pub struct RRGPlanner { /* private fields */ }Expand description
RRG planner.
Builds a graph incrementally by connecting every new node to all
collision-free neighbours within rewire_radius, rather than only the
best-cost parent (as RRT* does). Dijkstra is then run on the resulting
graph to retrieve the shortest path.
Implementations§
Source§impl RRGPlanner
impl RRGPlanner
Sourcepub fn new(
obstacles: Vec<CircleObstacle>,
rand_area: AreaBounds,
config: RRGConfig,
) -> Self
pub fn new( obstacles: Vec<CircleObstacle>, rand_area: AreaBounds, config: RRGConfig, ) -> Self
Create a new planner.
Trait Implementations§
Auto Trait Implementations§
impl Freeze for RRGPlanner
impl RefUnwindSafe for RRGPlanner
impl Send for RRGPlanner
impl Sync for RRGPlanner
impl Unpin for RRGPlanner
impl UnsafeUnpin for RRGPlanner
impl UnwindSafe for RRGPlanner
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Converts
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Converts self into a Right variant of Either<Self, Self>
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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
Converts
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fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.