pub struct HybridAStarConfig {Show 13 fields
pub xy_resolution: f64,
pub yaw_resolution: f64,
pub wheelbase: f64,
pub max_steer: f64,
pub n_steer: usize,
pub step_size: f64,
pub robot_radius: f64,
pub max_curvature: f64,
pub switch_back_cost: f64,
pub steer_cost: f64,
pub steer_change_cost: f64,
pub h_cost: f64,
pub analytic_expansion_interval: usize,
}Expand description
Configuration for Hybrid A* planner
Fields§
§xy_resolution: f64Grid resolution in meters
yaw_resolution: f64Yaw angle resolution in radians
wheelbase: f64Robot wheelbase (distance between axles)
max_steer: f64Maximum steering angle in radians
n_steer: usizeNumber of discrete steering inputs
step_size: f64Distance traveled per expansion step
robot_radius: f64Robot radius for collision checking
max_curvature: f64Maximum curvature (1 / minimum turning radius)
switch_back_cost: f64Cost multiplier for switching direction
steer_cost: f64Cost multiplier for steering angle
steer_change_cost: f64Cost multiplier for changing steering
h_cost: f64Heuristic weight for holonomic-with-obstacles heuristic
analytic_expansion_interval: usizeInterval for attempting Reeds-Shepp analytic expansion
Implementations§
Trait Implementations§
Source§impl Clone for HybridAStarConfig
impl Clone for HybridAStarConfig
Source§fn clone(&self) -> HybridAStarConfig
fn clone(&self) -> HybridAStarConfig
Returns a duplicate of the value. Read more
1.0.0 · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source. Read moreSource§impl Debug for HybridAStarConfig
impl Debug for HybridAStarConfig
Auto Trait Implementations§
impl Freeze for HybridAStarConfig
impl RefUnwindSafe for HybridAStarConfig
impl Send for HybridAStarConfig
impl Sync for HybridAStarConfig
impl Unpin for HybridAStarConfig
impl UnsafeUnpin for HybridAStarConfig
impl UnwindSafe for HybridAStarConfig
Blanket Implementations§
Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
Source§impl<T> CloneToUninit for Twhere
T: Clone,
impl<T> CloneToUninit for Twhere
T: Clone,
Source§impl<T> IntoEither for T
impl<T> IntoEither for T
Source§fn into_either(self, into_left: bool) -> Either<Self, Self>
fn into_either(self, into_left: bool) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left is true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read moreSource§fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left(&self) returns true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read more§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self from the equivalent element of its
superset. Read more§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self is actually part of its subset T (and can be converted to it).§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset but without any property checks. Always succeeds.§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.