pub struct RRTStarRSConfig {
pub curvature: f64,
pub step_size: 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 connect_circle_dist: f64,
}Expand description
Configuration for the RRT*-Reeds-Shepp planner.
Fields§
§curvature: f64Maximum curvature = 1 / minimum turning radius [1/m].
step_size: f64Step size for sampling points along Reeds-Shepp paths [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].
connect_circle_dist: f64Near-node search radius parameter.
Trait Implementations§
Source§impl Clone for RRTStarRSConfig
impl Clone for RRTStarRSConfig
Source§fn clone(&self) -> RRTStarRSConfig
fn clone(&self) -> RRTStarRSConfig
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 RRTStarRSConfig
impl Debug for RRTStarRSConfig
Auto Trait Implementations§
impl Freeze for RRTStarRSConfig
impl RefUnwindSafe for RRTStarRSConfig
impl Send for RRTStarRSConfig
impl Sync for RRTStarRSConfig
impl Unpin for RRTStarRSConfig
impl UnsafeUnpin for RRTStarRSConfig
impl UnwindSafe for RRTStarRSConfig
Blanket Implementations§
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.