pub struct BITStar { /* private fields */ }Expand description
Batch Informed Trees (BIT*) planner.
Implementations§
Source§impl BITStar
impl BITStar
Sourcepub fn new(
start: (f64, f64),
goal: (f64, f64),
obstacles: Vec<(f64, f64, f64)>,
rand_area: (f64, f64),
config: BITStarConfig,
) -> Self
pub fn new( start: (f64, f64), goal: (f64, f64), obstacles: Vec<(f64, f64, f64)>, rand_area: (f64, f64), config: BITStarConfig, ) -> Self
Create a new BIT* planner.
start– (x, y) start positiongoal– (x, y) goal positionobstacles– list of circular obstacles (x, y, radius)rand_area– (min, max) bounds for uniform samplingconfig– planner configuration
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 (start to goal), 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>
Convenience wrapper returning [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 BITStar
impl RefUnwindSafe for BITStar
impl Send for BITStar
impl Sync for BITStar
impl Unpin for BITStar
impl UnsafeUnpin for BITStar
impl UnwindSafe for BITStar
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> 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.