pub struct FringeSearchPlanner { /* private fields */ }Expand description
Fringe Search planner on an 8-connected occupancy grid.
Implementations§
Source§impl FringeSearchPlanner
impl FringeSearchPlanner
Sourcepub fn new(ox: &[f64], oy: &[f64], config: FringeSearchConfig) -> Self
pub fn new(ox: &[f64], oy: &[f64], config: FringeSearchConfig) -> Self
Create a new planner from obstacle x/y vectors.
Sourcepub fn try_new(
ox: &[f64],
oy: &[f64],
config: FringeSearchConfig,
) -> RoboticsResult<Self>
pub fn try_new( ox: &[f64], oy: &[f64], config: FringeSearchConfig, ) -> RoboticsResult<Self>
Create a validated planner from obstacle x/y vectors.
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 scalar parameters.
Sourcepub fn from_obstacle_points(
obstacles: &Obstacles,
config: FringeSearchConfig,
) -> RoboticsResult<Self>
pub fn from_obstacle_points( obstacles: &Obstacles, config: FringeSearchConfig, ) -> RoboticsResult<Self>
Create from typed obstacle points.
Sourcepub fn plan(&self, start: Point2D, goal: Point2D) -> RoboticsResult<Path2D>
pub fn plan(&self, start: Point2D, goal: Point2D) -> RoboticsResult<Path2D>
Plan without importing the trait explicitly.
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 without importing the trait explicitly.
Sourcepub fn plan_with_stats(
&self,
start: Point2D,
goal: Point2D,
) -> RoboticsResult<(Path2D, FringeSearchStats)>
pub fn plan_with_stats( &self, start: Point2D, goal: Point2D, ) -> RoboticsResult<(Path2D, FringeSearchStats)>
Plan a path and return per-query search-effort statistics.
pub fn grid_map(&self) -> &GridMap
Trait Implementations§
Source§impl Debug for FringeSearchPlanner
impl Debug for FringeSearchPlanner
Auto Trait Implementations§
impl Freeze for FringeSearchPlanner
impl RefUnwindSafe for FringeSearchPlanner
impl Send for FringeSearchPlanner
impl Sync for FringeSearchPlanner
impl Unpin for FringeSearchPlanner
impl UnsafeUnpin for FringeSearchPlanner
impl UnwindSafe for FringeSearchPlanner
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T: ?Sized,
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T: ?Sized,
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Mutably borrows from an owned value. Read more
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impl<T> IntoEither for T
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Converts
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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
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fn from_subset(element: &SS) -> SP
The inclusion map: converts
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