mapf 0.3.0

Base traits and utilities for multi-agent planning
Documentation 
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/*
 * Copyright (C) 2022 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

pub type Position = nalgebra::geometry::Isometry2<f64>;
pub type Point = nalgebra::geometry::Point2<f64>;
pub type Orientation = nalgebra::geometry::UnitComplex<f64>;
pub type Vector = nalgebra::Vector2<f64>;
pub type Rotation = nalgebra::UnitComplex<f64>;

#[derive(Clone, Copy, Debug, PartialEq)]
pub struct Velocity {
    pub translational: Vector,
    pub rotational: f64,
}

impl Velocity {
    pub fn zero() -> Self {
        Velocity {
            translational: Vector::zeros(),
            rotational: 0.0,
        }
    }
}

pub mod timed_position;
pub use timed_position::*;

pub mod space;
pub use space::*;

pub mod oriented;
pub use oriented::*;

pub type LinearTrajectorySE2 = super::Trajectory<WaypointSE2>;

pub mod quickest_path;
pub use quickest_path::{QuickestPathHeuristic, QuickestPathPlanner};

pub mod differential_drive_line_follow;
pub use differential_drive_line_follow::*;