Struct FieldDStar 

pub struct FieldDStar { /* private fields */ }

Interpolated InterpolatedGridReplanner (Field D* name).

Fractional start/goal; cost model InterpolatedTraversalCostModel::CellLengthWeightedV0 via cell-center Dijkstra with continuous segment costs. Also implements InterpolatedMovingGoalReplanner. Returns partial/fallback paths when discrete connectivity is lost. Prefer for continuous endpoints on a discrete weighted grid; not exact Field D* literature form.

Implementations

impl FieldDStar

pub fn new() -> FieldDStar

Creates an uninitialized interpolating replanner; call initialize before replan.

Trait Implementations

impl Default for FieldDStar

fn default() -> FieldDStar

Returns the “default value” for a type.

impl InterpolatedGridReplanner for FieldDStar

fn name(&self) -> &'static str

Stable algorithm label for capture reports and solver identity.

fn initialize( &mut self, grid: &Grid, request: InterpolatedSearchRequest, ) -> Result<InterpolatedSearchOutcome, InterpolatedSearchError>

Cold-start search from fractional start/goal on the current grid.

fn update_cell(&mut self, point: Point, cell: Cell)

Record a discrete walkability change; takes effect on the next Self::replan.

fn update_cost( &mut self, point: Point, cost: usize, ) -> Result<(), GridEditError>

Record a discrete traversal-cost change; takes effect on the next Self::replan.

fn replan( &mut self, ) -> Result<InterpolatedSearchOutcome, InterpolatedSearchError>

Recompute under the last request, reusing prior continuous search state when possible.

impl InterpolatedMovingGoalReplanner for FieldDStar

fn update_goal(&mut self, goal: Point2)

Queue a fractional goal change for the next replan.