Module kinodynamic_stl_cbs 

Kinodynamic-oriented STL-CBS planning.

This module extends the grid STL-CBS idea with heading states and time-consuming motion primitives. It keeps the high-level CBS structure but replans each constrained agent with an A* search over (x, y, heading, t).

Structs

KinodynamicContinuousConflict2D

Continuous-time pairwise conflict found between integer ticks.

KinodynamicContinuousPose2D

Continuous pose sampled between timed grid poses.

KinodynamicStlCbsAgent2D

Agent query with start heading and optional terminal heading.

KinodynamicStlCbsConfig2D

Planner configuration.

KinodynamicStlCbsPath2D

One kinodynamic agent path.

KinodynamicStlCbsPlan2D

Kinodynamic CBS result.

KinodynamicStlCbsPlanner2D

KinodynamicTimedPose2D

Timed oriented pose.

Enums

KinodynamicHeading2D

Four-connected heading for the kinodynamic grid state.

Functions

first_kinodynamic_continuous_conflict

kinodynamic_continuous_pairwise_separation_robustness