Crate cu_rrt_star 

An RRT* path planner as a Copper anytime task.

RrtStarPlanner consumes a PlanRequest and publishes a PlanPath. base() grows the tree until it has a first, crude path; every refine() runs one more block of RRT* iterations and republishes only when the path got shorter. The task reports how good the path is; the RON anytime: policy decides how long to keep going.

Re-exports

pub use rrt::Clearance;

pub use rrt::MAX_NODES;

pub use rrt::MAX_OBSTACLES;

pub use rrt::MAX_WAYPOINTS;

pub use rrt::Obstacle;

pub use rrt::PlanPoint;

pub use rrt::PointSet;

pub use rrt::RrtParams;

pub use rrt::RrtSpace;

pub use rrt::RrtStar;

pub use rrt::World;

Modules

rrt

Seeded RRT* over an RrtSpace: anything that can sample a candidate point and answer clearance queries. The bundled space is World, a rectangle of round obstacles; the algorithm itself never depends on the obstacle shape.

Structs

PlanPath

The best path known when the refinement window closed.

PlanRequest

One planning problem. The map travels with the job, so the source owns it and may change it between jobs.

PlannerDebugState

What a remote debugger sees of a planner node: the progress of the job, not the thousands of tree nodes behind it.

RrtStarPlanner

An RRT* planner as an anytime task.

Type Aliases

BBox2f

Point2f