mapf 0.3.0

Base traits and utilities for multi-agent planning
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130

/*
 * 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(crate) fn triangular_for<Item>(
    iterable: impl Iterator<Item = Item> + Clone,
    mut f: impl FnMut(&Item, Item),
) {
    let mut outer_iter = iterable.into_iter();
    while let Some(outer_value) = outer_iter.next() {
        let mut inner_iter = outer_iter.clone();
        while let Some(inner_value) = inner_iter.next() {
            f(&outer_value, inner_value);
        }
    }
}

pub(crate) struct Minimum<T: Clone, F: Fn(&T, &T) -> std::cmp::Ordering> {
    value: Option<T>,
    #[allow(unused)]
    f: F,
}

impl<T: Clone, F: Fn(&T, &T) -> std::cmp::Ordering> Minimum<T, F> {
    #[allow(unused)]
    pub(crate) fn new(f: F) -> Self {
        Self { value: None, f }
    }

    #[allow(unused)]
    pub(crate) fn consider(&mut self, other: &T) -> bool {
        if let Some(value) = &self.value {
            if std::cmp::Ordering::Less == (self.f)(other, value) {
                self.value = Some(other.clone());
                return true;
            }
        } else {
            self.value = Some(other.clone());
            return true;
        }

        return false;
    }

    #[allow(unused)]
    pub(crate) fn consider_take(&mut self, other: T) -> bool {
        if let Some(value) = &self.value {
            if std::cmp::Ordering::Less == (self.f)(&other, value) {
                self.value = Some(other);
                return true;
            }
        } else {
            self.value = Some(other);
            return true;
        }

        return false;
    }

    #[allow(unused)]
    pub(crate) fn result(self) -> Option<T> {
        self.value
    }

    #[allow(unused)]
    pub(crate) fn has_value(&self) -> bool {
        self.value.is_some()
    }
}

pub enum ForkIter<L, R> {
    Left(L),
    Right(R),
}

impl<L: Iterator, R: Iterator<Item = L::Item>> Iterator for ForkIter<L, R> {
    type Item = L::Item;
    fn next(&mut self) -> Option<Self::Item> {
        match self {
            Self::Left(left) => left.next(),
            Self::Right(right) => right.next(),
        }
    }
}

pub fn wrap_to_pi(mut value: f64) -> f64 {
    while std::f64::consts::PI < value {
        value -= 2.0 * std::f64::consts::PI;
    }

    while value < -std::f64::consts::PI {
        value += 2.0 * std::f64::consts::PI;
    }

    value
}

pub struct IterError<T, E> {
    error: Option<E>,
    _ignore: std::marker::PhantomData<fn(T)>,
}

impl<T, E> IterError<T, E> {
    pub fn new(error: E) -> Self {
        Self {
            error: Some(error),
            _ignore: Default::default(),
        }
    }
}

impl<T, E> Iterator for IterError<T, E> {
    type Item = Result<T, E>;
    fn next(&mut self) -> Option<Self::Item> {
        self.error.take().map(Err)
    }
}