pub struct JPSPlanner { /* private fields */ }Expand description
Jump Point Search path planner
Implementations§
Source§impl JPSPlanner
impl JPSPlanner
Sourcepub fn new(ox: &[f64], oy: &[f64], config: JPSConfig) -> Self
pub fn new(ox: &[f64], oy: &[f64], config: JPSConfig) -> Self
Create a new JPS planner with obstacle positions
Sourcepub fn try_new(
ox: &[f64],
oy: &[f64],
config: JPSConfig,
) -> RoboticsResult<Self>
pub fn try_new( ox: &[f64], oy: &[f64], config: JPSConfig, ) -> RoboticsResult<Self>
Create a validated JPS 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: JPSConfig,
) -> RoboticsResult<Self>
pub fn from_obstacle_points( obstacles: &Obstacles, config: JPSConfig, ) -> RoboticsResult<Self>
Create a validated JPS 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
Sourcepub fn plan_xy(
&self,
sx: f64,
sy: f64,
gx: f64,
gy: f64,
) -> RoboticsResult<Path2D>
pub fn plan_xy( &self, sx: f64, sy: f64, gx: f64, gy: f64, ) -> RoboticsResult<Path2D>
Plan a path from raw coordinates without requiring the PathPlanner trait in scope
Sourcepub fn plan_with_diagnostics(
&self,
start: Point2D,
goal: Point2D,
) -> RoboticsResult<JPSPlanResult>
pub fn plan_with_diagnostics( &self, start: Point2D, goal: Point2D, ) -> RoboticsResult<JPSPlanResult>
Plan a path and report whether the query used the grid A* fallback.
Trait Implementations§
Auto Trait Implementations§
impl Freeze for JPSPlanner
impl RefUnwindSafe for JPSPlanner
impl Send for JPSPlanner
impl Sync for JPSPlanner
impl Unpin for JPSPlanner
impl UnsafeUnpin for JPSPlanner
impl UnwindSafe for JPSPlanner
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> 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.