rust_robotics_planning/
lib.rs

1#![forbid(unsafe_code)]
2//! Path planning algorithms for the RustRobotics workspace.
3
4pub mod experiments;
5pub mod grid;
6pub mod grid_nalgebra;
7
8// Grid-based planners
9pub mod a_star;
10pub mod a_star_variants;
11pub mod adaptive_costmap_namo;
12pub mod anya;
13pub mod ara_star;
14pub mod bidirectional_a_star;
15pub mod bidirectional_bfs;
16pub mod bidirectional_rrt;
17pub mod bipedal_planner;
18pub mod branchout_multimodal;
19pub mod breadth_first_search;
20pub mod bug_planning;
21pub mod conformal_sipp;
22pub mod d_star;
23pub mod d_star_lite;
24pub mod depth_first_search;
25pub mod dijkstra;
26pub mod enhanced_lazy_theta_star;
27pub mod flow_field;
28pub mod fringe_search;
29pub mod frontier_navigator;
30pub mod greedy_best_first_search;
31pub mod hierarchical_mapf;
32pub mod hybrid_a_star;
33pub mod ida_star;
34pub mod jps;
35pub mod kinodynamic_stl_cbs;
36pub mod lazy_theta_star;
37pub mod lpa_star;
38pub mod rigid_body_mip;
39pub mod safe_decode_nav;
40pub mod sipp;
41pub mod stl_cbs;
42pub mod tangent_bug;
43pub mod theta_star;
44pub mod traversal_risk_graph;
45
46// Sampling-based planners
47pub mod batch_informed_rrt_star;
48pub mod bit_star;
49pub mod chomp;
50pub mod closed_loop_rrt_star;
51pub mod fmt_star;
52pub mod informed_rrt_star;
53pub mod lqr_rrt_star;
54pub mod prm;
55pub mod prm_star;
56pub mod rrg;
57pub mod rrt;
58pub mod rrt_connect;
59pub mod rrt_dubins;
60pub mod rrt_path_smoothing;
61pub mod rrt_sobol;
62pub mod rrt_star;
63pub mod rrt_star_dubins;
64pub mod rrt_star_reeds_shepp;
65pub mod voronoi_road_map;
66
67// Optimization-based planners
68pub mod path_smoothing;
69
70pub mod dwa;
71pub mod dynamic_movement_primitives;
72pub mod elastic_bands;
73pub mod frenet_optimal_trajectory;
74pub mod lqr_planner;
75pub mod model_predictive_trajectory_generator;
76pub mod moving_ai;
77pub mod particle_swarm_optimization;
78pub mod potential_field;
79pub mod time_based_path_planning;
80
81// Curve-based planners
82pub mod bezier_path;
83pub mod bezier_path_planning;
84pub mod bspline_path;
85pub mod catmull_rom_spline;
86pub mod clothoid_path;
87pub mod cubic_spline_planner;
88pub mod dubins_path;
89pub mod eta3_spline;
90pub mod quintic_polynomials;
91pub mod reeds_shepp_path;
92
93// State lattice planner
94pub mod state_lattice;
95
96// Coverage planning
97pub mod coverage_planning;
98pub mod grid_based_sweep_cpp;
99pub mod spiral_spanning_tree_cpp;
100pub mod wavefront_cpp;
101
102// Visibility graph
103pub mod visibility_road_map;
104
105// 3D planning
106pub mod grid_a_star_3d;
107
108// Re-exports
109pub use a_star::{AStarConfig, AStarPlanner};
110pub use a_star_variants::{AStarVariantConfig, AStarVariantMode, AStarVariantPlanner};
111pub use adaptive_costmap_namo::{
112    AdaptiveCostmapCell, AdaptiveCostmapCellState, AdaptiveCostmapNamo, AdaptiveCostmapNamoConfig,
113    MotionProgressObservation,
114};
115pub use bidirectional_a_star::{BidirectionalAStarConfig, BidirectionalAStarPlanner};
116pub use bidirectional_bfs::{BidirectionalBFSConfig, BidirectionalBFSPlanner};
117pub use bit_star::{BITStar, BITStarConfig};
118pub use branchout_multimodal::{
119    BranchOutClosedLoopConfig2D, BranchOutClosedLoopMetrics2D, BranchOutDecisionMode2D,
120    BranchOutDrivingScene2D, BranchOutMultimodalMetrics2D, BranchOutObstacle2D, BranchOutPlan2D,
121    BranchOutPlanner2D, BranchOutPlannerConfig2D, BranchOutPose2D, BranchOutTrajectory2D,
122};
123pub use breadth_first_search::{BFSConfig, BFSPlanner};
124pub use clothoid_path::{ClothoidConfig, ClothoidPath, ClothoidPlanner};
125pub use conformal_sipp::{
126    ConformalSippConfig, ConformalSippPlan, ConformalSippPlanner, PredictedObstaclePoint,
127    PredictedObstacleTrajectory,
128};
129pub use cubic_spline_planner::{CubicSplinePlanner, Spline2D};
130pub use d_star_lite::DStarLite;
131pub use depth_first_search::{DFSConfig, DFSPlanner};
132pub use dubins_path::{DubinsPath, DubinsPlanner};
133pub use dwa::{DWAConfig, DWAPlanner};
134pub use enhanced_lazy_theta_star::{EnhancedLazyThetaStarConfig, EnhancedLazyThetaStarPlanner};
135pub use flow_field::{FlowFieldConfig, FlowFieldPlanner};
136pub use fringe_search::{FringeSearchConfig, FringeSearchPlanner};
137pub use frontier_navigator::{
138    simulate_frontier_navigation, FrontierChoice, FrontierNavConfig, FrontierNavReport,
139    FrontierNavWorld, Knowledge,
140};
141pub use greedy_best_first_search::{GreedyBestFirstConfig, GreedyBestFirstPlanner};
142pub use grid::GridMap;
143pub use grid_a_star_3d::{GridAStar3DConfig, GridAStar3DPlanner, Path3D};
144pub use hierarchical_mapf::{
145    cell_conflict_count, HierarchicalMapfAgent2D, HierarchicalMapfConfig2D, HierarchicalMapfPlan2D,
146    HierarchicalMapfPlanner2D, HierarchicalMapfRegion2D, HierarchicalMapfRegionConflict2D,
147    HierarchicalMapfRegionRoute2D, HierarchicalMapfReplannedGroup2D,
148};
149pub use hybrid_a_star::{HybridAStarConfig, HybridAStarPath, HybridAStarPlanner};
150pub use ida_star::{IDAStarConfig, IDAStarPlanner};
151pub use informed_rrt_star::InformedRRTStar;
152pub use jps::{JPSConfig, JPSPlanner};
153pub use kinodynamic_stl_cbs::{
154    first_kinodynamic_continuous_conflict, kinodynamic_continuous_pairwise_separation_robustness,
155    KinodynamicContinuousConflict2D, KinodynamicContinuousPose2D, KinodynamicHeading2D,
156    KinodynamicStlCbsAgent2D, KinodynamicStlCbsConfig2D, KinodynamicStlCbsPath2D,
157    KinodynamicStlCbsPlan2D, KinodynamicStlCbsPlanner2D, KinodynamicTimedPose2D,
158};
159pub use lazy_theta_star::{LazyThetaStarConfig, LazyThetaStarPlanner};
160pub use potential_field::PotentialFieldPlanner;
161pub use prm::PRMPlanner;
162pub use prm_star::{PRMStarConfig, PRMStarPlanner};
163pub use quintic_polynomials::{QuinticPolynomial, QuinticPolynomialsPlanner};
164pub use reeds_shepp_path::ReedsSheppPlanner;
165pub use rigid_body_mip::{
166    RigidBodyConvexObstacle2D, RigidBodyExactBackend2D, RigidBodyHalfspace2D, RigidBodyMipConfig2D,
167    RigidBodyMipPlan2D, RigidBodyMipPlanner2D, RigidBodyMipSeparationCertificate2D,
168    RigidBodyPlanOutcome2D, RigidBodyPlanningBackend, RigidBodyPoint2D, RigidBodyPose2D,
169    RigidBodyRrtBackend2D, RigidBodyRrtConfig2D,
170};
171pub use rrt::{AreaBounds, CircleObstacle, RRTConfig, RRTPlanner};
172pub use rrt_path_smoothing::{RRTPathSmoothingConfig, RRTPathSmoothingPlanner};
173pub use rrt_sobol::RRTSobolPlanner;
174pub use rrt_star::RRTStar;
175pub use safe_decode_nav::{SafeDecodePlan, SafeDecoder, SafeNavConfig, TimedRegion};
176pub use sipp::{SippConfig, SippPlanner};
177pub use state_lattice::{ObstacleAwarePlanResult, StateLattice, StateLatticeConfig};
178pub use stl_cbs::{
179    first_conflict, stl_always_avoid_robustness, stl_eventually_reach_robustness,
180    stl_pairwise_separation_robustness, StlCbsAgent, StlCbsConfig, StlCbsConflict,
181    StlCbsConflictKind, StlCbsPath, StlCbsPlan, StlCbsPlanner, StlRectangle2D, StlTimeInterval,
182    StlTimedCell,
183};
184pub use theta_star::{ThetaStarConfig, ThetaStarPlanner};
185pub use traversal_risk_graph::{
186    add_clearance_exposure_risk, clearance_map, inflate_blocked_cells,
187    inflate_blocked_cells_by_radius, smooth_terrain_risk, sweep_traversal_risk_weights,
188    terrain_risk_from_elevation_map, ClearanceRiskConfig, ElevationRiskConfig,
189    RiskMapSmoothingConfig, RiskWaypoint, TerrainRiskCell, TraversalRiskGraphConfig,
190    TraversalRiskGraphPlanner, TraversalRiskPath, TraversalRiskWeightSample,
191};
192pub use voronoi_road_map::VoronoiPlanner;
rust_robotics_planning/lib.rs

rust_robotics_planning/
lib.rs
