Module branchout_multimodal 

BranchOut-lite multimodal driving planner.

This is a deterministic 2-D reproduction slice of BranchOut’s core multimodal planning idea: emit multiple plausible driving trajectories with mixture weights, then evaluate distributional coverage instead of only a single ground-truth path.

Structs

BranchOutClosedLoopConfig2D

Configuration for a receding-horizon closed-loop BranchOut rollout.

BranchOutClosedLoopMetrics2D

Closed-loop driving metrics from a receding-horizon BranchOut rollout.

BranchOutDrivingScene2D

Lane-level driving scene for a compact multimodal planner.

BranchOutMultimodalMetrics2D

Multimodal evaluation metrics inspired by BranchOut’s distributional focus.

BranchOutObstacle2D

Circular traffic or road obstacle.

BranchOutPlan2D

Planner result with one trajectory per decision mode.

BranchOutPlanner2D

Deterministic multimodal planner over coarse driving modes.

BranchOutPlannerConfig2D

Planner configuration for BranchOut-lite.

BranchOutPose2D

Ego state on a lane-aligned 2-D road.

BranchOutTrajectory2D

One mode trajectory with a GMM-like mixture probability.

Enums

BranchOutDecisionMode2D

Coarse driving command/mode used by the compact GMM-like head.