Expand description
Path planning algorithms for the RustRobotics workspace.
Re-exports§
pub use a_star::AStarConfig;pub use a_star::AStarPlanner;pub use a_star_variants::AStarVariantConfig;pub use a_star_variants::AStarVariantMode;pub use a_star_variants::AStarVariantPlanner;pub use adaptive_costmap_namo::AdaptiveCostmapCell;pub use adaptive_costmap_namo::AdaptiveCostmapCellState;pub use adaptive_costmap_namo::AdaptiveCostmapNamo;pub use adaptive_costmap_namo::AdaptiveCostmapNamoConfig;pub use adaptive_costmap_namo::MotionProgressObservation;pub use bidirectional_a_star::BidirectionalAStarConfig;pub use bidirectional_a_star::BidirectionalAStarPlanner;pub use bidirectional_bfs::BidirectionalBFSConfig;pub use bidirectional_bfs::BidirectionalBFSPlanner;pub use bit_star::BITStar;pub use bit_star::BITStarConfig;pub use branchout_multimodal::BranchOutClosedLoopConfig2D;pub use branchout_multimodal::BranchOutClosedLoopMetrics2D;pub use branchout_multimodal::BranchOutDecisionMode2D;pub use branchout_multimodal::BranchOutDrivingScene2D;pub use branchout_multimodal::BranchOutMultimodalMetrics2D;pub use branchout_multimodal::BranchOutObstacle2D;pub use branchout_multimodal::BranchOutPlan2D;pub use branchout_multimodal::BranchOutPlanner2D;pub use branchout_multimodal::BranchOutPlannerConfig2D;pub use branchout_multimodal::BranchOutPose2D;pub use branchout_multimodal::BranchOutTrajectory2D;pub use breadth_first_search::BFSConfig;pub use breadth_first_search::BFSPlanner;pub use clothoid_path::ClothoidConfig;pub use clothoid_path::ClothoidPath;pub use clothoid_path::ClothoidPlanner;pub use conformal_sipp::ConformalSippConfig;pub use conformal_sipp::ConformalSippPlan;pub use conformal_sipp::ConformalSippPlanner;pub use conformal_sipp::PredictedObstaclePoint;pub use conformal_sipp::PredictedObstacleTrajectory;pub use cubic_spline_planner::CubicSplinePlanner;pub use cubic_spline_planner::Spline2D;pub use d_star_lite::DStarLite;pub use depth_first_search::DFSConfig;pub use depth_first_search::DFSPlanner;pub use dubins_path::DubinsPath;pub use dubins_path::DubinsPlanner;pub use dwa::DWAConfig;pub use dwa::DWAPlanner;pub use enhanced_lazy_theta_star::EnhancedLazyThetaStarConfig;pub use enhanced_lazy_theta_star::EnhancedLazyThetaStarPlanner;pub use flow_field::FlowFieldConfig;pub use flow_field::FlowFieldPlanner;pub use fringe_search::FringeSearchConfig;pub use fringe_search::FringeSearchPlanner;pub use frontier_navigator::FrontierChoice;pub use frontier_navigator::Knowledge;pub use greedy_best_first_search::GreedyBestFirstConfig;pub use greedy_best_first_search::GreedyBestFirstPlanner;pub use grid::GridMap;pub use grid_a_star_3d::GridAStar3DConfig;pub use grid_a_star_3d::GridAStar3DPlanner;pub use grid_a_star_3d::Path3D;pub use hierarchical_mapf::cell_conflict_count;pub use hierarchical_mapf::HierarchicalMapfAgent2D;pub use hierarchical_mapf::HierarchicalMapfConfig2D;pub use hierarchical_mapf::HierarchicalMapfPlan2D;pub use hierarchical_mapf::HierarchicalMapfPlanner2D;pub use hierarchical_mapf::HierarchicalMapfRegion2D;pub use hierarchical_mapf::HierarchicalMapfRegionConflict2D;pub use hierarchical_mapf::HierarchicalMapfRegionRoute2D;pub use hierarchical_mapf::HierarchicalMapfReplannedGroup2D;pub use hybrid_a_star::HybridAStarConfig;pub use hybrid_a_star::HybridAStarPath;pub use hybrid_a_star::HybridAStarPlanner;pub use ida_star::IDAStarConfig;pub use ida_star::IDAStarPlanner;pub use informed_rrt_star::InformedRRTStar;pub use jps::JPSConfig;pub use jps::JPSPlanner;pub use kinodynamic_stl_cbs::first_kinodynamic_continuous_conflict;pub use kinodynamic_stl_cbs::kinodynamic_continuous_pairwise_separation_robustness;pub use kinodynamic_stl_cbs::KinodynamicContinuousConflict2D;pub use kinodynamic_stl_cbs::KinodynamicContinuousPose2D;pub use kinodynamic_stl_cbs::KinodynamicHeading2D;pub use kinodynamic_stl_cbs::KinodynamicStlCbsAgent2D;pub use kinodynamic_stl_cbs::KinodynamicStlCbsConfig2D;pub use kinodynamic_stl_cbs::KinodynamicStlCbsPath2D;pub use kinodynamic_stl_cbs::KinodynamicStlCbsPlan2D;pub use kinodynamic_stl_cbs::KinodynamicStlCbsPlanner2D;pub use kinodynamic_stl_cbs::KinodynamicTimedPose2D;pub use lazy_theta_star::LazyThetaStarConfig;pub use lazy_theta_star::LazyThetaStarPlanner;pub use potential_field::PotentialFieldPlanner;pub use prm::PRMPlanner;pub use prm_star::PRMStarConfig;pub use prm_star::PRMStarPlanner;pub use quintic_polynomials::QuinticPolynomial;pub use quintic_polynomials::QuinticPolynomialsPlanner;pub use reeds_shepp_path::ReedsSheppPlanner;pub use rigid_body_mip::RigidBodyConvexObstacle2D;pub use rigid_body_mip::RigidBodyExactBackend2D;pub use rigid_body_mip::RigidBodyHalfspace2D;pub use rigid_body_mip::RigidBodyMipConfig2D;pub use rigid_body_mip::RigidBodyMipPlan2D;pub use rigid_body_mip::RigidBodyMipPlanner2D;pub use rigid_body_mip::RigidBodyMipSeparationCertificate2D;pub use rigid_body_mip::RigidBodyPlanOutcome2D;pub use rigid_body_mip::RigidBodyPlanningBackend;pub use rigid_body_mip::RigidBodyPoint2D;pub use rigid_body_mip::RigidBodyPose2D;pub use rigid_body_mip::RigidBodyRrtBackend2D;pub use rigid_body_mip::RigidBodyRrtConfig2D;pub use rrt::AreaBounds;pub use rrt::CircleObstacle;pub use rrt::RRTConfig;pub use rrt::RRTPlanner;pub use rrt_path_smoothing::RRTPathSmoothingConfig;pub use rrt_path_smoothing::RRTPathSmoothingPlanner;pub use rrt_sobol::RRTSobolPlanner;pub use rrt_star::RRTStar;pub use safe_decode_nav::SafeDecodePlan;pub use safe_decode_nav::SafeDecoder;pub use safe_decode_nav::TimedRegion;pub use sipp::SippConfig;pub use sipp::SippPlanner;pub use state_lattice::ObstacleAwarePlanResult;pub use state_lattice::StateLattice;pub use state_lattice::StateLatticeConfig;pub use stl_cbs::first_conflict;pub use stl_cbs::stl_always_avoid_robustness;pub use stl_cbs::stl_eventually_reach_robustness;pub use stl_cbs::stl_pairwise_separation_robustness;pub use stl_cbs::StlCbsAgent;pub use stl_cbs::StlCbsConfig;pub use stl_cbs::StlCbsConflict;pub use stl_cbs::StlCbsConflictKind;pub use stl_cbs::StlCbsPath;pub use stl_cbs::StlCbsPlan;pub use stl_cbs::StlCbsPlanner;pub use stl_cbs::StlRectangle2D;pub use stl_cbs::StlTimeInterval;pub use stl_cbs::StlTimedCell;pub use theta_star::ThetaStarConfig;pub use theta_star::ThetaStarPlanner;pub use traversal_risk_graph::add_clearance_exposure_risk;pub use traversal_risk_graph::clearance_map;pub use traversal_risk_graph::inflate_blocked_cells;pub use traversal_risk_graph::inflate_blocked_cells_by_radius;pub use traversal_risk_graph::smooth_terrain_risk;pub use traversal_risk_graph::sweep_traversal_risk_weights;pub use traversal_risk_graph::terrain_risk_from_elevation_map;pub use traversal_risk_graph::ClearanceRiskConfig;pub use traversal_risk_graph::ElevationRiskConfig;pub use traversal_risk_graph::RiskMapSmoothingConfig;pub use traversal_risk_graph::RiskWaypoint;pub use traversal_risk_graph::TerrainRiskCell;pub use traversal_risk_graph::TraversalRiskGraphConfig;pub use traversal_risk_graph::TraversalRiskGraphPlanner;pub use traversal_risk_graph::TraversalRiskPath;pub use traversal_risk_graph::TraversalRiskWeightSample;pub use voronoi_road_map::VoronoiPlanner;
Modules§
- a_star
- A* path planning algorithm
- a_
star_ variants - PythonRobotics-style A* variants.
- adaptive_
costmap_ namo - Adaptive movable-obstacle costmap slice inspired by Costmap-NAMO.
- anya
- Anya-inspired optimal any-angle pathfinding
- ara_
star - Anytime Repairing A* (ARA*) path planning algorithm
- batch_
informed_ rrt_ star - Batch Informed RRT* path planning algorithm
- bezier_
path - Bezier curve path computation (basic functions)
- bezier_
path_ planning - Bezier curve path planning
- bidirectional_
a_ star - Bidirectional A* path planning algorithm
- bidirectional_
bfs - Bidirectional Breadth-First Search path planning
- bidirectional_
rrt - Bidirectional RRT (Rapidly-exploring Random Tree) path planning algorithm
- bipedal_
planner - Bipedal walking planner with modified designated footsteps.
- bit_
star - Batch Informed Trees (BIT*) path planning algorithm
- branchout_
multimodal - BranchOut-lite multimodal driving planner.
- breadth_
first_ search - Breadth-First Search path planning algorithm
- bspline_
path - B-Spline path generation
- bug_
planning - Bug algorithm family for path planning.
- catmull_
rom_ spline - Catmull-Rom spline path planner
- chomp
- CHOMP (Covariant Hamiltonian Optimization for Motion Planning).
- closed_
loop_ rrt_ star - Closed-Loop RRT* (CL-RRT*) path planner
- clothoid_
path - Clothoid (Euler Spiral) Path Planner
- conformal_
sipp - Conformal Prediction Safe Interval Path Planning (CP-SIPP).
- coverage_
planning - Coverage path planning algorithms
- cubic_
spline_ planner - Cubic spline planner
- d_star
- D* (original) path planning algorithm
- d_
star_ lite - D* Lite path planning algorithm
- depth_
first_ search - Depth-First Search path planning algorithm
- dijkstra
- Dijkstra path planning algorithm
- dubins_
path - Dubins Path Planner
- dwa
- Dynamic Window Approach (DWA) local planner
- dynamic_
movement_ primitives - Dynamic Movement Primitives (DMP)
- elastic_
bands - Elastic Bands path deformation algorithm
- enhanced_
lazy_ theta_ star - Enhanced Lazy Theta* path planning algorithm
- eta3_
spline - Eta^3 spline path and trajectory planner
- experiments
- Experimental workflows and comparison harnesses.
- flow_
field - Flow Field path planning algorithm
- fmt_
star - Fast Marching Tree (FMT*) path planning.
- frenet_
optimal_ trajectory - Frenet Optimal Trajectory planning
- fringe_
search - Fringe Search path planning algorithm.
- frontier_
navigator - Long Range Navigator-lite: affordance-scored frontier navigation.
- greedy_
best_ first_ search - Greedy Best-First Search path planning algorithm
- grid
- grid_
a_ star_ 3d - 3D grid-based A* path planning for aerial robots.
- grid_
based_ sweep_ cpp - Grid-based sweep coverage path planner (boustrophedon / lawn-mower pattern).
- grid_
nalgebra - hierarchical_
mapf - Hierarchical MAPF replanning foundation.
- hybrid_
a_ star - Hybrid A* path planning algorithm
- ida_
star - Iterative Deepening A* (IDA*) path planning algorithm.
- informed_
rrt_ star - Informed RRT* path planning algorithm
- jps
- Jump Point Search (JPS) path planning algorithm
- kinodynamic_
stl_ cbs - Kinodynamic-oriented STL-CBS planning.
- lazy_
theta_ star - Lazy Theta* path planning algorithm
- lpa_
star - Lifelong Planning A* (LPA*) path planning algorithm
- lqr_
planner - LQR-based path planner
- lqr_
rrt_ star - LQR-RRT* path planning algorithm
- model_
predictive_ trajectory_ generator - Model Predictive Trajectory Generator
- moving_
ai - Loader utilities for the Moving AI Lab grid benchmark formats.
- particle_
swarm_ optimization - Particle Swarm Optimization (PSO) path planner
- path_
smoothing - Path smoothing via line-of-sight shortcutting
- potential_
field - Potential Field path planning algorithm
- prm
- Probabilistic Road-Map (PRM) path planning
- prm_
star - Probabilistic Road-Map Star (PRM*) path planning.
- quintic_
polynomials - Quintic Polynomials path planning
- reeds_
shepp_ path - Reeds-Shepp Path Planner
- rigid_
body_ mip - Rigid-body MIP-style path planning.
- rrg
- RRG (Rapidly-exploring Random Graph) path planning algorithm
- rrt
- RRT (Rapidly-exploring Random Tree) path planning algorithm
- rrt_
connect - RRT-Connect path planning algorithm.
- rrt_
dubins - RRT-Dubins path planner
- rrt_
path_ smoothing - RRT shortcut path smoothing.
- rrt_
sobol - RRT with Sobol low-discrepancy sampling.
- rrt_
star - RRT* (Rapidly-exploring Random Tree Star) path planning algorithm
- rrt_
star_ dubins - RRT*-Dubins path planner
- rrt_
star_ reeds_ shepp - RRT*-Reeds-Shepp path planner
- safe_
decode_ nav - SafeDec-lite: STL-shielded constrained decoding for grid navigation.
- sipp
- Safe Interval Path Planning (SIPP)
- spiral_
spanning_ tree_ cpp - Spiral Spanning Tree Coverage Path Planner
- state_
lattice - State Lattice Planner Module
- stl_cbs
- STL-CBS foundation for multi-agent grid planning.
- tangent_
bug - Tangent Bug path planning algorithm.
- theta_
star - Theta* path planning algorithm
- time_
based_ path_ planning - Time-Based Path Planning with dynamic obstacles
- traversal_
risk_ graph - Traversal-risk graph planning over a 2-D grid.
- visibility_
road_ map - Visibility Road-Map path planning
- voronoi_
road_ map - Voronoi Road-Map path planning
- wavefront_
cpp - Wavefront Coverage Path Planner