pub struct SippPlanner { /* private fields */ }Expand description
Safe Interval Path Planning (SIPP) planner.
Implementations§
Source§impl SippPlanner
impl SippPlanner
Sourcepub fn new(config: SippConfig) -> RoboticsResult<Self>
pub fn new(config: SippConfig) -> RoboticsResult<Self>
Build a new SIPP planner from a configuration.
Sourcepub fn plan(
&self,
sx: i32,
sy: i32,
gx: i32,
gy: i32,
) -> RoboticsResult<SippPath>
pub fn plan( &self, sx: i32, sy: i32, gx: i32, gy: i32, ) -> RoboticsResult<SippPath>
Plan a timed path from (sx, sy) at time 0 to (gx, gy).
Sourcepub fn get_safe_intervals(&self, x: i32, y: i32) -> &[Interval]
pub fn get_safe_intervals(&self, x: i32, y: i32) -> &[Interval]
Get the safe intervals for a particular cell.
Auto Trait Implementations§
impl Freeze for SippPlanner
impl RefUnwindSafe for SippPlanner
impl Send for SippPlanner
impl Sync for SippPlanner
impl Unpin for SippPlanner
impl UnsafeUnpin for SippPlanner
impl UnwindSafe for SippPlanner
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T: ?Sized,
impl<T> BorrowMut<T> for Twhere
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Mutably borrows from an owned value. Read more
Source§impl<T> IntoEither for T
impl<T> IntoEither for T
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fn into_either(self, into_left: bool) -> Either<Self, Self>
Converts
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if into_left is true.
Converts self into a Right variant of Either<Self, Self>
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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
Converts
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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
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impl<SS, SP> SupersetOf<SS> for SPwhere
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Use with care! Same as
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fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.