Struct OccupancyGrid 

pub struct OccupancyGrid { /* private fields */ }

Occupancy grid for the Spiral-STC planner.

The grid is stored in row-major order with true = free and false = occupied. Width and height must both be even numbers so that 2x2 mega-cell merging works.

Implementations

impl OccupancyGrid

pub fn new(width: usize, height: usize, data: Vec<bool>) -> Self

Create a new occupancy grid.

Panics

Panics if width or height is odd, or if data.len() != width * height.

pub fn all_free(width: usize, height: usize) -> Self

Create an all-free grid of the given dimensions.

Panics

Panics if width or height is odd.

Trait Implementations

impl Clone for OccupancyGrid

fn clone(&self) -> OccupancyGrid

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for OccupancyGrid

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.