pub struct ThetaStarPlanner { /* private fields */ }Implementations§
Source§impl ThetaStarPlanner
impl ThetaStarPlanner
pub fn new(ox: &[f64], oy: &[f64], config: ThetaStarConfig) -> Self
pub fn try_new( ox: &[f64], oy: &[f64], config: ThetaStarConfig, ) -> RoboticsResult<Self>
pub fn from_obstacles( ox: &[f64], oy: &[f64], resolution: f64, robot_radius: f64, ) -> Self
pub fn from_obstacle_points( obstacles: &Obstacles, config: ThetaStarConfig, ) -> RoboticsResult<Self>
pub fn planning( &self, sx: f64, sy: f64, gx: f64, gy: f64, ) -> Option<(Vec<f64>, Vec<f64>)>
👎Deprecated:
use plan() or plan_xy() instead
pub fn plan(&self, start: Point2D, goal: Point2D) -> RoboticsResult<Path2D>
pub fn plan_xy( &self, sx: f64, sy: f64, gx: f64, gy: f64, ) -> RoboticsResult<Path2D>
pub fn grid_map(&self) -> &GridMap
Trait Implementations§
Auto Trait Implementations§
impl Freeze for ThetaStarPlanner
impl RefUnwindSafe for ThetaStarPlanner
impl Send for ThetaStarPlanner
impl Sync for ThetaStarPlanner
impl Unpin for ThetaStarPlanner
impl UnsafeUnpin for ThetaStarPlanner
impl UnwindSafe for ThetaStarPlanner
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