Struct SimpleWorld

pub struct SimpleWorld { /* private fields */ }

A world simply described by a directed weighted graph

Implementations

impl SimpleWorld

pub fn new( graph: Arc<Graph<SimpleNodeData, SimpleEdgeData>>, agent_size: f64, ) -> Self

Creates a new simple world.

Arguments

• graph - The graph representing the world.
• agent_size - The radius of the agents.

Trait Implementations

impl Heuristic<SimpleWorld, SimpleState, GraphEdgeId, OrderedFloat<f64>, OrderedFloat<f64>> for SimpleHeuristic

fn get_heuristic(&self, state: &SimpleState) -> Option<MyTime>

Returns the heuristic value for the given state, or None if the goal state is not reachable from that state.

impl HeuristicBuilder<SimpleWorld, SimpleState, GraphEdgeId, OrderedFloat<f64>, OrderedFloat<f64>> for SimpleHeuristic

fn build( transition_system: Arc<SimpleWorld>, task: Arc<Task<SimpleState, MyTime>>, ) -> Self

Builds a new heuristic for the given transition system and task.

impl TransitionSystem<SimpleState, GraphEdgeId, OrderedFloat<f64>, OrderedFloat<f64>> for SimpleWorld

fn actions_from(&self, state: &SimpleState) -> Iter<'_, GraphEdgeId>

Returns the actions that can be applied from the given state.

fn transition(&self, _state: &SimpleState, action: &GraphEdgeId) -> SimpleState

Returns the state resulting from applying the given action to the given state.

fn transition_cost(&self, _state: &SimpleState, action: &GraphEdgeId) -> MyTime

Returns the cost of applying the given action to the given state (i.e. the duration of the action).

fn reverse_actions_from(&self, state: &SimpleState) -> Iter<'_, GraphEdgeId>

Returns the actions that can be applied to reach the given state.

fn reverse_transition( &self, _state: &SimpleState, action: &GraphEdgeId, ) -> SimpleState

Returns the state resulting from applying the given reverse action to the given state.

fn reverse_transition_cost( &self, _state: &SimpleState, action: &GraphEdgeId, ) -> MyTime

Returns the cost of applying the given reverse action to the given state (i.e. the duration of the action).

fn can_wait_at(&self, _state: &SimpleState) -> bool

Returns true if agents can wait at the given state.

fn conflict( &self, moves: A2<&Move<SimpleState, GraphEdgeId, MyTime, MyTime>>, ) -> bool

Returns true if the two moves lead to a collision.