Struct VisibilityGraph 

pub struct VisibilityGraph;

Online exact continuous pathfinder: visibility graph + Dijkstra.

Cost model: Euclidean polyline length of free-space segments. Exactness: optimal under Condor’s f64 / epsilon walkability predicates (same contract as topological fracture search).

Invalid start/goal (non-walkable by PolygonScene::is_walkable) return PolygonSearchError. start == goal yields a one-point zero-cost path. Static geometry failures or sealed endpoints that pass the looser walkability check still produce no-path rather than panic.

Trait Implementations

impl Clone for VisibilityGraph

fn clone(&self) -> VisibilityGraph

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for VisibilityGraph

impl Debug for VisibilityGraph

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

Formats the value using the given formatter.

impl Default for VisibilityGraph

fn default() -> VisibilityGraph

Returns the “default value” for a type.

impl PolygonPathfinder for VisibilityGraph

fn search( &self, scene: &PolygonScene, request: PolygonSearchRequest, ) -> Result<SearchOutcome<PolygonPath, PolygonSearchStats>, PolygonSearchError>

Exact free-space path via per-query visibility graph + Dijkstra.

See the type-level contract for cost, exactness, and endpoint errors.

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

Stable algorithm identifier for benchmarks, logs, and solver portfolios.