pub struct RRTStarDubinsConfig {
pub curvature: f64,
pub goal_sample_rate: i32,
pub max_iter: usize,
pub goal_xy_threshold: f64,
pub goal_yaw_threshold: f64,
pub robot_radius: f64,
pub path_resolution: f64,
pub connect_circle_dist: f64,
}Expand description
Configuration for the RRT*-Dubins planner.
Fields§
§curvature: f64Curvature = 1 / minimum turning radius [1/m].
goal_sample_rate: i32Goal-biased sampling rate (0..100). Higher means more goal samples.
max_iter: usizeMaximum number of RRT iterations.
goal_xy_threshold: f64Distance threshold to consider a node at the goal position [m].
goal_yaw_threshold: f64Yaw threshold to consider a node at the goal heading [rad].
robot_radius: f64Robot radius for collision checking [m].
path_resolution: f64Step size for sampling points along Dubins curves [m].
connect_circle_dist: f64Near-node search radius parameter.
Trait Implementations§
Source§impl Clone for RRTStarDubinsConfig
impl Clone for RRTStarDubinsConfig
Source§fn clone(&self) -> RRTStarDubinsConfig
fn clone(&self) -> RRTStarDubinsConfig
Returns a duplicate of the value. Read more
1.0.0 · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source. Read moreSource§impl Debug for RRTStarDubinsConfig
impl Debug for RRTStarDubinsConfig
Auto Trait Implementations§
impl Freeze for RRTStarDubinsConfig
impl RefUnwindSafe for RRTStarDubinsConfig
impl Send for RRTStarDubinsConfig
impl Sync for RRTStarDubinsConfig
impl Unpin for RRTStarDubinsConfig
impl UnsafeUnpin for RRTStarDubinsConfig
impl UnwindSafe for RRTStarDubinsConfig
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Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
Source§impl<T> CloneToUninit for Twhere
T: Clone,
impl<T> CloneToUninit for Twhere
T: Clone,
Source§impl<T> IntoEither for T
impl<T> IntoEither for T
Source§fn into_either(self, into_left: bool) -> Either<Self, Self>
fn into_either(self, into_left: bool) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left is true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read moreSource§fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left(&self) returns true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read more§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self from the equivalent element of its
superset. Read more§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self is actually part of its subset T (and can be converted to it).§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset but without any property checks. Always succeeds.§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.