pub struct ConformalSippPlanner { /* private fields */ }Expand description
CP-SIPP planner with a fixed confidence threshold.
Implementations§
Source§impl ConformalSippPlanner
impl ConformalSippPlanner
pub fn new(config: ConformalSippConfig) -> RoboticsResult<Self>
Sourcepub fn plan(
&self,
sx: i32,
sy: i32,
gx: i32,
gy: i32,
) -> RoboticsResult<ConformalSippPlan>
pub fn plan( &self, sx: i32, sy: i32, gx: i32, gy: i32, ) -> RoboticsResult<ConformalSippPlan>
Plan a path and report empirical confidence over the returned waypoints.
Sourcepub fn confidence_at(&self, x: i32, y: i32, t: u64) -> RoboticsResult<f64>
pub fn confidence_at(&self, x: i32, y: i32, t: u64) -> RoboticsResult<f64>
Empirical conformal confidence that cell (x, y) is safe at time t.
Sourcepub fn conformal_radius_at(&self, t: u64) -> RoboticsResult<f64>
pub fn conformal_radius_at(&self, t: u64) -> RoboticsResult<f64>
Conservative empirical quantile radius used at time t, including the
configured footprint radius.
Sourcepub fn get_safe_intervals(&self, x: i32, y: i32) -> &[Interval]
pub fn get_safe_intervals(&self, x: i32, y: i32) -> &[Interval]
Get the confidence-filtered safe intervals for a particular cell.
Auto Trait Implementations§
impl Freeze for ConformalSippPlanner
impl RefUnwindSafe for ConformalSippPlanner
impl Send for ConformalSippPlanner
impl Sync for ConformalSippPlanner
impl Unpin for ConformalSippPlanner
impl UnsafeUnpin for ConformalSippPlanner
impl UnwindSafe for ConformalSippPlanner
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The inclusion map: converts
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