Struct RigidBodyExactBackend2D 

pub struct RigidBodyExactBackend2D { /* private fields */ }

Exact branch-and-bound rigid-body backend.

Where the lattice backend minimizes an integer move/turn cost over a coarse 8-heading SE(2) lattice, this backend minimizes the true Euclidean path length over a 16-connected motion grid, with the body oriented along its direction of travel. Feasibility of every motion uses the same disjunctive separating-half-space certificates as the MIP formulation: for each obstacle, at least one of its half-spaces must separate the swept footprint (the binary/disjunctive choice). Best-first search with an admissible straight-line lower bound is a branch-and-bound that returns the length-optimal path on this motion graph, so it dominates the coarse lattice and the sampling RRT in realized path length and heading change.

The body is oriented along motion, so heading constraints (require_goal_ heading) are not enforced; the backend is meant for optimal position routing of the rigid footprint.

Implementations

impl RigidBodyExactBackend2D

pub fn new(config: RigidBodyMipConfig2D) -> RoboticsResult<Self>

pub fn config(&self) -> &RigidBodyMipConfig2D

Trait Implementations

impl Clone for RigidBodyExactBackend2D

fn clone(&self) -> RigidBodyExactBackend2D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RigidBodyExactBackend2D

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

Formats the value using the given formatter.

impl PartialEq for RigidBodyExactBackend2D

fn eq(&self, other: &RigidBodyExactBackend2D) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl RigidBodyPlanningBackend for RigidBodyExactBackend2D

fn name(&self) -> &'static str

Human-readable backend name used in benchmark reports.

fn plan_path( &self, start: RigidBodyPose2D, goal: RigidBodyPose2D, _require_goal_heading: bool, ) -> RoboticsResult<RigidBodyPlanOutcome2D>

Plan a feasible rigid-body path from start to goal.

impl StructuralPartialEq for RigidBodyExactBackend2D