pub struct FlowFieldPlanner { /* private fields */ }Expand description
Flow field path planner.
Implementations§
Source§impl FlowFieldPlanner
impl FlowFieldPlanner
Sourcepub fn new(ox: &[f64], oy: &[f64], config: FlowFieldConfig) -> Self
pub fn new(ox: &[f64], oy: &[f64], config: FlowFieldConfig) -> Self
Create a new planner (panics on invalid input).
Sourcepub fn try_new(
ox: &[f64],
oy: &[f64],
config: FlowFieldConfig,
) -> RoboticsResult<Self>
pub fn try_new( ox: &[f64], oy: &[f64], config: FlowFieldConfig, ) -> RoboticsResult<Self>
Create a validated planner.
Sourcepub fn from_obstacles(
ox: &[f64],
oy: &[f64],
resolution: f64,
robot_radius: f64,
) -> Self
pub fn from_obstacles( ox: &[f64], oy: &[f64], resolution: f64, robot_radius: f64, ) -> Self
Create from obstacle x/y vectors with explicit resolution and radius.
Sourcepub fn from_obstacle_points(
obstacles: &Obstacles,
config: FlowFieldConfig,
) -> RoboticsResult<Self>
pub fn from_obstacle_points( obstacles: &Obstacles, config: FlowFieldConfig, ) -> RoboticsResult<Self>
Create a validated planner from typed obstacle points.
Sourcepub fn plan(&self, start: Point2D, goal: Point2D) -> RoboticsResult<Path2D>
pub fn plan(&self, start: Point2D, goal: Point2D) -> RoboticsResult<Path2D>
Compute the flow field toward the given goal and extract the path from start to goal.
Sourcepub fn plan_xy(
&self,
sx: f64,
sy: f64,
gx: f64,
gy: f64,
) -> RoboticsResult<Path2D>
pub fn plan_xy( &self, sx: f64, sy: f64, gx: f64, gy: f64, ) -> RoboticsResult<Path2D>
Plan from raw coordinates.
Sourcepub fn planning(
&self,
sx: f64,
sy: f64,
gx: f64,
gy: f64,
) -> Option<(Vec<f64>, Vec<f64>)>
👎Deprecated: use plan() or plan_xy() instead
pub fn planning( &self, sx: f64, sy: f64, gx: f64, gy: f64, ) -> Option<(Vec<f64>, Vec<f64>)>
use plan() or plan_xy() instead
Legacy interface returning (rx, ry) vectors.
Sourcepub fn compute_field(&self, goal: Point2D) -> RoboticsResult<FlowFieldResult>
pub fn compute_field(&self, goal: Point2D) -> RoboticsResult<FlowFieldResult>
Compute the full flow field toward the goal without extracting a single path. Useful when many agents share the same goal.
Trait Implementations§
Auto Trait Implementations§
impl Freeze for FlowFieldPlanner
impl RefUnwindSafe for FlowFieldPlanner
impl Send for FlowFieldPlanner
impl Sync for FlowFieldPlanner
impl Unpin for FlowFieldPlanner
impl UnsafeUnpin for FlowFieldPlanner
impl UnwindSafe for FlowFieldPlanner
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T: ?Sized,
impl<T> BorrowMut<T> for Twhere
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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
Converts
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if into_left(&self) returns true.
Converts self into a Right variant of Either<Self, Self>
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impl<SS, SP> SupersetOf<SS> for SPwhere
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fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.