Module state_lattice 

State Lattice Planner Module

This module implements state lattice planning for path planning. State lattice planning generates a set of trajectories by sampling in the state space and uses model predictive trajectory generation to create smooth, kinematically feasible paths.

Components

• motion_model: Bicycle kinematic model for vehicle motion
• trajectory_generator: Model predictive trajectory optimization
• state_lattice_planner: Main planner with state sampling strategies

References

• PythonRobotics State Lattice Planner by Atsushi Sakai
• “State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation”

Re-exports

pub use motion_model::MotionModel;

pub use motion_model::MotionModelConfig;

pub use motion_model::VehicleState;

pub use state_lattice_planner::ObstacleAwarePlanResult;

pub use state_lattice_planner::StateLattice;

pub use state_lattice_planner::StateLatticeConfig;

pub use state_lattice_planner::TargetPose;

pub use state_lattice_planner::Trajectory;

pub use trajectory_generator::LookupTable;

pub use trajectory_generator::LookupTableEntry;

pub use trajectory_generator::TargetState;

pub use trajectory_generator::TrajectoryGenerator;

pub use trajectory_generator::TrajectoryGeneratorConfig;

pub use trajectory_generator::TrajectoryParams;

Modules

motion_model

Motion model for State Lattice Planner

state_lattice_planner

State Lattice Planner

trajectory_generator

Model Predictive Trajectory Generator