Struct PolygonPath 

pub struct PolygonPath { /* private fields */ }

Non-empty free-space polyline in scene coordinates with Euclidean cost.

Implementations

impl PolygonPath

pub fn from_points( points: Vec<Point2>, ) -> Result<PolygonPath, PolygonPathBuildError>

Builds a path and sets cost to the sum of consecutive Euclidean segments.

Errors

Returns PolygonPathBuildError::Empty when points is empty.

pub fn from_points_with_cost( points: Vec<Point2>, cost: f64, ) -> Result<PolygonPath, PolygonPathBuildError>

Builds a path with an explicit cost (callers must ensure consistency with the polyline).

Errors

Returns PolygonPathBuildError::Empty when points is empty.

pub fn points(&self) -> &[Point2]

Ordered free-space vertices from start through goal (inclusive).

pub fn len(&self) -> usize

Vertex count (always ≥ 1 for constructed paths).

pub fn is_empty(&self) -> bool

Always false for successfully constructed paths (from_points* reject empty).

pub fn start(&self) -> Point2

First vertex.

Panics

Panics if the path is empty (cannot occur for values built via from_points*).

pub fn goal(&self) -> Point2

Last vertex.

Panics

Panics if the path is empty (cannot occur for values built via from_points*).

pub const fn cost(&self) -> f64

Euclidean polyline length, or the explicit value from from_points_with_cost.

Trait Implementations

impl Clone for PolygonPath

fn clone(&self) -> PolygonPath

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PolygonPath

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

Formats the value using the given formatter.

impl PartialEq for PolygonPath

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

Equality operator ==.

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

Inequality operator !=.

impl SearchPathCost for PolygonPath

type Cost = f64

Cost type used by this path family (for example f64 Euclidean length).

fn path_cost(&self) -> <PolygonPath as SearchPathCost>::Cost

Returns the path’s domain-specific traversal cost.

impl StructuralPartialEq for PolygonPath