Struct RigidBodyMipPlanner2D 

pub struct RigidBodyMipPlanner2D { /* private fields */ }

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

Implementations

impl RigidBodyMipPlanner2D

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

pub fn config(&self) -> &RigidBodyMipConfig2D

pub fn plan( &self, start: RigidBodyPose2D, goal: RigidBodyPose2D, require_goal_heading: bool, ) -> RoboticsResult<RigidBodyMipPlan2D>

pub fn robot_vertices(&self, pose: RigidBodyPose2D) -> Vec<RigidBodyPoint2D>

pub fn separation_certificates( &self, pose: RigidBodyPose2D, ) -> Option<Vec<RigidBodyMipSeparationCertificate2D>>

pub fn segment_separation_certificates( &self, from: RigidBodyPose2D, to: RigidBodyPose2D, ) -> Option<Vec<RigidBodyMipSeparationCertificate2D>>

pub fn is_pose_feasible(&self, pose: RigidBodyPose2D) -> bool

pub fn is_segment_feasible( &self, from: RigidBodyPose2D, to: RigidBodyPose2D, ) -> bool

Trait Implementations

impl Clone for RigidBodyMipPlanner2D

fn clone(&self) -> RigidBodyMipPlanner2D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RigidBodyMipPlanner2D

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

Formats the value using the given formatter.

impl PartialEq for RigidBodyMipPlanner2D

fn eq(&self, other: &RigidBodyMipPlanner2D) -> 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 RigidBodyMipPlanner2D

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 RigidBodyMipPlanner2D