Struct RigidBodyRrtConfig2D

Source

pub struct RigidBodyRrtConfig2D {
    pub seed: u64,
    pub max_samples: usize,
    pub step_size: f64,
    pub heading_step: f64,
    pub goal_bias: f64,
    pub heading_weight: f64,
    pub goal_position_tol: f64,
    pub goal_heading_tol: f64,
}

Expand description

Configuration for the sampling RRT rigid-body backend.

Fields§

§seed: u64

Deterministic PRNG seed (no thread_rng: runs must be reproducible).

§max_samples: usize

Maximum number of sampling iterations before giving up.

§step_size: f64

Maximum position extension distance per tree growth step.

§heading_step: f64

Maximum absolute heading change per extension step.

§goal_bias: f64

Probability in [0, 1] of sampling the goal pose directly.

§heading_weight: f64

Heading weight in the nearest-neighbor SE(2) distance metric.

§goal_position_tol: f64

Position tolerance for reaching the goal.

§goal_heading_tol: f64

Heading tolerance for reaching the goal when a goal heading is required.

Implementations§

Source §

impl RigidBodyRrtConfig2D

Source

pub fn new(seed: u64) -> Self

Trait Implementations§

Source §

impl Clone for RigidBodyRrtConfig2D

Source §

fn clone(&self) -> RigidBodyRrtConfig2D

Returns a duplicate of the value. Read more

1.0.0 · Source§

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

Performs copy-assignment from source. Read more

Source §

impl Debug for RigidBodyRrtConfig2D

Source §

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

Formats the value using the given formatter. Read more

Source §

impl PartialEq for RigidBodyRrtConfig2D

Source §

fn eq(&self, other: &RigidBodyRrtConfig2D) -> bool

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

1.0.0 · Source§

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

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

Source §

impl StructuralPartialEq for RigidBodyRrtConfig2D

Auto Trait Implementations§

§

impl UnwindSafe for RigidBodyRrtConfig2D

Blanket Implementations§

Source §

impl<T> Any for T
where T: 'static + ?Sized,

Source §

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

Source §

impl<T> Borrow<T> for T
where T: ?Sized,

Source §

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

Source §

impl<T> BorrowMut<T> for T
where T: ?Sized,

Source §

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

Source §

impl<T> CloneToUninit for T
where T: Clone,

Source §

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

Source §

impl<T> From<T> for T

Source §

fn from(t: T) -> T

Returns the argument unchanged.

Source §

impl<T, U> Into for T
where U: From<T>,

Source §

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

Source §

impl<T> IntoEither for T

Source §

fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

Source §

fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

Source §