Struct RigidBodyPlanOutcome2D 

pub struct RigidBodyPlanOutcome2D {
    pub backend: &'static str,
    pub poses: Vec<RigidBodyPose2D>,
    pub path_length: f64,
    pub heading_change: f64,
    pub iterations: usize,
    pub min_separation_margin: f64,
}

Backend-agnostic planning outcome.

Both the deterministic lattice backend and the sampling RRT backend report the same comparable metrics so a benchmark can place them side by side: the realized SE(2) path, its Euclidean position length, accumulated absolute heading change, the search effort (lattice expansions or RRT samples), and the tightest obstacle-separation margin along the path.

Fields

backend: &'static str

poses: Vec<RigidBodyPose2D>

path_length: f64

heading_change: f64

iterations: usize

min_separation_margin: f64

Trait Implementations

impl Clone for RigidBodyPlanOutcome2D

fn clone(&self) -> RigidBodyPlanOutcome2D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RigidBodyPlanOutcome2D

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

Formats the value using the given formatter.

impl PartialEq for RigidBodyPlanOutcome2D

fn eq(&self, other: &RigidBodyPlanOutcome2D) -> 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 StructuralPartialEq for RigidBodyPlanOutcome2D