pub struct BidirectionalAStarPlanner { /* private fields */ }Expand description
Bidirectional A* path planner
Implementations§
Source§impl BidirectionalAStarPlanner
impl BidirectionalAStarPlanner
Sourcepub fn new(ox: &[f64], oy: &[f64], config: BidirectionalAStarConfig) -> Self
pub fn new(ox: &[f64], oy: &[f64], config: BidirectionalAStarConfig) -> Self
Create a new Bidirectional A* planner with obstacle positions
Sourcepub fn try_new(
ox: &[f64],
oy: &[f64],
config: BidirectionalAStarConfig,
) -> RoboticsResult<Self>
pub fn try_new( ox: &[f64], oy: &[f64], config: BidirectionalAStarConfig, ) -> RoboticsResult<Self>
Create a validated Bidirectional 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: BidirectionalAStarConfig,
) -> RoboticsResult<Self>
pub fn from_obstacle_points( obstacles: &Obstacles, config: BidirectionalAStarConfig, ) -> RoboticsResult<Self>
Create a validated Bidirectional 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
Trait Implementations§
Auto Trait Implementations§
impl Freeze for BidirectionalAStarPlanner
impl RefUnwindSafe for BidirectionalAStarPlanner
impl Send for BidirectionalAStarPlanner
impl Sync for BidirectionalAStarPlanner
impl Unpin for BidirectionalAStarPlanner
impl UnsafeUnpin for BidirectionalAStarPlanner
impl UnwindSafe for BidirectionalAStarPlanner
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T: ?Sized,
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Mutably borrows from an owned value. Read more
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impl<T> IntoEither for T
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Converts
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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>
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impl<SS, SP> SupersetOf<SS> for SPwhere
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§fn to_subset(&self) -> Option<SS>
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The inverse inclusion map: attempts to construct
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Checks if
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fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.