union[int, float], dy: Union[int, float], dz: Union[int, float]
+) -> float:
     """Manhattan heuristics
 
     Parameters
@@ -138,7 +140,9 @@ 
Source code for pathfinding3d.core.heuristic
return dx + dy + dz

 
 
-
[docs]def euclidean(dx: Union[int, float], dy: Union[int, float], dz: Union[int, float]) -> float:
+
[docs]def euclidean(
+    dx: Union[int, float], dy: Union[int, float], dz: Union[int, float]
+) -> float:
     """Euclidean distance heuristics
 
     Parameters
@@ -158,7 +162,9 @@ 
Source code for pathfinding3d.core.heuristic
return math.sqrt(dx * dx + dy * dy + dz * dz)

 
 
-
[docs]def chebyshev(dx: Union[int, float], dy: Union[int, float], dz: Union[int, float]) -> float:
+
[docs]def chebyshev(
+    dx: Union[int, float], dy: Union[int, float], dz: Union[int, float]
+) -> float:
     """Chebyshev distance.
 
     Parameters
@@ -178,7 +184,9 @@ 
Source code for pathfinding3d.core.heuristic
return max(dx, dy, dz)

 
 
-
[docs]def octile(dx: Union[int, float], dy: Union[int, float], dz: Union[int, float]) -> float:
+
[docs]def octile(
+    dx: Union[int, float], dy: Union[int, float], dz: Union[int, float]
+) -> float:
     """Octile distance.
 
     Parameters
diff --git a/_modules/pathfinding3d/core/node.html b/_modules/pathfinding3d/core/node.html
index 78ff35f..b4c8ee2 100644
--- a/_modules/pathfinding3d/core/node.html
+++ b/_modules/pathfinding3d/core/node.html
@@ -3,7 +3,7 @@
 
   
   
-  pathfinding3d.core.node — pathfinding3d 0.2 documentation
+  pathfinding3d.core.node — pathfinding3d 0.3 documentation
       
       
       
@@ -14,7 +14,7 @@
   
         
         
-        
+        
         
         
         
@@ -37,7 +37,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
@@ -89,6 +89,7 @@
              
   
Source code for pathfinding3d.core.node
 import dataclasses
+from typing import List, Optional
 
 
 
[docs]@dataclasses.dataclass
@@ -148,9 +149,9 @@ 
Source code for pathfinding3d.core.node
     # normally we just count our grids by number
     # but you can also use a string here.
     # Set it to None if you only have one grid.
-    grid_id: int = None
+    grid_id: Optional[int] = None
 
-    connections: list = None
+    connections: Optional[List] = None
 
     def __iter__(self):
         yield self.x
diff --git a/_modules/pathfinding3d/core/util.html b/_modules/pathfinding3d/core/util.html
index f8cf744..a6d5702 100644
--- a/_modules/pathfinding3d/core/util.html
+++ b/_modules/pathfinding3d/core/util.html
@@ -3,7 +3,7 @@
 
   
   
-  pathfinding3d.core.util — pathfinding3d 0.2 documentation
+  pathfinding3d.core.util — pathfinding3d 0.3 documentation
       
       
       
@@ -14,7 +14,7 @@
   
         
         
-        
+        
         
         
         
@@ -37,7 +37,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
@@ -93,7 +93,7 @@ 
Source code for pathfinding3d.core.util
 from typing import List, Tuple
 
 from .grid import Grid
-from .node import Node
+from .node import GridNode
 
 # square root of 2 for diagonal distance
 SQRT2 = math.sqrt(2)
@@ -103,19 +103,19 @@ 
Source code for pathfinding3d.core.util
 Coords = Tuple[float, float, float]
 
 
-
[docs]def backtrace(node: Node) -> List[Node]:
+
[docs]def backtrace(node: GridNode) -> List[GridNode]:
     """
     Backtrace according to the parent records and return the path.
     (including both start and end nodes)
 
     Parameters
     ----------
-    node : Node
+    node : GridNode
         node to backtrace from
 
     Returns
     -------
-    List[Node]
+    List[GridNode]
         path
     """
     path = [node]
@@ -126,21 +126,21 @@ 
Source code for pathfinding3d.core.util
     return path

 
 
-
[docs]def bi_backtrace(node_a: Node, node_b: Node) -> List[Node]:
+
[docs]def bi_backtrace(node_a: GridNode, node_b: GridNode) -> List[GridNode]:
     """
     Backtrace from start and end node, returns the path for bi-directional A*
     (including both start and end nodes)
 
     Parameters
     ----------
-    node_a : Node
+    node_a : GridNode
         start node
-    node_b : Node
+    node_b : GridNode
         end node
 
     Returns
     -------
-    List[Node]
+    List[GridNode]
         path
     """
     path_a = backtrace(node_a)
@@ -149,7 +149,7 @@ 
Source code for pathfinding3d.core.util
     return path_a + path_b

 
 
-
[docs]def raytrace(coords_a: Coords, coords_b: Coords) -> List[Coords]:
+
[docs]def raytrace(coords_a: Coords, coords_b: Coords) -> List[List[float]]:
     """
     Given the start and end coordinates, return all the coordinates lying
     on the line formed by these coordinates, based on ray tracing.
@@ -163,7 +163,7 @@ 
Source code for pathfinding3d.core.util
 
     Returns
     -------
-    List[Coords]
+    List[List[float]]
         list of coordinates
     """
     line = []
@@ -195,9 +195,15 @@ 
Source code for pathfinding3d.core.util
     while t <= 1.0:
         line.append(copy.copy(grid_pos))
         index = None
-        if t_for_next_border[0] <= t_for_next_border[1] and t_for_next_border[0] <= t_for_next_border[2]:
+        if (
+            t_for_next_border[0] <= t_for_next_border[1]
+            and t_for_next_border[0] <= t_for_next_border[2]
+        ):
             index = 0
-        elif t_for_next_border[1] <= t_for_next_border[2] and t_for_next_border[1] <= t_for_next_border[0]:
+        elif (
+            t_for_next_border[1] <= t_for_next_border[2]
+            and t_for_next_border[1] <= t_for_next_border[0]
+        ):
             index = 1
         else:
             index = 2
@@ -208,7 +214,7 @@ 
Source code for pathfinding3d.core.util
     return line

 
 
-
[docs]def bresenham(coords_a: Coords, coords_b: Coords) -> List[Coords]:
+
[docs]def bresenham(coords_a: Coords, coords_b: Coords) -> List[List[float]]:
     """
     Given the start and end coordinates, return all the coordinates lying
     on the line formed by these coordinates, based on Bresenham's algorithm.
@@ -222,7 +228,7 @@ 
Source code for pathfinding3d.core.util
 
     Returns
     -------
-    List[Coords]
+    List[List[float]]
         list of coordinates
     """
     line = []
@@ -301,7 +307,7 @@ 
Source code for pathfinding3d.core.util
     List[Coords]
         expanded path
     """
-    expanded = []
+    expanded: List[Coords] = []
     if len(path) < 2:
         return expanded
     for i in range(len(path) - 1):
@@ -310,7 +316,9 @@ 
Source code for pathfinding3d.core.util
     return expanded

 
 
-
[docs]def smoothen_path(grid: Grid, path: List[Coords], use_raytrace: bool = False) -> List[Coords]:
+
[docs]def smoothen_path(
+    grid: Grid, path: List[Coords], use_raytrace: bool = False
+) -> List[List[float]]:
     """
     Given an uncompressed path, return a new path that has less
     turnings and looks more natural.
@@ -326,7 +334,7 @@ 
Source code for pathfinding3d.core.util
 
     Returns
     -------
-    List[Coords]
+    List[List[float]]
         smoothened path
     """
     sx, sy, sz = path[0]
@@ -338,7 +346,9 @@ 
Source code for pathfinding3d.core.util
         line = interpolate((sx, sy, sz), coord)
         blocked = False
         for test_coord in line[1:]:
-            if not grid.walkable(test_coord[0], test_coord[1], test_coord[2]):
+            if not grid.walkable(
+                int(test_coord[0]), int(test_coord[1]), int(test_coord[2])
+            ):
                 blocked = True
                 break
         if not blocked:
diff --git a/_modules/pathfinding3d/core/world.html b/_modules/pathfinding3d/core/world.html
index 5eb9a8a..bdd12a8 100644
--- a/_modules/pathfinding3d/core/world.html
+++ b/_modules/pathfinding3d/core/world.html
@@ -3,7 +3,7 @@
 
   
   
-  pathfinding3d.core.world — pathfinding3d 0.2 documentation
+  pathfinding3d.core.world — pathfinding3d 0.3 documentation
       
       
       
@@ -14,7 +14,7 @@
   
         
         
-        
+        
         
         
         
@@ -37,7 +37,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
@@ -90,9 +90,8 @@
   
Source code for pathfinding3d.core.world
 from typing import Dict, List
 
-from .diagonal_movement import DiagonalMovement
 from .grid import Grid
-from .node import Node
+from .node import GridNode
 
 
 # a world connects grids but can have multiple grids.
@@ -100,32 +99,39 @@ 
Source code for pathfinding3d.core.world
 
[docs]    def __init__(self, grids: Dict[int, Grid]):
         self.grids = grids

 
-
[docs]    def neighbors(self, node: Node, diagonal_movement: DiagonalMovement) -> List[Node]:
+
[docs]    def neighbors(self, node: GridNode, diagonal_movement: int) -> List[GridNode]:
         """
         Get neighbors of the given node.
 
         Parameters
         ----------
-        node : Node
+        node : GridNode
             node to get neighbors from
+        diagonal_movement : int
+            if diagonal movement is allowed
+            (see enum in diagonal_movement)
 
         Returns
         -------
-        List[Node]
+        List[GridNode]
             neighbors of the given node
         """
 
-        return self.grids[node.grid_id].neighbors(node, diagonal_movement=diagonal_movement)

+        return self.grids[node.grid_id].neighbors(
+            node, diagonal_movement=diagonal_movement
+        )

 
-
[docs]    def calc_cost(self, node_a: Node, node_b: Node, weighted: bool = False) -> float:
+
[docs]    def calc_cost(
+        self, node_a: GridNode, node_b: GridNode, weighted: bool = False
+    ) -> float:
         """
         Calculate the cost between two nodes.
 
         Parameters
         ----------
-        node_a : Node
+        node_a : GridNode
             first node
-        node_b : Node
+        node_b : GridNode
             second node
         weighted : bool
             wether to use weights or not
diff --git a/_modules/pathfinding3d/finder/a_star.html b/_modules/pathfinding3d/finder/a_star.html
index 90649de..8f5d7bd 100644
--- a/_modules/pathfinding3d/finder/a_star.html
+++ b/_modules/pathfinding3d/finder/a_star.html
@@ -3,7 +3,7 @@
 
   
   
-  pathfinding3d.finder.a_star — pathfinding3d 0.2 documentation
+  pathfinding3d.finder.a_star — pathfinding3d 0.3 documentation
       
       
       
@@ -14,7 +14,7 @@
   
         
         
-        
+        
         
         
         
@@ -37,7 +37,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
@@ -89,12 +89,12 @@
              
   
Source code for pathfinding3d.finder.a_star
 import heapq  # used for the so colled "open list" that stores known nodes
-from typing import Callable, List, Optional, Union
+from typing import Callable, List, Optional, Tuple, Union
 
 from ..core.diagonal_movement import DiagonalMovement
 from ..core.grid import Grid
 from ..core.heuristic import manhattan, octile
-from ..core.node import Node
+from ..core.node import GridNode
 from ..core.util import backtrace, bi_backtrace
 from .finder import BY_END, MAX_RUNS, TIME_LIMIT, Finder
 
@@ -104,9 +104,9 @@ 
Source code for pathfinding3d.finder.a_star
         self,
         heuristic: Optional[Callable] = None,
         weight: int = 1,
-        diagonal_movement: DiagonalMovement = DiagonalMovement.never,
+        diagonal_movement: int = DiagonalMovement.never,
         time_limit: float = TIME_LIMIT,
-        max_runs: int = MAX_RUNS,
+        max_runs: Union[int, float] = MAX_RUNS,
     ):
         """
         Find shortest path using A* algorithm
@@ -117,7 +117,7 @@ 
Source code for pathfinding3d.finder.a_star
             heuristic used to calculate distance of 2 points
         weight : int
             weight for the edges
-        diagonal_movement : DiagonalMovement
+        diagonal_movement : int
             if diagonal movement is allowed
             (see enum in diagonal_movement)
         time_limit : float
@@ -146,17 +146,23 @@ 
Source code for pathfinding3d.finder.a_star
                 self.heuristic = octile

 
 
[docs]    def check_neighbors(
-        self, start: Node, end: Node, grid: Grid, open_list: List, open_value: bool = True, backtrace_by=None
-    ) -> Optional[List[Node]]:
+        self,
+        start: GridNode,
+        end: GridNode,
+        grid: Grid,
+        open_list: List,
+        open_value: int = 1,
+        backtrace_by=None,
+    ) -> Optional[List[GridNode]]:
         """
         Find next path segment based on given node
         (or return path if we found the end)
 
         Parameters
         ----------
-        start : Node
+        start : GridNode
             start node
-        end : Node
+        end : GridNode
             end node
         grid : Grid
             grid that stores all possible steps/tiles as 3D-list
@@ -165,7 +171,7 @@ 
Source code for pathfinding3d.finder.a_star
 
         Returns
         -------
-        Optional[List[Node]]
+        Optional[List[GridNode]]
             path
         """
 
@@ -200,22 +206,22 @@ 
Source code for pathfinding3d.finder.a_star
         # the end has not been reached (yet) keep the find_path loop running
         return None

 
-
[docs]    def find_path(self, start: Node, end: Node, grid: Grid) -> Optional[Union[List[Node], int]]:
+
[docs]    def find_path(self, start: GridNode, end: GridNode, grid: Grid) -> Tuple[List, int]:
         """
         Find a path from start to end node on grid using the A* algorithm
 
         Parameters
         ----------
-        start : Node
+        start : GridNode
             start node
-        end : Node
+        end : GridNode
             end node
         grid : Grid
             grid that stores all possible steps/tiles as 3D-list
 
         Returns
         -------
-        Optional[Union[List[Node], int]]
+        Tuple[List, int]
             path, number of iterations
         """
 
diff --git a/_modules/pathfinding3d/finder/best_first.html b/_modules/pathfinding3d/finder/best_first.html
index b91f015..44fd724 100644
--- a/_modules/pathfinding3d/finder/best_first.html
+++ b/_modules/pathfinding3d/finder/best_first.html
@@ -3,7 +3,7 @@
 
   
   
-  pathfinding3d.finder.best_first — pathfinding3d 0.2 documentation
+  pathfinding3d.finder.best_first — pathfinding3d 0.3 documentation
       
       
       
@@ -14,7 +14,7 @@
   
         
         
-        
+        
         
         
         
@@ -37,7 +37,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
@@ -88,10 +88,10 @@
            

              
   
Source code for pathfinding3d.finder.best_first
-from typing import Callable, Optional
+from typing import Callable, Optional, Union
 
 from ..core.diagonal_movement import DiagonalMovement
-from ..core.node import Node
+from ..core.node import GridNode
 from .a_star import MAX_RUNS, TIME_LIMIT, AStarFinder
 
 
@@ -104,9 +104,9 @@ 
Source code for pathfinding3d.finder.best_first
<
         self,
         heuristic: Optional[Callable] = None,
         weight: int = 1,
-        diagonal_movement: DiagonalMovement = DiagonalMovement.never,
+        diagonal_movement: int = DiagonalMovement.never,
         time_limit: float = TIME_LIMIT,
-        max_runs: int = MAX_RUNS,
+        max_runs: Union[int, float] = MAX_RUNS,
     ):
         """
         Find shortest path using BestFirst algorithm
@@ -117,7 +117,7 @@ 
Source code for pathfinding3d.finder.best_first
<
             heuristic used to calculate distance of 2 points
         weight : int
             weight for the edges
-        diagonal_movement : DiagonalMovement
+        diagonal_movement : int
             if diagonal movement is allowed
             (see enum in diagonal_movement)
         time_limit : float
@@ -138,15 +138,17 @@ 
Source code for pathfinding3d.finder.best_first
<
 
         self.weighted = False

 
-
[docs]    def apply_heuristic(self, node_a: Node, node_b: Node, heuristic: Optional[Callable] = None) -> float:
+
[docs]    def apply_heuristic(
+        self, node_a: GridNode, node_b: GridNode, heuristic: Optional[Callable] = None
+    ) -> float:
         """
         Helper function to apply heuristic
 
         Parameters
         ----------
-        node_a : Node
+        node_a : GridNode
             first node
-        node_b : Node
+        node_b : GridNode
             second node
         heuristic : Callable
             heuristic used to calculate distance of 2 points
diff --git a/_modules/pathfinding3d/finder/bi_a_star.html b/_modules/pathfinding3d/finder/bi_a_star.html
index c44b6e3..6273088 100644
--- a/_modules/pathfinding3d/finder/bi_a_star.html
+++ b/_modules/pathfinding3d/finder/bi_a_star.html
@@ -3,7 +3,7 @@
 
   
   
-  pathfinding3d.finder.bi_a_star — pathfinding3d 0.2 documentation
+  pathfinding3d.finder.bi_a_star — pathfinding3d 0.3 documentation
       
       
       
@@ -14,7 +14,7 @@
   
         
         
-        
+        
         
         
         
@@ -37,7 +37,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
@@ -89,11 +89,11 @@
              
   
Source code for pathfinding3d.finder.bi_a_star
 import time
-from typing import Callable, List, Optional, Union
+from typing import Callable, List, Optional, Tuple, Union
 
 from ..core.diagonal_movement import DiagonalMovement
 from ..core.grid import Grid
-from ..core.node import Node
+from ..core.node import GridNode
 from .a_star import AStarFinder
 from .finder import BY_END, BY_START, MAX_RUNS, TIME_LIMIT
 
@@ -107,9 +107,9 @@ 
Source code for pathfinding3d.finder.bi_a_star
self,
         heuristic: Optional[Callable] = None,
         weight: int = 1,
-        diagonal_movement: DiagonalMovement = DiagonalMovement.never,
+        diagonal_movement: int = DiagonalMovement.never,
         time_limit: float = TIME_LIMIT,
-        max_runs: int = MAX_RUNS,
+        max_runs: Union[int, float] = MAX_RUNS,
     ):
         """
         Find shortest path using Bi-A* algorithm
@@ -120,7 +120,7 @@ 
Source code for pathfinding3d.finder.bi_a_star
            heuristic used to calculate distance of 2 points
         weight : int
             weight for the edges
-        diagonal_movement : DiagonalMovement
+        diagonal_movement : int
             if diagonal movement is allowed
             (see enum in diagonal_movement)
         time_limit : float
@@ -141,15 +141,15 @@ 
Source code for pathfinding3d.finder.bi_a_star
self.weighted = False

 
-
[docs]    def find_path(self, start: Node, end: Node, grid: Grid) -> Optional[Union[List[Node], int]]:
+
[docs]    def find_path(self, start: GridNode, end: GridNode, grid: Grid) -> Tuple[List, int]:
         """
         Find a path from start to end node on grid using the A* algorithm
 
         Parameters
         ----------
-        start : Node
+        start : GridNode
             start node
-        end : Node
+        end : GridNode
             end node
         grid : Grid
             grid that stores all possible steps/tiles as 3D-list
@@ -157,7 +157,7 @@ 
Source code for pathfinding3d.finder.bi_a_star
        Returns
         -------
-        Optional[Union[List[Node], int]]
+        Tuple[List, int]
             path, number of iterations
         """
         self.start_time = time.time()  # execution time limitation
@@ -176,13 +176,27 @@ 
Source code for pathfinding3d.finder.bi_a_star
while len(start_open_list) > 0 and len(end_open_list) > 0:
             self.runs += 1
             self.keep_running()
-            path = self.check_neighbors(start, end, grid, start_open_list, open_value=BY_START, backtrace_by=BY_END)
+            path = self.check_neighbors(
+                start,
+                end,
+                grid,
+                start_open_list,
+                open_value=BY_START,
+                backtrace_by=BY_END,
+            )
             if path:
                 return path, self.runs
 
             self.runs += 1
             self.keep_running()
-            path = self.check_neighbors(end, start, grid, end_open_list, open_value=BY_END, backtrace_by=BY_START)
+            path = self.check_neighbors(
+                end,
+                start,
+                grid,
+                end_open_list,
+                open_value=BY_END,
+                backtrace_by=BY_START,
+            )
             if path:
                 return path, self.runs
 
diff --git a/_modules/pathfinding3d/finder/breadth_first.html b/_modules/pathfinding3d/finder/breadth_first.html
index e3af1a1..3961814 100644
--- a/_modules/pathfinding3d/finder/breadth_first.html
+++ b/_modules/pathfinding3d/finder/breadth_first.html
@@ -3,7 +3,7 @@
 
   
   
-  pathfinding3d.finder.breadth_first — pathfinding3d 0.2 documentation
+  pathfinding3d.finder.breadth_first — pathfinding3d 0.3 documentation
       
       
       
@@ -14,7 +14,7 @@
   
         
         
-        
+        
         
         
         
@@ -37,7 +37,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
@@ -88,11 +88,11 @@
            

              
   
Source code for pathfinding3d.finder.breadth_first
-from typing import Callable, List, Optional
+from typing import Callable, List, Optional, Union
 
 from ..core.diagonal_movement import DiagonalMovement
 from ..core.grid import Grid
-from ..core.node import Node
+from ..core.node import GridNode
 from ..core.util import backtrace
 from .finder import MAX_RUNS, TIME_LIMIT, Finder
 
@@ -102,9 +102,9 @@ 
Source code for pathfinding3d.finder.breadth_first
self,
         heuristic: Optional[Callable] = None,
         weight: int = 1,
-        diagonal_movement: DiagonalMovement = DiagonalMovement.never,
+        diagonal_movement: int = DiagonalMovement.never,
         time_limit: float = TIME_LIMIT,
-        max_runs: int = MAX_RUNS,
+        max_runs: Union[int, float] = MAX_RUNS,
     ):
         """
         Find shortest path using Breadth First algorithm
@@ -115,7 +115,7 @@ 
Source code for pathfinding3d.finder.breadth_first
            heuristic used to calculate distance of 2 points
         weight : int
             weight for the edges
-        diagonal_movement : DiagonalMovement
+        diagonal_movement : int
             if diagonal movement is allowed
             (see enum in diagonal_movement)
         time_limit : float
@@ -139,20 +139,20 @@ 
Source code for pathfinding3d.finder.breadth_first
[docs]    def check_neighbors(
         self,
-        start: Node,
-        end: Node,
+        start: GridNode,
+        end: GridNode,
         grid: Grid,
         open_list: List,
-    ) -> Optional[List[Node]]:
+    ) -> List[GridNode]:
         """
         Find next path segment based on given node
         (or return path if we found the end)
 
         Parameters
         ----------
-        start : Node
+        start : GridNode
             start node
-        end : Node
+        end : GridNode
             end node
         grid : Grid
             grid that stores all possible steps/tiles as 3D-list
@@ -161,7 +161,7 @@ 
Source code for pathfinding3d.finder.breadth_first
        Returns
         -------
-        Optional[List[Node]]
+        List[GridNode]
             path
         """
         node = open_list.pop(0)
diff --git a/_modules/pathfinding3d/finder/dijkstra.html b/_modules/pathfinding3d/finder/dijkstra.html
index 377ce70..d1b752b 100644
--- a/_modules/pathfinding3d/finder/dijkstra.html
+++ b/_modules/pathfinding3d/finder/dijkstra.html
@@ -3,7 +3,7 @@
 
   
   
-  pathfinding3d.finder.dijkstra — pathfinding3d 0.2 documentation
+  pathfinding3d.finder.dijkstra — pathfinding3d 0.3 documentation
       
       
       
@@ -14,7 +14,7 @@
   
         
         
-        
+        
         
         
         
@@ -37,7 +37,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
@@ -88,7 +88,7 @@
            

              
   
Source code for pathfinding3d.finder.dijkstra
-from typing import Callable, Optional
+from typing import Callable, Optional, Union
 
 from ..core.diagonal_movement import DiagonalMovement
 from ..core.heuristic import null
@@ -100,9 +100,9 @@ 
Source code for pathfinding3d.finder.dijkstra
[docs]    def __init__(
         self,
         weight: int = 1,
-        diagonal_movement: DiagonalMovement = DiagonalMovement.never,
+        diagonal_movement: int = DiagonalMovement.never,
         time_limit: float = TIME_LIMIT,
-        max_runs: int = MAX_RUNS,
+        max_runs: Union[int, float] = MAX_RUNS,
     ):
         """
         Find shortest path using Dijkstra algorithm
@@ -111,7 +111,7 @@ 
Source code for pathfinding3d.finder.dijkstra
        ----------
         weight : int
             weight for the edges
-        diagonal_movement : DiagonalMovement
+        diagonal_movement : int
             if diagonal movement is allowed
             (see enum in diagonal_movement)
         time_limit : float
@@ -123,10 +123,16 @@ 
Source code for pathfinding3d.finder.dijkstra
            large map.
         """
         super().__init__(
-            heuristic=null, weight=weight, diagonal_movement=diagonal_movement, time_limit=time_limit, max_runs=max_runs
+            heuristic=null,
+            weight=weight,
+            diagonal_movement=diagonal_movement,
+            time_limit=time_limit,
+            max_runs=max_runs,
         )

 
-
[docs]    def apply_heuristic(self, node_a: Node, node_b: Node, heuristic: Optional[Callable] = None) -> float:
+
[docs]    def apply_heuristic(
+        self, node_a: Node, node_b: Node, heuristic: Optional[Callable] = None
+    ) -> float:
         """
         Helper function to apply heuristic
 
diff --git a/_modules/pathfinding3d/finder/finder.html b/_modules/pathfinding3d/finder/finder.html
index 710a7ed..0d3fa29 100644
--- a/_modules/pathfinding3d/finder/finder.html
+++ b/_modules/pathfinding3d/finder/finder.html
@@ -3,7 +3,7 @@
 
   
   
-  pathfinding3d.finder.finder — pathfinding3d 0.2 documentation
+  pathfinding3d.finder.finder — pathfinding3d 0.3 documentation
       
       
       
@@ -14,7 +14,7 @@
   
         
         
-        
+        
         
         
         
@@ -37,7 +37,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
@@ -90,11 +90,11 @@
   
Source code for pathfinding3d.finder.finder
 import heapq  # used for the so colled "open list" that stores known nodes
 import time  # for time limitation
-from typing import Callable, List, Optional, Union
+from typing import Callable, List, Optional, Tuple, Union
 
 from ..core.diagonal_movement import DiagonalMovement
 from ..core.grid import Grid
-from ..core.node import Node
+from ..core.node import GridNode
 
 # max. amount of tries we iterate until we abort the search
 MAX_RUNS = float("inf")
@@ -121,10 +121,10 @@ 
Source code for pathfinding3d.finder.finder
         self,
         heuristic: Optional[Callable] = None,
         weight: int = 1,
-        diagonal_movement: DiagonalMovement = DiagonalMovement.never,
+        diagonal_movement: int = DiagonalMovement.never,
         weighted: bool = True,
         time_limit: float = TIME_LIMIT,
-        max_runs: int = MAX_RUNS,
+        max_runs: Union[int, float] = MAX_RUNS,
     ):
         """
         Find shortest path
@@ -135,7 +135,7 @@ 
Source code for pathfinding3d.finder.finder
             heuristic used to calculate distance of 2 points
         weight : int
             weight for the edges
-        diagonal_movement : DiagonalMovement
+        diagonal_movement : int
             if diagonal movement is allowed
             (see enum in diagonal_movement)
         weighted: the algorithm supports weighted nodes
@@ -159,15 +159,17 @@ 
Source code for pathfinding3d.finder.finder
         self.start_time: float
         self.runs: int

 
-
[docs]    def apply_heuristic(self, node_a: Node, node_b: Node, heuristic: Optional[Callable] = None) -> float:
+
[docs]    def apply_heuristic(
+        self, node_a: GridNode, node_b: GridNode, heuristic: Optional[Callable] = None
+    ) -> float:
         """
         Helper function to apply heuristic
 
         Parameters
         ----------
-        node_a : Node
+        node_a : GridNode
             first node
-        node_b : Node
+        node_b : GridNode
             second node
         heuristic : Callable
             heuristic used to calculate distance of 2 points
@@ -186,8 +188,11 @@ 
Source code for pathfinding3d.finder.finder
         )

 
 
[docs]    def find_neighbors(
-        self, grid: Grid, node: Node, diagonal_movement: Optional[DiagonalMovement] = None
-    ) -> List[Node]:
+        self,
+        grid: Grid,
+        node: GridNode,
+        diagonal_movement: Optional[int] = None,
+    ) -> List[GridNode]:
         """
         Find neighbor, same for Djikstra, A*, Bi-A*, IDA*
 
@@ -195,30 +200,25 @@ 
Source code for pathfinding3d.finder.finder
         ----------
         grid : Grid
             grid that stores all possible steps/tiles as 3D-list
-        node : Node
+        node : GridNode
             node to find neighbors for
-        diagonal_movement : DiagonalMovement
+        diagonal_movement : int
             if diagonal movement is allowed
             (see enum in diagonal_movement)
 
         Returns
         -------
-        List[Node]
+        List[GridNode]
             list of neighbors
         """
         if not diagonal_movement:
             diagonal_movement = self.diagonal_movement
         return grid.neighbors(node, diagonal_movement=diagonal_movement)

 
-
[docs]    def keep_running(self) -> bool:
+
[docs]    def keep_running(self):
         """
         Check, if we run into time or iteration constrains.
 
-        Returns
-        -------
-        bool
-            True if we keep running and False if we run into a constraint
-
         Raises
         ------
         ExecutionTimeException
@@ -237,7 +237,15 @@ 
Source code for pathfinding3d.finder.finder
                 f"{self.__class__.__name__} took longer than {self.time_limit} seconds, aborting!"
             )

 
-
[docs]    def process_node(self, grid: Grid, node: Node, parent: Node, end: Node, open_list: List, open_value: bool = True):
+
[docs]    def process_node(
+        self,
+        grid: Grid,
+        node: GridNode,
+        parent: GridNode,
+        end: GridNode,
+        open_list: List,
+        open_value: int = 1,
+    ):
         """
         We check if the given node is part of the path by calculating its
         cost and add or remove it from our path
@@ -246,12 +254,12 @@ 
Source code for pathfinding3d.finder.finder
         ----------
         grid : Grid
             grid that stores all possible steps/tiles as 3D-list
-        node : Node
+        node : GridNode
             the node we like to test
             (the neighbor in A* or jump-node in JumpPointSearch)
-        parent : Node
+        parent : GridNode
             the parent node (the current node we like to test)
-        end : Node
+        end : GridNode
             the end point to calculate the cost of the path
         open_list : List
             the list that keeps track of our current path
@@ -281,17 +289,23 @@ 
Source code for pathfinding3d.finder.finder
                 heapq.heappush(open_list, node)

 
 
[docs]    def check_neighbors(
-        self, start: Node, end: Node, grid: Grid, open_list: List, open_value: bool = True, backtrace_by=None
-    ) -> Optional[List[Node]]:
+        self,
+        start: GridNode,
+        end: GridNode,
+        grid: Grid,
+        open_list: List,
+        open_value: int = 1,
+        backtrace_by=None,
+    ) -> Optional[List[GridNode]]:
         """
         find next path segment based on given node
         (or return path if we found the end)
 
         Parameters
         ----------
-        start : Node
+        start : GridNode
             start node
-        end : Node
+        end : GridNode
             end node
         grid : Grid
             grid that stores all possible steps/tiles as 3D-list
@@ -300,21 +314,21 @@ 
Source code for pathfinding3d.finder.finder
 
         Returns
         -------
-        Optional[List[Node]]
+        Optional[List[GridNode]]
             path
         """
         raise NotImplementedError("Please implement check_neighbors in your finder")

 
-
[docs]    def find_path(self, start: Node, end: Node, grid: Grid) -> Optional[Union[List[Node], int]]:
+
[docs]    def find_path(self, start: GridNode, end: GridNode, grid: Grid) -> Tuple[List, int]:
         """
         Find a path from start to end node on grid by iterating over
         all neighbors of a node (see check_neighbors)
 
         Parameters
         ----------
-        start : Node
+        start : GridNode
             start node
-        end : Node
+        end : GridNode
             end node
         grid : Grid
             grid that stores all possible steps/tiles as 3D-list
@@ -322,7 +336,7 @@ 
Source code for pathfinding3d.finder.finder
 
         Returns
         -------
-        Optional[Union[List[Node], int]]
+        Tuple[List, int]
             path, number of iterations
         """
         self.start_time = time.time()  # execution time limitation
@@ -346,7 +360,10 @@ 
Source code for pathfinding3d.finder.finder
         """
         Return a human readable representation
         """
-        return f"<{self.__class__.__name__}" f"diagonal_movement={self.diagonal_movement} >"

+        return (
+            f"<{self.__class__.__name__}"
+            f"diagonal_movement={self.diagonal_movement} >"
+        )

 

 
            

diff --git a/_modules/pathfinding3d/finder/ida_star.html b/_modules/pathfinding3d/finder/ida_star.html
index 938af51..eeb0341 100644
--- a/_modules/pathfinding3d/finder/ida_star.html
+++ b/_modules/pathfinding3d/finder/ida_star.html
@@ -3,7 +3,7 @@
 
   
   
-  pathfinding3d.finder.ida_star — pathfinding3d 0.2 documentation
+  pathfinding3d.finder.ida_star — pathfinding3d 0.3 documentation
       
       
       
@@ -14,7 +14,7 @@
   
         
         
-        
+        
         
         
         
@@ -37,7 +37,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
@@ -89,12 +89,12 @@
              
   
Source code for pathfinding3d.finder.ida_star
 import time
-from typing import Callable, List, Optional, Union
+from typing import Callable, List, Optional, Tuple, Union
 
 from ..core.diagonal_movement import DiagonalMovement
 from ..core.grid import Grid
 from ..core.heuristic import manhattan, octile
-from ..core.node import Node
+from ..core.node import GridNode
 from .finder import MAX_RUNS, TIME_LIMIT, Finder
 
 
@@ -119,9 +119,9 @@ 
Source code for pathfinding3d.finder.ida_star
self,
         heuristic: Optional[Callable] = None,
         weight: int = 1,
-        diagonal_movement: DiagonalMovement = DiagonalMovement.never,
+        diagonal_movement: int = DiagonalMovement.never,
         time_limit: float = TIME_LIMIT,
-        max_runs: int = MAX_RUNS,
+        max_runs: Union[int, float] = MAX_RUNS,
         track_recursion: bool = True,
     ):
         """
@@ -133,7 +133,7 @@ 
Source code for pathfinding3d.finder.ida_star
            heuristic used to calculate distance of 2 points
         weight : int
             weight for the edges
-        diagonal_movement : DiagonalMovement
+        diagonal_movement : int
             if diagonal movement is allowed
             (see enum in diagonal_movement)
         time_limit : float
@@ -167,38 +167,38 @@ 
Source code for pathfinding3d.finder.ida_star
[docs]    def search(
         self,
-        node: Node,
+        node: GridNode,
         g: float,
         cutoff: float,
-        path: List[Node],
+        path: List[GridNode],
         depth: int,
-        end: Node,
+        end: GridNode,
         grid: Grid,
-    ) -> float:
+    ) -> Union[float, GridNode]:
         """
         Recursive IDA* search implementation
 
         Parameters
         ----------
-        node : Node
+        node : GridNode
             current node
         g : float
             cost from start to current node
         cutoff : float
             cutoff cost
-        path : List[Node]
+        path : List[GridNode]
             path
         depth : int
             current depth
-        end : Node
+        end : GridNode
             end node
         grid : Grid
             grid that stores all possible steps/tiles as 3D-list
 
         Returns
         -------
-        float
-            cutoff cost
+        Union[float, GridNode]
+            cutoff cost or end node
         """
         self.runs += 1
         self.keep_running()
@@ -234,9 +234,17 @@ 
Source code for pathfinding3d.finder.ida_star
neighbor.retain_count += 1
                 neighbor.tested = True
 
-            t = self.search(neighbor, g + grid.calc_cost(node, neighbor), cutoff, path, depth + 1, end, grid)
-
-            if isinstance(t, Node):
+            t = self.search(
+                neighbor,
+                g + grid.calc_cost(node, neighbor),
+                cutoff,
+                path,
+                depth + 1,
+                end,
+                grid,
+            )
+
+            if isinstance(t, GridNode):
                 if len(path) < depth:
                     path += [None] * (depth - len(path) + 1)
                 path[depth] = node
@@ -253,22 +261,22 @@ 
Source code for pathfinding3d.finder.ida_star
return min_t

 
-
[docs]    def find_path(self, start: Node, end: Node, grid: Grid) -> Optional[Union[List[Node], int]]:
+
[docs]    def find_path(self, start: GridNode, end: GridNode, grid: Grid) -> Tuple[List, int]:
         """
         Find a path from start to end node on grid using the IDA* algorithm
 
         Parameters
         ----------
-        start : Node
+        start : GridNode
             start node
-        end : Node
+        end : GridNode
             end node
         grid : Grid
             grid that stores all possible steps/tiles as 3D-list
 
         Returns
         -------
-        Optional[Union[List[Node], int]]
+        Tuple[List, int]
             path, number of iterations
         """
         self.start_time = time.time()  # execution time limitation
@@ -292,8 +300,11 @@ 
Source code for pathfinding3d.finder.ida_star
# If t is a node, it's also the end node. Route is now
             # populated with a valid path to the end node.
-            if isinstance(t, Node):
-                return ([(node.x, node.y, node.z, node.grid_id) for node in path], self.runs)
+            if isinstance(t, GridNode):
+                return (
+                    [(node.x, node.y, node.z, node.grid_id) for node in path],
+                    self.runs,
+                )
 
             # Try again, this time with a deeper cut-off. The t score
             # is the closest we got to the end node.
diff --git a/_modules/pathfinding3d/finder/msp.html b/_modules/pathfinding3d/finder/msp.html
index 736e440..428fa39 100644
--- a/_modules/pathfinding3d/finder/msp.html
+++ b/_modules/pathfinding3d/finder/msp.html
@@ -3,7 +3,7 @@
 
   
   
-  pathfinding3d.finder.msp — pathfinding3d 0.2 documentation
+  pathfinding3d.finder.msp — pathfinding3d 0.3 documentation
       
       
       
@@ -14,7 +14,7 @@
   
         
         
-        
+        
         
         
         
@@ -37,7 +37,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
@@ -91,11 +91,11 @@ 
Source code for pathfinding3d.finder.msp
 import heapq
 import time
 from collections import deque, namedtuple
-from typing import List, Optional, Union
+from typing import List, Tuple
 
 from ..core import heuristic
 from ..core.grid import Grid
-from ..core.node import Node
+from ..core.node import GridNode
 from ..finder.finder import Finder
 
 
@@ -112,7 +112,7 @@ 
Source code for pathfinding3d.finder.msp
         super().__init__(*args, **kwargs)
         self.heuristic = heuristic.null

 
-
[docs]    def tree(self, grid: Grid, start: Node) -> List:
+
[docs]    def tree(self, grid: Grid, start: GridNode) -> List:
         """
         Returns a list of nodes that are part of the minimum spanning tree
         of the grid.
@@ -121,7 +121,7 @@ 
Source code for pathfinding3d.finder.msp
         ----------
         grid : Grid
             grid that stores all possible steps/tiles as 3D-list
-        start : Node
+        start : GridNode
             start node
 
         Returns
@@ -131,7 +131,7 @@ 
Source code for pathfinding3d.finder.msp
 
         return list(self.itertree(grid, start))

 
-
[docs]    def itertree(self, grid: Grid, start: Node):
+
[docs]    def itertree(self, grid: Grid, start: GridNode):
         """
         Returns a generator that yields nodes that are part of the minimum
         spanning tree of the grid.
@@ -140,7 +140,7 @@ 
Source code for pathfinding3d.finder.msp
         ----------
         grid : Grid
             grid that stores all possible steps/tiles as 3D-list
-        start : Node
+        start : GridNode
             start node
         """
         # Finder.process_node requires an end node, which we don't have.
@@ -166,25 +166,27 @@ 
Source code for pathfinding3d.finder.msp
             neighbors = self.find_neighbors(grid, node)
             for neighbor in neighbors:
                 if not neighbor.closed:
-                    self.process_node(grid, neighbor, node, end, open_list, open_value=True)

+                    self.process_node(
+                        grid, neighbor, node, end, open_list, open_value=True
+                    )

 
-
[docs]    def find_path(self, start: Node, end: Node, grid: Grid) -> Optional[Union[List[Node], int]]:
+
[docs]    def find_path(self, start: GridNode, end: GridNode, grid: Grid) -> Tuple[List, int]:
         """
         Find a path from start to end node on grid using the Minimum Spanning
         Tree algorithm
 
         Parameters
         ----------
-        start : Node
+        start : GridNode
             start node
-        end : Node
+        end : GridNode
             end node
         grid : Grid
             grid that stores all possible steps/tiles as 3D-list
 
         Returns
         -------
-        Optional[Union[List[Node], int]]
+        Tuple[List, int]
             path, number of iterations
         """
         self.start_time = time.time()  # execution time limitation
diff --git a/_static/documentation_options.js b/_static/documentation_options.js
index 4c7b1ee..7ec93ea 100644
--- a/_static/documentation_options.js
+++ b/_static/documentation_options.js
@@ -1,6 +1,6 @@
 var DOCUMENTATION_OPTIONS = {
     URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'),
-    VERSION: '0.2',
+    VERSION: '0.3',
     LANGUAGE: 'en',
     COLLAPSE_INDEX: false,
     BUILDER: 'html',
diff --git a/genindex.html b/genindex.html
index d9c6711..bc28560 100644
--- a/genindex.html
+++ b/genindex.html
@@ -3,7 +3,7 @@
 
   
   
-  Index — pathfinding3d 0.2 documentation
+  Index — pathfinding3d 0.3 documentation
       
       
       
@@ -14,7 +14,7 @@
   
         
         
-        
+        
         
         
         
@@ -37,7 +37,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
diff --git a/index.html b/index.html
index 1e98445..c808c49 100644
--- a/index.html
+++ b/index.html
@@ -4,7 +4,7 @@
   
 
   
-  Welcome to pathfinding3d’s documentation! — pathfinding3d 0.2 documentation
+  Welcome to pathfinding3d’s documentation! — pathfinding3d 0.3 documentation
       
       
       
@@ -15,7 +15,7 @@
   
         
         
-        
+        
         
         
         
@@ -39,7 +39,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
diff --git a/modules.html b/modules.html
index 9128f2d..f48c94f 100644
--- a/modules.html
+++ b/modules.html
@@ -4,7 +4,7 @@
   
 
   
-  pathfinding3d — pathfinding3d 0.2 documentation
+  pathfinding3d — pathfinding3d 0.3 documentation
       
       
       
@@ -15,7 +15,7 @@
   
         
         
-        
+        
         
         
         
@@ -40,7 +40,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
diff --git a/objects.inv b/objects.inv
index cb68e37..dc035d5 100644
Binary files a/objects.inv and b/objects.inv differ
diff --git a/pathfinding3d.core.html b/pathfinding3d.core.html
index fe61551..7063f70 100644
--- a/pathfinding3d.core.html
+++ b/pathfinding3d.core.html
@@ -4,7 +4,7 @@
   
 
   
-  pathfinding3d.core package — pathfinding3d 0.2 documentation
+  pathfinding3d.core package — pathfinding3d 0.3 documentation
       
       
       
@@ -15,7 +15,7 @@
   
         
         
-        
+        
         
         
         
@@ -40,7 +40,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
@@ -169,8 +169,8 @@ 
Submodules
 
Return type:

-
GridNode

+
Optional[GridNode]

 

 
Parameters:

 

@@ -594,19 +595,19 @@ 
Submodules
 
Return type:

-
List[Node]

+
List[GridNode]

 

 
Parameters:

 
    
-
  • node_a (Node) – start node
    • 
-
  • node_b (Node) – end node
    • 
+
  • node_a (GridNode) – start node
    • 
+
  • node_b (GridNode) – end node
    • 
 

 

 
Returns:

 
path

 

 
Return type:

-
List[Node]

+
List[GridNode]

 

 
 
@@ -618,7 +619,7 @@ 
Submodules
 
Return type:

-
List[Tuple[float, float, float]]

+
List[List[float]]

 

 
Parameters:

 

 
Return type:

-
List[Coords]

+
List[List[float]]

 

 
 
@@ -642,7 +643,7 @@ 
Submodules
 
Return type:

-
List[Tuple[float, float, float]]

+
List[List[float]]

 

 
Parameters:

 

 
Return type:

-
List[Coords]

+
List[List[float]]

 

 
 
@@ -687,7 +688,7 @@ 
Submodules
 
Return type:

-
List[Tuple[float, float, float]]

+
List[List[float]]

 

 
Parameters:

 

 
Return type:

-
List[Coords]

+
List[List[float]]

 

 
 
@@ -733,19 +734,20 @@ 
Submodules
 
Return type:

-
List[Node]

+
List[GridNode]

 

 
Parameters:

 
    
-
  • node (Node) – node to get neighbors from
    • 
-
  • diagonal_movement (DiagonalMovement) – 
    • 
+
  • node (GridNode) – node to get neighbors from
    • 
+
  • diagonal_movement (int) – if diagonal movement is allowed
+(see enum in diagonal_movement)
    • 
 

 

 
Returns:

 
neighbors of the given node

 

 
Return type:

-
List[Node]

+
List[GridNode]

 

 
 
@@ -760,8 +762,8 @@ 
SubmodulesParameters:
 
    
-
  • node_a (Node) – first node
    • 
-
  • node_b (Node) – second node
    • 
+
  • node_a (GridNode) – first node
    • 
+
  • node_b (GridNode) – second node
    • 
 
  • weighted (bool) – wether to use weights or not
    • 
 

 

diff --git a/pathfinding3d.finder.html b/pathfinding3d.finder.html
index 2dd7b99..7ae08c4 100644
--- a/pathfinding3d.finder.html
+++ b/pathfinding3d.finder.html
@@ -4,7 +4,7 @@
   
 
   
-  pathfinding3d.finder package — pathfinding3d 0.2 documentation
+  pathfinding3d.finder package — pathfinding3d 0.3 documentation
       
       
       
@@ -15,7 +15,7 @@
   
         
         
-        
+        
         
         
         
@@ -39,7 +39,7 @@
             pathfinding3d
           
               

-                0.2
+                0.3
               

 

   
@@ -107,9 +107,9 @@ 
Submodules
 
 
@@ -122,7 +122,7 @@ 
Submodules
    
 
  • heuristic (Callable) – heuristic used to calculate distance of 2 points
    • 
 
  • weight (int) – weight for the edges
    • 
-
  • diagonal_movement (DiagonalMovement) – if diagonal movement is allowed
+
  • diagonal_movement (int) – if diagonal movement is allowed
 (see enum in diagonal_movement)
    • 
 
  • time_limit (float) – max. runtime in seconds
    • 
 
  • max_runs (int) – max. amount of tries until we abort the search
@@ -136,27 +136,27 @@ 
    Submodules
 
    
-check_neighbors(start, end, grid, open_list, open_value=True, backtrace_by=None)[source]
    
+check_neighbors(start, end, grid, open_list, open_value=1, backtrace_by=None)[source]
 
    Find next path segment based on given node
 (or return path if we found the end)
    
 
    
 
    Return type:
    
-
    Optional[List[Node]]
    
+
    Optional[List[GridNode]]
    
 
    
 
    Parameters:
    
 
      
-
    • start (Node) – start node
      • 
-
    • end (Node) – end node
      • 
+
    • start (GridNode) – start node
      • 
+
    • end (GridNode) – end node
      • 
 
    • grid (Grid) – grid that stores all possible steps/tiles as 3D-list
      • 
 
    • open_list (List) – stores nodes that will be processed next
      • 
-
    • open_value (bool) – 
      • 
+
    • open_value (int) – 
      • 
 
    
 
    
 
    Returns:
    
 
    path
    
 
    
 
    Return type:
    
-
    Optional[List[Node]]
    
+
    Optional[List[GridNode]]
    
 
    
 
    
 
    
@@ -167,12 +167,12 @@ 
    Submodules
 
    Return type:
    
-
    Union[List[Node], int, None]
    
+
    Tuple[List, int]
    
 
    
 
    Parameters:
    
 
      
-
    • start (Node) – start node
      • 
-
    • end (Node) – end node
      • 
+
    • start (GridNode) – start node
      • 
+
    • end (GridNode) – end node
      • 
 
    • grid (Grid) – grid that stores all possible steps/tiles as 3D-list
      • 
 
    
 
    
@@ -180,7 +180,7 @@ 
    Submodules
    path, number of iterations
    
 
 
    Return type:
    
-
    Optional[Union[List[Node], int]]
    
+
    Tuple[List, int]
    
 
    
 
 
@@ -200,9 +200,9 @@ 
    Submodules
 
 
@@ -215,7 +215,7 @@ 
    Submodules
      
 
    • heuristic (Callable) – heuristic used to calculate distance of 2 points
      • 
 
    • weight (int) – weight for the edges
      • 
-
    • diagonal_movement (DiagonalMovement) – if diagonal movement is allowed
+
    • diagonal_movement (int) – if diagonal movement is allowed
 (see enum in diagonal_movement)
      • 
 
    • time_limit (float) – max. runtime in seconds
      • 
 
    • max_runs (int) – max. amount of tries until we abort the search
@@ -237,8 +237,8 @@ 
      SubmodulesParameters:
 
        
-
      • node_a (Node) – first node
        • 
-
      • node_b (Node) – second node
        • 
+
      • node_a (GridNode) – first node
        • 
+
      • node_b (GridNode) – second node
        • 
 
      • heuristic (Callable) – heuristic used to calculate distance of 2 points
        • 
 
      
 
      
@@ -266,9 +266,9 @@ 
      Submodules
 
 
@@ -281,7 +281,7 @@ 
      Submodules
        
 
      • heuristic (Callable) – heuristic used to calculate distance of 2 points
        • 
 
      • weight (int) – weight for the edges
        • 
-
      • diagonal_movement (DiagonalMovement) – if diagonal movement is allowed
+
      • diagonal_movement (int) – if diagonal movement is allowed
 (see enum in diagonal_movement)
        • 
 
      • time_limit (float) – max. runtime in seconds
        • 
 
      • max_runs (int) – max. amount of tries until we abort the search
@@ -299,12 +299,12 @@ 
        Submodules
 
        Return type:
        
-
        Union[List[Node], int, None]
        
+
        Tuple[List, int]
        
 
        
 
        Parameters:
        
 
          
-
        • start (Node) – start node
          • 
-
        • end (Node) – end node
          • 
+
        • start (GridNode) – start node
          • 
+
        • end (GridNode) – end node
          • 
 
        • grid (Grid) – grid that stores all possible steps/tiles as 3D-list
 (can be a list of grids)
          • 
 
        
@@ -313,7 +313,7 @@ 
        Submodules
        path, number of iterations
        
 
        
 
        Return type:
        
-
        Optional[Union[List[Node], int]]
        
+
        Tuple[List, int]
        
 
        
 
 
@@ -332,9 +332,9 @@ 
        Submodules
 
 
@@ -347,7 +347,7 @@ 
        Submodules
          
 
        • heuristic (Callable) – heuristic used to calculate distance of 2 points
          • 
 
        • weight (int) – weight for the edges
          • 
-
        • diagonal_movement (DiagonalMovement) – if diagonal movement is allowed
+
        • diagonal_movement (int) – if diagonal movement is allowed
 (see enum in diagonal_movement)
          • 
 
        • time_limit (float) – max. runtime in seconds
          • 
 
        • max_runs (int) – max. amount of tries until we abort the search
@@ -366,12 +366,12 @@ 
          Submodules
 
          Return type:
          
-
          Optional[List[Node]]
          
+
          List[GridNode]
          
 
          
 
          Parameters:
          
 
            
-
          • start (Node) – start node
            • 
-
          • end (Node) – end node
            • 
+
          • start (GridNode) – start node
            • 
+
          • end (GridNode) – end node
            • 
 
          • grid (Grid) – grid that stores all possible steps/tiles as 3D-list
            • 
 
          • open_list (List) – stores nodes that will be processed next
            • 
 
          
@@ -380,7 +380,7 @@ 
          Submodules
          path
          
 
          
 
          Return type:
          
-
          Optional[List[Node]]
          
+
          List[GridNode]
          
 
          
 
 
@@ -398,9 +398,9 @@ 
          SubmodulesParameters:
 
          
 
          
 
@@ -412,7 +412,7 @@ 
          SubmodulesParameters:
 
          
 
@@ -500,7 +500,7 @@ 
          Submodules
            
 
          • heuristic (Callable) – heuristic used to calculate distance of 2 points
            • 
 
          • weight (int) – weight for the edges
            • 
-
          • diagonal_movement (DiagonalMovement) – if diagonal movement is allowed
+
          • diagonal_movement (int) – if diagonal movement is allowed
 (see enum in diagonal_movement)
            • 
 
          • weighted (the algorithm supports weighted nodes) – (should be True for A* and Dijkstra)
            • 
 
          • time_limit (float) – max. runtime in seconds
            • 
@@ -523,8 +523,8 @@ 
            SubmodulesParameters:
 
              
-
            • node_a (Node) – first node
              • 
-
            • node_b (Node) – second node
              • 
+
            • node_a (GridNode) – first node
              • 
+
            • node_b (GridNode) – second node
              • 
 
            • heuristic (Callable) – heuristic used to calculate distance of 2 points
              • 
 
            
 
            
@@ -543,13 +543,13 @@ 
            Submodules
 
            Return type:
            
-
            List[Node]
            
+
            List[GridNode]
            
 
            
 
            Parameters:
            
 
              
 
            • grid (Grid) – grid that stores all possible steps/tiles as 3D-list
              • 
-
            • node (Node) – node to find neighbors for
              • 
-
            • diagonal_movement (DiagonalMovement) – if diagonal movement is allowed
+
            • node (GridNode) – node to find neighbors for
              • 
+
            • diagonal_movement (int) – if diagonal movement is allowed
 (see enum in diagonal_movement)
              • 
 
            
 
            
@@ -557,7 +557,7 @@ 
            Submodules
            list of neighbors
            
 
 
            Return type:
            
-
            List[Node]
            
+
            List[GridNode]
            
 
            
 
 
@@ -567,17 +567,8 @@ 
            Submoduleskeep_running()[source]
 
            Check, if we run into time or iteration constrains.
            
 
            
-
            Return type:
            
-
            bool
            
-
            
-
            Returns:
            
-
            True if we keep running and False if we run into a constraint
            
-
            
-
            Return type:
            
-
            bool
            
-
            
-
            Raises:
            
-
              
+
              Raises:
              
+
              
@@ -587,17 +578,17 @@ 
              Submodules
 
              
-process_node(grid, node, parent, end, open_list, open_value=True)[source]
              
+process_node(grid, node, parent, end, open_list, open_value=1)[source]
 
              We check if the given node is part of the path by calculating its
 cost and add or remove it from our path
              
 
              
 
              Parameters:
              
 
                
 
              • grid (Grid) – grid that stores all possible steps/tiles as 3D-list
                • 
-
              • node (Node) – the node we like to test
+
              • node (GridNode) – the node we like to test
 (the neighbor in A* or jump-node in JumpPointSearch)
                • 
-
              • parent (Node) – the parent node (the current node we like to test)
                • 
-
              • end (Node) – the end point to calculate the cost of the path
                • 
+
              • parent (GridNode) – the parent node (the current node we like to test)
                • 
+
              • end (GridNode) – the end point to calculate the cost of the path
                • 
 
              • open_list (List) – the list that keeps track of our current path
                • 
 
              • open_value (bool) – needed if we like to set the open list to something
 else than True (used for bi-directional algorithms)
                • 
@@ -608,27 +599,27 @@ 
                Submodules
 
                
-check_neighbors(start, end, grid, open_list, open_value=True, backtrace_by=None)[source]
                
+check_neighbors(start, end, grid, open_list, open_value=1, backtrace_by=None)[source]
 
                find next path segment based on given node
 (or return path if we found the end)
                
 
                
 
                Return type:
                
-
                Optional[List[Node]]
                
+
                Optional[List[GridNode]]
                
 
                
 
                Parameters:
                
 
                  
-
                • start (Node) – start node
                  • 
-
                • end (Node) – end node
                  • 
+
                • start (GridNode) – start node
                  • 
+
                • end (GridNode) – end node
                  • 
 
                • grid (Grid) – grid that stores all possible steps/tiles as 3D-list
                  • 
 
                • open_list (List) – stores nodes that will be processed next
                  • 
-
                • open_value (bool) – 
                  • 
+
                • open_value (int) – 
                  • 
 
                
 
                
 
                Returns:
                
 
                path
                
 
                
 
                Return type:
                
-
                Optional[List[Node]]
                
+
                Optional[List[GridNode]]
                
 
                
 
                
 
              
@@ -640,12 +631,12 @@ 
              Submodules
 
              Return type:
              
-
              Union[List[Node], int, None]
              
+
              Tuple[List, int]
              
 
              
 
              Parameters:
              
 
                
-
              • start (Node) – start node
                • 
-
              • end (Node) – end node
                • 
+
              • start (GridNode) – start node
                • 
+
              • end (GridNode) – end node
                • 
 
              • grid (Grid) – grid that stores all possible steps/tiles as 3D-list
 (can be a list of grids)
                • 
 
              
@@ -654,7 +645,7 @@ 
              Submodules
              path, number of iterations
              
 
              
 
              Return type:
              
-
              Optional[Union[List[Node], int]]
              
+
              Tuple[List, int]
              
 
              
 
            
 
            
@@ -685,9 +676,9 @@ 
            Submodules
 
@@ -701,7 +692,7 @@ 
            Submodules
              
 
            • heuristic (Callable) – heuristic used to calculate distance of 2 points
              • 
 
            • weight (int) – weight for the edges
              • 
-
            • diagonal_movement (DiagonalMovement) – if diagonal movement is allowed
+
            • diagonal_movement (int) – if diagonal movement is allowed
 (see enum in diagonal_movement)
              • 
 
            • time_limit (float) – max. runtime in seconds
              • 
 
            • max_runs (int) – max. amount of tries until we abort the search
@@ -720,24 +711,24 @@ 
              Submodules
 
              Return type:
              
-
              float
              
+
              Union[float, GridNode]
              
 
              
 
              Parameters:
              
 
                
-
              • node (Node) – current node
                • 
+
              • node (GridNode) – current node
                • 
 
              • g (float) – cost from start to current node
                • 
 
              • cutoff (float) – cutoff cost
                • 
-
              • path (List[Node]) – path
                • 
+
              • path (List[GridNode]) – path
                • 
 
              • depth (int) – current depth
                • 
-
              • end (Node) – end node
                • 
+
              • end (GridNode) – end node
                • 
 
              • grid (Grid) – grid that stores all possible steps/tiles as 3D-list
                • 
 
              
 
              
 
              Returns:
              
-
              cutoff cost
              
+
              cutoff cost or end node
              
 
              
 
              Return type:
              
-
              float
              
+
              Union[float, GridNode]
              
 
              
 
 
@@ -748,12 +739,12 @@ 
              Submodules
 
              Return type:
              
-
              Union[List[Node], int, None]
              
+
              Tuple[List, int]
              
 
              
 
              Parameters:
              
 
                
-
              • start (Node) – start node
                • 
-
              • end (Node) – end node
                • 
+
              • start (GridNode) – start node
                • 
+
              • end (GridNode) – end node
                • 
 
              • grid (Grid) – grid that stores all possible steps/tiles as 3D-list
                • 
 
              
 
              
@@ -761,7 +752,7 @@ 
              Submodules
              path, number of iterations
              
 
 
              Return type:
              
-
              Optional[Union[List[Node], int]]
              
+
              Tuple[List, int]
              
 
              
 
 
@@ -788,7 +779,7 @@ 
              Submodules
                
 
              • heuristic (Callable) – heuristic used to calculate distance of 2 points
                • 
 
              • weight (int) – weight for the edges
                • 
-
              • diagonal_movement (DiagonalMovement) – if diagonal movement is allowed
+
              • diagonal_movement (int) – if diagonal movement is allowed
 (see enum in diagonal_movement)
                • 
 
              • weighted (the algorithm supports weighted nodes) – (should be True for A* and Dijkstra)
                • 
 
              • time_limit (float) – max. runtime in seconds
                • 
@@ -813,7 +804,7 @@ 
                SubmodulesParameters:
 
                  
 
                • grid (Grid) – grid that stores all possible steps/tiles as 3D-list
                  • 
-
                • start (Node) – start node
                  • 
+
                • start (GridNode) – start node
                  • 
 
                
 
                
 
                Return type:
                
@@ -831,7 +822,7 @@ 
                SubmodulesParameters:
 
                  
 
                • grid (Grid) – grid that stores all possible steps/tiles as 3D-list
                  • 
-
                • start (Node) – start node
                  • 
+
                • start (GridNode) – start node
                  • 
 
                
 
                
 
@@ -844,12 +835,12 @@ 
                Submodules
 
                Return type:
                
-
                Union[List[Node], int, None]
                
+
                Tuple[List, int]
                
 
                
 
                Parameters:
                
 
                  
-
                • start (Node) – start node
                  • 
-
                • end (Node) – end node
                  • 
+
                • start (GridNode) – start node
                  • 
+
                • end (GridNode) – end node
                  • 
 
                • grid (Grid) – grid that stores all possible steps/tiles as 3D-list
                  • 
 
                
 
                
@@ -857,7 +848,7 @@ 
                Submodules
                path, number of iterations
                
 
 
                Return type:
                
-
                Optional[Union[List[Node], int]]
                
+
                Tuple[List, int]
                
 
                
 
 
diff --git a/pathfinding3d.html b/pathfinding3d.html
index de1a3fa..31c42ad 100644
--- a/pathfinding3d.html
+++ b/pathfinding3d.html
@@ -4,7 +4,7 @@
   
 
   
-  pathfinding3d package — pathfinding3d 0.2 documentation
+  pathfinding3d package — pathfinding3d 0.3 documentation
       
       
       
@@ -15,7 +15,7 @@
   
         
         
-        
+        
         
         
         
@@ -40,7 +40,7 @@
             pathfinding3d
           
               
                
-                0.2
+                0.3
               
                
 
                
   
diff --git a/py-modindex.html b/py-modindex.html
index 8adf8b5..15a4b03 100644
--- a/py-modindex.html
+++ b/py-modindex.html
@@ -3,7 +3,7 @@
 
   
   
-  Python Module Index — pathfinding3d 0.2 documentation
+  Python Module Index — pathfinding3d 0.3 documentation
       
       
       
@@ -14,7 +14,7 @@
   
         
         
-        
+        
         
         
         
@@ -40,7 +40,7 @@
             pathfinding3d
           
               
                
-                0.2
+                0.3
               
                
 
                
   
diff --git a/search.html b/search.html
index 50a7506..ceb22e1 100644
--- a/search.html
+++ b/search.html
@@ -3,7 +3,7 @@
 
   
   
-  Search — pathfinding3d 0.2 documentation
+  Search — pathfinding3d 0.3 documentation
       
       
       
@@ -15,7 +15,7 @@
   
         
         
-        
+        
         
         
         
@@ -40,7 +40,7 @@
             pathfinding3d
           
               
                
-                0.2
+                0.3
               
                
 
                
   
diff --git a/searchindex.js b/searchindex.js
index f1058cf..54d27fe 100644
--- a/searchindex.js
+++ b/searchindex.js
@@ -1 +1 @@
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\ No newline at end of file