pub struct RRTPlanner { /* private fields */ }Expand description
RRT path planner
Implementations§
Source§impl RRTPlanner
impl RRTPlanner
pub fn new( obstacles: Vec<CircleObstacle>, rand_area: AreaBounds, play_area: Option<AreaBounds>, config: RRTConfig, ) -> Self
pub fn from_obstacles( obstacle_list: Vec<(f64, f64, f64)>, rand_area: [f64; 2], expand_dis: f64, path_resolution: f64, goal_sample_rate: i32, max_iter: usize, play_area: Option<[f64; 4]>, robot_radius: f64, ) -> Self
pub fn planning( &mut self, start: [f64; 2], goal: [f64; 2], ) -> Option<Vec<[f64; 2]>>
pub fn get_tree(&self) -> &[RRTNode]
pub fn get_obstacles(&self) -> &[CircleObstacle]
Trait Implementations§
Auto Trait Implementations§
impl Freeze for RRTPlanner
impl RefUnwindSafe for RRTPlanner
impl Send for RRTPlanner
impl Sync for RRTPlanner
impl Unpin for RRTPlanner
impl UnsafeUnpin for RRTPlanner
impl UnwindSafe for RRTPlanner
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