Struct BranchOutPlanner2D 

pub struct BranchOutPlanner2D { /* private fields */ }

Deterministic multimodal planner over coarse driving modes.

Implementations

impl BranchOutPlanner2D

pub fn new(config: BranchOutPlannerConfig2D) -> RoboticsResult<Self>

pub fn config(&self) -> &BranchOutPlannerConfig2D

pub fn plan( &self, scene: &BranchOutDrivingScene2D, ) -> RoboticsResult<BranchOutPlan2D>

pub fn evaluate_multimodal( &self, plan: &BranchOutPlan2D, ground_truths: &[Vec<BranchOutPose2D>], ) -> RoboticsResult<BranchOutMultimodalMetrics2D>

pub fn simulate_closed_loop( &self, scene: &BranchOutDrivingScene2D, obstacle_velocities: &[(f64, f64)], config: BranchOutClosedLoopConfig2D, ) -> RoboticsResult<BranchOutClosedLoopMetrics2D>

Run a receding-horizon closed-loop rollout: at every control step re-plan from the current ego pose, commit the first step of the highest-probability mode, advance the (optionally moving) obstacles, and accumulate closed-loop driving metrics.

obstacle_velocities must match scene.obstacles in length; pass zeros for static traffic.

Trait Implementations

impl Clone for BranchOutPlanner2D

fn clone(&self) -> BranchOutPlanner2D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for BranchOutPlanner2D

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

Formats the value using the given formatter.

impl PartialEq for BranchOutPlanner2D

fn eq(&self, other: &BranchOutPlanner2D) -> 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 BranchOutPlanner2D