Struct HierarchicalMapfPlanner2D 

pub struct HierarchicalMapfPlanner2D { /* private fields */ }

Region-triggered MAPF replanner.

Implementations

impl HierarchicalMapfPlanner2D

pub fn new(config: HierarchicalMapfConfig2D) -> RoboticsResult<Self>

pub fn config(&self) -> &HierarchicalMapfConfig2D

pub fn region_of_cell( &self, x: i32, y: i32, ) -> RoboticsResult<HierarchicalMapfRegion2D>

pub fn region_route_for_path( &self, path: &StlCbsPath, ) -> RoboticsResult<HierarchicalMapfRegionRoute2D>

pub fn region_conflicts( &self, paths: &[StlCbsPath], ) -> RoboticsResult<Vec<HierarchicalMapfRegionConflict2D>>

pub fn plan( &self, agents: &[HierarchicalMapfAgent2D], ) -> RoboticsResult<HierarchicalMapfPlan2D>

Trait Implementations

impl Clone for HierarchicalMapfPlanner2D

fn clone(&self) -> HierarchicalMapfPlanner2D

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for HierarchicalMapfPlanner2D

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for HierarchicalMapfPlanner2D

fn eq(&self, other: &HierarchicalMapfPlanner2D) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for HierarchicalMapfPlanner2D