pub struct RRTPathSmoothingPlanner { /* private fields */ }Expand description
Shortcut-smoothed RRT planner.
Implementations§
Source§impl RRTPathSmoothingPlanner
impl RRTPathSmoothingPlanner
pub fn new( rrt: RRTPlanner, smoothing: RRTPathSmoothingConfig, robot_radius: f64, ) -> 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, smoothing: RRTPathSmoothingConfig, ) -> Self
pub fn planning( &mut self, start: [f64; 2], goal: [f64; 2], ) -> Option<Vec<[f64; 2]>>
pub fn rrt(&self) -> &RRTPlanner
Trait Implementations§
Auto Trait Implementations§
impl Freeze for RRTPathSmoothingPlanner
impl RefUnwindSafe for RRTPathSmoothingPlanner
impl Send for RRTPathSmoothingPlanner
impl Sync for RRTPathSmoothingPlanner
impl Unpin for RRTPathSmoothingPlanner
impl UnsafeUnpin for RRTPathSmoothingPlanner
impl UnwindSafe for RRTPathSmoothingPlanner
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