Module fmt_star 

Fast Marching Tree (FMT*) path planning.

FMT* is a batch sampling-based planner that expands a wavefront over a pre-sampled neighborhood graph to build a low-cost collision-free path.

Reference:

• Lucas Janson, Edward Schmerling, Ashley Clark, Marco Pavone, “Fast Marching Tree: a Fast Marching Sampling-Based Method for Optimal Motion Planning in Many Dimensions”: https://stanford.edu/~pavone/papers/Janson.Schmerling.ea.IJRR15.pdf

Structs

AreaBounds

Axis-aligned sampling bounds.

CircleObstacle

Circular obstacle represented by center position and radius.

FMTStarConfig

Configuration for the FMT* planner.

FMTStarPlanner

Fast Marching Tree planner.