Struct bcar::EntryPlanner

pub struct EntryPlanner { /* fields omitted */ }

Implementations

impl EntryPlanner

pub fn new(slot: PSlot, car_size: Size) -> EntryPlanner

pub fn parked(&self, car: BCar) -> bool

Return if the car is inside the slot.

Examples

let c = bcar::BCar::default();
let s = bcar::PSlot::default();
let p = bcar::EntryPlanner::new(s, c.size);
let mut c = c;
c.pose.x = 1.1;
c.pose.y = -1.1;
let p = bcar::EntryPlanner::new(s, c.size);
assert!(p.parked(c));

pub fn unparked(&self, car: BCar) -> bool

Return if the front of the car is outside, so able to leave the slot.

Use this method when going out of the parking slot and want to check if the car is finally out.

Examples

let c = bcar::BCar::default();
let s = bcar::PSlot::default();
let p = bcar::EntryPlanner::new(s, c.size);
let mut c = c;
c.pose.x = 1.1;
c.pose.y = -1.1;
let p = bcar::EntryPlanner::new(s, c.size);
assert!(!p.unparked(c));

pub fn collide(&self, c: BCar) -> Option<Point>

Return if car c collide with the parking slot self.slot.

Check each frame line of the car with each frame line of the slot.

pub fn drive_out_of_slot(&self, c: &mut BCar) -> (u8, Vec<BCar>)

Drive the car c out ouf self.slot and return True if success.

pub fn drive_in_the_slot(&self, c: &mut BCar) -> (u8, Vec<BCar>)

Drive the car c in the self.slot.

pub fn guess_goal_by_reversed(&self) -> BCar

Return goal of left rear in parking slot.

Use 1e-3 offset to avoid init collision.

pub fn find_goals_by_bfs(&self) -> Vec<BCar>

Use 1e-3 offset to avoid init collision.

pub fn find_entries_by_bfs(&self) -> PoseRange

Trait Implementations

impl Clone for EntryPlanner

fn clone(&self) -> EntryPlanner

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for EntryPlanner

impl Debug for EntryPlanner

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

Formats the value using the given formatter.

impl PartialEq<EntryPlanner> for EntryPlanner

fn eq(&self, other: &EntryPlanner) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &EntryPlanner) -> bool

This method tests for !=.

impl StructuralPartialEq for EntryPlanner