Changed, compared to earlier sections, this class still performs the same job: it calculates and displays the linear path between two points. As we are on a 2.5d surface, Z coordinate is taken from the map.
This class is a base for A* Graph, Grid and Dynamic Grid classes. These classes provide a path in the form of an array of centers of cells we are passing through. As centers can be far from each other, GlobalPlannerStraightLine class is responsible for filling the gaps.
GlobalPlannerStraightLine.py