Struct MapfStarterPlanner 

pub struct MapfStarterPlanner { /* private fields */ }

Deterministic fixed-order reservation-table starter baseline for MAPF problems.

Contract

• Agents are planned in problem order with a shared reservation table.
• Search is bounded by the inclusive Self::max_timesteps horizon.
• Successful agent paths are padded to max_timesteps + 1 positions (wait-in-place after first arrival).
• Failure at any agent yields MapfStarterPlannerOutcome::Failed with a partial plan for already-planned agents only.
• A fully built plan is re-validated before reporting success; validation failures surface as MapfStarterPlannerFailure::UnvalidatedPlan.

Implementations

impl MapfStarterPlanner

pub const MAX_TIMESTEPS: usize

Hard ceiling applied when constructing the planner (prevents runaway horizons).

pub const fn new(max_timesteps: usize) -> MapfStarterPlanner

Creates a bounded starter planner with an inclusive maximum timestep.

Values above Self::MAX_TIMESTEPS are clamped.

pub const fn max_timesteps(self) -> usize

Inclusive maximum timestep used for search and path padding.

pub fn plan(&self, problem: &MapfProblem) -> MapfStarterPlannerResult

Plans agents in problem order and validates the final plan before reporting success.

Trait Implementations

impl Clone for MapfStarterPlanner

fn clone(&self) -> MapfStarterPlanner

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for MapfStarterPlanner

impl Debug for MapfStarterPlanner

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

Formats the value using the given formatter.

impl Default for MapfStarterPlanner

fn default() -> MapfStarterPlanner

Returns the “default value” for a type.

impl Eq for MapfStarterPlanner

impl PartialEq for MapfStarterPlanner

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for MapfStarterPlanner