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plan_arm_path

rust_robotics_control::arm_obstacle_navigation

Function plan_arm_path 

Source 
pub fn plan_arm_path(
    link_lengths: &[f64; 2],
    obstacles: &[CircleObstacle],
    start: GridCell,
    goal: GridCell,
    grid_size: usize,
) -> Option<ArmPath>
Expand description

High-level function: plan a collision-free path for a 2-joint arm.

Given link lengths, start/goal joint configurations (as grid cell indices), and obstacles, builds the occupancy grid and runs A* to find a path.