* Theta Star path compression

* add tests and documentation for theta star algorithm

* remove erraneous nested loop

* improve documentation for theta star planner

* add reference for theta star algorithm

* use built-in function for norm

* Add Bresenham line algorithm description to docs

… grammatical corrections (AtsushiSakai#1304)

…iSakai#1305)

Bumps [ruff](https://github.com/astral-sh/ruff) from 0.14.1 to 0.14.2.
- [Release notes](https://github.com/astral-sh/ruff/releases)
- [Changelog](https://github.com/astral-sh/ruff/blob/main/CHANGELOG.md)
- [Commits](astral-sh/ruff@0.14.1...0.14.2)

---
updated-dependencies:
- dependency-name: ruff
  dependency-version: 0.14.2
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  update-type: version-update:semver-patch
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…hiSakai#1309)

Bumps [scipy](https://github.com/scipy/scipy) from 1.16.2 to 1.16.3.
- [Release notes](https://github.com/scipy/scipy/releases)
- [Commits](scipy/scipy@v1.16.2...v1.16.3)

---
updated-dependencies:
- dependency-name: scipy
  dependency-version: 1.16.3
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  update-type: version-update:semver-patch
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…iSakai#1310)

Bumps [ruff](https://github.com/astral-sh/ruff) from 0.14.2 to 0.14.3.
- [Release notes](https://github.com/astral-sh/ruff/releases)
- [Changelog](https://github.com/astral-sh/ruff/blob/main/CHANGELOG.md)
- [Commits](astral-sh/ruff@0.14.2...0.14.3)

---
updated-dependencies:
- dependency-name: ruff
  dependency-version: 0.14.3
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…iSakai#1311)

Bumps [ruff](https://github.com/astral-sh/ruff) from 0.14.3 to 0.14.4.
- [Release notes](https://github.com/astral-sh/ruff/releases)
- [Changelog](https://github.com/astral-sh/ruff/blob/main/CHANGELOG.md)
- [Commits](astral-sh/ruff@0.14.3...0.14.4)

---
updated-dependencies:
- dependency-name: ruff
  dependency-version: 0.14.4
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  update-type: version-update:semver-patch
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…iSakai#1312)

Bumps [pytest](https://github.com/pytest-dev/pytest) from 8.4.2 to 9.0.0.
- [Release notes](https://github.com/pytest-dev/pytest/releases)
- [Changelog](https://github.com/pytest-dev/pytest/blob/main/CHANGELOG.rst)
- [Commits](pytest-dev/pytest@8.4.2...9.0.0)

---
updated-dependencies:
- dependency-name: pytest
  dependency-version: 9.0.0
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  update-type: version-update:semver-major
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…iSakai#1315)

Bumps [pytest](https://github.com/pytest-dev/pytest) from 9.0.0 to 9.0.1.
- [Release notes](https://github.com/pytest-dev/pytest/releases)
- [Changelog](https://github.com/pytest-dev/pytest/blob/main/CHANGELOG.rst)
- [Commits](pytest-dev/pytest@9.0.0...9.0.1)

---
updated-dependencies:
- dependency-name: pytest
  dependency-version: 9.0.1
  dependency-type: direct:production
  update-type: version-update:semver-patch
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…Sakai#1317)

Bumps [numpy](https://github.com/numpy/numpy) from 2.3.4 to 2.3.5.
- [Release notes](https://github.com/numpy/numpy/releases)
- [Changelog](https://github.com/numpy/numpy/blob/main/doc/RELEASE_WALKTHROUGH.rst)
- [Commits](numpy/numpy@v2.3.4...v2.3.5)

---
updated-dependencies:
- dependency-name: numpy
  dependency-version: 2.3.5
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  update-type: version-update:semver-patch
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…iSakai#1316)

Bumps [ruff](https://github.com/astral-sh/ruff) from 0.14.4 to 0.14.5.
- [Release notes](https://github.com/astral-sh/ruff/releases)
- [Changelog](https://github.com/astral-sh/ruff/blob/main/CHANGELOG.md)
- [Commits](astral-sh/ruff@0.14.4...0.14.5)

---
updated-dependencies:
- dependency-name: ruff
  dependency-version: 0.14.5
  dependency-type: direct:production
  update-type: version-update:semver-patch
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Bumps [actions/checkout](https://github.com/actions/checkout) from 5 to 6.
- [Release notes](https://github.com/actions/checkout/releases)
- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
- [Commits](actions/checkout@v5...v6)

---
updated-dependencies:
- dependency-name: actions/checkout
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
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…iSakai#1320)

Bumps [ruff](https://github.com/astral-sh/ruff) from 0.14.5 to 0.14.6.
- [Release notes](https://github.com/astral-sh/ruff/releases)
- [Changelog](https://github.com/astral-sh/ruff/blob/main/CHANGELOG.md)
- [Commits](astral-sh/ruff@0.14.5...0.14.6)

---
updated-dependencies:
- dependency-name: ruff
  dependency-version: 0.14.6
  dependency-type: direct:production
  update-type: version-update:semver-patch
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…Sakai#1321)

Bumps [cvxpy](https://github.com/cvxpy/cvxpy) from 1.7.3 to 1.7.4.
- [Release notes](https://github.com/cvxpy/cvxpy/releases)
- [Commits](cvxpy/cvxpy@v1.7.3...v1.7.4)

---
updated-dependencies:
- dependency-name: cvxpy
  dependency-version: 1.7.4
  dependency-type: direct:production
  update-type: version-update:semver-patch
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…iSakai#1323)

Bumps [ruff](https://github.com/astral-sh/ruff) from 0.14.6 to 0.14.7.
- [Release notes](https://github.com/astral-sh/ruff/releases)
- [Changelog](https://github.com/astral-sh/ruff/blob/main/CHANGELOG.md)
- [Commits](astral-sh/ruff@0.14.6...0.14.7)

---
updated-dependencies:
- dependency-name: ruff
  dependency-version: 0.14.7
  dependency-type: direct:production
  update-type: version-update:semver-patch
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…iSakai#1322)

Bumps [mypy](https://github.com/python/mypy) from 1.18.2 to 1.19.0.
- [Changelog](https://github.com/python/mypy/blob/master/CHANGELOG.md)
- [Commits](python/mypy@v1.18.2...v1.19.0)

---
updated-dependencies:
- dependency-name: mypy
  dependency-version: 1.19.0
  dependency-type: direct:production
  update-type: version-update:semver-minor
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…Sakai#1324)

Bumps [cvxpy](https://github.com/cvxpy/cvxpy) from 1.7.4 to 1.7.5.
- [Release notes](https://github.com/cvxpy/cvxpy/releases)
- [Commits](cvxpy/cvxpy@v1.7.4...v1.7.5)

---
updated-dependencies:
- dependency-name: cvxpy
  dependency-version: 1.7.5
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  update-type: version-update:semver-patch
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…iSakai#1326)

Bumps [ruff](https://github.com/astral-sh/ruff) from 0.14.7 to 0.14.8.
- [Release notes](https://github.com/astral-sh/ruff/releases)
- [Changelog](https://github.com/astral-sh/ruff/blob/main/CHANGELOG.md)
- [Commits](astral-sh/ruff@0.14.7...0.14.8)

---
updated-dependencies:
- dependency-name: ruff
  dependency-version: 0.14.8
  dependency-type: direct:production
  update-type: version-update:semver-patch
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…iSakai#1325)

Bumps [pytest](https://github.com/pytest-dev/pytest) from 9.0.1 to 9.0.2.
- [Release notes](https://github.com/pytest-dev/pytest/releases)
- [Changelog](https://github.com/pytest-dev/pytest/blob/main/CHANGELOG.rst)
- [Commits](pytest-dev/pytest@9.0.1...9.0.2)

---
updated-dependencies:
- dependency-name: pytest
  dependency-version: 9.0.2
  dependency-type: direct:production
  update-type: version-update:semver-patch
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…iSakai#1327)

Bumps [mypy](https://github.com/python/mypy) from 1.19.0 to 1.19.1.
- [Changelog](https://github.com/python/mypy/blob/master/CHANGELOG.md)
- [Commits](python/mypy@v1.19.0...v1.19.1)

---
updated-dependencies:
- dependency-name: mypy
  dependency-version: 1.19.1
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  update-type: version-update:semver-patch
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…iSakai#1329)

Bumps [ruff](https://github.com/astral-sh/ruff) from 0.14.8 to 0.14.9.
- [Release notes](https://github.com/astral-sh/ruff/releases)
- [Changelog](https://github.com/astral-sh/ruff/blob/main/CHANGELOG.md)
- [Commits](astral-sh/ruff@0.14.8...0.14.9)

---
updated-dependencies:
- dependency-name: ruff
  dependency-version: 0.14.9
  dependency-type: direct:production
  update-type: version-update:semver-patch
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