Module dwa 

Dynamic Window Approach (DWA) local planner

Implements velocity-space local planning for mobile robots. DWA searches the velocity space for admissible velocities and selects the best trajectory based on goal direction, speed, and obstacle clearance.

Structs

ConfigDeprecated

DWAConfig

Configuration for DWA planner

DWAPlanner

Dynamic Window Approach local planner

Trajectory

Predicted trajectory

Enums

DWARobotType

Functions

calc_control_and_trajectory

calc_dynamic_window

calc_obstacle_cost

calc_to_goal_cost

dwa_control

motion

predict_trajectory

Type Aliases

DWAControl

Control input: [v, omega]

DWAState

Robot state for DWA: [x, y, yaw, v, omega]

DynamicWindow

Dynamic window bounds: [v_min, v_max, yaw_rate_min, yaw_rate_max]