pub struct GreedyBestFirstPlanner { /* private fields */ }Expand description
Greedy Best-First Search path planner
Implementations§
Source§impl GreedyBestFirstPlanner
impl GreedyBestFirstPlanner
Sourcepub fn new(ox: &[f64], oy: &[f64], config: GreedyBestFirstConfig) -> Self
pub fn new(ox: &[f64], oy: &[f64], config: GreedyBestFirstConfig) -> Self
Create a new Greedy Best-First planner with obstacle positions
Sourcepub fn try_new(
ox: &[f64],
oy: &[f64],
config: GreedyBestFirstConfig,
) -> RoboticsResult<Self>
pub fn try_new( ox: &[f64], oy: &[f64], config: GreedyBestFirstConfig, ) -> RoboticsResult<Self>
Create a validated Greedy Best-First planner with obstacle positions
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 default config
Sourcepub fn from_obstacle_points(
obstacles: &Obstacles,
config: GreedyBestFirstConfig,
) -> RoboticsResult<Self>
pub fn from_obstacle_points( obstacles: &Obstacles, config: GreedyBestFirstConfig, ) -> RoboticsResult<Self>
Create a validated Greedy Best-First planner from typed obstacle points
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
Plan a path returning (rx, ry) vectors (legacy interface)
Sourcepub fn plan(&self, start: Point2D, goal: Point2D) -> RoboticsResult<Path2D>
pub fn plan(&self, start: Point2D, goal: Point2D) -> RoboticsResult<Path2D>
Plan a path without requiring the PathPlanner trait in scope
Trait Implementations§
Auto Trait Implementations§
impl Freeze for GreedyBestFirstPlanner
impl RefUnwindSafe for GreedyBestFirstPlanner
impl Send for GreedyBestFirstPlanner
impl Sync for GreedyBestFirstPlanner
impl Unpin for GreedyBestFirstPlanner
impl UnsafeUnpin for GreedyBestFirstPlanner
impl UnwindSafe for GreedyBestFirstPlanner
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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
Converts
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Converts self into a Right variant of Either<Self, Self>
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The inclusion map: converts
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