pub struct RRTDubinsPlanner { /* private fields */ }Expand description
RRT path planner using Dubins curves for steering.
Implementations§
Source§impl RRTDubinsPlanner
impl RRTDubinsPlanner
Sourcepub fn new(
obstacles: Vec<CircleObstacle>,
rand_area: AreaBounds,
config: RRTDubinsConfig,
) -> Self
pub fn new( obstacles: Vec<CircleObstacle>, rand_area: AreaBounds, config: RRTDubinsConfig, ) -> Self
Create a new RRT-Dubins planner.
Sourcepub fn planning(&mut self, start: Pose2D, goal: Pose2D) -> Option<RRTDubinsPath>
pub fn planning(&mut self, start: Pose2D, goal: Pose2D) -> Option<RRTDubinsPath>
Plan a path from start to goal.
Returns None if no path is found within max_iter iterations.
Sourcepub fn plan_with_sampler<F>(
&mut self,
start: Pose2D,
goal: Pose2D,
sample_node: F,
) -> Option<RRTDubinsPath>where
F: FnMut(&Self) -> RRTDubinsNode,
pub fn plan_with_sampler<F>(
&mut self,
start: Pose2D,
goal: Pose2D,
sample_node: F,
) -> Option<RRTDubinsPath>where
F: FnMut(&Self) -> RRTDubinsNode,
Plan with a deterministic node sampler (for testing).
Sourcepub fn get_tree(&self) -> &[RRTDubinsNode]
pub fn get_tree(&self) -> &[RRTDubinsNode]
Access the internal tree for inspection or visualization.
Auto Trait Implementations§
impl Freeze for RRTDubinsPlanner
impl RefUnwindSafe for RRTDubinsPlanner
impl Send for RRTDubinsPlanner
impl Sync for RRTDubinsPlanner
impl Unpin for RRTDubinsPlanner
impl UnsafeUnpin for RRTDubinsPlanner
impl UnwindSafe for RRTDubinsPlanner
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