rust_robotics_planning/state_lattice/mod.rs
1//! State Lattice Planner Module
2//!
3//! This module implements state lattice planning for path planning.
4//! State lattice planning generates a set of trajectories by sampling
5//! in the state space and uses model predictive trajectory generation
6//! to create smooth, kinematically feasible paths.
7//!
8//! # Components
9//!
10//! - `motion_model`: Bicycle kinematic model for vehicle motion
11//! - `trajectory_generator`: Model predictive trajectory optimization
12//! - `state_lattice_planner`: Main planner with state sampling strategies
13//!
14//! # References
15//!
16//! - PythonRobotics State Lattice Planner by Atsushi Sakai
17//! - "State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation"
18
19pub mod motion_model;
20pub mod state_lattice_planner;
21pub mod trajectory_generator;
22
23// Re-exports
24pub use motion_model::{MotionModel, MotionModelConfig, VehicleState};
25pub use state_lattice_planner::{
26 ObstacleAwarePlanResult, StateLattice, StateLatticeConfig, TargetPose, Trajectory,
27};
28pub use trajectory_generator::{
29 LookupTable, LookupTableEntry, TargetState, TrajectoryGenerator, TrajectoryGeneratorConfig,
30 TrajectoryParams,
31};