Missing Files and Theta* Four-Direction Configuration Issue

[noknowner]

First of all, thank you very much for your excellent code! I encountered a small issue: the ASearch.pro file does not include path_smoothing.cpp and path_smoothing.h, which causes the compilation to fail in Qt.Additionally, I have another question. Why is it that Theta* cannot be configured to use only four directions? I would like to force it to use four directions. Where should I modify the code to achieve this? I have been searching for the modification point for a long time but couldn't find it.
Thank you for your help!
Best regards,