Struct RigidBodyRrtBackend2D 

pub struct RigidBodyRrtBackend2D { /* private fields */ }

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

Reuses the lattice planner’s geometric feasibility machinery (pose and swept-segment separation certificates) so both backends share an identical notion of collision, while exploring the workspace by random extension instead of an exhaustive lattice search.

Implementations

impl RigidBodyRrtBackend2D

pub fn new( config: RigidBodyMipConfig2D, rrt: RigidBodyRrtConfig2D, ) -> RoboticsResult<Self>

pub fn config(&self) -> &RigidBodyMipConfig2D

pub fn rrt_config(&self) -> &RigidBodyRrtConfig2D

Trait Implementations

impl Clone for RigidBodyRrtBackend2D

fn clone(&self) -> RigidBodyRrtBackend2D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RigidBodyRrtBackend2D

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

Formats the value using the given formatter.

impl PartialEq for RigidBodyRrtBackend2D

fn eq(&self, other: &RigidBodyRrtBackend2D) -> 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 RigidBodyRrtBackend2D

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 RigidBodyRrtBackend2D