Struct PlanPath 

pub struct PlanPath {
    pub waypoints: [Point2f; 32],
    pub len: u32,
    pub cost: Length,
    pub iterations: u32,
}

The best path known when the refinement window closed.

Every consecutive pair of waypoints is collision free, so the path can be driven as published.

Fields

waypoints: [Point2f; 32]

len: u32

Waypoints actually used in waypoints.

cost: Length

Cost of the RRT* tree path, which is what the anytime quality scores. The published waypoints are a shortcut of it, so this is an upper bound on the distance actually driven.

iterations: u32

RRT* iterations spent on this path, base block included.

Trait Implementations

impl<'__de, __Context> BorrowDecode<'__de, __Context> for PlanPath

fn borrow_decode<__D: BorrowDecoder<'__de, Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given BorrowDecode.

impl Clone for PlanPath

fn clone(&self) -> PlanPath

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for PlanPath

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

Formats the value using the given formatter.

impl<__Context> Decode<__Context> for PlanPath

fn decode<__D: Decoder<Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given Decode.

impl Default for PlanPath

fn default() -> PlanPath

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for PlanPath

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Encode for PlanPath

fn encode<__E: Encoder>(&self, encoder: &mut __E) -> Result<(), EncodeError>

Encode a given type.

impl Serialize for PlanPath

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl TypePath for PlanPath

fn type_path() -> &'static str

fn short_type_path() -> &'static str

fn type_ident() -> Option<&'static str>

fn crate_name() -> Option<&'static str>

fn module_path() -> Option<&'static str>