Module rigid_body_mip 

Rigid-body MIP-style path planning.

This module implements a deterministic first reproduction slice for mixed-integer rigid-body planning. It avoids an external MILP solver by searching a discretized SE(2) lattice, while every accepted pose carries the same kind of binary disjunctive obstacle-avoidance certificate used in convex-obstacle MILP formulations: for each obstacle, one active half-space separates the whole robot rectangle from that obstacle.

Structs

RigidBodyConvexObstacle2D

Convex obstacle represented by vertices and fixed half-spaces.

RigidBodyExactBackend2D

Exact branch-and-bound rigid-body backend.

RigidBodyHalfspace2D

Half-space a*x + b*y <= c containing the obstacle interior.

RigidBodyMipConfig2D

Planner configuration.

RigidBodyMipPlan2D

Planning result.

RigidBodyMipPlanner2D

Discretized rigid-body planner with MIP-style separation certificates.

RigidBodyMipSeparationCertificate2D

Active binary-style obstacle-avoidance choice for one obstacle at one pose.

RigidBodyPlanOutcome2D

Backend-agnostic planning outcome.

RigidBodyPoint2D

2-D point.

RigidBodyPose2D

Rigid-body center pose.

RigidBodyRrtBackend2D

Sampling rigid-body backend (RRT over SE(2)).

RigidBodyRrtConfig2D

Configuration for the sampling RRT rigid-body backend.

Traits

RigidBodyPlanningBackend

Common interface for rigid-body planning backends.