Struct PsoPlanner 

pub struct PsoPlanner { /* private fields */ }

The PSO path planner.

Implementations

impl PsoPlanner

pub fn new(config: PsoConfig) -> RoboticsResult<Self>

pub fn plan(&self) -> PsoResult

Run the PSO optimisation and return the result.

pub fn plan_with_rng<R: Rng>(&self, rng: &mut R) -> PsoResult

Run with an explicit RNG (useful for deterministic tests).

Trait Implementations

impl Clone for PsoPlanner

fn clone(&self) -> PsoPlanner

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PsoPlanner

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

Formats the value using the given formatter.