pub struct ARAStarPlanner { /* private fields */ }Expand description
ARA* (Anytime Repairing A*) path planner.
Produces a sequence of improving solutions by repeatedly running weighted A* with a decreasing inflation factor epsilon.
Implementations§
Source§impl ARAStarPlanner
impl ARAStarPlanner
Sourcepub fn new(ox: &[f64], oy: &[f64], config: ARAStarConfig) -> Self
pub fn new(ox: &[f64], oy: &[f64], config: ARAStarConfig) -> Self
Create a new ARA* planner. Panics on invalid input.
Sourcepub fn try_new(
ox: &[f64],
oy: &[f64],
config: ARAStarConfig,
) -> RoboticsResult<Self>
pub fn try_new( ox: &[f64], oy: &[f64], config: ARAStarConfig, ) -> RoboticsResult<Self>
Create a validated ARA* planner.
Sourcepub fn from_obstacle_points(
obstacles: &Obstacles,
config: ARAStarConfig,
) -> RoboticsResult<Self>
pub fn from_obstacle_points( obstacles: &Obstacles, config: ARAStarConfig, ) -> RoboticsResult<Self>
Create a validated ARA* planner from typed obstacle points.
Sourcepub fn plan(&self, start: Point2D, goal: Point2D) -> RoboticsResult<Path2D>
pub fn plan(&self, start: Point2D, goal: Point2D) -> RoboticsResult<Path2D>
Plan a path from start to goal, returning the best (lowest epsilon)
solution found.
Sourcepub fn plan_anytime(&self, start: Point2D, goal: Point2D) -> Vec<(f64, Path2D)>
pub fn plan_anytime(&self, start: Point2D, goal: Point2D) -> Vec<(f64, Path2D)>
Run the full ARA* anytime loop, returning every improving solution as
a (epsilon, path) pair ordered from highest (first, fast) to lowest
(last, most optimal) epsilon.
Trait Implementations§
Auto Trait Implementations§
impl Freeze for ARAStarPlanner
impl RefUnwindSafe for ARAStarPlanner
impl Send for ARAStarPlanner
impl Sync for ARAStarPlanner
impl Unpin for ARAStarPlanner
impl UnsafeUnpin for ARAStarPlanner
impl UnwindSafe for ARAStarPlanner
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