pub struct ChompPlanner { /* private fields */ }Expand description
CHOMP planner.
Implementations§
Source§impl ChompPlanner
impl ChompPlanner
pub fn new(obstacles: Vec<CircleObstacle>, config: ChompConfig) -> Self
pub fn optimize( &self, start: Point2D, goal: Point2D, ) -> Result<ChompResult, RoboticsError>
Trait Implementations§
Auto Trait Implementations§
impl Freeze for ChompPlanner
impl RefUnwindSafe for ChompPlanner
impl Send for ChompPlanner
impl Sync for ChompPlanner
impl Unpin for ChompPlanner
impl UnsafeUnpin for ChompPlanner
impl UnwindSafe for ChompPlanner
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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>
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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
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fn is_in_subset(&self) -> bool
Checks if
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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.