pub struct IDAStarConfig {
pub resolution: f64,
pub robot_radius: f64,
pub heuristic_weight: f64,
pub initial_lookahead_depth: usize,
pub max_iterations: usize,
pub max_expanded_nodes: Option<usize>,
}Expand description
Configuration for IDA*.
Fields§
§resolution: f64Grid resolution in meters.
robot_radius: f64Robot radius for obstacle inflation.
heuristic_weight: f64Heuristic weight (1.0 = admissible, >1.0 = weighted search).
initial_lookahead_depth: usizeDepth of optimistic local backup used to raise the initial threshold.
max_iterations: usizeMaximum number of threshold iterations.
max_expanded_nodes: Option<usize>Optional hard cap on expanded nodes for one query.
Implementations§
Trait Implementations§
Source§impl Clone for IDAStarConfig
impl Clone for IDAStarConfig
Source§fn clone(&self) -> IDAStarConfig
fn clone(&self) -> IDAStarConfig
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 IDAStarConfig
impl Debug for IDAStarConfig
Auto Trait Implementations§
impl Freeze for IDAStarConfig
impl RefUnwindSafe for IDAStarConfig
impl Send for IDAStarConfig
impl Sync for IDAStarConfig
impl Unpin for IDAStarConfig
impl UnsafeUnpin for IDAStarConfig
impl UnwindSafe for IDAStarConfig
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.