pub struct RRTSobolPlanner { /* private fields */ }Expand description
RRT planner variant that uses a Sobol low-discrepancy sampler.
Implementations§
Source§impl RRTSobolPlanner
impl RRTSobolPlanner
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 RRTSobolPlanner
impl RefUnwindSafe for RRTSobolPlanner
impl Send for RRTSobolPlanner
impl Sync for RRTSobolPlanner
impl Unpin for RRTSobolPlanner
impl UnsafeUnpin for RRTSobolPlanner
impl UnwindSafe for RRTSobolPlanner
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