This project is based on the Hybrid A* implementation from https://github.com/zm0612/Hybrid_A_Star. The original project is released under a 3 - clause BSD license.

The original copyright notice and license text are as follows:

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• Software License Agreement (BSD License)
• Copyright (c) 2022 Zhang Zhimeng
• All rights reserved.
• Redistribution and use in source and binary forms, with or without modification,
• are permitted provided that the following conditions are met:
• 1. Redistributions of source code must retain the above copyright notice,
• this list of conditions and the following disclaimer.
• 2. Redistributions in binary form must reproduce the above copyright notice,
• this list of conditions and the following disclaimer in the documentation
• and/or other materials provided with the distribution.
• THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
• EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
• OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
• SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
• INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
• TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
• BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
• CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY
• WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ******************************************************************************/

This project has made the following modifications to the original code: Added the feature to disable backward node expansion, optimized the path, and compared key parameters before and after the optimization.

This project also adheres to the 3 - clause BSD license.