Struct DWAPlanner 

pub struct DWAPlanner { /* private fields */ }

Dynamic Window Approach local planner

Implementations

impl DWAPlanner

pub fn new(config: DWAConfig) -> Self

pub fn try_new(config: DWAConfig) -> RoboticsResult<Self>

pub fn with_defaults() -> Self

pub fn set_state(&mut self, state: DWAState)

pub fn try_set_state(&mut self, state: DWAState) -> RoboticsResult<()>

pub fn set_state_from_2d(&mut self, state: &State2D, omega: f64)

pub fn try_set_state_from_2d( &mut self, state: &State2D, omega: f64, ) -> RoboticsResult<()>

pub fn get_state(&self) -> &DWAState

pub fn state_2d(&self) -> State2D

pub fn set_goal(&mut self, goal: Point2D)

pub fn try_set_goal(&mut self, goal: Point2D) -> RoboticsResult<()>

pub fn set_obstacles(&mut self, obstacles: Vec<Point2D>)

pub fn try_set_obstacles( &mut self, obstacles: Vec<Point2D>, ) -> RoboticsResult<()>

pub fn set_obstacles_from_tuples(&mut self, obstacles: &[(f64, f64)])

pub fn set_obstacles_from_obstacles( &mut self, obstacles: &Obstacles, ) -> RoboticsResult<()>

pub fn get_best_trajectory(&self) -> &Trajectory

pub fn best_path(&self) -> Path2D

pub fn config(&self) -> &DWAConfig

pub fn plan_step(&mut self) -> DWAControl

pub fn try_plan_step(&mut self) -> RoboticsResult<DWAControl>

pub fn step(&mut self) -> DWAControl

pub fn try_step(&mut self) -> RoboticsResult<DWAControl>

pub fn is_goal_reached(&self) -> bool

pub fn distance_to_goal(&self) -> f64

pub fn navigate_to_goal(&mut self, max_steps: usize) -> Vec<DWAState>

pub fn try_navigate_to_goal( &mut self, max_steps: usize, ) -> RoboticsResult<Vec<DWAState>>

pub fn try_plan_input(&mut self) -> RoboticsResult<ControlInput>

pub fn control_to_input(control: &DWAControl) -> ControlInput