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RigidBodyPlanningBackend

rust_robotics_planning::rigid_body_mip

Trait RigidBodyPlanningBackend 

Source 
pub trait RigidBodyPlanningBackend {
    // Required methods
    fn name(&self) -> &'static str;
    fn plan_path(
        &self,
        start: RigidBodyPose2D,
        goal: RigidBodyPose2D,
        require_goal_heading: bool,
    ) -> RoboticsResult<RigidBodyPlanOutcome2D>;
}
Expand description

Common interface for rigid-body planning backends.

The lattice planner is the deterministic fallback backend. The trait exists so an exact mixed-integer (MILP) backend can later be dropped in behind the same call site, and so sampling planners can be benchmarked against the lattice search on identical scenes.

Required Methods§

Source

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

Human-readable backend name used in benchmark reports.

Source

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

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

Implementors§