Struct DStar 

pub struct DStar { /* private fields */ }

D* (original) path planner.

Constructs a grid from obstacle coordinates, plans a shortest path from start to goal, and supports dynamic re-planning when new obstacles are detected along the current path.

Implementations

impl DStar

pub fn new(ox: &[i32], oy: &[i32]) -> Self

Create a new D* planner from obstacle boundary coordinates.

ox and oy define obstacle (or boundary) positions in world coordinates.

pub fn plan_xy( &mut self, sx: i32, sy: i32, gx: i32, gy: i32, ) -> Option<Vec<(i32, i32)>>

Plan a path from (sx, sy) to (gx, gy) in world coordinates.

Returns a vector of (x, y) world-coordinate waypoints if a path exists.

pub fn plan_with_new_obstacles( &mut self, sx: i32, sy: i32, gx: i32, gy: i32, new_obstacles: &[(i32, i32)], ) -> Option<Vec<(i32, i32)>>

Plan a path, then dynamically add obstacles and re-plan.

new_obstacles are (x, y) world-coordinate pairs of obstacles discovered after the initial plan. The planner re-routes around them.

pub fn add_obstacle(&mut self, x: i32, y: i32)

Add a single obstacle at world coordinates and trigger local re-planning.

Trait Implementations

impl Debug for DStar

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

Formats the value using the given formatter.