pub struct LqrRrtStarConfig {
pub min_rand: f64,
pub max_rand: f64,
pub goal_sample_rate: i32,
pub max_iter: i32,
pub connect_circle_dist: f64,
pub step_size: f64,
pub goal_xy_th: f64,
pub robot_radius: f64,
pub search_until_max_iter: bool,
pub lqr_config: LqrPlannerConfig,
}Expand description
Configuration for the LQR-RRT* planner.
Fields§
§min_rand: f64Random sampling area minimum bound
max_rand: f64Random sampling area maximum bound
goal_sample_rate: i32Goal sampling rate (0-100). Higher means more goal-biased sampling.
max_iter: i32Maximum number of iterations
connect_circle_dist: f64Connection circle distance for finding near nodes
step_size: f64Step size for path resampling
goal_xy_th: f64Goal proximity threshold
robot_radius: f64Robot radius for collision checking
search_until_max_iter: boolWhether to continue searching until max iterations
lqr_config: LqrPlannerConfigConfiguration for the internal LQR planner
Trait Implementations§
Source§impl Clone for LqrRrtStarConfig
impl Clone for LqrRrtStarConfig
Source§fn clone(&self) -> LqrRrtStarConfig
fn clone(&self) -> LqrRrtStarConfig
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 LqrRrtStarConfig
impl Debug for LqrRrtStarConfig
Auto Trait Implementations§
impl Freeze for LqrRrtStarConfig
impl RefUnwindSafe for LqrRrtStarConfig
impl Send for LqrRrtStarConfig
impl Sync for LqrRrtStarConfig
impl Unpin for LqrRrtStarConfig
impl UnsafeUnpin for LqrRrtStarConfig
impl UnwindSafe for LqrRrtStarConfig
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.