Struct VisibilityGraph 

pub struct VisibilityGraph {
    pub nodes: Vec<Point2>,
    pub edges: Vec<Vec<usize>>,
}

A visibility graph for path planning among 2D polygon obstacles.

Nodes are the vertices of all obstacles plus optional source/target points. Edges connect pairs of nodes that can see each other (the open segment between them does not cross any obstacle edge).

Fields

nodes: Vec<Point2>

All nodes (vertices + queries).

edges: Vec<Vec<usize>>

Adjacency list: edges[i] = list of node indices visible from node i.

Implementations

impl VisibilityGraph

pub fn build(obstacles: &[Obstacle2D]) -> Self

Build the visibility graph from a collection of obstacles.

pub fn add_query_point(&mut self, pt: Point2, obstacles: &[Obstacle2D])

Add a query point (e.g., start or goal) and compute its visibility to existing nodes.

pub fn num_nodes(&self) -> usize

Number of nodes in the graph.

pub fn shortest_path(&self, src: usize, dst: usize) -> Option<Vec<usize>>

Shortest path (by Euclidean distance) from src to dst using Dijkstra.

Trait Implementations

impl Clone for VisibilityGraph

fn clone(&self) -> VisibilityGraph

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for VisibilityGraph

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

Formats the value using the given formatter.

impl Default for VisibilityGraph

fn default() -> VisibilityGraph

Returns the “default value” for a type.