pub struct RRTStarRSPlanner { /* private fields */ }Expand description
RRT* path planner using Reeds-Shepp curves for steering.
Implementations§
Source§impl RRTStarRSPlanner
impl RRTStarRSPlanner
Sourcepub fn new(
obstacles: Vec<CircleObstacle>,
rand_area: AreaBounds,
config: RRTStarRSConfig,
) -> Self
pub fn new( obstacles: Vec<CircleObstacle>, rand_area: AreaBounds, config: RRTStarRSConfig, ) -> Self
Create a new RRT*-Reeds-Shepp planner.
Sourcepub fn planning(&mut self, start: Pose2D, goal: Pose2D) -> Option<RRTStarRSPath>
pub fn planning(&mut self, start: Pose2D, goal: Pose2D) -> Option<RRTStarRSPath>
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<RRTStarRSPath>where
F: FnMut(&Self) -> RRTStarRSNode,
pub fn plan_with_sampler<F>(
&mut self,
start: Pose2D,
goal: Pose2D,
sample_node: F,
) -> Option<RRTStarRSPath>where
F: FnMut(&Self) -> RRTStarRSNode,
Plan with a deterministic node sampler (for testing).
Sourcepub fn get_tree(&self) -> &[RRTStarRSNode]
pub fn get_tree(&self) -> &[RRTStarRSNode]
Access the internal tree for inspection or visualization.
Auto Trait Implementations§
impl Freeze for RRTStarRSPlanner
impl RefUnwindSafe for RRTStarRSPlanner
impl Send for RRTStarRSPlanner
impl Sync for RRTStarRSPlanner
impl Unpin for RRTStarRSPlanner
impl UnsafeUnpin for RRTStarRSPlanner
impl UnwindSafe for RRTStarRSPlanner
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