Struct ElasticBands 

pub struct ElasticBands {
    pub bubbles: Vec<Bubble>,
    /* private fields */
}

Elastic Bands planner.

Iteratively deforms a path (represented as a chain of Bubbles) to be shorter and further from obstacles.

Fields

bubbles: Vec<Bubble>

Current chain of bubbles.

Implementations

impl ElasticBands

pub fn new( initial_path: &[[f64; 2]], distance_field: DistanceField, config: ElasticBandsConfig, ) -> Self

Create a new elastic band from an initial path and a pre-computed distance field.

pub fn from_obstacles( initial_path: &[[f64; 2]], obstacles: &[Vec<bool>], config: ElasticBandsConfig, ) -> Self

Create from an initial path and a binary obstacle grid.

pub fn optimise(&mut self)

Run the full optimisation for config.max_iter iterations.

pub fn update_bubbles(&mut self)

Perform a single optimisation step: move bubbles then maintain overlap.

pub fn path(&self) -> Vec<[f64; 2]>

Extract the optimised path as a vector of [x, y] points.