oxmpl-js 0.5.0

# oxmpl-js

JavaScript/WASM bindings for the OxMPL Rust library.

## Installation

> **Note:** This package is not yet published to npm. To use it, you'll need to include it as a Git submodule or clone the repository directly.

## Building

### Prerequisites

- Node.js (v22 or later recommended)
- Rust toolchain with `wasm32-unknown-unknown` target
- wasm-pack (installed automatically via npm)

### Commands

```bash
# Install dependencies and build WASM module
npm install

# Build only
npm run build

# Run tests
npm test

# Create a packaged version
npm run pack
```

The build process uses `wasm-pack` to:

- compile the Rust code to WebAssembly
- generate TypeScript definitions and JS glue
- output a fully-formed JS package in `pkg-bundler/`

## Usage

This example assumes that you've installed the package as a dependency called `oxmpl-js`.

```javascript
import * as oxmpl from 'oxmpl-js';

// Create a 2D state space
const space = new oxmpl.RealVectorStateSpace(2, [0.0, 10.0, 0.0, 10.0]);

// Define start and goal
const start = [1.0, 1.0];
const goal = new oxmpl.Goal(
  (state) => /* goal satisfaction check */,
  (state) => /* distance to goal */,
  () => /* sample goal state */
);

// Create problem definition
const problem = new oxmpl.ProblemDefinition(space, start, goal);

// Define validity checker
const validityChecker = new oxmpl.StateValidityChecker(
  (state) => /* return true if state is collision-free */
);

// Create and run planner
const planner = new oxmpl.RRT(0.5, 0.05);
planner.setup(problem, validityChecker);
const path = planner.solve(5.0);
```

## License

BSD-3-Clause License. See the main project [LICENSE](../LICENSE) file for details.