pub struct LqrRrtStar {
pub start: Node,
pub end: Node,
pub config: LqrRrtStarConfig,
pub obstacle_list: Vec<(f64, f64, f64)>,
pub node_list: Vec<Node>,
/* private fields */
}Expand description
LQR-RRT* planner.
Uses LQR trajectories for tree steering and LQR path length as the cost metric, combined with the RRT* rewiring strategy.
Fields§
§start: Node§end: Node§config: LqrRrtStarConfig§obstacle_list: Vec<(f64, f64, f64)>§node_list: Vec<Node>Implementations§
Source§impl LqrRrtStar
impl LqrRrtStar
Sourcepub fn new(
start: (f64, f64),
goal: (f64, f64),
obstacle_list: Vec<(f64, f64, f64)>,
config: LqrRrtStarConfig,
) -> Self
pub fn new( start: (f64, f64), goal: (f64, f64), obstacle_list: Vec<(f64, f64, f64)>, config: LqrRrtStarConfig, ) -> Self
Create a new LQR-RRT* planner.
Sourcepub fn planning(&mut self) -> Option<Vec<[f64; 2]>>
pub fn planning(&mut self) -> Option<Vec<[f64; 2]>>
Run the LQR-RRT* planning algorithm.
Returns a path as a vector of [x, y] pairs (goal to start order),
or None if no path is found.
Sourcepub fn plan_from(
&mut self,
start: Point2D,
goal: Point2D,
) -> RoboticsResult<Path2D>
pub fn plan_from( &mut self, start: Point2D, goal: Point2D, ) -> RoboticsResult<Path2D>
Plan a path from start to goal, returning a [Path2D].
Sourcepub fn get_obstacles(&self) -> &[(f64, f64, f64)]
pub fn get_obstacles(&self) -> &[(f64, f64, f64)]
Get the obstacle list.
Auto Trait Implementations§
impl Freeze for LqrRrtStar
impl RefUnwindSafe for LqrRrtStar
impl Send for LqrRrtStar
impl Sync for LqrRrtStar
impl Unpin for LqrRrtStar
impl UnsafeUnpin for LqrRrtStar
impl UnwindSafe for LqrRrtStar
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