pub struct BatchInformedRRTStarConfig {
pub batch_size: usize,
pub max_batches: usize,
pub expand_dis: f64,
pub goal_sample_rate: i32,
pub obstacle_list: Vec<(f64, f64, f64)>,
pub rand_area: (f64, f64),
}Expand description
Configuration for the Batch Informed RRT* planner.
Fields§
§batch_size: usizeNumber of samples per batch.
max_batches: usizeMaximum number of batches to run.
expand_dis: f64Step size for tree expansion.
goal_sample_rate: i32Percentage of time to sample the goal directly (0-100).
obstacle_list: Vec<(f64, f64, f64)>Circular obstacles as (x, y, radius).
rand_area: (f64, f64)Sampling bounds (min, max).
Trait Implementations§
Source§impl Clone for BatchInformedRRTStarConfig
impl Clone for BatchInformedRRTStarConfig
Source§fn clone(&self) -> BatchInformedRRTStarConfig
fn clone(&self) -> BatchInformedRRTStarConfig
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 BatchInformedRRTStarConfig
impl Debug for BatchInformedRRTStarConfig
Auto Trait Implementations§
impl Freeze for BatchInformedRRTStarConfig
impl RefUnwindSafe for BatchInformedRRTStarConfig
impl Send for BatchInformedRRTStarConfig
impl Sync for BatchInformedRRTStarConfig
impl Unpin for BatchInformedRRTStarConfig
impl UnsafeUnpin for BatchInformedRRTStarConfig
impl UnwindSafe for BatchInformedRRTStarConfig
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.