pub struct TangentBugPlanner { /* private fields */ }Expand description
Tangent Bug planner operating on an integer grid.
Obstacles are specified as a set of occupied grid cells. The planner pre-computes boundary cells (free cells that are 8-connected neighbours of at least one obstacle cell) and uses a finite sensor range to pick tangent waypoints.
Implementations§
Source§impl TangentBugPlanner
impl TangentBugPlanner
Sourcepub fn new(
start_x: f64,
start_y: f64,
goal_x: f64,
goal_y: f64,
obs_x: &[f64],
obs_y: &[f64],
sensor_range: f64,
) -> Self
pub fn new( start_x: f64, start_y: f64, goal_x: f64, goal_y: f64, obs_x: &[f64], obs_y: &[f64], sensor_range: f64, ) -> Self
Create a new planner instance.
§Arguments
start_x,start_y– starting position.goal_x,goal_y– goal position.obs_x,obs_y– coordinates of every occupied grid cell.sensor_range– maximum sensing radius [grid units].
Sourcepub fn plan(self, config: &TangentBugConfig) -> Option<TangentBugResult>
pub fn plan(self, config: &TangentBugConfig) -> Option<TangentBugResult>
Run the Tangent Bug algorithm.
Returns Some(TangentBugResult) when the goal is reached, or None
when the iteration limit is exhausted without reaching the goal.
Auto Trait Implementations§
impl Freeze for TangentBugPlanner
impl RefUnwindSafe for TangentBugPlanner
impl Send for TangentBugPlanner
impl Sync for TangentBugPlanner
impl Unpin for TangentBugPlanner
impl UnsafeUnpin for TangentBugPlanner
impl UnwindSafe for TangentBugPlanner
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