pub struct BFSPlanner { /* private fields */ }Expand description
Breadth-First Search path planner
Implementations§
Source§impl BFSPlanner
impl BFSPlanner
Sourcepub fn new(ox: &[f64], oy: &[f64], config: BFSConfig) -> Self
pub fn new(ox: &[f64], oy: &[f64], config: BFSConfig) -> Self
Create a new BFS planner with obstacle positions
Sourcepub fn try_new(
ox: &[f64],
oy: &[f64],
config: BFSConfig,
) -> RoboticsResult<Self>
pub fn try_new( ox: &[f64], oy: &[f64], config: BFSConfig, ) -> RoboticsResult<Self>
Create a validated BFS 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: BFSConfig,
) -> RoboticsResult<Self>
pub fn from_obstacle_points( obstacles: &Obstacles, config: BFSConfig, ) -> RoboticsResult<Self>
Create a validated BFS 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 BFSPlanner
impl RefUnwindSafe for BFSPlanner
impl Send for BFSPlanner
impl Sync for BFSPlanner
impl Unpin for BFSPlanner
impl UnsafeUnpin for BFSPlanner
impl UnwindSafe for BFSPlanner
Blanket Implementations§
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Converts
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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
Converts
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if into_left(&self) returns true.
Converts self into a Right variant of Either<Self, Self>
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