rust_robotics_planning::particle_swarm_optimization

Struct PsoConfig

pub struct PsoConfig {Show 13 fields
    pub n_particles: usize,
    pub max_iter: usize,
    pub target: Point2D,
    pub search_bounds: Bounds2D,
    pub spawn_bounds: Bounds2D,
    pub obstacles: Vec<CircleObstacle>,
    pub w_start: f64,
    pub w_end: f64,
    pub c1: f64,
    pub c2: f64,
    pub inside_obstacle_penalty: f64,
    pub proximity_penalty_factor: f64,
    pub proximity_margin: f64,
}

Expand description

Configuration for the PSO planner.

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§n_particles: usize

Number of particles in the swarm.

§max_iter: usize

Maximum number of iterations.

§target: Point2D

Target position.

§search_bounds: Bounds2D

Bounds defining the full search space.

§spawn_bounds: Bounds2D

Bounds defining the spawn area for particles.

§obstacles: Vec<CircleObstacle>

Circular obstacles.

§w_start: f64

Initial inertia weight (decays linearly to w_end).

§w_end: f64

Final inertia weight.

§c1: f64

Cognitive coefficient (pull towards personal best).

§c2: f64

Social coefficient (pull towards global best).

§inside_obstacle_penalty: f64

Penalty applied when a particle is inside an obstacle.

§proximity_penalty_factor: f64

Proximity penalty factor for being near an obstacle.

§proximity_margin: f64

Proximity distance threshold beyond the obstacle radius.

Implementations§

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impl PsoConfig

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pub fn validate(&self) -> RoboticsResult<()>

Validate configuration parameters.

Trait Implementations§

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impl Clone for PsoConfig

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fn clone(&self) -> PsoConfig

Returns a duplicate of the value. Read more

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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

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impl Debug for PsoConfig

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

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impl Default for PsoConfig

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fn default() -> Self

Returns the “default value” for a type. Read more

Auto Trait Implementations§

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impl UnwindSafe for PsoConfig

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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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 more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

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

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