Struct Grid 

pub struct Grid {
    pub width: i32,
    pub height: i32,
    pub time_limit: i32,
    pub obstacle_paths: Vec<Vec<Position>>,
    /* private fields */
}

A 2-D grid with a time dimension that records obstacle occupancy.

reservation_matrix[x][y][t] holds 0 if free, otherwise an obstacle/agent identifier.

Fields

width: i32

height: i32

time_limit: i32

obstacle_paths: Vec<Vec<Position>>

Paths of every dynamic obstacle (list of positions per time step).

Implementations

impl Grid

pub fn new( width: i32, height: i32, num_obstacles: usize, arrangement: ObstacleArrangement, avoid_points: &[Position], time_limit: i32, ) -> RoboticsResult<Self>

Create a grid and populate it with dynamic obstacles.

pub fn empty(width: i32, height: i32, time_limit: i32) -> RoboticsResult<Self>

Create an empty grid (no obstacles).

pub fn inside_bounds(&self, pos: Position) -> bool

pub fn is_free(&self, pos: Position, t: i32) -> bool

pub fn reserve(&mut self, pos: Position, agent_id: i32, interval: Interval)

Reserve a cell for a given agent during a time interval.

pub fn reserve_path(&mut self, path: &NodePath, agent_id: i32)

Reserve the entire path of an agent.

pub fn clear_reservation(&mut self, pos: Position, agent_id: i32)

Clear all reservations for a given agent at a specific position.

pub fn safe_intervals_at(&self, pos: Position) -> Vec<Interval>

Compute safe intervals for a single cell.

Trait Implementations

impl Clone for Grid

fn clone(&self) -> Grid

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Grid

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

Formats the value using the given formatter.