Struct jps::GraphSearch

pub struct GraphSearch {
    pub path_: Vec<State>,
    pub turnings: Vec<(i32, i32, i32)>,
    pub fmap_: Option<HashSet<(i32, i32, i32)>>,
    pub omap_: HashSet<(i32, i32, i32)>,
    pub xbound: [i32; 2],
    pub ybound: [i32; 2],
    pub zbound: [i32; 2],
    pub goal: (i32, i32, i32),
    pub use_jps_: bool,
    /* private fields */
}

GraphSearch is the struct type for path finding.

pq_ : a Priorty Queue for saving possible nodes.

hm_ : a HashMap for saving nodes that have been visited.

path_: the path in the forward order, i.e. from start to goal.

turnings : the turning points along the path in the forward order, including start and goal. turnings can be differenced for constructing lines, e.g. line[k] := (turnings[k], turnings[k+1])

ns_ : all neighbors in terms of relative position.

jn3d_: all jps neighbors.

fmap_: HashSet containing all free grids.

omap : HashSet containing all occupied grids.

Fields

path_: Vec<State>

the path in the forward order, i.e. from start to goal.

turnings: Vec<(i32, i32, i32)>

the turning points along the path in the forward order, including start and goal.

turnings can be differenced for constructing lines, e.g. line[k] := (turnings[k], turnings[k+1])

fmap_: Option<HashSet<(i32, i32, i32)>>

free map. if it’s None, a grid will be free as long as it is within the box defined by xdim × ydim × zdim.

otherwise, when it’s Some, the check for being contained in the free map is additionally needed to check whether a grid is free.

omap_: HashSet<(i32, i32, i32)>

occupied map

xbound: [i32; 2]

x-, y-, z- dimensions

ybound: [i32; 2]

zbound: [i32; 2]

goal: (i32, i32, i32)

goal

use_jps_: bool

use_jps

Implementations

impl GraphSearch

pub fn new_v1(
    fmap_: Option<HashSet<(i32, i32, i32)>>,
    omap_: HashSet<(i32, i32, i32)>,
    xbound: [i32; 2],
    ybound: [i32; 2],
    zbound: [i32; 2],
    eps_: f32
) -> Self

create a GraphSearch instance, with maps given in terms of HashMap.

fmap_ : free map, containing all coordinates of free grids.

omap_ : occupied map, containing all coordinates of occupied grids.

xdim : upper boundary on x-axis.

ydim : upper boundary on y-axis.

zdim : upper boundary on z-axis.

eps_ : a scalar in calculating the costs.

pub fn new_v2(
    map: &[bool],
    xbound: [i32; 2],
    ybound: [i32; 2],
    zbound: [i32; 2],
    eps_: f32
) -> Self

create a GraphSearch instance, with the map given in terms of binary-valued array.

map : the map that is reshaped into 1d array, true means occupied, false means free.

xdim : upper boundary on x-axis.

ydim : upper boundary on y-axis.

zdim : upper boundary on z-axis.

eps_ : a scalar in calculating the costs.

impl GraphSearch

pub fn plan(
    &mut self,
    start: (i32, i32, i32),
    goal: (i32, i32, i32),
    usejps: bool,
    max_expand: i32
) -> bool

the main entry for planning.

start : starting grid

goal : goal grid

usejps: true for using jps, false for using A*

max_expand : max number of the depth in searching.

Trait Implementations

impl Debug for GraphSearch

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

Formats the value using the given formatter.

impl Default for GraphSearch

fn default() -> GraphSearch

Returns the “default value” for a type.