pub struct RRTStarArmConfig {
pub num_joints: usize,
pub link_lengths: Vec<f64>,
pub joint_limits: Vec<(f64, f64)>,
pub max_iterations: usize,
pub step_size: f64,
pub goal_bias: f64,
pub rewire_radius: f64,
pub collision_resolution: usize,
pub seed: u64,
}Expand description
Configuration for the RRT* arm planner.
Fields§
§num_joints: usizeNumber of DOF (typically 7).
link_lengths: Vec<f64>Length of each link.
joint_limits: Vec<(f64, f64)>(min, max) angle per joint in radians.
max_iterations: usizeMaximum number of tree expansion iterations.
step_size: f64Maximum joint-space step per extend.
goal_bias: f64Probability of sampling the goal configuration [0..1].
rewire_radius: f64Neighbourhood radius for rewiring.
collision_resolution: usizeNumber of intermediate collision checks per edge.
seed: u64RNG seed for reproducibility.
Trait Implementations§
Source§impl Clone for RRTStarArmConfig
impl Clone for RRTStarArmConfig
Source§fn clone(&self) -> RRTStarArmConfig
fn clone(&self) -> RRTStarArmConfig
Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source. Read moreSource§impl Debug for RRTStarArmConfig
impl Debug for RRTStarArmConfig
Auto Trait Implementations§
impl Freeze for RRTStarArmConfig
impl RefUnwindSafe for RRTStarArmConfig
impl Send for RRTStarArmConfig
impl Sync for RRTStarArmConfig
impl Unpin for RRTStarArmConfig
impl UnsafeUnpin for RRTStarArmConfig
impl UnwindSafe for RRTStarArmConfig
Blanket Implementations§
Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
Source§impl<T> CloneToUninit for Twhere
T: Clone,
impl<T> CloneToUninit for Twhere
T: Clone,
Source§impl<T> IntoEither for T
impl<T> IntoEither for T
Source§fn into_either(self, into_left: bool) -> Either<Self, Self>
fn into_either(self, into_left: bool) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left is true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read moreSource§fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left(&self) returns true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read more§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self from the equivalent element of its
superset. Read more§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self is actually part of its subset T (and can be converted to it).§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset but without any property checks. Always succeeds.§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.