pub struct ARAStarConfig {
pub resolution: f64,
pub robot_radius: f64,
pub initial_epsilon: f64,
pub epsilon_step: f64,
pub final_epsilon: f64,
}Expand description
Configuration for ARA* planner
Fields§
§resolution: f64Grid resolution in meters [m]
robot_radius: f64Robot radius for obstacle inflation [m]
initial_epsilon: f64Initial inflation factor (epsilon). Values > 1 yield suboptimal but faster solutions.
epsilon_step: f64Amount by which epsilon is decreased each iteration
final_epsilon: f64Minimum (final) epsilon. At 1.0 the algorithm is optimal A*.
Implementations§
Trait Implementations§
Source§impl Clone for ARAStarConfig
impl Clone for ARAStarConfig
Source§fn clone(&self) -> ARAStarConfig
fn clone(&self) -> ARAStarConfig
Returns a duplicate of the value. Read more
1.0.0 · 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 ARAStarConfig
impl Debug for ARAStarConfig
Auto Trait Implementations§
impl Freeze for ARAStarConfig
impl RefUnwindSafe for ARAStarConfig
impl Send for ARAStarConfig
impl Sync for ARAStarConfig
impl Unpin for ARAStarConfig
impl UnsafeUnpin for ARAStarConfig
impl UnwindSafe for ARAStarConfig
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.