Struct BranchOutDrivingScene2D 

pub struct BranchOutDrivingScene2D {
    pub start: BranchOutPose2D,
    pub lane_width: f64,
    pub lane_count_each_side: i32,
    pub route_length: f64,
    pub desired_speed: f64,
    pub obstacles: Vec<BranchOutObstacle2D>,
}

Lane-level driving scene for a compact multimodal planner.

Fields

start: BranchOutPose2D

lane_width: f64

lane_count_each_side: i32

route_length: f64

desired_speed: f64

obstacles: Vec<BranchOutObstacle2D>

Implementations

impl BranchOutDrivingScene2D

pub fn simple_overtake() -> Self

pub fn wide_overtake() -> Self

Overtake scene with enough lateral room that a lane change clears the stalled obstacle (the closed-loop planner prefers to overtake here).

pub fn forced_yield() -> Self

Single-lane blocked scene with no room to pass, so the closed-loop planner must yield behind the obstacle rather than overtake.

pub fn lane_center(&self, lane_index: i32) -> f64

pub fn nearest_lane_index(&self, y: f64) -> i32

Trait Implementations

impl Clone for BranchOutDrivingScene2D

fn clone(&self) -> BranchOutDrivingScene2D

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for BranchOutDrivingScene2D

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for BranchOutDrivingScene2D

fn eq(&self, other: &BranchOutDrivingScene2D) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for BranchOutDrivingScene2D