pub struct AStarPlanner { /* private fields */ }Expand description
A* path planner
Implementations§
Source§impl AStarPlanner
impl AStarPlanner
Sourcepub fn new(ox: &[f64], oy: &[f64], config: AStarConfig) -> Self
pub fn new(ox: &[f64], oy: &[f64], config: AStarConfig) -> Self
Create a new A* planner with obstacle positions
Sourcepub fn try_new(
ox: &[f64],
oy: &[f64],
config: AStarConfig,
) -> RoboticsResult<Self>
pub fn try_new( ox: &[f64], oy: &[f64], config: AStarConfig, ) -> RoboticsResult<Self>
Create a validated A* planner with obstacle positions
Sourcepub fn from_obstacles(
ox: &[f64],
oy: &[f64],
resolution: f64,
robot_radius: f64,
) -> Self
pub fn from_obstacles( ox: &[f64], oy: &[f64], resolution: f64, robot_radius: f64, ) -> Self
Create from obstacle x/y vectors with default config
Sourcepub fn from_obstacle_points(
obstacles: &Obstacles,
config: AStarConfig,
) -> RoboticsResult<Self>
pub fn from_obstacle_points( obstacles: &Obstacles, config: AStarConfig, ) -> RoboticsResult<Self>
Create a validated A* planner from typed obstacle points
Sourcepub fn planning(
&self,
sx: f64,
sy: f64,
gx: f64,
gy: f64,
) -> Option<(Vec<f64>, Vec<f64>)>
👎Deprecated: use plan() or plan_xy() instead
pub fn planning( &self, sx: f64, sy: f64, gx: f64, gy: f64, ) -> Option<(Vec<f64>, Vec<f64>)>
use plan() or plan_xy() instead
Plan a path returning (rx, ry) vectors (legacy interface)
Sourcepub fn plan(&self, start: Point2D, goal: Point2D) -> RoboticsResult<Path2D>
pub fn plan(&self, start: Point2D, goal: Point2D) -> RoboticsResult<Path2D>
Plan a path without requiring the PathPlanner trait in scope
Sourcepub fn plan_xy(
&self,
sx: f64,
sy: f64,
gx: f64,
gy: f64,
) -> RoboticsResult<Path2D>
pub fn plan_xy( &self, sx: f64, sy: f64, gx: f64, gy: f64, ) -> RoboticsResult<Path2D>
Plan a path from raw coordinates without requiring the PathPlanner trait in scope
Sourcepub fn plan_with_stats(
&self,
start: Point2D,
goal: Point2D,
) -> RoboticsResult<(Path2D, AStarSearchStats)>
pub fn plan_with_stats( &self, start: Point2D, goal: Point2D, ) -> RoboticsResult<(Path2D, AStarSearchStats)>
Plan a path and return per-query search-effort statistics.
Trait Implementations§
Auto Trait Implementations§
impl Freeze for AStarPlanner
impl RefUnwindSafe for AStarPlanner
impl Send for AStarPlanner
impl Sync for AStarPlanner
impl Unpin for AStarPlanner
impl UnsafeUnpin for AStarPlanner
impl UnwindSafe for AStarPlanner
Blanket Implementations§
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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> IntoEither for T
impl<T> IntoEither for T
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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
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fn is_in_subset(&self) -> bool
Checks if
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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.