pub struct BatchInformedRRTStar {
pub start: Node,
pub goal: Node,
pub min_rand: f64,
pub max_rand: f64,
pub expand_dis: f64,
pub goal_sample_rate: i32,
pub batch_size: usize,
pub max_batches: usize,
pub obstacle_list: Vec<(f64, f64, f64)>,
pub node_list: Vec<Node>,
}Expand description
Batch Informed RRT* planner.
Combines RRT* tree construction (nearest-neighbour expansion, rewiring) with informed ellipsoidal sampling. Samples are generated in batches: after each batch the best-known solution cost is updated and the sampling ellipsoid is tightened, leading to faster convergence towards the optimal path.
Fields§
§start: Node§goal: Node§min_rand: f64§max_rand: f64§expand_dis: f64§goal_sample_rate: i32§batch_size: usize§max_batches: usize§obstacle_list: Vec<(f64, f64, f64)>§node_list: Vec<Node>Implementations§
Source§impl BatchInformedRRTStar
impl BatchInformedRRTStar
Sourcepub fn new(
start: (f64, f64),
goal: (f64, f64),
config: BatchInformedRRTStarConfig,
) -> Self
pub fn new( start: (f64, f64), goal: (f64, f64), config: BatchInformedRRTStarConfig, ) -> Self
Create a new Batch Informed RRT* planner.
Sourcepub fn planning(&mut self) -> Option<Vec<[f64; 2]>>
pub fn planning(&mut self) -> Option<Vec<[f64; 2]>>
Run the planner and return the best path found (goal to start order), or None.
Sourcepub fn plan_from(
&mut self,
start: Point2D,
goal: Point2D,
) -> RoboticsResult<Path2D>
pub fn plan_from( &mut self, start: Point2D, goal: Point2D, ) -> RoboticsResult<Path2D>
Plan a path from the given start to goal, returning a [Path2D].
This is a convenience wrapper around planning() that accepts
[Point2D], sets the start/goal, runs the planner, and returns [Path2D].
Sourcepub fn get_obstacles(&self) -> &[(f64, f64, f64)]
pub fn get_obstacles(&self) -> &[(f64, f64, f64)]
Get the obstacle list.
Auto Trait Implementations§
impl Freeze for BatchInformedRRTStar
impl RefUnwindSafe for BatchInformedRRTStar
impl Send for BatchInformedRRTStar
impl Sync for BatchInformedRRTStar
impl Unpin for BatchInformedRRTStar
impl UnsafeUnpin for BatchInformedRRTStar
impl UnwindSafe for BatchInformedRRTStar
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Use with care! Same as
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fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.